/// <summary>
/// 解包服务端
/// </summary>
/// <param name="AGV">对象</param>
public List <byte> Unpack(AppSession Session, SimulationAGVInstructions SendMes)
{
try
{
d.Clear();
d.Add(Convert.ToByte(85));
//AGVID
d.Add((byte)(SendMes.AGVId));
//序列号
byte[] SerialNumber = BitConverter.GetBytes(short.Parse(SendMes.SerialNumber.ToString()));
//physicaSite(SerialNumber);
d.AddRange(SerialNumber);
//响应码
d.Add(Convert.ToByte(ResponseCode(SendMes.ResponseCode)));
//运行状态
d.Add((byte)(SendMes.RunningState));
//物理站点2
byte[] sks = BitConverter.GetBytes(short.Parse(SendMes.PhysicalSite.ToString()));
d.AddRange(sks);
//physicaSite(sks);
//里程计数4
byte[] skt = BitConverter.GetBytes(SendMes.CountMileage);
//physicaSite(skt);
d.AddRange(skt);
//逻辑站点2
byte[] skst = BitConverter.GetBytes(short.Parse(SendMes.LogicalSite.ToString()));
//physicaSite(skst);
d.AddRange(skst);
//传感状态
d.Add((byte)SendMes.SensingState);
//当前速度
d.Add((byte)(SendMes.CurrentSpeed));
//方向代码
byte EnterRetreat = (byte)(SendMes.EnentRetreat); //进退
byte About = (byte)(SendMes.LeftRight); //左右
int[] LengthByte = { 0, 0, 0, 0, 0, 0, 0, 0 };
LengthByte[0] = EnterRetreat;
LengthByte[1] = About;
string LengthByteStr = "";;
for (int i = 0; i < LengthByte.Length; i++)
{
LengthByteStr += LengthByte[i];
}
var DirectionCode = Convert.ToByte(LengthByteStr, 2);
d.Add(DirectionCode);
//挂钩状态
d.Add((byte)(SendMes.HookStatus));
//扩展输入
d.Add((byte)(SendMes.ExtendedInput));
//扩展输出
d.Add((byte)(SendMes.ExtendedOutput));
string fq = SendMes.BatteryVoltage.ToString();
//电池电压2
BatteryVoltage(SendMes.BatteryVoltage);
//填 充 扩 展 RFID 2
byte[] kg = BitConverter.GetBytes(short.Parse(SendMes.FillExtendedRFID.ToString()));
//physicaSite(kg);
d.AddRange(kg);
byte bs = GetCheckByte(d);
d.Add(bs);
d.Add(0xaa);
return(d);
}
catch (Exception ex)
{ throw ex; }
}
/// <summary>
/// 给一个客户提供服务，接受公司an【】
/// </summary>
/// <param name="obj"></param>
public void ServiceClient(object obj)
{
try
{
bool keepalive = true;
AppSession clientsession = FindSession(obj.ToString());
if (clientsession == null)
{
keepalive = false;
return;
}
try
{
while (keepalive)
{
//处理接受包
int offlinecount = 0; //离线计数
int allheadleftlengh = 26; //全部长度
int receivedlengh = 0;
byte[] bufferhead = new byte[26]; //
while (allheadleftlengh - receivedlengh > 0)
{
byte[] buffertemp = new byte[allheadleftlengh - receivedlengh];
int lengh = clientsession.ClientSocket.Receive(buffertemp);
if (lengh <= 0)
{
if (offlinecount == 3)
{
throw new Exception("Socket 错误！");
}
offlinecount += 1;
Thread.Sleep(1000 * 2);//再次循环休眠2000毫秒
}
Buffer.BlockCopy(buffertemp, 0, bufferhead, receivedlengh, lengh);
receivedlengh += lengh;
clientsession._lastactivedatetime = DateTime.Now;
}
if (Convert.ToString(bufferhead[0], 16) != "55" && Convert.ToString(bufferhead[25], 16) != "aa")
{
throw new Exception("Socket 错误！");
}
List <byte> msg = bufferhead.ToList();
#region 手动
if (ReceiveMes != null)
{
if (msg[4] == 2 || msg[4] == 0 || msg[4] == 1 || msg[4] == 3 || msg[4] == 4 || msg[4] == 6 || msg[4] == 7 || msg[4] == 8 || msg[4] == 9 || msg[4] == 10 || msg[4] == 11 || msg[4] == 12 || msg[4] == 13 || msg[4] == 14 || msg[4] == 17 || msg[4] == 18 || msg[4] == 5 || msg[4] == 16)
{
GetInstructions(msg[4]);
ResponseCode(AGVState.ResponseCode);
ReceiveMes(new NetEventArgs(clientsession, msg));
}
}
#endregion
#region 自动
if (ServerCarStates != null)
{
if (msg[4] == 16)
{
AGVState.GetRequestCommand(msg);
//AGVState.delegateState();
//ServerCarStates(clientsession, AGVState, msg);
}
if (msg[4] == 5)
{
AGVState.Run(msg);
//GetInstructions(msg[4]);
//ServerCarStates(clientsession, AGVState, msg);
}
if (msg[4] == 9)
{
AGVState.Run(msg);
//GetInstructions(msg[4]);
//ServerCarStates(clientsession, AGVState, msg);
}
GetInstructions(msg[4]);
ResponseCode(AGVState.ResponseCode);
ServerCarStates(clientsession, AGVState, msg);
}
#endregion
}
}
catch (Exception ex)
{ }
}
catch (Exception ex)
{ }
}