GetSendData.cs
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using XingYe_ACS.BaseStruct;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace XingYe_ACS.Common
{
public class GetSendData
{
/// <summary>
/// 获取新动作
/// </summary>
/// <param name="agvMsg">小车信息</param>
/// <param name="listMotion">动作列表</param>
/// <returns></returns>
public static byte[] GetNewActionData(int intSonTaskNo, List<ClientMotion> listMotion)
{
byte[] Data = new byte[73];
Data[0] = 69;
//任务号
byte[] TaskNo = new byte[4];
TaskNo = BitConverter.GetBytes(UInt32.Parse(intSonTaskNo.ToString()));
Data[1] = TaskNo[0];
Data[2] = TaskNo[1];
Data[3] = TaskNo[2];
Data[4] = TaskNo[3];
//手动控制
if (listMotion == null)
{
//关机
if (intSonTaskNo == 21) { Data[5] = 21; }
//手动控制
//1代表开始手动动作；0代表结束当前动作
if (intSonTaskNo != 0) Data[71] = 1;
else
{
Data[71] = (byte)intSonTaskNo;
}
//手动控制动作类型
Data[72] = (byte)intSonTaskNo;
for (int i = 1; i < 5; i++) { Data[i] = 0; }
}
else if (listMotion.Count != 0)
{
Data[5] = (byte)listMotion[0].intTaskType; //动作类型
int DTypeIndex = 0;
foreach (ClientMotion newMotion in listMotion)
{
byte[] BarCode1 = new byte[4];
byte[] DXpos = new byte[2];
byte[] DYpos = new byte[2];
byte[] DXdis = new byte[2];
byte[] DYdis = new byte[2];
UInt32 barCode1 = UInt32.Parse(newMotion.strBarcode); //码值
BarCode1 = BitConverter.GetBytes(barCode1);
Data[6 + DTypeIndex] = BarCode1[0];
Data[7 + DTypeIndex] = BarCode1[1];
Data[8 + DTypeIndex] = BarCode1[2];
Data[9 + DTypeIndex] = BarCode1[3];
Int16 xpos = (Int16)newMotion.intX; //X坐标
DXpos = BitConverter.GetBytes(xpos);
Data[10 + DTypeIndex] = DXpos[0];
Data[11 + DTypeIndex] = DXpos[1];
Int16 ypos = (Int16)newMotion.intY; //Y坐标
DYpos = BitConverter.GetBytes(ypos);
Data[12 + DTypeIndex] = DYpos[0];
Data[13 + DTypeIndex] = DYpos[1];
Int16 xdis = (Int16)newMotion.intXLength; //X间距
DXdis = BitConverter.GetBytes(xdis);
Data[14 + DTypeIndex] = DXdis[0];
Data[15 + DTypeIndex] = DXdis[1];
Int16 ydis = (Int16)newMotion.intYLength; //Y间距
DYdis = BitConverter.GetBytes(ydis);
Data[16 + DTypeIndex] = DYdis[0];
Data[17 + DTypeIndex] = DYdis[1];
Data[18 + DTypeIndex] = (byte)newMotion.intOriAgv;//车头方向
Data[19 + DTypeIndex] = (byte)newMotion.intPathPointType;//点属性
Data[20 + DTypeIndex] = (byte)newMotion.intAntiCollision;//防撞属性
Data[21 + DTypeIndex] = (byte)newMotion.intOriDial;//托盘属性
DTypeIndex = DTypeIndex + 16;
}
}
else
{
Data[5] = 99; //动作类型
string strFinish = string.Format("完成信号:", Data[5].ToString());
App.ExFile.MessageLog("FinishSign", strFinish);
}
Data[70] = ComnMethod.checkCode(Data, 71);
return Data;
}
public static byte[] GetBarcodeData(int intSonTaskNo, string Barcode)
{
byte[] Data = new byte[73];
Data[0] = 69;
Data[5] = (byte)103; //动作类型
byte[] BarCode1 = new byte[4];
UInt32 barCode1 = UInt32.Parse(Barcode); //码值
BarCode1 = BitConverter.GetBytes(barCode1);
Data[6] = BarCode1[0];
Data[7] = BarCode1[1];
Data[8] = BarCode1[2];
Data[9] = BarCode1[3];
return Data;
}
/// <summary>
/// 关机
/// </summary>
/// <returns></returns>
public static byte[] GetOffData()
{
byte[] Data = new byte[4];
Data[0] = 0;
Data[1] = 5;
Data[2] = 0;
Data[3] = ComnMethod.checkCode(Data, 4);
return Data;
}
}
}