first

2026-07-14 21:33:39 +08:00
commit 4b28b75e57
2227 changed files with 768410 additions and 0 deletions
@@ -0,0 +1,60 @@
+using Common.Net.Tcp;
+using System.Net;
+
+namespace FASS.Extend.Call
+{
+    public class Command
+    {
+        public TcpClient Client { get; private set; }
+
+        public Command(string ip, string port)
+        {
+            Client = new TcpClient()
+            {
+                RemoteEndPoint = new IPEndPoint(IPAddress.Parse(ip), int.Parse(port)),
+                SendTimeout = 500,
+                ReceiveTimeout = 500
+            };
+        }
+
+        public bool GetButton(string buttonNo)
+        {
+            var result = false;
+            try
+            {
+                Client.Connect();
+                var sendMessage = new SendMessage().SetMessage(byte.Parse(buttonNo));
+                var sendByteArray = sendMessage.GetByteArray();
+                var receiveByteArray = Client.SendAndReceive(sendByteArray);
+                if (receiveByteArray is not null)
+                {
+                    var receiveMessage = new ReceiveMessage().GetMessage(receiveByteArray);
+                    if (receiveMessage is not null && receiveMessage.ButtonStatus > 0)
+                    {
+                        result = true;
+                    }
+                    if (receiveByteArray is not null)
+                    {
+                        if (receiveByteArray.Length == 7 && receiveByteArray[3] > 0)
+                        {
+                            result = true;
+                        }
+                        if (receiveByteArray.Length == 11 && receiveByteArray[2] > 0)
+                        {
+                            result = true;
+                        }
+                    }
+                }
+            }
+            catch
+            {
+                result = false;
+            }
+            finally
+            {
+                Client.Disconnect();
+            }
+            return result;
+        }
+    }
+}
@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net10.0</TargetFramework>
+		<ImplicitUsings>enable</ImplicitUsings>
+		<Nullable>enable</Nullable>
+		<Version>2.4.2</Version>
+	</PropertyGroup>
+
+	<ItemGroup>
+	  <PackageReference Include="Common.Net" Version="2.4.2" />
+	</ItemGroup>
+
+</Project>
@@ -0,0 +1,42 @@
+namespace FASS.Extend.Call
+{
+    public class ReceiveMessage
+    {
+        public byte Begin { get; set; }
+        public byte Length { get; set; }
+        public byte ButtonNo { get; set; }
+        public byte ButtonStatus { get; set; }
+        public byte Power { get; set; }
+        public byte RSSI { get; set; }
+        public byte QOS { get; set; }
+
+        public ReceiveMessage? GetMessage(byte[] byteArray)
+        {
+            if (byteArray == null || byteArray.Length != 7)
+            {
+                return null;
+            }
+            Begin = byteArray[0];
+            Length = byteArray[1];
+            ButtonNo = byteArray[2];
+            ButtonStatus = byteArray[3];
+            Power = byteArray[4];
+            RSSI = byteArray[5];
+            QOS = byteArray[6];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[7];
+            byteArray[0] = Begin;
+            byteArray[1] = Length;
+            byteArray[2] = ButtonNo;
+            byteArray[3] = ButtonStatus;
+            byteArray[4] = Power;
+            byteArray[5] = RSSI;
+            byteArray[6] = QOS;
+            return byteArray;
+        }
+    }
+}
@@ -0,0 +1,38 @@
+namespace FASS.Extend.Call
+{
+    public class SendMessage
+    {
+        public byte Begin { get; set; }
+        public byte Length { get; set; }
+        public byte ButtonNo { get; set; }
+
+        public SendMessage SetMessage(byte buttonNo)
+        {
+            Begin = 0x1A;
+            Length = 0x01;
+            ButtonNo = buttonNo;
+            return this;
+        }
+
+        public SendMessage? GetMessage(byte[] byteArray)
+        {
+            if (byteArray == null || byteArray.Length != 3)
+            {
+                return null;
+            }
+            Begin = byteArray[0];
+            Length = byteArray[1];
+            ButtonNo = byteArray[2];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[3];
+            byteArray[0] = Begin;
+            byteArray[1] = Length;
+            byteArray[2] = ButtonNo;
+            return byteArray;
+        }
+    }
+}
@@ -0,0 +1,35 @@
+using System.Net.Http.Headers;
+using HttpClient = Common.Net.Http.HttpClient;
+
+namespace FASS.Extend.Car.Fairyland.Pc
+{
+    public class Command
+    {
+        public HttpClient Client { get; private set; }
+        public Command(Uri uri)
+        {
+            Client = new HttpClient()
+            {
+                BaseAddress = uri,
+                AuthenticationHeaderValue = new AuthenticationHeaderValue("Bearer", "Token"),
+                Timeout = TimeSpan.FromMilliseconds(500)
+            };
+            Client.Initialize();
+        }
+
+        public string Request(string url, HttpContent content)
+        {
+            var response = Client.PostAsync(url, content).GetAwaiter().GetResult();
+            var responseString = response.Content.ReadAsStringAsync().GetAwaiter().GetResult();
+            return responseString;
+        }
+
+        public string Start(HttpContent content) => Request("/car/start", content);
+        public string Stop(HttpContent content) => Request("/car/stop", content);
+        public string EmergencyStop(HttpContent content) => Request("/car/emergencyStop", content);
+        public string Reset(HttpContent content) => Request("/car/reset", content);
+        public string Action(HttpContent content) => Request("/car/action", content);
+        public string Task(HttpContent content) => Request("/car/task", content);
+        public string State(HttpContent content) => Request("/car/state", content);
+    }
+}
@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net10.0</TargetFramework>
+		<ImplicitUsings>enable</ImplicitUsings>
+		<Nullable>enable</Nullable>
+		<Version>2.4.2</Version>
+	</PropertyGroup>
+
+	<ItemGroup>
+	  <PackageReference Include="Common.Net" Version="2.4.2" />
+	</ItemGroup>
+
+</Project>
@@ -0,0 +1,10 @@
+namespace FASS.Extend.Car.Fairyland.Pc.Models.Request
+{
+    public class Action
+    {
+        public required string Code { get; set; }
+        public required string ActionType { get; set; }
+        public required string BlockingType { get; set; }
+        public List<Parameter> Parameters { get; set; } = [];
+    }
+}
@@ -0,0 +1,8 @@
+namespace FASS.Extend.Car.Fairyland.Pc.Models.Request
+{
+    public class CarAction
+    {
+        public required string CarCode { get; set; }
+        public List<Action> Actions { get; set; } = [];
+    }
+}
@@ -0,0 +1,7 @@
+namespace FASS.Extend.Car.Fairyland.Pc.Models.Request
+{
+    public class CarEmergencyStop
+    {
+        public required string CarCode { get; set; }
+    }
+}
@@ -0,0 +1,7 @@
+namespace FASS.Extend.Car.Fairyland.Pc.Models.Request
+{
+    public class CarReset
+    {
+        public required string CarCode { get; set; }
+    }
+}
@@ -0,0 +1,7 @@
+namespace FASS.Extend.Car.Fairyland.Pc.Models.Request
+{
+    public class CarStart
+    {
+        public required string CarCode { get; set; }
+    }
+}
@@ -0,0 +1,7 @@
+namespace FASS.Extend.Car.Fairyland.Pc.Models.Request
+{
+    public class CarState
+    {
+        public required string CarCode { get; set; }
+    }
+}
@@ -0,0 +1,8 @@
+namespace FASS.Extend.Car.Fairyland.Pc.Models.Request
+{
+    public class CarStop
+    {
+        public required string CarCode { get; set; }
+        public int DueTime { get; set; }
+    }
+}
@@ -0,0 +1,10 @@
+namespace FASS.Extend.Car.Fairyland.Pc.Models.Request
+{
+    public class CarTask
+    {
+        public required string CarCode { get; set; }
+        public required string TaskCode { get; set; }
+        public required string TaskType { get; set; }
+        public List<Node> Nodes { get; set; } = [];
+    }
+}
@@ -0,0 +1,8 @@
+namespace FASS.Extend.Car.Fairyland.Pc.Models.Request
+{
+    public class Node
+    {
+        public required string Code { get; set; }
+        public List<Action> Actions { get; set; } = [];
+    }
+}
@@ -0,0 +1,8 @@
+namespace FASS.Extend.Car.Fairyland.Pc.Models.Request
+{
+    public class Parameter
+    {
+        public required string Key { get; set; }
+        public string? Value { get; set; }
+    }
+}
@@ -0,0 +1,10 @@
+namespace FASS.Extend.Car.Fairyland.Pc.Models.Response
+{
+    public class Action
+    {
+        public required string Code { get; set; }
+        public required string ActionType { get; set; }
+        public required string BlockingType { get; set; }
+        public required string State { get; set; }
+    }
+}
@@ -0,0 +1,8 @@
+namespace FASS.Extend.Car.Fairyland.Pc.Models.Response
+{
+    public class Alarm
+    {
+        public required string Code { get; set; }
+        public string? Name { get; set; }
+    }
+}
@@ -0,0 +1,25 @@
+namespace FASS.Extend.Car.Fairyland.Pc.Models.Response
+{
+    public class CarState
+    {
+        public required string Code { get; set; }
+        public string? Name { get; set; }
+        public double Length { get; set; }
+        public double Width { get; set; }
+        public string? CurrState { get; set; }
+        public double Battery { get; set; }
+        public double X { get; set; }
+        public double Y { get; set; }
+        public double Theta { get; set; }
+        public double Speed { get; set; }
+        public string? CurrNodeCode { get; set; }
+        public string? StartNodeCode { get; set; }
+        public string? EndNodeCode { get; set; }
+        public string? CurrEdgeCode { get; set; }
+        public string? StartEdgeCode { get; set; }
+        public string? EndEdgeCode { get; set; }
+        public List<Task> Tasks { get; set; } = [];
+        public List<Action> Actions { get; set; } = [];
+        public List<Alarm> Alarms { get; set; } = [];
+    }
+}
@@ -0,0 +1,8 @@
+namespace FASS.Extend.Car.Fairyland.Pc.Models.Response
+{
+    public class Node
+    {
+        public required string Code { get; set; }
+        public List<Action> Actions { get; set; } = [];
+    }
+}
@@ -0,0 +1,9 @@
+namespace FASS.Extend.Car.Fairyland.Pc.Models.Response
+{
+    public class Task
+    {
+        public required string Code { get; set; }
+        public string? State { get; set; }
+        public List<Node> Nodes { get; set; } = [];
+    }
+}
@@ -0,0 +1,98 @@
+using System.Net;
+using UdpServer = Common.Net.Udp.UdpServer;
+
+namespace FASS.Extend.Car.Fairyland.Pcb
+{
+    public class Command
+    {
+        public UdpServer Server { get; private set; }
+
+        public EndPoint Remote { get => Server.RemoteEndPoint; set => Server.RemoteEndPoint = value; }
+
+        public Command(IPEndPoint local)
+        {
+            Server = new UdpServer()
+            {
+                LocalEndPoint = local,
+                SendTimeout = 500,
+                ReceiveTimeout = 500
+            };
+        }
+
+        public void SendState(byte command, ushort car, EndPoint remote)
+        {
+            var sendMessage = new SendControlMessage().SetMessage(command, car, 0);
+            var sendByteArray = sendMessage.GetByteArray();
+            Server.Send(sendByteArray, remote);
+        }
+        public void SendState(EndPoint remote) => SendState(0x00, 0, remote);
+
+        public static ReceiveStateMessage GetReceiveStateMessage(byte[] byteArray) => new ReceiveStateMessage().GetMessage(byteArray);
+        public static byte[] GetReceiveStateByteArray(ReceiveStateMessage message) => message.GetByteArray();
+
+        public void SendControl(byte command, ushort car, ushort param, EndPoint remote)
+        {
+            var sendMessage = new SendControlMessage().SetMessage(command, car, param);
+            var sendByteArray = sendMessage.GetByteArray();
+            Server.Send(sendByteArray, remote);
+        }
+        public void SendControlStart(EndPoint remote, ushort direction = 0x00) => SendControl(0x01, 0, direction, remote);
+        public void SendControlStop(EndPoint remote, ushort second = 0x00) => SendControl(0x02, 0, second, remote);
+        public void SendControlEmergencyStop(EndPoint remote, ushort second = 0x00) => SendControl(0x03, 0, second, remote);
+        public void SendControlReset(EndPoint remote, ushort second = 0x00) => SendControl(0x04, 0, second, remote);
+        public void SendControlRest(EndPoint remote, ushort second = 0x00) => SendControl(0x05, 0, second, remote);
+        public void SendControlShutdown(EndPoint remote, ushort second = 0x00) => SendControl(0x06, 0, second, remote);
+
+        public static SendControlMessage GetSendControlMessage(byte[] byteArray) => new SendControlMessage().GetMessage(byteArray);
+        public static byte[] GetSendControlByteArray(SendControlMessage message) => message.GetByteArray();
+
+        public void SendAction(ushort car, ulong actionId, NodeMessage nodeMessage, EndPoint remote)
+        {
+            var sendMessage = new SendActionMessage().SetMessage(car, actionId, nodeMessage);
+            var sendByteArray = sendMessage.GetByteArray();
+            Server.Send(sendByteArray, remote);
+        }
+        public void SendAction(NodeMessage nodeMessage, EndPoint remote) => SendAction(0, 0, nodeMessage, remote);
+        public void SendActionStartStop(ushort node, byte startStop, EndPoint remote) => SendAction(0, 0, new NodeMessage() { Node = node, StartStop = startStop }, remote);
+        public void SendActionDirection(ushort node, byte direction, EndPoint remote) => SendAction(0, 0, new NodeMessage() { Node = node, Direction = direction }, remote);
+        public void SendActionOrientation(ushort node, byte orientation, EndPoint remote) => SendAction(0, 0, new NodeMessage() { Node = node, Orientation = orientation }, remote);
+        public void SendActionByroad(ushort node, byte byroad, EndPoint remote) => SendAction(0, 0, new NodeMessage() { Node = node, Byroad = byroad }, remote);
+        public void SendActionSpeed(ushort node, ushort speed, EndPoint remote) => SendAction(0, 0, new NodeMessage() { Node = node, Speed = speed }, remote);
+        public void SendActionObstacle(ushort node, byte obstacle, EndPoint remote) => SendAction(0, 0, new NodeMessage() { Node = node, Obstacle = obstacle }, remote);
+        public void SendActionAudio(ushort node, byte audio, EndPoint remote) => SendAction(0, 0, new NodeMessage() { Node = node, Audio = audio }, remote);
+        public void SendActionLight(ushort node, byte light, EndPoint remote) => SendAction(0, 0, new NodeMessage() { Node = node, Light = light }, remote);
+        public void SendActionCharge(ushort node, byte charge, EndPoint remote) => SendAction(0, 0, new NodeMessage() { Node = node, Charge = charge }, remote);
+        public void SendActionRest(ushort node, byte rest, EndPoint remote) => SendAction(0, 0, new NodeMessage() { Node = node, Rest = rest }, remote);
+        public void SendActionLift(ushort node, byte lift, EndPoint remote) => SendAction(0, 0, new NodeMessage() { Node = node, Lift = lift }, remote);
+        public void SendActionClamp(ushort node, byte clamp, EndPoint remote) => SendAction(0, 0, new NodeMessage() { Node = node, Clamp = clamp }, remote);
+        public void SendActionTray(ushort node, byte tray, EndPoint remote) => SendAction(0, 0, new NodeMessage() { Node = node, Tray = tray }, remote);
+        public void SendActionRoll(ushort node, byte roll, EndPoint remote) => SendAction(0, 0, new NodeMessage() { Node = node, Roll = roll }, remote);
+        public void SendActionShutdown(ushort node, byte shutdown, EndPoint remote) => SendAction(0, 0, new NodeMessage() { Node = node, Shutdown = shutdown }, remote);
+
+        public static SendActionMessage GetSendActionMessage(byte[] byteArray) => new SendActionMessage().GetMessage(byteArray);
+        public static byte[] GetSendActionByteArray(SendActionMessage message) => message.GetByteArray();
+
+        public void SendNodes(ushort car, ulong task, ushort count, NodeMessage[] nodeMessages, EndPoint remote)
+        {
+            var sendMessage = new SendNodesMessage().SetMessage(car, task, count, nodeMessages);
+            var sendByteArray = sendMessage.GetByteArray();
+            Server.Send(sendByteArray, remote);
+        }
+        public void SendNodes(ulong task, ushort count, NodeMessage[] nodeMessages, EndPoint remote) => SendNodes(0, task, count, nodeMessages, remote);
+
+        public static SendNodesMessage GetSendNodesMessage(byte[] byteArray) => new SendNodesMessage().GetMessage(byteArray);
+        public static byte[] GetSendNodesByteArray(SendNodesMessage message) => message.GetByteArray();
+
+        public void SendStateResponse(byte command, ushort car, ulong param, EndPoint remote)
+        {
+            var sendMessage = new SendStateResponseMessage().SetMessage(command, car, param);
+            var sendByteArray = sendMessage.GetByteArray();
+            Server.Send(sendByteArray, remote);
+        }
+
+        public static SendStateResponseMessage GetStateResponseMessage(byte[] byteArray) => new SendStateResponseMessage().GetMessage(byteArray);
+
+        public static byte[] GetStateResponseByteArray(SendStateResponseMessage message) => message.GetByteArray();
+
+    }
+}
@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net10.0</TargetFramework>
+		<ImplicitUsings>enable</ImplicitUsings>
+		<Nullable>enable</Nullable>
+		<Version>2.4.2</Version>
+	</PropertyGroup>
+
+	<ItemGroup>
+	  <PackageReference Include="Common.Net" Version="2.4.2" />
+	</ItemGroup>
+
+</Project>
@@ -0,0 +1,117 @@
+namespace FASS.Extend.Car.Fairyland.Pcb
+{
+    public class NodeMessage
+    {
+        public ushort Node { get; set; }
+        public ushort Distance { get; set; }
+        public byte StartStop { get; set; }
+        public byte Direction { get; set; }
+        public byte Orientation { get; set; }
+        public byte Byroad { get; set; }
+        public ushort Speed { get; set; }
+        public byte Obstacle { get; set; }
+        public byte Audio { get; set; }
+        public byte Light { get; set; }
+        public byte Charge { get; set; }
+        public byte Rest { get; set; }
+        public byte Lift { get; set; }
+        public byte Clamp { get; set; }
+        public byte Tray { get; set; }
+        public byte Roll { get; set; }
+        public byte Shutdown { get; set; }
+        public byte[] Reserve { get; set; } = new byte[5];
+
+        public NodeMessage SetMessage(
+            ushort node,
+            ushort distance,
+            byte startStop,
+            byte direction,
+            byte orientation,
+            byte byroad,
+            ushort speed,
+            byte obstacle,
+            byte audio,
+            byte light,
+            byte charge,
+            byte rest,
+            byte lift,
+            byte clamp,
+            byte tray,
+            byte roll,
+            byte shutdown)
+        {
+            Node = node;
+            Distance = distance;
+            StartStop = startStop;
+            Direction = direction;
+            Orientation = orientation;
+            Byroad = byroad;
+            Speed = speed;
+            Obstacle = obstacle;
+            Audio = audio;
+            Light = light;
+            Charge = charge;
+            Rest = rest;
+            Lift = lift;
+            Clamp = clamp;
+            Tray = tray;
+            Roll = roll;
+            Shutdown = shutdown;
+            return this;
+        }
+
+        public NodeMessage GetMessage(byte[] byteArray)
+        {
+            if (byteArray == null || byteArray.Length < 25) throw new Exception($"数据长度错误：{Utility.ByteArrayToHexString(byteArray)}");
+            Node = BitConverter.ToUInt16(byteArray[0..2]);
+            Distance = BitConverter.ToUInt16(byteArray[2..4]);
+            StartStop = byteArray[4];
+            Direction = byteArray[5];
+            Orientation = byteArray[6];
+            Byroad = byteArray[7];
+            Speed = BitConverter.ToUInt16(byteArray[8..10]);
+            Obstacle = byteArray[10];
+            Audio = byteArray[11];
+            Light = byteArray[12];
+            Charge = byteArray[13];
+            Rest = byteArray[14];
+            Lift = byteArray[15];
+            Clamp = byteArray[16];
+            Tray = byteArray[17];
+            Roll = byteArray[18];
+            Shutdown = byteArray[19];
+            Reserve = byteArray[20..];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[25];
+            var node = BitConverter.GetBytes(Node);
+            byteArray[0] = node[0];
+            byteArray[1] = node[1];
+            var distance = BitConverter.GetBytes(Distance);
+            byteArray[2] = distance[0];
+            byteArray[3] = distance[1];
+            byteArray[4] = StartStop;
+            byteArray[5] = Direction;
+            byteArray[6] = Orientation;
+            byteArray[7] = Byroad;
+            var speed = BitConverter.GetBytes(Speed);
+            byteArray[8] = speed[0];
+            byteArray[9] = speed[1];
+            byteArray[10] = Obstacle;
+            byteArray[11] = Audio;
+            byteArray[12] = Light;
+            byteArray[13] = Charge;
+            byteArray[14] = Rest;
+            byteArray[15] = Lift;
+            byteArray[16] = Clamp;
+            byteArray[17] = Tray;
+            byteArray[18] = Roll;
+            byteArray[19] = Shutdown;
+            Array.Copy(Reserve, 0, byteArray, 20, Reserve.Length);
+            return byteArray;
+        }
+    }
+}
@@ -0,0 +1,167 @@
+using System.Text;
+
+namespace FASS.Extend.Car.Fairyland.Pcb
+{
+    public class ReceiveStateMessage
+    {
+        public byte Begin { get; set; } = 0xBB;
+        public byte Command { get; set; }
+        public ushort Car { get; set; }
+        public ushort Length { get; set; }
+        public ushort Width { get; set; }
+        public ushort SystemVersion { get; set; }
+        public ushort SupportVersion { get; set; }
+        public string? CarType { get; set; }
+        public byte BatteryCharge { get; set; }
+        public byte BatteryHealth { get; set; }
+        public ushort BatteryCurrent { get; set; }
+        public ushort BatteryVoltage { get; set; }
+        public ushort HeadingAngle { get; set; }
+        public byte State { get; set; }
+        public ulong Alarm { get; set; }
+        public ulong Task { get; set; }
+        public NodeMessage NodeMessage { get; set; } = new NodeMessage();
+        public byte[] Reserve { get; set; } = new byte[20];
+        public byte Check { get; set; }
+        public byte End { get; set; } = 0xEE;
+
+        public ReceiveStateMessage SetMessage(
+            byte command,
+            ushort car,
+            ushort length,
+            ushort width,
+            ushort systemVersion,
+            ushort supportVersion,
+            string carType,
+            byte batteryCharge,
+            byte batteryHealth,
+            ushort batteryCurrent,
+            ushort batteryVoltage,
+            byte state,
+            ulong alarm,
+            ulong task,
+            NodeMessage nodeMessage)
+        {
+            Command = command;
+            Car = car;
+            Length = length;
+            Width = width;
+            SystemVersion = systemVersion;
+            SupportVersion = supportVersion;
+            CarType = carType;
+            BatteryCharge = batteryCharge;
+            BatteryHealth = batteryHealth;
+            BatteryCurrent = batteryCurrent;
+            BatteryVoltage = batteryVoltage;
+            State = state;
+            Alarm = alarm;
+            Task = task;
+            NodeMessage = nodeMessage;
+            return this;
+        }
+
+        public ReceiveStateMessage GetMessage(byte[] byteArray)
+        {
+            if (byteArray == null || byteArray.Length < 100) throw new Exception($"数据长度错误：{Utility.ByteArrayToHexString(byteArray)}");
+            //if (byteArray[98] != Utility.XOR(byteArray[1..^2])) throw new Exception($"数据校验错误：{Utility.ByteArrayToHexString(byteArray)}");
+            if (byteArray[0] != 0xBB || byteArray[99] != 0xEE) throw new Exception($"数据帧头尾错误：{Utility.ByteArrayToHexString(byteArray)}");
+            Begin = byteArray[0];
+            Command = byteArray[1];
+            Car = BitConverter.ToUInt16(byteArray[2..4]);
+            Length = BitConverter.ToUInt16(byteArray[4..6]);
+            Width = BitConverter.ToUInt16(byteArray[6..8]);
+            SystemVersion = BitConverter.ToUInt16(byteArray[8..10]);
+            SupportVersion = BitConverter.ToUInt16(byteArray[10..12]);
+            CarType = Encoding.ASCII.GetString(byteArray[12..28]).PadLeft(16, '0');
+            BatteryCharge = byteArray[28];
+            BatteryHealth = byteArray[29];
+            BatteryCurrent = BitConverter.ToUInt16(byteArray[30..32]);
+            BatteryVoltage = BitConverter.ToUInt16(byteArray[32..34]);
+            HeadingAngle = BitConverter.ToUInt16(byteArray[34..36]);
+            State = byteArray[36];
+            Alarm = BitConverter.ToUInt64(byteArray[37..45]);
+            Task = BitConverter.ToUInt64(byteArray[45..53]);
+            NodeMessage = new NodeMessage().GetMessage(byteArray[53..78]);
+            Reserve = byteArray[78..98];
+            Check = byteArray[98];
+            End = byteArray[99];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[100];
+            byteArray[0] = Begin;
+            byteArray[1] = Command;
+            var car = BitConverter.GetBytes(Car);
+            byteArray[2] = car[0];
+            byteArray[3] = car[1];
+            var length = BitConverter.GetBytes(Length);
+            byteArray[4] = length[0];
+            byteArray[5] = length[1];
+            var width = BitConverter.GetBytes(Width);
+            byteArray[6] = width[0];
+            byteArray[7] = width[1];
+            var systemVersion = BitConverter.GetBytes(SystemVersion);
+            byteArray[8] = systemVersion[0];
+            byteArray[9] = systemVersion[1];
+            var supportVersion = BitConverter.GetBytes(SupportVersion);
+            byteArray[10] = supportVersion[0];
+            byteArray[11] = supportVersion[1];
+            var carType = Encoding.ASCII.GetBytes((CarType ?? string.Empty).PadLeft(16, '0'));
+            byteArray[12] = carType[0];
+            byteArray[13] = carType[1];
+            byteArray[14] = carType[2];
+            byteArray[15] = carType[3];
+            byteArray[16] = carType[4];
+            byteArray[17] = carType[5];
+            byteArray[18] = carType[6];
+            byteArray[19] = carType[7];
+            byteArray[20] = carType[8];
+            byteArray[21] = carType[9];
+            byteArray[22] = carType[10];
+            byteArray[23] = carType[11];
+            byteArray[24] = carType[12];
+            byteArray[25] = carType[13];
+            byteArray[26] = carType[14];
+            byteArray[27] = carType[15];
+            byteArray[28] = BatteryCharge;
+            byteArray[29] = BatteryHealth;
+            var batteryCurrent = BitConverter.GetBytes(BatteryCurrent);
+            byteArray[30] = batteryCurrent[0];
+            byteArray[31] = batteryCurrent[1];
+            var batteryVoltage = BitConverter.GetBytes(BatteryVoltage);
+            byteArray[32] = batteryVoltage[0];
+            byteArray[33] = batteryVoltage[1];
+            var headingAngle = BitConverter.GetBytes(HeadingAngle);
+            byteArray[34] = headingAngle[0];
+            byteArray[35] = headingAngle[1];
+            byteArray[36] = State;
+            var alarm = BitConverter.GetBytes(Alarm);
+            byteArray[37] = alarm[0];
+            byteArray[38] = alarm[1];
+            byteArray[39] = alarm[2];
+            byteArray[40] = alarm[3];
+            byteArray[41] = alarm[4];
+            byteArray[42] = alarm[5];
+            byteArray[43] = alarm[6];
+            byteArray[44] = alarm[7];
+            var task = BitConverter.GetBytes(Task);
+            byteArray[45] = task[0];
+            byteArray[46] = task[1];
+            byteArray[47] = task[2];
+            byteArray[48] = task[3];
+            byteArray[49] = task[4];
+            byteArray[50] = task[5];
+            byteArray[51] = task[6];
+            byteArray[52] = task[7];
+            var nodeMessage = NodeMessage.GetByteArray();
+            Array.Copy(nodeMessage, 0, byteArray, 53, nodeMessage.Length);
+            Array.Copy(Reserve, 0, byteArray, 78, Reserve.Length);
+            //byteArray[98] = Check;
+            byteArray[98] = Utility.XOR(byteArray[1..^2]);
+            byteArray[99] = End;
+            return byteArray;
+        }
+    }
+}
@@ -0,0 +1,69 @@
+namespace FASS.Extend.Car.Fairyland.Pcb
+{
+    public class SendActionMessage
+    {
+        public byte Begin { get; set; } = 0xBB;
+        public byte Command { get; set; } = 0xA1;
+        public ushort Car { get; set; }
+        public ulong ActionId { get; set; }
+        public byte[] PlaceHolder { get; set; } = new byte[2];
+        public NodeMessage NodeMessage { get; set; } = new NodeMessage();
+        public byte[] Reserve { get; set; } = new byte[25];
+        public byte Check { get; set; }
+        public byte End { get; set; } = 0xEE;
+
+        public SendActionMessage SetMessage(
+            ushort car,
+            ulong actionId,
+            NodeMessage nodeMessage)
+        {
+            Car = car;
+            ActionId = actionId;
+            NodeMessage = nodeMessage;
+            return this;
+        }
+
+        public SendActionMessage GetMessage(byte[] byteArray)
+        {
+            if (byteArray == null || byteArray.Length < 100) throw new Exception($"数据长度错误：{Utility.ByteArrayToHexString(byteArray)}");
+            //if (byteArray[98] != Utility.XOR(byteArray[1..^2])) throw new Exception($"数据校验错误：{Utility.ByteArrayToHexString(byteArray)}");
+            Begin = byteArray[0];
+            Command = byteArray[1];
+            Car = BitConverter.ToUInt16(byteArray[2..4]);
+            ActionId = BitConverter.ToUInt64(byteArray[4..12]);
+            PlaceHolder = byteArray[12..14];
+            NodeMessage = new NodeMessage().GetMessage(byteArray[14..39]);
+            Reserve = byteArray[39..98];
+            Check = byteArray[98];
+            End = byteArray[99];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[100];
+            byteArray[0] = Begin;
+            byteArray[1] = Command;
+            var car = BitConverter.GetBytes(Car);
+            byteArray[2] = car[0];
+            byteArray[3] = car[1];
+            var action = BitConverter.GetBytes(ActionId);
+            byteArray[4] = action[0];
+            byteArray[5] = action[1];
+            byteArray[6] = action[2];
+            byteArray[7] = action[3];
+            byteArray[8] = action[4];
+            byteArray[9] = action[5];
+            byteArray[10] = action[6];
+            byteArray[11] = action[7];
+            //预留两个字节PlaceHolder[12..14]
+            var nodeMessage = NodeMessage.GetByteArray();
+            Array.Copy(nodeMessage, 0, byteArray, 14, nodeMessage.Length);
+            Array.Copy(Reserve, 0, byteArray, 39, Reserve.Length);
+            //byteArray[98] = Check;
+            byteArray[98] = Utility.XOR(byteArray[1..^2]);
+            byteArray[99] = End;
+            return byteArray;
+        }
+    }
+}
@@ -0,0 +1,56 @@
+namespace FASS.Extend.Car.Fairyland.Pcb
+{
+    public class SendControlMessage
+    {
+        public byte Begin { get; set; } = 0xBB;
+        public byte Command { get; set; } = 0x00;
+        public ushort Car { get; set; }
+        public ushort Param { get; set; }
+        public byte[] Reserve { get; set; } = new byte[41];
+        public byte Check { get; set; }
+        public byte End { get; set; } = 0xEE;
+
+        public SendControlMessage SetMessage(
+            byte command,
+            ushort car,
+            ushort param)
+        {
+            Command = command;
+            Car = car;
+            Param = param;
+            return this;
+        }
+
+        public SendControlMessage GetMessage(byte[] byteArray)
+        {
+            if (byteArray is null || byteArray.Length < 50) throw new Exception($"数据长度错误： {Utility.ByteArrayToHexString(byteArray)}");
+            //if (byteArray[48] != Utility.XOR(byteArray[1..^2])) throw new Exception($"数据校验错误：{Utility.ByteArrayToHexString(byteArray)}");
+            Begin = byteArray[0];
+            Command = byteArray[1];
+            Car = BitConverter.ToUInt16(byteArray[2..4]);
+            Param = BitConverter.ToUInt16(byteArray[4..6]);
+            Reserve = byteArray[6..48];
+            Check = byteArray[48];
+            End = byteArray[49];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[50];
+            byteArray[0] = Begin;
+            byteArray[1] = Command;
+            var car = BitConverter.GetBytes(Car);
+            byteArray[2] = car[0];
+            byteArray[3] = car[1];
+            var param = BitConverter.GetBytes(Param);
+            byteArray[4] = param[0];
+            byteArray[5] = param[1];
+            Array.Copy(Reserve, 0, byteArray, 6, Reserve.Length);
+            //byteArray[48] = Check;
+            byteArray[48] = Utility.XOR(byteArray[1..^2]);
+            byteArray[49] = End;
+            return byteArray;
+        }
+    }
+}
@@ -0,0 +1,92 @@
+using System.Buffers;
+
+namespace FASS.Extend.Car.Fairyland.Pcb
+{
+    public class SendNodesMessage
+    {
+        public byte Begin { get; set; } = 0xBB;
+        public byte Command { get; set; } = 0xB1;
+        public ushort Car { get; set; }
+        public ulong Task { get; set; }
+        public ushort Count { get; set; }
+        public NodeMessage[] NodeMessages { get; set; } = new NodeMessage[10]
+        {
+            new NodeMessage(),
+            new NodeMessage(),
+            new NodeMessage(),
+            new NodeMessage(),
+            new NodeMessage(),
+            new NodeMessage(),
+            new NodeMessage(),
+            new NodeMessage(),
+            new NodeMessage(),
+            new NodeMessage()
+        };
+        public byte[] Reserve { get; set; } = new byte[34];
+        public byte Check { get; set; }
+        public byte End { get; set; } = 0xEE;
+
+        public SendNodesMessage SetMessage(
+            ushort car,
+            ulong task,
+            ushort count,
+            NodeMessage[] nodeMessages)
+        {
+            Car = car;
+            Task = task;
+            Count = count;
+            Array.Copy(nodeMessages, 0, NodeMessages, 0, nodeMessages.Length);
+            return this;
+        }
+
+        public SendNodesMessage GetMessage(byte[] byteArray)
+        {
+            if (byteArray == null || byteArray.Length < 300) throw new Exception($"数据长度错误：{Utility.ByteArrayToHexString(byteArray)}");
+            //if (byteArray[298] != Utility.XOR(byteArray[1..^2])) throw new Exception($"数据校验错误：{Utility.ByteArrayToHexString(byteArray)}");
+            Begin = byteArray[0];
+            Command = byteArray[1];
+            Car = BitConverter.ToUInt16(byteArray[2..4]);
+            Task = BitConverter.ToUInt64(byteArray[4..12]);
+            Count = BitConverter.ToUInt16(byteArray[12..14]);
+            for (var i = 0; i < 10; i++)
+            {
+                var start = i * 25 + 14;
+                var end = start + 25;
+                NodeMessages[i] = new NodeMessage().GetMessage(byteArray[start..end]);
+            }
+            Reserve = byteArray[263..298];
+            Check = byteArray[298];
+            End = byteArray[299];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[300];
+            byteArray[0] = Begin;
+            byteArray[1] = Command;
+            var car = BitConverter.GetBytes(Car);
+            byteArray[2] = car[0];
+            byteArray[3] = car[1];
+            var task = BitConverter.GetBytes(Task);
+            byteArray[4] = task[0];
+            byteArray[5] = task[1];
+            byteArray[6] = task[2];
+            byteArray[7] = task[3];
+            byteArray[8] = task[4];
+            byteArray[9] = task[5];
+            byteArray[10] = task[6];
+            byteArray[11] = task[7];
+            var count = BitConverter.GetBytes(Count);
+            byteArray[12] = count[0];
+            byteArray[13] = count[1];
+            var nodeMessages = NodeMessages.SelectMany(e => e.GetByteArray()).ToArray();
+            Array.Copy(nodeMessages, 0, byteArray, 14, nodeMessages.Length);
+            Array.Copy(Reserve, 0, byteArray, 264, Reserve.Length);
+            //byteArray[298] = Check;
+            byteArray[298] = Utility.XOR(byteArray[1..^2]);
+            byteArray[299] = End;
+            return byteArray;
+        }
+    }
+}
@@ -0,0 +1,72 @@
+namespace FASS.Extend.Car.Fairyland.Pcb
+{
+    public class SendStateResponseMessage
+    {
+        public byte Begin { get; set; } = 0xBB;
+        public byte Command { get; set; } = 0x10;
+        public ushort Car { get; set; }
+        public ulong TimeStamp { get; set; }
+        public byte[] Reserve { get; set; } = new byte[28];
+        public byte Check { get; set; }
+        public byte End { get; set; } = 0xEE;
+
+        public SendStateResponseMessage SetMessage(
+            byte command,
+            ushort car,
+            ulong param)
+        {
+            Command = command;
+            Car = car;
+            TimeStamp = param;
+            return this;
+        }
+
+        public SendStateResponseMessage GetMessage(byte[] byteArray)
+        {
+            if (byteArray == null || byteArray.Length < 50) throw new Exception($"数据长度错误： {Utility.ByteArrayToHexString(byteArray)}");
+            //if (byteArray[48] != Utility.XOR(byteArray[1..^2])) throw new Exception($"数据校验错误：{Utility.ByteArrayToHexString(byteArray)}");
+            Begin = byteArray[0];
+            Command = byteArray[1];
+            Car = BitConverter.ToUInt16(byteArray[2..4]);
+            TimeStamp = BitConverter.ToUInt64(byteArray[4..12]);
+            Reserve = byteArray[20..48];
+            Check = byteArray[48];
+            End = byteArray[49];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[50];
+            byteArray[0] = Begin;
+            byteArray[1] = Command;
+            var car = BitConverter.GetBytes(Car);
+            byteArray[2] = car[0];
+            byteArray[3] = car[1];
+            var ticks = BitConverter.GetBytes(TimeStamp);
+            byteArray[4] = ticks[0];
+            byteArray[5] = ticks[1];
+            byteArray[6] = ticks[2];
+            byteArray[7] = ticks[3];
+            byteArray[8] = ticks[4];
+            byteArray[9] = ticks[5];
+            byteArray[10] = ticks[6];
+            byteArray[11] = ticks[7];
+            var date = new DateTime(1970, 1, 1, 8, 0, 0).AddMilliseconds(TimeStamp);
+            byteArray[12] = (byte)(date.Year - 1970);
+            byteArray[13] = (byte)(date.Month);
+            byteArray[14] = (byte)(date.Day);
+            byteArray[15] = (byte)(date.Hour);
+            byteArray[16] = (byte)(date.Minute);
+            byteArray[17] = (byte)(date.Second);
+            var millisecond = BitConverter.GetBytes((ushort)(date.Millisecond));
+            byteArray[18] = millisecond[0];
+            byteArray[19] = millisecond[1];
+            Array.Copy(Reserve, 0, byteArray, 20, Reserve.Length);
+            //byteArray[48] = Check;
+            byteArray[48] = Utility.XOR(byteArray[1..^2]);
+            byteArray[49] = End;
+            return byteArray;
+        }
+    }
+}
@@ -0,0 +1,24 @@
+namespace FASS.Extend.Car.Fairyland.Pcb
+{
+    public static class Utility
+    {
+        public static string ByteArrayToHexString(byte[]? byteArray, string separator = "")
+        {
+            if (byteArray is null)
+            {
+                return string.Empty;
+            }
+            return string.Join(separator, byteArray.Select(t => t.ToString("X2")));
+        }
+
+        public static byte XOR(byte[] byteArray)
+        {
+            byte xor = 0;
+            for (int i = 0; i < byteArray.Length; i++)
+            {
+                xor ^= byteArray[i];
+            }
+            return xor;
+        }
+    }
+}
@@ -0,0 +1,89 @@
+using System.Net;
+using TcpClient = Common.Net.Tcp.TcpClient;
+
+namespace FASS.Extend.Car.Fairyland.Plc
+{
+    public class Command
+    {
+        public TcpClient Client { get; private set; }
+
+        public Command(IPEndPoint remote)
+        {
+            Client = new TcpClient()
+            {
+                RemoteEndPoint = remote,
+                ConnectTimeout = 500,
+                SendTimeout = 500,
+                ReceiveTimeout = 500
+            };
+        }
+
+        public byte[]? SendState(byte command, ushort car)
+        {
+            var sendMessage = new SendControlMessage().SetMessage(command, car, 0);
+            var sendByteArray = sendMessage.GetByteArray();
+            var receiveByteArray = Client.SendAndReceive(sendByteArray);
+            return receiveByteArray;
+        }
+        public byte[]? SendState() => SendState(0x00, 0);
+
+        public static ReceiveStateMessage GetReceiveStateMessage(byte[] byteArray) => new ReceiveStateMessage().GetMessage(byteArray);
+        public static byte[] GetReceiveStateByteArray(ReceiveStateMessage message) => message.GetByteArray();
+
+        public byte[]? SendControl(byte command, ushort car, ushort param)
+        {
+            var sendMessage = new SendControlMessage().SetMessage(command, car, param);
+            var sendByteArray = sendMessage.GetByteArray();
+            var receiveByteArray = Client.SendAndReceive(sendByteArray);
+            return receiveByteArray;
+        }
+        public byte[]? SendControlStart(ushort direction = 0x00) => SendControl(0x01, 0, direction);
+        public byte[]? SendControlStop(ushort second = 0x00) => SendControl(0x02, 0, second);
+        public byte[]? SendControlEmergencyStop(ushort second = 0x00) => SendControl(0x03, 0, second);
+        public byte[]? SendControlReset(ushort second = 0x00) => SendControl(0x04, 0, second);
+        public byte[]? SendControlRest(ushort second = 0x00) => SendControl(0x05, 0, second);
+        public byte[]? SendControlShutdown(ushort second = 0x00) => SendControl(0x06, 0, second);
+
+        public static SendControlMessage GetSendControlMessage(byte[] byteArray) => new SendControlMessage().GetMessage(byteArray);
+        public static byte[] GetSendControlByteArray(SendControlMessage message) => message.GetByteArray();
+
+        public byte[]? SendAction(ushort car, ulong actionId, NodeMessage nodeMessage)
+        {
+            var sendMessage = new SendActionMessage().SetMessage(car, actionId, nodeMessage);
+            var sendByteArray = sendMessage.GetByteArray();
+            var receiveByteArray = Client.SendAndReceive(sendByteArray);
+            return receiveByteArray;
+        }
+        public byte[]? SendAction(NodeMessage nodeMessage) => SendAction(0, 0, nodeMessage);
+        public byte[]? SendActionStartStop(ushort node, byte startStop) => SendAction(0, 0, new NodeMessage() { Node = node, StartStop = startStop });
+        public byte[]? SendActionDirection(ushort node, byte direction) => SendAction(0, 0, new NodeMessage() { Node = node, Direction = direction });
+        public byte[]? SendActionOrientation(ushort node, byte orientation) => SendAction(0, 0, new NodeMessage() { Node = node, Orientation = orientation });
+        public byte[]? SendActionByroad(ushort node, byte byroad) => SendAction(0, 0, new NodeMessage() { Node = node, Byroad = byroad });
+        public byte[]? SendActionSpeed(ushort node, ushort speed) => SendAction(0, 0, new NodeMessage() { Node = node, Speed = speed });
+        public byte[]? SendActionObstacle(ushort node, byte obstacle) => SendAction(0, 0, new NodeMessage() { Node = node, Obstacle = obstacle });
+        public byte[]? SendActionAudio(ushort node, byte audio) => SendAction(0, 0, new NodeMessage() { Node = node, Audio = audio });
+        public byte[]? SendActionLight(ushort node, byte light) => SendAction(0, 0, new NodeMessage() { Node = node, Light = light });
+        public byte[]? SendActionCharge(ushort node, byte charge) => SendAction(0, 0, new NodeMessage() { Node = node, Charge = charge });
+        public byte[]? SendActionRest(ushort node, byte rest) => SendAction(0, 0, new NodeMessage() { Node = node, Rest = rest });
+        public byte[]? SendActionLift(ushort node, byte lift) => SendAction(0, 0, new NodeMessage() { Node = node, Lift = lift });
+        public byte[]? SendActionClamp(ushort node, byte clamp) => SendAction(0, 0, new NodeMessage() { Node = node, Clamp = clamp });
+        public byte[]? SendActionTray(ushort node, byte tray) => SendAction(0, 0, new NodeMessage() { Node = node, Tray = tray });
+        public byte[]? SendActionRoll(ushort node, byte roll) => SendAction(0, 0, new NodeMessage() { Node = node, Roll = roll });
+        public byte[]? SendActionShutdown(ushort node, byte shutdown) => SendAction(0, 0, new NodeMessage() { Node = node, Shutdown = shutdown });
+
+        public static SendActionMessage GetSendActionMessage(byte[] byteArray) => new SendActionMessage().GetMessage(byteArray);
+        public static byte[] GetSendActionByteArray(SendActionMessage message) => message.GetByteArray();
+
+        public byte[]? SendNodes(ushort car, ulong task, ushort count, NodeMessage[] nodeMessages)
+        {
+            var sendMessage = new SendNodesMessage().SetMessage(car, task, count, nodeMessages);
+            var sendByteArray = sendMessage.GetByteArray();
+            var receiveByteArray = Client.SendAndReceive(sendByteArray);
+            return receiveByteArray;
+        }
+        public byte[]? SendNodes(ulong task, ushort count, NodeMessage[] nodeMessages) => SendNodes(0, task, count, nodeMessages);
+
+        public static SendNodesMessage GetSendNodesMessage(byte[] byteArray) => new SendNodesMessage().GetMessage(byteArray);
+        public static byte[] GetSendNodesByteArray(SendNodesMessage message) => message.GetByteArray();
+    }
+}
@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net10.0</TargetFramework>
+		<ImplicitUsings>enable</ImplicitUsings>
+		<Nullable>enable</Nullable>
+		<Version>2.4.2</Version>
+	</PropertyGroup>
+
+	<ItemGroup>
+	  <PackageReference Include="Common.Net" Version="2.4.2" />
+	</ItemGroup>
+
+</Project>
@@ -0,0 +1,117 @@
+namespace FASS.Extend.Car.Fairyland.Plc
+{
+    public class NodeMessage
+    {
+        public ushort Node { get; set; }
+        public ushort Distance { get; set; }
+        public byte StartStop { get; set; }
+        public byte Direction { get; set; }
+        public byte Orientation { get; set; }
+        public byte Byroad { get; set; }
+        public ushort Speed { get; set; }
+        public byte Obstacle { get; set; }
+        public byte Audio { get; set; }
+        public byte Light { get; set; }
+        public byte Charge { get; set; }
+        public byte Rest { get; set; }
+        public byte Lift { get; set; }
+        public byte Clamp { get; set; }
+        public byte Tray { get; set; }
+        public byte Roll { get; set; }
+        public byte Shutdown { get; set; }
+        public byte[] Reserve { get; set; } = new byte[5];
+
+        public NodeMessage SetMessage(
+            ushort node,
+            ushort distance,
+            byte startStop,
+            byte direction,
+            byte orientation,
+            byte byroad,
+            ushort speed,
+            byte obstacle,
+            byte audio,
+            byte light,
+            byte charge,
+            byte rest,
+            byte lift,
+            byte clamp,
+            byte tray,
+            byte roll,
+            byte shutdown)
+        {
+            Node = node;
+            Distance = distance;
+            StartStop = startStop;
+            Direction = direction;
+            Orientation = orientation;
+            Byroad = byroad;
+            Speed = speed;
+            Obstacle = obstacle;
+            Audio = audio;
+            Light = light;
+            Charge = charge;
+            Rest = rest;
+            Lift = lift;
+            Clamp = clamp;
+            Tray = tray;
+            Roll = roll;
+            Shutdown = shutdown;
+            return this;
+        }
+
+        public NodeMessage GetMessage(byte[] byteArray)
+        {
+            if (byteArray == null || byteArray.Length < 25) throw new Exception($"数据长度错误：{Utility.ByteArrayToHexString(byteArray)}");
+            Node = BitConverter.ToUInt16(byteArray[0..2]);
+            Distance = BitConverter.ToUInt16(byteArray[2..4]);
+            StartStop = byteArray[4];
+            Direction = byteArray[5];
+            Orientation = byteArray[6];
+            Byroad = byteArray[7];
+            Speed = BitConverter.ToUInt16(byteArray[8..10]);
+            Obstacle = byteArray[10];
+            Audio = byteArray[11];
+            Light = byteArray[12];
+            Charge = byteArray[13];
+            Rest = byteArray[14];
+            Lift = byteArray[15];
+            Clamp = byteArray[16];
+            Tray = byteArray[17];
+            Roll = byteArray[18];
+            Shutdown = byteArray[19];
+            Reserve = byteArray[20..];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[25];
+            var node = BitConverter.GetBytes(Node);
+            byteArray[0] = node[0];
+            byteArray[1] = node[1];
+            var distance = BitConverter.GetBytes(Distance);
+            byteArray[2] = distance[0];
+            byteArray[3] = distance[1];
+            byteArray[4] = StartStop;
+            byteArray[5] = Direction;
+            byteArray[6] = Orientation;
+            byteArray[7] = Byroad;
+            var speed = BitConverter.GetBytes(Speed);
+            byteArray[8] = speed[0];
+            byteArray[9] = speed[1];
+            byteArray[10] = Obstacle;
+            byteArray[11] = Audio;
+            byteArray[12] = Light;
+            byteArray[13] = Charge;
+            byteArray[14] = Rest;
+            byteArray[15] = Lift;
+            byteArray[16] = Clamp;
+            byteArray[17] = Tray;
+            byteArray[18] = Roll;
+            byteArray[19] = Shutdown;
+            Array.Copy(Reserve, 0, byteArray, 20, Reserve.Length);
+            return byteArray;
+        }
+    }
+}
@@ -0,0 +1,166 @@
+using System.Text;
+
+namespace FASS.Extend.Car.Fairyland.Plc
+{
+    public class ReceiveStateMessage
+    {
+        public byte Begin { get; set; } = 0xBB;
+        public byte Command { get; set; }
+        public ushort Car { get; set; }
+        public ushort Length { get; set; }
+        public ushort Width { get; set; }
+        public ushort SystemVersion { get; set; }
+        public ushort SupportVersion { get; set; }
+        public string? CarType { get; set; }
+        public byte BatteryCharge { get; set; }
+        public byte BatteryHealth { get; set; }
+        public ushort BatteryCurrent { get; set; }
+        public ushort BatteryVoltage { get; set; }
+        public ushort HeadingAngle { get; set; }
+        public byte State { get; set; }
+        public ulong Alarm { get; set; }
+        public ulong Task { get; set; }
+        public NodeMessage NodeMessage { get; set; } = new NodeMessage();
+        public byte[] Reserve { get; set; } = new byte[20];
+        public byte Check { get; set; }
+        public byte End { get; set; } = 0xEE;
+
+        public ReceiveStateMessage SetMessage(
+            byte command,
+            ushort car,
+            ushort length,
+            ushort width,
+            ushort systemVersion,
+            ushort supportVersion,
+            string carType,
+            byte batteryCharge,
+            byte batteryHealth,
+            ushort batteryCurrent,
+            ushort batteryVoltage,
+            byte state,
+            ulong alarm,
+            ulong task,
+            NodeMessage nodeMessage)
+        {
+            Command = command;
+            Car = car;
+            Length = length;
+            Width = width;
+            SystemVersion = systemVersion;
+            SupportVersion = supportVersion;
+            CarType = carType;
+            BatteryCharge = batteryCharge;
+            BatteryHealth = batteryHealth;
+            BatteryCurrent = batteryCurrent;
+            BatteryVoltage = batteryVoltage;
+            State = state;
+            Alarm = alarm;
+            Task = task;
+            NodeMessage = nodeMessage;
+            return this;
+        }
+
+        public ReceiveStateMessage GetMessage(byte[] byteArray)
+        {
+            if (byteArray == null || byteArray.Length < 100) throw new Exception($"数据长度错误：{Utility.ByteArrayToHexString(byteArray)}");
+            //if (byteArray[98] != Utility.XOR(byteArray[1..^2])) throw new Exception($"数据校验错误：{Utility.ByteArrayToHexString(byteArray)}");
+            Begin = byteArray[0];
+            Command = byteArray[1];
+            Car = BitConverter.ToUInt16(byteArray[2..4]);
+            Length = BitConverter.ToUInt16(byteArray[4..6]);
+            Width = BitConverter.ToUInt16(byteArray[6..8]);
+            SystemVersion = BitConverter.ToUInt16(byteArray[8..10]);
+            SupportVersion = BitConverter.ToUInt16(byteArray[10..12]);
+            CarType = Encoding.ASCII.GetString(byteArray[12..28]).PadLeft(16, '0');
+            BatteryCharge = byteArray[28];
+            BatteryHealth = byteArray[29];
+            BatteryCurrent = BitConverter.ToUInt16(byteArray[30..32]);
+            BatteryVoltage = BitConverter.ToUInt16(byteArray[32..34]);
+            HeadingAngle = BitConverter.ToUInt16(byteArray[34..36]);
+            State = byteArray[36];
+            Alarm = BitConverter.ToUInt64(byteArray[37..45]);
+            Task = BitConverter.ToUInt64(byteArray[45..53]);
+            NodeMessage = new NodeMessage().GetMessage(byteArray[53..78]);
+            Reserve = byteArray[78..98];
+            Check = byteArray[98];
+            End = byteArray[99];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[100];
+            byteArray[0] = Begin;
+            byteArray[1] = Command;
+            var car = BitConverter.GetBytes(Car);
+            byteArray[2] = car[0];
+            byteArray[3] = car[1];
+            var length = BitConverter.GetBytes(Length);
+            byteArray[4] = length[0];
+            byteArray[5] = length[1];
+            var width = BitConverter.GetBytes(Width);
+            byteArray[6] = width[0];
+            byteArray[7] = width[1];
+            var systemVersion = BitConverter.GetBytes(SystemVersion);
+            byteArray[8] = systemVersion[0];
+            byteArray[9] = systemVersion[1];
+            var supportVersion = BitConverter.GetBytes(SupportVersion);
+            byteArray[10] = supportVersion[0];
+            byteArray[11] = supportVersion[1];
+            var carType = Encoding.ASCII.GetBytes((CarType ?? string.Empty).PadLeft(16, '0'));
+            byteArray[12] = carType[0];
+            byteArray[13] = carType[1];
+            byteArray[14] = carType[2];
+            byteArray[15] = carType[3];
+            byteArray[16] = carType[4];
+            byteArray[17] = carType[5];
+            byteArray[18] = carType[6];
+            byteArray[19] = carType[7];
+            byteArray[20] = carType[8];
+            byteArray[21] = carType[9];
+            byteArray[22] = carType[10];
+            byteArray[23] = carType[11];
+            byteArray[24] = carType[12];
+            byteArray[25] = carType[13];
+            byteArray[26] = carType[14];
+            byteArray[27] = carType[15];
+            byteArray[28] = BatteryCharge;
+            byteArray[29] = BatteryHealth;
+            var batteryCurrent = BitConverter.GetBytes(BatteryCurrent);
+            byteArray[30] = batteryCurrent[0];
+            byteArray[31] = batteryCurrent[1];
+            var batteryVoltage = BitConverter.GetBytes(BatteryVoltage);
+            byteArray[32] = batteryVoltage[0];
+            byteArray[33] = batteryVoltage[1];
+            var headingAngle = BitConverter.GetBytes(HeadingAngle);
+            byteArray[34] = headingAngle[0];
+            byteArray[35] = headingAngle[1];
+            byteArray[36] = State;
+            var alarm = BitConverter.GetBytes(Alarm);
+            byteArray[37] = alarm[0];
+            byteArray[38] = alarm[1];
+            byteArray[39] = alarm[2];
+            byteArray[40] = alarm[3];
+            byteArray[41] = alarm[4];
+            byteArray[42] = alarm[5];
+            byteArray[43] = alarm[6];
+            byteArray[44] = alarm[7];
+            var task = BitConverter.GetBytes(Task);
+            byteArray[45] = task[0];
+            byteArray[46] = task[1];
+            byteArray[47] = task[2];
+            byteArray[48] = task[3];
+            byteArray[49] = task[4];
+            byteArray[50] = task[5];
+            byteArray[51] = task[6];
+            byteArray[52] = task[7];
+            var nodeMessage = NodeMessage.GetByteArray();
+            Array.Copy(nodeMessage, 0, byteArray, 53, nodeMessage.Length);
+            Array.Copy(Reserve, 0, byteArray, 78, Reserve.Length);
+            //byteArray[98] = Check;
+            byteArray[98] = Utility.XOR(byteArray[1..^2]);
+            byteArray[99] = End;
+            return byteArray;
+        }
+    }
+}
@@ -0,0 +1,69 @@
+namespace FASS.Extend.Car.Fairyland.Plc
+{
+    public class SendActionMessage
+    {
+        public byte Begin { get; set; } = 0xBB;
+        public byte Command { get; set; } = 0xA1;
+        public ushort Car { get; set; }
+        public ulong ActionId { get; set; }
+        public byte[] PlaceHolder { get; set; } = new byte[2];
+        public NodeMessage NodeMessage { get; set; } = new NodeMessage();
+        public byte[] Reserve { get; set; } = new byte[25];
+        public byte Check { get; set; }
+        public byte End { get; set; } = 0xEE;
+
+        public SendActionMessage SetMessage(
+            ushort car,
+            ulong actionId,
+            NodeMessage nodeMessage)
+        {
+            Car = car;
+            ActionId = actionId;
+            NodeMessage = nodeMessage;
+            return this;
+        }
+
+        public SendActionMessage GetMessage(byte[] byteArray)
+        {
+            if (byteArray == null || byteArray.Length < 100) throw new Exception($"数据长度错误：{Utility.ByteArrayToHexString(byteArray)}");
+            //if (byteArray[98] != Utility.XOR(byteArray[1..^2])) throw new Exception($"数据校验错误：{Utility.ByteArrayToHexString(byteArray)}");
+            Begin = byteArray[0];
+            Command = byteArray[1];
+            Car = BitConverter.ToUInt16(byteArray[2..4]);
+            ActionId = BitConverter.ToUInt64(byteArray[4..12]);
+            PlaceHolder = byteArray[12..14];
+            NodeMessage = new NodeMessage().GetMessage(byteArray[14..39]);
+            Reserve = byteArray[39..98];
+            Check = byteArray[98];
+            End = byteArray[99];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[100];
+            byteArray[0] = Begin;
+            byteArray[1] = Command;
+            var car = BitConverter.GetBytes(Car);
+            byteArray[2] = car[0];
+            byteArray[3] = car[1];
+            var action = BitConverter.GetBytes(ActionId);
+            byteArray[4] = action[0];
+            byteArray[5] = action[1];
+            byteArray[6] = action[2];
+            byteArray[7] = action[3];
+            byteArray[8] = action[4];
+            byteArray[9] = action[5];
+            byteArray[10] = action[6];
+            byteArray[11] = action[7];
+            //预留两个字节PlaceHolder[12..14]
+            var nodeMessage = NodeMessage.GetByteArray();
+            Array.Copy(nodeMessage, 0, byteArray, 14, nodeMessage.Length);
+            Array.Copy(Reserve, 0, byteArray, 39, Reserve.Length);
+            //byteArray[98] = Check;
+            byteArray[98] = Utility.XOR(byteArray[1..^2]);
+            byteArray[99] = End;
+            return byteArray;
+        }
+    }
+}
@@ -0,0 +1,56 @@
+namespace FASS.Extend.Car.Fairyland.Plc
+{
+    public class SendControlMessage
+    {
+        public byte Begin { get; set; } = 0xBB;
+        public byte Command { get; set; } = 0x00;
+        public ushort Car { get; set; }
+        public ushort Param { get; set; }
+        public byte[] Reserve { get; set; } = new byte[41];
+        public byte Check { get; set; }
+        public byte End { get; set; } = 0xEE;
+
+        public SendControlMessage SetMessage(
+            byte command,
+            ushort car,
+            ushort param)
+        {
+            Command = command;
+            Car = car;
+            Param = param;
+            return this;
+        }
+
+        public SendControlMessage GetMessage(byte[] byteArray)
+        {
+            if (byteArray == null || byteArray.Length < 50) throw new Exception($"数据长度错误： {Utility.ByteArrayToHexString(byteArray)}");
+            //if (byteArray[48] != Utility.XOR(byteArray[1..^2])) throw new Exception($"数据校验错误：{Utility.ByteArrayToHexString(byteArray)}");
+            Begin = byteArray[0];
+            Command = byteArray[1];
+            Car = BitConverter.ToUInt16(byteArray[2..4]);
+            Param = BitConverter.ToUInt16(byteArray[4..6]);
+            Reserve = byteArray[6..48];
+            Check = byteArray[48];
+            End = byteArray[49];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[50];
+            byteArray[0] = Begin;
+            byteArray[1] = Command;
+            var car = BitConverter.GetBytes(Car);
+            byteArray[2] = car[0];
+            byteArray[3] = car[1];
+            var param = BitConverter.GetBytes(Param);
+            byteArray[4] = param[0];
+            byteArray[5] = param[1];
+            Array.Copy(Reserve, 0, byteArray, 6, Reserve.Length);
+            //byteArray[48] = Check;
+            byteArray[48] = Utility.XOR(byteArray[1..^2]);
+            byteArray[49] = End;
+            return byteArray;
+        }
+    }
+}
@@ -0,0 +1,92 @@
+using System.Buffers;
+
+namespace FASS.Extend.Car.Fairyland.Plc
+{
+    public class SendNodesMessage
+    {
+        public byte Begin { get; set; } = 0xBB;
+        public byte Command { get; set; } = 0xB1;
+        public ushort Car { get; set; }
+        public ulong Task { get; set; }
+        public ushort Count { get; set; }
+        public NodeMessage[] NodeMessages { get; set; } = new NodeMessage[10]
+        {
+            new NodeMessage(),
+            new NodeMessage(),
+            new NodeMessage(),
+            new NodeMessage(),
+            new NodeMessage(),
+            new NodeMessage(),
+            new NodeMessage(),
+            new NodeMessage(),
+            new NodeMessage(),
+            new NodeMessage()
+        };
+        public byte[] Reserve { get; set; } = new byte[34];
+        public byte Check { get; set; }
+        public byte End { get; set; } = 0xEE;
+
+        public SendNodesMessage SetMessage(
+            ushort car,
+            ulong task,
+            ushort count,
+            NodeMessage[] nodeMessages)
+        {
+            Car = car;
+            Task = task;
+            Count = count;
+            Array.Copy(nodeMessages, 0, NodeMessages, 0, nodeMessages.Length);
+            return this;
+        }
+
+        public SendNodesMessage GetMessage(byte[] byteArray)
+        {
+            if (byteArray == null || byteArray.Length < 300) throw new Exception($"数据长度错误：{Utility.ByteArrayToHexString(byteArray)}");
+            //if (byteArray[298] != Utility.XOR(byteArray[1..^2])) throw new Exception($"数据校验错误：{Utility.ByteArrayToHexString(byteArray)}");
+            Begin = byteArray[0];
+            Command = byteArray[1];
+            Car = BitConverter.ToUInt16(byteArray[2..4]);
+            Task = BitConverter.ToUInt64(byteArray[4..12]);
+            Count = BitConverter.ToUInt16(byteArray[12..14]);
+            for (var i = 0; i < 10; i++)
+            {
+                var start = i * 25 + 14;
+                var end = start + 25;
+                NodeMessages[i] = new NodeMessage().GetMessage(byteArray[start..end]);
+            }
+            Reserve = byteArray[263..298];
+            Check = byteArray[298];
+            End = byteArray[299];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[300];
+            byteArray[0] = Begin;
+            byteArray[1] = Command;
+            var car = BitConverter.GetBytes(Car);
+            byteArray[2] = car[0];
+            byteArray[3] = car[1];
+            var task = BitConverter.GetBytes(Task);
+            byteArray[4] = task[0];
+            byteArray[5] = task[1];
+            byteArray[6] = task[2];
+            byteArray[7] = task[3];
+            byteArray[8] = task[4];
+            byteArray[9] = task[5];
+            byteArray[10] = task[6];
+            byteArray[11] = task[7];
+            var count = BitConverter.GetBytes(Count);
+            byteArray[12] = count[0];
+            byteArray[13] = count[1];
+            var nodeMessages = NodeMessages.SelectMany(e => e.GetByteArray()).ToArray();
+            Array.Copy(nodeMessages, 0, byteArray, 14, nodeMessages.Length);
+            Array.Copy(Reserve, 0, byteArray, 264, Reserve.Length);
+            //byteArray[298] = Check;
+            byteArray[298] = Utility.XOR(byteArray[1..^2]);
+            byteArray[299] = End;
+            return byteArray;
+        }
+    }
+}
@@ -0,0 +1,24 @@
+namespace FASS.Extend.Car.Fairyland.Plc
+{
+    public static class Utility
+    {
+        public static string ByteArrayToHexString(byte[]? byteArray, string separator = "")
+        {
+            if (byteArray is null)
+            {
+                return string.Empty;
+            }
+            return string.Join(separator, byteArray.Select(t => t.ToString("X2")));
+        }
+
+        public static byte XOR(byte[] byteArray)
+        {
+            byte xor = 0;
+            for (int i = 0; i < byteArray.Length; i++)
+            {
+                xor ^= byteArray[i];
+            }
+            return xor;
+        }
+    }
+}
@@ -0,0 +1,39 @@
+using System.Net;
+using TcpClient = Common.Net.Tcp.TcpClient;
+
+namespace FASS.Extend.Car.Fairyland.Plc_v1
+{
+    public class Command
+    {
+        public TcpClient Client { get; private set; }
+
+        public Command(IPEndPoint remote)
+        {
+            Client = new TcpClient()
+            {
+                RemoteEndPoint = remote,
+                ConnectTimeout = 500,
+                SendTimeout = 500,
+                ReceiveTimeout = 500
+            };
+        }
+
+        public byte[]? SendState(byte command, ushort car)
+        {
+            var sendMessage = new SendControlMessage().SetMessage(command, car, 0);
+            var sendByteArray = sendMessage.GetByteArray();
+            var receiveByteArray = Client.SendAndReceive(sendByteArray);
+            return receiveByteArray;
+        }
+
+        public byte[]? SendControl(byte command, ushort car, ushort param)
+        {
+            var sendMessage = new SendControlMessage().SetMessage(command, car, param);
+            var sendByteArray = sendMessage.GetByteArray();
+            var receiveByteArray = Client.SendAndReceive(sendByteArray);
+            return receiveByteArray;
+        }
+
+        public static ReceiveStateMessage GetReceiveStateMessage(byte[] byteArray) => new ReceiveStateMessage().GetMessage(byteArray);
+    }
+}
@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net10.0</TargetFramework>
+		<ImplicitUsings>enable</ImplicitUsings>
+		<Nullable>enable</Nullable>
+		<Version>2.4.2</Version>
+	</PropertyGroup>
+
+	<ItemGroup>
+	  <PackageReference Include="Common.Net" Version="2.4.2" />
+	</ItemGroup>
+
+</Project>
@@ -0,0 +1,118 @@
+using System.Buffers.Binary;
+
+namespace FASS.Extend.Car.Fairyland.Plc_v1
+{
+    public class ReceiveStateMessage
+    {
+        public byte Begin { get; set; } = 0xBB;
+        public byte Command { get; set; }
+        public ushort Car { get; set; }
+        public ushort CurrentNode { get; set; }
+        public ulong Alarm { get; set; }
+        public byte State { get; set; }
+        public byte BatterySoc { get; set; }
+        public float BatteryCurrent { get; set; }
+        public float BatteryVoltage { get; set; }
+        public byte Speed { get; set; }
+        public ushort Angle { get; set; }
+        public byte TaskState { get; set; }
+        public byte LiftState { get; set; }
+        public byte RollerState { get; set; }
+        public byte Check { get; set; }
+        public byte End { get; set; } = 0xEE;
+
+        public ReceiveStateMessage SetMessage(
+            byte command,
+            ushort car,
+            ushort currentNode,
+            ulong alarm,
+            byte state,
+            byte batterySoc,
+            float batteryCurrent,
+            float batteryVoltage,
+            byte speed,
+            ushort angle,
+            byte taskState,
+            byte liftState,
+            byte rollerState)
+        {
+            Command = command;
+            Car = car;
+            CurrentNode = currentNode;
+            Alarm = alarm;
+            State = state;
+            BatterySoc = batterySoc;
+            BatteryCurrent = batteryCurrent;
+            BatteryVoltage = batteryVoltage;
+            Speed = speed;
+            Angle = angle;
+            TaskState = taskState;
+            LiftState = liftState;
+            RollerState = rollerState;
+
+
+            return this;
+        }
+
+        public ReceiveStateMessage GetMessage(byte[] byteArray)
+        {
+            if (byteArray == null || byteArray.Length < 32 || byteArray[0] != 0xBB)
+                throw new Exception($"数据长度错误：{Utility.ByteArrayToHexString(byteArray)}");
+            //if (byteArray[98] != Utility.XOR(byteArray[1..^2])) throw new Exception($"数据校验错误：{Utility.ByteArrayToHexString(byteArray)}");
+            Begin = byteArray[0];
+            Command = byteArray[1];
+            //Car = BitConverter.ToUInt16(byteArray[2..4]);
+            Car = BinaryPrimitives.ReadUInt16BigEndian(byteArray.AsSpan(2));
+            //CurrentNode = BitConverter.ToUInt16(byteArray[4..6]);
+            CurrentNode = BinaryPrimitives.ReadUInt16BigEndian(byteArray.AsSpan(4));
+            Alarm = BitConverter.ToUInt64(byteArray[6..14]);
+            //Alarm = BinaryPrimitives.ReadUInt64BigEndian(byteArray.AsSpan(6));
+            State = byteArray[14];
+            BatterySoc = byteArray[15];
+            //BatteryCurrent = BitConverter.ToSingle(byteArray[16..20]);
+            BatteryCurrent = BinaryPrimitives.ReadSingleBigEndian(byteArray.AsSpan(16));
+            //BatteryVoltage = BitConverter.ToSingle(byteArray[20..24]);
+            BatteryVoltage = BinaryPrimitives.ReadSingleBigEndian(byteArray.AsSpan(20));
+            Speed = byteArray[24];
+            //Angle = BitConverter.ToUInt16(byteArray[25..27]);
+            Angle = BinaryPrimitives.ReadUInt16BigEndian(byteArray.AsSpan(25));
+            TaskState = byteArray[27];
+            LiftState = byteArray[28];
+            RollerState = byteArray[29];
+            Check = byteArray[30];
+            End = byteArray[31];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[100];
+            byteArray[0] = Begin;
+            byteArray[1] = Command;
+            var car = BitConverter.GetBytes(Car);
+            byteArray[2] = car[0];
+            byteArray[3] = car[1];
+            var currentNode = BitConverter.GetBytes(CurrentNode);
+            byteArray[4] = currentNode[0];
+            byteArray[5] = currentNode[1];
+            var alarm = BitConverter.GetBytes(Alarm);
+            Array.Copy(alarm, 0, byteArray, 6, alarm.Length);
+            byteArray[14] = State;
+            byteArray[15] = BatterySoc;
+            var batteryCurrent = BitConverter.GetBytes(BatteryCurrent);
+            Array.Copy(batteryCurrent, 0, byteArray, 16, batteryCurrent.Length);
+            var batteryVoltage = BitConverter.GetBytes(BatteryVoltage);
+            Array.Copy(batteryVoltage, 0, byteArray, 20, batteryVoltage.Length);
+            byteArray[24] = Speed;
+            var angle = BitConverter.GetBytes(Angle);
+            byteArray[25] = angle[0];
+            byteArray[26] = angle[1];
+            byteArray[27] = TaskState;
+            byteArray[28] = LiftState;
+            byteArray[29] = RollerState;
+            byteArray[30] = Utility.XOR(byteArray[1..^2]);
+            byteArray[31] = End;
+            return byteArray;
+        }
+    }
+}
@@ -0,0 +1,56 @@
+namespace FASS.Extend.Car.Fairyland.Plc_v1
+{
+    public class SendControlMessage
+    {
+        public byte Begin { get; set; } = 0xBB;
+        public byte Command { get; set; } = 0x00;
+        public ushort Car { get; set; }
+        public ushort Param { get; set; }
+        public byte[] Reserve { get; set; } = new byte[24];
+        public byte Check { get; set; }
+        public byte End { get; set; } = 0xEE;
+
+        public SendControlMessage SetMessage(
+            byte command,
+            ushort car,
+            ushort param)
+        {
+            Command = command;
+            Car = car;
+            Param = param;
+            return this;
+        }
+
+        public SendControlMessage GetMessage(byte[] byteArray)
+        {
+            if (byteArray == null || byteArray.Length < 50) throw new Exception($"数据长度错误： {Utility.ByteArrayToHexString(byteArray)}");
+            //if (byteArray[48] != Utility.XOR(byteArray[1..^2])) throw new Exception($"数据校验错误：{Utility.ByteArrayToHexString(byteArray)}");
+            Begin = byteArray[0];
+            Command = byteArray[1];
+            Car = BitConverter.ToUInt16(byteArray[2..4]);
+            Param = BitConverter.ToUInt16(byteArray[4..6]);
+            Reserve = byteArray[6..48];
+            Check = byteArray[48];
+            End = byteArray[49];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[32];
+            byteArray[0] = Begin;
+            byteArray[1] = Command;
+            var car = BitConverter.GetBytes(Car);
+            byteArray[2] = car[0];
+            byteArray[3] = car[1];
+            var param = BitConverter.GetBytes(Param);
+            byteArray[4] = param[0];
+            byteArray[5] = param[1];
+            Array.Copy(Reserve, 0, byteArray, 6, Reserve.Length);
+            //byteArray[48] = Check;
+            byteArray[30] = Utility.XOR(byteArray[1..^2]);
+            byteArray[31] = End;
+            return byteArray;
+        }
+    }
+}
@@ -0,0 +1,24 @@
+namespace FASS.Extend.Car.Fairyland.Plc_v1
+{
+    public static class Utility
+    {
+        public static string ByteArrayToHexString(byte[]? byteArray, string separator = "")
+        {
+            if (byteArray is null)
+            {
+                return string.Empty;
+            }
+            return string.Join(separator, byteArray.Select(t => t.ToString("X2")));
+        }
+
+        public static byte XOR(byte[] byteArray)
+        {
+            byte xor = 0;
+            for (int i = 0; i < byteArray.Length; i++)
+            {
+                xor ^= byteArray[i];
+            }
+            return xor;
+        }
+    }
+}
@@ -0,0 +1,6 @@
+namespace FASS.Extend.Car.Geekplus.Generic
+{
+    public class Command
+    {
+    }
+}
@@ -0,0 +1,10 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net10.0</TargetFramework>
+		<ImplicitUsings>enable</ImplicitUsings>
+		<Nullable>enable</Nullable>
+		<Version>2.4.2</Version>
+	</PropertyGroup>
+
+</Project>
@@ -0,0 +1,6 @@
+namespace FASS.Extend.Car.Hikrobot.Generic
+{
+    public class Command
+    {
+    }
+}
@@ -0,0 +1,10 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net10.0</TargetFramework>
+		<ImplicitUsings>enable</ImplicitUsings>
+		<Nullable>enable</Nullable>
+		<Version>2.4.2</Version>
+	</PropertyGroup>
+
+</Project>
@@ -0,0 +1,6 @@
+namespace FASS.Extend.Car.Kc.Generic
+{
+    public class Command
+    {
+    }
+}
@@ -0,0 +1,10 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net10.0</TargetFramework>
+		<ImplicitUsings>enable</ImplicitUsings>
+		<Nullable>enable</Nullable>
+		<Version>2.4.2</Version>
+	</PropertyGroup>
+
+</Project>
@@ -0,0 +1,6 @@
+namespace FASS.Extend.Car.Seer.Generic
+{
+    public class Command
+    {
+    }
+}
@@ -0,0 +1,10 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net10.0</TargetFramework>
+		<ImplicitUsings>enable</ImplicitUsings>
+		<Nullable>enable</Nullable>
+		<Version>2.4.2</Version>
+	</PropertyGroup>
+
+</Project>
@@ -0,0 +1,6 @@
+namespace FASS.Extend.Car.Standard.Cmr
+{
+    public class Command
+    {
+    }
+}
@@ -0,0 +1,10 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net10.0</TargetFramework>
+		<ImplicitUsings>enable</ImplicitUsings>
+		<Nullable>enable</Nullable>
+		<Version>2.4.2</Version>
+	</PropertyGroup>
+
+</Project>
@@ -0,0 +1,31 @@
+using MQTTnet;
+using MqttClient = Common.Net.Mqtt.MqttClient;
+
+namespace FASS.Extend.Car.Standard.Vda5050
+{
+    public class Command
+    {
+        public uint HeaderId { get; set; } = 0;
+        public MqttClient Client { get; private set; }
+        public Command(string host, int? port = null)
+        {
+            Client = new MqttClient() { Host = host, Port = port };
+            Client.Initialize();
+        }
+
+        public uint GetHeaderId()
+        {
+            return HeaderId == uint.MaxValue ? 1 : HeaderId++;
+        }
+
+        public void SendOrder(string manufacturer, string serialNumber, string data, string interfaceName = "frld", string majorVersion = "v2.0")
+        {
+            Client.Client.PublishStringAsync($"{interfaceName}/{majorVersion}/{manufacturer}/{serialNumber}/order", data).GetAwaiter().GetResult();
+        }
+
+        public void SendInstantActions(string manufacturer, string serialNumber, string data, string interfaceName = "frld", string majorVersion = "v2.0")
+        {
+            Client.Client.PublishStringAsync($"{interfaceName}/{majorVersion}/{manufacturer}/{serialNumber}/instantActions", data).GetAwaiter().GetResult();
+        }
+    }
+}
@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net10.0</TargetFramework>
+		<ImplicitUsings>enable</ImplicitUsings>
+		<Nullable>enable</Nullable>
+		<Version>2.4.2</Version>
+	</PropertyGroup>
+
+	<ItemGroup>
+	  <PackageReference Include="Common.Net" Version="2.4.2" />
+	</ItemGroup>
+
+</Project>
@@ -0,0 +1,8 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.Connection
+{
+    public class Connection : Header
+    {
+        //public required Header Header { get; set; }
+        public required string ConnectionState { get; set; }
+    }
+}
@@ -0,0 +1,90 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models
+{
+    public class Enums
+    {
+        public class Action
+        {
+            public class BlockingType
+            {
+                public const string NONE = "NONE";
+                public const string SOFT = "SOFT";
+                public const string HARD = "HARD";
+            }
+
+            public class ActionType
+            {
+                public const string stateRequest = "stateRequest";
+                public const string factsheetRequest = "factsheetRequest";
+                public const string startPause = "startPause";
+                public const string stopPause = "stopPause";
+                public const string cancelOrder = "cancelOrder";
+                public const string recognize = "recognize";
+                public const string liftFork = "liftFork";
+                public const string turntableAction = "turntableAction";
+                public const string preloadMap = "preloadMap";
+                public const string switchMap = "switchMap";
+                public const string switchMode = "switchMode";
+                public const string readValue = "readValue";
+                public const string writeValue = "writeValue";
+                public const string doLocate = "doLocate";
+                public const string doLocateConfirm = "doLocateConfirm";
+                public const string palletLift = "palletLift";
+            }
+        }
+        public class State
+        {
+            public class OperatingMode
+            {
+                public const string AUTOMATIC = "AUTOMATIC";
+                public const string MANUAL = "MANUAL";
+            }
+        }
+        public class ActionState
+        {
+            public class ActionStatus
+            {
+                public const string WAITING = "WAITING";
+                public const string INITIALIZING = "INITIALIZING";
+                public const string RUNNING = "RUNNING";
+                public const string PAUSED = "PAUSED";
+                public const string FINISHED = "FINISHED";
+                public const string FAILED = "FAILED";
+            }
+        }
+        public class Error
+        {
+            public class ErrorLevel
+            {
+                public const string WARNING = "WARNING";
+                public const string FATAL = "FATAL";
+            }
+        }
+        public class Info
+        {
+            public class InfoLevel
+            {
+                public const string DEBUG = "DEBUG";
+                public const string INFO = "INFO";
+            }
+        }
+        public class SafetyState
+        {
+            public class EStop
+            {
+                public const string AUTOACK = "AUTOACK";
+                public const string MANUAL = "MANUAL";
+                public const string REMOTE = "REMOTE";
+                public const string NONE = "NONE";
+            }
+        }
+        public class Connection
+        {
+            public class ConnectionState
+            {
+                public const string ONLINE = "ONLINE";
+                public const string OFFLINE = "OFFLINE";
+                public const string CONNECTIONBROKEN = "CONNECTIONBROKEN";
+            }
+        }
+    }
+}
@@ -0,0 +1,8 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.Factsheet
+{
+    public class Factsheet : Header
+    {
+        //public required Header Header { get; set; }
+        public required ProtocolLimits ProtocolLimits { get; set; }
+    }
+}
@@ -0,0 +1,36 @@
+using System.Text.Json.Serialization;
+
+namespace FASS.Extend.Car.Standard.Vda5050.Models.Factsheet
+{
+    public class MaxArrayLens
+    {
+        [JsonPropertyName("order.nodes")]
+        public required uint OrderNodes { get; set; }
+        [JsonPropertyName("order.edges")]
+        public required uint OrderEdges { get; set; }
+        [JsonPropertyName("node.actions")]
+        public required uint NodeActions { get; set; }
+        [JsonPropertyName("edge.actions")]
+        public required uint EdgeActions { get; set; }
+        [JsonPropertyName("actions.actionsParameters")]
+        public required uint ActionsActionsParameters { get; set; }
+        [JsonPropertyName("instantActions")]
+        public required uint InstantActions { get; set; }
+        [JsonPropertyName("state.nodeStates")]
+        public required uint StateNodeStates { get; set; }
+        [JsonPropertyName("state.edgeStates")]
+        public required uint StateEdgeStates { get; set; }
+        [JsonPropertyName("state.loads")]
+        public required uint StateLoads { get; set; }
+        [JsonPropertyName("state.actionStates")]
+        public required uint StateActionStates { get; set; }
+        [JsonPropertyName("state.errors")]
+        public required uint StateErrors { get; set; }
+        [JsonPropertyName("state.information")]
+        public required uint StateInformations { get; set; }
+        [JsonPropertyName("error.errorReferences")]
+        public required uint ErrorErrorReferences { get; set; }
+        [JsonPropertyName("information.infoReferences")]
+        public required uint InformationsInfoReferences { get; set; }
+    }
+}
@@ -0,0 +1,13 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.Factsheet
+{
+    public class MaxStringLens
+    {
+        public required uint MsgLen { get; set; }
+        public required uint TopicSerialLen { get; set; }
+        public required uint TopicElemLen { get; set; }
+        public required uint IdLen { get; set; }
+        public required bool IdNumericalOnly { get; set; }
+        public required uint EnumLen { get; set; }
+        public required uint LoadIdLen { get; set; }
+    }
+}
@@ -0,0 +1,9 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.Factsheet
+{
+    public class ProtocolLimits
+    {
+        public required MaxStringLens MaxStringLens { get; set; }
+        public required MaxArrayLens MaxArrayLens { get; set; }
+        public required Timing Timing { get; set; }
+    }
+}
@@ -0,0 +1,10 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.Factsheet
+{
+    public class Timing
+    {
+        public required double MinOrderInterval { get; set; }
+        public required double MinStateInterval { get; set; }
+        public required double DefaultStateInterval { get; set; }
+        public required double VisualizationInterval { get; set; }
+    }
+}
@@ -0,0 +1,11 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models
+{
+    public class Header
+    {
+        public required uint HeaderId { get; set; }
+        public required string Timestamp { get; set; }
+        public required string Version { get; set; }
+        public required string Manufacturer { get; set; }
+        public required string SerialNumber { get; set; }
+    }
+}
@@ -0,0 +1,11 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.Order
+{
+    public class Action
+    {
+        public required string ActionType { get; set; }
+        public required string ActionId { get; set; }
+        public required string ActionDescription { get; set; }
+        public required string BlockingType { get; set; }
+        public required List<ActionParameter> ActionParameters { get; set; } = [];
+    }
+}
@@ -0,0 +1,8 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.Order
+{
+    public class ActionParameter
+    {
+        public required string Key { get; set; }
+        public required string Value { get; set; }
+    }
+}
@@ -0,0 +1,14 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.Order
+{
+    public class Edge
+    {
+        public required string EdgeId { get; set; }
+        public required uint SequenceId { get; set; }
+        public string? EdgeDescription { get; set; }
+        public required bool Released { get; set; }
+        public required string StartNodeId { get; set; }
+        public required string EndNodeId { get; set; }
+        public double? MaxSpeed { get; set; }
+        public required List<Action> Actions { get; set; } = [];
+    }
+}
@@ -0,0 +1,12 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.Order
+{
+    public class Node
+    {
+        public required string NodeId { get; set; }
+        public required uint SequenceId { get; set; }
+        public string? NodeDescription { get; set; }
+        public required bool Released { get; set; }
+        public NodePosition? NodePosition { get; set; }
+        public required List<Action> Actions { get; set; } = [];
+    }
+}
@@ -0,0 +1,7 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.Order
+{
+    public class NodePosition
+    {
+        public double? Theta { get; set; }
+    }
+}
@@ -0,0 +1,11 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.Order
+{
+    public class Order : Header
+    {
+        //public required Header Header { get; set; }
+        public required string OrderId { get; set; }
+        public required uint OrderUpdateId { get; set; }
+        public required List<Node> Nodes { get; set; } = [];
+        public required List<Edge> Edges { get; set; } = [];
+    }
+}
@@ -0,0 +1,11 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.State
+{
+    public class ActionState
+    {
+        public required string ActionId { get; set; }
+        public string? ActionType { get; set; }
+        public string? ActionDescription { get; set; }
+        public required string ActionStatus { get; set; }
+        public required string ResultDescription { get; set; }
+    }
+}
@@ -0,0 +1,13 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.State
+{
+    public class AgvPosition
+    {
+        public required bool PositionInitialized { get; set; }
+        public double? LocalizationScore { get; set; }
+        public required double X { get; set; }
+        public required double Y { get; set; }
+        public required double Theta { get; set; }
+        public required string MapId { get; set; }
+        public string? MapDescription { get; set; }
+    }
+}
@@ -0,0 +1,9 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.State
+{
+    public class BatteryState
+    {
+        public required double BatteryCharge { get; set; }
+        public double? BatteryVoltage { get; set; }
+        public required bool Charging { get; set; }
+    }
+}
@@ -0,0 +1,10 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.State
+{
+    public class BoundingBoxReference
+    {
+        public required double X { get; set; }
+        public required double Y { get; set; }
+        public required double Z { get; set; }
+        public double? Theta { get; set; }
+    }
+}
@@ -0,0 +1,10 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.State
+{
+    public class EdgeState
+    {
+        public required string EdgeId { get; set; }
+        public required int SequenceId { get; set; }
+        public string? EdgeDescription { get; set; }
+        public required bool Released { get; set; }
+    }
+}
@@ -0,0 +1,10 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.State
+{
+    public class Error
+    {
+        public required string ErrorType { get; set; }
+        public required List<ErrorReference> ErrorReferences { get; set; } = [];
+        public string? ErrorDescription { get; set; }
+        public required string ErrorLevel { get; set; }
+    }
+}
@@ -0,0 +1,8 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.State
+{
+    public class ErrorReference
+    {
+        public required string ReferenceKey { get; set; }
+        public required string ReferenceValue { get; set; }
+    }
+}
@@ -0,0 +1,10 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.State
+{
+    public class Info
+    {
+        public required string InfoType { get; set; }
+        public required List<InfoReference> InfoReferences { get; set; } = [];
+        public string? InfoDescription { get; set; }
+        public required string InfoLevel { get; set; }
+    }
+}
@@ -0,0 +1,8 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.State
+{
+    public class InfoReference
+    {
+        public required string ReferenceKey { get; set; }
+        public required string ReferenceValue { get; set; }
+    }
+}
@@ -0,0 +1,12 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.State
+{
+    public class Load
+    {
+        public string? LoadId { get; set; }
+        public required string LoadType { get; set; }
+        public string? LoadPosition { get; set; }
+        public required BoundingBoxReference BoundingBoxReference { get; set; }
+        public required LoadDimensions LoadDimensions { get; set; }
+        public required double Weight { get; set; }
+    }
+}
@@ -0,0 +1,9 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.State
+{
+    public class LoadDimensions
+    {
+        public required double Length { get; set; }
+        public required double Width { get; set; }
+        public required double Height { get; set; }
+    }
+}
@@ -0,0 +1,10 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.State
+{
+    public class NodeState
+    {
+        public required string NodeId { get; set; }
+        public required int SequenceId { get; set; }
+        public string? NodeDescription { get; set; }
+        public required bool Released { get; set; }
+    }
+}
@@ -0,0 +1,8 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.State
+{
+    public class SafetyState
+    {
+        public required string EStop { get; set; }
+        public required bool FieldViolation { get; set; }
+    }
+}
@@ -0,0 +1,25 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.State
+{
+    public class State : Header
+    {
+        //public required Header Header { get; set; }
+        public required string OrderId { get; set; }
+        public required uint OrderUpdateId { get; set; }
+        public required string LastNodeId { get; set; }
+        public required uint LastNodeSequenceId { get; set; }
+        public required List<NodeState> NodeStates { get; set; } = [];
+        public required List<EdgeState> EdgeStates { get; set; } = [];
+        public AgvPosition? AgvPosition { get; set; }
+        public required Velocity Velocity { get; set; }
+        public required List<Load> Loads { get; set; } = [];
+        public required bool Driving { get; set; }
+        public required bool Paused { get; set; }
+        public required List<ActionState> ActionStates { get; set; } = [];
+        public required BatteryState BatteryState { get; set; }
+        public required string OperatingMode { get; set; }
+        public required List<Error> Errors { get; set; } = [];
+        public required List<Info> Information { get; set; } = [];
+        public required SafetyState SafetyState { get; set; } = null!;
+        public float? KcForkHeight { get; set; }//KC定制
+    }
+}
@@ -0,0 +1,9 @@
+namespace FASS.Extend.Car.Standard.Vda5050.Models.State
+{
+    public class Velocity
+    {
+        public required double Vx { get; set; }
+        public required double Vy { get; set; }
+        public required double Omega { get; set; }
+    }
+}
@@ -0,0 +1,17 @@
+using FASS.Extend.Car.Standard.Vda5050.Models.State;
+
+namespace FASS.Extend.Car.Standard.Vda5050.Models.Visualization
+{
+    public class Visualization : Header
+    {
+        //public required Header Header { get; set; }
+        public required AgvPosition AgvPosition { get; set; }
+        public required Velocity Velocity { get; set; }
+        public required string LastNodeId { get; set; }
+        public required uint LastNodeSequenceId { get; set; }
+        public required List<NodeState> NodeStates { get; set; } = [];
+        public required List<EdgeState> EdgeStates { get; set; } = [];
+        public required List<ActionState> ActionStates { get; set; } = [];
+        public required BatteryState BatteryState { get; set; }
+    }
+}
@@ -0,0 +1,10 @@
+using Action = FASS.Extend.Car.Standard.Vda5050.Models.Order.Action;
+
+namespace FASS.Extend.Car.Standard.Vda5050.Models.InstantActions
+{
+    public class InstantActions : Header
+    {
+        //public required Header Header { get; set; }
+        public required List<Action> Actions { get; set; } = [];
+    }
+}
@@ -0,0 +1,24 @@
+namespace FASS.Extend.Car.Standard.Vda5050
+{
+    public static class Utility
+    {
+        /// <summary>  
+        /// 计算AGV的合成速度（标量）  
+        /// </summary>  
+        /// <param name="vx">X轴速度分量</param>  
+        /// <param name="vy">Y轴速度分量</param>  
+        /// <returns>合成速度值</returns>  
+        public static double CalculateSpeed(double vx, double vy)
+        {
+            return Math.Sqrt(vx * vx + vy * vy);
+        }
+
+        /// <summary>  
+        /// 计算AGV运动方向角度（弧度制，范围[-π, π]）  
+        /// </summary>  
+        public static double CalculateDirection(double vx, double vy)
+        {
+            return Math.Atan2(vy, vx);
+        }
+    }
+}
@@ -0,0 +1,30 @@
+using Common.Net.Tcp;
+using System.Net;
+
+namespace FASS.Extend.Charge
+{
+    public class Command
+    {
+        public TcpClient Client { get; private set; }
+
+        public Command(string ip, string port)
+        {
+            Client = new TcpClient()
+            {
+                RemoteEndPoint = new IPEndPoint(IPAddress.Parse(ip), int.Parse(port)),
+                SendTimeout = 500,
+                ReceiveTimeout = 500
+            };
+        }
+
+        public byte[]? SendCharge(byte command, ushort car, float chargeElectric, float chargeVoltage, ushort chargeTimeSpan, ushort soc, float electricCurrent, float voltage)
+        {
+            var sendMessage = new SendMessage().SetMessage(command, car, chargeElectric, chargeVoltage, chargeTimeSpan, soc, electricCurrent, voltage);
+            var sendByteArray = sendMessage.GetByteArray();
+            var receiveByteArray = Client.SendAndReceive(sendByteArray);
+            return receiveByteArray;
+        }
+
+        public static ReceiveMessage GetReceiveMessage(byte[] byteArray) => new ReceiveMessage().GetMessage(byteArray);
+    }
+}
@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net10.0</TargetFramework>
+		<ImplicitUsings>enable</ImplicitUsings>
+		<Nullable>enable</Nullable>
+		<Version>2.4.2</Version>
+	</PropertyGroup>
+
+	<ItemGroup>
+	  <PackageReference Include="Common.Net" Version="2.4.2" />
+	</ItemGroup>
+
+</Project>
@@ -0,0 +1,92 @@
+namespace FASS.Extend.Charge
+{
+    public class ReceiveMessage
+    {
+        // 起始码
+        public byte Begin { get; set; } = 0xBB;
+
+        // 实际充电电流
+        public float CurrentElectric { get; set; }
+
+        // 实际充电电压
+        public float CurrentVoltage { get; set; }
+
+        // 实际充电时长(s)
+        public ushort ChargeTimeSpan { get; set; }
+
+        // 充电桩状态  3 充电中 2 停止中
+        public byte ChargeState { get; set; }
+
+        // 异常状态
+        public ushort ExceptionState { get; set; }
+
+        // 侧充状态  1 伸出位， 2 缩回位 3 运动位
+        public byte ElectrodeState { get; set; }
+
+        // 校验位
+        public byte Check { get; set; }
+
+        // 结束码
+        public byte End { get; set; } = 0xEE;
+
+        public ReceiveMessage SetMessage(
+            float chargeElectric,
+            float chargeVoltage,
+            ushort chargeTimeSpan,
+            byte chargeState,
+            ushort exceptionState,
+            byte electrodeState)
+        {
+            CurrentElectric = chargeElectric;
+            CurrentVoltage = chargeVoltage;
+            ChargeTimeSpan = chargeTimeSpan;
+            ChargeState = chargeState;
+            ExceptionState = exceptionState;
+            ElectrodeState = electrodeState;
+            return this;
+        }
+
+        public ReceiveMessage GetMessage(byte[] byteArray)
+        {
+            if (byteArray == null || byteArray.Length < 32) throw new Exception($"数据长度错误：{Utility.ByteArrayToHexString(byteArray)}");
+            //if (byteArray[30] != Utility.CheckSum(byteArray[1..^2])) throw new Exception($"数据校验错误：{Utility.ByteArrayToHexString(byteArray)}");
+            Begin = byteArray[0];
+            CurrentElectric = BitConverter.ToSingle(new byte[] { byteArray[4], byteArray[3], byteArray[2], byteArray[1] }, 0);
+            CurrentVoltage = BitConverter.ToSingle(new byte[] { byteArray[8], byteArray[7], byteArray[6], byteArray[5] }, 0);
+            ChargeTimeSpan = BitConverter.ToUInt16(new byte[] { byteArray[10], byteArray[9] }, 0);
+            ChargeState = byteArray[14];
+            ExceptionState = BitConverter.ToUInt16(new byte[] { byteArray[16], byteArray[15] }, 0);
+            ElectrodeState = byteArray[28];
+            Check = byteArray[30];
+            End = byteArray[31];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[32];
+            byteArray[0] = Begin;
+            var chargeElectric = BitConverter.GetBytes(CurrentElectric);
+            byteArray[1] = chargeElectric[3];
+            byteArray[2] = chargeElectric[2];
+            byteArray[3] = chargeElectric[1];
+            byteArray[4] = chargeElectric[0];
+            var chargeVoltage = BitConverter.GetBytes(CurrentVoltage);
+            byteArray[5] = chargeVoltage[3];
+            byteArray[6] = chargeVoltage[2];
+            byteArray[7] = chargeVoltage[1];
+            byteArray[8] = chargeVoltage[0];
+            var chargeTimeSpan = BitConverter.GetBytes(ChargeTimeSpan);
+            byteArray[9] = chargeTimeSpan[1];
+            byteArray[10] = chargeTimeSpan[0];
+            byteArray[14] = ChargeState;
+            var exception = BitConverter.GetBytes(ExceptionState);
+            byteArray[15] = exception[1];
+            byteArray[16] = exception[0];
+            byteArray[28] = ElectrodeState;
+            //byteArray[30] = Utility.CheckSum(byteArray[1..^2]);
+            byteArray[31] = End;
+            return byteArray;
+        }
+    }
+}
@@ -0,0 +1,117 @@
+namespace FASS.Extend.Charge
+{
+    public class SendMessage
+    {
+        // 起始码
+        public byte Begin { get; set; } = 0xBB;
+
+        // 充电动作 0查询、1启动，2停止，3急停（预留功能）
+        public byte Command { get; set; }
+
+        // 充电电流
+        public float ChargeElectric { get; set; }
+
+        // 充电电压
+        public float ChargeVoltage { get; set; }
+
+        // 充电时长
+        public ushort ChargeTimeSpan { get; set; }
+
+        // 车辆编号
+        public ushort Car { get; set; }
+
+        // 电池电量
+        public ushort Soc { get; set; }
+
+        // 电池电流
+        public float ElectricCurrent { get; set; }
+
+        // 电池电压
+        public float Voltage { get; set; }
+
+        // 预留
+        public byte[] Reserve { get; set; } = new byte[7];
+
+        public byte End { get; set; } = 0xEE;
+
+
+        public SendMessage SetMessage(
+            byte command,
+            ushort car,
+            float chargeElectric,
+            float chargeVoltage,
+            ushort chargeTimeSpan,
+            ushort soc,
+            float electricCurrent,
+            float voltage)
+        {
+            Command = command;
+            Car = car;
+            ChargeElectric = chargeElectric;
+            ChargeVoltage = chargeVoltage;
+            ChargeTimeSpan = chargeTimeSpan;
+            Soc = soc;
+            ElectricCurrent = electricCurrent;
+            Voltage = voltage;
+            return this;
+        }
+
+        public SendMessage GetMessage(byte[] byteArray)
+        {
+            if (byteArray == null || byteArray.Length < 32) throw new Exception($"数据长度错误： {Utility.ByteArrayToHexString(byteArray)}");
+            //if (byteArray[30] != Utility.CheckSum(byteArray[1..^2])) throw new Exception($"数据校验错误：{Utility.ByteArrayToHexString(byteArray)}");
+            Begin = byteArray[0];
+            Command = byteArray[1];
+            ChargeElectric = BitConverter.ToSingle(new byte[] { byteArray[5], byteArray[4], byteArray[3], byteArray[2] }, 0);
+            ChargeElectric = BitConverter.ToSingle(new byte[] { byteArray[9], byteArray[8], byteArray[7], byteArray[6] }, 0);
+            ChargeTimeSpan = BitConverter.ToUInt16(new byte[] { byteArray[11], byteArray[10] }, 0);
+            Car = BitConverter.ToUInt16(new byte[] { byteArray[13], byteArray[12] }, 0);
+            Soc = BitConverter.ToUInt16(new byte[] { byteArray[15], byteArray[14] }, 0);
+            ElectricCurrent = BitConverter.ToSingle(new byte[] { byteArray[19], byteArray[18], byteArray[17], byteArray[16] }, 0);
+            Voltage = BitConverter.ToSingle(new byte[] { byteArray[23], byteArray[22], byteArray[21], byteArray[20] }, 0);
+            Reserve = byteArray[24..31];
+            End = byteArray[31];
+            return this;
+        }
+
+        public byte[] GetByteArray()
+        {
+            var byteArray = new byte[32];
+            byteArray[0] = Begin;
+            byteArray[1] = Command;
+            var chargeElectric = BitConverter.GetBytes(ChargeElectric);
+            byteArray[2] = chargeElectric[3];
+            byteArray[3] = chargeElectric[2];
+            byteArray[4] = chargeElectric[1];
+            byteArray[5] = chargeElectric[0];
+            var chargeVoltage = BitConverter.GetBytes(ChargeVoltage);
+            byteArray[6] = chargeVoltage[3];
+            byteArray[7] = chargeVoltage[2];
+            byteArray[8] = chargeVoltage[1];
+            byteArray[9] = chargeVoltage[0];
+            var chargeTimeSpan = BitConverter.GetBytes(ChargeTimeSpan);
+            byteArray[10] = chargeTimeSpan[1];
+            byteArray[11] = chargeTimeSpan[0];
+            var car = BitConverter.GetBytes(Car);
+            byteArray[12] = car[1];
+            byteArray[13] = car[0];
+            var soc = BitConverter.GetBytes(Soc);
+            byteArray[14] = soc[1];
+            byteArray[15] = soc[0];
+            var electricCurrent = BitConverter.GetBytes(ElectricCurrent);
+            byteArray[16] = electricCurrent[3];
+            byteArray[17] = electricCurrent[2];
+            byteArray[18] = electricCurrent[1];
+            byteArray[19] = electricCurrent[0];
+            var voltage = BitConverter.GetBytes(Voltage);
+            byteArray[20] = voltage[3];
+            byteArray[21] = voltage[2];
+            byteArray[22] = voltage[1];
+            byteArray[23] = voltage[0];
+            Array.Copy(Reserve, 0, byteArray, 24, Reserve.Length);
+            byteArray[31] = End;
+            return byteArray;
+        }
+
+    }
+}
@@ -0,0 +1,34 @@
+namespace FASS.Extend.Charge
+{
+    public static class Utility
+    {
+        public static string ByteArrayToHexString(byte[]? byteArray, string separator = "")
+        {
+            if (byteArray is null)
+            {
+                return string.Empty;
+            }
+            return string.Join(separator, byteArray.Select(t => t.ToString("X2")));
+        }
+
+        public static byte XOR(byte[] byteArray)
+        {
+            byte xor = 0;
+            for (int i = 0; i < byteArray.Length; i++)
+            {
+                xor ^= byteArray[i];
+            }
+            return xor;
+        }
+
+        public static byte CheckSum(byte[] byteArray)
+        {
+            byte sum = 0;
+            for (int i = 0; i < byteArray.Length - 1; i++)
+            {
+                sum += byteArray[i];
+            }
+            return sum;
+        }
+    }
+}
@@ -0,0 +1,299 @@
+using Common.Device.Clients.PLC;
+using Common.Device.Clients.PLC.Enums;
+
+namespace FASS.Extend.Conveyor
+{
+    public class Command
+    {
+        public SiemensClient Client { get; private set; }
+
+        public Command(string ip, string port)
+        {
+            Client = new SiemensClient(SiemensVersion.S7_1200, ip, int.Parse(port), timeout: 500);
+        }
+
+        public bool LeftInRequest()
+        {
+            var result = false;
+            try
+            {
+                Client.Open();
+                Client.Write("DB6.1.3", false);
+                Client.Write("DB6.1.0", true);
+                if (Client.ReadBoolean("DB6.3.0").Value)
+                {
+                    Client.Write("DB6.1.0", false);
+                    Client.Write("DB6.1.1", true);
+                    result = true;
+                }
+            }
+            catch
+            {
+                result = false;
+            }
+            finally
+            {
+                Client.Close();
+            }
+            return result;
+        }
+
+        public bool LeftOutRequest()
+        {
+            var result = false;
+            try
+            {
+                Client.Open();
+                Client.Write("DB6.1.1", false);
+                Client.Write("DB6.1.2", true);
+                if (Client.ReadBoolean("DB6.3.2").Value)
+                {
+                    Client.Write("DB6.1.2", false);
+                    result = true;
+                }
+            }
+            catch
+            {
+                result = false;
+            }
+            finally
+            {
+                Client.Close();
+            }
+            return result;
+        }
+
+        public bool LeftOutReponse()
+        {
+            var result = false;
+            try
+            {
+                Client.Open();
+                Client.Write("DB6.1.3", true);
+                result = true;
+            }
+            catch
+            {
+                result = false;
+            }
+            finally
+            {
+                Client.Close();
+            }
+            return result;
+        }
+
+        public bool RightInRequest()
+        {
+            var result = false;
+            try
+            {
+                Client.Open();
+                Client.Write("DB6.1.7", false);
+                Client.Write("DB6.1.4", true);
+                if (Client.ReadBoolean("DB6.3.1").Value)
+                {
+                    Client.Write("DB6.1.4", false);
+                    Client.Write("DB6.1.5", true);
+                    result = true;
+                }
+            }
+            catch
+            {
+                result = false;
+            }
+            finally
+            {
+                Client.Close();
+            }
+            return result;
+        }
+
+        public bool RightOutRequest()
+        {
+            var result = false;
+            try
+            {
+                Client.Open();
+                Client.Write("DB6.1.5", false);
+                Client.Write("DB6.1.6", true);
+                if (Client.ReadBoolean("DB6.3.3").Value)
+                {
+                    Client.Write("DB6.1.6", false);
+                    result = true;
+                }
+            }
+            catch
+            {
+                result = false;
+            }
+            finally
+            {
+                Client.Close();
+            }
+            return result;
+        }
+
+        public bool RightOutReponse()
+        {
+            var result = false;
+            try
+            {
+                Client.Open();
+                Client.Write("DB6.1.7", true);
+                result = true;
+            }
+            catch
+            {
+                result = false;
+            }
+            finally
+            {
+                Client.Close();
+            }
+            return result;
+        }
+
+        //public bool LeftInRequest()
+        //{
+        //    var result = false;
+        //    try
+        //    {
+        //        Client.Open();
+        //        Client.Write("DB6.0.0", true);
+        //        if (Client.ReadBoolean("DB6.2.0").Value)
+        //        {
+        //            Client.Write("DB6.0.0", false);
+        //            Client.Write("DB6.0.1", true);
+        //            result = true;
+        //        }
+        //    }
+        //    catch
+        //    {
+        //        result = false;
+        //    }
+        //    finally
+        //    {
+        //        Client.Close();
+        //    }
+        //    return result;
+        //}
+
+        //public bool LeftOutRequest()
+        //{
+        //    var result = false;
+        //    try
+        //    {
+        //        Client.Open();
+        //        Client.Write("DB6.0.1", false);
+        //        Client.Write("DB6.0.2", true);
+        //        if (Client.ReadBoolean("DB6.2.2").Value)
+        //        {
+        //            Client.Write("DB6.0.2", false);
+        //            result = true;
+        //        }
+        //    }
+        //    catch
+        //    {
+        //        result = false;
+        //    }
+        //    finally
+        //    {
+        //        Client.Close();
+        //    }
+        //    return result;
+        //}
+
+        //public bool LeftOutReponse()
+        //{
+        //    var result = false;
+        //    try
+        //    {
+        //        Client.Open();
+        //        Client.Write("DB6.0.3", true);
+        //        Thread.Sleep(1000);
+        //        Client.Write("DB6.0.3", false);
+        //        result = true;
+        //    }
+        //    catch
+        //    {
+        //        result = false;
+        //    }
+        //    finally
+        //    {
+        //        Client.Close();
+        //    }
+        //    return result;
+        //}
+
+        //public bool RightInRequest()
+        //{
+        //    var result = false;
+        //    try
+        //    {
+        //        Client.Open();
+        //        Client.Write("DB6.0.4", true);
+        //        if (Client.ReadBoolean("DB6.2.1").Value)
+        //        {
+        //            Client.Write("DB6.0.4", false);
+        //            Client.Write("DB6.0.5", true);
+        //            result = true;
+        //        }
+        //    }
+        //    catch
+        //    {
+        //        result = false;
+        //    }
+        //    finally
+        //    {
+        //        Client.Close();
+        //    }
+        //    return result;
+        //}
+
+        //public bool RightOutRequest()
+        //{
+        //    var result = false;
+        //    try
+        //    {
+        //        Client.Open();
+        //        Client.Write("DB6.0.5", false);
+        //        Client.Write("DB6.0.6", true);
+        //        if (Client.ReadBoolean("DB6.2.3").Value)
+        //        {
+        //            Client.Write("DB6.0.6", false);
+        //            result = true;
+        //        }
+        //    }
+        //    catch
+        //    {
+        //        result = false;
+        //    }
+        //    finally
+        //    {
+        //        Client.Close();
+        //    }
+        //    return result;
+        //}
+
+        //public bool RightOutReponse()
+        //{
+        //    var result = false;
+        //    try
+        //    {
+        //        Client.Open();
+        //        Client.Write("DB6.0.7", true);
+        //        result = true;
+        //    }
+        //    catch
+        //    {
+        //        result = false;
+        //    }
+        //    finally
+        //    {
+        //        Client.Close();
+        //    }
+        //    return result;
+        //}
+    }
+}
@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net10.0</TargetFramework>
+		<ImplicitUsings>enable</ImplicitUsings>
+		<Nullable>enable</Nullable>
+		<Version>2.4.2</Version>
+	</PropertyGroup>
+
+	<ItemGroup>
+	  <PackageReference Include="Common.Device" Version="2.4.2" />
+	</ItemGroup>
+
+</Project>
@@ -0,0 +1,6 @@
+namespace FASS.Extend.Door
+{
+    internal class Command
+    {
+    }
+}
@@ -0,0 +1,10 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net10.0</TargetFramework>
+		<ImplicitUsings>enable</ImplicitUsings>
+		<Nullable>enable</Nullable>
+		<Version>2.4.2</Version>
+	</PropertyGroup>
+
+</Project>
@@ -0,0 +1,7 @@
+namespace FASS.Extend.Elevator
+{
+    public class Command
+    {
+
+    }
+}
@@ -0,0 +1,10 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net10.0</TargetFramework>
+		<ImplicitUsings>enable</ImplicitUsings>
+		<Nullable>enable</Nullable>
+		<Version>2.4.2</Version>
+	</PropertyGroup>
+
+</Project>
@@ -0,0 +1,47 @@
+using Common.Device.Clients.Modbus;
+using System.IO.Ports;
+
+namespace FASS.Extend.Light
+{
+    public class Command
+    {
+        public ModbusRtuClient Client { get; private set; }
+
+        public byte StationNumber { get; private set; }
+
+        public Command(string portName, string baudRate, string stationNumber)
+        {
+            Client = new ModbusRtuClient(portName, int.Parse(baudRate), 8, StopBits.One, Parity.None, 500);
+            StationNumber = byte.Parse(stationNumber);
+        }
+
+        public bool Switch(string close, string open)
+        {
+            var result = false;
+            try
+            {
+                Client.Open();
+                Client.Write(close, false, StationNumber);
+                Client.Write(open, true, StationNumber);
+                var closeResult = Client.ReadCoil(close, StationNumber);
+                var openResult = Client.ReadCoil(open, StationNumber);
+                if (closeResult.IsSucceed && openResult.IsSucceed)
+                {
+                    if (closeResult.Value == false && openResult.Value == true)
+                    {
+                        result = true;
+                    }
+                }
+            }
+            catch
+            {
+                result = false;
+            }
+            finally
+            {
+                Client.Close();
+            }
+            return result;
+        }
+    }
+}
@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net10.0</TargetFramework>
+		<ImplicitUsings>enable</ImplicitUsings>
+		<Nullable>enable</Nullable>
+		<Version>2.4.2</Version>
+	</PropertyGroup>
+
+	<ItemGroup>
+	  <PackageReference Include="Common.Device" Version="2.4.2" />
+	</ItemGroup>
+
+</Project>
--- a/Show More
+++ b/Show More