DWZB_Agv_Agreement/DWZB_Agv_Agreement/Agv_Agreement/AgvStatusResponseMd.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace DWZB_Agv_Agreement.Agv_Agreement
{
    /// <summary>
    /// 状态反馈(AGV发给上位机)指令实体类
    /// </summary>
    public class AgvStatusResponseMd : DataHeadMd
    {
        private const int btyArrLen = 63;
        /// <summary>
        /// AGV工作状态
        /// </summary>
        public byte AgvWorkMode { get; set; }
        /// <summary>
        /// AGV运行状态
        /// </summary>
        public byte AgvRunStatus { get; set; }
        /// <summary>
        /// AGV抱夹状态
        /// </summary>
        public byte AgvClipStatus { get; set; }
        /// <summary>
        /// AGV运动状态
        /// </summary>
        public byte AgvMotionStatus { get; set; }
        /// <summary>
        /// 当前任务阶段
        /// </summary>
        public byte CurrentTaskStage { get; set; }
        /// <summary>
        /// 支撑状态
        /// </summary>
        public byte PropUpStatus { get; set; }
        /// <summary>
        /// 光柱个数
        /// </summary>
        public byte BeamQty { get; set; }
        /// <summary>
        /// 车头超声波信号
        /// </summary>
        public byte AgvHeadUltrasonicSignal{ get; set; }
        /// <summary>
        /// 车尾超声波信号
        /// </summary>
        public byte AgvTailUltrasonicSignal { get; set; }
        /// <summary>
        /// 防撞条屏蔽
        /// </summary>
        public byte PreventBumpDeviceScreenSignal { get; set; }
        /// <summary>
        /// AGV当前位置X坐标
        /// </summary>
        public int AgvCurrent_X { get; set; }
        /// <summary>
        /// AGV当前位置Y坐标
        /// </summary>
        public int AgvCurrent_Y { get; set; }
        /// <summary>
        /// AGV当前位置R角度
        /// </summary>
        public int AgvCurrent_Angle { get; set; }
        /// <summary>
        /// 电池的电量
        /// </summary>
        public int Electricity { get; set; }
        /// <summary>
        /// 电池的电压
        /// </summary>
        public int ElectricTension { get; set; }
        /// <summary>
        /// 电池的电流
        /// </summary>
        public int ElectricCurrent { get; set; }
        /// <summary>
        /// AGV当前指令编号
        /// </summary>
        public int AgvCurrentCmdNo { get; set; }
        /// <summary>
        /// 报警编号1
        /// </summary>
        public int AlarmSignal1 { get; set; }
        /// <summary>
        /// 报警编号2
        /// </summary>
        public int AlarmSignal2 { get; set; }
        /// <summary>
        /// 报警编号3
        /// </summary>
        public int AlarmSignal3 { get; set; }
        /// <summary>
        /// 报警编号4
        /// </summary>
        public int AlarmSignal4 { get; set; }
        /// <summary>
        /// 心跳信号，环形计数
        /// </summary>
        public int AgvHeartbeatSignal { get; set; }
        /// <summary>
        /// 序列化为byte数组。
        /// </summary>
        public byte[] SerializeBytArr()
        {
            List<byte> retBtArr = new(btyArrLen);
            retBtArr.Add(FunctionCode);
            retBtArr.AddRange(BitConverter.GetBytes(AgvNo));
            retBtArr.Add(AgvWorkMode);
            retBtArr.Add(AgvRunStatus);
            retBtArr.Add(AgvClipStatus);
            retBtArr.Add(AgvMotionStatus);
            retBtArr.Add(CurrentTaskStage);
            retBtArr.Add(PropUpStatus);
            retBtArr.Add(BeamQty);
            retBtArr.Add(AgvHeadUltrasonicSignal);
            retBtArr.Add(AgvTailUltrasonicSignal);
            retBtArr.Add(PreventBumpDeviceScreenSignal);
            retBtArr.AddRange(BitConverter.GetBytes(AgvCurrent_X));
            retBtArr.AddRange(BitConverter.GetBytes(AgvCurrent_Y));
            retBtArr.AddRange(BitConverter.GetBytes(AgvCurrent_Angle));
            retBtArr.AddRange(BitConverter.GetBytes(Electricity));
            retBtArr.AddRange(BitConverter.GetBytes(ElectricTension));
            retBtArr.AddRange(BitConverter.GetBytes(ElectricCurrent));
            retBtArr.AddRange(BitConverter.GetBytes(AgvCurrentCmdNo));
            retBtArr.AddRange(BitConverter.GetBytes(AlarmSignal1));
            retBtArr.AddRange(BitConverter.GetBytes(AlarmSignal2));
            retBtArr.AddRange(BitConverter.GetBytes(AlarmSignal3));
            retBtArr.AddRange(BitConverter.GetBytes(AlarmSignal4));
            retBtArr.AddRange(BitConverter.GetBytes(AgvHeartbeatSignal));
            return retBtArr.ToArray();
        }
    }
}