private static void timer1_Elapsed(object sender, System.Timers.ElapsedEventArgs e, AGVInfoRequestPacket requestFrame)
{
AGVInfoRequestPacket resendFrame = requestFrame;
if (ackReceived.AGVID == resendFrame.AGVID &&
ackReceived.FunctionCode == (byte)FUNC_CODE.RESP_ACK_AGV_INFO &&
ackReceived.ACK == (byte)'Y')
{
ackReceived = default(AckReceivePacket);
((System.Timers.Timer)sender).Dispose();
return;
}
AGV agv = AGV.ListAGV.Find(a => a.ID == (int)resendFrame.AGVID);
if (agv == null || !agv.IsInitialized)
{
return;
}
try { Communicator.SerialPort.Write(resendFrame.ToArray(), 0, resendFrame.ToArray().Length); }
catch { return; }
// Display ComStatus
Display.UpdateComStatus("timeout", resendFrame.AGVID, "Request AGV info", System.Drawing.Color.Red);
Display.UpdateComStatus("send", resendFrame.AGVID, "Request AGV info", System.Drawing.Color.Blue);
}
// Send AGV info request packet (InfoType = 'A' for all except line tracking error, 'L' for line tracking error)
public static void SendAGVInfoRequest(uint agvID, char InfoType)
{
AGVInfoRequestPacket requestFrame = new AGVInfoRequestPacket();
requestFrame.Header = new byte[2] {
0xAA, 0xFF
};
requestFrame.FunctionCode = (byte)FUNC_CODE.REQ_AGV_INFO;
requestFrame.AGVID = Convert.ToByte(agvID);
requestFrame.InformationType = (byte)InfoType;
// calculate check sum
ushort crc = 0;
crc += requestFrame.Header[0];
crc += requestFrame.Header[1];
crc += requestFrame.FunctionCode;
crc += requestFrame.AGVID;
crc += requestFrame.InformationType;
requestFrame.CheckSum = crc;
requestFrame.EndOfFrame = new byte[2] {
0x0A, 0x0D
};
// send data via serial port
AGV agv = AGV.ListAGV.Find(a => a.ID == (int)agvID);
if (!agv.IsInitialized)
{
return;
}
try { Communicator.SerialPort.Write(requestFrame.ToArray(), 0, requestFrame.ToArray().Length); }
catch { };
// Display ComStatus
Display.UpdateComStatus("send", requestFrame.AGVID, "Request AGV info", System.Drawing.Color.Blue);
// wait ack
System.Timers.Timer timer1 = new System.Timers.Timer(timeout);
timer1.Elapsed += (sender, e) => timer1_Elapsed(sender, e, requestFrame);
timer1.Start();
}
