public void handleOneByte(byte b)
{
serialBuf.Add(b);
if (serialBuf[0] != 0x68)
{
serialBuf.RemoveAt(0);
}
if (serialBuf.Count < 8)
{
return;
}
callEventArgs = null;
stateReportEventArgs = null;
if (serialBuf[1] == 0xE5 && serialBuf.Count == 8)//呼叫器呼叫
{
if (serialBuf != null)
{
callEventArgs = new RemoteCallEventArgs(serialBuf[5], serialBuf[6]);
}
}
else if (serialBuf[1] == 0xE3)//状态上报
{
if (serialBuf.Count < 20)
{
return;
}
else if (serialBuf.Count == 20)
{
stateReportEventArgs = new CarStateReportEventArgs(serialBuf[5], serialBuf[6], serialBuf[7],
serialBuf[8], serialBuf[9], serialBuf[10], serialBuf[11], serialBuf[12], serialBuf[13], serialBuf[14]);
}
}
try
{
if ((null != remoteCallEvent) && (callEventArgs != null))
{
remoteCallEvent(this, callEventArgs);
serialBuf.Clear();//有效帧
}
else if ((null != stateReportEventArgs) && (null != carStateReportEvent))
{
carStateReportEvent(this, stateReportEventArgs);
serialBuf.Clear();
}
else
{
serialBuf.RemoveAt(0);
}
}
catch (Exception x)
{
Console.WriteLine(x.Message);
}
}
public void agvCarStateReport(object sender, CarStateReportEventArgs e)
{
if (e != null)
{
try
{
writeLine("id " + e.CarId + " state " + e.Movement + " card " + e.CardId + " count " + e.TaskLen + " type " + e.Type);
newCanvas.carArray[e.CarId].posCard = e.CardId;
newCanvas.carArray[e.CarId].remoteTaskLen = e.TaskLen;
newCanvas.carArray[e.CarId].status = e.Movement;
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
//switch(e.Movement){
// case 7://卡位错误
// if (e != null && ((e.CardId == 0) || (e.TargetCardId == 0) || (e.EndCardId == 0)))
// break;
// startStation = newCanvas.findStationByCardID(e.CardId);
// targetStation = newCanvas.findStationByCardID(e.TargetCardId);
// endStation = newCanvas.findStationByCardID(e.EndCardId);
// if ((startStation == null) || (targetStation == null) || (endStation == null))
// {
// break;
// }
// newCanvas.carArray[e.CarId].posCard = e.CardId;
// serialHander.accessRoadTable(e.CarId, startStation, targetStation, endStation, this.newCanvas.AdjList, this.serialPort1, this.newCanvas);
// break;
// case 5://运行状态（包括启动时刻）//第一次启动，只需发路由表，不用发启动命令
// newCanvas.carArray[e.CarId].posCard = e.CardId;
// if (e.CardId == e.TargetCardId)
// {
// newCanvas.carArray[e.CarId].WorkState = false;
// return;
// }
// Thread.Sleep(10);
// if (e != null && e.Movement == 0x05 && CarState.CarStop == newCanvas.carArray[e.CarId].getRealState())
// {
// byte[] controlCommand = new byte[7] { (byte)0x68, (byte)0x55, (byte)0x01, (byte)0x00, (byte)0x00, (byte)0x00, (byte)0x00 };
// controlCommand[5] = (byte)e.CarId;
// controlCommand[6] = (byte)((0x55 + 0x01 + e.CarId) % 256);
// serialPort1.Write(controlCommand, 0, controlCommand.Length);//发命令停车
// }
// break;
// case 4://工位停车（命令停车）
// newCanvas.carArray[e.CarId].posCard = e.CardId;
// if (e.CardId == e.TargetCardId)
// {
// newCanvas.carArray[e.CarId].WorkState = true;
// return;
// }
// Thread.Sleep(10);
// if (e!=null&&e.Movement == 0x04 && CarState.CarRun == newCanvas.carArray[e.CarId].getRealState())
// {
// byte[] controlCommand = new byte[7] { (byte)0x68, (byte)0x54, (byte)0x01, (byte)0x00, (byte)0x00, (byte)0x00, (byte)0x00 };
// controlCommand[5] = (byte)e.CarId;
// controlCommand[6] = (byte)((0x54 + 0x01 + e.CarId) % 256);//开车命令
// serialPort1.Write(controlCommand, 0, controlCommand.Length);
// }
// break;
// default:
// newCanvas.carArray[e.CarId].posCard = e.CardId;
// break;
//}
}
