private void handleDataSerialPort()
{
int count;
byte[] response = null;
while (!isStop)
{
byte[] readBuffer = new byte[1];
try
{
sp.Write(common, 0, 4);
while ((count = sp.BytesToRead) != 8)
{
// Console.WriteLine("wait to read bytes count = " + count); //等待反馈
Thread.Sleep(10);
}
response = new byte[count];
sp.Read(response, 0, count);
outCommand = readDataCommand(response);
/*if (outCommand == LIFT_OUT_COMMAND_T.LIFT_OUT_COMMAND_loushang_baojing || outCommand == LIFT_OUT_COMMAND_T.LIFT_OUT_COMMAND_louxia_baojing)
* {
* if (dataCommand[0] == 0) //当前没有命令的时候才去发送复位信号，否则会覆盖之前的信号
* {
* dataCommand[0] = 0x4;
* }
*
* Console.WriteLine("will to reset");
* }*/
if (outCommand > LIFT_OUT_COMMAND_T.LIFT_OUT_COMMAND_UP_DOWN) //如果读取到升降机异常， 不再向升降机发送命令
{
AGVLog.WriteInfo("升降机异常 " + outCommand, new StackFrame(true));
continue;
}
if (dataCommand[0] > 0)
{
sendCommand(dataCommand);
dataCommand[0] = 0;
dataCommand[1] = 0; //清空数据
}
} catch (Exception ex)
{
Console.WriteLine(ex.ToString());
handleLiftComException();
}
Thread.Sleep(200);
}
}
private LIFT_OUT_COMMAND_T readDataCommand(byte[] response)
{
LIFT_OUT_COMMAND_T command = LIFT_OUT_COMMAND_T.LIFT_OUT_COMMAND_MIN;
int i = 0;
for (i = 0; i < response.Length; i++)
{
//Console.WriteLine(" read response[" + i + "] = " + response[i]);
if ((LIFT_OUT_COMMAND_T)response[i] < LIFT_OUT_COMMAND_T.LIFT_OUT_COMMAND_MAX && (LIFT_OUT_COMMAND_T)response[i] > LIFT_OUT_COMMAND_T.LIFT_OUT_COMMAND_MIN)
{
command = (LIFT_OUT_COMMAND_T)response[i];
}
}
if (command != LIFT_OUT_COMMAND_T.LIFT_OUT_COMMAND_MIN)
{
//Console.WriteLine(" out vommmmmm = " + command);
}
return(command);
}
