//根据头得到数据头长度
protected override int GetBodyLengthFromHeader(IBufferStream bufferStream, int length)
{
int datalength = 0;
byte[] headByte = new byte[2];
bufferStream.Read(headByte, 0, 2);
int head = DataTransform.bytesToUshort(headByte, 0);
if (head == 10004 || head == 20004 || head == 30004 || head == 40004 || head == 30000)
{
datalength = 6;
return(datalength);
}
if (head == 10005 || head == 20005 || head == 30005 || head == 40005)
{
datalength = 8;
return(datalength);
}
return(datalength);
}
//解析数据
public override PackageInfo ResolvePackage(IBufferStream bufferStream)
{
byte CKCode = 0; //校验位
PackageInfo datapackage = new PackageInfo();
List <byte> byteData = new List <byte>();
byteData.Add(bufferStream.Buffers.Last().Array[0]); //头（10003/10005）
byteData.Add(bufferStream.Buffers.Last().Array[1]);
byteData.AddRange(bufferStream.Buffers.Last().Array.Skip(headerSize).Take(GetBodyLengthFromHeader(bufferStream, 0)).ToArray()); //数据
byte[] data = byteData.ToArray();
for (int i = 0; i < data.Length - 1; i++) //校验前n-1个数据
{
CKCode += data[i];
}
if (data[data.Length - 1] == CKCode) //如果校验通过
{
if (data.Length == 9)
{
datapackage.Head = DataTransform.bytesToUshort(data, 0);
datapackage.TaskID = DataTransform.bytesToInt(data, 2);
datapackage.TaskStepID = DataTransform.bytesToUshort(data, 6);
}
else if (data.Length == 11)
{
datapackage.Head = DataTransform.bytesToUshort(data, 0);
datapackage.TaskID = DataTransform.bytesToInt(data, 2);
datapackage.TaskStepID = DataTransform.bytesToUshort(data, 6);
datapackage.CarID = DataTransform.bytesToUshort(data, 8);
}
else
{
datapackage.Head = 0;
datapackage.TaskID = 0;
datapackage.TaskStepID = 0;
datapackage.CarID = 0;
}
}
return(datapackage);
}
public void SendMessage_P(DTUSession session)
{
byte[] data = new byte[150];
data[0] = 0x05; data[1] = 0x0A; data[2] = 0x05; data[3] = 0x0A; //消息头标识
data[4] = 0x80; //通讯标志位
data[5] = 0x02; data[6] = 0x0A; data[7] = 0x00; data[8] = 0x01; //命令字
data[9] = 0x00; data[10] = 0x82; //数据长度 130 固定值
data[11] = 0x00; data[12] = 0x01; //包序 固定值
data[13] = 0x01; //最后一包 固定值
data[20] = 0x29; data[21] = 0xFF; //平台心跳
data[23] = SystemState; //系统状态
data[24] = (byte)((P_Order_Enable)
| (Hand_Order_Enabel << 1)
| (OrderControl << 3)); //订单控制
data[39] = (byte)((Raw_Tray_Out) | (Inform_P_Raw_Tray << 1));
data[41] = (byte)((AGV_Manual_Up_GET)
| (AGV_Manual_Down_GET << 1)
| (AGV_Process1_GET << 2)
| (AGV_Process2_GET << 3)
| (AGV_Manual_Up_PUT << 4)
| (AGV_Manual_Down_PUT << 5)
| (AGV_Process1_PUT << 6)
| (AGV_Process2_PUT << 7));
data[42] = Maunal_Up_RFID;
byte[] cmd = new byte[4];
cmd = DataTransform.floatToByte(Manual_Up_RFID_Para);
data[46] = cmd[0];
data[47] = cmd[1];
data[48] = cmd[2];
data[49] = cmd[3];
for (int i = 20; i < 150; i++) //消息体校验字
{
data[14] += data[i];
}
for (int i = 0; i < 19; i++) //消息头校验字
{
data[19] += data[i];
}
session.Send(data, 0, 150);
}
//解析数据
public override WHPackageInfo ResolvePackage(IBufferStream bufferStream)
{
//byte CKCode = 0; //校验位
WHPackageInfo datapackage = new WHPackageInfo();
List <byte> byteData = new List <byte>();
byteData.Add(bufferStream.Buffers.Last().Array[0]); //消息头
byteData.Add(bufferStream.Buffers.Last().Array[1]);
byteData.AddRange(bufferStream.Buffers.Last().Array.Skip(headsize).Take(GetBodyLengthFromHeader(bufferStream, 0)).ToArray()); //数据
byte[] data = byteData.ToArray();
//for (int i = 0; i < data.Length - 1; i++) //校验前n-1个数据
//{
// CKCode += data[i];
//}
if (true) //始终校验通过
{
if (data.Length == 8)
{
datapackage.Head = DataTransform.bytesToUshort(data, 0); //头
datapackage.SerialNumber = DataTransform.bytesToInt(data, 2); //流水号
datapackage.InlibMatchingID = DataTransform.bytesToUshort(data, 6); //入库匹配号
}
else if (data.Length == 10)
{
datapackage.Head = DataTransform.bytesToUshort(data, 0); //头
datapackage.SerialNumber = DataTransform.bytesToInt(data, 2); //流水号
datapackage.TrayStyle = DataTransform.bytesToUshort(data, 6); //托盘类型代号
datapackage.OutlibMatchingID = DataTransform.bytesToUshort(data, 8); //出库匹配号
}
else
{
datapackage.Head = 0; //头
datapackage.SerialNumber = 0; //流水号
datapackage.TrayStyle = 0; //托盘类型代号
}
}
return(datapackage);
}