datadefine.h

AGV小车上位机控制程序,通过TCP/IP协议来进行数据的传送

#if !defined(_AGVDataDefineV100_)
#define _AGVDataDefineV100_
#define PACK_HEAD				0xF0
#define PACK_END				0xE0

#define SET_AGVSPEED			0x1
#define SET_PATHDATA			0x2
#define SET_AGVRUNNING			0x3
#define ACK_STATION				0x4
#define ACK_ENDTASK				0x5
#define DisConnect				0x6

#define MaxAGVStation			12
#define MinAGVStationID			11
#define MaxAGVStationID			22
#define AGVPathList_Cols		4
#define MaxAGVStopMode			3
#define MaxRollerRollingMode	3
#define StopAuto				0
#define StopManual				1
#define StopEnd					2
#define RollingNot				0
#define RollingLeft				1
#define RollingRight			2
#define AGVCarbarnID			11//起始站站号
#define AGVInGoodsAreaID		16//入托盘站号
#define AGVMaterielAreaID		17//2007.06.05取托盘站号
#define AGVOutGoodsAreaID		18//出托盘站号
#define RollerStation01ID		12
#define ChainStation01ID		19
#define AGVTCPIPPort			5000
#define AGVMoveForward			0
#define AGVMoveBack				1

struct _AGVPathType_
{
	byte LineID;				/*Value:0,1,2*/
	byte Dir;					/*Value:0,1*/
	byte StopStationID;			/*Value:11-20*/
	byte ContinueRunningMode;   /*Value:0,1,2,3*/
	byte RollerRollingDir;		/*Value:0,1,2*/
};

struct _TCPIPPackType_
{
	byte PackHead;
	byte PackType;
	CByteArray PackData;
	byte PackEnd;
};

class CTimeCounter   
{   
public:   
	CTimeCounter(int nScaleSecond=1000)   
	{   
		m_nScaleSecond=nScaleSecond;   
		Begin();   
	}   
	void Begin()   
	{   
		QueryPerformanceFrequency(&m_nFreq);   
		QueryPerformanceCounter(&m_nBeginTime);   
	}   
	__int64 End()   
	{   
		LARGE_INTEGER nEndTime;   
		QueryPerformanceCounter(&nEndTime);   
		return   (__int64)(nEndTime.QuadPart-m_nBeginTime.QuadPart)*m_nScaleSecond/m_nFreq.QuadPart;   
	}   
protected:   
	int m_nScaleSecond;   
	LARGE_INTEGER m_nFreq;   
	LARGE_INTEGER m_nBeginTime;   
};
#endif