279 lines
9.8 KiB
C#
279 lines
9.8 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Text;
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using System.Data;
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using System.Threading;
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using ICommLayer;
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using DBFactory;
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using CommonClassLib;
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namespace SimensCP5611
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{
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/// <summary>
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/// 通过西门子的CP5611卡实现Profibus总线方式的通讯接口派生类
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/// 发送设备命令类
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/// 创建者：Richard.Liu
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/// </summary>
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public class CSendDeviceOrder: ISendDeviceOrder
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{
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string _commLayerError;
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public string CommLayerError
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{
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get { return _commLayerError; }
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set { _commLayerError = value; }
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}
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DBOperator dbo = new DBOperator();
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public CSendDeviceOrder()
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{
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dbo.Open();
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}
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//~CSendDeviceOrder()
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//{
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// dbo.Close();
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//}
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/// <summary>
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/// 发送堆垛机命令
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/// </summary>
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/// <param name="MessageIndex">消息编号</param>
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/// <param name="TaskIndex">任务编号</param>
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/// <param name="Order">堆垛机命令字</param>
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///单叉单进伸：
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///1-复位
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///2-将取
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///3-将送
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///4-取货
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///5-放货
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///6-取放货
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///双叉单进伸：
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///1-复位
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///2-将取
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///3-将送
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///4-左叉取货
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///5-左叉放货
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///6-左叉取放货
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///14-右叉取货
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///15-右叉放货
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///16-右叉取放货
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///24-双叉取货
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///25-双叉放货
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///26-双叉取放货
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///单叉双进伸：
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///1-复位
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///2-将取
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///3-将送
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///4-近位取货
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///5-近位放货
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///6-近位取放货
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///14-远位取货
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///15-远位放货
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///16-远位取放货
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/// <param name="DeviceIndex">设备编号</param>
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/// <param name="StartX">起始x坐标，排-沿轨道方向</param>
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/// <param name="StartY">起始y坐标，层-高度方向</param>
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/// <param name="StartZ">起始z坐标，列-面向堆垛机操作面板，1-左侧，2-右侧</param>
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/// <param name="EndX">目标x坐标，排-沿轨道方向</param>
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/// <param name="EndY">目标y坐标，层-高度方向</param>
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/// <param name="EndZ">目标z坐标，列-面向堆垛机操作面板，1-左侧，2-右侧</param>
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/// <returns>发送堆垛机命令是否成功</returns>
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public bool SendDeviceOrder(int MessageIndex, int TaskIndex, int Order, int DeviceIndex, int StartX, int StartY, int StartZ, int EndX, int EndY, int EndZ)
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{
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try
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{
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int[] _word = new int[10];
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byte[] _byte = new byte[20];
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byte[] _temp = new byte[2];
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_word[0] = 1;
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_word[1] = Order;
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_word[2] = TaskIndex;
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_word[3] = StartX;
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_word[4] = StartY;
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_word[5] = StartZ;
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_word[6] = EndX;
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_word[7] = EndY;
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_word[8] = EndZ;
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//////////////////////////
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_word[9] = _word[0];
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for (int i = 1; i <= 8; i++)
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{
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_word[9] = _word[9] ^ _word[i];
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}
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for (int h = 0; h <= 9; h++)
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{
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_temp = CCarryConvert.GetByteFromInt16(Convert.ToUInt16(_word[h]));
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_byte[(2 * h)] = _temp[0];
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_byte[(2 * h + 1)] = _temp[1];
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}
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byte[] _RRword = new byte[12];
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int[] _Rword = new int[6];
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DataSet ds = dbo.ExceSQL("SELECT F_DeviceIndex, F_DBWAddress, F_DBWSendLength, F_DBWGetLength FROM T_Base_Device where F_DeviceIndex=" + DeviceIndex);
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DataView dv = ds.Tables[0].DefaultView;
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if (ds.Tables[0].DefaultView.Count > 0)
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{
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bool rr= CSimensCP5611.DBwrite_CP5611(1, 1, Convert.ToInt16(dv[0]["F_DBWAddress"]), Convert.ToInt16(dv[0]["F_DBWSendLength"])*2, _byte);
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if (rr == false)
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{
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_commLayerError = "SimensCP5611.CSendDeviceOrder" + ":SendDeviceOrder---" + CSimensCP5611.ErrorsText;
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return false;
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}
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else
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{
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return true;
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}
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//Thread.Sleep(300);
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//_RRword = CSimensCP5611.DB_Read_CP5611(1, 2, Convert.ToInt16(dv[0]["F_DBWAddress"]), Convert.ToInt16(dv[0]["F_DBWGetLength"]));
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//if (_RRword == null)
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//{
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// _commLayerError = "SimensCP5611.CSendDeviceOrder" + ":SendDeviceOrder---" + CSimensCP5611.ErrorsText;
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// return false;
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//}
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}
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else
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{
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return false;
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}
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//ds.Dispose();
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//for (int g = 0; g <= 5; g++)
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//{
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// _Rword[g] = _RRword[(2 * g)] * 256 + _RRword[(2 * g + 1)];
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//}
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//int _RXor = 0;
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//if (_Rword != null)
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//{
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// _RXor = _Rword[0];
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// for (int i = 1; i <= 4; i++)
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// {
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// _RXor = _RXor ^ _Rword[i];
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// }
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// //_Rword[0] == 2 &&
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// if (_Rword[2] == TaskIndex && _RXor == _Rword[5])//(正确反馈TaskIndex的消息应答)
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// {
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// return true;
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// }
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// else
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// return false;
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//}
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//else
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//{
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// return false;
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//}
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}
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catch (Exception ex)
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{
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_commLayerError = "SimensCP5611.CSendDeviceOrder" + ":SendDeviceOrder---" + ex.Message;
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return false;
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}
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}
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/// <summary>
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/// 发送堆垛机以外的其它设备命令
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/// </summary>
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/// <param name="MessageIndex">消息编号</param>
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/// <param name="TaskIndex">任务编号</param>
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/// <param name="Order">命令字</param>
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/// 穿梭车命令字：
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///1-复位
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///2-左接货
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///3-左送货
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///4-右接货
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///5-右送货
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///6-停止
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///7-运动到1#位置
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///8-运动到2#位置
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/// …
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///输送机、台车命令字：
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///1-入库（朝向库）
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/// 2-出库（背向库）
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/// 3-送货
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/// 4-停止
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/// <param name="DeviceIndex">设备编号</param>
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/// <returns>发送其它设备命令是否成功</returns>
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public bool SendDeviceOrder(int MessageIndex, int TaskIndex, int Order, int DeviceIndex)
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{
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try
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{
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byte[] _byte = new byte[8];
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byte[] _temp = new byte[2];
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int[] _word = new int[4];
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_word[0] = 1;
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_word[1] = Order;
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_word[2] = TaskIndex;
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_word[3] = _word[0];
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for (int i = 1; i <= 2; i++)
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{
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_word[3] = _word[3] ^ _word[i];
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}
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for (int h = 0; h <= 3; h++)
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{
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_temp = CCarryConvert.GetByteFromInt16(Convert.ToUInt16(_word[h]));
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_byte[(2 * h)] = _temp[0];
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_byte[(2 * h + 1)] = _temp[1];
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}
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byte[] _RRword = new byte[8];
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int[] _Rword = new int[4];
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DataSet ds = dbo.ExceSQL("SELECT F_DeviceIndex, F_DBWAddress, F_DBWSendLength, F_DBWGetLength FROM T_Base_Device where F_DeviceIndex=" + DeviceIndex);
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DataView dv = ds.Tables[0].DefaultView;
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if (ds.Tables[0].DefaultView.Count > 0)
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{
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bool rr= CSimensCP5611.DBwrite_CP5611(1, 1, Convert.ToInt16(dv[0]["F_DBWAddress"]), Convert.ToInt16(dv[0]["F_DBWSendLength"])*2, _byte);
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if (rr == false)
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{
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_commLayerError = "SimensCP5611.CSendDeviceOrder" + ":SendDeviceOrder---" + CSimensCP5611.ErrorsText;
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return false;
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}
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else
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{
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return true;
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}
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//Thread.Sleep(300);
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//_RRword = CSimensCP5611.DB_Read_CP5611(1, 2, Convert.ToInt16(dv[0]["F_DBWAddress"]), Convert.ToInt16(dv[0]["F_DBWGetLength"]));
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//if (_RRword == null)
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//{
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// _commLayerError = "SimensCP5611.CSendDeviceOrder" + ":SendDeviceOrder---" + CSimensCP5611.ErrorsText;
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// return false;
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//}
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}
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else
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{
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return false;
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}
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//ds.Dispose();
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//for (int g = 0; g <= 3; g++)
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//{
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// _Rword[g] = _RRword[(2 * g)] * 256 + _RRword[(2 * g + 1)];
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//}
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//int _RXor = 0;
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//if (_Rword != null)
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//{
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// _RXor = _Rword[0];
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// for (int i = 1; i <= 2; i++)
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// {
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// _RXor = _RXor ^ _Rword[i];
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// }
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// if (_Rword[0] == 2 && _Rword[2] == TaskIndex && _RXor == _Rword[3])//PLC读出数据正确(正确反馈TaskIndex的消息应答)
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// {
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// return true;
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// }
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// else
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// return false;
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//}
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//else
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//{
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// return false;
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//}
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}
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catch (Exception ex)
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{
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_commLayerError = "SimensCP5611.CSendDeviceOrder" + ":SendDeviceOrder---" + ex.Message;
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return false;
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}
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}
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}
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}
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