public readonly int currentAngle; //当前姿态角度
/// <summary>
/// 叉车详细状态
/// </summary>
/// <param name="state">状态：1前往取货点，2取货点取货，3前往送货点，4送货点,5：任务完成,6：空闲,7：故障,8：充电中,9：手动</param>
/// <param name="currentNodeNum">当前节点号</param>
/// <param name="currentPathNum">当前地图号</param>
/// <param name="electricityValue">电量值</param>
/// <param name="faultCode">故障代码</param>
/// <param name="pos_ux">坐标X，单位mm</param>
/// <param name="pos_uy">坐标Y，单位mm</param>
/// <param name="pos_uth"></param>
/// <param name="currentAngle">当前姿态角度</param>
public ForkLiftStatus(ForkliftStatusEnum state, uint currentNodeNum, ushort currentPathNum, ushort electricityValue, uint faultCode, int pos_ux, int pos_uy, int currentAngle)
{
this.state = state;
this.currentNodeNum = currentNodeNum;
this.currentPathNum = currentPathNum;
this.electricityValue = electricityValue;
this.faultCode = faultCode;
this.pos_ux = pos_ux;
this.pos_uy = pos_uy;
this.currentAngle = currentAngle;
}
/// <summary>
/// 解析叉车状态
/// </summary>
/// <param name="status"></param>
/// <returns></returns>
public ForkliftStatusEnum GetForkliftStatus(byte status)
{
try
{
ForkliftStatusEnum forkliftStatusEnum = (ForkliftStatusEnum)status;
return(forkliftStatusEnum);
}
catch
{
return(ForkliftStatusEnum.Malfunction);
}
}
static string GenerateStatus(byte id, ForkliftStatusEnum forkliftStatusEnum, uint currentNode, uint currentMap, ushort battery, uint X, uint Y, uint angle)
{
byte[] sendMsg = new byte[35];
sendMsg[0] = 0x47;
sendMsg[1] = 0x53;
sendMsg[2] = 0x00;
sendMsg[3] = 0x00;
sendMsg[4] = id;
sendMsg[5] = 0x53;
sendMsg[6] = 0x46;
sendMsg[7] = 0x01;
sendMsg[8] = (byte)forkliftStatusEnum;
sendMsg[9] = (byte)(currentNode & 0xFF);
sendMsg[10] = (byte)(currentNode >> 8 & 0xFF);
sendMsg[11] = (byte)(currentNode >> 16 & 0xFF);
sendMsg[12] = (byte)(currentNode >> 24 & 0xFF);
sendMsg[13] = (byte)(currentMap & 0xFF);
sendMsg[14] = (byte)(currentMap >> 8 & 0xFF);
sendMsg[15] = (byte)(battery & 0xFF);
sendMsg[16] = (byte)(battery >> 8 & 0xFF);
sendMsg[17] = 0x00;
sendMsg[18] = 0x00;
sendMsg[19] = 0x00;
sendMsg[20] = 0x00;
sendMsg[21] = (byte)(X & 0xFF);
sendMsg[22] = (byte)(X >> 8 & 0xFF);
sendMsg[23] = (byte)(X >> 16 & 0xFF);
sendMsg[24] = (byte)(X >> 24 & 0xFF);
sendMsg[25] = (byte)(Y & 0xFF);
sendMsg[26] = (byte)(Y >> 8 & 0xFF);
sendMsg[27] = (byte)(Y >> 16 & 0xFF);
sendMsg[28] = (byte)(Y >> 24 & 0xFF);
sendMsg[29] = (byte)(angle & 0xFF);
sendMsg[30] = (byte)(angle >> 8 & 0xFF);
sendMsg[31] = (byte)(angle >> 16 & 0xFF);
sendMsg[32] = (byte)(angle >> 24 & 0xFF);
ushort crcTmp = CRC16(sendMsg, 35);
//CRC16校验
sendMsg[33] = (byte)(crcTmp & 0xFF);
sendMsg[34] = (byte)(crcTmp >> 8 & 0xFF);
StringBuilder stringBuilder = new StringBuilder();
foreach (var item in sendMsg)
{
stringBuilder.AppendFormat("{0:x2}", item);
}
return(stringBuilder.ToString());
}
