319 lines
12 KiB
C#
319 lines
12 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 Microsoft.VisualBasic;
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using DBFactory;
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using ICommLayer;
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using System.Net;
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namespace SocketsUDP
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{
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/// <summary>
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/// 使用SocketsUDP的客户端进行通讯
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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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//CClientUDP ccuR = new CClientUDP();
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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，列-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，排-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，列-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，排-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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byte[] _Sdata = new byte[16];
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ushort[] _sIntdata = new ushort[8];
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ushort wIntXor = 0;
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byte[] _temp = new byte[2];
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_Sdata[0] = 16;
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_Sdata[1] = Convert.ToByte(MessageIndex);
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_temp=CommonClassLib.CCarryConvert.GetByteFromInt16(Convert.ToUInt16( TaskIndex));
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_Sdata[2] = _temp[0];//高八位
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_Sdata[3] = _temp[1];//低八位
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_Sdata[4] = Convert.ToByte(Order);
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_Sdata[5] = Convert.ToByte(DeviceIndex);
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_Sdata[6] = Convert.ToByte(StartX);
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_Sdata[7] = Convert.ToByte(StartY);
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_Sdata[8] = Convert.ToByte(StartZ);
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_Sdata[9] = Convert.ToByte(EndX);
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_Sdata[10] = Convert.ToByte(EndY);
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_Sdata[11] = Convert.ToByte(EndZ);
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_Sdata[12] = 0;
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_Sdata[13] = 0;
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_Sdata[14] = 0;
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//把两个字节转换成一个字
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for (int i = 0; i <= 6; i++)
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{
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_temp[0] = _Sdata[(2 * i)];
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_temp[1] = _Sdata[(2 * i+1)];
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_sIntdata[i] = CommonClassLib.CCarryConvert.GetInt16FromBytes(_temp);
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}
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//0字到5字（0--11字节）异或值放入第7个字（14和15字节）;第六字（12和13字节）默认值0不参与异或
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wIntXor = _sIntdata[0];
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for (int i = 1; i <= 5; i++)
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{
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wIntXor =(ushort)( wIntXor ^ _sIntdata[i]);
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}
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_sIntdata[7] = wIntXor;
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_temp=CommonClassLib.CCarryConvert.GetByteFromInt16(_sIntdata[7]);
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_Sdata[14] =_temp[0];
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_Sdata[15] = _temp[1];
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//根据DeviceIndex,得到Sockets通讯的初始设置
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DataSet ds = dbo.ExceSQL("SELECT F_DeviceIndex,F_DeviceKindIndex, F_LocalIP, F_LocalPort, F_RemoteIP, F_RemotePort 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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CClientUDP.RemoteServer = (EndPoint)new IPEndPoint(IPAddress.Parse(dv[0]["F_RemoteIP"].ToString()), Convert.ToInt32(dv[0]["F_RemotePort"]));
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CClientUDP.LocalServer = (EndPoint)new IPEndPoint(IPAddress.Parse(dv[0]["F_LocalIP"].ToString()), Convert.ToInt32(dv[0]["F_LocalPort"]));
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CClientUDP.ReceiveUdp(dv[0]["F_LocalIP"].ToString(), Convert.ToInt32(dv[0]["F_LocalPort"]));
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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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//////////////////////////////////////考虑重发
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if (CClientUDP.SendUdp(_Sdata) == true)
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{
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Thread.Sleep(300);
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CClientUDP.ReceiveUdp();
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byte[] _GetData = CClientUDP.ByteData;
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if (_GetData != null)
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{
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//if ((_GetData[0] == 8) && (_GetData[1] == 240) && (_GetData[2] == MessageIndex) &&
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// ((_GetData[3] * Math.Pow(2, 8) + _GetData[4]) == TaskIndex) &&
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// (_GetData[5] == DeviceIndex) && (_GetData[6] == 170))
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//{
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// //////////////////////////////////////考虑重发
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// byte GXor = 0;
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// GXor = _GetData[0];
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// for (int i = 1; i <= 6; i++)
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// {
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// GXor = Convert.ToByte(Convert.ToInt16(GXor) ^ Convert.ToInt16(_GetData[i]));
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// }
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// if (GXor == _GetData[7])
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// {
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CClientUDP.CloseUDP();
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return true;
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// }
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// else
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// {
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// ccu.CloseUDP();
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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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// ccu.CloseUDP();
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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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CClientUDP.CloseUDP();
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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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CClientUDP.CloseUDP();
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_commLayerError = this.ToString() + "：SendDeviceOrder---" + CClientUDP.UdpError;
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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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CClientUDP.CloseUDP();
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_commLayerError = this.ToString() + "：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[] _Sdata = new byte[16];
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byte WXor = 0;
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_Sdata[0] = 16;
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_Sdata[1] = Convert.ToByte(MessageIndex);
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_Sdata[2] = Convert.ToByte(TaskIndex >> 8);//高八位
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_Sdata[3] = Convert.ToByte(TaskIndex & 255);//低八位
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_Sdata[4] = Convert.ToByte(Order);
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_Sdata[5] = Convert.ToByte(DeviceIndex);
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_Sdata[6] = 0;
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_Sdata[7] = 0;
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_Sdata[8] = 0;
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_Sdata[9] = 0;
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_Sdata[10] = 0;
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_Sdata[11] = 0;
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_Sdata[12] = 0;
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_Sdata[13] = 0;
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_Sdata[14] = 0;
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WXor = _Sdata[0];
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for (int i = 1; i <= 14; i++)
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{
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WXor = Convert.ToByte(Convert.ToInt16(WXor) ^ Convert.ToInt16(_Sdata[i]));
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}
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_Sdata[15] = WXor;
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//根据DeviceIndex,得到Sockets通讯的初始设置
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DataSet ds = dbo.ExceSQL("SELECT F_DeviceIndex,F_DeviceKindIndex, F_LocalIP, F_LocalPort, F_RemoteIP, F_RemotePort 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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CClientUDP.RemoteServer = (EndPoint)new IPEndPoint(IPAddress.Parse(dv[0]["F_RemoteIP"].ToString()), Convert.ToInt32(dv[0]["F_RemotePort"]));
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CClientUDP.LocalServer = (EndPoint)new IPEndPoint(IPAddress.Parse(dv[0]["F_LocalIP"].ToString()), Convert.ToInt32(dv[0]["F_LocalPort"]));
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CClientUDP.ReceiveUdp(dv[0]["F_LocalIP"].ToString(), Convert.ToInt32(dv[0]["F_LocalPort"]));
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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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//////////////////////////////////////考虑重发
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if (CClientUDP.SendUdp(_Sdata) == true)
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{
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Thread.Sleep(300);
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byte[] _GetData = CClientUDP.ByteData;
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if (_GetData != null)
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{
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if ((_GetData[0] == 8) && (_GetData[1] == 240) && (_GetData[2] == MessageIndex) &&
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((_GetData[3] * Math.Pow(2, 8) + _GetData[4]) == TaskIndex) &&
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(_GetData[5] == DeviceIndex) && (_GetData[6] == 170))
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{
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//////////////////////////////////////考虑重发
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byte GXor = 0;
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GXor = _GetData[0];
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for (int i = 1; i <= 6; i++)
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{
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GXor = Convert.ToByte(Convert.ToInt16(GXor) ^ Convert.ToInt16(_GetData[i]));
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}
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if (GXor == _GetData[7])
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return true;
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else
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return false;
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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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_commLayerError = this.ToString() + ":SendDeviceOrder---" + CClientUDP.UdpError;
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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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_commLayerError = this.ToString() + ":SendDeviceOrder---" + CClientUDP.UdpError;
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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 = this.ToString() + "：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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