public void recdata() //接收消息
{
while (true)
{
byte[] buffer = new byte[36]; //数据接收容器(共36个数据)
if (PAGV1Socket.Connected)
{
try
{
int r = PAGV1Socket.Receive(buffer);
// ModifyTxt.PrintReceiveTxt(buffer); //打印
if ((buffer[0] == 0x05) && (buffer[1] == 0x0A) && (buffer[2] == 0x05) && (buffer[3] == 0x0A)) //头校验通过
{
if (DataCheck.CheckData(buffer))
{
if ((buffer[5] == 0xFF) && (buffer[6] == 0x30) && (buffer[7] == 0x00) && (buffer[8] == 0x00)) //0x30FF 平台AGV主动反馈当前状态信息
{
PlatfromStateArray[0] = 0x04;
PlatfromStateArray[1] = buffer[20]; //应答状态
PlatfromStateArray[2] = buffer[21]; //平台位置
PlatfromStateArray[3] = buffer[22]; //是否有料盘
PlatfromStateArray[4] = buffer[23]; //作业执行状态
PlatfromStateArray[5] = buffer[24];
PlatfromStateArray[6] = buffer[25];
PlatfromStateArray[7] = buffer[26];
PlatfromStateArray[8] = buffer[27]; //X坐标
PlatfromStateArray[9] = buffer[28];
PlatfromStateArray[10] = buffer[29];
PlatfromStateArray[11] = buffer[30];
PlatfromStateArray[12] = buffer[31]; //Y坐标
PlatfromStateArray[13] = buffer[32];
PlatfromStateArray[14] = buffer[33];
PlatfromStateArray[15] = buffer[34];
PlatfromStateArray[16] = buffer[35]; //theta坐标
callback(PlatfromStateArray);
Array.Clear(buffer, 0, 36);
}
}
}
}
catch
{
WMS.MainWindow.InterruptMsg(1, "AGV1断开连接");
CanStop = true;
Thread.Sleep(TimeSpan.FromSeconds(1));
PAGV1Socket.Dispose();
PAGV1Socket.Close();
MessageBox.Show("AGV1断开连接");
}
}
else
{
}
}
}
//接收复合发来的消息
public void recdata() //接收消息
{
while (true)
{
byte[] buffer = new byte[35]; //数据接收容器
if (MixSocket.Connected)
{
try
{
int r = MixSocket.Receive(buffer);
// ModifyTxt.PrintReceiveTxt(buffer); //打印
if ((buffer[0] == 0x05) && (buffer[1] == 0x0A) && (buffer[2] == 0x05) && (buffer[3] == 0x0A)) //头校验通过
{
if (DataCheck.CheckData(buffer)) //异或校验通过
{
if ((buffer[5] == 0xFF) && (buffer[6] == 0x30) && (buffer[7] == 0x00) && (buffer[8] == 0x00)) //0x30FF 复合反馈当前状态信息
{
PlatfromStateArray[0] = 0x06;
PlatfromStateArray[1] = buffer[20]; //应答状态
PlatfromStateArray[2] = buffer[21]; //平台位置
PlatfromStateArray[3] = buffer[22]; //动作完成状态
PlatfromStateArray[4] = buffer[23]; //X轴
PlatfromStateArray[5] = buffer[24];
PlatfromStateArray[6] = buffer[25];
PlatfromStateArray[7] = buffer[26];
PlatfromStateArray[8] = buffer[27]; //Y轴
PlatfromStateArray[9] = buffer[28];
PlatfromStateArray[10] = buffer[29];
PlatfromStateArray[11] = buffer[30];
PlatfromStateArray[12] = buffer[31]; //theta轴
PlatfromStateArray[13] = buffer[32];
PlatfromStateArray[14] = buffer[33];
PlatfromStateArray[15] = buffer[34];
callback(PlatfromStateArray);
Array.Clear(buffer, 0, 35);
}
}
}
}
catch
{
WMS.MainWindow.InterruptMsg(3, "复合断开连接");
CanStop = true;
Thread.Sleep(TimeSpan.FromSeconds(1)); //延时1秒
MixSocket.Dispose();
MixSocket.Close();
MessageBox.Show("复合断开连接");
}
}
}
}
//接收FAGV发来的消息
public void recdata() //接收消息
{
while (true)
{
byte[] buffer = new byte[13]; //数据接收容器
try
{
int r = FagvSocket.Receive(buffer);
// ModifyTxt.PrintReceiveTxt(buffer); //打印
if (buffer[0] == 0x1B && buffer[1] == 0x27)
{
if (DataCheck.CheckDataE2(buffer))
{
ExecuteState[0] = 0x07;
ExecuteState[1] = buffer[6]; //表示是执行状态信息
ExecuteState[2] = buffer[7]; //终点
ExecuteState[3] = buffer[8]; //工作状态
ExecuteState[4] = buffer[9];
ExecuteState[5] = buffer[10];
ExecuteState[6] = buffer[11]; //故障代码
callback(ExecuteState);
if (ExecuteState[3] == 0x06) //叉车AGV在安全位置
{
test1.FAGVInSafeArea = true;
CJClass.FAGVInSafeArea = true;
}
Array.Clear(buffer, 0, 13);
}
}
}
catch
{
WMS.MainWindow.InterruptMsg(5, "叉车AGV断开连接");
CanStop = true;
Thread.Sleep(TimeSpan.FromSeconds(1));
FagvSocket.Dispose();
FagvSocket.Close();
MessageBox.Show("叉车AGV断开连接");
}
}
}
public void recdata() //接收消息
{
while (true)
{
byte[] buffer = new byte[27]; //数据接收容器
if (TwoSocket.Connected)
{
try
{
int r = TwoSocket.Receive(buffer);
// ModifyTxt.PrintReceiveTxt(buffer); //打印
if ((buffer[0] == 0x05) && (buffer[1] == 0x0A) && (buffer[2] == 0x05) && (buffer[3] == 0x0A)) //头校验通过
{
if (DataCheck.CheckData(buffer)) //校验通过
{
if ((buffer[5] == 0x00) && (buffer[6] == 0x10) && (buffer[7] == 0x00) && (buffer[8] == 0x00)) //0x1000 双臂机器人请求命令回复信息
{
answerinfo[0] = 0x00;
answerinfo[1] = buffer[20]; //启动信号
answerinfo[2] = buffer[21]; //请求动作是否完成
answerinfo[3] = buffer[22];
answerinfo[4] = buffer[23];
answerinfo[5] = buffer[24];
answerinfo[6] = buffer[25]; //前四位为应答号（与请求号一致）
answerinfo[7] = buffer[26]; //执行状态 0：正常 1：异常
callback(answerinfo); //回调
if (buffer[20] == 0x00 && (buffer[21] == 0x00)) //动作0完成
{
MainWindow.TwoRobotActionFlag0 = false; //停止发送动作0消息
test1.TwoRobotActionComplete0 = true; //通知自动化类test1动作0完成
RequestId[0] = 0;
}
if (buffer[20] == 0x01 && buffer[21] == 0x00) //动作1完成
{
MainWindow.TwoRobotActionFlag1 = false; //停止动作1：装配的发送
RequestId[1] = 0;
test1.AssemblyCompleted = true; //装配完成
}
if (buffer[20] == 0x02 && buffer[21] == 0x00) //动作2完成
{
MainWindow.TwoRobotActionFlag2 = false;
RequestId[2] = 0;
test1.TwoRobotActionComplete2 = true;
}
if (buffer[20] == 0x03 && buffer[21] == 0x00) //动作3完成
{
MainWindow.TwoRobotActionFlag3 = false;
RequestId[3] = 0;
CJClass.TwoRobotActionComplete3 = true; //通知拆解类，双臂动作3完成：从成品料盘取出成品
}
if (buffer[20] == 0x04 && buffer[21] == 0x00) //动作4完成
{
MainWindow.TwoRobotActionFlag4 = false;
RequestId[4] = 0;
CJClass.TwoRobotActionComplete4 = true; //通知拆解类，双臂动作4完成：拆解
}
if (buffer[20] == 0x05 && buffer[21] == 0x00) //动作5完成
{
MainWindow.TwoRobotActionFlag5 = false;
RequestId[5] = 0;
CJClass.TwoRobotActionComplete5 = true; //通知拆解类，双臂动作5完成：将零件放到零件料盘
}
Array.Clear(buffer, 0, 27);
}
}
}
}
catch
{
WMS.MainWindow.InterruptMsg(4, "双臂断开连接");
CanStop = true;
Thread.Sleep(TimeSpan.FromSeconds(1));
TwoSocket.Dispose();
TwoSocket.Close();
MessageBox.Show("双臂断开连接");
}
}
}
}