XS202408319330/Tools/DispatcherTool.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
using System.Text;
using System.Threading;
using AGV_WPF.DLL;
using AGV_WPF.Model;
using AGV_WPF.Models;
using AGV_WPF_Global;
using WCS.API.WebApiClient;

namespace AGV_WPF.Tools
{
   public class DispatcherTool
   {
       public const int COM_FUNC = 1;
       public const int COM_ADDRESS = 3;
       public const int COM_ROUTE = 7;
       public const int COM_MARK = 8;
       public const int COM_AGV = 11;
       public const int COM_CHECK = 12;

        public static byte[] CRC16(byte[] data)
        {
            int len = data.Length;
            if (len > 0)
            {
                ushort crc = 0xFFFF;

                for (int i = 0; i < len; i++)
                {
                    crc = (ushort)(crc ^ (data[i]));
                    for (int j = 0; j < 8; j++)
                    {
                        crc = (crc & 1) != 0 ? (ushort)((crc >> 1) ^ 0xA001) : (ushort)(crc >> 1);
                    }
                }
                byte hi = (byte)((crc & 0xFF00) >> 8);  //高位置
                byte lo = (byte)(crc & 0x00FF);         //低位置

                return new byte[] { lo, hi };
            }
            return new byte[] { 0, 0 };
        }

        PLCSqlDLL PLCSql = new PLCSqlDLL();

        public AGVInfo GetStationInfo(string statiom)
        {
            string mark = "";
            AGVInfo Agvinfo = new AGVInfo();

            try
            {
                //  while (AGVPosW)
                {
                    List<AGVInfoModel> listModel = GlobalPara.AgvInfoDic.Values.ToList();
                    List<AGVInfoModel> results = listModel.FindAll(o => o.MARKNUM.ToString() == statiom && o.ConnectStatus == true); //停止点有车
                    if (results != null && results.Count > 0)
                    {
                        foreach (AGVInfoModel info in results)
                        {
                            if (info != null)
                            {
                                PLCSql.PLCMESSelect(info.AGVNUM.ToString(), "2", ref Agvinfo);

                            }
                        }
                    }
                    Thread.Sleep(500);
                }   //AGVpos为false代表未叫车 才进循环
            }
            catch (Exception ex)
            {

            }

            return Agvinfo;

        }
        public static void AgvReadOnStop(int mark, int route,string ip)
        {
            byte[] buffer = new byte[14] { 0x10, 0, 0x30, 0x30, 0x30, 0x50, 0x30, 0x30, 0, 0, 0, 0, 0, 0x03 };
            buffer[COM_FUNC] = 0x35;
           

            int Route = 0x3030 + route;
            buffer[COM_ROUTE - 1] = (byte)((Route >> 8) & 0xFF);
            buffer[COM_ROUTE] = (byte)(Route & 0xFF);
            buffer[COM_MARK] = (byte)((mark & 0xff00) >> 8);
            buffer[COM_MARK + 1] = (byte)(mark & 0x00ff);
            buffer[COM_CHECK] = XOR_Check(buffer, 12);
            IPEndPoint endPoint = new IPEndPoint(IPAddress.Parse(ip), 8899) ;
            // if (!GlobalPara.SendBytesList.Contains(buffer))
            {
                for (int i = 0; i < 1; i++)
                {
                    //            GlobalPara.SendBytesList.Add(buffer);
                    GlobalPara.communication.SendData(buffer, endPoint);
                    System.Threading.Thread.Sleep(100);
                }
            }
        }
        public static void AgvReleasedOnStop(int mark, int route,string ip)
        {
            byte[] buffer = new byte[14] { 0x10, 0, 0x30, 0x30, 0x30, 0x50, 0x30, 0x30, 0, 0, 0, 0, 0, 0x03 };
            buffer[COM_FUNC] = 0x38;
           

            int Route = 0x3030 + route;
            buffer[COM_ROUTE - 1] = (byte)((Route >> 8) & 0xFF);
            buffer[COM_ROUTE] = (byte)(Route & 0xFF);
            buffer[COM_MARK] = (byte)((mark & 0xff00) >> 8);
            buffer[COM_MARK + 1] = (byte)(mark & 0x00ff);
            buffer[COM_CHECK] = XOR_Check(buffer, 12);
            IPEndPoint endPoint = new IPEndPoint(IPAddress.Parse(ip), 8899);
            // if (!GlobalPara.SendBytesList.Contains(buffer))
            {
                for (int i = 0; i < 1; i++)
                {
                    //            GlobalPara.SendBytesList.Add(buffer);
                    GlobalPara.communication.SendData(buffer, endPoint);
                    System.Threading.Thread.Sleep(100);
                }
            }
        }
        public static void AgvReadOnStop(int mark, int route, int targetPos = 0, string ip = null)
        {
            byte[] buffer = new byte[14] { 0x10, 0, 0x30, 0x30, 0x30, 0x50, 0x30, 0x30, 0, 0, 0, 0, 0, 0x03 };
            buffer[COM_FUNC] = 0x35;
            buffer[4] = (byte)((targetPos >> 8) & 0xFF);
            buffer[5] = (byte)(targetPos & 0xFF);

            int Route = 0x3030 + route;
            buffer[COM_ROUTE - 1] = (byte)((Route >> 8) & 0xFF);
            buffer[COM_ROUTE] = (byte)(Route & 0xFF);
            buffer[COM_MARK] = (byte)((mark & 0xff00) >> 8);
            buffer[COM_MARK + 1] = (byte)(mark & 0x00ff);
            buffer[COM_CHECK] = XOR_Check(buffer, 12);
            // if (!GlobalPara.SendBytesList.Contains(buffer))
            {
                for (int i = 0; i < 1; i++)
                {
                    //            GlobalPara.SendBytesList.Add(buffer);
                    if (ip == null)
                    {
                        GlobalPara.communication.SendData(buffer, null);
                    }
                    else
                    {
                        IPEndPoint iPEndPoint = new IPEndPoint(IPAddress.Parse(ip), 8899);
                        GlobalPara.communication.SendData(buffer, iPEndPoint);
                    }
                    System.Threading.Thread.Sleep(100);
                }
            }
        }
        public static void AgvReleasedOnStop(int mark, int route, int targetPos = 0, string ip = null)
        {
            byte[] buffer = new byte[14] { 0x10, 0, 0x30, 0x30, 0x30, 0x50, 0x30, 0x30, 0, 0, 0, 0, 0, 0x03 };
            buffer[COM_FUNC] = 0x38;
            buffer[4] = (byte)((targetPos >> 8) & 0xFF);
            buffer[5] = (byte)(targetPos & 0xFF);

            int Route = 0x3030 + route;
            buffer[COM_ROUTE - 1] = (byte)((Route >> 8) & 0xFF);
            buffer[COM_ROUTE] = (byte)(Route & 0xFF);
            buffer[COM_MARK] = (byte)((mark & 0xff00) >> 8);
            buffer[COM_MARK + 1] = (byte)(mark & 0x00ff);
            buffer[COM_CHECK] = XOR_Check(buffer, 12);
            // if (!GlobalPara.SendBytesList.Contains(buffer))
            {
                for (int i = 0; i < 1; i++)
                {
                    //            GlobalPara.SendBytesList.Add(buffer);
                    if (ip == null)
                    {
                        GlobalPara.communication.SendData(buffer, null);
                    }
                    else
                    {
                        IPEndPoint iPEndPoint = new IPEndPoint(IPAddress.Parse(ip), 8899);
                        GlobalPara.communication.SendData(buffer, iPEndPoint);
                    }
                    System.Threading.Thread.Sleep(100);
                }
            }
        }
        public static byte XOR_Check(byte[] buffer, int count, int index = 0)
       {
           byte b = 0;
           for (int i = 0; i < count; i++)
           {
               b ^= buffer[index + i];
           }
           return b;
       }

        public static string ByteToHexString(byte[] buffer)
        {
            StringBuilder builder = new StringBuilder(buffer.Length * 3);
            foreach (byte data in buffer)
            {
                builder.Append(Convert.ToString(data, 16).PadLeft(2, '0').PadRight(3, ' '));
            }
            return builder.ToString().ToUpper();
        }


        public static void ReleaseAgvOnStop(int mark, int route, int targetPos = 0,int times=3)
       {
           byte[] buffer = new byte[14] { 0x10, 0, 0x30, 0x30, 0x30, 0x50, 0x30, 0x30, 0, 0, 0, 0, 0, 0x03 };
           buffer[COM_FUNC] = 0x37;
           buffer[4] = (byte)((targetPos >> 8) & 0xFF);
           buffer[5] = (byte)(targetPos & 0xFF);
          
           int Route = 0x3030 + route;
           buffer[COM_ROUTE - 1] = (byte)((Route >> 8) & 0xFF);
           buffer[COM_ROUTE] = (byte)(Route & 0xFF);
           buffer[COM_MARK] = (byte)((mark & 0xff00) >> 8);
           buffer[COM_MARK + 1] = (byte)(mark & 0x00ff);
           buffer[COM_CHECK] = XOR_Check(buffer, 12);
          // if (!GlobalPara.SendBytesList.Contains(buffer))
           {
               for (int i = 0; i < times; i++)
               {
                   GlobalPara.communication.SendData(buffer,null);
                   System.Threading.Thread.Sleep(20);
               }
           }
       }
       /// <summary>
       /// 控制AGV暂停或者放行
       /// </summary>
       /// <param name="agvID">AGV编号</param>
       /// <param name="iOperation">0是启动，1是放行</param>
       public static void ControlAGVBy1071(int agvID, int iOperation,int times=1)
       {
           byte[] buffer = new byte[10] { 0x10,0x71,0, 0, 0, 0, 0,0,0 ,0x03};
           buffer[2] = (byte)(agvID);
           if (iOperation >= 0 && iOperation < 8)
           {
               buffer[3] = Convert.ToByte((1 << iOperation) | 0x00);
           }
           buffer[8] = XOR_Check(buffer, 8);
      //     if (!GlobalPara.SendBytesList.Contains(buffer))
           {
               for (int i = 0; i < times; i++)
               {
                   GlobalPara.communication.SendData(buffer, null);
                   System.Threading.Thread.Sleep(20);
               }
           }
       }

        public static void AlarmStartOrStop(int flag, int number, string ipAddress = null)
        {
            byte[] buffer = new byte[16] { 0x10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
            buffer[4] = (byte)(flag);
            buffer[14] = (byte)(number);
            buffer[15] = XOR_Check(buffer, 15);
            for (int i = 0; i < 1; i++)
            {
                if (string.IsNullOrEmpty(ipAddress))
                {
                    GlobalPara.communication.SendData(buffer, null);
                }
                else
                {
                    GlobalPara.communication.SendData(buffer, new IPEndPoint(IPAddress.Parse(ipAddress), 8899));
                }
                System.Threading.Thread.Sleep(20);
            }
            //        for (int i = 0; i < 10; i++)
            {
                //       port.Write(buffer, 0, buffer.Length);
                //            Thread.Sleep(50);
            }
            if (true)
            {
                #region 写日志
                //string str = "结束点放行AGV（ReleaseAgv）， 结束点地标： " + mark.ToString() + "路线： " + route.ToString() + "\n";
                string str = "";
                for (int i = 0; i < buffer.Length; i++)
                    str += Convert.ToString(buffer[i], 16).ToString() + " ";
                Console.WriteLine(str);
                #endregion
            }
        }

        public static void AlarmStartOrStop(int flag, int number)
       {
           byte[] buffer = new byte[16] { 0x10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
           buffer[4] = (byte)(flag);
           buffer[14] = (byte)(number);
           buffer[15] = XOR_Check(buffer, 15);
           for (int i = 0; i < 1; i++)
           {
               GlobalPara.communication.SendData(buffer, null);
               System.Threading.Thread.Sleep(20);
           }
           //        for (int i = 0; i < 10; i++)
           {
               //       port.Write(buffer, 0, buffer.Length);
               //            Thread.Sleep(50);
           }
           if (true)
           {
               #region 写日志
               //string str = "结束点放行AGV（ReleaseAgv）， 结束点地标： " + mark.ToString() + "路线： " + route.ToString() + "\n";
               string str = "";
               for (int i = 0; i < buffer.Length; i++)
                   str += Convert.ToString(buffer[i], 16).ToString() + " ";
               Console.WriteLine(str);
               #endregion
           }
       }
       /// <summary>
       /// 控制全部AGV休眠 唤醒 启动 暂停
       /// </summary>
       /// <param name="function">0x20休眠，0x30唤醒，0x40启动，0x50暂停</param>
       /// <param name="area"></param>
       /// <param name="agvnum"></param>
       /// <param name="isSingle">是否单台操作</param>
       /// <param name="agvmark"></param>
       /// <param name="agvroute"></param>
       public static void ControlAllAgv(int function, int area=0, int agvnum = 0,bool isSingle=false, int agvmark = 0, int agvroute = 0)
       {
           byte[] buffer = new byte[14] { 0xAA, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0, 0, 0, 0, 0, 0xAB };

           buffer[2] = (byte)function;
           if (isSingle)
           {
               buffer[3] = (byte)(area);//|0x80   //对单台
           }
           else
           {
               buffer[3] = (byte)(area | 0x80);//对所有
           }
           if (agvnum != 0)
           {
               buffer[4] = (byte)((agvnum & 0xff00) >> 8);
               buffer[5] = (byte)(agvnum & 0x00ff);
           }
           if (agvmark != 0)
           {
               buffer[6] = (byte)((agvmark & 0xff00) >> 8);
               buffer[7] = (byte)(agvmark & 0x00ff);
           }
           if (agvroute != 0)
           {
               buffer[8] = (byte)((agvroute & 0xff00) >> 8);
               buffer[9] = (byte)(agvroute & 0x00ff);
           }
           byte checkSum = 0x00;
           for (int i = 0; i < 12; i++)//异或校验
           {
               checkSum^= buffer[i];
           }
           buffer[12] = checkSum;
        //   if (!GlobalPara.SendBytesList.Contains(buffer))
           {
               for (int i = 0; i < 5; i++)
               {
                   GlobalPara.communication.SendData(buffer, null);
                   System.Threading.Thread.Sleep(20);
               }
           }
       }
    }
}