public void handleOneByte(byte b)
{
serialBuf.Add(b);
if (serialBuf[0] != 0xfe)
{
serialBuf.RemoveAt(0);
}
if (serialBuf.Count < 11)
{
return;
}
eArgs = null;
if (serialBuf[2] == 0xF2)//车子错位，重新规划回起点
{
if (serialBuf[8] == 0x70)
{
if (serialBuf[9] == 0x0D && serialBuf[10] == 0xB1 && serialBuf[11] == 0xDB)
{
eArgs = new SerialEventArgs("reF2");
}
else if (serialBuf[9] == 0x0c && serialBuf[10] == 0x38 && serialBuf[11] == 0xca)
{
eArgs = new SerialEventArgs("reT1");
}
}
}
else if (serialBuf[2] == 0xF6) //呼叫器呼叫
{
if (serialBuf[7] == 0x0c && serialBuf[8] == 0x38 && serialBuf[9] == 0xca) //T1呼叫
{
eArgs = new SerialEventArgs("toT1");
}
else if (serialBuf[7] == 0x0e && serialBuf[8] == 0x2a && serialBuf[9] == 0xe9)//T2呼叫
{
eArgs = new SerialEventArgs("toT2");
}
}
try
{
if ((null != serialEvent) && (eArgs != null))
{
serialEvent(this, eArgs);
serialBuf.Clear();//有效帧
}
else if ((serialBuf.Count == 11) && (eArgs == null))
{
serialBuf.Clear();//无效命令帧
}
else if (serialBuf.Count >= 13)
{
serialBuf.Clear();
}
}
catch (Exception x)
{
Console.WriteLine(x.Message);
}
}
public void agvSerialRemoteEvent(object sender, SerialEventArgs e)
{
++callNum;
if (callNum == 1)
{
Invoke(new niming(button8.PerformClick)); //初始化
}
Invoke(new niming(button1.PerformClick)); //AGV1
try
{
switch (e.Message)
{
case "toT1":
Invoke(new niming(Station1.PerformClick));
Invoke(new niming(button9.PerformClick));
break;
case "toT2":
Invoke(new niming(Station2.PerformClick));
Invoke(new niming(button9.PerformClick));
break;
case "reF2":
//aTimer1.Elapsed -= new ElapsedEventHandler(OnTimedEvent1);
startPositon = "F2";
Invoke(new niming(SetLocation1));
Invoke(new niming(SetStartStation1));
Invoke(new niming(StartStation.PerformClick));
Invoke(new niming(button9.PerformClick));
break;
case "reT1":
startPositon = "T1";
Invoke(new niming(SetLocation1));
Invoke(new niming(SetStartStation1));
Invoke(new niming(StartStation.PerformClick));
Invoke(new niming(button9.PerformClick));
break;
}
}
catch (Exception x)
{
Console.WriteLine(x.Message);
}
}
