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

namespace Mushiny.Model
{
    /// <summary>
    /// RCS->AGV
    /// 强制故障清除命令包：需要手动强制清除机器人的某个或所有故障的时候发送一次
    /// </summary>
    internal class ForceClearFaultPkg:PkgData
    {
        public ForceClearFaultPkg() : base() 
        {
            FrameHead = 0xbb;
            CmdWord = 0x04;
        }
        /// <summary>
        /// 故障ID
        /// </summary>
        public ushort FaultID {  get; set; }
        /// <summary>
        /// 保留
        /// </summary>
        public byte Reserved {  get; set; }
        public override byte[] ToBytes()
        {
            List<byte> bytes = new List<byte>(base.ToBytes())
            {
            };
            bytes.AddRange(Common.ConvertToBytes(FaultID));
            bytes.Add(Reserved);
            calSendCrc(bytes);
            bytes.Add(CRC16Low);
            bytes.Add(CRC16Upper);
            return bytes.ToArray();
        }
    }
}