/// <summary>
/// 根据Robot_Steps构造一个Comand
/// </summary>
/// <param name="step"></param>
/// <returns></returns>
public byte[] GetCommand(Robot_Steps step)
{
MemoryStream ms = new MemoryStream();
byte[] result = new byte[0];
try
{
//固定头部
ms.WriteByte(0x01);
ms.WriteByte(0x06);
//电机序号
byte[] indexBytes = BitConverter.GetBytes(((short)step.MotorIndex));
Array.Reverse(indexBytes);
ms.Write(indexBytes, 0, indexBytes.Length);
//值
ushort value = 0;
switch (step.MotorType)
{
case 0:
if (step.Value >= 0)
{
value = (ushort)(60 + step.Value);
}
else if (step.Value < 0)
{
value = (ushort)(60 + step.Value);
}
break;
case 1:
value = (ushort)step.Value;
break;
case 2:
value = (ushort)step.Value;
break;
}
byte[] vBytes = BitConverter.GetBytes(value);
Array.Reverse(vBytes);
ms.Write(vBytes, 0, vBytes.Length);
//生成CRC
byte[] crcs = CRC.CRC16(ms.ToArray());
Array.Reverse(crcs);
ms.Write(crcs, 0, crcs.Length);
//返回byte[]
result = ms.ToArray();
}
finally
{
ms.Dispose();
}
return(result);
}
private void btnSave_Click(object sender, EventArgs e)
{
if (string.IsNullOrEmpty(tbCode.Text))
{
MessageBox.Show("请输入代码！");
return;
}
if (string.IsNullOrEmpty(tbName.Text))
{
MessageBox.Show("请输入名称！");
return;
}
if (IsNewRecord)
{
_object = new Robot_Actions();
Object.Id = DBInstance.DbHelper.table("Robot_Actions").select("max(Id)").getValue <long>(0) + 1;
}
//更新Code和Name
Object.Code = tbCode.Text;
Object.Name = tbName.Text;
Object.Condition = aceConditionControl.GetConditionString();
//清理Steps
DBInstance.DbHelper.table("Robot_Steps").where ("ActionId=?", new object[] { Object.Id }).delete();
//更新Action
if (IsNewRecord)
{
//新境加
DBInstance.DbHelper.table("Robot_Actions").set("Id", Object.Id).set("Code", Object.Code).set("Name", Object.Name).set("Condition", Object.Condition).insert();
}
else
{
//更新
DBInstance.DbHelper.table("Robot_Actions").set("Code", Object.Code).set("Name", Object.Name).set("Condition", Object.Condition).where ("Id=?", Object.Id).update();
}
foreach (ITimelineTrack track in adcActionControl.DefaultParts.TrackElementList)
{
if (track is StartTrack)
{
continue;
}
else
{
MotorTrackBase mt = (MotorTrackBase)track;
Robot_Steps step = new Robot_Steps();
step.Id = DBInstance.DbHelper.table("Robot_Steps").select("max(Id)").getValue <long>(0) + 1;
step.ActionId = Object.Id;
step.MotorIndex = mt.MotorIndex;
step.BeforeSleep = mt.BeforeSleep;
step.AfterSleep = mt.AfterSleep;
switch (mt.MotorType)
{
case MotorTypes.C_旋转电机:
step.MotorType = 0;
step.Value = ((RevolveTrack)mt).Angle;
break;
case MotorTypes.C_行进电机:
step.MotorType = 1;
step.Value = ((TravelTrack)mt).TravelActionType == TravelActionTypes.C_停止 ? 0 : ((TravelTrack)mt).TravelActionType == TravelActionTypes.C_前进 ? 1 : 2;
break;
case MotorTypes.C_其它设备:
step.MotorType = 2;
step.Value = ((LightTrack)mt).LightStateType == LightStateType.C_灭 ? 0 : (((LightTrack)mt).LightStateType == LightStateType.C_红灯 ? 1 : (((LightTrack)mt).LightStateType == LightStateType.C_绿灯 ? 2 : 3));
break;
}
//添加到数据库
DBInstance.DbHelper.table("Robot_Steps").set("Id", step.Id).set("ActionId", step.ActionId).set("MotorIndex", step.MotorIndex).set("MotorType", step.MotorType).set("Value", step.Value).set("BeforeSleep", step.BeforeSleep).set("AfterSleep", step.AfterSleep).insert();
}
}
MessageBox.Show("操作完成！");
Close();
}
