public void SendMessage_A(DTUSession session)
{
byte[] data = new byte[150];
data[0] = 0x05; data[1] = 0x0A; data[2] = 0x05; data[3] = 0x0A; //消息头标识
data[4] = 0x80; //通讯标志位
data[5] = 0x02; data[6] = 0x0A; data[7] = 0x00; data[8] = 0x03; //命令字
data[9] = 0x00; data[10] = 0x82; //数据长度 130 固定值
data[11] = 0x00; data[12] = 0x01; //包序 固定值
data[13] = 0x01; //最后一包 固定值
data[20] = 0x27; data[21] = 0xDD; //平台心跳
data[23] = SystemState; //系统状态
data[24] = (byte)((A1_Order_Enable) | (A2_Order_Enable << 1));
data[25] = (byte)(A_System_Control);
data[41] = (byte)((AGV_Assembly1_GET)
| (AGV_Assembly2_GET << 1)
| (AGV_Assembly1_PUT << 2)
| (AGV_Assembly2_PUT << 3));
for (int i = 20; i < 150; i++) //消息体校验字
{
data[14] += data[i];
}
for (int i = 0; i < 19; i++) //消息头校验字
{
data[19] += data[i];
}
session.Send(data, 0, 150);
}
public void SendMessage_P(DTUSession session)
{
byte[] data = new byte[150];
data[0] = 0x05; data[1] = 0x0A; data[2] = 0x05; data[3] = 0x0A; //消息头标识
data[4] = 0x80; //通讯标志位
data[5] = 0x02; data[6] = 0x0A; data[7] = 0x00; data[8] = 0x01; //命令字
data[9] = 0x00; data[10] = 0x82; //数据长度 130 固定值
data[11] = 0x00; data[12] = 0x01; //包序 固定值
data[13] = 0x01; //最后一包 固定值
data[20] = 0x29; data[21] = 0xFF; //平台心跳
data[23] = SystemState; //系统状态
data[24] = (byte)((P_Order_Enable)
| (Hand_Order_Enabel << 1)
| (OrderControl << 3)); //订单控制
data[39] = (byte)((Raw_Tray_Out) | (Inform_P_Raw_Tray << 1));
data[41] = (byte)((AGV_Manual_Up_GET)
| (AGV_Manual_Down_GET << 1)
| (AGV_Process1_GET << 2)
| (AGV_Process2_GET << 3)
| (AGV_Manual_Up_PUT << 4)
| (AGV_Manual_Down_PUT << 5)
| (AGV_Process1_PUT << 6)
| (AGV_Process2_PUT << 7));
data[42] = Maunal_Up_RFID;
byte[] cmd = new byte[4];
cmd = DataTransform.floatToByte(Manual_Up_RFID_Para);
data[46] = cmd[0];
data[47] = cmd[1];
data[48] = cmd[2];
data[49] = cmd[3];
for (int i = 20; i < 150; i++) //消息体校验字
{
data[14] += data[i];
}
for (int i = 0; i < 19; i++) //消息头校验字
{
data[19] += data[i];
}
session.Send(data, 0, 150);
}