private static void timer5_Elapsed(object sender, System.Timers.ElapsedEventArgs e, AGVInitPacket sendFrame)
{
AGVInitPacket resendFrame = sendFrame;
if (ackReceived.AGVID == resendFrame.AGVID &&
ackReceived.FunctionCode == (byte)FUNC_CODE.RESP_ACK_INIT &&
ackReceived.ACK == (byte)'Y')
{
ackReceived = default(AckReceivePacket);
((System.Timers.Timer)sender).Dispose();
return;
}
var agv = AGV.ListAGV.Find(a => a.ID == (int)resendFrame.AGVID);
if (agv == null)
{
return;
}
try { Communicator.SerialPort.Write(resendFrame.ToArray(), 0, resendFrame.ToArray().Length); }
catch { return; }
// Display ComStatus
Display.UpdateComStatus("timeout", resendFrame.AGVID, "Initialize", System.Drawing.Color.Red);
Display.UpdateComStatus("send", resendFrame.AGVID, "Initialize", System.Drawing.Color.Blue);
}
public static void SendAGVInitRequest(uint agvID)
{
AGVInitPacket sendFrame = new AGVInitPacket();
sendFrame.Header = new byte[2] {
0xAA, 0xFF
};
sendFrame.FunctionCode = (byte)FUNC_CODE.REQ_AGV_INIT;
sendFrame.AGVID = Convert.ToByte(agvID);
sendFrame.Initialization = (byte)'I';
// calculate check sum
ushort crc = 0;
crc += sendFrame.Header[0];
crc += sendFrame.Header[1];
crc += sendFrame.FunctionCode;
crc += sendFrame.AGVID;
crc += sendFrame.Initialization;
sendFrame.CheckSum = crc;
sendFrame.EndOfFrame = new byte[2] {
0x0A, 0x0D
};
// send data via serial port
try { Communicator.SerialPort.Write(sendFrame.ToArray(), 0, sendFrame.ToArray().Length); }
catch { };
// Display ComStatus
Display.UpdateComStatus("send", sendFrame.AGVID, "Initialize", System.Drawing.Color.Blue);
// wait ack
System.Timers.Timer timer5 = new System.Timers.Timer(timeout);
timer5.Elapsed += (sender, e) => timer5_Elapsed(sender, e, sendFrame);
timer5.Start();
}
