添加项目文件。

Plugin/KcCtrl/KcConfigDlg.cpp

@@ -0,0 +1,97 @@
+// KcConfigDlg.cpp : ʵ<><CAB5><EFBFBD>ļ<EFBFBD>
+//
+
+#include "stdafx.h"
+#include "KcCtrl.h"
+#include "resource.h"
+#include "KcConfigDlg.h"
+#include "afxdialogex.h"
+
+
+// CKcConfigDlg <20>Ի<EFBFBD><D4BB><EFBFBD>
+
+IMPLEMENT_DYNAMIC(CKcConfigDlg, CDialogEx)
+
+CKcConfigDlg::CKcConfigDlg(CWnd* pParent /*=NULL*/)
+	: CDialogEx(IDD_CK_CFG_DLG, pParent)
+{
+
+}
+
+CKcConfigDlg::~CKcConfigDlg()
+{
+}
+
+void CKcConfigDlg::DoDataExchange(CDataExchange* pDX)
+{
+	CDialogEx::DoDataExchange(pDX);
+	DDX_Control(pDX, IDC_IPADDRESS1, m_IpAddress);
+}
+
+
+BEGIN_MESSAGE_MAP(CKcConfigDlg, CDialogEx)
+	ON_BN_CLICKED(IDC_BTN_SETTING, &CKcConfigDlg::OnBnClickedBtnSetting)
+END_MESSAGE_MAP()
+
+
+// CKcConfigDlg <20><>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+
+
+BOOL CKcConfigDlg::OnInitDialog()
+{
+	CDialogEx::OnInitDialog();
+
+	CString  strPort; 
+	strPort.Format("%d", theApp.m_nControllerPort);
+	GetDlgItem(IDC_EDIT_PORT)->SetWindowText(strPort);
+
+
+	CString strIp = theApp.m_strControllerIp;
+	int ip_arry[4] = {};  //<2F><><EFBFBD><EFBFBD>ip<69><70><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	int j;
+	for (int i = 0; i < 4; i++)
+	{
+		if (i != 3)
+			j = strIp.Find('.');//<2F>ҵ<EFBFBD><D2B5>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD>ŵ<EFBFBD>λ<EFBFBD><CEBB>
+		else
+			j = 4;
+		ip_arry[i] = atoi(strIp.Left(j));//ת<><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>β<EFBFBD><CEB2><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		strIp.Delete(0, j + 1);
+	}
+	//<2F><><EFBFBD><EFBFBD>ip<69><70>ַ
+	m_IpAddress.SetAddress(ip_arry[0], ip_arry[1], ip_arry[2], ip_arry[3]);
+
+
+	CString iniPath = theApp.m_strModulePath + "\\config.ini";
+
+	char  acAuth[48];
+	GetPrivateProfileString("SERVER", "AUTH", "", acAuth, 48, iniPath);
+	GetDlgItem(IDC_EDIT_AUTH)->SetWindowText(acAuth);
+
+	return TRUE;  // return TRUE unless you set the focus to a control
+				  // <20>쳣: OCX <20><><EFBFBD><EFBFBD>ҳӦ<D2B3><D3A6><EFBFBD><EFBFBD> FALSE
+}
+
+
+void CKcConfigDlg::OnBnClickedBtnSetting()
+{
+	unsigned char* ip{};
+	DWORD dword;
+	m_IpAddress.GetAddress(dword);
+	ip = (unsigned char*)&dword;
+	theApp.m_strControllerIp.Format("%u.%u.%u.%u", *(ip + 3), *(ip + 2), *(ip + 1), *ip);
+
+	CString strPort;
+	GetDlgItem(IDC_EDIT_PORT)->GetWindowText(strPort);
+	CString strAuth;
+	GetDlgItem(IDC_EDIT_AUTH)->GetWindowText(strAuth);
+
+	CString iniPath = theApp.m_strModulePath + "\\config.ini";
+	WritePrivateProfileString("SERVER", "IP",   theApp.m_strControllerIp, iniPath);
+	WritePrivateProfileString("SERVER", "PORT", strPort, iniPath);
+	WritePrivateProfileString("SERVER", "AUTH", strAuth, iniPath);
+
+	theApp.m_nControllerPort = atoi(strPort);
+	AfxMessageBox("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>޸ģ<EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
+	OnOK();
+}

Plugin/KcCtrl/KcConfigDlg.h

@@ -0,0 +1,28 @@
+#pragma once
+#include "afxcmn.h"
+
+
+// CKcConfigDlg <20>Ի<EFBFBD><D4BB><EFBFBD>
+
+class CKcConfigDlg : public CDialogEx
+{
+	DECLARE_DYNAMIC(CKcConfigDlg)
+
+public:
+	CKcConfigDlg(CWnd* pParent = NULL);   // <20><>׼<EFBFBD><D7BC><EFBFBD>캯<EFBFBD><ECBAAF>
+	virtual ~CKcConfigDlg();
+
+// <20>Ի<EFBFBD><D4BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+#ifdef AFX_DESIGN_TIME
+	enum { IDD = IDD_CK_CFG_DLG };
+#endif
+
+protected:
+	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV ֧<><D6A7>
+
+	DECLARE_MESSAGE_MAP()
+public:
+	CIPAddressCtrl m_IpAddress;
+	virtual BOOL OnInitDialog();
+	afx_msg void OnBnClickedBtnSetting();
+};

Plugin/KcCtrl/KcCtrl.cpp

@@ -0,0 +1,215 @@
+
+// Vcs-Client.cpp : <20><><EFBFBD><EFBFBD>Ӧ<EFBFBD>ó<EFBFBD><C3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>
+//
+
+#include "stdafx.h"
+#include "KcCtrl.h"
+#include "KcMainDlg.h"
+
+#ifdef _DEBUG
+#define new DEBUG_NEW
+#endif
+
+CCEXPipeClientBase* g_pstPipeClient = CCEXPipeClientBase::CreateObj();
+// CVcsClientApp
+
+BEGIN_MESSAGE_MAP(CKcCtrlApp, CWinApp)
+	ON_COMMAND(ID_HELP, &CWinApp::OnHelp)
+END_MESSAGE_MAP()
+
+
+// CVcsClientApp <20><><EFBFBD><EFBFBD>
+
+CKcCtrlApp::CKcCtrlApp()
+{
+	// ֧<><D6A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	m_dwRestartManagerSupportFlags = AFX_RESTART_MANAGER_SUPPORT_RESTART;
+
+	m_nReqPointId   = -1;
+	m_nReqPointType = -1;
+}
+
+
+// Ψһ<CEA8><D2BB>һ<EFBFBD><D2BB> CVcsClientApp <20><><EFBFBD><EFBFBD>
+
+CKcCtrlApp theApp;
+HANDLE  hmutex;
+
+// CVcsClientApp <20><>ʼ<EFBFBD><CABC>
+
+
+BOOL CKcCtrlApp::InitInstance()
+{
+	
+	hmutex = CreateMutexA(nullptr, FALSE, "agv-plugin-kc-ctrl");
+	int err = GetLastError();
+	if (err == ERROR_ALREADY_EXISTS) {
+		CloseHandle(hmutex);
+		hmutex = nullptr;
+		//AfxMessageBox("<22><><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.");
+		return FALSE;
+	}
+
+	CHAR dir[1000] = { 0 };
+	int filelen = GetModuleFileName(NULL, dir, 1000);
+	//WriteLog(dir);
+	int i = filelen;
+	while (dir[i] != '\\')i--;
+	dir[i] = '\0';
+	m_strModulePath = dir;
+
+	GetCtrlServerInfo();
+	
+	// <20><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Windows XP <20>ϵ<EFBFBD>Ӧ<EFBFBD>ó<EFBFBD><C3B3><EFBFBD><EFBFBD>嵥ָ<E5B5A5><D6B8>Ҫ
+	// ʹ<><CAB9> ComCtl32.dll <20>汾 6 <20><><EFBFBD><EFBFBD><EFBFBD>߰汾<DFB0><E6B1BE><EFBFBD><EFBFBD><EFBFBD>ÿ<EFBFBD><C3BF>ӻ<EFBFBD><D3BB><EFBFBD>ʽ<EFBFBD><CABD>
+	//<2F><><EFBFBD><EFBFBD>Ҫ InitCommonControlsEx()<29><>  <20><><EFBFBD>򣬽<EFBFBD><F2A3ACBD>޷<EFBFBD><DEB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڡ<EFBFBD>
+	INITCOMMONCONTROLSEX InitCtrls;
+	InitCtrls.dwSize = sizeof(InitCtrls);
+	// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>Ӧ<EFBFBD>ó<EFBFBD><C3B3><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD>õ<EFBFBD>
+	// <20><><EFBFBD><EFBFBD><EFBFBD>ؼ<EFBFBD><D8BC>ࡣ
+	InitCtrls.dwICC = ICC_WIN95_CLASSES;
+	InitCommonControlsEx(&InitCtrls);
+
+	CWinApp::InitInstance();
+
+
+	AfxEnableControlContainer();
+
+	// <20><><EFBFBD><EFBFBD> shell <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Է<EFBFBD><D4B7>Ի<EFBFBD><D4BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	// <20>κ<EFBFBD> shell <20><><EFBFBD><EFBFBD>ͼ<EFBFBD>ؼ<EFBFBD><D8BC><EFBFBD> shell <20>б<EFBFBD><D0B1><EFBFBD>ͼ<EFBFBD>ؼ<EFBFBD><D8BC><EFBFBD>
+	CShellManager *pShellManager = new CShellManager;
+
+	// <20><><EFBFBD>Windows Native<76><65><EFBFBD>Ӿ<EFBFBD><D3BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD> MFC <20>ؼ<EFBFBD><D8BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	CMFCVisualManager::SetDefaultManager(RUNTIME_CLASS(CMFCVisualManagerWindows));
+
+	// <20><>׼<EFBFBD><D7BC>ʼ<EFBFBD><CABC>
+	// <20><><EFBFBD><EFBFBD>δʹ<CEB4><CAB9><EFBFBD><EFBFBD>Щ<EFBFBD><D0A9><EFBFBD>ܲ<EFBFBD>ϣ<EFBFBD><CFA3><EFBFBD><EFBFBD>С
+	// <20><><EFBFBD>տ<EFBFBD>ִ<EFBFBD><D6B4><EFBFBD>ļ<EFBFBD><C4BC>Ĵ<EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD>Ӧ<EFBFBD>Ƴ<EFBFBD><C6B3><EFBFBD><EFBFBD><EFBFBD>
+	// <20><><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD>ض<EFBFBD><D8B6><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ洢<DAB4><E6B4A2><EFBFBD>õ<EFBFBD>ע<EFBFBD><D7A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	// TODO: Ӧ<>ʵ<EFBFBD><CAB5>޸ĸ<DEB8><C4B8>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD>
+	// <20><><EFBFBD><EFBFBD><EFBFBD>޸<EFBFBD>Ϊ<EFBFBD><CEAA>˾<EFBFBD><CBBE><EFBFBD><EFBFBD>֯<EFBFBD><D6AF>
+	SetRegistryKey(_T("Ӧ<EFBFBD>ó<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɵı<EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD>ó<EFBFBD><EFBFBD><EFBFBD>"));
+
+
+	CKcMainDlg dlg;
+	m_pMainWnd = &dlg;
+	INT_PTR nResponse = dlg.DoModal();
+	if (nResponse == IDOK)
+	{
+		// TODO: <20>ڴ˷<DAB4><CBB7>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
+		//  <20><>ȷ<EFBFBD><C8B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>رնԻ<D5B6><D4BB><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
+	}
+	else if (nResponse == IDCANCEL)
+	{
+		// TODO: <20>ڴ˷<DAB4><CBB7>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
+		//  <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>رնԻ<D5B6><D4BB><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
+	}
+	else if (nResponse == -1)
+	{
+		TRACE(traceAppMsg, 0, "<EFBFBD><EFBFBD><EFBFBD><EFBFBD>: <20>Ի<EFBFBD><D4BB>򴴽<EFBFBD>ʧ<EFBFBD>ܣ<EFBFBD>Ӧ<EFBFBD>ó<EFBFBD><C3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹ<EFBFBD><D6B9>\n");
+		TRACE(traceAppMsg, 0, "<EFBFBD><EFBFBD><EFBFBD><EFBFBD>: <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڶԻ<DAB6><D4BB><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9> MFC <20>ؼ<EFBFBD><D8BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>޷<EFBFBD> #define _AFX_NO_MFC_CONTROLS_IN_DIALOGS<47><53>\n");
+	}
+
+	// ɾ<><C9BE><EFBFBD><EFBFBD><EFBFBD>洴<EFBFBD><E6B4B4><EFBFBD><EFBFBD> shell <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	if (pShellManager != NULL)
+	{
+		delete pShellManager;
+	}
+
+#ifndef _AFXDLL
+	ControlBarCleanUp();
+#endif
+
+	// <20><><EFBFBD>ڶԻ<DAB6><D4BB><EFBFBD><EFBFBD>ѹرգ<D8B1><D5A3><EFBFBD><EFBFBD>Խ<EFBFBD><D4BD><EFBFBD><EFBFBD><EFBFBD> FALSE <20>Ա<EFBFBD><D4B1>˳<EFBFBD>Ӧ<EFBFBD>ó<EFBFBD><C3B3><EFBFBD><EFBFBD><EFBFBD>
+	//  <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD>ó<EFBFBD><C3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD>á<EFBFBD>
+	return FALSE;
+}
+
+
+CString CKcCtrlApp::SendMsg2Platform(CString strReceiver, int nMsgType, Json::Value param)
+{
+	//LogOutToFile("DRIVER::SendMsg2Platform Begin");
+
+	// <20><>ȡ<EFBFBD><C8A1>ǰʱ<C7B0><CAB1>
+	CTime currentTime = CTime::GetCurrentTime();
+
+	// <20><>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	CString strTime;
+	strTime.Format(_T("%d-%02d-%02d %02d:%02d:%02d"),currentTime.GetYear(),currentTime.GetMonth(),currentTime.GetDay(),currentTime.GetHour(),currentTime.GetMinute(),currentTime.GetSecond());
+		
+	static UINT32   nSerialNum = 0;
+
+	Json::Value root;
+	root["sender"]       = "KC-CTRL"; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,SwingArm
+	root["receiver"]     = strReceiver.GetBuffer();
+	root["serial_num"]   = ++nSerialNum;
+	root["time"]         = strTime.GetBuffer();
+	root["vehicle_name"] = "50";
+	
+
+	/******************************************************
+	nMsgTypeʹ<65><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>4<EFBFBD><34><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	CREATE_TASK_RET      = 2,       //WCS->WMS <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>񷵻<EFBFBD>
+	EXECUTE_TASK_RET     = 4,       //WCS->WMS ִ<><D6B4><EFBFBD><EFBFBD><EFBFBD>񷵻<EFBFBD>
+	DEVICE_STATE_REPORT  = 5,       //WCS->WMS <20>豸״̬<D7B4>ϱ<EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
+	DEVICE_CONFIG_REQ    = 6,       //WCS->WMS <20><><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
+	*******************************************************/
+
+	root["type"]   = nMsgType;
+	root["params"] = param;
+
+	//root["name"]   = "vehicles-01";
+	strTime.ReleaseBuffer();
+
+	Json::FastWriter  writer;
+	string strJson = writer.write(root);
+
+	BOOL  bRet = g_pstPipeClient->SendeMsg(WCS_2_WMS_DATA, (char*)strJson.c_str(), strJson.length());
+
+	//LogOutToFile("DRIVER::SendMsg2Platform End");
+	TRACE("ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ̨<EFBFBD><EFBFBD>%d\n", bRet);
+
+	return "";
+}
+
+
+void CKcCtrlApp::GetCtrlServerInfo()
+{
+	char  acIp[32] = "";
+
+	CString iniPath = theApp.m_strModulePath + "\\config.ini";
+	
+	GetPrivateProfileString("SERVER", "IP", "", acIp, 32, iniPath);
+	m_strControllerIp = acIp;
+
+	m_nControllerPort = GetPrivateProfileInt("SERVER", "PORT", 0, iniPath);
+
+	//<2F><>ȡЭ<C8A1><D0AD><EFBFBD><EFBFBD>Ȩ<EFBFBD><C8A8>
+	char  acAuth[48] = "";
+	GetPrivateProfileString("SERVER", "AUTH", "", acAuth, 48, iniPath);
+	sscanf(acAuth, "%02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x", 
+		&m_acAuthCoce[0], &m_acAuthCoce[1], &m_acAuthCoce[2], &m_acAuthCoce[3], &m_acAuthCoce[4], &m_acAuthCoce[5],
+		&m_acAuthCoce[6], &m_acAuthCoce[7], &m_acAuthCoce[8], &m_acAuthCoce[9], &m_acAuthCoce[10], &m_acAuthCoce[11],
+		&m_acAuthCoce[12], &m_acAuthCoce[13], &m_acAuthCoce[14], &m_acAuthCoce[15]);
+
+	return ;
+}
+
+
+void  CKcCtrlApp::ChangeGuideType(int nType)
+{
+	if (nType == QRCODE_TYPE)
+	{
+		Json::Value param;
+		param["request_point_id"]   = theApp.m_nReqPointId;
+		param["request_point_type"] = theApp.m_nReqPointType;
+		SendMsg2Platform("DRIVER", CHANGE_GUIDE_TYPE, param);
+	}
+	
+}
+
+
+
+
+

Plugin/KcCtrl/KcCtrl.h

@@ -0,0 +1,58 @@
+
+// Vcs-Client.h : PROJECT_NAME Ӧ<>ó<EFBFBD><C3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>ļ<EFBFBD>
+//
+
+#pragma once
+
+#ifndef __AFXWIN_H__
+	#error "<22>ڰ<EFBFBD><DAB0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>֮ǰ<D6AE><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>stdafx.h<><68><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> PCH <20>ļ<EFBFBD>"
+#endif
+
+#include "resource.h"		// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+#include "CCEXPipeLib.h"
+
+#define WM_MSG_ROBOT_TO_MAIN  WM_USER+2000
+
+
+// CKcCtrlApp: 
+// <20>йش<D0B9><D8B4><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD>֣<EFBFBD><D6A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Vcs-Client.cpp
+//
+
+class CKcCtrlApp : public CWinApp
+{
+public:
+	CKcCtrlApp();
+
+// <20><>д
+public:
+	virtual BOOL InitInstance();
+
+public:
+	
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IP<49><50>ַ<EFBFBD><D6B7><EFBFBD>˿ڣ<CBBF>Э<EFBFBD><D0AD><EFBFBD><EFBFBD>Ȩ<EFBFBD><C8A8>
+	void           GetCtrlServerInfo();
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ
+	void           BuildMessageHeader();
+
+public:
+	CString        m_strModulePath;    //ģ<><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><C2B7>
+	CString        m_strControllerIp;  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IP<49><50>ַ
+	int            m_nControllerPort;  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˿ں<CBBF>
+	unsigned char  m_acAuthCoce[16];   //Э<><D0AD><EFBFBD><EFBFBD>Ȩ<EFBFBD>룬16<31><36><EFBFBD>ֽ<EFBFBD>
+
+	int            m_nReqPointId;   //<2F><>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>õ<EFBFBD>ID
+	int            m_nReqPointType; //<2F><>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD> 1:ȡ<><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 2:<3A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	int            m_nCargoStatus;  //<2F>ػ<EFBFBD>״̬
+
+
+	
+
+// ʵ<><CAB5>
+	CString SendMsg2Platform(CString strReceiver, int nMsgType, Json::Value param = NULL);
+	void    ChangeGuideType(int nType);
+
+	DECLARE_MESSAGE_MAP()
+};
+
+extern CKcCtrlApp theApp;
+extern CCEXPipeClientBase* g_pstPipeClient;

Plugin/KcCtrl/KcCtrl.vcxproj

@@ -0,0 +1,246 @@
+<?xml version="1.0" encoding="utf-8"?>
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+      <AdditionalIncludeDirectories>$(SolutionDir)3rdparty\json\inc;$(SolutionDir)CCEXPipe;$(SolutionDir)3rdparty\curl\inc;..\modbus;$(SolutionDir)3rdparty\can\inc;$(SolutionDir)3rdparty\sqlite;$(SolutionDir)3rdparty\whttp-server-core;$(SolutionDir)3rdparty\openssl\inc;$(SolutionDir)3rdparty\pthread\inc;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
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+      <AdditionalDependencies>libcurl.lib;ControlCAN.lib;libcrypto.lib;libssl.lib;pthreadVC2.lib</AdditionalDependencies>
+      <UACExecutionLevel>AsInvoker</UACExecutionLevel>
+    </Link>
+    <Midl>
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+      <ValidateAllParameters>true</ValidateAllParameters>
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+      <PreprocessorDefinitions>NDEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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+  </ItemDefinitionGroup>
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+    <Text Include="ReadMe.txt" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="..\..\3rdparty\whttp-server-core\unistd.h" />
+    <ClInclude Include="KcConfigDlg.h" />
+    <ClInclude Include="KcCtrl.h" />
+    <ClInclude Include="KcMainDlg.h" />
+    <ClInclude Include="KcOperDlg.h" />
+    <ClInclude Include="KcProtocol.h" />
+    <ClInclude Include="KcStruct.h" />
+    <ClInclude Include="Resource.h" />
+    <ClInclude Include="stdafx.h" />
+    <ClInclude Include="targetver.h" />
+    <ClInclude Include="UdpSocket.h" />
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+    <ClCompile Include="..\..\3rdparty\json\src\json_value.cpp" />
+    <ClCompile Include="..\..\3rdparty\json\src\json_writer.cpp" />
+    <ClCompile Include="KcConfigDlg.cpp" />
+    <ClCompile Include="KcCtrl.cpp" />
+    <ClCompile Include="KcMainDlg.cpp" />
+    <ClCompile Include="KcOperDlg.cpp" />
+    <ClCompile Include="KcProtocol.cpp" />
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+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
+    </ClCompile>
+    <ClCompile Include="UdpSocket.cpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <ResourceCompile Include="KcCtrl.rc" />
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+    <None Include="res\KcCtrl.rc2" />
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+    <Image Include="res\KcCtrl.ico" />
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Plugin/KcCtrl/KcCtrl.vcxproj.filters

@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <ClCompile Include="stdafx.cpp" />
+    <ClCompile Include="..\..\3rdparty\json\src\json_reader.cpp">
+      <Filter>json</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\3rdparty\json\src\json_value.cpp">
+      <Filter>json</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\3rdparty\json\src\json_writer.cpp">
+      <Filter>json</Filter>
+    </ClCompile>
+    <ClCompile Include="KcCtrl.cpp" />
+    <ClCompile Include="KcMainDlg.cpp" />
+    <ClCompile Include="KcConfigDlg.cpp" />
+    <ClCompile Include="KcOperDlg.cpp" />
+    <ClCompile Include="KcProtocol.cpp" />
+    <ClCompile Include="UdpSocket.cpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="Resource.h" />
+    <ClInclude Include="stdafx.h" />
+    <ClInclude Include="targetver.h" />
+    <ClInclude Include="..\..\3rdparty\whttp-server-core\unistd.h" />
+    <ClInclude Include="KcCtrl.h" />
+    <ClInclude Include="KcMainDlg.h" />
+    <ClInclude Include="KcStruct.h" />
+    <ClInclude Include="KcConfigDlg.h" />
+    <ClInclude Include="KcOperDlg.h" />
+    <ClInclude Include="KcProtocol.h" />
+    <ClInclude Include="UdpSocket.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <ResourceCompile Include="KcCtrl.rc" />
+  </ItemGroup>
+  <ItemGroup>
+    <Image Include="res\KcCtrl.ico" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="res\KcCtrl.rc2" />
+  </ItemGroup>
+  <ItemGroup>
+    <Text Include="ReadMe.txt" />
+  </ItemGroup>
+  <ItemGroup>
+    <Filter Include="json">
+      <UniqueIdentifier>{263f81d2-2eb0-4ed0-aef7-dc7f1cd0dad3}</UniqueIdentifier>
+    </Filter>
+  </ItemGroup>
+</Project>

Plugin/KcCtrl/KcMainDlg.cpp

@@ -0,0 +1,354 @@
+// CanDeviceDlg.cpp : ʵ<><CAB5><EFBFBD>ļ<EFBFBD>
+//
+
+#include "stdafx.h"
+#include "KcMainDlg.h"
+#include "resource.h"
+#include "afxdialogex.h"
+#include "KcCtrl.h"
+#include "KcStruct.h"
+#include "KcOperDlg.h"
+#include "KcConfigDlg.h"
+#include "KcProtocol.h"
+
+
+int            StopFlag = 0;
+unsigned long  nextrow;
+#define        TIMER_QUERY_AGV_STATE     1
+
+// CCanDeviceDlg <20>Ի<EFBFBD><D4BB><EFBFBD>
+//<2F>ؼ<EFBFBD>IDֻ<44><D6BB>Ҫ<EFBFBD>ڵ<EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ψһ<CEA8><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>дһ<D0B4><D2BB><EFBFBD>ͺ<EFBFBD>
+#define ID_VIRTUAL_LIST_CTRL (20000)
+#define TIMER_ID_ADD_TEST_DATA (2024)
+IMPLEMENT_DYNAMIC(CKcMainDlg, CDialogEx)
+
+CKcMainDlg::CKcMainDlg(CWnd* pParent /*=NULL*/)
+	: CDialogEx(IDD_CK_CTRL_DLG, pParent)
+{
+
+}
+
+CKcMainDlg::~CKcMainDlg()
+{
+}
+
+void CKcMainDlg::DoDataExchange(CDataExchange* pDX)
+{
+	CDialogEx::DoDataExchange(pDX);
+	
+}
+
+
+BEGIN_MESSAGE_MAP(CKcMainDlg, CDialogEx)
+	
+	ON_COMMAND(IDR_MENU_DEV_OPT, &CKcMainDlg::OnMenuDevOpt)
+	ON_COMMAND(IDR_MENU_SETTING, &CKcMainDlg::OnMenuSetting)
+	ON_WM_TIMER()
+END_MESSAGE_MAP()
+
+
+
+
+//<2F><>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨѶ<CDA8>Ĺܵ<C4B9><DCB5>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+void g_PipeCallBack(void* pObj, int lMsgId, WPARAM wparam, LPARAM lparam)
+{
+	CKcMainDlg* pModule = (CKcMainDlg*)pObj;
+	if (CEXPIPE_CONNECT_OK == lMsgId)
+	{
+		//<2F><><EFBFBD>ӳɹ<D3B3>
+		//if (FALSE == pModule->PostMessage(WM_PLATFORM_CONNECT_OK, NULL, NULL)) { LogOutToFile("g_PipeCallBack PostMessage error[%d]", lMsgId); }
+		LogOutToFile("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>̹ܵ<EFBFBD>");
+
+		//<2F><>WMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
+		//theApp.SendMsg2Platform("WMS", DEVICE_CONFIG_REQ);
+	}
+	else if (CEXPIPE_DIS_CLIENT == lMsgId)
+	{
+		//<2F>ܵ<EFBFBD><DCB5>Ͽ<EFBFBD><CFBF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+#ifndef _DEBUG
+		LogOutToFile("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӹܵ<EFBFBD><EFBFBD>Ͽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD>˳<EFBFBD>");
+		//if (FALSE == pModule->PostMessage(WM_CLOSE, NULL, NULL)) { LogOutToFile("g_PipeCallBack PostMessage error[%d]", lMsgId); }
+		pModule->PostMessage(WM_COMMAND, MAKEWPARAM(ID_TRAY_EXIT, 0), 0);
+#endif
+		exit(0);
+	}
+	else if (CEXPIPE_NEW_DATA == lMsgId)
+	{
+		pModule->ProcessPipeMsg(lMsgId, (char*)wparam, (int)lparam);
+	}
+	else
+	{
+		;
+	}
+}
+
+
+void CKcMainDlg::ProcessPipeMsg(int lMsgId, char* pData, int lLen)
+{
+	if (lLen == 0)
+	{
+		return;
+	}
+
+	PIPE_DATA_STRUCT* pstData = (PIPE_DATA_STRUCT*)pData;
+
+	//ƽ̨ת<CCA8><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
+	if (pstData->lMsgId == MAIN_2_MODULE_WMS && pstData->lDataLen > 0)
+	{
+		Json::Reader reader;
+		Json::Value  root;
+		if (reader.parse((char*)pstData->acData, root))
+		{
+			CString strReceiver = root["receiver"].asString().c_str();
+			CString strSender   = root["sender"].asString().c_str();
+			int nType           = root["type"].asInt();
+			UINT32  nSerialNum  = root["serial_num"].asUInt();         //ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD>к<EFBFBD>
+			CString strTime     = root["time"].asString().c_str();     //ʱ<><CAB1><EFBFBD><EFBFBD>
+
+			if (AGV_GUIDE == nType)
+			{
+				Build0xAEMessage(root["data"]);
+			}
+			else if (AGV_ACTION == nType)
+			{
+				Build0xB2Message(root["data"]);
+			}
+			
+		}
+	}
+	else if (pstData->lMsgId == MAIN_2_MODULE_SHOWWINDOW)
+	{
+		//PostMessage(WM_COMMAND, MAKEWPARAM(ID_TRAY_SHOW, 0), 0);
+		AfxGetApp()->m_pMainWnd->ShowWindow(SW_SHOWNORMAL);
+		SetForegroundWindow();
+	}
+
+	LogOutToFile("HttpServiceListener::OnRecvRequest End");
+}
+
+
+// CCanDeviceDlg <20><>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+BOOL CKcMainDlg::OnInitDialog()
+{
+	
+	CString strPipe;
+	for (int i = 0; i < __argc; i++)
+	{
+		if (0 == strcmp(__argv[i], "-pipe") && i + 1 < __argc)
+		{
+			strPipe = __argv[i + 1];
+		}
+	}
+
+	if (strPipe.IsEmpty())
+	{
+		char  acPipe[256] = "";
+
+		CString iniPath = theApp.m_strModulePath.Left(theApp.m_strModulePath.ReverseFind('\\') + 1);
+		//m_strModulePath = theApp.m_strModulePath.ReverseFind("\\");
+		iniPath = iniPath + "pipe.ini";
+		//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƣ<EFBFBD><C6A3><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE>
+		GetPrivateProfileString("AGV-MODULE", "PIPE_KC-CTRL", "", acPipe, 256, iniPath);
+		strPipe = acPipe;
+	}
+	g_pstPipeClient->RegisterCall(g_PipeCallBack, this);
+	g_pstPipeClient->Connect(strPipe.GetBuffer());
+
+
+	SetTimer(TIMER_QUERY_AGV_STATE, 500, NULL);
+		
+	CDialogEx::OnInitDialog();
+	return TRUE;
+	
+}
+
+
+void CKcMainDlg::OnMenuDevOpt()
+{
+	CKcOperDlg  dlg;
+	dlg.DoModal();
+}
+
+
+void CKcMainDlg::OnMenuSetting()
+{
+	CKcConfigDlg  dlg;
+	dlg.DoModal();
+}
+
+
+void CKcMainDlg::OnTimer(UINT_PTR nIDEvent)
+{
+	// TODO: <20>ڴ<EFBFBD><DAB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD><C4AC>ֵ
+	switch (nIDEvent)
+	{
+	case TIMER_QUERY_AGV_STATE:  //<2F><>ʱ<EFBFBD><CAB1>ѯAGV״̬
+		Build0xAFMessage();
+		break;
+	default:
+		break;
+	}
+	CDialogEx::OnTimer(nIDEvent);
+}
+
+
+
+void CKcMainDlg::Build0xAEMessage(Json::Value  param)
+{
+
+	unsigned char acMsgContent[1024] = { 0 };
+	int nMsgLength = 0;
+	CKcProtocol   protocol;
+
+	protocol.BuildRequestMessage(0xAE, acMsgContent, nMsgLength, param);
+
+	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
+	{
+		std::cout << "Connect error." << std::endl;
+		return;
+	}
+
+	int lRto = 3000;//<2F>ش<EFBFBD>ʱ<EFBFBD>䣬<EFBFBD><E4A3AC>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
+	int lRtoCnt = 3;//<2F><><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char acRecv[1024] = { 0 };//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD>
+	int lRecvbufSize = sizeof(acRecv);//<2F><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С
+
+	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
+	if (recvSize == 28)
+	{
+		//std::cout << "Received: " << acRecv << std::endl;
+		Json::Value  ret;
+		ret["state"] = 1;
+		theApp.SendMsg2Platform("OPENTCS", AGV_GUIDE, ret);   //<2F>·<EFBFBD><C2B7>ɹ<EFBFBD>
+	}
+	else
+	{
+		Json::Value  ret;
+		ret["state"] = 0;
+		theApp.SendMsg2Platform("OPENTCS", AGV_GUIDE, ret);   //<2F>·<EFBFBD>ʧ<EFBFBD><CAA7>
+	}
+}
+
+void CKcMainDlg::Build0xB2Message(Json::Value  param)
+{
+
+	unsigned char acMsgContent[1024] = { 0 };
+	int nMsgLength = 0;
+	CKcProtocol   protocol;
+
+	protocol.BuildRequestMessage(0xB2, acMsgContent, nMsgLength, param);
+
+	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
+	{
+		std::cout << "Connect error." << std::endl;
+		return;
+	}
+
+	int lRto = 3000;//<2F>ش<EFBFBD>ʱ<EFBFBD>䣬<EFBFBD><E4A3AC>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
+	int lRtoCnt = 3;//<2F><><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char acRecv[1024] = { 0 };//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD>
+	int lRecvbufSize = sizeof(acRecv);//<2F><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С
+
+	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
+	if (recvSize == 28)
+	{
+		//std::cout << "Received: " << acRecv << std::endl;
+		Json::Value  ret;
+		ret["state"] = 1;
+		theApp.SendMsg2Platform("OPENTCS", AGV_ACTION, ret);   //<2F>·<EFBFBD><C2B7>ɹ<EFBFBD>
+	}
+	else
+	{
+		Json::Value  ret;
+		ret["state"] = 0;
+		theApp.SendMsg2Platform("OPENTCS", AGV_ACTION, ret);   //<2F>·<EFBFBD>ʧ<EFBFBD><CAA7>
+	}
+}
+
+
+void CKcMainDlg::Build0xAFMessage()
+{
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	CKcProtocol   protocol;
+	unsigned char acMsgContent[1024];
+	int           nMsgLength;
+	protocol.BuildRequestMessage(0xAF, acMsgContent, nMsgLength);
+
+	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
+	{
+		std::cout << "Connect error." << std::endl;
+		return;
+	}
+
+	int lRto = 3000;//<2F>ش<EFBFBD>ʱ<EFBFBD>䣬<EFBFBD><E4A3AC>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
+	int lRtoCnt = 3;//<2F><><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char acRecv[1024] = { 0 };//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD>
+	int lRecvbufSize = sizeof(acRecv);//<2F><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С
+
+	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
+	if (recvSize > 0)
+	{
+		//std::cout << "Received: " << acRecv << std::endl;
+		Json::Value  ret = protocol.Analysis0xAFMessage(acRecv, recvSize);
+		theApp.SendMsg2Platform("OPENTCS", AGV_STATUS_RPT, ret);
+	}
+	else
+	{
+		//std::cout << "Received: failed." << recvSize << std::endl;
+	}
+}
+
+
+
+
+
+
+
+
+/*int     nMsgType = root["type"].asInt();
+
+CKcOperDlg  dlg;
+//<2F><><EFBFBD>ƴϿ<C6B4><CFBF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0xAF<41><46>Ϣ
+if (nMsgType == 0xAF)
+{
+dlg.OnBnClickedBtn0xaf();
+}
+else if (nMsgType == 0xB0)
+{
+dlg.OnBnClickedBtn0xb0();
+}
+else if (nMsgType == 0x17)
+{
+dlg.OnBnClickedBtn0x17();
+}
+else if (nMsgType == 0x1F )
+{
+dlg.OnBnClickedBtn0x1f();
+}
+else if (nMsgType == 0xAE)
+{
+dlg.Build0xAEMessage(root["data"]);
+
+}
+else if (nMsgType == 0x14)
+{
+dlg.Build0x14Message(root["data"]);
+
+}
+else if (nMsgType == 0x03)
+{
+dlg.Build0x03Message(root["data"]);
+
+}
+else if (nMsgType == 0x02)
+{
+dlg.Build0x02Message(root["data"]);
+
+}
+else if (nMsgType == 0xb2)
+{
+dlg.Build0xB2Message(root["data"]);
+
+}*/
+
+

Plugin/KcCtrl/KcMainDlg.h

@@ -0,0 +1,41 @@
+#pragma once
+
+#include "UdpSocket.h"
+
+class CKcMainDlg : public CDialogEx
+{
+	DECLARE_DYNAMIC(CKcMainDlg)
+
+public:
+	CKcMainDlg(CWnd* pParent = NULL);   // <20><>׼<EFBFBD><D7BC><EFBFBD>캯<EFBFBD><ECBAAF>
+	virtual ~CKcMainDlg();
+
+// <20>Ի<EFBFBD><D4BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+#ifdef AFX_DESIGN_TIME
+	enum { IDD = IDD_CK_CTRL_DLG};
+#endif
+
+protected:
+	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV ֧<><D6A7>
+	virtual BOOL OnInitDialog();
+
+	DECLARE_MESSAGE_MAP()
+public:
+	void ProcessPipeMsg(int lMsgId, char* pData, int lLen);
+	
+	afx_msg void OnMenuDevOpt();
+	afx_msg void OnMenuSetting();
+	afx_msg void OnTimer(UINT_PTR nIDEvent);
+
+public:
+
+	void Build0xAEMessage(Json::Value  param);
+	void Build0xB2Message(Json::Value  param);
+	void Build0xAFMessage();
+	
+
+public:
+	UDPClient      m_udpClent;
+	
+	
+};

Plugin/KcCtrl/KcOperDlg.cpp

@@ -0,0 +1,549 @@
+// DevOptDlg.cpp : ʵ<><CAB5><EFBFBD>ļ<EFBFBD>
+//
+
+#include "stdafx.h"
+#include "KcCtrl.h"
+#include "KcOperDlg.h"
+#include "KcProtocol.h"
+#include "afxdialogex.h"
+
+
+// CDevOptDlg <20>Ի<EFBFBD><D4BB><EFBFBD>
+
+IMPLEMENT_DYNAMIC(CKcOperDlg, CDialogEx)
+
+CKcOperDlg::CKcOperDlg(CWnd* pParent /*=NULL*/)
+	: CDialogEx(IDD_CK_OPT_DLG, pParent)
+{
+
+}
+
+CKcOperDlg::~CKcOperDlg()
+{
+}
+
+void CKcOperDlg::DoDataExchange(CDataExchange* pDX)
+{
+	CDialogEx::DoDataExchange(pDX);
+}
+
+
+BEGIN_MESSAGE_MAP(CKcOperDlg, CDialogEx)
+	ON_BN_CLICKED(IDC_BTN_0xAF, &CKcOperDlg::OnBnClickedBtn0xaf)
+	ON_BN_CLICKED(IDC_BTN_0xB0, &CKcOperDlg::OnBnClickedBtn0xb0)
+	ON_BN_CLICKED(IDC_BTN_0xB1, &CKcOperDlg::OnBnClickedBtn0xb1)
+	ON_BN_CLICKED(IDC_BTN_0x02, &CKcOperDlg::OnBnClickedBtn0x02)
+	ON_BN_CLICKED(IDC_BTN_0x03, &CKcOperDlg::OnBnClickedBtn0x03)
+	ON_BN_CLICKED(IDC_BTN_0x14, &CKcOperDlg::OnBnClickedBtn0x14)
+	ON_BN_CLICKED(IDC_BTN_0x17, &CKcOperDlg::OnBnClickedBtn0x17)
+	ON_BN_CLICKED(IDC_BTN_0xB2, &CKcOperDlg::OnBnClickedBtn0xb2)
+	ON_BN_CLICKED(IDC_BTN_0xAE, &CKcOperDlg::OnBnClickedBtn0xae)
+	ON_BN_CLICKED(IDC_BTN_0x1F, &CKcOperDlg::OnBnClickedBtn0x1f)
+END_MESSAGE_MAP()
+
+
+// CDevOptDlg <20><>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+void CKcOperDlg::OnBnClickedBtn0xaf()
+{
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	CKcProtocol   protocol;
+	unsigned char acMsgContent[1024];
+	int           nMsgLength;
+	protocol.BuildRequestMessage(0xAF, acMsgContent, nMsgLength);
+
+	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(),theApp.m_nControllerPort))
+	{
+		std::cout << "Connect error." << std::endl;
+		return ;
+	}
+
+	int lRto          = 3000;//<2F>ش<EFBFBD>ʱ<EFBFBD>䣬<EFBFBD><E4A3AC>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
+	int lRtoCnt       = 3;//<2F><><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char acRecv[1024] = { 0 };//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD>
+	int lRecvbufSize  = sizeof(acRecv);//<2F><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С
+
+	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
+	if (recvSize > 0)
+	{
+		//std::cout << "Received: " << acRecv << std::endl;
+		Json::Value  ret = protocol.Analysis0xAFMessage(acRecv, recvSize);
+		theApp.SendMsg2Platform("OPENTCS", AGV_STATUS_RPT, ret);
+	}
+	else
+	{
+		//std::cout << "Received: failed." << recvSize << std::endl;
+	}
+}
+
+
+void CKcOperDlg::OnBnClickedBtn0xb0()
+{
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	CKcProtocol   protocol;
+	unsigned char acMsgContent[1024];
+	int           nMsgLength;
+	protocol.BuildRequestMessage(0xB0, acMsgContent, nMsgLength);
+
+	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
+	{
+		std::cout << "Connect error." << std::endl;
+		return;
+	}
+
+	int lRto = 3000;//<2F>ش<EFBFBD>ʱ<EFBFBD>䣬<EFBFBD><E4A3AC>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
+	int lRtoCnt = 3;//<2F><><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char acRecv[1024] = { 0 };//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD>
+	int lRecvbufSize = sizeof(acRecv);//<2F><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С
+
+	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
+	if (recvSize > 0)
+	{
+		//std::cout << "Received: " << acRecv << std::endl;
+		Json::Value  ret = protocol.Analysis0xB0Message(acRecv, recvSize);
+		theApp.SendMsg2Platform("OPENTCS", 0xB0, ret);
+	}
+	else
+	{
+		//std::cout << "Received: failed." << recvSize << std::endl;
+	}
+}
+
+void CKcOperDlg::OnBnClickedBtn0x17()
+{
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	CKcProtocol   protocol;
+	unsigned char acMsgContent[1024];
+	int           nMsgLength;
+	protocol.BuildRequestMessage(0x17, acMsgContent, nMsgLength);
+
+	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
+	{
+		std::cout << "Connect error." << std::endl;
+		return;
+	}
+
+	int lRto = 3000;//<2F>ش<EFBFBD>ʱ<EFBFBD>䣬<EFBFBD><E4A3AC>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
+	int lRtoCnt = 3;//<2F><><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char acRecv[1024] = { 0 };//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD>
+	int lRecvbufSize = sizeof(acRecv);//<2F><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С
+
+	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
+	if (recvSize > 0)
+	{
+		//std::cout << "Received: " << acRecv << std::endl;
+		Json::Value  ret = protocol.Analysis0x17Message(acRecv, recvSize);
+		theApp.SendMsg2Platform("OPENTCS", 0x17, ret);
+	}
+	else
+	{
+		//std::cout << "Received: failed." << recvSize << std::endl;
+	}
+}
+
+
+void CKcOperDlg::OnBnClickedBtn0xb1()
+{
+	// TODO: <20>ڴ<EFBFBD><DAB4><EFBFBD><EFBFBD>ӿؼ<D3BF>֪ͨ<CDA8><D6AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+}
+
+
+void CKcOperDlg::OnBnClickedBtn0x02()
+{
+	Json::Value  param;
+
+	param["varCount"] = 1;
+
+	Json::Value  value;
+	Json::Value  value_item;
+
+	value_item["name"] = "NaviControl";
+	value_item["count"] = 1;
+
+	Json::Value  member;
+	Json::Value  member_item;
+	member_item["offset"] = 0;
+	member_item["length"] = 1;
+	member.append(member_item);
+
+	value_item["member"] = member;
+	value.append(value_item);
+	param["var"] = value;
+
+
+	Build0x02Message(param);
+}
+
+
+void CKcOperDlg::OnBnClickedBtn0x03()
+{
+	Json::Value  param;
+
+	param["var_count"]   = 1;
+
+	Json::Value  value;
+	Json::Value  value_item;
+
+	value_item["name"]    = "NaviControl";
+	value_item["count"]   = 1;
+
+	Json::Value  member;
+	Json::Value  member_item;
+	member_item["offset"] = 0;
+	member_item["length"] = 1;
+	member_item["value"]  = 1;
+	member.append(member_item);
+
+	value_item["member"] = member;
+	value.append(value_item);
+	param["var"] = value;
+
+
+	//Json::FastWriter  writer;
+	//string strJson = writer.write(param);
+	//AfxMessageBox(strJson.c_str());
+
+
+	Build0x03Message(param);
+}
+
+
+void CKcOperDlg::OnBnClickedBtn0x14()
+{
+	Json::Value  param;
+
+	param["angle"] = 1.0;
+	param["x"]     = 3.0;
+	param["y"]     = 2.0;
+
+	Build0x14Message(param);
+}
+
+
+
+
+
+void CKcOperDlg::OnBnClickedBtn0xb2()
+{
+	Json::Value  param;
+
+	int nType = 3;
+	if (1 == nType)
+	{
+		param["paramSize"] = 4;
+		param["actionParallelManner"] = 2;
+		param["actionType"] = 1;
+
+		Json::Value  paramData;
+		Json::Value  dataItem;
+		dataItem["isStopImmediately"] = 1;
+		paramData.append(dataItem);
+		param["paramData"] = paramData;
+	}
+	else if(2 == nType)
+	{
+		param["paramSize"] = 8;
+		param["actionParallelManner"] = 2;
+		param["actionType"] = 2;
+
+		Json::Value  paramData;
+		Json::Value  dataItem;
+		dataItem["orderId"] = 1;
+		dataItem["taskKey"] = 1;
+		paramData.append(dataItem);
+		param["paramData"] = paramData;
+	}
+	else if (3 == nType)
+	{
+		param["paramSize"] = 8;
+		param["actionParallelManner"] = 2;
+		param["actionType"] = 3;
+
+		Json::Value  paramData;
+		Json::Value  dataItem;
+		dataItem["orderId"] = 1;
+		dataItem["isStopImmediately"] = 1;
+		paramData.append(dataItem);
+		param["paramData"] = paramData;
+	}
+	
+		
+	Build0xB2Message(param);
+
+}
+
+
+
+void CKcOperDlg::Build0xAEMessage(Json::Value  param)
+{
+	
+	unsigned char acMsgContent[1024] = { 0 };
+	int nMsgLength = 0;
+	CKcProtocol   protocol;
+
+	protocol.BuildRequestMessage(0xAE, acMsgContent, nMsgLength, param);
+
+	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
+	{
+		std::cout << "Connect error." << std::endl;
+		return;
+	}
+
+	int lRto = 3000;//<2F>ش<EFBFBD>ʱ<EFBFBD>䣬<EFBFBD><E4A3AC>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
+	int lRtoCnt = 3;//<2F><><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char acRecv[1024] = { 0 };//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD>
+	int lRecvbufSize = sizeof(acRecv);//<2F><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С
+
+	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
+	if (recvSize == 28)
+	{
+		//std::cout << "Received: " << acRecv << std::endl;
+		Json::Value  ret ;
+		ret["state"] = 1;
+		theApp.SendMsg2Platform("OPENTCS", 0xAE, ret);   //<2F>·<EFBFBD><C2B7>ɹ<EFBFBD>
+	}
+	else
+	{
+		Json::Value  ret;
+		ret["state"] = 0;
+		theApp.SendMsg2Platform("OPENTCS", 0xAE, ret);   //<2F>·<EFBFBD>ʧ<EFBFBD><CAA7>
+	}
+
+
+}
+
+void CKcOperDlg::Build0xB2Message(Json::Value  param)
+{
+
+	unsigned char acMsgContent[1024] = { 0 };
+	int nMsgLength = 0;
+	CKcProtocol   protocol;
+
+	protocol.BuildRequestMessage(0xB2, acMsgContent, nMsgLength, param);
+
+	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
+	{
+		std::cout << "Connect error." << std::endl;
+		return;
+	}
+
+	int lRto = 3000;//<2F>ش<EFBFBD>ʱ<EFBFBD>䣬<EFBFBD><E4A3AC>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
+	int lRtoCnt = 3;//<2F><><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char acRecv[1024] = { 0 };//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD>
+	int lRecvbufSize = sizeof(acRecv);//<2F><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С
+
+	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
+	if (recvSize == 28)
+	{
+		//std::cout << "Received: " << acRecv << std::endl;
+		Json::Value  ret;
+		ret["state"] = 1;
+		theApp.SendMsg2Platform("OPENTCS", 0xB2, ret);   //<2F>·<EFBFBD><C2B7>ɹ<EFBFBD>
+	}
+	else
+	{
+		Json::Value  ret;
+		ret["state"] = 0;
+		theApp.SendMsg2Platform("OPENTCS", 0xB2, ret);   //<2F>·<EFBFBD>ʧ<EFBFBD><CAA7>
+	}
+
+
+}
+
+void CKcOperDlg::Build0x02Message(Json::Value  param)
+{
+
+	unsigned char acMsgContent[1024] = { 0 };
+	int nMsgLength = 0;
+	CKcProtocol   protocol;
+
+	protocol.BuildRequestMessage(0x02, acMsgContent, nMsgLength, param);
+
+	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
+	{
+		std::cout << "Connect error." << std::endl;
+		return;
+	}
+
+	int lRto = 3000;//<2F>ش<EFBFBD>ʱ<EFBFBD>䣬<EFBFBD><E4A3AC>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
+	int lRtoCnt = 3;//<2F><><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char acRecv[1024] = { 0 };//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD>
+	int lRecvbufSize = sizeof(acRecv);//<2F><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С
+
+	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
+	if (recvSize >= 28)
+	{
+		Json::Value  ret = protocol.Analysis0x02Message(acRecv, recvSize);
+		theApp.SendMsg2Platform("OPENTCS", 0x02, ret);
+		//Json::Value  ret;
+		//ret["state"] = 1;
+		//theApp.SendMsg2Platform("OPENTCS", 0x02, ret);   //<2F>·<EFBFBD><C2B7>ɹ<EFBFBD>
+	}
+	else
+	{
+		Json::Value  ret;
+		ret["state"] = 0;
+		theApp.SendMsg2Platform("OPENTCS", 0x02, ret);   //<2F>·<EFBFBD>ʧ<EFBFBD><CAA7>
+	}
+
+
+}
+
+
+
+
+void CKcOperDlg::Build0x14Message(Json::Value  param)
+{
+
+	unsigned char acMsgContent[1024] = { 0 };
+	int nMsgLength = 0;
+	CKcProtocol   protocol;
+
+	protocol.BuildRequestMessage(0x14, acMsgContent, nMsgLength, param);
+
+	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
+	{
+		std::cout << "Connect error." << std::endl;
+		return;
+	}
+
+	int lRto = 3000;//<2F>ش<EFBFBD>ʱ<EFBFBD>䣬<EFBFBD><E4A3AC>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
+	int lRtoCnt = 3;//<2F><><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char acRecv[1024] = { 0 };//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD>
+	int lRecvbufSize = sizeof(acRecv);//<2F><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С
+
+	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
+	if (recvSize >= 28)
+	{
+		//std::cout << "Received: " << acRecv << std::endl;
+		Json::Value  ret;
+		ret["state"] = 1;
+		theApp.SendMsg2Platform("OPENTCS", 0x14, ret);   //<2F>·<EFBFBD><C2B7>ɹ<EFBFBD>
+	}
+	else
+	{
+		Json::Value  ret;
+		ret["state"] = 0;
+		theApp.SendMsg2Platform("OPENTCS", 0x14, ret);   //<2F>·<EFBFBD>ʧ<EFBFBD><CAA7>
+	}
+
+
+}
+
+
+
+void CKcOperDlg::Build0x03Message(Json::Value  param)
+{
+
+	unsigned char acMsgContent[1024] = { 0 };
+	int nMsgLength = 0;
+	CKcProtocol   protocol;
+
+	protocol.BuildRequestMessage(0x03, acMsgContent, nMsgLength, param);
+
+	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
+	{
+		std::cout << "Connect error." << std::endl;
+		return;
+	}
+
+	int lRto = 3000;//<2F>ش<EFBFBD>ʱ<EFBFBD>䣬<EFBFBD><E4A3AC>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
+	int lRtoCnt = 3;//<2F><><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char acRecv[1024] = { 0 };//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD>
+	int lRecvbufSize = sizeof(acRecv);//<2F><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С
+
+	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
+	if (recvSize == 28)
+	{
+		//std::cout << "Received: " << acRecv << std::endl;
+		Json::Value  ret;
+		ret["state"] = 1;
+		theApp.SendMsg2Platform("OPENTCS", 0x03, ret);   //<2F>·<EFBFBD><C2B7>ɹ<EFBFBD>
+	}
+	else
+	{
+		Json::Value  ret;
+		ret["state"] = 0;
+		theApp.SendMsg2Platform("OPENTCS", 0x03, ret);   //<2F>·<EFBFBD>ʧ<EFBFBD><CAA7>
+	}
+
+
+}
+
+void CKcOperDlg::OnBnClickedBtn0xae()
+{
+	//ģ<><C4A3><EFBFBD><EFBFBD><EFBFBD>ݱ<EFBFBD><DDB1><EFBFBD>
+	Json::Value  param;
+
+	param["orderId"]   = 1;
+	param["taskKey"]   = 1;
+	param["pointSize"] = 2;
+	param["pathSize"]  = 1;
+
+	Json::Value  pointInfo;
+	Json::Value  pointItem;
+	pointItem["pointSerialNumber"] = 0;
+	pointItem["pointId"] = 1;
+	pointItem["frontAngle"] = 0;
+	pointItem["isFrontAngle"] = 0;
+	pointInfo.append(pointItem);
+	pointItem["pointSerialNumber"] = 2;
+	pointItem["pointId"] = 2;
+	pointItem["frontAngle"] = 0;
+	pointItem["isFrontAngle"] = 0;
+	pointInfo.append(pointItem);
+
+	param["point"] = pointInfo;
+
+
+	Json::Value  pathInfo;
+	Json::Value  pathItem;
+	pathItem["pathSerialNumber"] = 1;
+	pathItem["pathId"]           = 12;
+	pathItem["pathActionSize"]   = 0;
+	pathItem["pathActionSize"] = 0;
+	pathItem["maximumSpeed"]   = 1.0;
+	pathItem["maximumAngularVelocity"] = 1.0;
+	pathItem["isFixedAngle"] = 0;
+	pathItem["fixedAngle"] = 0;
+	pathItem["drivePosture"] = 0;
+	pathInfo.append(pathItem);
+	param["path"] = pathInfo;
+
+	Build0xAEMessage(param);
+}
+
+
+void CKcOperDlg::OnBnClickedBtn0x1f()
+{
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	CKcProtocol   protocol;
+	unsigned char acMsgContent[1024];
+	int           nMsgLength;
+	protocol.BuildRequestMessage(0x1F, acMsgContent, nMsgLength);
+
+	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
+	{
+		std::cout << "Connect error." << std::endl;
+		return;
+	}
+
+	int lRto = 3000;//<2F>ش<EFBFBD>ʱ<EFBFBD>䣬<EFBFBD><E4A3AC>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
+	int lRtoCnt = 3;//<2F><><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char acRecv[1024] = { 0 };//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD>
+	int lRecvbufSize = sizeof(acRecv);//<2F><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С
+
+	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
+	if (recvSize > 0)
+	{
+		//std::cout << "Received: " << acRecv << std::endl;
+		//Json::Value  ret = protocol.Analysis0xAFMessage(acRecv, recvSize);
+
+		Json::Value  ret;
+		ret["state"] = 1;
+		theApp.SendMsg2Platform("OPENTCS", 0x1F, ret);
+	}
+	else
+	{
+		//std::cout << "Received: failed." << recvSize << std::endl;
+	}
+}

Plugin/KcCtrl/KcOperDlg.h

@@ -0,0 +1,45 @@
+#pragma once
+#include "UdpSocket.h"
+
+// CDevOptDlg <20>Ի<EFBFBD><D4BB><EFBFBD>
+
+class CKcOperDlg : public CDialogEx
+{
+	DECLARE_DYNAMIC(CKcOperDlg)
+
+public:
+	CKcOperDlg(CWnd* pParent = NULL);   // <20><>׼<EFBFBD><D7BC><EFBFBD>캯<EFBFBD><ECBAAF>
+	virtual ~CKcOperDlg();
+
+// <20>Ի<EFBFBD><D4BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+#ifdef AFX_DESIGN_TIME
+	enum { IDD = IDD_CK_OPT_DLG };
+#endif
+
+protected:
+	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV ֧<><D6A7>
+
+	DECLARE_MESSAGE_MAP()
+public:
+	afx_msg void OnBnClickedBtn0xaf();
+	afx_msg void OnBnClickedBtn0xb0();
+	afx_msg void OnBnClickedBtn0xb1();
+	afx_msg void OnBnClickedBtn0x02();
+	afx_msg void OnBnClickedBtn0x03();
+	afx_msg void OnBnClickedBtn0x14();
+	afx_msg void OnBnClickedBtn0x17();
+	afx_msg void OnBnClickedBtn0xb2();
+
+	
+public:
+
+	UDPClient      m_udpClent;
+	void Build0xAEMessage(Json::Value  param);
+	void Build0x03Message(Json::Value  param);
+	void Build0x14Message(Json::Value  param);
+	void Build0xB2Message(Json::Value  param);
+	void Build0x02Message(Json::Value  param);
+
+	afx_msg void OnBnClickedBtn0xae();
+	afx_msg void OnBnClickedBtn0x1f();
+};

Plugin/KcCtrl/KcProtocol.cpp

@@ -0,0 +1,786 @@
+// KcConfigDlg.cpp : ʵ<><CAB5><EFBFBD>ļ<EFBFBD>
+//
+
+#include "stdafx.h"
+#include "KcProtocol.h"
+#include "KcStruct.h"
+#include "KcCtrl.h"
+#include "json.h"
+
+
+
+CKcProtocol::CKcProtocol()
+{
+
+}
+
+CKcProtocol::~CKcProtocol()
+{
+}
+
+
+void CKcProtocol::BuildRequestMessage(unsigned char cCommand, unsigned char acContent[], int &nContentLength, Json::Value param)
+{
+	
+	int nMessageLen                 = 0;
+	static  unsigned short  nSerial = 1;
+
+
+	//ƴ<><C6B4>Э<EFBFBD><D0AD><EFBFBD><EFBFBD>Ȩ<EFBFBD><C8A8>
+	memcpy(acContent + nMessageLen, theApp.m_acAuthCoce, 16);
+	nMessageLen += 16;
+
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ
+	ST_KC_MESSAGE_HEADER           stMessageHeader = {0};
+	stMessageHeader.version        = 0x01;
+	stMessageHeader.type           = 0x00;
+	stMessageHeader.serial_number  = nSerial++;
+	stMessageHeader.server_code    = 0x10;
+	stMessageHeader.command_code   = cCommand;
+	stMessageHeader.run_code       = 0x00;
+	stMessageHeader.reserve1       = 0x00;
+	stMessageHeader.reserve2[0]    = 0x00;
+	stMessageHeader.reserve2[1]    = 0x00;
+
+	switch (cCommand)
+	{
+	//<2F><><EFBFBD>Ϳձ<CDBF><D5B1><EFBFBD>
+	case 0xAF:
+	case 0x1F:
+	case 0x17:
+	case 0xB0:
+		stMessageHeader.content_length = 0;
+		memcpy(acContent + nMessageLen, &stMessageHeader, sizeof(ST_KC_MESSAGE_HEADER));
+		nMessageLen += sizeof(ST_KC_MESSAGE_HEADER);
+		nContentLength = nMessageLen;
+		break;
+	case  0xAE:
+	{
+		//<2F><><EFBFBD><EFBFBD>AE<41><45>Ϣ<EFBFBD><CFA2>
+		unsigned char  acMsgBody[1024] = { 0 };
+		int            nMsgBodyLength = 0;
+		Build0xAEMessage(param, acMsgBody, nMsgBodyLength);
+		stMessageHeader.content_length = nMsgBodyLength;  //<2F><>Ϣͷ<CFA2><CDB7>д<EFBFBD><D0B4><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD>ij<EFBFBD><C4B3><EFBFBD>
+
+		//ƴ<><C6B4><EFBFBD><EFBFBD>Ϣͷ
+		memcpy(acContent + nMessageLen, &stMessageHeader, sizeof(ST_KC_MESSAGE_HEADER));
+		nMessageLen += sizeof(ST_KC_MESSAGE_HEADER);
+		nContentLength = nMessageLen;
+
+		//ƴ<><C6B4><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2>
+		memcpy(acContent + nMessageLen, acMsgBody, nMsgBodyLength);
+		nMessageLen += nMsgBodyLength;
+		nContentLength = nMessageLen;
+
+		break;
+	}
+	case  0x02:
+	{
+		//<2F><><EFBFBD><EFBFBD>AE<41><45>Ϣ<EFBFBD><CFA2>
+		unsigned char  acMsgBody[1024] = { 0 };
+		int            nMsgBodyLength = 0;
+		Build0x02Message(param, acMsgBody, nMsgBodyLength);
+		stMessageHeader.content_length = nMsgBodyLength;  //<2F><>Ϣͷ<CFA2><CDB7>д<EFBFBD><D0B4><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD>ij<EFBFBD><C4B3><EFBFBD>
+
+		memcpy(acContent + nMessageLen, &stMessageHeader, sizeof(ST_KC_MESSAGE_HEADER));//ƴ<><C6B4><EFBFBD><EFBFBD>Ϣͷ
+		nMessageLen += sizeof(ST_KC_MESSAGE_HEADER);
+		nContentLength = nMessageLen;
+
+		//ƴ<><C6B4><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2>
+		memcpy(acContent + nMessageLen, acMsgBody, nMsgBodyLength);
+		nMessageLen += nMsgBodyLength;
+		nContentLength = nMessageLen;
+		break;
+	}
+
+	case  0x14:
+	{
+		//<2F><><EFBFBD><EFBFBD>AE<41><45>Ϣ<EFBFBD><CFA2>
+		unsigned char  acMsgBody[1024] = { 0 };
+		int            nMsgBodyLength = 0;
+		Build0x14Message(param, acMsgBody, nMsgBodyLength);
+		stMessageHeader.content_length = nMsgBodyLength;  //<2F><>Ϣͷ<CFA2><CDB7>д<EFBFBD><D0B4><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD>ij<EFBFBD><C4B3><EFBFBD>
+
+		memcpy(acContent + nMessageLen, &stMessageHeader, sizeof(ST_KC_MESSAGE_HEADER));//ƴ<><C6B4><EFBFBD><EFBFBD>Ϣͷ
+		nMessageLen += sizeof(ST_KC_MESSAGE_HEADER);
+		nContentLength = nMessageLen;
+
+		//ƴ<><C6B4><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2>
+		memcpy(acContent + nMessageLen, acMsgBody, nMsgBodyLength);
+		nMessageLen += nMsgBodyLength;
+		nContentLength = nMessageLen;
+		break;
+	}
+	case  0xB2:
+	{
+		//<2F><><EFBFBD><EFBFBD>AE<41><45>Ϣ<EFBFBD><CFA2>
+		unsigned char  acMsgBody[1024] = { 0 };
+		int            nMsgBodyLength = 0;
+		Build0xB2Message(param, acMsgBody, nMsgBodyLength);
+		stMessageHeader.content_length = nMsgBodyLength;  //<2F><>Ϣͷ<CFA2><CDB7>д<EFBFBD><D0B4><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD>ij<EFBFBD><C4B3><EFBFBD>
+
+		memcpy(acContent + nMessageLen, &stMessageHeader, sizeof(ST_KC_MESSAGE_HEADER));//ƴ<><C6B4><EFBFBD><EFBFBD>Ϣͷ
+		nMessageLen += sizeof(ST_KC_MESSAGE_HEADER);
+		nContentLength = nMessageLen;
+
+		//ƴ<><C6B4><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2>
+		memcpy(acContent + nMessageLen, acMsgBody, nMsgBodyLength);
+		nMessageLen += nMsgBodyLength;
+		nContentLength = nMessageLen;
+		break;
+	}
+	case  0x03:
+	{
+		//<2F><><EFBFBD><EFBFBD>AE<41><45>Ϣ<EFBFBD><CFA2>
+		unsigned char  acMsgBody[1024] = { 0 };
+		int            nMsgBodyLength = 0;
+		Build0x03Message(param, acMsgBody, nMsgBodyLength);
+		stMessageHeader.content_length = nMsgBodyLength;  //<2F><>Ϣͷ<CFA2><CDB7>д<EFBFBD><D0B4><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD>ij<EFBFBD><C4B3><EFBFBD>
+
+		memcpy(acContent + nMessageLen, &stMessageHeader, sizeof(ST_KC_MESSAGE_HEADER));//ƴ<><C6B4><EFBFBD><EFBFBD>Ϣͷ
+		nMessageLen += sizeof(ST_KC_MESSAGE_HEADER);
+		nContentLength = nMessageLen;
+
+		//ƴ<><C6B4><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2>
+		memcpy(acContent + nMessageLen, acMsgBody, nMsgBodyLength);
+		nMessageLen += nMsgBodyLength;
+		nContentLength = nMessageLen;
+		break;
+	}
+		
+	}	
+}
+
+
+void CKcProtocol::Build0xAEMessage(Json::Value  param, unsigned char  acMsgBody[], int &nMsgLength)
+{
+	static  UINT32   pointSerialNumber = 0;
+	static  UINT32   pathSerialNumber  = 0;
+	
+	ST_PATH_JOINT              stPathJoint = { 0 };
+	stPathJoint.order_id   = param["order_id"].asInt();
+	stPathJoint.task_key   = param["task_key"].asInt();
+	stPathJoint.point_size = (uint8_t)(param["point_info"].size());
+	stPathJoint.path_size  = (uint8_t)(param["path_info"].size());
+	stPathJoint.guide_type = 0;// Ĭ<>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD>ʽΪ·<CEAA><C2B7>ƴ<EFBFBD>ӣ<EFBFBD><D3A3><EFBFBD><EFBFBD><EFBFBD> opentcs <20>滮<EFBFBD><E6BBAE>·<EFBFBD><C2B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD>
+
+
+	int nOffset = 0;
+	int nMsgLen = sizeof(ST_PATH_JOINT) - sizeof(ST_GUIDE_POINT*) - sizeof(ST_PATH*);
+	memcpy(acMsgBody, &stPathJoint, nMsgLen);
+	nOffset += nMsgLen;
+
+	theApp.m_nReqPointId   = -1;
+	theApp.m_nReqPointType = -1;
+
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
+	for (int i = 0; i < stPathJoint.point_size; i++)
+	{
+		ST_GUIDE_0_POINT  stPointInfo = { 0 };
+		stPointInfo.serial_number     = ++pointSerialNumber;
+		//stPointInfo.serial_number = param["point_info"][i]["pointSerialNumber"].asUInt();
+		stPointInfo.point_id          = param["point_info"][i]["point_id"].asUInt();
+
+		//ȫ<>ּ<EFBFBD>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
+		int  actionType               = param["point_info"][i]["point_action"].asUInt();
+		if (actionType > 0)
+		{
+			theApp.m_nReqPointType = actionType;
+			theApp.m_nReqPointId   = param["point_info"][i]["point_id"].asUInt();
+		}
+
+		float fAngle = (float)(param["point_info"][i]["point_angle"].asDouble());
+
+		if (fAngle > 300) //<2F><>ָ<EFBFBD><D6B8><EFBFBD>Ƕ<EFBFBD>
+		{
+			stPointInfo.angle           = 0;
+			stPointInfo.is_assign_angle = 0;
+		}
+		else  //ָ<><D6B8><EFBFBD>Ƕ<EFBFBD>
+		{
+			stPointInfo.angle           = fAngle;
+			stPointInfo.is_assign_angle = 1;
+		}
+		stPointInfo.action_size       = 0;
+
+		nMsgLen = sizeof(ST_GUIDE_0_POINT) - sizeof(ST_ACTION*);
+		memcpy(acMsgBody + nOffset, &stPointInfo, nMsgLen);
+		nOffset += nMsgLen;
+
+		for (int j = 0; j < stPointInfo.action_size; j++)
+		{
+			ST_ACTION  stActionInfo      = { 0 };
+			stActionInfo.action_type     = 0;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+			stActionInfo.action_run_type = 0;//ִ<>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>з<EFBFBD>ʽ
+			stActionInfo.action_id       = 0;//<2F><><EFBFBD><EFBFBD>ID
+			stActionInfo.param_size      = 0;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>		
+
+
+			nMsgLen = sizeof(ST_ACTION) - sizeof(unsigned char  *);
+			memcpy(acMsgBody + nOffset, &stActionInfo, nMsgLen);
+			nOffset += nMsgLen;
+
+			//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>action<6F><6E><EFBFBD><EFBFBD>
+			//memcpy(acMsgBody + nOffset, , stActionInfo.param_size);       //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+			nOffset += stActionInfo.param_size;
+		}
+	}
+
+
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
+	for (int i = 0; i < stPathJoint.path_size; i++)
+	{
+		ST_PATH     stPathInfo       = { 0 };
+		//stPathInfo.serial_number   = param["path_info"][i]["pathSerialNumber"].asUInt();
+		stPathInfo.serial_number     = ++pathSerialNumber;
+		stPathInfo.segment_id        = param["path_info"][i]["path_id"].asUInt();
+
+		float  fFixedAngle           = (float)(param["path_info"][i]["fixed_angle"].asDouble());
+		if (fFixedAngle > 300) //<2F><>ָ<EFBFBD><D6B8><EFBFBD>Ƕ<EFBFBD>
+		{
+			stPathInfo.fixed_angle    = 0;
+			stPathInfo.is_fixed_angle = 0;
+		}
+		else  //ָ<><D6B8><EFBFBD>Ƕ<EFBFBD>
+		{
+			stPathInfo.fixed_angle    = fFixedAngle;
+			stPathInfo.is_fixed_angle = 1;
+		}
+
+
+		stPathInfo.driver_pose       = (uint8_t)(param["path_info"][i]["driver_pose"].asUInt());
+		stPathInfo.max_speed         = (float)(param["path_info"][i]["max_speed"].asDouble());
+		stPathInfo.max_angular_speed = (float)(param["path_info"][i]["max_angle_speed"].asDouble());
+		
+		stPathInfo.action_size       = 0;
+
+		nMsgLen = sizeof(ST_PATH) - sizeof(ST_ACTION*);
+		memcpy(acMsgBody + nOffset, &stPathInfo, nMsgLen);
+		nOffset += nMsgLen;
+
+		for (int j = 0; j < stPathInfo.action_size; j++)
+		{
+			ST_ACTION  stActionInfo      = { 0 };
+			stActionInfo.action_type     = 0;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+			stActionInfo.action_run_type = 0;//ִ<>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>з<EFBFBD>ʽ
+			stActionInfo.action_id       = 0;//<2F><><EFBFBD><EFBFBD>ID
+			stActionInfo.param_size      = 0;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>	
+
+			nMsgLen = sizeof(ST_ACTION) - sizeof(unsigned char  *);
+			memcpy(acMsgBody + nOffset, &stActionInfo, nMsgLen);
+			nOffset += nMsgLen;
+			//memcpy(acMsgBody + nOffset, , stActionInfo.param_size);       //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+			nOffset += stActionInfo.param_size;
+		}
+	}
+	nMsgLength = nOffset;
+}
+
+
+void CKcProtocol::Build0x02Message(Json::Value  param, unsigned char acMsgBody[], int &nMsgLength)
+{
+	int nVarCount = param["varCount"].asInt();
+	static   uint32_t           nSerialId = 0;
+
+	READ_MULTIVARIABLE_REQ   stReadMutiVariable = { 0 };
+	stReadMutiVariable.variable_count = (uint8_t)nVarCount;
+	stReadMutiVariable.value_id       = ++nSerialId;
+
+	int nOffset = 0;
+	int nMsgLen = sizeof(READ_MULTIVARIABLE_REQ) - sizeof(ST_READ_STR_VALUE     *);
+	memcpy(acMsgBody, &stReadMutiVariable, nMsgLen);
+	nOffset += nMsgLen;
+
+	for (int i = 0; i < nVarCount; i++)
+	{
+		ST_WRITE_STR_VALUE   stWriteValue = { 0 };
+		memset(stWriteValue.name, 0, 16);
+		memcpy(stWriteValue.name, param["var"][i]["name"].asString().c_str(), param["var"][i]["name"].asString().length());
+		stWriteValue.count = param["var"][i]["count"].asInt();
+
+		nMsgLen = sizeof(WRITE_STR_VALUE) - sizeof(WRITE_VALUE_MEMBER  *);
+		memcpy(acMsgBody + nOffset, &stWriteValue, nMsgLen);
+		nOffset += nMsgLen;
+
+		Json::Value   member = param["var"][i]["member"];
+
+
+		for (int j = 0; j < stWriteValue.count; j++)
+		{
+			READ_VALUE_MEMBER  stReadMember = { 0 };
+			//stWriteMember.value = member[j]["value"].asUInt();
+			stReadMember.length = (uint16_t)(member[j]["length"].asUInt());
+			stReadMember.offset = (uint16_t)(member[j]["offset"].asUInt());
+
+			nMsgLen = sizeof(READ_VALUE_MEMBER);
+			memcpy(acMsgBody + nOffset, &stReadMember, nMsgLen);
+			nOffset += nMsgLen;
+		}
+	}
+	nMsgLength = nOffset;
+}
+
+void CKcProtocol::Build0x03Message(Json::Value  param, unsigned char acMsgBody[], int &nMsgLength)
+{
+	int nVarCount = param["var_count"].asInt();
+	int nValueId  = param["value_id"].asInt();
+
+	ST_WRITE_MULTIVARIABLE_REQ   stWriteMutiVariable = {0};
+	stWriteMutiVariable.variable_count = (uint8_t)nVarCount;
+
+	int nOffset = 0;
+	int nMsgLen = sizeof(ST_WRITE_MULTIVARIABLE_REQ) - sizeof(ST_WRITE_STR_VALUE  *) ;
+	memcpy(acMsgBody, &stWriteMutiVariable, nMsgLen);
+	nOffset += nMsgLen;
+
+	for (int i = 0; i < nVarCount; i++)
+	{
+		ST_WRITE_STR_VALUE   stWriteValue = {0};
+		memset(stWriteValue.name, 0, 16);
+		memcpy(stWriteValue.name, param["var"][i]["name"].asString().c_str(), param["var"][i]["name"].asString().length());
+		stWriteValue.count = param["var"][i]["count"].asInt();
+
+		nMsgLen = sizeof(WRITE_STR_VALUE) - sizeof(WRITE_VALUE_MEMBER  *);
+		memcpy(acMsgBody + nOffset, &stWriteValue, nMsgLen);
+		nOffset += nMsgLen;
+
+		Json::Value   member = param["var"][i]["member"];
+
+
+		for (int j = 0; j < stWriteValue.count; j++)
+		{
+			ST_WRITE_VALUE_MEMBER  stWriteMember = {0};
+			stWriteMember.value  = member[j]["value"].asUInt();
+			stWriteMember.length = (uint16_t)(member[j]["length"].asUInt());
+			stWriteMember.offset = (uint16_t)(member[j]["offset"].asUInt());
+
+			nMsgLen = sizeof(ST_WRITE_VALUE_MEMBER);
+			memcpy(acMsgBody + nOffset, &stWriteMember, nMsgLen);
+			nOffset += nMsgLen;
+		}	
+	}
+	nMsgLength = nOffset;
+
+}
+
+
+void CKcProtocol::Build0x14Message(Json::Value  param, unsigned char acMsgBody[], int &nMsgLength)
+{
+	
+	ST_MANUAL_LOCATION   stLocation;
+	stLocation.angular = param["angle"].asDouble();
+	stLocation.x       = param["x"].asDouble();
+	stLocation.y       = param["y"].asDouble();
+	
+	
+	nMsgLength = sizeof(ST_MANUAL_LOCATION) ;
+	memcpy(acMsgBody, &stLocation, nMsgLength);
+
+}
+
+void CKcProtocol::Build0xB2Message(Json::Value  param, unsigned char acMsgBody[], int &nMsgLength)
+{
+	static   uint32_t           nActionId = 0;
+	ST_IMMEDIATE_ACTION         stAction  = {0};
+	stAction.action_type     = (uint16_t)(param["actionType"].asUInt()); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͣ<EFBFBD>1=<3D><>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2=<3D><><EFBFBD><EFBFBD>ִ<EFBFBD><D6B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	stAction.action_parallel = (uint8_t)(param["actionParallelManner"].asUInt()); //ִ<>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>з<EFBFBD>ʽ
+	stAction.action_id       = ++nActionId;
+	
+	
+
+	int nOffset = 0;
+	int nMsgLen = sizeof(ST_IMMEDIATE_ACTION) - sizeof(uint8_t *);
+	memcpy(acMsgBody, &stAction, nMsgLen);
+	nOffset += nMsgLen;
+
+	//<2F><>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD>
+	if (1 == stAction.action_type)
+	{
+		int nMsgLen = 0;
+		for (int i = 0; i < param["paramData"].size(); i++)
+		{
+			CONTENT_TYPE1   data = {0}; 
+			data.isStopImmediately = param["paramData"][i]["isStopImmediately"].asUInt();//<2F>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ƶ<EFBFBD>
+			memcpy(acMsgBody + nOffset, &data, sizeof(CONTENT_TYPE1));
+			nOffset += sizeof(CONTENT_TYPE1);
+		}
+		stAction.param_size = 4;
+	}
+	//<2F><><EFBFBD><EFBFBD>ִ<EFBFBD><D6B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	else if (2 == stAction.action_type)
+	{
+		for (int i = 0; i < param["paramData"].size(); i++)
+		{
+			CONTENT_TYPE2 data     = { 0 };
+			data.orderId           = param["paramData"][i]["orderId"].asUInt();   //<2F><><EFBFBD><EFBFBD> ID
+			data.taskKey           = param["paramData"][i]["taskKey"].asUInt();   //<2F><><EFBFBD><EFBFBD> key
+			memcpy(acMsgBody + nOffset, &data, sizeof(CONTENT_TYPE2));
+			nOffset += sizeof(CONTENT_TYPE2);
+		}
+		stAction.param_size = 8;
+	}
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	else if (3 == stAction.action_type)
+	{
+		for (int i = 0; i < param["paramData"].size(); i++)
+		{
+			CONTENT_TYPE3 data   = { 0 };
+			data.orderId           = param["paramData"][i]["orderId"].asUInt();            //<2F><><EFBFBD><EFBFBD> ID
+			data.isStopImmediately = param["paramData"][i]["isStopImmediately"].asUInt();  //<2F>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ƶ<EFBFBD>
+			memcpy(acMsgBody + nOffset, &data, sizeof(CONTENT_TYPE3));
+			nOffset += sizeof(CONTENT_TYPE3);
+		}
+		stAction.param_size = 8;
+	}
+
+	nMsgLength = nOffset;
+
+}
+
+
+/*
+Json::Value CKcProtocol::Analysis0xAFMessage(unsigned char *pMsg, int nLen)
+{
+	ST_AGV_STATUS   *pstAgvStatus;
+
+	pstAgvStatus = (ST_AGV_STATUS *)(pMsg+28);
+
+	int  nOffset     = 0;
+	Json::Value      root;
+	
+	Json::Value                                    location_status_info;
+	location_status_info["x"]                    = pstAgvStatus->stLocationStatusInfo.x;
+	location_status_info["y"]                    = pstAgvStatus->stLocationStatusInfo.y;
+	location_status_info["angle"]                = pstAgvStatus->stLocationStatusInfo.angle;
+	location_status_info["point_id"]             = pstAgvStatus->stLocationStatusInfo.point_id;
+	location_status_info["segment_id"]           = pstAgvStatus->stLocationStatusInfo.segment_id;
+	location_status_info["point_seq"]            = pstAgvStatus->stLocationStatusInfo.point_seq;
+	location_status_info["confidence"]           = pstAgvStatus->stLocationStatusInfo.confidence;
+	root["LOCATION_STATUS_INFO"]                 = location_status_info;
+	nOffset                                     += sizeof(ST_AGV_STATUS);
+
+
+
+
+	Json::Value                                    running_status_info;
+	running_status_info["line_speed"]            = pstAgvStatus->stRunningStatusInfo.line_speed;
+	running_status_info["acceleration"]          = pstAgvStatus->stRunningStatusInfo.acceleration;
+	running_status_info["angular_speed"]         = pstAgvStatus->stRunningStatusInfo.angular_speed;
+	running_status_info["mode"]                  = pstAgvStatus->stRunningStatusInfo.mode;
+	running_status_info["status"]                = pstAgvStatus->stRunningStatusInfo.status;
+	running_status_info["capability"]            = pstAgvStatus->stRunningStatusInfo.capability;
+	root["RUNNING_STATUS_INFO"]                  = running_status_info;
+	nOffset                                     += sizeof(ST_RUNNING_STATUS_INFO);
+
+	char *pPoint1 =(char *) &(pstAgvStatus->stRunningStatusInfo);
+
+
+	Json::Value                                    task_status_info;
+	task_status_info["order_id"]                 = pstAgvStatus->stTaskStatusInfo.order_id;
+	task_status_info["task_key"]                 = pstAgvStatus->stTaskStatusInfo.task_key;
+
+	int  nTaskStatusInfoLen = sizeof(TASK_STATUS_INFO) - 2 * sizeof(ST_POINT_STATE_SEQUENCE *)
+		+ pstAgvStatus->stTaskStatusInfo.point_size * sizeof(ST_POINT_STATE_SEQUENCE)
+		+ pstAgvStatus->stTaskStatusInfo.path_size * sizeof(ST_PATH_STATE_SEQUENCE);
+
+	Json::Value      point_array = Json::arrayValue;;
+    ST_POINT_STATE_SEQUENCE  * pPointStateSequence = (ST_POINT_STATE_SEQUENCE  *)((unsigned char *) &(pstAgvStatus->stRunningStatusInfo) + sizeof(TASK_STATUS_INFO)
+		                                                                          - sizeof(ST_POINT_STATE_SEQUENCE *) - sizeof(ST_PATH_STATE_SEQUENCE *));
+	for (int i = 0; i < pstAgvStatus->stTaskStatusInfo.point_size; i++)
+	{
+		Json::Value                      point_item;
+		point_item["sequence"]        =  (pPointStateSequence+i)->sequence;
+		point_item["point_id"]        =  (pPointStateSequence+i)->point_id;
+		point_array.append(point_item);
+	}
+
+	Json::Value       path_array = Json::arrayValue;
+	ST_PATH_STATE_SEQUENCE  * pPathStateSequence = (ST_PATH_STATE_SEQUENCE  *)((unsigned char *) pPointStateSequence + pstAgvStatus->stTaskStatusInfo.point_size * sizeof(ST_POINT_STATE_SEQUENCE));
+
+	for (int i = 0; i < pstAgvStatus->stTaskStatusInfo.path_size; i++)
+	{
+		Json::Value                      abnormal_item;
+		abnormal_item["sequence"]  = (pPathStateSequence + i)->sequence;
+		abnormal_item["path_id"] = (pPathStateSequence + i)->path_id;
+		path_array.append(abnormal_item);
+	}
+	task_status_info["POINT_STATE_SEQUENCE"] = point_array;
+	task_status_info["PATH_STATE_SEQUENCE"]  = path_array;
+	root["TASK_STATUS_INFO"] = task_status_info;
+
+
+	char *pPoint2 = (char *) &(pstAgvStatus->stTaskStatusInfo);
+
+
+	ST_BATTERY_STATUS_INFO	                    *pBatteryStatusInfo;
+	Json::Value                                  battery_status_info;
+	pBatteryStatusInfo                         = (ST_BATTERY_STATUS_INFO *)((unsigned char*) &(pstAgvStatus->stTaskStatusInfo) + nTaskStatusInfoLen);
+	battery_status_info["power"]               = pBatteryStatusInfo->power;
+	battery_status_info["voltage"]             = pBatteryStatusInfo->voltage;
+	battery_status_info["current"]             = pBatteryStatusInfo->current;
+	battery_status_info["status"]              = pBatteryStatusInfo->status;
+	root["BATTERY_STATUS_INFO"]                = battery_status_info;
+
+
+
+	ABNORMAL_EVENT_STATUS_INFO                 *pAbnormalEventStatusInfo;
+	pAbnormalEventStatusInfo                  = (ABNORMAL_EVENT_STATUS_INFO *)((unsigned char *)pBatteryStatusInfo + sizeof(ST_BATTERY_STATUS_INFO));
+	Json::Value       abnormal_array;
+	for (int i = 0; i < pstAgvStatus->abnormal_size; i++)
+	{
+		Json::Value                      abnormal_item;
+		abnormal_item["event_code"]    = (pAbnormalEventStatusInfo + i)->event_code;
+		abnormal_item["event_level"]   = (pAbnormalEventStatusInfo + i)->event_level;
+		abnormal_array.append(abnormal_item);
+	}
+	root["ABNORMAL_EVENT_STATUS_INFO"] = abnormal_array;
+
+
+	ST_ACTION_STATUS_INFO                 *pActionStatusInfo;
+	pActionStatusInfo = (ST_ACTION_STATUS_INFO *)((unsigned char *)pAbnormalEventStatusInfo + pstAgvStatus->abnormal_size*sizeof(ABNORMAL_EVENT_STATUS_INFO));
+	Json::Value       action_array = Json::arrayValue;
+	for (int i = 0; i < pstAgvStatus->action_size; i++)
+	{
+		Json::Value                      action_item;
+		action_item["action_id"]     = (pActionStatusInfo + i)->action_id;
+		action_item["action_status"] = (pActionStatusInfo + i)->action_status;
+		action_array.append(action_item);
+	}
+	root["ACTION_STATUS_INFO"] = action_array;
+
+
+	REPORT_INFO                 *pReportInfo;
+	pReportInfo = (REPORT_INFO *)((unsigned char *)pActionStatusInfo + pstAgvStatus->action_size * sizeof(ST_ACTION_STATUS_INFO));
+	Json::Value       info_array = Json::arrayValue;;
+	for (int i = 0; i < pstAgvStatus->info_size; i++)
+	{
+		Json::Value                      info_item;
+		info_item["info_type"]    = (pReportInfo + i)->info_type;
+		info_item["info_size"]    = (pReportInfo + i)->info_size;
+		info_array.append(info_item);
+	}
+	root["REPORT_INFO"] = info_array;
+
+	return root;
+
+}
+*/
+Json::Value CKcProtocol::Analysis0xAFMessage(unsigned char *pMsg, int nLen)
+{
+	ST_AGV_STATUS   *pstAgvStatus;
+
+	pstAgvStatus = (ST_AGV_STATUS *)(pMsg + 28);
+
+	int  nOffset = 0;
+	Json::Value      root;
+
+	root["x"]          = pstAgvStatus->stLocationStatusInfo.x;        //X
+	root["y"]          = pstAgvStatus->stLocationStatusInfo.y;        //Y
+	root["angle"]      = pstAgvStatus->stLocationStatusInfo.angle;    //<2F>Ƕ<EFBFBD>
+	root["point"]      = pstAgvStatus->stLocationStatusInfo.point_id; //<2F><><EFBFBD>վ<EFBFBD><D5BE><EFBFBD><EFBFBD><EFBFBD>	
+	nOffset += sizeof(ST_AGV_STATUS);
+
+
+	ChangeGuideType(pstAgvStatus->stLocationStatusInfo.point_id);
+
+
+	root["agv_model"]  = pstAgvStatus->stRunningStatusInfo.mode;
+	root["agv_status"] = pstAgvStatus->stRunningStatusInfo.status;
+	nOffset += sizeof(ST_RUNNING_STATUS_INFO);
+
+	char *pPoint1 = (char *) &(pstAgvStatus->stRunningStatusInfo);
+
+
+	Json::Value                                    task_status_info;
+	task_status_info["order_id"] = pstAgvStatus->stTaskStatusInfo.order_id;
+	task_status_info["task_key"] = pstAgvStatus->stTaskStatusInfo.task_key;
+
+	int  nTaskStatusInfoLen = sizeof(TASK_STATUS_INFO) - 2 * sizeof(ST_POINT_STATE_SEQUENCE *)
+		+ pstAgvStatus->stTaskStatusInfo.point_size * sizeof(ST_POINT_STATE_SEQUENCE)
+		+ pstAgvStatus->stTaskStatusInfo.path_size * sizeof(ST_PATH_STATE_SEQUENCE);
+
+	//Json::Value      point_array = Json::arrayValue;;
+	ST_POINT_STATE_SEQUENCE  * pPointStateSequence = (ST_POINT_STATE_SEQUENCE  *)((unsigned char *) &(pstAgvStatus->stRunningStatusInfo) + sizeof(TASK_STATUS_INFO)
+		- sizeof(ST_POINT_STATE_SEQUENCE *) - sizeof(ST_PATH_STATE_SEQUENCE *));
+	/*for (int i = 0; i < pstAgvStatus->stTaskStatusInfo.point_size; i++)
+	{
+		Json::Value                      point_item;
+		point_item["sequence"] = (pPointStateSequence + i)->sequence;
+		point_item["point_id"] = (pPointStateSequence + i)->point_id;
+		point_array.append(point_item);
+	}
+
+	Json::Value       path_array = Json::arrayValue;*/
+	ST_PATH_STATE_SEQUENCE  * pPathStateSequence = (ST_PATH_STATE_SEQUENCE  *)((unsigned char *)pPointStateSequence + pstAgvStatus->stTaskStatusInfo.point_size * sizeof(ST_POINT_STATE_SEQUENCE));
+
+	/*for (int i = 0; i < pstAgvStatus->stTaskStatusInfo.path_size; i++)
+	{
+		Json::Value                      path_item;
+		path_item["sequence"] = (pPathStateSequence + i)->sequence;
+		path_item["path_id"] = (pPathStateSequence + i)->path_id;
+		path_array.append(path_item);
+	}
+	task_status_info["POINT_STATE_SEQUENCE"] = point_array;
+	task_status_info["PATH_STATE_SEQUENCE"] = path_array;
+	root["TASK_STATUS_INFO"] = task_status_info;*/
+
+
+	char *pPoint2 = (char *) &(pstAgvStatus->stTaskStatusInfo);
+
+
+	ST_BATTERY_STATUS_INFO	                    *pBatteryStatusInfo;
+	pBatteryStatusInfo = (ST_BATTERY_STATUS_INFO *)((unsigned char*) &(pstAgvStatus->stTaskStatusInfo) + nTaskStatusInfoLen);
+	root["power"] = pBatteryStatusInfo->power;  //<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>
+	root["charge_status"] = pBatteryStatusInfo->status; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ŵ<EFBFBD> = 0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD> = 1, <20><><EFBFBD><EFBFBD> = 2
+
+	root["cargo_status"] = 1;  //Ĭ<><C4AC><EFBFBD>ػ<EFBFBD>
+
+	//<2F>쳣<EFBFBD><ECB3A3>Ϣ
+	ABNORMAL_EVENT_STATUS_INFO                 *pAbnormalEventStatusInfo;
+	pAbnormalEventStatusInfo = (ABNORMAL_EVENT_STATUS_INFO *)((unsigned char *)pBatteryStatusInfo + sizeof(ST_BATTERY_STATUS_INFO));
+	Json::Value       abnormal_array;
+	for (int i = 0; i < pstAgvStatus->abnormal_size; i++)
+	{
+		Json::Value                      abnormal_item;
+		abnormal_item["event_code"] = (pAbnormalEventStatusInfo + i)->event_code;
+		abnormal_item["event_level"] = (pAbnormalEventStatusInfo + i)->event_level;
+		abnormal_array.append(abnormal_item);
+	}
+	//root["error"] = abnormal_array;
+	root["error"] = "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ";
+
+/*
+	ST_ACTION_STATUS_INFO                 *pActionStatusInfo;
+	pActionStatusInfo = (ST_ACTION_STATUS_INFO *)((unsigned char *)pAbnormalEventStatusInfo + pstAgvStatus->abnormal_size * sizeof(ABNORMAL_EVENT_STATUS_INFO));
+	Json::Value       action_array = Json::arrayValue;
+	for (int i = 0; i < pstAgvStatus->action_size; i++)
+	{
+		Json::Value                      action_item;
+		action_item["action_id"] = (pActionStatusInfo + i)->action_id;
+		action_item["action_status"] = (pActionStatusInfo + i)->action_status;
+		action_array.append(action_item);
+	}
+	root["ACTION_STATUS_INFO"] = action_array;
+
+
+	REPORT_INFO                 *pReportInfo;
+	pReportInfo = (REPORT_INFO *)((unsigned char *)pActionStatusInfo + pstAgvStatus->action_size * sizeof(ST_ACTION_STATUS_INFO));
+	Json::Value       info_array = Json::arrayValue;;
+	for (int i = 0; i < pstAgvStatus->info_size; i++)
+	{
+		Json::Value                      info_item;
+		info_item["info_type"] = (pReportInfo + i)->info_type;
+		info_item["info_size"] = (pReportInfo + i)->info_size;
+		info_array.append(info_item);
+	}
+	root["REPORT_INFO"] = info_array;
+*/
+	return root;
+
+}
+
+Json::Value CKcProtocol::Analysis0x17Message(unsigned char *pMsg, int nLen)
+{
+	AGV_RUN_STATUS   *pstAgvRunStatus;
+
+	pstAgvRunStatus = (AGV_RUN_STATUS *)(pMsg + 28);
+
+	
+	Json::Value                      root;
+	root["temperature"]          = pstAgvRunStatus->temperature;
+	root["x"]                    = pstAgvRunStatus->x;
+	root["y"]                    = pstAgvRunStatus->y;
+
+	root["angular"]              = pstAgvRunStatus->angular;
+	root["power"]                = pstAgvRunStatus->power;
+	root["is_block"]             = pstAgvRunStatus->is_block;
+	root["is_charge"]            = pstAgvRunStatus->is_charge;
+	root["mode"]                 = pstAgvRunStatus->mode;
+	root["map_statue"]           = pstAgvRunStatus->map_statue;
+
+	root["point_id"]             = pstAgvRunStatus->point_id;
+	root["travel_speed"]         = pstAgvRunStatus->travel_speed;
+	root["turning_speed"]        = pstAgvRunStatus->turning_speed;
+	root["voltage"]              = pstAgvRunStatus->voltage;
+	root["current"]              = pstAgvRunStatus->current;
+
+	root["task_status"]          = pstAgvRunStatus->task_status;
+	root["location_type"]        = pstAgvRunStatus->location_type;
+	root["map_version"]          = pstAgvRunStatus->map_version;
+	root["total_mileage"]        = pstAgvRunStatus->total_mileage;
+	root["this_runtime"]         = pstAgvRunStatus->this_runtime;
+	root["total_runtime"]        = pstAgvRunStatus->total_runtime;
+	root["location_status"]      = pstAgvRunStatus->location_status;
+
+	root["is_traffic_control"]   = pstAgvRunStatus->is_traffic_control;
+	root["map_count"]            = pstAgvRunStatus->map_count;
+	root["map_name"]             = pstAgvRunStatus->map_name;
+	root["confidence"]           = pstAgvRunStatus->confidence;
+
+	return root;
+
+}
+
+
+Json::Value CKcProtocol::Analysis0x02Message(unsigned char *pMsg, int nLen)
+{
+	Json::Value                      root;
+
+
+	ST_READ_MULTIVARIABLE_RESP      *pstReadVariableResp;
+
+
+	pstReadVariableResp = (ST_READ_MULTIVARIABLE_RESP *)(pMsg + 28);
+
+	return   root;
+}
+
+
+Json::Value CKcProtocol::Analysis0xB0Message(unsigned char *pMsg, int nLen)
+{
+	Json::Value                      root;
+
+	unsigned char *pData = (unsigned char *)(pMsg + 28);
+
+	root["load_size"] =  (uint32_t)(*pData);
+
+	return   root;
+}
+
+
+
+void  CKcProtocol::ChangeGuideType(int nPositionId)
+{
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	if (theApp.m_nReqPointId == nPositionId)
+	{
+		//ȡ<><C8A1><EFBFBD><EFBFBD>
+		if (theApp.m_nReqPointType == 1)
+		{
+			//<2F>޻<EFBFBD><DEBB><EFBFBD><EFBFBD>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ά<EFBFBD>뵼<EFBFBD><EBB5BC>
+			if (theApp.m_nCargoStatus == 0)
+			{
+				theApp.ChangeGuideType(QRCODE_TYPE);
+			}
+			else 
+			{
+				//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD><D0BB><EFBFBD><EFBFBD>⵼<EFBFBD><E2B5BC>
+				theApp.ChangeGuideType(SLAM_TYPE);
+			}
+		}
+		//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		else if (theApp.m_nReqPointType == 2 && theApp.m_nCargoStatus == 1)
+		{
+			//<2F>޻<EFBFBD><DEBB><EFBFBD><EFBFBD>ѷ<EFBFBD><D1B7>꣩<EFBFBD><EAA3A9><EFBFBD>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>⵼<EFBFBD><E2B5BC>
+			if (theApp.m_nCargoStatus == 0)
+			{
+				theApp.ChangeGuideType(SLAM_TYPE);
+			}
+			else
+			{
+				//<2F>л<EFBFBD><D0BB><EFBFBD><EFBFBD>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ά<EFBFBD>뵼<EFBFBD><EBB5BC>
+				theApp.ChangeGuideType(QRCODE_TYPE);
+			}
+		}
+	}
+}

Plugin/KcCtrl/KcProtocol.h

@@ -0,0 +1,28 @@
+#pragma once
+
+class CKcProtocol
+{
+public:
+	CKcProtocol();
+	~CKcProtocol();
+
+public:
+	void BuildRequestMessage(unsigned char cCommand, unsigned char acContent[], int &nContentLength, Json::Value param=NULL);
+
+	//void Build0xAEMessage(unsigned char acContent[], int &nContentLength);
+	void Build0xAEMessage(Json::Value  param, unsigned char  acMsgBody[], int &nMsgLength);	
+	void Build0x03Message(Json::Value  param, unsigned char  acContent[], int &nContentLength);
+	void Build0x02Message(Json::Value  param, unsigned char  acContent[], int &nContentLength);
+	void Build0xB2Message(Json::Value  param, unsigned char  acMsgBody[], int &nMsgLength);
+	void Build0x02Message(unsigned char acContent[], int &nContentLength);
+	void Build0x14Message(Json::Value  param, unsigned char acMsgBody[], int &nMsgLength);
+	
+
+	Json::Value Analysis0xAFMessage(unsigned char *pMsg, int nLen);
+	Json::Value Analysis0x17Message(unsigned char *pMsg, int nLen);
+	Json::Value Analysis0x02Message(unsigned char *pMsg, int nLen);
+	Json::Value Analysis0xB0Message(unsigned char *pMsg, int nLen);
+
+	void  ChangeGuideType(int nPositionId);
+
+};

Plugin/KcCtrl/KcStruct.h

@@ -0,0 +1,496 @@
+#pragma 
+
+
+//<2F>ƴϿ<C6B4><CFBF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>ṹ<EFBFBD><E1B9B9><EFBFBD><EFBFBD>Ϣ
+typedef struct KC_MESSAGE_HEADER
+{ 
+	unsigned char  version;        //Э<><D0AD><EFBFBD>汾<EFBFBD><E6B1BE>,<2C>̶<EFBFBD>Ϊ0x01
+	unsigned char  type;           //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD>0x00,Ӧ<><D3A6>0x01
+	unsigned short serial_number;  //ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD>кţ<D0BA><C5A3><EFBFBD><EFBFBD><EFBFBD>ʱ+1
+	unsigned char  server_code;    //<2F><><EFBFBD><EFBFBD><EFBFBD>룬<EFBFBD>̶<EFBFBD>0x10
+	unsigned char  command_code;   //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char  run_code;       //ִ<><D6B4><EFBFBD>룬Ӧ<EBA3AC><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д
+	unsigned char  reserve1;       //Ԥ<><D4A4><EFBFBD>ֶ<EFBFBD>1<EFBFBD><31><EFBFBD>̶<EFBFBD>Ϊ0
+	unsigned short content_length; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char  reserve2[2];    //Ԥ<><D4A4><EFBFBD>ֶ<EFBFBD>2
+
+}ST_KC_MESSAGE_HEADER;
+
+
+
+//------------------------------------------------------(0xAF) AGV_STATUS BEGIN--------------------------------------------------//
+
+//λ<><CEBB>״̬<D7B4><CCAC>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9>
+typedef struct LOCATION_STATUS_INFO
+{
+	float          x;             //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȫ<EFBFBD><C8AB>λ<EFBFBD><CEBB> x <20><><EFBFBD><EFBFBD>
+	float          y;             //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȫ<EFBFBD><C8AB>λ<EFBFBD><CEBB> y <20><><EFBFBD><EFBFBD>
+	float          angle;         //<2F><><EFBFBD><EFBFBD><EFBFBD>˾<EFBFBD><CBBE>Գ<EFBFBD><D4B3>巽<EFBFBD><E5B7BD><EFBFBD><EFBFBD>
+	unsigned int   point_id;      //AGV <20><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>ͨ<EFBFBD><CDA8><EFBFBD>ĵ<EFBFBD> ID
+	unsigned int   segment_id;    //AGV <20><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>ͨ<EFBFBD><CDA8><EFBFBD>Ķ<EFBFBD> ID
+	unsigned int   point_seq;     //<2F><><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD>к<EFBFBD>
+	unsigned char  confidence;    //<2F><><EFBFBD>Ŷ<EFBFBD>0-100
+	unsigned char  reserve[7];    //Ԥ<><D4A4><EFBFBD>ֶ<EFBFBD>
+
+}ST_LOCATION_STATUS_INFO;
+
+
+//<2F><><EFBFBD><EFBFBD>״̬<D7B4><CCAC>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9>
+typedef struct RUNNING_STATUS_INFO
+{
+	float          line_speed;             //AGVʵʱ<CAB5><CAB1><EFBFBD>ٶ<EFBFBD>
+	float          acceleration;           //AGVʵʱ<CAB5><CAB1><EFBFBD>ٶ<EFBFBD>
+	float          angular_speed;          //AGVʵʱ<CAB5><CAB1><EFBFBD>ٶ<EFBFBD>
+	unsigned char  mode;                   //AGV<47><56><EFBFBD><EFBFBD>ģʽ
+	unsigned char  status;                 //AGV״̬
+	unsigned char  capability;             //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<D7B4><CCAC>0δ<30><CEB4><EFBFBD>ã<EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char  reserve[5];             //Ԥ<><D4A4><EFBFBD>ֶ<EFBFBD>
+
+}ST_RUNNING_STATUS_INFO;
+
+
+//<2F><>״̬<D7B4><CCAC><EFBFBD><EFBFBD>
+typedef struct POINT_STATE_SEQUENCE
+{
+	unsigned int   sequence;                 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned int   point_id;                 //<2F><>ID
+
+}ST_POINT_STATE_SEQUENCE;
+
+
+//<2F><>״̬<D7B4><CCAC><EFBFBD><EFBFBD>
+typedef struct PATH_STATE_SEQUENCE
+{
+	unsigned int   sequence;                 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned int   path_id;                  //<2F><>ID
+
+}ST_PATH_STATE_SEQUENCE;
+
+
+
+
+//<2F><><EFBFBD><EFBFBD>״̬<D7B4><CCAC>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9>
+typedef struct TASK_STATUS_INFO
+{
+	unsigned int   order_id;               //<2F><><EFBFBD><EFBFBD>ID
+	unsigned int   task_key;               //<2F><><EFBFBD><EFBFBD>KEY
+	unsigned char  point_size;             //<2F><>״̬<D7B4><CCAC><EFBFBD>г<EFBFBD><D0B3><EFBFBD>
+	unsigned char  path_size;              //<2F><>״̬<D7B4><CCAC><EFBFBD>г<EFBFBD><D0B3><EFBFBD> 
+	unsigned char  reserve[2];             //Ԥ<><D4A4><EFBFBD>ֶ<EFBFBD>
+	ST_POINT_STATE_SEQUENCE *pPointStateSequence; //<2F><><EFBFBD>յ<EFBFBD><D5B5><EFBFBD>δִ<CEB4>еĵ<D0B5><C4B5><EFBFBD><EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>point_sizeȷ<65><C8B7>
+	ST_PATH_STATE_SEQUENCE  *pPathStateSequence;  //<2F><><EFBFBD>յ<EFBFBD><D5B5><EFBFBD>δִ<CEB4>еĶ<D0B5><C4B6><EFBFBD><EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>path_sizeȷ<65><C8B7>
+
+
+}ST_TASK_STATUS_INFO;
+
+
+
+//<2F><><EFBFBD><EFBFBD>״̬<D7B4><CCAC>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9>
+typedef struct BATTERY_STATUS_INFO
+{
+	float          power;                  //<2F><><EFBFBD><EFBFBD><EFBFBD>ٷֱ<D9B7>
+	float          voltage;                //<2F><>ѹ
+	float          current;                //<2F><><EFBFBD><EFBFBD>
+	unsigned char  status;                 //<2F><><EFBFBD><EFBFBD>״̬ 02<30><32><EFBFBD><EFBFBD>01<30><31><EFBFBD>磬00<30>ŵ<EFBFBD>
+	unsigned char  reserve[7];             //Ԥ<><D4A4><EFBFBD>ֶ<EFBFBD>
+
+}ST_BATTERY_STATUS_INFO;
+
+
+//<2F>쳣<EFBFBD>¼<EFBFBD>״̬<D7B4><CCAC>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9>
+typedef struct ABNORMAL_EVENT_STATUS_INFO
+{
+	unsigned short  event_code;             //<2F>¼<EFBFBD><C2BC><EFBFBD>
+	unsigned short  event_level;            //<2F>¼<EFBFBD><C2BC>ȼ<EFBFBD> <20><>Ϣ00, <20><><EFBFBD><EFBFBD>01<30><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>02
+	unsigned char   reserve[8];             //Ԥ<><D4A4><EFBFBD>ֶ<EFBFBD>
+
+}ST_ABNORMAL_EVENT_STATUS_INFO;
+
+
+//<2F><><EFBFBD><EFBFBD>״̬<D7B4><CCAC>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9>
+typedef struct ACTION_STATUS_INFO
+{
+	unsigned int    action_id;              //<2F><><EFBFBD><EFBFBD>id<69><64> 0Ϊ<30><CEAA>Ч<EFBFBD><D0A7><EFBFBD><EFBFBD>
+	unsigned char   action_status;          //<2F><><EFBFBD><EFBFBD>״̬ 00<30>ȴ<EFBFBD><C8B4><EFBFBD>01<30><31>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>02ִ<32><D6B4><EFBFBD>У<EFBFBD>03<30><33><EFBFBD>ɣ<EFBFBD>04ʧ<34>ܣ<EFBFBD>05ȡ<35><C8A1><EFBFBD><EFBFBD>06<30><36>ͣ
+	unsigned char   reserve[7];             //Ԥ<><D4A4><EFBFBD>ֶ<EFBFBD>
+
+}ST_ACTION_STATUS_INFO;
+
+//AGV<47>ϱ<EFBFBD><CFB1><EFBFBD>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9>
+typedef struct REPORT_INFO
+{
+	unsigned short    info_size;              //<2F><>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD>
+	unsigned short    info_type;              //<2F><>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD>
+	unsigned char     *pInfoContent;          //<2F><>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD>  4<>ֽڶ<D6BD><DAB6>룬 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>info_sizeȷ<65><C8B7>
+}ST_REPORT_INFO;
+
+
+
+typedef struct  AGV_STATUS
+{
+	unsigned char  abnormal_size; //<2F>쳣<EFBFBD>¼<EFBFBD>״̬<D7B4><CCAC>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD>
+	unsigned char  action_size;   //<2F><><EFBFBD><EFBFBD>״̬<D7B4><CCAC><EFBFBD><EFBFBD>
+	unsigned char  info_size;     //<2F><>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD>
+	unsigned char  reserve1;      //Ԥ<><D4A4><EFBFBD>ֶ<EFBFBD>
+	ST_LOCATION_STATUS_INFO           stLocationStatusInfo; //λ<><CEBB>״̬<D7B4><CCAC>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9>
+	ST_RUNNING_STATUS_INFO            stRunningStatusInfo;  //<2F><><EFBFBD><EFBFBD>״̬<D7B4><CCAC>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9>
+	ST_TASK_STATUS_INFO               stTaskStatusInfo;     //<2F><><EFBFBD><EFBFBD>״̬<D7B4><CCAC>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9>
+	ST_BATTERY_STATUS_INFO            stBatteryStatusInfo;  //<2F><><EFBFBD><EFBFBD>״̬<D7B4><CCAC>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9>
+	ST_ABNORMAL_EVENT_STATUS_INFO     *pstAbnormalEventStatusInfo; //<2F>쳣<EFBFBD>¼<EFBFBD>״̬<D7B4><CCAC>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>abnormal_sizeȷ<65><C8B7>
+	ST_ACTION_STATUS_INFO             *pstActionStatusInfo; //<2F><><EFBFBD><EFBFBD>״̬<D7B4><CCAC>Ϣ<EFBFBD>ṹ<EFBFBD>壬<EFBFBD><E5A3AC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>action_sizeȷ<65><C8B7>
+	ST_REPORT_INFO                    *pstReportInfo; //<2F>ϱ<EFBFBD><CFB1><EFBFBD>Ϣ<EFBFBD>ṹ<EFBFBD>壬<EFBFBD><E5A3AC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>info_sizeȷ<65><C8B7>
+
+}ST_AGV_STATUS;
+
+//---------------------------------------------------AGV_STATUS END---------------------------------------------//
+
+
+
+//---------------------------------------------------(0xBO) AGV_CARGO_STATUS BEGIN-----------------------------//
+typedef struct  LOAD_STATUS_INFO
+{
+	unsigned char  cargo_id[64];     //<2F><>ҪRFIDʱ<44><CAB1><EFBFBD><EFBFBD>
+	unsigned char  cargo_status;     //00<30>޻<EFBFBD><DEBB><EFBFBD>01<30>л<EFBFBD>
+	unsigned short cargo_type;       //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char  cargo_direction;  //<2F><><EFBFBD><EFBFBD><EFBFBD>ķ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
+	unsigned char  reserve[4];       //Ԥ<><D4A4>
+
+}ST_LOAD_STATUS_INFO;
+
+
+//AGV<47>ػ<EFBFBD>״̬<D7B4><CCAC>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9>
+typedef struct  AGV_CARGO_STATUS
+{
+	unsigned char        load_size;     //<2F>ػ<EFBFBD>״̬<D7B4><CCAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char        reserve[3];    //<2F><><EFBFBD><EFBFBD>
+	ST_LOAD_STATUS_INFO  *pstLoadStatusInfo; //<2F>ػ<EFBFBD>״̬<D7B4>ṹ<EFBFBD>壬<EFBFBD><E5A3AC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>load_sizeȷ<65><C8B7>
+
+}ST_AGV_CARGO_STATUS;
+//---------------------------------------------------AGV_CARGO_STATUS END---------------------------------------------//
+
+
+
+//---------------------------------------------------(0xB1) SUBSCRIPTION_COMMAND BEGIN-------------------------------//
+//<2F><><EFBFBD>ĵ<EFBFBD><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9>
+typedef struct  SUBSCRIPTION_INFO
+{
+	unsigned short  command_code;     //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0<><30><EFBFBD>ɶ<EFBFBD><C9B6><EFBFBD>
+	unsigned short  interval_time;    //<2F><><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
+	unsigned int    duration_time;    //<2F><><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
+	unsigned char   reserve[8];       //Ԥ<><D4A4>
+
+}ST_SUBSCRIPTION_INFO;
+
+//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><E1B9B9>
+typedef struct  SUBSCRIPTION_REQ
+{
+	ST_SUBSCRIPTION_INFO  info[8];     //<2F><><EFBFBD>ĵ<EFBFBD><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9>
+	unsigned char         uuid[64];    //uuid
+
+}ST_SUBSCRIPTION_REQ;
+
+
+//<2F><><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD>ṹ<EFBFBD><E1B9B9>
+typedef struct  SUBSCRIPTION_RESP
+{
+	unsigned char         uuid[64];    //uuid
+	unsigned char         errcode;     //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0<>ɹ<EFBFBD><C9B9><EFBFBD>1ʧ<31><CAA7>
+
+}ST_SUBSCRIPTION_RESP;
+//---------------------------------------------------SUBSCRIPTION_COMMAND END---------------------------------------------//
+
+
+//---------------------------------------------------(0xB2) IMMEDIATE_ACTION_COMMAND BEGIN-------------------------------//
+
+typedef struct  CONTENT_TYPE1
+{
+	unsigned int  isStopImmediately;
+};
+
+typedef struct  CONTENT_TYPE2
+{
+	unsigned int  orderId;
+	unsigned int  taskKey;
+};
+
+typedef struct  CONTENT_TYPE3
+{
+	unsigned int  orderId;
+	unsigned int  isStopImmediately;
+};
+
+
+//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><E1B9B9>
+typedef struct  IMMEDIATE_ACTION
+{
+	unsigned short        action_type;       //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char         action_parallel;   //0x00<30><30>Ϊ<EFBFBD>ƶ<EFBFBD><C6B6>Ͷ<EFBFBD><CDB6><EFBFBD><EFBFBD>䶼<EFBFBD>ɲ<EFBFBD><C9B2><EFBFBD>,0x01<30><31>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Բ<EFBFBD><D4B2>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƶ<EFBFBD>0x02 ֻ<><D6BB>ִ<EFBFBD>е<EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>
+	unsigned char         reserve1;          //Ԥ<><D4A4>
+	unsigned int          action_id;         //<2F><><EFBFBD><EFBFBD>id
+	unsigned char         param_size;        //<2F><><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>
+	unsigned char         reserve2[3];       //Ԥ<><D4A4>
+	unsigned char         *pContent;         //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>param_sizeȷ<65><C8B7>
+
+}ST_IMMEDIATE_ACTION;
+//---------------------------------------------------IMMEDIATE_ACTION_COMMAND END---------------------------------------------//
+
+
+
+
+//---------------------------------------------------(0x02) <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵָ<D6B5><D6B8> BEGIN-------------------------------//
+
+typedef struct  READ_VALUE_MEMBER
+{
+	unsigned short  offset;
+	unsigned short  length;
+
+}ST_READ_VALUE_MEMBER;
+
+typedef struct  READ_STR_VALUE
+{
+	unsigned char  name[16];
+	unsigned int   count;
+	READ_VALUE_MEMBER  *pReadValueMember;    //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>countȷ<74><C8B7>
+}ST_READ_STR_VALUE;
+
+
+//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>
+typedef struct  READ_MULTIVARIABLE_REQ
+
+{
+	unsigned char         variable_count;    //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char         reserve1[3];       //Ԥ<><D4A4>
+	unsigned int          value_id;          //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>к<EFBFBD>
+	ST_READ_STR_VALUE     *pReadStrValue;    //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>variable_countȷ<74><C8B7>
+}ST_READ_MULTIVARIABLE_REQ;
+
+
+//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵӦ<D6B5><D3A6>
+typedef struct  READ_MULTIVARIABLE_RESP
+
+{
+	unsigned int          value_id;          //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>к<EFBFBD>
+	unsigned short        length;            //Ӧ<><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܳ<EFBFBD><DCB3><EFBFBD>
+	unsigned char         reserve1[2];       //Ԥ<><D4A4>
+	unsigned char        *pRespData;         //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 4 <20>ֽڶ<D6BD><DAB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6>
+}ST_READ_MULTIVARIABLE_RESP;
+
+//---------------------------------------------------<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵָ<D6B5><D6B8> END---------------------------------------------//
+
+
+//---------------------------------------------------(0x03) д<><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵָ<D6B5><D6B8> BEGIN-------------------------------//
+typedef struct  WRITE_VALUE_MEMBER
+{
+	unsigned short  offset;
+	unsigned short  length;
+	unsigned int    value;
+
+}ST_WRITE_VALUE_MEMBER;
+
+typedef struct  WRITE_STR_VALUE
+{
+	unsigned char       name[16];
+	unsigned int        count;
+	WRITE_VALUE_MEMBER  *pWriteValueMember;    //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>countȷ<74><C8B7>
+}ST_WRITE_STR_VALUE;
+
+//д<><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>
+typedef struct  WRITE_MULTIVARIABLE_REQ
+
+{
+	unsigned char           variable_count;    //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char           reserve1[3];       //Ԥ<><D4A4>
+	ST_WRITE_STR_VALUE      *pWriteStrValue;   //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>variable_countȷ<74><C8B7>
+}ST_WRITE_MULTIVARIABLE_REQ;
+//---------------------------------------------------д<><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵָ<D6B5><D6B8> END---------------------------------------------//
+
+
+
+//---------------------------------------------------(0x14) <20>ֶ<EFBFBD><D6B6><EFBFBD>λָ<CEBB><D6B8> BEGIN-------------------------------//
+typedef struct  MANUAL_LOCATION
+{
+	double  x;
+	double  y;
+	double  angular;
+
+}ST_MANUAL_LOCATION;
+
+//---------------------------------------------------<2D>ֶ<EFBFBD><D6B6><EFBFBD>λָ<CEBB><D6B8> END---------------------------------------------//
+
+
+
+//---------------------------------------------------(0x17) <20><>ѯ<EFBFBD><D1AF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬ BEGIN-------------------------------//
+typedef struct AGV_RUN_STATUS
+{
+	double          temperature;         //<2F>¶<EFBFBD>
+	double          x;                   //x<><78><EFBFBD><EFBFBD>
+	double          y;                   //y<><79><EFBFBD><EFBFBD>
+	double          angular;             //<2F>Ƕ<EFBFBD>
+	double          power;               //<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>
+	unsigned char   is_block;            //<2F>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>赲 0δ<30>赲<EFBFBD><E8B5B2>1<EFBFBD><31><EFBFBD>赲
+	unsigned char   is_charge;           //<2F>Ƿ<EFBFBD><C7B7>ڳ<EFBFBD><DAB3><EFBFBD> 0δ<30><CEB4><EFBFBD>磬1<E7A3AC>ڳ<EFBFBD><DAB3><EFBFBD>
+	unsigned char   mode;                //<2F><><EFBFBD><EFBFBD>ģʽ 0<>ֶ<EFBFBD><D6B6><EFBFBD>1<EFBFBD>Զ<EFBFBD>
+	unsigned char   map_statue;          //<2F><>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>״̬ 0<><30><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD><C9B9><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD>ʧ<EFBFBD>ܣ<EFBFBD>2δ<32><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>3<EFBFBD><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ
+	unsigned int    point_id;            //<2F><>ǰ<EFBFBD><C7B0>Ŀ<EFBFBD><C4BF><EFBFBD><EFBFBD>ID
+	double          travel_speed;        //ǰ<><C7B0><EFBFBD>ٶ<EFBFBD>
+	double          turning_speed;       //ת<><D7AA><EFBFBD>ٶ<EFBFBD>
+	double          voltage;             //<2F><>ѹ,<2C><><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD>ŵ<EFBFBD>Ϊ<EFBFBD><CEAA>
+	double          current;             //<2F><><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD>ŵ<EFBFBD>Ϊ<EFBFBD><CEAA>
+	unsigned char   task_status;         //<2F><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>״̬ (0<>޵<EFBFBD><DEB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD>ȴ<EFBFBD><C8B4><EFBFBD>2<EFBFBD><32><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㣬3<E3A3AC><33>ͣ<EFBFBD><CDA3>4<EFBFBD><34><EFBFBD>ɣ<EFBFBD>5ʧ<35>ܣ<EFBFBD>6<EFBFBD>˳<EFBFBD><CBB3><EFBFBD>7<EFBFBD>ȴ<EFBFBD><C8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
+	unsigned char   location_type;       //<2F><>ǰ<EFBFBD><C7B0>λ<EFBFBD><CEBB>ʽ(1<><31>ά<EFBFBD>붨λ<EBB6A8><CEBB>2<EFBFBD>Ŷ<EFBFBD>λ<EFBFBD><CEBB>3<EFBFBD><33><EFBFBD><EFBFBD><EFBFBD>޷<EFBFBD><DEB7><EFBFBD>λ<EFBFBD><CEBB>4 <20><><EFBFBD><EFBFBD><EFBFBD>з<EFBFBD><D0B7><EFBFBD>λ<EFBFBD><CEBB>5<EFBFBD>߷<EFBFBD><DFB7>붨λ<EBB6A8><CEBB>6 gps<70><73>λ)
+	unsigned short  map_version;         //<2F><>ͼ<EFBFBD>汾<EFBFBD><E6B1BE>
+	unsigned char   reserve1[4];         //<2F><><EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD>
+	double          total_mileage;       //<2F>ۼ<EFBFBD><DBBC><EFBFBD>ʻ<EFBFBD><CABB><EFBFBD><EFBFBD> <20><>λm
+	double          this_runtime;        //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
+	double          total_runtime;       //<2F>ۼ<EFBFBD><DBBC><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
+	unsigned char   location_status;     //<2F><>λ״̬ 0ʧ<30>ܣ<EFBFBD>1<EFBFBD>ɹ<EFBFBD><C9B9><EFBFBD>2<EFBFBD><32>λ<EFBFBD>У<EFBFBD>3<EFBFBD><33>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
+	unsigned char   is_traffic_control;  //<2F><>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD> 0δ<30><CEB4>ͨ<EFBFBD><CDA8><EFBFBD>ƣ<EFBFBD>1<EFBFBD><31>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD>
+	unsigned char   reserve2[2];         //<2F><><EFBFBD><EFBFBD>
+	unsigned int    map_count;           //<2F><>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>
+	unsigned char   map_name[64];        //<2F><>ǰ<EFBFBD><C7B0>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>
+	float           confidence;          //<2F><><EFBFBD>Ŷ<EFBFBD>
+
+}ST_AGV_RUN_STATUS;
+
+//---------------------------------------------------<2D><>ѯ<EFBFBD><D1AF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬ END---------------------------------------------//
+
+
+
+//------------------------------------------------------(0xAE) <20>·<EFBFBD>ָ<EFBFBD><D6B8> BEGIN------------------------------------------//
+
+typedef struct ACTION
+{
+	unsigned short  action_type;         //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char   action_run_type;     //ִ<>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>з<EFBFBD>ʽ
+	unsigned char   reserve1;            //Ԥ<><D4A4>
+	unsigned int    action_id;           //<2F><><EFBFBD><EFBFBD>ID
+	unsigned char   param_size;          //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char   reserve2[3];         //Ԥ<><D4A4>
+	unsigned char  *pParamContent;       //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+}ST_ACTION;
+
+
+typedef struct POINT_INFO
+{
+	unsigned int     point_id;           //<2F><>ͼ·<CDBC><C2B7><EFBFBD><EFBFBD> ID
+	unsigned char    reserve[4];         //Ԥ<><D4A4>
+}ST_POINT_INFO;
+
+typedef struct TPOINT
+{
+	float    x;     //x<><78><EFBFBD><EFBFBD>
+	float    y;     //y<><79><EFBFBD><EFBFBD>
+}ST_TPOINT;
+
+typedef union DYNMIC_POINT
+{
+	POINT_INFO       point_info;         //<2F><>ͼ·<CDBC><C2B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
+	TPOINT           tpoint;             //<2F><>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD>ɵ<EFBFBD><C9B5><EFBFBD><EFBFBD><EFBFBD>
+}ST_DYNMIC_POINT;
+
+
+
+typedef struct GUIDE_0_POINT    //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽΪ0ʱ<30><CAB1><EFBFBD>ṹ
+{
+	unsigned int    serial_number;       //<2F><><EFBFBD>к<EFBFBD>
+	unsigned int    point_id;            //<2F><>id
+	float           angle;               //ָ<><D6B8><EFBFBD>Ƕ<EFBFBD>ʱ·<CAB1><C2B7><EFBFBD><EFBFBD><EFBFBD>ij<EFBFBD>ͷ<EFBFBD>Ƕ<EFBFBD>
+	unsigned char   is_assign_angle;     //<2F>Ƿ<EFBFBD>ָ<EFBFBD><D6B8>·<EFBFBD><C2B7><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD>,1 ָ<><D6B8> 0 <20><>ָ<EFBFBD><D6B8>
+	unsigned char   action_size;         //<2F><><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char   reserve[6];          //Ԥ<><D4A4>
+	ST_ACTION      *pAction;             //<2F><><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD>ṹ<EFBFBD><E1B9B9>
+}ST_GUIDE_0_POINT;
+
+typedef struct GUIDE_1_POINT   //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽΪ1ʱ<31><CAB1><EFBFBD>ṹ
+{
+	unsigned int    serial_number;       //<2F><><EFBFBD>к<EFBFBD>
+	float           angle;               //ָ<><D6B8><EFBFBD>Ƕ<EFBFBD>ʱ·<CAB1><C2B7><EFBFBD><EFBFBD><EFBFBD>ij<EFBFBD>ͷ<EFBFBD>Ƕ<EFBFBD>
+	unsigned char   is_assign_angle;     //<2F>Ƿ<EFBFBD>ָ<EFBFBD><D6B8>·<EFBFBD><C2B7><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD>,1 ָ<><D6B8> 0 <20><>ָ<EFBFBD><D6B8>
+	unsigned char   action_size;         //<2F><><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char   dynmic_point_type;   //0:<3A><>ͼ·<CDBC><C2B7><EFBFBD><EFBFBD>ID<49><44>1<EFBFBD><31>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char   reserve;             //Ԥ<><D4A4>
+	ST_DYNMIC_POINT dymic_point;         //<2F><>̬<EFBFBD><CCAC><EFBFBD>ݽṹ
+	ST_ACTION      *pAction;             //<2F><><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD>ṹ<EFBFBD><E1B9B9>
+}ST_GUIDE_1_POINT;
+
+
+typedef union GUIDE_POINT
+{
+	ST_GUIDE_0_POINT       point_guide_0;         //<2F><>ͼ·<CDBC><C2B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
+	ST_GUIDE_1_POINT       point_guide_1;         //<2F><>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD>ɵ<EFBFBD><C9B5><EFBFBD><EFBFBD><EFBFBD>
+}ST_GUIDE_POINT;
+
+
+typedef struct PATH
+{
+	unsigned int     serial_number;       //<2F><><EFBFBD>к<EFBFBD>
+	unsigned int     segment_id;          //<2F><>ID
+	float            fixed_angle;         //<2F>̶<EFBFBD><CCB6><EFBFBD>
+	unsigned char    is_fixed_angle;      //<2F>Ƿ<EFBFBD><C7B7>̶<EFBFBD><CCB6>Ƕ<EFBFBD>
+	unsigned char    driver_pose;         //<2F><>ʻ<EFBFBD><CABB>̬
+	unsigned char    action_size;         //<2F><><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char    reserve1;             //Ԥ<><D4A4>
+	float            max_speed;           //<2F><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
+	float            max_angular_speed;   //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
+	unsigned char    reserve2[4];         //Ԥ<><D4A4>
+	ST_ACTION       *pAction;             //<2F><><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD>ṹ<EFBFBD><E1B9B9>
+}ST_PATH;
+
+
+
+typedef struct PATH_JOINT
+{
+	unsigned int     order_id;            //<2F><><EFBFBD><EFBFBD>ID
+	unsigned int     task_key;            //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ID
+	unsigned char    point_size;          //<2F><><EFBFBD><EFBFBD>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>нṹ<D0BD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char    path_size;           //<2F><><EFBFBD><EFBFBD>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>нṹ<D0BD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	unsigned char    guide_type;          //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ0<CABD><30>·<EFBFBD><C2B7>ƴ<EFBFBD><C6B4> 1<><31><EFBFBD><EFBFBD><EFBFBD>ɵ<EFBFBD><C9B5><EFBFBD> 2<><32>Ŀ<EFBFBD><C4BF><EFBFBD>㵼<EFBFBD><E3B5BC>
+	unsigned char    reserve;             //Ԥ<><D4A4>
+	GUIDE_0_POINT   *pstPoint;
+	ST_PATH         *pstPath;
+}ST_PATH_JOINT;
+
+
+//------------------------------------------------------(0xAE) <20>·<EFBFBD>ָ<EFBFBD><D6B8> END------------------------------------------//
+
+
+
+/*
+//------------------------------------------------------(0x02) <20>·<EFBFBD>ָ<EFBFBD><D6B8> BEGIN------------------------------------------//
+
+typedef struct READ_VALUE_MEMBER
+{
+	uint16_t  var_offset;
+	uint16_t  var_length;
+
+}ST_READ_VALUE_MEMBER;
+
+typedef struct READ_STR_VALUE
+{
+	uint8_t               var_name[16];            //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	uint32_t              var_member_number;       //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD>
+	ST_READ_VALUE_MEMBER *pReadMember;             //<2F><>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD>
+
+}ST_READ_STR_VALUE;
+
+
+
+typedef struct READ_MUTI_VARIABLE_REQ
+{
+	uint8_t            var_number;            //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	uint8_t            reserve[3];            //Ԥ<><D4A4>
+	uint32_t           var_servial;           //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>к<EFBFBD>
+	ST_READ_STR_VALUE *pReadValue;
+}ST_READ_MUTI_VARIABLE_REQ;
+
+
+typedef struct READ_MUTI_VARIABLE_RES
+{
+	uint32_t           var_servial;           //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>к<EFBFBD>
+	uint16_t           data_length;           //Ӧ<><D3A6><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>
+	uint32_t           reserve[2];            //Ԥ<><D4A4>
+	uint8_t           *pData;
+}ST_READ_MUTI_VARIABLE_RES;
+
+//------------------------------------------------------(0x02) <20>·<EFBFBD>ָ<EFBFBD><D6B8> END------------------------------------------//
+*/

Plugin/KcCtrl/ReadMe.txt

@@ -0,0 +1,67 @@
+================================================================================
+    MICROSOFT 基础类库 : Vcs-Client 项目概述
+===============================================================================
+
+应用程序向导已为您创建了此 Vcs-Client 应用程序。此应用程序不仅演示 Microsoft 基础类的基本使用方法，还可作为您编写应用程序的起点。
+
+本文件概要介绍组成 Vcs-Client 应用程序的每个文件的内容。
+
+Vcs-Client.vcxproj
+    这是使用应用程序向导生成的 VC++ 项目的主项目文件，其中包含生成该文件的 Visual C++ 的版本信息，以及有关使用应用程序向导选择的平台、配置和项目功能的信息。
+
+Vcs-Client.vcxproj.filters
+    这是使用“应用程序向导”生成的 VC++ 项目筛选器文件。它包含有关项目文件与筛选器之间的关联信息。在 IDE 中，通过这种关联，在特定节点下以分组形式显示具有相似扩展名的文件。例如，“.cpp”文件与“源文件”筛选器关联。
+
+Vcs-Client.h
+    这是应用程序的主头文件。
+    其中包括其他项目特定的标头（包括 Resource.h），并声明 CVcsClientApp 应用程序类。
+
+Vcs-Client.cpp
+    这是包含应用程序类 CVcsClientApp 的主应用程序源文件。
+
+Vcs-Client.rc
+    这是程序使用的所有 Microsoft Windows 资源的列表。它包括 RES 子目录中存储的图标、位图和光标。此文件可以直接在 Microsoft Visual C++ 中进行编辑。项目资源包含在 2052 中。
+
+res\Vcs-Client.ico
+    这是用作应用程序图标的图标文件。此图标包括在主资源文件 Vcs-Client.rc 中。
+
+res\VcsClient.rc2
+    此文件包含不在 Microsoft Visual C++ 中进行编辑的资源。您应该将不可由资源编辑器编辑的所有资源放在此文件中。
+
+
+/////////////////////////////////////////////////////////////////////////////
+
+应用程序向导创建一个对话框类：
+
+Vcs-ClientDlg.h、Vcs-ClientDlg.cpp - 对话框
+    这些文件包含 CVcsClientDlg 类。此类定义应用程序的主对话框的行为。对话框模板包含在 Vcs-Client.rc 中，该文件可以在 Microsoft Visual C++ 中编辑。
+
+/////////////////////////////////////////////////////////////////////////////
+
+其他功能：
+
+ActiveX 控件
+    该应用程序包含对使用 ActiveX 控件的支持。
+
+/////////////////////////////////////////////////////////////////////////////
+
+其他标准文件:
+
+StdAfx.h, StdAfx.cpp
+    这些文件用于生成名为 Vcs-Client.pch 的预编译头 (PCH) 文件和名为 StdAfx.obj 的预编译类型文件。
+
+Resource.h
+    这是标准头文件，可用于定义新的资源 ID。Microsoft Visual C++ 将读取并更新此文件。
+
+Vcs-Client.manifest
+	Windows XP 使用应用程序清单文件来描述特定版本的并行程序集的应用程序依赖项。加载程序使用这些信息来从程序集缓存中加载相应的程序集，并保护其不被应用程序访问。应用程序清单可能会包含在内，以作为与应用程序可执行文件安装在同一文件夹中的外部 .manifest 文件进行重新分发，它还可能以资源的形式包含在可执行文件中。
+/////////////////////////////////////////////////////////////////////////////
+
+其他注释:
+
+应用程序向导使用“TODO:”来指示应添加或自定义的源代码部分。
+
+如果应用程序使用共享 DLL 中的 MFC，您将需要重新分发 MFC DLL。如果应用程序所使用的语言与操作系统的区域设置不同，则还需要重新分发相应的本地化资源 mfc110XXX.DLL。
+有关上述话题的更多信息，请参见 MSDN 文档中有关重新分发 Visual C++ 应用程序的部分。
+
+/////////////////////////////////////////////////////////////////////////////

Plugin/KcCtrl/UdpSocket.cpp

@@ -0,0 +1,197 @@
+#include "UdpSocket.h"
+
+void UDPServer::cleanup() {
+#ifdef _WIN32
+	if (serverSocket != INVALID_SOCKET) {
+		closesocket(serverSocket);
+		WSACleanup();
+	}
+#else
+	if (serverSocket != INVALID_SOCKET) {
+		close(serverSocket);
+	}
+#endif
+}
+
+UDPServer::UDPServer() : serverSocket(INVALID_SOCKET), initialized(false) {
+#ifdef _WIN32
+	WSADATA wsaData;
+	if (WSAStartup(MAKEWORD(2, 2), &wsaData) != 0) {
+		std::cerr << "WSAStartup failed\n";
+		return;
+	}
+#endif
+	initialized = true;
+}
+
+UDPServer::~UDPServer() {
+	cleanup();
+}
+
+bool UDPServer::Start(int port) {
+	if (!initialized) return false;
+
+	serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+	if (serverSocket == INVALID_SOCKET) {
+		std::cerr << "Create socket failed\n";
+		return false;
+	}
+
+	serverAddr.sin_family = AF_INET;
+	serverAddr.sin_port = htons(port);
+	serverAddr.sin_addr.s_addr = htonl(INADDR_ANY);
+
+	if (bind(serverSocket, (sockaddr*)&serverAddr, sizeof(serverAddr)) == SOCKET_ERROR) {
+		std::cerr << "Bind failed\n";
+		return false;
+	}
+
+	return true;
+}
+
+// <20>޸ĺ<DEB8><C4BA>Ľ<EFBFBD><C4BD>շ<EFBFBD><D5B7><EFBFBD><EFBFBD><EFBFBD>UDPServer<65>ࣩ
+int UDPServer::Receive(char* buffer, int bufferSize, std::string& clientIP, int& clientPort) {
+	sockaddr_in clientAddr;
+	socklen_t clientAddrLen = sizeof(clientAddr);
+
+	int recvSize = recvfrom(serverSocket, buffer, bufferSize, 0,
+		(sockaddr*)&clientAddr, &clientAddrLen);
+	if (recvSize == SOCKET_ERROR) {
+		return -1;
+	}
+
+	// ʹ<>ÿ<EFBFBD>ƽ̨<C6BD>ĵ<EFBFBD>ַת<D6B7><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	char ipBuffer[INET_ADDRSTRLEN] = { 0 };
+#ifdef _WIN32
+	InetNtopA(AF_INET, &clientAddr.sin_addr, ipBuffer, INET_ADDRSTRLEN);
+#else
+	inet_ntop(AF_INET, &clientAddr.sin_addr, ipBuffer, INET_ADDRSTRLEN);
+#endif
+
+	clientIP = ipBuffer;
+	clientPort = ntohs(clientAddr.sin_port);
+	return recvSize;
+}
+
+bool UDPServer::Send(const char* buffer, int bufferSize, const std::string& clientIP, int clientPort) {
+	sockaddr_in clientAddr;
+	clientAddr.sin_family = AF_INET;
+	clientAddr.sin_port = htons(clientPort);
+	inet_pton(AF_INET, clientIP.c_str(), &clientAddr.sin_addr);
+
+	int sentSize = sendto(serverSocket, buffer, bufferSize, 0,
+		(sockaddr*)&clientAddr, sizeof(clientAddr));
+	return sentSize == bufferSize;
+}
+
+void UDPServer::Close() {
+	cleanup();
+	serverSocket = INVALID_SOCKET;
+}
+
+
+/// <summary>
+/// UDPClient
+/// </summary>
+void UDPClient::cleanup() {
+#ifdef _WIN32
+	if (clientSocket != INVALID_SOCKET) {
+		closesocket(clientSocket);
+		WSACleanup();
+	}
+#else
+	if (clientSocket != INVALID_SOCKET) {
+		close(clientSocket);
+	}
+#endif
+}
+
+UDPClient::UDPClient() : clientSocket(INVALID_SOCKET), initialized(false) {
+#ifdef _WIN32
+	WSADATA wsaData;
+	if (WSAStartup(MAKEWORD(2, 2), &wsaData) != 0) {
+		std::cerr << "WSAStartup failed\n";
+		return;
+	}
+#endif
+	initialized = true;
+}
+
+UDPClient::~UDPClient() {
+	cleanup();
+}
+
+bool UDPClient::Connect(const std::string& serverIP, int serverPort) {
+	if (!initialized) return false;
+
+	clientSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+	if (clientSocket == INVALID_SOCKET) {
+		std::cerr << "Create socket failed\n";
+		return false;
+	}
+
+	serverAddr.sin_family = AF_INET;
+	serverAddr.sin_port = htons(serverPort);
+	inet_pton(AF_INET, serverIP.c_str(), &serverAddr.sin_addr);
+
+	return true;
+}
+
+bool UDPClient::Send(const char* buffer, int bufferSize) {
+	int sentSize = sendto(clientSocket, buffer, bufferSize, 0,
+		(sockaddr*)&serverAddr, sizeof(serverAddr));
+	return sentSize == bufferSize;
+}
+
+//lTimeoutMs <20><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
+int UDPClient::Receive(char* buffer, int bufferSize, int lTimeoutMs)
+{
+	sockaddr_in fromAddr;
+	socklen_t fromLen = sizeof(fromAddr);
+
+#ifdef _WIN32
+	int timeout = lTimeoutMs;  // ת<><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>
+	setsockopt(clientSocket, SOL_SOCKET, SO_RCVTIMEO, (const char*)&timeout, sizeof(timeout));
+#else
+	struct timeval tv;
+	tv.tv_sec = lTimeoutMs / 1000;
+	tv.tv_usec = (lTimeoutMs % 1000) * 1000;
+	setsockopt(clientSocket, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+#endif
+
+	int recvSize = recvfrom(clientSocket, buffer, bufferSize, 0,
+		(sockaddr*)&fromAddr, &fromLen);
+	return recvSize;
+}
+
+// sbuffer <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+// sbufferSize <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>
+// rbuffer <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD>
+// rbufferSize <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>
+// lRto <20>ش<EFBFBD>ʱ<EFBFBD><CAB1>
+// lRtoCnt <20>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD>
+// <20><><EFBFBD><EFBFBD>ֵ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>,С<>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD><D4BC>ش<EFBFBD><D8B4><EFBFBD>ʧ<EFBFBD><CAA7><EFBFBD><EFBFBD>
+int UDPClient::SendAndRecv(const char* sbuffer, int sbufferSize, char* rbuffer, int rbufferSize, int lRto, int lRtoCnt)
+{
+	do
+	{
+		if (!Send(sbuffer, sbufferSize))
+		{
+			continue;
+		}
+
+		int lRecvLen = Receive(rbuffer, rbufferSize, lRto);
+		if (lRecvLen > 0)
+		{
+			return lRecvLen;
+		}
+
+	} while (lRtoCnt-- > 0);
+
+	return -1;
+}
+
+void UDPClient::Close() {
+	cleanup();
+	clientSocket = INVALID_SOCKET;
+}

Plugin/KcCtrl/UdpSocket.h

@@ -0,0 +1,74 @@
+#pragma once
+
+#include <iostream>
+#include <string>
+#include <cstring>
+
+#ifdef _WIN32
+#include <winsock2.h>
+#include <ws2tcpip.h>
+#pragma comment(lib, "Ws2_32.lib")
+#else
+#include <sys/socket.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+#include <netinet/in.h>
+#define SOCKET int
+#define INVALID_SOCKET  (SOCKET)(~0)
+#define SOCKET_ERROR            (-1)
+#endif
+
+class UDPServer {
+private:
+	SOCKET      serverSocket;
+	sockaddr_in serverAddr;
+	bool initialized;
+
+	void cleanup();
+
+public:
+	UDPServer();
+
+	~UDPServer();
+
+	bool Start(int port);
+
+	// <20>޸ĺ<DEB8><C4BA>Ľ<EFBFBD><C4BD>շ<EFBFBD><D5B7><EFBFBD><EFBFBD><EFBFBD>UDPServer<65>ࣩ
+	int Receive(char* buffer, int bufferSize, std::string& clientIP, int& clientPort);
+
+	bool Send(const char* buffer, int bufferSize, const std::string& clientIP, int clientPort);
+
+	void Close();
+};
+
+class UDPClient {
+private:
+	SOCKET clientSocket;
+	sockaddr_in serverAddr;
+	bool initialized;
+
+	void cleanup();
+
+public:
+	UDPClient();
+
+	~UDPClient();
+
+	bool Connect(const std::string& serverIP, int serverPort);
+
+	bool Send(const char* buffer, int bufferSize);
+
+	//lTimeoutMs <20><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
+	int Receive(char* buffer, int bufferSize, int lTimeoutMs);
+
+	// sbuffer <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	// sbufferSize <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>
+	// rbuffer <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD>
+	// rbufferSize <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>
+	// lRto <20>ش<EFBFBD>ʱ<EFBFBD><CAB1>
+	// lRtoCnt <20>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD>
+	// <20><><EFBFBD><EFBFBD>ֵ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>,С<>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD><D4BC>ش<EFBFBD><D8B4><EFBFBD>ʧ<EFBFBD><CAA7><EFBFBD><EFBFBD>
+	int SendAndRecv(const char* sbuffer, int sbufferSize, char* rbuffer, int rbufferSize, int lRto, int lRtoCnt);
+
+	void Close();
+};

Plugin/KcCtrl/stdafx.cpp

@@ -0,0 +1,188 @@
+
+// stdafx.cpp : ֻ<><D6BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>׼<EFBFBD><D7BC><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD>Դ<EFBFBD>ļ<EFBFBD>
+// Vcs-Client.pch <20><><EFBFBD><EFBFBD>ΪԤ<CEAA><D4A4><EFBFBD><EFBFBD>ͷ
+// stdafx.obj <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԥ<EFBFBD><D4A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
+
+#include "stdafx.h"
+
+
+
+#define MIN_XYZ_VALUE (-999999)
+float* g_xys = new float[3000 * 3000 * 2];
+int g_xyz_flag = 0;
+
+
+#define Q_R 1500
+#define X0  1500
+#define Y0  1500
+
+inline float abs_m(float lf)
+{
+	if (lf < 0) lf *= -1;
+	return lf;
+}
+
+
+
+CString g_strSavePath = "";
+CString g_strCurTime = "";
+
+void LogOutToFile(const char* fmt, ...)
+{
+	static CRITICAL_SECTION stCritical;
+	static BOOL bInit = FALSE;
+	static CString strLogPath;
+	if (FALSE == bInit)
+	{
+		bInit = TRUE;
+		GetModuleFileName(NULL, strLogPath.GetBuffer(2048), 2047);
+		strLogPath.ReleaseBuffer();
+		strLogPath = strLogPath.Left(strLogPath.ReverseFind('\\'));
+		strLogPath += "\\log\\runtime.log";
+
+		InitializeCriticalSection(&stCritical);
+	}
+
+	EnterCriticalSection(&stCritical);
+
+	va_list ap;
+	va_start(ap, fmt);
+	char pBuffer[800] = "";
+	if (vsnprintf_s(pBuffer, 796, _TRUNCATE, fmt, ap) > 0)
+	{
+
+		if (strlen(pBuffer) == 0 || pBuffer[strlen(pBuffer) - 1] != '\n')
+		{
+			pBuffer[strlen(pBuffer) + 1] = '\0';//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>׷<EFBFBD><D7B7>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊԭ<CEAA><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>޸<EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>з<EFBFBD>
+			pBuffer[strlen(pBuffer)] = '\n';
+		}
+	}
+	va_end(ap);
+
+	TRACE("%s\n", pBuffer);
+
+	FILE* pFile = NULL;
+	fopen_s(&pFile, strLogPath.GetBuffer(), "ab+");
+	if (NULL != pFile)
+	{
+		char acTime[32] = { 0 };
+		SYSTEMTIME stTime;
+		GetLocalTime(&stTime);
+		sprintf_s(acTime, 32, "[%02d-%02d %02d:%02d:%02d.%03d]  ", stTime.wMonth, stTime.wDay, stTime.wHour, stTime.wMinute, stTime.wSecond, stTime.wMilliseconds);
+
+		fwrite(acTime, 1, strlen(acTime), pFile);
+		fwrite(pBuffer, 1, strlen(pBuffer), pFile);
+		fwrite("\r\n", 1, strlen("\r\n"), pFile);
+		fclose(pFile);
+	}
+
+	LeaveCriticalSection(&stCritical);
+}
+
+int g_nMsgIdx = 998;
+
+string _UnicodeToUtf8(CString Unicodestr)
+{
+	wchar_t* unicode = Unicodestr.AllocSysString();
+	int len;
+	len = WideCharToMultiByte(CP_UTF8, 0, unicode, -1, NULL, 0, NULL, NULL);
+	char *szUtf8 = (char*)malloc(len + 1);
+	memset(szUtf8, 0, len + 1);
+	WideCharToMultiByte(CP_UTF8, 0, unicode, -1, szUtf8, len, NULL, NULL);
+	string result = szUtf8;
+	free(szUtf8);
+	return result;
+}
+
+
+
+// UTF8<46><38><EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>(MultiByte)<29><>ת
+CString UTF8AndMB_Convert(const CString &strSource, UINT nSourceCodePage, UINT nTargetCodePage)
+{
+	int nSourceLen = strSource.GetLength();
+	int nWideBufLen = MultiByteToWideChar(nSourceCodePage, 0, strSource, -1, NULL, 0);
+
+	wchar_t* pWideBuf = new wchar_t[nWideBufLen + 1];
+	memset(pWideBuf, 0, (nWideBufLen + 1) * sizeof(wchar_t));
+
+	MultiByteToWideChar(nSourceCodePage, 0, strSource, -1, (LPWSTR)pWideBuf, nWideBufLen);
+
+	char* pMultiBuf = NULL;
+	int nMiltiBufLen = WideCharToMultiByte(nTargetCodePage, 0, (LPWSTR)pWideBuf, -1, (char *)pMultiBuf, 0, NULL, NULL);
+
+	pMultiBuf = new char[nMiltiBufLen + 1];
+	memset(pMultiBuf, 0, nMiltiBufLen + 1);
+
+	WideCharToMultiByte(nTargetCodePage, 0, (LPWSTR)pWideBuf, -1, (char *)pMultiBuf, nMiltiBufLen, NULL, NULL);
+
+	CStringA strTarget(pMultiBuf);
+
+	delete[] pWideBuf;
+	delete[] pMultiBuf;
+
+	return strTarget;
+}
+
+CStringA UTF8ToMB(const CStringA& utf8Str)
+{
+	if (IsTextUTF8(utf8Str, utf8Str.GetLength()))
+	{
+		return UTF8AndMB_Convert(utf8Str, CP_UTF8, CP_ACP);
+	}
+	return utf8Str;
+}
+
+
+bool IsTextUTF8(const char* str, ULONGLONG length)
+{
+	DWORD nBytes = 0;//UFT8<54><38><EFBFBD><EFBFBD>1-6<><36><EFBFBD>ֽڱ<D6BD><DAB1><EFBFBD>,ASCII<49><49>һ<EFBFBD><D2BB><EFBFBD>ֽ<EFBFBD>
+	UCHAR chr;
+	bool bAllAscii = true; //<2F><><EFBFBD><EFBFBD>ȫ<EFBFBD><C8AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ASCII, ˵<><CBB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>UTF-8
+	for (int i = 0; i < length; i++)
+	{
+		chr = *(str + i);
+		if ((chr & 0x80) != 0) // <20>ж<EFBFBD><D0B6>Ƿ<EFBFBD>ASCII<49><49><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,˵<><CBB5><EFBFBD>п<EFBFBD><D0BF><EFBFBD><EFBFBD><EFBFBD>UTF-8,ASCII<49><49>7λ<37><CEBB><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>ֽڴ<D6BD>,<2C><><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>Ϊ0,o0xxxxxxx
+			bAllAscii = false;
+		if (nBytes == 0) //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ASCII<49><49>,Ӧ<><D3A6><EFBFBD>Ƕ<EFBFBD><C7B6>ֽڷ<D6BD>,<2C><><EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD><D6BD><EFBFBD>
+		{
+			if (chr >= 0x80)
+			{
+				if (chr >= 0xFC && chr <= 0xFD)
+					nBytes = 6;
+				else if (chr >= 0xF8)
+					nBytes = 5;
+				else if (chr >= 0xF0)
+					nBytes = 4;
+				else if (chr >= 0xE0)
+					nBytes = 3;
+				else if (chr >= 0xC0)
+					nBytes = 2;
+				else
+				{
+					return false;
+				}
+				nBytes--;
+			}
+		}
+		else //<2F><><EFBFBD>ֽڷ<D6BD><DAB7>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD>ֽ<EFBFBD>,ӦΪ 10xxxxxx
+		{
+			if ((chr & 0xC0) != 0x80)
+			{
+				return false;
+			}
+			nBytes--;
+		}
+	}
+
+	if (nBytes > 0) //Υ<><CEA5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	{
+		return false;
+	}
+
+	if (bAllAscii) //<2F><><EFBFBD><EFBFBD>ȫ<EFBFBD><C8AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ASCII, ˵<><CBB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>UTF-8
+	{
+		return false;
+	}
+	return true;
+}
+

Plugin/KcCtrl/stdafx.h

@@ -0,0 +1,175 @@
+
+// stdafx.h : <20><>׼ϵͳ<CFB5><CDB3><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC>İ<EFBFBD><C4B0><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD>
+// <20><><EFBFBD>Ǿ<EFBFBD><C7BE><EFBFBD>ʹ<EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD>
+// <20>ض<EFBFBD><D8B6><EFBFBD><EFBFBD><EFBFBD>Ŀ<EFBFBD>İ<EFBFBD><C4B0><EFBFBD><EFBFBD>ļ<EFBFBD>
+
+#pragma once
+
+#ifndef VC_EXTRALEAN
+#define VC_EXTRALEAN            // <20><> Windows ͷ<><CDB7><EFBFBD>ų<EFBFBD><C5B3><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD>
+#endif
+
+#include "targetver.h"
+
+#define _ATL_CSTRING_EXPLICIT_CONSTRUCTORS      // ijЩ CString <20><><EFBFBD>캯<EFBFBD><ECBAAF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ<EFBFBD><CABD>
+
+// <20>ر<EFBFBD> MFC <20><>ijЩ<C4B3><D0A9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɷ<EFBFBD><C9B7>ĺ<EFBFBD><C4BA>Եľ<D4B5><C4BE><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+#define _AFX_ALL_WARNINGS
+
+#include <afxwin.h>         // MFC <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͱ<EFBFBD>׼<EFBFBD><D7BC><EFBFBD><EFBFBD>
+#include <afxext.h>         // MFC <20><>չ
+
+
+#include <afxdisp.h>        // MFC <20>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD>
+
+
+
+#ifndef _AFX_NO_OLE_SUPPORT
+#include <afxdtctl.h>           // MFC <20><> Internet Explorer 4 <20><><EFBFBD><EFBFBD><EFBFBD>ؼ<EFBFBD><D8BC><EFBFBD>֧<EFBFBD><D6A7>
+#endif
+#ifndef _AFX_NO_AFXCMN_SUPPORT
+#include <afxcmn.h>             // MFC <20><> Windows <20><><EFBFBD><EFBFBD><EFBFBD>ؼ<EFBFBD><D8BC><EFBFBD>֧<EFBFBD><D6A7>
+#endif // _AFX_NO_AFXCMN_SUPPORT
+
+#include<afxsock.h>
+#include "json.h"
+#include <queue>
+
+using namespace std;
+
+#define WM_NETMESSAGE       (WM_USER+9981)
+#define NET_CONNECT_OK	0
+#define NET_DISCONNECT	1
+#define NET_DATA_MSG	2
+#define CAN_DISCONNECT  3
+#define PLC_DISCONNECT  4
+#define APP_DATA_MSG	5
+
+
+#include <afxcontrolbars.h>     // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϳؼ<CDBF><D8BC><EFBFBD><EFBFBD><EFBFBD> MFC ֧<><D6A7>
+#include "../Protocol.h"
+
+#ifdef _UNICODE
+#if defined _M_IX86
+#pragma comment(linker,"/manifestdependency:\"type='win32' name='Microsoft.Windows.Common-Controls' version='6.0.0.0' processorArchitecture='x86' publicKeyToken='6595b64144ccf1df' language='*'\"")
+#elif defined _M_X64
+#pragma comment(linker,"/manifestdependency:\"type='win32' name='Microsoft.Windows.Common-Controls' version='6.0.0.0' processorArchitecture='amd64' publicKeyToken='6595b64144ccf1df' language='*'\"")
+#else
+#pragma comment(linker,"/manifestdependency:\"type='win32' name='Microsoft.Windows.Common-Controls' version='6.0.0.0' processorArchitecture='*' publicKeyToken='6595b64144ccf1df' language='*'\"")
+#endif
+#endif
+
+
+extern CString  g_strSavePath;
+extern CString  g_strCurTime;
+extern int      g_nMsgIdx;
+void LogOutToFile(const char* fmt, ...);
+string _UnicodeToUtf8(CString Unicodestr);
+
+
+CString UTF8AndMB_Convert(const CString &strSource, UINT nSourceCodePage, UINT nTargetCodePage); // UTF8<46><38><EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>(MultiByte)<29><>ת
+CString UTF8ToMB(const CString& utf8Str);
+bool    IsTextUTF8(const char* str, ULONGLONG length);
+
+
+typedef struct  ST_THREAD_PARAM
+{
+	void   * pParent;
+	//int      nIdx;
+}
+ST_THREAD_PARAM;
+
+typedef struct  ST_CAN_DEVICE
+{
+	int nSendFrameFormat;
+	int	nSendFrameType;
+	int	nCanIndex;
+	int	nDevType;
+}
+ST_CAN_DEVICE;
+
+typedef enum
+{
+	NET_WR_MSG_RET = 0,
+	NET_RD_MSG_RET = 1
+}NET_MSG_TYPE_ENUM;
+
+typedef enum
+{
+	SLAM_TYPE   = 1,
+	QRCODE_TYPE = 2
+}GUIDE_TYPE_ENUM;
+
+typedef enum
+{
+	MANUAL_MODE = 0,  //<2F>ֶ<EFBFBD>ģʽ<C4A3><CABD>ң<EFBFBD><D2A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƣ<EFBFBD>
+	AUTO_MODE   = 1,  //<2F>Զ<EFBFBD>ģʽ<C4A3><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ң<EFBFBD><D2A3><EFBFBD><EFBFBD> PDA<44><41><EFBFBD>ƣ<EFBFBD>PAD<41><44><EFBFBD><EFBFBD><EFBFBD>Կ<EFBFBD><D4BF>Ƶ<EFBFBD>բ <20><><EFBFBD><EFBFBD> β<><CEB2>װ<EFBFBD><D7B0>
+	DEBUG_MODE  = 2,  //PDA<44><41><EFBFBD>ƣ<EFBFBD><C6A3><EFBFBD><EFBFBD>е<EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD>ɿ<EFBFBD><C9BF><EFBFBD>
+
+}AGV_RUN_MODE_ENUM;
+
+typedef enum
+{
+	RE_NORMAL_RUN   = 0,   //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	RE_UNUSUAL_STOP = 1,   //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʧ<EFBFBD>쳣ͣ<ECB3A3><CDA3>
+	RE_POINT_STOP   = 2,   //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͣ<EFBFBD><CDA3>(<28>յ<EFBFBD>)
+	RE_A_STOP       = 3,   //<2F>Զ<EFBFBD>ͣ<EFBFBD><CDA3>
+	RE_E_STOP       = 4,   //<2F><><EFBFBD><EFBFBD>ͣ<EFBFBD><CDA3>
+}AGV_RUN_RESTATE_ENUM;     //<2F><><EFBFBD><EFBFBD>״̬<D7B4><CCAC><EFBFBD><EFBFBD>
+
+typedef enum
+{
+	A_STOP   = 0, //<2F>Զ<EFBFBD>ͣ<EFBFBD><CDA3>	
+	FORWARD  = 1, //<2F><>ǰ<EFBFBD><C7B0>ʻ
+	BACKWARD = 2, //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʻ
+	E_STOP   = 3, //<2F><><EFBFBD><EFBFBD>ͣ<EFBFBD><CDA3>
+	INVALID_ACTION = 4,  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Чָ<D0A7>ά<EEA3AC>ֵ<EFBFBD>ǰͣ<C7B0><CDA3><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD>״̬
+}AGV_ACTION_ENUM;
+
+typedef enum
+{
+	LOG_ERROR  = 0,
+	LOG_INFO   = 1
+}LOG_TYPE_ENUM;
+
+typedef enum
+{
+	SEND_MSG = 0,
+	RECV_MSG = 1
+}CAN_MSG_ENUM;
+
+typedef struct NET_PACKET
+{
+	char* pData;
+	int   lLen;
+	int   nDevId;
+	NET_MSG_TYPE_ENUM  enType;
+}*pNET_PACKET;
+
+
+#define DATA_LINE_SIZE (11+13+4+4+11+4+4+4+33) //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD><DDB5>ֽ<EFBFBD><D6BD><EFBFBD>89
+
+typedef struct ST_CAN_MESSAGE
+{
+	char acSeq[10];
+	char acTime[12];
+	unsigned char cIndex; // 0<><30>1
+	unsigned char acTxRx; // 0:send, 1:recv
+	char acID[10];
+	unsigned char acFrame;//0:data, 1:remote
+	unsigned char acType; //0:standard, 1:extend
+	unsigned char cDlc;
+	char acData[32];
+
+}ST_CAN_MESSAGE;
+
+
+
+typedef struct APP_NET_PACKET
+{
+	int   lFuncLen;
+	int   lParamLen;
+	char *pFuncData;
+	char *pParamData;
+	
+}*pNET_APP_PACKET;

Plugin/KcCtrl/targetver.h

@@ -0,0 +1,8 @@
+#pragma once
+
+// <20><><EFBFBD><EFBFBD> SDKDDKVer.h <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD>߰汾<DFB0><E6B1BE> Windows ƽ̨<C6BD><CCA8>
+
+// <20><><EFBFBD><EFBFBD>ҪΪ<D2AA><CEAA>ǰ<EFBFBD><C7B0> Windows ƽ̨<C6BD><CCA8><EFBFBD><EFBFBD>Ӧ<EFBFBD>ó<EFBFBD><C3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> WinSDKVer.h<><68><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+// <20><> _WIN32_WINNT <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪҪ֧<D2AA>ֵ<EFBFBD>ƽ̨<C6BD><CCA8>Ȼ<EFBFBD><C8BB><EFBFBD>ٰ<EFBFBD><D9B0><EFBFBD> SDKDDKVer.h<><68>
+
+#include <SDKDDKVer.h>