public CurrentLocation(byte[] data, ref int offset)
{
UInt32 curX = MyBitConverter.ToUInt32(data, ref offset);
UInt32 curY = MyBitConverter.ToUInt32(data, ref offset);
this.curNode = new CellPoint(curX, curY);
UInt32 desX = MyBitConverter.ToUInt32(data, ref offset);
UInt32 desY = MyBitConverter.ToUInt32(data, ref offset);
this.desNode = new CellPoint(desX, desY);
this.speed = MyBitConverter.ToUInt16(data, ref offset);
this.moveDir = (MoveDirection)data[offset++];
this.agvAngle = new AgvDriftAngle(MyBitConverter.ToUInt16(data, ref offset));//车头方向采用的是高位在后
}
public byte[] GetBytes()
{
byte[] packData = new byte[19];
int offset = 0;
Buffer.BlockCopy(MyBitConverter.GetBytes(midPoint.X), 0, packData, offset, 4);
offset += 4;
Buffer.BlockCopy(MyBitConverter.GetBytes(midPoint.Y), 0, packData, offset, 4);
offset += 4;
Buffer.BlockCopy(MyBitConverter.GetBytes(desPoint.X), 0, packData, offset, 4);
offset += 4;
Buffer.BlockCopy(MyBitConverter.GetBytes(desPoint.Y), 0, packData, offset, 4);
offset += 4;
Buffer.BlockCopy(MyBitConverter.GetBytes(desAngle.Angle), 0, packData, offset, 2);
offset += 2;
packData[offset++] = (byte)desMotion;
return(packData);
}
