/// <summary>
/// 定时获取AGV导航状态
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void timerStatus_Elapsed(object sender, ElapsedEventArgs e)
{
lock (lockerStatus)
{
if (msgStatusList.Count > 0)
{
AGVComFrame response = comStatus.SendAndGet(msgStatusList.Dequeue(), 300);
if (null != response && null != response.data && null != this.OnStatusUpdate)
{
string data = response.Message;
AGVTypes _type = (AGVTypes)(response.header.type - AGVProtocolHeader.TypeResponseOffset);
string respData = _type.ToString() + ":" + data;
this.OnStatusUpdate.BeginInvoke(this, respData, null, null);
}
}
//AGVComFrame response = comStatus.SendAndGet(AGVComFrameBuilder.状态_查询机器人导航状态(), 300);
//this.status = AGVComFrameBuilder.Response_状态_查询机器人导航状态(ref response);
//if (null != this.status && null != this.OnStatusUpdate)
//{
// string data = System.Text.ASCIIEncoding.UTF8.GetString(response.data);
// this.OnStatusUpdate.BeginInvoke(this, data, null, null);
//}
}
}
public static AGVComFrame NoData_Request(AGVTypes type)
{
AGVComFrame frame = new AGVComFrame(new AGVProtocolHeader()
{
type = (UInt16)type, length = 0
}, null);
return(frame);
}
public static bool CheckResponse(AGVTypes sendType, ref AGVComFrame response)
{
if (null != response && response.header.type == (UInt16)(sendType + AGVProtocolHeader.TypeResponseOffset))
{
return(true);
}
else
{
return(false);
}
}
private void button状态_Click(object sender, EventArgs e)
{
AGVTypes value = (AGVTypes)this.comboBox1.SelectedItem;
if (agv1.IsConnected)
{
agv1.AddMessage(AGVComFrameBuilder.NoData_Request(value));
}
else
{
MessageBox.Show("设备未连接，请先连接设备！", "错误");
}
}
private void timerTask_Elapsed(object sender, ElapsedEventArgs e)
{
lock (lockerTask)
{
if (msgTaskList.Count > 0)
{
AGVComFrame response = comTask.SendAndGet(msgTaskList.Dequeue(), 300);
if (null != response && null != response.data && null != this.OnTaskUpdate)
{
string data = response.Message;
AGVTypes _type = (AGVTypes)(response.header.type - AGVProtocolHeader.TypeResponseOffset);
string respData = _type.ToString() + ":" + data;
this.OnTaskUpdate.BeginInvoke(this, respData, null, null);
}
}
}
}
private void button状态_Click(object sender, EventArgs e)
{
AGVTypes value = (AGVTypes)this.comboBox1.SelectedItem;
AGVComFrame frame = new AGVComFrame(new AGVProtocolHeader()
{
type = (UInt16)AGVTypes.导航_路径导航
}, "{\"id\":\"LM1\"}");
if (agv1.IsConnected)
{
//agv1.AddTaskMessage(frame);
agv1.AddStatusMessage(AGVComFrameBuilder.NoData_Request(value));
}
else
{
MessageBox.Show("设备未连接，请先连接设备！", "错误");
}
}
public AGVComFrame(AGVTypes type, object serialObj)
: base()
{
this.header = new AGVProtocolHeader()
{
type = (UInt16)type,
number = (UInt16) new Random(new Guid().GetHashCode()).Next()
};
if (null != serialObj)
{
try
{
string d = JsonConvert.SerializeObject(serialObj, Formatting.None);
this.data = System.Text.ASCIIEncoding.UTF8.GetBytes(d);
this.header.length = (uint)this.data.Length;
}
catch
{
this.data = null;
}
}
}
