/// <summary>
/// 发送并获取反馈
/// </summary>
/// <param name="frame"></param>
/// <param name="timeout">超时时间，单位ms</param>
/// <returns></returns>
public AGVComFrame SendAndGet(AGVComFrame frame, int timeout = 300)
{
if (null == frame || null == frame.Pack())
{
return(null);
}
int ret = socket.Send(frame.Pack());
if (ret > 0)
{
if (socket.Poll(timeout * 1000, SelectMode.SelectRead))
{
byte[] buf = new byte[socket.Available];
socket.Receive(buf);
return(new AGVComFrame().Parse(buf));
}
else
{
return(null);
}
}
else
{
return(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);
}
}
/// <summary>
/// 发送并获取反馈
/// </summary>
/// <param name="frame"></param>
/// <param name="timeout">超时时间，单位ms</param>
/// <returns></returns>
public AGVComFrame SendAndGet(AGVComFrame frame, int timeout = 300)
{
if (null != frame)
{
var msg = client.WriteLineAndGetReply(frame.Pack(), new TimeSpan(0, 0, 0, 0, timeout));
if (null == msg)
{
return(null);
}
return(new AGVComFrame().Parse(msg.Data));
}
else
{
return(null);
}
}
public static AGVTaskStatus Response_状态_查询机器人导航状态(ref AGVComFrame response)
{
if (CheckResponse(AGVTypes.状态_查询机器人导航状态, ref response))
{
AGVTaskStatus status = null;
try
{
string data = System.Text.ASCIIEncoding.UTF8.GetString(response.data);
status = JsonConvert.DeserializeObject <AGVTaskStatus>(data);
}
catch
{
}
return(status);
}
return(null);
}