private void ThreadUIHandleMethod(msgReceiptEventArg eventData)
{
if (eventData.ErrorHappened)
{
this.labelUdpstatus.Text = "通讯服务发生错误，已断开";
}
else
{
udpPackage package = new udpPackage();
if(package.Pack(eventData.data))
{
if(package.addr == 1)
{
try
{
_transMachine1.RecvCmd(package, eventData.requestIP, eventData.requestPort);
}
catch (System.Exception e)
{
Console.WriteLine("_transMachine1.RecvCmd:" + e.Message);
}
}
else if(package.addr == 2)
{
_transMachine2.RecvCmd(package, eventData.requestIP, eventData.requestPort);
}
}
}
}
/// <summary>
/// 接收udp数据包，更新状态
/// </summary>
/// <param name="package"></param>
public void RecvCmd( udpPackage package,string requestIP,int requestPort)
{
lock(this)
{
_requestIP = requestIP;
_requestPort = requestPort;
if (package.frameType == 2)
return;
if (package.addr != _MachineIndex)
return;
switch (package.cmd)
{
case (byte)HouseCmdCode.CMD_QUERY:
{
udpPackage rePackage = new udpPackage();
rePackage.len = 0x09;
rePackage.frameType = 0x02;
rePackage.addr = (byte)_MachineIndex;
rePackage.cmd = (byte)HouseCmdCode.CMD_QUERY;
rePackage.status = 0;
rePackage.data = new byte[5];
rePackage.data[0] = (byte)_CurrentCoord.L;
rePackage.data[1] = (byte)(_CurrentCoord.C & 0xff);
rePackage.data[2] = (byte)((_CurrentCoord.C >> 8) & 0xff);
rePackage.data[3] = (byte)_workStatus;
rePackage.data[4] = 0x00;
_svc.SendRemsg(rePackage, _requestIP, _requestPort);
break;
}
case (byte)HouseCmdCode.CMD_PRODUCT_INHOUSE:
{
if (_workStatus == MachineWorkStatus.MACHINE_IDLE)
{
//如小车空闲则接收该指令
_workStatus = MachineWorkStatus.PRODUCT_IN_PREPARE;
_CurrentCmd = (HouseCmdCode)package.cmd;
_TargetCoord.L = package.data[0];
_TargetCoord.R = package.data[1];
_TargetCoord.C = package.data[2] + (package.data[3] << 8);
//应答
udpPackage rePackage = new udpPackage();
rePackage.len = 0x06;
rePackage.frameType = 0x02;
rePackage.addr = (byte)_MachineIndex;
rePackage.cmd = package.cmd;
rePackage.status = 0x00;
_svc.SendRemsg(rePackage, _requestIP, _requestPort);
_svc.RefreshTaskDisp(this.MachineIndex, _TargetCoord, "入库");
}
else
{
//应答，由于小车正在作业，该指令拒绝接收
udpPackage rePackage = new udpPackage();
rePackage.len = 0x06;
rePackage.frameType = 0x02;
rePackage.addr = (byte)_MachineIndex;
rePackage.cmd = package.cmd;
rePackage.status = 0x01; //拒绝执行
_svc.SendRemsg(rePackage, _requestIP, _requestPort);
}
break;
}
case (byte)HouseCmdCode.CMD_PRODUCT_OUTHOUSE:
{
if (_workStatus == MachineWorkStatus.MACHINE_IDLE)
{
//如小车空闲则接收该指令
_workStatus = MachineWorkStatus.PRODUCT_OUT_PREPARE;
_CurrentCmd = (HouseCmdCode)package.cmd;
_TargetCoord.L = package.data[0];
_TargetCoord.R = package.data[1];
_TargetCoord.C = package.data[2] + (package.data[3] << 8);
//应答
udpPackage rePackage = new udpPackage();
rePackage.len = 0x06;
rePackage.frameType = 0x02;
rePackage.addr = (byte)_MachineIndex;
rePackage.cmd = package.cmd;
rePackage.status = 0x00;
_svc.SendRemsg(rePackage, _requestIP, _requestPort);
_svc.RefreshTaskDisp(this.MachineIndex, _TargetCoord, "出库");
}
else
{
//应答，由于小车正在作业，该指令拒绝接收
udpPackage rePackage = new udpPackage();
rePackage.len = 0x06;
rePackage.frameType = 0x02;
rePackage.addr = (byte)_MachineIndex;
rePackage.cmd = package.cmd;
rePackage.status = 0x01; //拒绝执行
_svc.SendRemsg(rePackage, _requestIP, _requestPort);
}
break;
}
case (byte)HouseCmdCode.CMD_PALLETE_INHOUSE:
{
if (_workStatus == MachineWorkStatus.MACHINE_IDLE)
{
//如小车空闲则接收该指令
_workStatus = MachineWorkStatus.PALLETE_IN_PREPARE;
_CurrentCmd = (HouseCmdCode)package.cmd;
_TargetCoord.L = package.data[0];
_TargetCoord.R = package.data[1];
_TargetCoord.C = package.data[2] + (package.data[3] << 8);
//应答
udpPackage rePackage = new udpPackage();
rePackage.len = 0x06;
rePackage.frameType = 0x02;
rePackage.addr = (byte)_MachineIndex;
rePackage.cmd = package.cmd;
rePackage.status = 0x00;
_svc.SendRemsg(rePackage, _requestIP, _requestPort);
}
else
{
//应答，由于小车正在作业，该指令拒绝接收
udpPackage rePackage = new udpPackage();
rePackage.len = 0x06;
rePackage.frameType = 0x02;
rePackage.addr = (byte)_MachineIndex;
rePackage.cmd = package.cmd;
rePackage.status = 0x01; //拒绝执行
_svc.SendRemsg(rePackage, _requestIP, _requestPort);
}
break;
}
case (byte)HouseCmdCode.CMD_PALLETE_OUTHOUSE:
{
if (_workStatus == MachineWorkStatus.MACHINE_IDLE)
{
//如小车空闲则接收该指令
_workStatus = MachineWorkStatus.PALLETE_OUT_PREPARE;
_CurrentCmd = (HouseCmdCode)package.cmd;
_TargetCoord.L = package.data[0];
_TargetCoord.R = package.data[1];
_TargetCoord.C = package.data[2] + (package.data[3] << 8);
//应答
udpPackage rePackage = new udpPackage();
rePackage.len = 0x06;
rePackage.frameType = 0x02;
rePackage.addr = (byte)_MachineIndex;
rePackage.cmd = package.cmd;
rePackage.status = 0x00;
_svc.SendRemsg(rePackage, _requestIP, _requestPort);
}
else
{
//应答，由于小车正在作业，该指令拒绝接收
udpPackage rePackage = new udpPackage();
rePackage.len = 0x06;
rePackage.frameType = 0x02;
rePackage.addr = (byte)_MachineIndex;
rePackage.cmd = package.cmd;
rePackage.status = 0x01; //拒绝执行
_svc.SendRemsg(rePackage, _requestIP, _requestPort);
}
break;
}
default:
break;
}
}
}
public bool SendRemsg(udpPackage package, string ip, int port)
{
byte[] byteStream = package.UnPack();
if (byteStream == null)
{
return false;
}
else
{
return _udpServer.SendData(byteStream, byteStream.Length, ip, port);
}
}
