/// <summary>
/// 获取新任务数据
/// </summary>
/// <param name="agvNo"></param>
/// <param name="sId"></param>
/// <param name="SOri"></param>
/// <param name="EOri"></param>
/// <returns></returns>
public static byte[] GetNewTaskData(string agvNo, int sId, byte SOri, byte EOri)
{
byte[] Data = new byte[36];
Data[0] = 0;
Data[1] = 1; //功能码
Data[2] = 22;
byte[] DataAdress = Encoding.ASCII.GetBytes(agvNo);
for (int index = 3; index < 3 + DataAdress.Length; index++)
{
Data[index] = DataAdress[index - 3];
}
byte[] DataTaskNo = Encoding.ASCII.GetBytes(sId.ToString());
for (int index = 13; index < 13 + DataTaskNo.Length; index++)
{
Data[index] = DataTaskNo[index - 13];
}
Data[33] = SOri;
Data[34] = EOri;
Data[35] = Commond.CRC(Data, 34);
string s = Encoding.ASCII.GetString(Data, 0, Data.Length);
App.ExFile.MessageLog("DataTranslate", s + "\r");
return(Data);
}
public static byte[] GetData(string agvNo, TypeEnum te)
{
byte[] Data = new byte[14];
Data[0] = 0;
Data[1] = (byte)te;
Data[2] = 0;
//小车号
Byte[] DataAdress = ASCIIEncoding.ASCII.GetBytes(agvNo);
for (int index = 3; index < 3 + DataAdress.Length; index++)
{
Data[index] = DataAdress[index - 3];
}
Data[13] = Commond.CRC(Data, 12);
return(Data);
}
/// <summary>
/// 指令解析
/// </summary>
/// <param name="socketOpt">自定义Socket对象</param>
public static void DataTranslate(SocketOpt socketOpt)
{
byte[] DataRecv = socketOpt.Data;
string AgvNo = Encoding.ASCII.GetString(DataRecv, 3, 10).Replace("\0", "");
//try
//{
AgvMsg agvMsg = new AgvMsg();
int DataLength = DataRecv[2];
agvMsg.AgvNo = Encoding.ASCII.GetString(DataRecv, 3, 10).Replace("\0", "");
socketOpt.agv = App.AgvList.FirstOrDefault(a => a.agvNo == agvMsg.AgvNo);
if (socketOpt.agv == null)
{
throw new Exception("更新状态失败：找不到小车号。");
}
agvMsg.Barcode = BitConverter.ToUInt32(DataRecv, 13).ToString();
agvMsg.Voltage = BitConverter.ToInt16(DataRecv, 17) / 100;
agvMsg.State = DataRecv[19];
agvMsg.Height = (HeightEnum)DataRecv[20];
agvMsg.ErrCode1 = DataRecv[21];
agvMsg.ErrCode2 = DataRecv[22];
agvMsg.ErrCode3 = DataRecv[23];
string sid = Encoding.ASCII.GetString(DataRecv, 26, 20).Replace("\0", "");
if (string.IsNullOrEmpty(sid))
{
agvMsg.SID = 0;
}
else
{
agvMsg.SID = int.Parse(sid);
}
agvMsg.sTaskType = (STaskType)DataRecv[46];
int CrcR = DataRecv[47];
int CrcC = Commond.CRC(DataRecv, DataLength + 14);
if (CrcC == CrcR)
{
Agv agv = socketOpt.agv;
UpdateAgvShelfPoint(agvMsg, agv);
if (agvMsg.SID == 0)
{
SendTask(agvMsg, socketOpt);
}
else
{
UpdataPointOri(agvMsg, agv);
AgvDoTask(agvMsg, socketOpt);
}
}
//}
//catch (Exception ex)
//{
// App.ExFile.MessageLog("DataTranslate", ex.Message + "\r"
// + Encoding.Default.GetString(DataRecv));
//}
socketOpt.Data = SendData.GetRepeatData(AgvNo);
ManageTcp.Send(socketOpt);
}
/// <summary>
/// 获取新动作
/// </summary>
/// <param name="agvMsg">小车信息</param>
/// <param name="listMotion">动作列表</param>
/// <returns></returns>
public static byte[] GetNewActionData(AgvMsg agvMsg, List <Motion> listMotion)
{
byte[] Data = new byte[89];
Data[0] = 0;
Data[1] = 3; //功能码
Data[2] = 75;
byte[] DataAdress = Encoding.ASCII.GetBytes(agvMsg.AgvNo);
for (int index = 3; index < 3 + DataAdress.Length; index++)
{
Data[index] = DataAdress[index - 3];
}
//动作报文拼接
int DTypeIndex = 0;
foreach (Motion newMotion in listMotion)
{
byte[] BarCode1 = new byte[4];
byte[] DXpos = new byte[2];
byte[] DYpos = new byte[2];
byte[] DXdis = new byte[2];
byte[] DYdis = new byte[2];
Data[13 + DTypeIndex] = (byte)newMotion.sTaskType; //动作类型
UInt32 barCode1 = UInt32.Parse(newMotion.barcode); //码值
BarCode1 = BitConverter.GetBytes(barCode1);
Data[14 + DTypeIndex] = BarCode1[0];
Data[15 + DTypeIndex] = BarCode1[1];
Data[16 + DTypeIndex] = BarCode1[2];
Data[17 + DTypeIndex] = BarCode1[3];
Int16 xpos = (Int16)newMotion.x; //X坐标
DXpos = BitConverter.GetBytes(xpos);
Data[18 + DTypeIndex] = DXpos[0];
Data[19 + DTypeIndex] = DXpos[1];
Int16 ypos = (Int16)newMotion.y; //Y坐标
DYpos = BitConverter.GetBytes(ypos);
Data[20 + DTypeIndex] = DYpos[0];
Data[21 + DTypeIndex] = DYpos[1];
Int16 xdis = (Int16)newMotion.xLength; //X间距
DXdis = BitConverter.GetBytes(xdis);
Data[22 + DTypeIndex] = DXdis[0];
Data[23 + DTypeIndex] = DXdis[1];
Int16 ydis = (Int16)newMotion.yLength; //Y间距
DYdis = BitConverter.GetBytes(xdis);
Data[24 + DTypeIndex] = DYdis[0];
Data[25 + DTypeIndex] = DYdis[1];
Data[26 + DTypeIndex] = (byte)newMotion.pointType; //点属性
Data[27 + DTypeIndex] = 1; //托盘属性 是否需要？？
DTypeIndex = DTypeIndex + 15;
}
Data[88] = Commond.CRC(Data, 87);
string s = Encoding.ASCII.GetString(Data, 0, Data.Length);
App.ExFile.MessageLog("DataTranslate", s + "\r");
return(Data);
}