/// <summary>
/// 通讯方法
/// </summary>
public void Communication()
{
try
{
while (true)
{
CommandToValue ctov = null;
if (QueueCommand.Count > 0 && QueueCommand.TryPeek(out ctov))//有动作命令
{
while ((!ExeCommand(ctov)))
{
Thread.Sleep(90);
}
QueueCommand.TryDequeue(out ctov);
}
//else
//{
// //发送查询命令
// Tcpsocket.Send(readbytelist.ToArray());
// Thread.Sleep(300);
//}
}
}
catch (Exception ex)
{
Clear();
}
}
/// <summary>
/// 通讯方法
/// </summary>
public void Communication()
{
try
{
while (true)
{
CommandToValue ctov = null;
LogHelper.WriteSendAGVMessLog($"{this.DeviceID}号AGV 当前线程{Thread.CurrentThread.ManagedThreadId}");
///因为考虑到发送指令判断返回状态,需要在发送指令前将读取指令
/// 返回的状态指令消耗调，所以应该判断一下缓存中是否有指令
if (QueueCommand.Count > 0 && Tcpsocket.Available > 0)
{
///如果缓存区有数据应该将数据消耗完
/// 否则再发送执行指令返回的指令则不知道是执行指令
/// 返回的还是发送读取指令返回的
GetCallBack();
}
else if (QueueCommand.Count > 0 && QueueCommand.TryPeek(out ctov))//有动作命令
{
while ((!ExeCommand(ctov)))
{
Thread.Sleep(200);
}
QueueCommand.TryDequeue(out ctov);
}
else
{
//查询心跳指令告知在地标上的信息
SetBitComand();
//发送查询命令
string SenDLog = "";
foreach (byte item in readbytelist)
{
SenDLog += ((int)item).ToString("X") + " ";
}
byte[] arr = new byte[] { readbytelist[4], readbytelist[3] };
Int16 SendPackIndex = BitConverter.ToInt16(arr, 0);
LogHelper.WriteSendAGVMessLog("报文序号:" + SendPackIndex.ToString() + "发送--心跳--AGV" + this.DeviceID.ToString() + "命令" + ":" + SenDLog);
while (!SendExeCommand(readbytelist))
{
LogHelper.WriteSendAGVMessLog("报文序号:" + SendPackIndex.ToString() + "发送--心跳--AGV" + this.DeviceID.ToString() + "未成功，等待200ms再发送");
Thread.Sleep(200);
}
Thread.Sleep(100);
}
}
}
catch (Exception ex)
{
LogHelper.WriteSendAGVMessLog($"{this.DeviceID}号AGV Communication 异常:" + ex.Message);
//Clear();
//ReConnect();
}
}
public void Communication()
{
try
{
while (true)
{
CommandToValue ctov = null;
if (QueueCommand.Count > 0 && Tcpsocket.Available > 0)
{
///如果缓存区有数据应该将数据消耗完
/// 否则再发送执行指令返回的指令则不知道是执行指令
/// 返回的还是发送读取指令返回的
GetCallBack();
}
else if (QueueCommand.Count > 0 && QueueCommand.TryPeek(out ctov))//有动作命令
{
while ((!ExeCommand(ctov)))
{
Thread.Sleep(500);
}
QueueCommand.TryDequeue(out ctov);
}
else
{
/*
* 发送查询命令
*/
SetReadByteList();
Tcpsocket.Send(readbytelist.ToArray());//发送字节
Thread.Sleep(50);
GetCallBack();
Thread.Sleep(500);
}
}
}
catch (Exception ex)
{
//LogHelper.WriteErrorLog(ex);
//Clear();
//ReConnect();
}
}