public void OpenHeadLight()
{
YJ_LmstMsg msg = new YJ_LmstMsg {
c = "OpenLight"
};
string str = JsonConvert.SerializeObject(msg);
this.AppLayerSend(0xe0, str);
}
public void SaveTraiFinOffset()
{
YJ_LmstMsg msg = new YJ_LmstMsg {
c = "SaveTraiFinOffset"
};
string str = JsonConvert.SerializeObject(msg);
this.AppLayerSend(240, str);
Thread.Sleep(40);
}
public void SetTraiFinOffset(short Offset)
{
YJ_LmstMsg msg = new YJ_LmstMsg {
c = "SetTraiFinOffset",
value = Offset
};
string str = JsonConvert.SerializeObject(msg);
this.AppLayerSend(240, str);
Thread.Sleep(40);
}
private void HeaetBeatSendThrFunc()
{
YJ_LmstMsg msg = new YJ_LmstMsg();
while (true)
{
if (!this.IsConnection || (this.state_pl > 0))
{
Thread.Sleep(10);
}
else
{
Thread.Sleep(200);
}
}
}
private void UploadStateMachine()//上传状态机？
{
string str;
YJ_LmstMsg msg = new YJ_LmstMsg();
switch (this.state_pl)
{
case 1:
msg.c = "Reboot";
str = JsonConvert.SerializeObject(msg);
this.AppLayerSend(this.addr_pl, str);
this.TimeOut_pl.SetTime(500);
this.state_pl = 2;
this.UploadFirmwareState = 0;
break;
case 2:
if (this.TimeOut_pl.IsTimeOut())
{
msg.c = "UplaodFirmware";
msg.value = this.FileLen_pl;
str = JsonConvert.SerializeObject(msg);
this.AppLayerSend(this.addr_pl, 6, str);
this.TimeOut_pl.SetTime(0xfa0);
this.state_pl = 3;
}
break;
case 3:
if (!this.TimeOut_pl.IsTimeOut())
{
if (this.flags_pl > 0)
{
this.flags_pl = 0;
this.TimeOut_pl.SetTime(0xfa0);
}
break;
}
YJ_Log.DEBUG("Update fail!", 0);
this.file_pl.Close();
this.reader_pl.Close();
this.UploadFirmwareState = -1;
this.state_pl = 0;
break;
}
}
public void StartToSendMsg(byte[] cm, int DivingNodeState)
{
YJ_LmstMsg msg = new YJ_LmstMsg();
this.CtrlMeasure = cm;
msg.c = "SetSpeed";
msg.value = this.CtrlMeasure[0];
string str = JsonConvert.SerializeObject(msg);
this.AppLayerSend(240, str);
Thread.Sleep(40);
msg.c = "SetDirection";
msg.value = this.CtrlMeasure[1];
str = JsonConvert.SerializeObject(msg);
this.AppLayerSend(240, str);
Thread.Sleep(40);
msg.c = "SetSteerDirection_l";
msg.value = this.CtrlMeasure[2];
str = JsonConvert.SerializeObject(msg);
this.AppLayerSend(0x10, str);
Thread.Sleep(40);
msg.c = "SetMotorSpeed_l";
msg.value = this.CtrlMeasure[3];
str = JsonConvert.SerializeObject(msg);
this.AppLayerSend(0x10, str);
Thread.Sleep(40);
msg.c = "SetSteerDirection_r";
msg.value = this.CtrlMeasure[4];
str = JsonConvert.SerializeObject(msg);
this.AppLayerSend(0x10, str);
Thread.Sleep(40);
msg.c = "SetMotorSpeed_r";
msg.value = this.CtrlMeasure[5];
str = JsonConvert.SerializeObject(msg);
this.AppLayerSend(0x10, str);
Thread.Sleep(40);
msg.c = "SetDivingState";
msg.value = DivingNodeState;
str = JsonConvert.SerializeObject(msg);
this.AppLayerSend(0x30, str);
}
private void StateMachineThrFunc()
{
int num = 0;
string str = "msg";
byte[] buffer = new byte[this.Transport.MaxLtvPayload];
int addr = 0;
int type = 0;
while (true)
{
Thread.Sleep(1);
if (this.IsRebootAllNode)//函数RebootAllNode()的作用
{
YJ_LmstMsg msg = new YJ_LmstMsg();
this.IsRebootAllNode = false;
msg.c = "Reboot";
string str2 = JsonConvert.SerializeObject(msg);
this.AppLayerSend(240, str2);
this.AppLayerSend(0x10, str2);
this.AppLayerSend(0x20, str2);
this.AppLayerSend(0x30, str2);
}
this.CheckeNodeTimeOut(); //检测超时？
this.UploadStateMachine(); //上传状态机
switch (num)
{
case 0:
if (this.Transport.IsConnection)
{
num = 1;
this.IsConnection = true;
}
break;
case 1:
if (!this.Transport.IsConnection)
{
num = 0;
this.IsConnection = false;
}
else if (this.AppLayerRecv(ref addr, ref type, ref str, ref buffer) > 0)
{
if (type == 5)
{
YJ_Log.ERR(str, addr);
}
else if (type == 4)
{
YJ_Log.DEBUG(str, addr);
}
else if ((type == 7) || (type == 9))
{
this.ProUpload(str, addr);
}
else
{
this.ProNodeData(str, addr);
YJ_Log.DATA(str, addr);
}
}
break;
}
}
}
