HeartBeatPkg.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace Mushiny.Model
{
/// <summary>
/// AGV->RCS
/// </summary>
internal class HeartBeatPkg:PkgData
{
public HeartBeatPkg() : base()
{
}
public Location Location { get; set; }
public byte CurState { get; set; }
/// <summary>
/// 直行方向坐标
/// 单位：mm
/// </summary>
public float StraightDirectionCoordinates { get; set; }
/// <summary>
/// 当前角度
/// 单位：°
/// </summary>
public float CurAngle { get; set; }
/// <summary>
/// 惯导角度
/// 单位：°
/// </summary>
public float InertialNavigationAngle { get; set; }
/// <summary>
/// 编码器角度
/// 单位：°
/// </summary>
public float EncoderAngle { get; set; }
/// <summary>
/// 当前高度
/// </summary>
public short CurHeight { get; set; }
/// <summary>
/// 传感器状态标志
/// </summary>
public byte[] SensorStatusFlags { get; set; }
public override bool Parse(byte[] bytes)
{
bool result = false;
try
{
if (base.Parse(bytes))
{
if (bytes.Length < 41)
{
return false;
}
Location = new Location();
Location.AddrCode = Common.ConvertToUInt(Common.GetSubBytes(bytes, 12, 4));
CurState = Common.GetSubBytes(bytes, 16, 1)[0];
StraightDirectionCoordinates = Common.ConvertToFloat(Common.GetSubBytes(bytes, 17, 4));
CurAngle = Common.ConvertToFloat(Common.GetSubBytes(bytes, 21, 4));
InertialNavigationAngle = Common.ConvertToFloat(Common.GetSubBytes(bytes, 25, 4));
EncoderAngle = Common.ConvertToFloat(Common.GetSubBytes(bytes, 29, 4));
CurHeight = Common.ConvertToShort(Common.GetSubBytes(bytes, 33, 2));
SensorStatusFlags = Common.GetSubBytes(bytes, 35, 4);
result = true;
}
else
{
result = false;
}
}
catch (Exception ex)
{
throw ex;
}
return result;
}
}
}