private void RleasACup()
{
try
{
if (step == 2 && ControlBoardComPort_comboBox.SelectedItem != null)
{
//serialPort2.Encoding = Encoding.UTF8;
//serialPort2.BaudRate = 115200;
//serialPort2.PortName = ControlBoardComPort_comboBox.SelectedItem.ToString();
//serialPort2.Open();
//byte bytes1 = ConnectControlBoard.CRC_Compute(bytes1, bytes.Length);
byte[] Order_ReleaseACup = ControlBoardConnectItem.Order_ControlBoard_ReleaseACup;// { 0x55, 0xAA, 0x02, 0x04, 0x00, 0x01, 0x01, 0xF9 };
//byte bytes1 = ConnectControlBoard.CRC_Compute(bytes1, bytes.Length);
//byte bytes1 = new byte[bytes.Length + 1];
ControlBoardConnectItem.InitComPort(ControlBoardComPort_comboBox.SelectedItem.ToString());
ControlBoardConnectItem.WriteRobot(ControlBoardConnectItem.Order_ControlBoard_ReleaseACup);
//serialPort2.Write(Order_ReleaseACup, 0, Order_ReleaseACup.Length);
Thread.Sleep(200);
//serialPort2.Read
//MessageBox.Show("Rlease A Cup, Order Send!");
textBox1.Text += "落杯" + (char)0x0d + (char)0x0a;
serialPort2.Close();
Thread.Sleep(100);
}
}
catch { }
}
private void RleasACup()
{
try
{
if (ControlBoardComPort_comboBox.SelectedItem != null)
{
byte[] Order_ReleaseACup = ControlBoardConnectItem.Order_ControlBoard_ReleaseACup;// { 0x55, 0xAA, 0x02, 0x04, 0x00, 0x01, 0x01, 0xF9 };
if (!ControlBoardConnectItem.ComPort.IsOpen)
{
ControlBoardConnectItem.InitComPort(ControlBoardComPort_comboBox.SelectedItem.ToString());
}
ControlBoardConnectItem.WriteControlSystem(ControlBoardConnectItem.Order_ControlBoard_ReleaseACup);
Sleep(100);
byte[] bytes = ControlBoardConnectItem.ReadBackBytes();
if (
bytes != null && bytes.Length > 7 &&
bytes[3] == ControlBoardConnectItem.Order_ControlBoard_ReplyOK[3] &&
bytes[4] == ControlBoardConnectItem.Order_ControlBoard_ReplyOK[4] &&
bytes[5] == ControlBoardConnectItem.Order_ControlBoard_ReplyOK[5] &&
bytes[6] == ControlBoardConnectItem.Order_ControlBoard_ReplyOK[6] &&
bytes[7] == ConnectControlBoard.CRC_Compute(bytes, 7)
)
{
//序列命令收到，认为成功
textBox1.Text += "落杯" + (char)0x0d + (char)0x0a;
}
else//发送不成功，重发
{
//序列命令接收失败，不成功，重发
textBox1.Text += "命令重发" + (char)0x0d + (char)0x0a;
Sleep(100);
RleasACup();
return;
}
//serialPort2.Close();
//
}
}
catch { }
}