private void recvRfidProc()
{
//byte[] data = new byte[1024];
byte[] byteStream = null;
while (_conRfid)
{
int recv = 0;
try
{
//recv = _sockRfid.ReceiveFrom(data, ref _epRfid);
byteStream = _udpClient.Receive(ref C_Point);
_bConnected = true;
}
catch (System.Exception e)
{
Console.WriteLine(" recvRfidProc"+e.Message);
continue;
}
//事件参数
udpPackage package = new udpPackage();
if (package.Pack(byteStream))
{
switch(package.cmd)
{
case 0x01:
{
ProcessReCmd_query(package);
break;
}
case 0x02:
{
//正常移出的应答
break;
}
case 0x03:
{
//强制清除的应答
break;
}
default:
{
break;
}
}
}
}
}
private void SendReadmsg()
{
udpPackage package = new udpPackage();
package.addr = 1;
package.cmd = (byte)RfidCmdEnum.CMD_READ;
package.frameType = 0x01;
package.len = 0x03;
try
{
byte[] byteStream = package.UnPack();
//_sockRfid.SendTo(byteStream, _epRfid);
_udpClient.Send(byteStream, byteStream.Length);
}
catch (System.Exception e)
{
Console.WriteLine("SendReadmsg()"+e.Message);
}
}
private void ProcessReCmd_query(udpPackage package)
{
//查询命令的应答
if (package.status != 0x00)
{
return;
}
if (package.data == null)
{
Console.WriteLine("rfid recv error:package.data为空");
return;
}
string newID = System.Text.ASCIIEncoding.UTF8.GetString(package.data);
if (idRead != newID)
{
idRead = newID;
msgRFIDEventArg e = new msgRFIDEventArg();
e.ErrorHappened = false;
e.rfidInfo = newID;
if (RfidReadEvent != null)
{
int re = RfidReadEvent(this, e);//rfid扫描到新对象, 激活入库事件
switch (re)
{
case 0:
{
break;
}
case 1:
{
SendMsgClearObj();
break;
}
case 2:
{
SendMsgClearObj();
break;
}
case 3:
{
SendMsgClearObj();
break;
}
default:
break;
}
}
}
}
/// <summary>
/// 清除线上产品
/// </summary>
public void SendMsgClearObj()
{
udpPackage package = new udpPackage();
package.addr = 1;
package.cmd = (byte)RfidCmdEnum.CMD_OBJCLEAR;
package.frameType = 0x01;
package.len = 0x03;
try
{
byte[] byteStream = package.UnPack();
//_sockRfid.SendTo(byteStream, _epRfid);
_udpClient.Send(byteStream, byteStream.Length);
}
catch (System.Exception e)
{
Console.WriteLine("SendClearObjMsg" + e.Message);
}
}
/// <summary>
/// 发送查询命令
/// </summary>
private void SendQuerymsg()
{
udpPackage package1 = new udpPackage();
package1.addr = (byte)MachineNo;
package1.cmd = (byte)PlcCmdEnum.CMD_QUERY;
package1.frameType = 0x01;
package1.len = 0x03;
byte[] byteStream = package1.UnPack();
//_sockPlc.SendTo(byteStream, _epPlc);
try
{
_udpClient.Send(byteStream, byteStream.Length);
}
catch (System.Exception e)
{
Console.WriteLine("SendQuerymsg failed:" + e.Message);
}
}
/// <summary>
/// 接收数据线程函数
/// </summary>
private void recvPlcProc()
{
byte[] data = new byte[1024];
while (_conPlc)
{
int recv =0;
byte[] byteStream = null;
try
{
// recv= _sockPlc.ReceiveFrom(data, ref _epPlc);
byteStream = _udpClient.Receive(ref C_Point);
_heartCount = 0; //收到数据包，清零，标识连接建立
_bConnected = true;
}
catch (System.Exception e)
{
Console.WriteLine("plc comm:"+e.Message);
continue;
}
//事件参数
udpPackage package = new udpPackage();
for (int i = 0; i < recv; i++)
{
byteStream[i] = data[i];
}
if (package.Pack(byteStream))
{
if ((package.frameType == 0x02) && (package.addr == this.MachineNo))
{
//应答帧,地址正确
if (package.cmd == (byte)HouseCmdCode.CMD_QUERY)
{
MachineWorkStatus newS = (MachineWorkStatus)package.data[3];
TMCoord newPos = new TMCoord(package.data[0], this.MachineNo, (package.data[1] + (package.data[2] << 8)));
if (newS != MStatus)
{
if(MStatus == MachineWorkStatus.PRODUCT_INHOUSE_OK)
{
string ss = "入库任务"+(_currentCmdIndex+1).ToString()+"完成";
Console.WriteLine(ss);
}
MStatus = newS;
// string strS = "小车"+MachineNo.ToString()+"状态:"+MStatus.ToString();
// Console.WriteLine(strS);
msgTMEventArg e = new msgTMEventArg();
e.MachineNo = this.MachineNo;
e.ErrorHappened = false;
e.TMStatus = newS;
if (EventTMStatusUpdated != null)
{
EventTMStatusUpdated(this, e);
}
}
if(newPos != this.currentCoord)
{
msgTMEventArg e = new msgTMEventArg();
e.MachineNo = this.MachineNo;
e.ErrorHappened = false;
e.TMPos = newPos;
if(EventTMPosUpdated != null)
{
EventTMPosUpdated(this,e);
}
}
}
else if (package.cmd == (byte)HouseCmdCode.CMD_PRODUCT_INHOUSE)
{
}
else if (package.cmd == (byte)HouseCmdCode.CMD_PRODUCT_OUTHOUSE)
{
}
}
}
}
}
/// <summary>
/// 执行指令
/// </summary>
/// <param name="cmd"></param>
/// <returns></returns>
public bool ExecuteCmd(HouseInOutCmd cmd)
{
if (cmd == null)
return false;
CurrentCmd = cmd;
udpPackage package = new udpPackage();
package.frameType = 0x01;
package.len = 0x07;
package.cmd = (byte)cmd.Cmdcode;
package.addr = (byte)MachineNo;
package.data = new byte[4];
package.data[0] = (byte)cmd.CellTarget.L;
package.data[1] = (byte)cmd.CellTarget.R;
package.data[2] = (byte)(cmd.CellTarget.C&0xff);
package.data[3] = (byte)((cmd.CellTarget.C>>8)&0xff);
byte[] byteStream = package.UnPack();
try
{
_udpClient.Send(byteStream, byteStream.Length);
}
catch (System.Exception e)
{
Console.WriteLine("Send ExecuteCmd failed:" + e.Message);
}
// _sockPlc.SendTo(byteStream, _epPlc);
return true;
}
