// 车急停
private static void Car_EmergencyStop()
{
if (emergyStop == false)
{
for (byte add = 0x01; add < 0x05; add++)
{
try
{
com.Write(CarControl.EmergeStop(add), 0, 8);
}
catch (Exception e)
{
mainLog.WriteLog("串口写入失败", e.ToString());
}
Thread.Sleep(serial_time);
}
Thread.Sleep(500);
gpio.SetIoLow(); //关闭抱闸
SetIoH = false;
emergyStop = true;
}
else
{
gpio.SetIoHigh();
emergyStop = false;
}
}
// 通信断,程序退出
private static void Trans_Error()
{
try
{
for (byte add = 0x01; add < 0x05; add++)
{
try
{
com.Write(CarControl.EmergeStop(add), 0, 8);
}
catch (Exception e)
{
mainLog.WriteLog("串口写入失败", e.ToString());
}
Thread.Sleep(serial_time);
}
Thread.Sleep(1000);
com.Close();
if (videotrans)
{
myVideo.CloseVideo();
}
mainLog.WriteLog("通信中断", "强制退出");
Environment.Exit(-1);
}
catch (Exception e)
{
mainLog.WriteLog("通信中断", "强制退出失败");
}
}
