456 lines
18 KiB
C#
456 lines
18 KiB
C#
using Simple3.RCS;
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using Simple3.RCS.CarTypes;
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using SimpleCore;
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using SimpleCore.Library;
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using SimpleCore.PropType;
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using StandardScene.Charge;
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using StandardScene.TCP;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Net;
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using System.Net.Sockets;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Timers;
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namespace StandardScene.ChargeStationType
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{
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public class MuXingChargeStation : AbstractChargeStation
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{
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public static TcpListener tcpListener;
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public static Thread listenerThread;
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public static NetworkStream stream;
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public static TcpClient client;
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//public Dictionary<IPAddress, (TcpClient, NetworkStream)> chargeClient = new Dictionary<IPAddress, (TcpClient, NetworkStream)> { };
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public System.Timers.Timer _Timer;
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public bool reciveHeartBeat;
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public bool running;
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public byte[] IdBytes = new byte[] { 0x0f, 0x01 };
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private static IPEndPoint _endPoint;
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/// <summary>
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/// 关闭当前TCP连接
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/// </summary>
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public override void CloseCommunication()
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{
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try
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{
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running = false;
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// 停止定时器
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if (_Timer != null)
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{
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_Timer.Stop();
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_Timer.Dispose();
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_Timer = null;
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}
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// 关闭流
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if (stream != null)
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{
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stream.Close();
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stream = null;
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}
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// 关闭客户端
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if (client != null)
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{
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client.Close();
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client = null;
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}
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// 停止监听器
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if (tcpListener != null)
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{
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tcpListener.Stop();
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tcpListener = null;
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}
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Diagnosis.Log($"MuXingChargeStation[{SiteId}] TCP connection closed");
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}
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catch (Exception ex)
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{
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Diagnosis.Log($"ERR:MuXingChargeStation[{SiteId}] failed to close connection: {ex.Message}");
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}
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}
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public override void CreateCommunication(IPAddress ip, int port)
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{
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// 先关闭旧连接
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CloseCommunication();
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_endPoint = new IPEndPoint(ip, port);
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reciveHeartBeat = false;
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running = true;
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int n = 0;
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DateTime offlineTime = DateTime.Now;
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try
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{
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tcpListener = new TcpListener(ip, port);
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tcpListener.Start();
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Diagnosis.Post($"AGV与牧星充电站通信已建立，监听 IP: {ip}, 端口: {port}");
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client = tcpListener.AcceptTcpClient();
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client.SendTimeout = 5000;
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client.ReceiveTimeout = 5000;
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stream = client.GetStream();
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}
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catch (Exception ex)
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{
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Console.WriteLine($"与充电站通信建立失败: {ExceptionFormatter.FormatEx(ex)}");
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throw;
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}
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while (running)
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{
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try
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{
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if (client == null)
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{
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client = tcpListener.AcceptTcpClient();
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client.SendTimeout = 5000;
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client.ReceiveTimeout = 5000;
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stream = client.GetStream();
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}
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var type = ReceiveMesageType();
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//item1:byte0 帧头
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//item2:byte11 命令字
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//item3:byte12 动作码/故障码/状态码
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//item4:byte5 设备ID 低
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//item5:byte6 设备ID 高
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//0x10 充电桩登录回复 1次
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if (type.Item1 == 0xAA && type.Item2 == 0x10)
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{
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var timestampBytes = GetTimeStamp();
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byte[] dataByte = new byte[16]
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{
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0, 0x0d,
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0, 0, 0, 0, 0, 0, 0, 0, 0,
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0x10,
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0, 0,
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0x00, 0x00
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}; //长度必须大于10,与帧长度对应
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dataByte = InitSendBytes(dataByte, type, timestampBytes);
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byte[] mesSendByte =
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CombineDataAndCRC(dataByte, CalculateCRC16(dataByte.Skip(1).ToArray())); //拼接crc（去掉包头）
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Diagnosis.Post($"login => {string.Join(" ", mesSendByte.Select(d => $"{d:X2}"))}",
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$"充电桩登录回复");
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SendMessage(mesSendByte);
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}
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//0x12 充电桩对接完成回复 1次
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else if (type.Item1 == 0xAA && type.Item2 == 0x12)
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{
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var timestampBytes = GetTimeStamp();
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byte[] dataByte = new byte[12]
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{
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0, 0x09,
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0, 0, 0, 0, 0, 0, 0, 0, 0,
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0x12
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};
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;
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dataByte = InitSendBytes(dataByte, type, timestampBytes);
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byte[] sendByte =
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CombineDataAndCRC(dataByte, CalculateCRC16(dataByte.Skip(1).ToArray())); //拼接crc（去掉包头）
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Diagnosis.Post($"docking => {string.Join(" ", sendByte.Select(d => $"{d:X2}"))}",
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$"充电桩对接完成回复");
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SendMessage(sendByte);
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}
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//0x13 故障上报回复
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else if (type.Item1 == 0xAA && type.Item2 == 0x13)
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{
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var timestampBytes = GetTimeStamp();
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byte[] dataByte = new byte[13]
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{
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0, 0x0A,
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0, 0, 0, 0, 0, 0, 0, 0, 0,
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0x13,
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type.Item3
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};
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dataByte = InitSendBytes(dataByte, type, timestampBytes);
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byte[] sendByte =
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CombineDataAndCRC(dataByte, CalculateCRC16(dataByte.Skip(1).ToArray())); //拼接crc（去掉包头）
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Diagnosis.Post($"Error => {string.Join(" ", sendByte.Select(d => $"{d:X2}"))}",
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$"故障上报回复");
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SendMessage(sendByte);
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}
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//收到至少1次充电桩心跳包上传
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if (type.Item1 == 0xAA && type.Item2 == 0xF0 && !reciveHeartBeat)
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{
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Diagnosis.Post($"收到充电桩心跳包上传", $"HeartBeatRecive");
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reciveHeartBeat = true;
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StartSendingHeartBeat();
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}
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//异常情况处理
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//故障上报 故障码不为0 16 17 1
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if (type.Item1 == 0xAA && type.Item2 == 0x13 &&
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(type.Item3 != 0 && type.Item3 != 16 && type.Item3 != 17 && type.Item3 != 1))
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{
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//充电桩掉线
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if ((type.Item3 & (1 << 3)) != 0 && reciveHeartBeat)
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{
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if (n == 0) offlineTime = DateTime.Now;
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//充电桩掉线时间大于60s 重启WiFi模块
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if ((DateTime.Now - offlineTime).TotalSeconds > 60)
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{
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var timestampBytes = GetTimeStamp();
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//下发 命令码指令
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byte[] dataByte = new byte[17]
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{
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0, 0x0E,
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0, 0, 0, 0, 0, 0, 0, 0, 0,
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0x15,
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0x04, //重启WiFi模块
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0x00, 0x00, 0x00, 0x00
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};
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dataByte = InitSendBytes(dataByte, type, timestampBytes);
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byte[] sendChargeByte =
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CombineDataAndCRC(dataByte, CalculateCRC16(dataByte.Skip(1).ToArray()));
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Diagnosis.Post(
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$"Restart => {string.Join(" ", sendChargeByte.Select(d => $"{d:X2}"))}",
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$"重启WiFi模块");
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SendMessage(sendChargeByte);
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n = 0;
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offlineTime = DateTime.Now;
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}
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n++;
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}
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else
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{
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n = 0;
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offlineTime = DateTime.Now;
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}
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}
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//if (!client.Connected)
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//{
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// Console.WriteLine("客户端断开连接，退出循环");
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// running = false;
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//}
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}
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catch (Exception ex)
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{
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Console.WriteLine($"充电桩通信异常：{ExceptionFormatter.FormatEx(ex)}");
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running = false;
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client.Close();
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tcpListener.Stop();
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stream.Close();
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}
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}
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}
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public override void SendToChargeStation(int isCharge, Car car,Site site)
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{
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var messageService = CommunicationMessageService.Instance;
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float setVoltage = 55.0f;
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float setElectricCurrent = 50.0f;
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float voltage = 430;
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// Site site = null;
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if (car != null)
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{
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// site = SimpleLib.GetSite(car.status.holdingLocks.FirstOrDefault());
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int carId = 0;
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if (car != null && car.GetType() != typeof(DummyCar))
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{
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voltage = float.Parse(Commons.GetCarStatus(car, "Voltage")) * 10;
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voltage = voltage > 430 ? voltage : 430;
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carId = car.id;
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}
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}
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if (site != null && site.fields.ContainsKey("setVoltage") && site.fields.ContainsKey("setElectricCurrent"))
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{
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setVoltage = float.Parse(site.fields["setVoltage"]);
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setElectricCurrent = float.Parse(site.fields["setElectricCurrent"]);
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}
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var byte1 = BitConverter.GetBytes(voltage);
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var type = ReceiveMesageType();
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var openChargePort = isCharge == 1 ? 2 : 3;
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//下发打开充电口指令
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var timestampBytes = GetTimeStamp();
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byte[] dataByte = new byte[18]
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{
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0, 0x0F,
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0, 0, 0, 0, 0, 0, 0, 0, 0,
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0x11,
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(byte)openChargePort,//开始充电/结束充电
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byte1[0], byte1[1],
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0xc8, 0x00,//下发最大充电电流
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0x02//电池种类
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};
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dataByte = InitSendBytes(dataByte, type, timestampBytes);
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byte[] openCharge =
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CombineDataAndCRC(dataByte, CalculateCRC16(dataByte.Skip(1).ToArray()));
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if (client.Connected)
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{
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stream.WriteAsync(openCharge, 0, openCharge.Length);
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stream.FlushAsync();
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}
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messageService.AddSendMessage(_endPoint.Address.ToString(), _endPoint.Port, BitConverter.ToString(openCharge).Replace("-", " "), site?.name, "MuXing");
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Diagnosis.Post($"openCharge => {string.Join(" ", openCharge.Select(d => $"{d:X2}"))}",
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$"下发开始充电");
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}
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public void StartSendingHeartBeat()
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{
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if (client == null)
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{
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Console.WriteLine("客户端为null，无法启动心跳包定时器");
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return;
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}
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_Timer = new System.Timers.Timer(2000);
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_Timer.Elapsed += SendHeartBeat;
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_Timer.AutoReset = true; // 反复执行
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_Timer.Enabled = true;
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}
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private void SendHeartBeat(Object item, ElapsedEventArgs e)
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{
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var timestampBytes = GetTimeStamp();
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var type = ReceiveMesageType();
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//下发心跳包报文
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var rcs = new byte[]
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{
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0xBB, 0x09, 0x00, 0x03, 0x00,
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IdBytes[0], IdBytes[1],
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timestampBytes[0], timestampBytes[1], timestampBytes[2], timestampBytes[3],
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0xF0
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};
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byte[] mesSendByte = CombineDataAndCRC(rcs, CalculateCRC16(rcs.Skip(1).ToArray()));
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// 日志记录
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Diagnosis.Post($"heartBeat => {string.Join(" ", mesSendByte.Select(d => $"{d:X2}"))}", $"下发心跳包");
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// 发送心跳包
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SendMessage(mesSendByte);
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}
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private byte[] GetTimeStamp()
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{
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// 获取当前时间戳（秒级别）
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int timestamp = (int)DateTimeOffset.UtcNow.ToUnixTimeSeconds();
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//将时间戳转换为字节数组，低字节在前
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byte[] timestampBytes = BitConverter.GetBytes(timestamp);
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return timestampBytes;
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}
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private static Tuple<byte, byte, byte, byte, byte> ReceiveMesageType()
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{
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byte[] message = new byte[1024];
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int bytesRead = 0;
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try
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{
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if (client != null && client.Connected && stream != null && stream.CanRead && client.Available > 0)
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{
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bytesRead = stream.Read(message, 0, 1024);
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}
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}
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catch (Exception ex)
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{
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client = null;
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stream = null;
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Console.WriteLine($"Error reading message: {ex.Message}");
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}
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//message长度判断：至少需要 13 字节才能安全访问 message[12]
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if (bytesRead >= 13)
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{
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string receivedMessage = BitConverter.ToString(message, 0, bytesRead);
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Diagnosis.Post($"Received <= {string.Join(" ", message.Take(bytesRead).ToArray().Select(d => $"{d:X2}"))}", "读取报文");
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Diagnosis.Post($"item1:{message[0]:x2},item2:{message[11]:x2},item3:{message[12]:x2},item4:{message[5]:x2},item5:{message[6]:x2},", "Tuple.Item");
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var messageService = CommunicationMessageService.Instance;
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messageService.AddReceiveMessage(_endPoint.Address.ToString(), _endPoint.Port, string.Join(",", message), "MuXing");
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return Tuple.Create<byte, byte, byte, byte, byte>(message[0], message[11], message[12], message[5], message[6]);
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}
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return new Tuple<byte, byte, byte, byte, byte>(0, 0, 0, 0, 0);
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}
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public static byte[] CombineDataAndCRC(byte[] data, byte[] crc)
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{
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//byte[] crcBytes = BitConverter.GetBytes(crc);
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// 合并数据和CRC
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byte[] combined = new byte[data.Length + crc.Length];
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Array.Copy(data, combined, data.Length);
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Array.Copy(crc, 0, combined, data.Length, crc.Length);
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return combined;
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}
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private static byte[] CalculateCRC16(byte[] data)
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{
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byte b = byte.MaxValue;
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byte b2 = byte.MaxValue;
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byte b3 = 1;
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byte b4 = 160;
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for (int i = 0; i < data.Length; i++)
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{
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b = (byte)(b ^ data[i]);
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for (int j = 0; j <= 7; j++)
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{
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byte b5 = b2;
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byte b6 = b;
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b2 = (byte)(b2 >> 1);
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b = (byte)(b >> 1);
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if ((b5 & 1) == 1)
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{
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b = (byte)(b | 0x80u);
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}
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if ((b6 & 1) == 1)
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{
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b2 = (byte)(b2 ^ b4);
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b = (byte)(b ^ b3);
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}
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}
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}
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return new byte[2]
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{
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b,b2
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};
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}
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private void SendMessage(byte[] message)
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{
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try
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{
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if (client != null && stream != null)
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{
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stream.Write(message, 0, message.Length);
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stream.Flush();
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}
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}
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catch (Exception ex)
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{
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client = null;
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Console.WriteLine($"Error sending message: {ExceptionFormatter.FormatEx(ex)}");
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}
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}
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private byte[] InitSendBytes(byte[] sendBytes, Tuple<byte, byte, byte, byte, byte> type, byte[] timestampBytes)
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{
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sendBytes[0] = 0xBB; //帧头
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sendBytes[2] = 0x00; //帧长 高
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sendBytes[3] = 0x03; //设备类型 低
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sendBytes[4] = 0x00; //设备类型 高
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sendBytes[5] = IdBytes[0]; //设备ID 低
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sendBytes[6] = IdBytes[1]; //设备ID 高
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sendBytes[7] = timestampBytes[0]; //时间戳 低
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sendBytes[8] = timestampBytes[1];
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sendBytes[9] = timestampBytes[2];
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sendBytes[10] = timestampBytes[3]; //时间戳 高
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return sendBytes;
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}
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}
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}
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