/// <summary>
/// 解析从升降机发送到服务端的指令
/// </summary>
private COMMAND_FROME2S readCommandFromE2S(byte[] response)
{
COMMAND_FROME2S outCommand = COMMAND_FROME2S.LIFT_OUT_COMMAND_MIN;
int i = 0;
for (i = 0; i < response.Length; i++)
{
if ((COMMAND_FROME2S)response[i] < COMMAND_FROME2S.LIFT_OUT_COMMAND_MAX &&
(COMMAND_FROME2S)response[i] > COMMAND_FROME2S.LIFT_OUT_COMMAND_MIN)
{
outCommand = (COMMAND_FROME2S)response[i];
}
}
if (outCommand != COMMAND_FROME2S.LIFT_OUT_COMMAND_MIN)
{
}
return(outCommand);
}
private void handleDataSerialPort()
{
try {
int count;
byte[] response = null;
sp.Write(common, 0, 4);
while (!isStop)
{
byte[] readBuffer = new byte[1];
count = sp.BytesToRead;
if (count != 8)
{
Thread.Sleep(1000);
continue;
}
response = new byte[count];
sp.Read(response, 0, count);
outCommand = readCommandFromE2S(response);
//如果读取到升降机异常， 不再向升降机发送命令
if (outCommand > COMMAND_FROME2S.LIFT_OUT_COMMAND_UP_DOWN)
{
AGVLog.WriteInfo("升降机异常 " + outCommand, new StackFrame(true));
continue;
}
if (dataCommand[0] > 0) //清空数据
{
sendCommand(dataCommand);
dataCommand[0] = 0;
dataCommand[1] = 0;
}
Thread.Sleep(200);
}
} catch (Exception ex) {
Console.WriteLine(ex.ToString());
handleLiftComException();
}
}