Merge branch 'master' of http://afc.siasun.com/gitlab/siasun.autopilot/siasun.autopilot

SIASUN.Autopilot.BLL/Controler/BlControler.cs

@@ -1,4 +1,5 @@
 using ProjectBase.Data.Logs;
+using ProjectBase.Data.Redis;
 using SIASUN.Autopilot.Device.Common;
 using SIASUN.Autopilot.Device.Message;
 using System;
@@ -14,9 +15,18 @@ namespace SIASUN.Autopilot.BLL.Controler
     {
         // 控制器命令值
         private string power = "1";
+
+        /// <summary>
+        /// 定时器
+        /// </summary>
+        private static MTimer mTime;
+
+        private RedisHelper redis = new RedisHelper(0);
+
         /// <summary>
-        /// 控制上电命令 ICU-》RCU
+        /// 控制上电命令 ICU-》RCU 
         /// </summary>
+        /// <param name="power">0=Power Off;1=Power ON;2=无效命令</param>
         /// <returns></returns>
         public int RCUPowerOnRequest(PowerStatus power)
         {
@@ -35,8 +45,140 @@ namespace SIASUN.Autopilot.BLL.Controler
             SimpleCommand<控制器上电命令> cmd = new SimpleCommand<控制器上电命令>();
             int r = cmd.Execute(sMsg, sMsg.GetId);
             LogHelper.log.Info(string.Format("发送控制器上电命令，返回值{0}", r));
+            if (r > 0)
+            {
+                mTime = new MTimer(100, 500, 1, CirculateSend);
+                mTime.Open();
+            }
+            return r;
+        }
+
+        /// <summary>
+        /// 执行机构使能请求
+        /// </summary>
+        /// <param name="common">0=Disable;1=Enable</param>
+        /// <param name="throttleClutch">油门离合器控制:0=Joint;1=Release;2=无效命令</param>
+        /// <param name="actuallySysControl">实际系统控制模式请求:0=自动学习模式;1=手动学习模式;3=人工驾驶模式;4=机器人自检模式;5=机器人调试模式</param>
+        /// <returns></returns>
+        public int RCUEnableRequest()
+        {
+            LogHelper.log.Info("发送RCU使能命令请求");
+            执行机构使能请求 sMsg = new 执行机构使能请求()
+            {
+                实际系统控制模式请求 = redis.GetString("实际系统控制模式请求"),
+                机器人Estop使能 = redis.GetString("机器人Estop使能"),
+                制动急停气泵使能 = redis.GetString("制动急停气泵使能"),
+                系统软急停使能 = redis.GetString("系统软急停使能"),
+                换挡臂Y电机使能 = redis.GetString("换挡臂Y电机使能"),
+                离合电机使能 = redis.GetString("离合电机使能"),
+                油门离合器控制 = redis.GetString("油门离合器控制"),
+                油门电机使能 = redis.GetString("油门电机使能"),
+                制动电机使能 = redis.GetString("制动电机使能"),
+                转向电机使能 = redis.GetString("转向电机使能"),
+                换挡臂X电机使能 = redis.GetString("换挡臂X电机使能")
+
+            };
+            SimpleCommand<执行机构使能请求> cmd = new SimpleCommand<执行机构使能请求>();
+            int r = cmd.Execute(sMsg, sMsg.GetId);
+            LogHelper.log.Info(string.Format("发送执行机构使能请求，返回值{0}", r));
+            return r;
+        }
+
+        /// <summary>
+        /// 循环发送命令
+        /// </summary>
+        private static void CirculateSend(object sender, long JumpPeriod, long interval)
+        {
+
+        }
+
+        /// <summary>
+        /// 学习模式请求确认
+        /// </summary>
+        /// <param name="sMg"></param>
+        /// <returns></returns>
+        public int RCULearnModeRequest()
+        {
+            LogHelper.log.Info("发送RCU学习模式请求确认命令");
+            学习模式请求确认 sMg = new 学习模式请求确认()
+            {
+                档位自动学习完成确认 = redis.GetString("档位自动学习完成确认"),
+                清空挡位学习表 = redis.GetString("清空挡位学习表"),
+                终止自动学习 = redis.GetString("终止自动学习"),
+                清空油门学习表 = redis.GetString("清空油门学习表"),
+                清空制动学习表 = redis.GetString("清空制动学习表"),
+                清空离合学习表 = redis.GetString("清空离合学习表"),
+                清空转向学习表 = redis.GetString("清空转向学习表"),
+                挡位位置学习请求确认 = redis.GetString("挡位位置学习请求确认"),
+                位置学习请求确认 = redis.GetString("位置学习请求确认"),
+                系统学习请求 = redis.GetString("系统学习请求")
+            };
+            SimpleCommand<学习模式请求确认> cmd = new SimpleCommand<学习模式请求确认>();
+            int r = cmd.Execute(sMg,sMg.GetId);
+            LogHelper.log.Info(string.Format("发送学习模式请求确认命令，返回值{0}", r));
             return r;
         }
 
+        /// <summary>
+        /// 踏板执行机构控制命令
+        /// </summary>
+        /// <returns></returns>
+        public int PedalControlCommand()
+        {
+            LogHelper.log.Info("发送踏板执行机构控制命令");
+            踏板执行机构控制命令 sMg = new 踏板执行机构控制命令()
+            {
+                制动踏板力控制请求 = redis.GetString("制动踏板力控制请求"),
+                制动踏板速度控制请求 = redis.GetString("制动踏板速度控制请求"),
+                制动踏板控制模式请求 = redis.GetString("制动踏板控制模式请求"),
+                制动踏板位置控制请求 = redis.GetString("制动踏板位置控制请求"),
+                油门踏板速度控制请求 = redis.GetString("油门踏板速度控制请求"),
+                油门踏板位置控制请求 = redis.GetString("油门踏板位置控制请求")
+            };
+            SimpleCommand<踏板执行机构控制命令> cmd = new SimpleCommand<踏板执行机构控制命令>();
+            int r = cmd.Execute(sMg, sMg.GetId);
+            LogHelper.log.Info(string.Format("发送踏板执行机构控制命令，返回值{0}", r));
+            return r;
+        }
+
+        /// <summary>
+        /// 转向执行机构控制命令
+        /// </summary>
+        /// <returns></returns>
+        public int TurnControlCommand()
+        {
+            LogHelper.log.Info("发送转向执行机构控制命令");
+            转向执行机构控制命令 sMg = new 转向执行机构控制命令()
+            {
+                方向盘转矩控制请求 = redis.GetString("方向盘转矩控制请求"),
+                方向盘转速控制请求 = redis.GetString("方向盘转速控制请求"),
+                方向盘控制模式请求 = redis.GetString("方向盘控制模式请求"),
+                方向盘转角控制请求 = redis.GetString("方向盘转角控制请求")
+            };
+            SimpleCommand<转向执行机构控制命令> cmd = new SimpleCommand<转向执行机构控制命令>();
+            int r = cmd.Execute(sMg, sMg.GetId);
+            LogHelper.log.Info(string.Format("发送转向执行机构控制命令，返回值{0}", r));
+            return r;
+        }
+
+        /// <summary>
+        /// 挡位执行机构控制命令
+        /// </summary>
+        /// <returns></returns>
+        public int GearControlCommand()
+        {
+            LogHelper.log.Info("发送挡位执行机构控制命令");
+            挡位执行机构控制命令 sMg = new 挡位执行机构控制命令()
+            {
+                离合踏板速度控制请求 = redis.GetString("离合踏板速度控制请求"),
+                离合踏板位置控制请求 = redis.GetString("离合踏板位置控制请求"),
+                换挡模式请求 = redis.GetString("换挡模式请求"),
+                挡位控制请求 = redis.GetString("挡位控制请求")
+            };
+            SimpleCommand<挡位执行机构控制命令> cmd = new SimpleCommand<挡位执行机构控制命令>();
+            int r = cmd.Execute(sMg, sMg.GetId);
+            LogHelper.log.Info(string.Format("发送挡位执行机构控制命令，返回值{0}", r));
+            return r;
+        }
     }
 }

SIASUN.Autopilot.Device/Common/MTimer.cs

@@ -0,0 +1,194 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace SIASUN.Autopilot.Device.Common
+{
+    /// <summary>
+    /// 基于系统性能计数器的定时器，计数单位是1微秒=1/1000毫秒
+    /// 注意：该定时器会独占一个CPU核心，尝试定时器与主程序运行在同一核心将导致程序失去响应
+    /// </summary>
+    public class MTimer
+    {
+        /// <summary>
+        /// 获取当前系统性能计数
+        /// </summary>
+        /// <param name="lpPerformanceCount"></param>
+        /// <returns></returns>
+        [DllImport("Kernel32.dll")]
+        private static extern bool QueryPerformanceCounter(out long lpPerformanceCount);
+        /// <summary>
+        /// 获取当前系统性能频率
+        /// </summary>
+        /// <param name="lpFrequency"></param>
+        /// <returns></returns>
+        [DllImport("Kernel32.dll")]
+        private static extern bool QueryPerformanceFrequency(out long lpFrequency);
+        /// <summary>
+        /// 指定某一特定线程运行在指定的CPU核心
+        /// </summary>
+        /// <param name="hThread"></param>
+        /// <param name="dwThreadAffinityMask"></param>
+        /// <returns></returns>
+        [DllImport("kernel32.dll")]
+        static extern UIntPtr SetThreadAffinityMask(IntPtr hThread, UIntPtr dwThreadAffinityMask);
+        /// <summary>
+        /// 获取当前线程的Handler
+        /// </summary>
+        /// <returns></returns>
+        [DllImport("kernel32.dll")]
+        static extern IntPtr GetCurrentThread();
+        /// <summary>
+        /// 是否销毁定时器
+        /// </summary>
+        private bool _Dispose = false;
+        /// <summary>
+        /// 是否正在运行定时器
+        /// </summary>
+        private bool _BRunTimer = false;
+        /// <summary>
+        /// 首次启动延时（微秒）
+        /// </summary>
+        private uint _Delay = 0;
+        /// <summary>
+        /// 定时器周期（微秒）
+        /// </summary>
+        private long _Period = 10;
+        /// <summary>
+        /// 定时器运行时独占的CPU核心索引序号
+        /// </summary>
+        private byte _CpuIndex = 0;
+        /// <summary>
+        /// 系统性能计数频率（每秒）
+        /// </summary>
+        private long _Freq = 0;
+        /// <summary>
+        /// 系统性能计数频率（每微秒）
+        /// </summary>
+        private long _Freqmms = 0;
+        /// <summary>
+        /// 回调函数定义
+        /// </summary>
+        private OnTickHandle Tick;
+        /// <summary>
+        /// 根据CPU的索引序号获取CPU的标识序号
+        /// </summary>
+        /// <param name="idx"></param>
+        /// <returns></returns>
+        private ulong GetCpuID(int idx)
+        {
+            ulong cpuid = 0;
+            if (idx < 0 || idx >= System.Environment.ProcessorCount)
+            {
+                idx = 0;
+            }
+            cpuid |= 1UL << idx;
+            return cpuid;
+        }
+        /// <summary>
+        /// 定时器构造函数
+        /// </summary>
+        /// <param name="delay">首次启动定时器延时时间（微秒）</param>
+        /// <param name="period">定时器触发的周期（微秒）</param>
+        /// <param name="cpuIndex">指定定时器线程独占的CPU核心索引，必须>0，不允许为定时器分配0#CPU</param>
+        /// <param name="tick">定时器触发时的回调函数</param>
+        public MTimer(uint delay, uint period, byte cpuIndex, OnTickHandle tick)
+        {
+            Tick = tick;
+            _Delay = delay;
+            _Period = period;
+            _CpuIndex = cpuIndex;
+            long freq = 0;
+            QueryPerformanceFrequency(out freq);
+            if (freq > 0)
+            {
+                _Freq = freq;
+                _Freqmms = freq / 1000000;//每微秒性能计数器跳跃次数
+            }
+            else
+            {
+                throw new Exception("初始化定时器失败");
+            }
+            if (_CpuIndex == 0)
+            {
+                throw new Exception("定时器不允许被分配到0#CPU");
+            }
+            if (_CpuIndex >= System.Environment.ProcessorCount)
+            {
+                throw new Exception("为定时器分配了超出索引的CPU");
+            }
+        }
+        private System.Threading.Thread _threadRumTimer;
+        /// <summary>
+        /// 开启定时器
+        /// </summary>
+        public void Open()
+        {
+            if (Tick != null)
+            {
+                _threadRumTimer = new System.Threading.Thread(new System.Threading.ThreadStart(RunTimer));
+                _threadRumTimer.Start();
+            }
+        }
+        /// <summary>
+        /// 运行定时器
+        /// </summary>
+        private void RunTimer()
+        {
+            UIntPtr up = UIntPtr.Zero;
+            if (_CpuIndex != 0)
+                up = SetThreadAffinityMask(GetCurrentThread(), new UIntPtr(GetCpuID(_CpuIndex)));
+            if (up == UIntPtr.Zero)
+            {
+                throw new Exception("为定时器分配CPU核心时失败");
+            }
+            long q1, q2;
+            QueryPerformanceCounter(out q1);
+            QueryPerformanceCounter(out q2);
+            if (_Delay > 0)
+            {
+                while (q2 < q1 + _Delay * _Freqmms)
+                {
+                    QueryPerformanceCounter(out q2);
+                }
+            }
+            QueryPerformanceCounter(out q1);
+            QueryPerformanceCounter(out q2);
+            while (!_Dispose)
+            {
+                _BRunTimer = true;
+                QueryPerformanceCounter(out q2);
+                if (q2 > q1 + _Freqmms * _Period)
+                {
+                    //***********回调***********//
+                    if (!_Dispose)
+                        Tick(this, (q2 - q1) / (_Freqmms * _Period), (q2 - q1) / _Freqmms);
+                    q1 = q2;
+                    //System.Windows.Forms.Application.DoEvents();//会导致线程等待windows消息循环，时间损失15ms以上
+                }
+                _BRunTimer = false;
+            }
+        }
+        /// <summary>
+        /// 销毁当前定时器所占用的资源
+        /// </summary>
+        public void Dispose()
+        {
+            _Dispose = true;
+            while (_BRunTimer)
+                System.Windows.Forms.Application.DoEvents();//在工作未完成之前，允许处理消息队列，防止调用者挂起
+            if (_threadRumTimer != null)
+                _threadRumTimer.Abort();
+        }
+        /// <summary>
+        /// 定时器事件的委托定义
+        /// </summary>
+        /// <param name="sender">事件的发起者，即定时器对象</param>
+        /// <param name="JumpPeriod">上次调用和本次调用跳跃的周期数</param>
+        /// <param name="interval">上次调用和本次调用之间的间隔时间（微秒）</param>
+        public delegate void OnTickHandle(object sender, long JumpPeriod, long interval);
+    }
+}

SIASUN.Autopilot.Device/Message/学习模式请求确认.cs

@@ -13,6 +13,12 @@ namespace SIASUN.Autopilot.Device.Message
         public 学习模式请求确认()
         {
         }
+
+        public string GetId
+        {
+            get { return OperationCode; }
+        }
+
         /// <summary>
         /// 档位自动学习完成确认
         /// </summary>

SIASUN.Autopilot.Device/Message/执行机构使能请求.cs

@@ -14,6 +14,11 @@ namespace SIASUN.Autopilot.Device.Message
         {
         }
 
+        public string GetId
+        {
+            get { return OperationCode; }
+        }
+
         /// <summary>
         /// 实际系统控制模式请求
         /// </summary>

SIASUN.Autopilot.Device/Message/挡位执行机构控制命令.cs

@@ -10,6 +10,11 @@ namespace SIASUN.Autopilot.Device.Message
     {
         public const string OperationCode = "5f6";
 
+        public string GetId
+        {
+            get { return OperationCode; }
+        }
+
         public 挡位执行机构控制命令()
         {
         }

SIASUN.Autopilot.Device/Message/踏板执行机构控制命令.cs

@@ -14,6 +14,11 @@ namespace SIASUN.Autopilot.Device.Message
         {
         }
 
+        public string GetId
+        {
+            get { return OperationCode; }
+        }
+
         /// <summary>
         /// 制动踏板力控制请求
         /// </summary>

SIASUN.Autopilot.Device/Message/转向执行机构控制命令.cs

@@ -10,6 +10,11 @@ namespace SIASUN.Autopilot.Device.Message
     {
         public const string OperationCode = "5f5";
 
+        public string GetId
+        {
+            get { return OperationCode; }
+        }
+
         public 转向执行机构控制命令()
         {
         }

SIASUN.Autopilot.Device/SIASUN.Autopilot.Device.csproj

@@ -36,6 +36,7 @@
     <Reference Include="System.Configuration" />
     <Reference Include="System.Core" />
     <Reference Include="System.Drawing" />
+    <Reference Include="System.Windows.Forms" />
     <Reference Include="System.Xml.Linq" />
     <Reference Include="System.Data.DataSetExtensions" />
     <Reference Include="Microsoft.CSharp" />
@@ -56,6 +57,7 @@
     <Compile Include="Common\DataAttribute.cs" />
     <Compile Include="Common\EventManage.cs" />
     <Compile Include="Common\MessageCoder.cs" />
+    <Compile Include="Common\MTimer.cs" />
     <Compile Include="Common\Package_Data_Msg .cs" />
     <Compile Include="Common\SimpleCommand.cs" />
     <Compile Include="Common\SubscribeCommand.cs" />

SIASUN.Autopilot.View/FormMain.Designer.cs

@@ -32,11 +32,7 @@
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FormMain));
             this.ribbonControl = new DevExpress.XtraBars.Ribbon.RibbonControl();
             this.applicationMenu = new DevExpress.XtraBars.Ribbon.ApplicationMenu(this.components);
-            this.barBtnItem_ReLogIn = new DevExpress.XtraBars.BarButtonItem();
-            this.barBtn_ChangePassWord = new DevExpress.XtraBars.BarButtonItem();
             this.barBtn_InitMap = new DevExpress.XtraBars.BarButtonItem();
-            this.barButtonItem4 = new DevExpress.XtraBars.BarButtonItem();
-            this.barButtonItem5 = new DevExpress.XtraBars.BarButtonItem();
             this.barBtnItem_Quit = new DevExpress.XtraBars.BarButtonItem();
             this.skinRibbonGalleryBarItem1 = new DevExpress.XtraBars.SkinRibbonGalleryBarItem();
             this.barStaticItem_User = new DevExpress.XtraBars.BarStaticItem();
@@ -71,7 +67,6 @@
             this.ribbonControl.Items.AddRange(new DevExpress.XtraBars.BarItem[] {
             this.ribbonControl.ExpandCollapseItem,
             this.skinRibbonGalleryBarItem1,
-            this.barBtnItem_ReLogIn,
             this.barBtnItem_Quit,
             this.barStaticItem_User,
             this.pop_CloseCurrent,
@@ -79,9 +74,6 @@
             this.pop_CloseOther,
             this.label_Version,
             this.label_Company,
-            this.barBtn_ChangePassWord,
-            this.barButtonItem4,
-            this.barButtonItem5,
             this.barBtn_InitMap});
             this.ribbonControl.Location = new System.Drawing.Point(0, 0);
             this.ribbonControl.Margin = new System.Windows.Forms.Padding(3, 4, 3, 4);
@@ -95,34 +87,12 @@
             // 
             // applicationMenu
             // 
-            this.applicationMenu.ItemLinks.Add(this.barBtnItem_ReLogIn);
-            this.applicationMenu.ItemLinks.Add(this.barBtn_ChangePassWord);
             this.applicationMenu.ItemLinks.Add(this.barBtn_InitMap);
-            this.applicationMenu.ItemLinks.Add(this.barButtonItem4);
-            this.applicationMenu.ItemLinks.Add(this.barButtonItem5);
             this.applicationMenu.ItemLinks.Add(this.barBtnItem_Quit);
             this.applicationMenu.MenuDrawMode = DevExpress.XtraBars.MenuDrawMode.LargeImagesText;
             this.applicationMenu.Name = "applicationMenu";
             this.applicationMenu.Ribbon = this.ribbonControl;
             // 
-            // barBtnItem_ReLogIn
-            // 
-            this.barBtnItem_ReLogIn.Caption = "重新登录";
-            this.barBtnItem_ReLogIn.Id = 2;
-            this.barBtnItem_ReLogIn.ImageOptions.Image = ((System.Drawing.Image)(resources.GetObject("barBtnItem_ReLogIn.ImageOptions.Image")));
-            this.barBtnItem_ReLogIn.ImageOptions.LargeImage = ((System.Drawing.Image)(resources.GetObject("barBtnItem_ReLogIn.ImageOptions.LargeImage")));
-            this.barBtnItem_ReLogIn.Name = "barBtnItem_ReLogIn";
-            this.barBtnItem_ReLogIn.ItemClick += new DevExpress.XtraBars.ItemClickEventHandler(this.barBtnItem_ReLogIn_ItemClick);
-            // 
-            // barBtn_ChangePassWord
-            // 
-            this.barBtn_ChangePassWord.Caption = "修改账户密码";
-            this.barBtn_ChangePassWord.Id = 21;
-            this.barBtn_ChangePassWord.ImageOptions.Image = ((System.Drawing.Image)(resources.GetObject("barBtn_ChangePassWord.ImageOptions.Image")));
-            this.barBtn_ChangePassWord.ImageOptions.LargeImage = ((System.Drawing.Image)(resources.GetObject("barBtn_ChangePassWord.ImageOptions.LargeImage")));
-            this.barBtn_ChangePassWord.Name = "barBtn_ChangePassWord";
-            this.barBtn_ChangePassWord.ItemClick += new DevExpress.XtraBars.ItemClickEventHandler(this.barBtn_ChangePassWord_ItemClick);
-            // 
             // barBtn_InitMap
             // 
             this.barBtn_InitMap.Caption = "初始化地图";
@@ -132,23 +102,6 @@
             this.barBtn_InitMap.Name = "barBtn_InitMap";
             this.barBtn_InitMap.ItemClick += new DevExpress.XtraBars.ItemClickEventHandler(this.barBtn_InitMap_ItemClick);
             // 
-            // barButtonItem4
-            // 
-            this.barButtonItem4.Caption = "OPC 断开";
-            this.barButtonItem4.Id = 24;
-            this.barButtonItem4.ImageOptions.Image = ((System.Drawing.Image)(resources.GetObject("barButtonItem4.ImageOptions.Image")));
-            this.barButtonItem4.ImageOptions.LargeImage = ((System.Drawing.Image)(resources.GetObject("barButtonItem4.ImageOptions.LargeImage")));
-            this.barButtonItem4.Name = "barButtonItem4";
-            this.barButtonItem4.ItemClick += new DevExpress.XtraBars.ItemClickEventHandler(this.barButtonItem4_ItemClick);
-            // 
-            // barButtonItem5
-            // 
-            this.barButtonItem5.Caption = "OPC 重连";
-            this.barButtonItem5.Id = 25;
-            this.barButtonItem5.ImageOptions.Image = ((System.Drawing.Image)(resources.GetObject("barButtonItem5.ImageOptions.Image")));
-            this.barButtonItem5.Name = "barButtonItem5";
-            this.barButtonItem5.ItemClick += new DevExpress.XtraBars.ItemClickEventHandler(this.barButtonItem5_ItemClick);
-            // 
             // barBtnItem_Quit
             // 
             this.barBtnItem_Quit.Caption = "退出系统";
@@ -316,7 +269,6 @@
         private DevExpress.XtraBars.Ribbon.RibbonControl ribbonControl;
         private DevExpress.XtraBars.SkinRibbonGalleryBarItem skinRibbonGalleryBarItem1;
         private DevExpress.XtraBars.Ribbon.ApplicationMenu applicationMenu;
-        private DevExpress.XtraBars.BarButtonItem barBtnItem_ReLogIn;
         private DevExpress.XtraBars.BarButtonItem barBtnItem_Quit;
         private DevExpress.XtraBars.BarStaticItem barStaticItem_User;
         private DevExpress.XtraBars.Ribbon.RibbonPageGroup ribbonPageGroup2;
@@ -335,9 +287,6 @@
         private DevExpress.XtraBars.Ribbon.RibbonStatusBar ribbonStatusBar1;
         private DevExpress.XtraBars.BarStaticItem label_Version;
         private DevExpress.XtraBars.BarStaticItem label_Company;
-        private DevExpress.XtraBars.BarButtonItem barBtn_ChangePassWord;
-        private DevExpress.XtraBars.BarButtonItem barButtonItem4;
-        private DevExpress.XtraBars.BarButtonItem barButtonItem5;
         private DevExpress.XtraBars.BarButtonItem barBtn_InitMap;
         private DevExpress.XtraBars.PopupMenu popupMenu3;
     }

SIASUN.Autopilot.View/FormMain.cs

@@ -100,74 +100,7 @@ namespace SIASUN.Autopilot.View
                     }
                 }
             }
-        }
-
-        /// <summary>
-        /// 重新登录
-        /// </summary>
-        /// <param name="sender"></param>
-        /// <param name="e"></param>
-        private void barBtnItem_ReLogIn_ItemClick(object sender, ItemClickEventArgs e)
-        {
-            //SysEnvironment.CurrentLoginID = null;
-            //SysEnvironment.passWordMD5 = null;
-            this.barStaticItem_User.Caption = "欢迎登录";
-            pop_CloseAll_ItemClick(sender, e);
-            this.ribbonControl.Pages.Clear();
-            //ribbonHelper = null;
-            //LogIn();
-        }
-
-        /// <summary>
-        /// 修改密码
-        /// </summary>
-        /// <param name="sender"></param>
-        /// <param name="e"></param>
-        private void barBtn_ChangePassWord_ItemClick(object sender, ItemClickEventArgs e)
-        {
-
-        }
-
-        /// <summary>
-        /// opc断开
-        /// </summary>
-        /// <param name="sender"></param>
-        /// <param name="e"></param>
-        private void barButtonItem4_ItemClick(object sender, ItemClickEventArgs e)
-        {
-            //try
-            //{
-            //    OpcFactory.Instance.opcHelper.Opc_disConnect();
-            //    DevExpress.XtraEditors.XtraMessageBox.Show("OPC连接已断开");
-            //}
-            //catch (Exception ex)
-            //{
-            //    DevExpress.XtraEditors.XtraMessageBox.Show("OPC断开失败", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
-            //    LogHelper.log.Error(string.Format("OPC线程断开失败：{0}", ex.ToString()));
-            //}
-        }
-
-        /// <summary>
-        /// opc重连
-        /// </summary>
-        /// <param name="sender"></param>
-        /// <param name="e"></param>
-        private void barButtonItem5_ItemClick(object sender, ItemClickEventArgs e)
-        {
-            //try
-            //{
-            //    //Thread.Sleep(5000);
-            //    OpcFactory.Instance.CreateOpcServer("beckhoff");
-            //    OpcFactory.Instance.opcHelper.Opc_Init(BLLFactory<BlBeckhoffNode>.Instance.GetAll());
-            //    if (e != null)
-            //        DevExpress.XtraEditors.XtraMessageBox.Show("OPC连接成功");
-            //}
-            //catch (Exception ex)
-            //{
-            //    DevExpress.XtraEditors.XtraMessageBox.Show("OPC连接失败\n" + ex.Message, "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
-            //    LogHelper.log.Error(string.Format("OPC线程重启失败：{0}", ex.ToString()));
-            //}
-        }               
+        }            
 
         /// <summary>
         /// 退出系统

SIASUN.Autopilot.View/FormMain.resx

@@ -121,135 +121,6 @@
     <value>17, 17</value>
   </metadata>
   <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
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-  </data>
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-</value>
-  </data>
   <data name="barBtn_InitMap.ImageOptions.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAABGdBTUEAALGPC/xhBQAAABl0RVh0U29m
@@ -316,60 +187,6 @@
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-</value>
-  </data>
-  <data name="barButtonItem4.ImageOptions.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
-    <value>
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-</value>
-  </data>
-  <data name="barButtonItem4.ImageOptions.LargeImage" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
-    <value>
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-  </data>
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   <data name="barBtnItem_Quit.ImageOptions.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">

SIASUN.Autopilot.View/FormTest.cs

@@ -1,4 +1,6 @@
 using DevExpress.Utils;
+using SIASUN.Autopilot.BLL.Controler;
+using SIASUN.Autopilot.Device.Message;
 using System;
 using System.Collections.Generic;
 using System.Drawing;
@@ -142,6 +144,15 @@ namespace SIASUN.Autopilot.View
             list.Add(points2[i]);
             i++;
             this.picExControl1.Invalidate();
+
+
+            BlControler bl = new BlControler();
+            //bl.RCUEnableRequest("1");
+            控制器上电命令 aa = new 控制器上电命令();
+
+            int a = -1;
+            byte[] b = System.Text.Encoding.Default.GetBytes(a.ToString());
+
         }
 
         private void btn_Add_Click(object sender, EventArgs e)