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小米DSA状态字节定义

发表于 2024-04-17 阅读次数： Valine：
本文字数： 35k 阅读时长 ≈ 32 分钟

小米DSA通讯部分说明

四轮

车型信息

ServiceID	StartByte	Length	UserDefine
04	23	17	VIN
04	12	3	ZTS

设备状态

Byte	bit	UserDefine
5	1	PLCFault(Communication_NCA_IN_System_Fault)或非自动模式(Communication_NCA_IN_System_AutoMode)或放弃测试按钮(Communication_NCA_IN_CycleAbort)
7	0	四轮对中完成(Communication_NCA_IN_Centered)
7	1	四轮测试完成标志位(System_BEP_NewData)
7	2	轮眉测试完成标志位
7	3	空悬标定完成滚筒启动后置位
7	4	近光测试完成(Communication_NCA_IN_HLA*LowDone)
7	5	远光测试完成(Communication_NCA_IN_HLA*HighDone)
7	6	ADB测试完成(Communication_NCA_IN_HLA*ADBDone)
7	7	四轮调整完成按钮信号(Communication_NCA_IN_CycleComplete)

ADAS

接收DSA信息

ServiceID	StartByte	Length	UserDefine
04	8	17	VIN
04	25	1	ZTS
0A	8	2	CarParam_ACC_TargetX
0A	10	2	CarParam_ACC_TargetY
0A	12	2	CarParam_ACC_TargetZ
0D	8	2	CarParam_HUD_TargetX
0D	10	2	CarParam_HUD_TargetY
0D	12	2	CarParam_HUD_TargetZ
0D	14	2	CarParam_HUD_TargetRX
0D	16	2	CarParam_HUD_TargetRY
0D	18	2	CarParam_HUD_TargetRZ

设备状态

Byte	bit	UserDefine
5	0	Communication_FAS_IN_System_EStop
5	1	Communication_FAS_IN_System_Fault
5	4	Communication_FAS_IN_System_AutoMode
5	5	!Communication_FAS_IN_System_AutoMode
5	7	上述信号正常

部分代码

四轮

public override void IDT_SERVICE_02_STOP()
{
    ExecuteProAndCheckReturn("MainThread_Monitor_CancelTest");
}

private void IDT_SERVICE_03_DeviceInit()//设备回初始状态
{
    ExecuteProAndCheckReturn("MainThread_Monitor_CancelTest");
}

private void IDT_SERVICE_04_VehicleInformation()
{
    string sZTS = RecvData[12].ToString() + RecvData[13].ToString() + RecvData[14].ToString(); //GetString(12, 3);
    Pt["CarParam_VIN"] = GetString(23, 17);
    Pt["CarParam_ZTS"] = sZTS;
    //CkProj("MainThread_Vehicle_SendToNCA");//IDT_SERVICE4
    ExecutePlatTeam("MainThread_Vehicle_SendToNCA");
}

private void IDT_SERVICE_05_TOE_F_Pre_Result()
{
    SetValue(12, XmlFO.PubObjects["@NCA.Toe_LFPreset"].Value, 600);
    SetResult(14, XmlFO.PubObjects["@NCA.Toe_LFPreset_Result"].Value);//确认是否有调整前判定
    SetValue(15, XmlFO.PubObjects["@NCA.Toe_LFPresetMax"].Value, 600);
    SetValue(17, XmlFO.PubObjects["@NCA.Toe_LFPresetMin"].Value, 600);

    SetValue(19, XmlFO.PubObjects["@NCA.Toe_RFPreset"].Value, 600);
    SetResult(21, XmlFO.PubObjects["@NCA.Toe_RFPreset_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@NCA.Toe_RFPresetMax"].Value, 600);
    SetValue(24, XmlFO.PubObjects["@NCA.Toe_RFPresetMin"].Value, 600);
    
    //SetValue(26, XmlFO.PubObjects["@NCA.Toe_FTotalPreset"].Value);
    //SetResult(28, XmlFO.PubObjects["@NCA.Toe_FTotalPreset_Result"].Value);
    //SetValue(29, XmlFO.PubObjects["@NCA.Toe_FTotalPresetMax"].Value);
    //SetValue(31, XmlFO.PubObjects["@NCA.Toe_FTotalPresetMin"].Value);
}

private void IDT_SERVICE_06_TOE_R_Pre_Result()
{
    SetValue(12, XmlFO.PubObjects["@NCA.Toe_LRPreset"].Value, 600);
    SetResult(14, XmlFO.PubObjects["@NCA.Toe_LRPreset_Result"].Value);//确认是否有调整前判定
    SetValue(15, XmlFO.PubObjects["@NCA.Toe_LRPresetMax"].Value, 600);
    SetValue(17, XmlFO.PubObjects["@NCA.Toe_LRPresetMin"].Value, 600);

    SetValue(19, XmlFO.PubObjects["@NCA.Toe_RRPreset"].Value, 600);
    SetResult(21, XmlFO.PubObjects["@NCA.Toe_RRPreset_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@NCA.Toe_RRPresetMax"].Value, 600);
    SetValue(24, XmlFO.PubObjects["@NCA.Toe_RRPresetMin"].Value, 600);

    //SetValue(26, XmlFO.PubObjects["@NCA.Toe_RTotalPreset"].Value);
    //SetResult(28, XmlFO.PubObjects["@NCA.Toe_RTotalPreset_Result"].Value);
    //SetValue(29, XmlFO.PubObjects["@NCA.Toe_RTotalPresetMax"].Value);
    //SetValue(31, XmlFO.PubObjects["@NCA.Toe_RTotalPresetMin"].Value);
}

private void IDT_SERVICE_07_TOE_F_Result()
{
    SetValue(12, XmlFO.PubObjects["@NCA.Toe_LF"].Value, 600);
    SetResult(14, XmlFO.PubObjects["@NCA.Toe_LF_Result"].Value);
    SetValue(15, XmlFO.PubObjects["@NCA.Toe_LFMax"].Value, 600);
    SetValue(17, XmlFO.PubObjects["@NCA.Toe_LFMin"].Value, 600);

    SetValue(19, XmlFO.PubObjects["@NCA.Toe_RF"].Value, 600);
    SetResult(21, XmlFO.PubObjects["@NCA.Toe_RF_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@NCA.Toe_RFMax"].Value, 600);
    SetValue(24, XmlFO.PubObjects["@NCA.Toe_RFMin"].Value, 600);

    SetValue(26, XmlFO.PubObjects["@NCA.Toe_FTotal"].Value, 600);
    SetResult(28, XmlFO.PubObjects["@NCA.Toe_FTotal_Result"].Value);
    SetValue(29, XmlFO.PubObjects["@NCA.Toe_FTotalMax"].Value, 600);
    SetValue(31, XmlFO.PubObjects["@NCA.Toe_FTotalMin"].Value, 600);
}

private void IDT_SERVICE_08_TOE_R_Result()
{
    SetValue(12, XmlFO.PubObjects["@NCA.Toe_LR"].Value, 600);
    SetResult(14, XmlFO.PubObjects["@NCA.Toe_LR_Result"].Value);
    SetValue(15, XmlFO.PubObjects["@NCA.Toe_LRMax"].Value, 600);
    SetValue(17, XmlFO.PubObjects["@NCA.Toe_LRMin"].Value, 600);

    SetValue(19, XmlFO.PubObjects["@NCA.Toe_RR"].Value, 600);
    SetResult(21, XmlFO.PubObjects["@NCA.Toe_RR_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@NCA.Toe_RRMax"].Value, 600);
    SetValue(24, XmlFO.PubObjects["@NCA.Toe_RRMin"].Value, 600);

    SetValue(26, XmlFO.PubObjects["@NCA.Toe_RTotal"].Value, 600);
    SetResult(28, XmlFO.PubObjects["@NCA.Toe_RTotal_Result"].Value);
    SetValue(29, XmlFO.PubObjects["@NCA.Toe_RTotalMax"].Value, 600);
    SetValue(31, XmlFO.PubObjects["@NCA.Toe_RTotalMin"].Value, 600);
}

private void IDT_SERVICE_09_CAMBER_F_Pre_Result()
{
    SetValue(12, XmlFO.PubObjects["@NCA.Camber_LFPreset"].Value, 600);
    SetResult(14, XmlFO.PubObjects["@NCA.Camber_LFPreset_Result"].Value);
    SetValue(15, XmlFO.PubObjects["@NCA.Camber_LFPresetMax"].Value, 600);
    SetValue(17, XmlFO.PubObjects["@NCA.Camber_LFPresetMin"].Value, 600);

    SetValue(19, XmlFO.PubObjects["@NCA.Camber_RFPreset"].Value, 600);
    SetResult(21, XmlFO.PubObjects["@NCA.Camber_RFPreset_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@NCA.Camber_RFPresetMax"].Value, 600);
    SetValue(24, XmlFO.PubObjects["@NCA.Camber_RFPresetMin"].Value, 600);

    //SetValue(26, XmlFO.PubObjects["@NCA.Camber_FCrossPreset"].Value);
    //SetResult(28, XmlFO.PubObjects["@NCA.Camber_FCross_Result"].Value);
    //SetValue(29, XmlFO.PubObjects["@NCA.Camber_FCrossPresetMax"].Value);
    //SetValue(31, XmlFO.PubObjects["@NCA.Camber_FCrossPresetMin"].Value);
}

private void IDT_SERVICE_0A_CAMBER_R_Pre_Result()
{
    SetValue(12, XmlFO.PubObjects["@NCA.Camber_LRPreset"].Value, 600);
    SetResult(14, XmlFO.PubObjects["@NCA.Camber_LRPreset_Result"].Value);
    SetValue(15, XmlFO.PubObjects["@NCA.Camber_LRPresetMax"].Value, 600);
    SetValue(17, XmlFO.PubObjects["@NCA.Camber_LRPresetMin"].Value, 600);

    SetValue(19, XmlFO.PubObjects["@NCA.Camber_RRPreset"].Value, 600);
    SetResult(21, XmlFO.PubObjects["@NCA.Camber_RRPreset_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@NCA.Camber_RRPresetMax"].Value, 600);
    SetValue(24, XmlFO.PubObjects["@NCA.Camber_RRPresetMin"].Value, 600);

    //SetValue(26, XmlFO.PubObjects["@NCA.Camber_RCrossPreset"].Value);
    //SetResult(28, XmlFO.PubObjects["@NCA.Camber_RCross_Result"].Value);
    //SetValue(29, XmlFO.PubObjects["@NCA.Camber_RCrossPresetMax"].Value);
    //SetValue(31, XmlFO.PubObjects["@NCA.Camber_RCrossPresetMin"].Value);
}

private void IDT_SERVICE_0B_CAMBER_F_Result()
{
    SetValue(12, XmlFO.PubObjects["@NCA.Camber_LF"].Value, 600);
    SetResult(14, XmlFO.PubObjects["@NCA.Camber_LF_Result"].Value);
    SetValue(15, XmlFO.PubObjects["@NCA.Camber_LFMax"].Value, 600);
    SetValue(17, XmlFO.PubObjects["@NCA.Camber_LFMin"].Value, 600);

    SetValue(19, XmlFO.PubObjects["@NCA.Camber_RF"].Value, 600);
    SetResult(21, XmlFO.PubObjects["@NCA.Camber_RF_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@NCA.Camber_RFMax"].Value, 600);
    SetValue(24, XmlFO.PubObjects["@NCA.Camber_RFMin"].Value, 600);

    SetValue(26, XmlFO.PubObjects["@NCA.Camber_FCross"].Value, 600);
    SetResult(28, XmlFO.PubObjects["@NCA.Camber_FCross_Result"].Value);
    SetValue(29, XmlFO.PubObjects["@NCA.Camber_FCrossMax"].Value, 600);
    SetValue(31, XmlFO.PubObjects["@NCA.Camber_FCrossMin"].Value, 600);
}

private void IDT_SERVICE_0C_CAMBER_R_Result()
{
    SetValue(12, XmlFO.PubObjects["@NCA.Camber_LR"].Value, 600);
    SetResult(14, XmlFO.PubObjects["@NCA.Camber_LR_Result"].Value);
    SetValue(15, XmlFO.PubObjects["@NCA.Camber_LRMax"].Value, 600);
    SetValue(17, XmlFO.PubObjects["@NCA.Camber_LRMin"].Value, 600);

    SetValue(19, XmlFO.PubObjects["@NCA.Camber_RR"].Value, 600);
    SetResult(21, XmlFO.PubObjects["@NCA.Camber_RR_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@NCA.Camber_RRMax"].Value, 600);
    SetValue(24, XmlFO.PubObjects["@NCA.Camber_RRMin"].Value, 600);

    SetValue(26, XmlFO.PubObjects["@NCA.Camber_RCross"].Value, 600);
    SetResult(28, XmlFO.PubObjects["@NCA.Camber_RCross_Result"].Value);
    SetValue(29, XmlFO.PubObjects["@NCA.Camber_RCrossMax"].Value, 600);
    SetValue(31, XmlFO.PubObjects["@NCA.Camber_RCrossMin"].Value, 600);
}

private void IDT_SERVICE_0D_ThrustSWA_Result()
{
    SetValue(12, XmlFO.PubObjects["@NCA.Thrust_R"].Value, 600);
    SetResult(14, XmlFO.PubObjects["@NCA.Thrust_R_Result"].Value);
    SetValue(15, XmlFO.PubObjects["@NCA.Thrust_RMax"].Value, 600);
    SetValue(17, XmlFO.PubObjects["@NCA.Thrust_RMin"].Value, 600);

    SetValue(19, XmlFO.PubObjects["@NCA.SWA"].Value, 100);
    SetResult(21, XmlFO.PubObjects["@NCA.SWA_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@NCA.SWAMax"].Value, 100);
    SetValue(24, XmlFO.PubObjects["@NCA.SWAMin"].Value, 100);
}

private void IDT_SERVICE_0E_Light_L_Low_Result()
{
    SetValue(12, XmlFO.PubObjects["@HLA.Low_L_Hor"].Value, 10);
    SetResult(14, XmlFO.PubObjects["@HLA.Low_L_Hor_Result"].Value);
    SetValue(15, XmlFO.PubObjects["@HLA.Low_L_HorMax"].Value, 10);
    SetValue(17, XmlFO.PubObjects["@HLA.Low_L_HorMin"].Value, 10);

    SetValue(19, XmlFO.PubObjects["@HLA.Low_L_Ver"].Value, 10);
    SetResult(21, XmlFO.PubObjects["@HLA.Low_L_Ver_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@HLA.Low_L_VerMax"].Value, 10);
    SetValue(24, XmlFO.PubObjects["@HLA.Low_L_VerMin"].Value, 10);
}

private void IDT_SERVICE_0F_Light_R_Low_Result()
{
    SetValue(12, XmlFO.PubObjects["@HLA.Low_R_Hor"].Value, 10);
    SetResult(14, XmlFO.PubObjects["@HLA.Low_R_Hor_Result"].Value);
    SetValue(15, XmlFO.PubObjects["@HLA.Low_R_HorMax"].Value, 10);
    SetValue(17, XmlFO.PubObjects["@HLA.Low_R_HorMin"].Value, 10);

    SetValue(19, XmlFO.PubObjects["@HLA.Low_R_Ver"].Value, 10);
    SetResult(21, XmlFO.PubObjects["@HLA.Low_R_Ver_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@HLA.Low_R_VerMax"].Value, 10);
    SetValue(24, XmlFO.PubObjects["@HLA.Low_R_VerMin"].Value, 10);
}

private void IDT_SERVICE_10_Light_L_High_Result()
{
    SetValue(12, XmlFO.PubObjects["@HLA.High_L_Hor"].Value, 10);
    SetResult(14, XmlFO.PubObjects["@HLA.High_L_Hor_Result"].Value);
    SetValue(15, XmlFO.PubObjects["@HLA.High_L_HorMax"].Value, 10);
    SetValue(17, XmlFO.PubObjects["@HLA.High_L_HorMin"].Value, 10);

    SetValue(19, XmlFO.PubObjects["@HLA.High_L_Ver"].Value, 10);
    SetResult(21, XmlFO.PubObjects["@HLA.High_L_Ver_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@HLA.High_L_VerMax"].Value, 10);
    SetValue(24, XmlFO.PubObjects["@HLA.High_L_VerMin"].Value, 10);

    SetValue(26, XmlFO.PubObjects["@HLA.High_L_Int"].Value, 0.1);
    SetResult(28, XmlFO.PubObjects["@HLA.High_L_Int_Result"].Value);
    SetValue(29, XmlFO.PubObjects["@HLA.High_L_IntMax"].Value, 0.1);
    SetValue(31, XmlFO.PubObjects["@HLA.High_L_IntMin"].Value, 0.1);
}

private void IDT_SERVICE_11_Light_R_High_Result()
{
    SetValue(12, XmlFO.PubObjects["@HLA.High_R_Hor"].Value, 10);
    SetResult(14, XmlFO.PubObjects["@HLA.High_R_Hor_Result"].Value);
    SetValue(15, XmlFO.PubObjects["@HLA.High_R_HorMax"].Value, 10);
    SetValue(17, XmlFO.PubObjects["@HLA.High_R_HorMin"].Value, 10);

    SetValue(19, XmlFO.PubObjects["@HLA.High_R_Ver"].Value, 10);
    SetResult(21, XmlFO.PubObjects["@HLA.High_R_Ver_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@HLA.High_R_VerMax"].Value, 10);
    SetValue(24, XmlFO.PubObjects["@HLA.High_R_VerMin"].Value, 10);

    SetValue(26, XmlFO.PubObjects["@HLA.High_R_Int"].Value, 0.1);
    SetResult(28, XmlFO.PubObjects["@HLA.High_R_Int_Result"].Value);
    SetValue(29, XmlFO.PubObjects["@HLA.High_R_IntMax"].Value, 0.1);
    SetValue(31, XmlFO.PubObjects["@HLA.High_R_IntMin"].Value, 0.1);
}

private void IDT_SERVICE_12_WBH_F_Result()
{
    SetValue(12, XmlFO.ListObject["Device_WBH_FL"].xValue, 10);
    SetResult(14, "Y");
    SetValue(15, 0);
    SetValue(17, 0);

    SetValue(19, XmlFO.ListObject["Device_WBH_FR"].xValue, 10);
    SetResult(21, "Y");
    SetValue(22, 0);
    SetValue(24, 0);
}

private void IDT_SERVICE_13_WBH_R_Result()
{
    SetValue(12, XmlFO.ListObject["Device_WBH_RL"].xValue, 10);
    SetResult(14, "Y");
    SetValue(15, 0);
    SetValue(17, 0);

    SetValue(19, XmlFO.ListObject["Device_WBH_RR"].xValue, 10);
    SetResult(21, "Y");
    SetValue(22, 0);
    SetValue(24, 0);
}

private void IDT_SERVICE_14_Weight_Result()
{
    SetValue(12, XmlFO.PubObjects["@Weight.LF"].Value, 10);
    SetValue(14, XmlFO.PubObjects["@Weight.RF"].Value, 10);
    SetValue(16, XmlFO.PubObjects["@Weight.Front"].Value, 10);
    SetValue(18, XmlFO.PubObjects["@Weight.LR"].Value, 10);
    SetValue(20, XmlFO.PubObjects["@Weight.RR"].Value, 10);
    SetValue(22, XmlFO.PubObjects["@Weight.Rear"].Value, 10);
    SetValue(24, XmlFO.PubObjects["@Weight.Vehicle"].Value, 10);
}

private void IDT_SERVICE_15_Caster_Result()
{
    SetValue(12, XmlFO.PubObjects["@NCA.Caster_LF"].Value, 600);
    SetResult(14, XmlFO.PubObjects["@NCA.Caster_LF_Result"].Value);
    SetValue(15, XmlFO.PubObjects["@NCA.Caster_LFMax"].Value, 600);
    SetValue(17, XmlFO.PubObjects["@NCA.Caster_LFMin"].Value, 600);

    SetValue(19, XmlFO.PubObjects["@NCA.Caster_RF"].Value, 600);
    SetResult(21, XmlFO.PubObjects["@NCA.Caster_RF_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@NCA.Caster_RFMax"].Value, 600);
    SetValue(24, XmlFO.PubObjects["@NCA.Caster_RFMin"].Value, 600);

    SendData[26] = (byte)(XmlFO.ListObject["Communication_NCA_IN_CasterEnable"].xValue.StartsWith("T") ? 1 : 0); //1表示抽检测试, 0表示不测试
}

private void IDT_SERVICE_16_Sai_Result()
{
    SetValue(12, XmlFO.PubObjects["@NCA.SAI_LF"].Value, 300);
    SetResult(14, XmlFO.PubObjects["@NCA.SAI_LF_Result"].Value);
    SetValue(15, XmlFO.PubObjects["@NCA.SAI_LFMax"].Value, 300);
    SetValue(17, XmlFO.PubObjects["@NCA.SAI_LFMin"].Value, 300);

    SetValue(19, XmlFO.PubObjects["@NCA.SAI_RF"].Value, 300);
    SetResult(21, XmlFO.PubObjects["@NCA.SAI_RF_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@NCA.SAI_RFMax"].Value, 300);
    SetValue(24, XmlFO.PubObjects["@NCA.SAI_RFMin"].Value, 300);

    SendData[26] = (byte)(XmlFO.ListObject["Communication_NCA_IN_CasterEnable"].xValue.StartsWith("T") ? 1 : 0); //1表示抽检测试, 0表示不测试
}

private void IDT_SERVICE_17_LTL_In_Result()
{
    SetValue(12, XmlFO.PubObjects["@LTL.LF_Turn_In"].Value, 10);
    SetResult(14, XmlFO.PubObjects["@LTL.LF_Turn_In_Result"].Value);
    SetValue(15, XmlFO.PubObjects["@LTL.LF_Turn_InMax"].Value, 10);
    SetValue(17, XmlFO.PubObjects["@LTL.LF_Turn_InMin"].Value, 10);

    SetValue(19, XmlFO.PubObjects["@LTL.RF_Turn_In"].Value, 10);
    SetResult(21, XmlFO.PubObjects["@LTL.RF_Turn_In_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@LTL.RF_Turn_InMax"].Value, 10);
    SetValue(24, XmlFO.PubObjects["@LTL.RF_Turn_InMin"].Value, 10);

    //转角差--看四轮数据中是否存在,存在直接接收,否则计算
    /*SetValue(26, XmlFO.PubObjects["@LTL.LF_Turn_In"].Value);
    SetResult(28, XmlFO.PubObjects["@LTL.LF_Turn_In_Result"].Value);
    SetValue(29, XmlFO.PubObjects["@LTL.LF_Turn_InMax"].Value);
    SetValue(31, XmlFO.PubObjects["@LTL.LF_Turn_InMin"].Value);*/

    SendData[33] = (byte)(XmlFO.ListObject["Communication_NCA_IN_L2LEnable"].xValue.StartsWith("T") ? 1 : 0); //1表示抽检测试, 0表示不测试
}

private void IDT_SERVICE_18_LTL_Out_Result()
{
    SetValue(12, XmlFO.PubObjects["@LTL.LF_Turn_Out"].Value, 10);
    SetResult(14, XmlFO.PubObjects["@LTL.LF_Turn_Out_Result"].Value);
    SetValue(15, XmlFO.PubObjects["@LTL.LF_Turn_OutMax"].Value, 10);
    SetValue(17, XmlFO.PubObjects["@LTL.LF_Turn_OutMin"].Value, 10);

    SetValue(19, XmlFO.PubObjects["@LTL.RF_Turn_Out"].Value, 10);
    SetResult(21, XmlFO.PubObjects["@LTL.RF_Turn_Out_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@LTL.RF_Turn_OutMax"].Value, 10);
    SetValue(24, XmlFO.PubObjects["@LTL.RF_Turn_OutMin"].Value, 10);

    //转角差
    /*SetValue(26, XmlFO.PubObjects["@LTL.LF_Turn_In"].Value);
    SetResult(28, XmlFO.PubObjects["@LTL.LF_Turn_In_Result"].Value);
    SetValue(29, XmlFO.PubObjects["@LTL.LF_Turn_InMax"].Value);
    SetValue(31, XmlFO.PubObjects["@LTL.LF_Turn_InMin"].Value);*/

    SendData[33] = (byte)(XmlFO.ListObject["Communication_NCA_IN_L2LEnable"].xValue.StartsWith("T") ? 1 : 0); //1表示抽检测试, 0表示不测试
}

private void IDT_SERVICE_19_WBHTest()
{
    ((xDvBaseClient)XmlFO.ListObject["Communication_NCA_OUT_StopMotor"]).SetTrue("");
    SendData[7] &= 0xFB;//bit2置0
    //启动轮眉测量
    ExecutePlatTeam("Device_StepItem_WBH", () =>
    {
        SetState(IDTState.OK);
        SendData[7] |= 1 << 2; //轮眉测试标志位,收到25号服务置0,轮眉测试完置1
    });
}

//空气悬架标定完成
private void IDT_SERVICE_1A_ASUDone()
{
    ((xDvBaseClient)XmlFO.ListObject["Communication_NCA_OUT_StopMotor"]).SetFalse("");
    SendData[7] |= 1 << 3; //是否需要一直保持
}

private void IDT_SERVICE_1B_HLA_LowBeamOn()
{
}

private void IDT_SERVICE_1C_HLA_FullBeamOn()
{
}

private void IDT_SERVICE_1D_ADB_On()
{
    //((xDvBaseClient)XmlFO.ListObject["Communication_NCA_OUT_ADBReady"]).SetTrue("");
}

private void IDT_SERVICE_1E_EPSTest()
{
    //将停止滚筒放在Always流程中调用
    ExecutePlatTeam("Device_Public_DSA_StopRolls");
    ((xDvBaseClient)XmlFO.ListObject["Communication_NCA_OUT_StopMotor"]).SetTrue("");
}

private void IDT_SERVICE_1F_EPSTestDone()
{
    ((xDvBaseClient)XmlFO.ListObject["Communication_NCA_OUT_StopMotor"]).SetFalse("");
}

private void IDT_SERVICE_20_HEAD_ADB_Left_Result()
{
    SetValue(12, XmlFO.PubObjects["@HLA.DASM_Hor"].Value, 100);//LeftEmaxX
    SetValue(14, XmlFO.PubObjects["@HLA.DASM_Hor_SetPoint"].Value, 100);//LeftEmaxY
    SetValue(16, XmlFO.PubObjects["@HLA.DASM_Hor_Max"].Value, 100);//LeftP0X
    SetValue(18, XmlFO.PubObjects["@HLA.DASM_Hor_Min"].Value, 100);//LeftP0Y
    SetValue(20, XmlFO.PubObjects["@HLA.DASM_Hor_Offset"].Value, 100);//LeftP1X
    SetValue(22, XmlFO.PubObjects["@HLA.DASM_Hor_Module_Offset"].Value, 100);//LeftP1Y
}

private void IDT_SERVICE_21_HEAD_ADB_Right_Result()
{
    SetValue(12, XmlFO.PubObjects["@HLA.DASM_Ver"].Value, 100);//Right
    SetValue(14, XmlFO.PubObjects["@HLA.DASM_Ver_SetPoint"].Value, 100);
    SetValue(16, XmlFO.PubObjects["@HLA.DASM_Ver_Max"].Value, 100);
    SetValue(18, XmlFO.PubObjects["@HLA.DASM_Ver_Min"].Value, 100);
    SetValue(20, XmlFO.PubObjects["@HLA.DASM_Ver_Offset"].Value, 100);
    SetValue(22, XmlFO.PubObjects["@HLA.DASM_Ver_Module_Offset"].Value, 100);
}

private void IDT_SERVICE_22_TOECross_Result()
{
    SetValue(12, XmlFO.PubObjects["@NCA.Toe_FCross"].Value, 600);
    SetResult(14, XmlFO.PubObjects["@NCA.Toe_FCross_Result"].Value);
    SetValue(15, XmlFO.PubObjects["@NCA.Toe_FCrossMax"].Value, 600);
    SetValue(17, XmlFO.PubObjects["@NCA.Toe_FCrossMin"].Value, 600);

    SetValue(19, XmlFO.PubObjects["@NCA.Toe_RCross"].Value, 600);
    SetResult(21, XmlFO.PubObjects["@NCA.Toe_RCross_Result"].Value);
    SetValue(22, XmlFO.PubObjects["@NCA.Toe_RCrossMax"].Value, 600);
    SetValue(24, XmlFO.PubObjects["@NCA.Toe_RCrossMin"].Value, 600);

    SetValue(26, XmlFO.PubObjects["@NCA.Thrust_F"].Value, 600);
    SetResult(28, XmlFO.PubObjects["@NCA.Thrust_F_Result"].Value);
    SetValue(29, XmlFO.PubObjects["@NCA.Thrust_FMax"].Value, 600);
    SetValue(31, XmlFO.PubObjects["@NCA.Thrust_FMin"].Value, 600);
}

public override void SendBeforeHandle()
{
    //Byte5 bit0:急停 bit1:fault bit4:Automode bit5:Manualmode bit6:calmode bit7:ready
    int byte5 = 0x00;
    //bool ems = Pt["Communication_NCA_IN_System_EStop"].zString().StartsWith("T");
    bool fault = Pt["Communication_NCA_IN_System_Fault"].zString().StartsWith("T");
    bool automode = Pt["Communication_NCA_IN_System_AutoMode"].zString().StartsWith("T");
    bool centered = Pt["Communication_NCA_IN_Centered"].zString().StartsWith("T");
    bool abort = Pt["Communication_NCA_IN_CycleAbort"].zString().StartsWith("T");

    //byte5 = ems ? (byte5 | (1 << 0)) : byte5;
    byte5 = fault || !automode || abort ? (byte5 | (1 << 1)) : byte5;
    SendData[5] = (byte)byte5;

    int byte7 = 0x00;
    bool bepNewData = Pt["System_BEP_NewData"].zString().StartsWith("Y");
    byte7 = centered ? (byte7 | (1 << 0)) : byte7; //四轮对中完成
    byte7 = bepNewData ? (byte7 | (1 << 1)) : byte7; //四轮调整完成标志位
    SendData[7] |= (byte)byte7;

    #region ADB
    bool hlaLeftLow = XmlFO.ListObject["Communication_NCA_IN_HLALeftLowDone"].xValue.StartsWith("T");
    bool hlaRightLow = XmlFO.ListObject["Communication_NCA_IN_HLARightLowDone"].xValue.StartsWith("T");
    bool hlaLeftHigh = XmlFO.ListObject["Communication_NCA_IN_HLALeftHighDone"].xValue.StartsWith("T");
    bool hlaRightHigh = XmlFO.ListObject["Communication_NCA_IN_HLARightHighDone"].xValue.StartsWith("T");
    bool hlaLeftADB = XmlFO.ListObject["Communication_NCA_IN_HLALeftADBDone"].xValue.StartsWith("T");
    bool hlaRightADB = XmlFO.ListObject["Communication_NCA_IN_HLARightADBDone"].xValue.StartsWith("T");
    SendData[7] |= (byte)(!(hlaLeftLow || hlaRightLow) ? 0x01 << 4 : 0x00);//近光测试完成
    SendData[7] |= (byte)(!(hlaLeftHigh || hlaRightHigh) ? 0x01 << 5 : 0x00);//远光测试完成
    SendData[7] |= (byte)(!(hlaLeftADB || hlaRightADB) ? 0x01 << 6 : 0x00);//ADB测试完成
    SendData[7] |= (byte)(XmlFO.ListObject["Communication_NCA_IN_CycleComplete"].xValue.StartsWith("T") ? 0x01 << 7 : 0x00);
    #endregion

    byte xor = 0x00;
    for (int i = 0; i < (SendData.Length - 2); i++)
        xor ^= SendData[i];
    SendData[SendData.Length - 2] = xor;
}

public override void SetResult(int index, object value)
{
    string sval = Convert.ToString(value).ToUpper();
    switch(sval)
    {
        case "Y":
            SendData[index] = 0x01;
            break;
        case "T":
            SendData[index] = 0x01;
            break;
        case "P":
            SendData[index] = 0x01;
            break;
        case "N":
            SendData[index] = 0x00;
            break;
        case "F":
            SendData[index] = 0x00;
            break;
        default:
            SendData[index] = 0x01;
            break;
    }
}

ADAS

private void IDT_SERVICE_0E_VehicleInformation()
{
    try
    {
        string sZTS = RecvData[25].ToString();
        string sVIN = GetString(8, 17);
        Pt["CarParam_VIN"] = sVIN;
        Pt["CarParam_ZTS"] = sZTS;
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_07_DeviceReturnHome()
{
    try
    {
        ExecutePlatTeam("MainThread_Monitor_CancelTest", "Communication_IDT_PlatReturnHomeStatus");
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_0A_ACCBoardMove()
{
    try
    {
        Pt["CarParam_ACC_TargetX"] = GetValue(8);
        Pt["CarParam_ACC_TargetY"] = GetValue(10);
        Pt["CarParam_ACC_TargetZ"] = GetValue(12);
        ExecutePlatTeam("Device_FAS_ACC_设备就位", "Communication_IDT_PlatACCMoveStatus");
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_0B_ACCBoardReturnHome()
{
    try
    {
        ExecutePlatTeam("Device_FAS_ACC_设备回位", "Communication_IDT_PlatACCReturnHomeStatus");
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_0C_Center()//协议中未定义
{
    try
    {
        //if (RecvData[12] == 0x01 && RecvData[13] == 0x01)
        //CkProj("Device_FAS_摆正器_设备就位");
        //if (RecvData[12] == 0x00 && RecvData[13] == 0x00)
        //CkProj("Device_FAS_摆正器_设备回位");
        ExecutePlatTeam("Device_FAS_摆正器_设备就位", "Communication_IDT_PlatCenterStatus");
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_0D_RobotMove()
{
    try
    {
        Pt["CarParam_HUD_Route"] = "1";
        Pt["CarParam_HUD_TargetX"] = GetValue(8, 0.1);
        Pt["CarParam_HUD_TargetY"] = GetValue(10, 0.1);
        Pt["CarParam_HUD_TargetZ"] = GetValue(12, 0.1);
        Pt["CarParam_HUD_TargetRX"] = GetValue(14, 0.001);
        Pt["CarParam_HUD_TargetRY"] = GetValue(16, 0.001);
        Pt["CarParam_HUD_TargetRZ"] = GetValue(18, 0.001);

        ExecutePlatTeam("Device_FAS_HUD_设备就位", "Communication_IDT_PlatRobotMoveStatus");
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_0F_WBH_Result()
{
    ExecutePlatTeam("Device_StepItem_WBH", "Communication_IDT_PlatWBHStatus", () =>
    {
        SetState(IDTState.OK);

        SetValue(12, XmlFO.PubObjects["@WBHTest.WBH_FL"].Value, 10);
        SetResult(20, "Y");
        SetValue(14, XmlFO.PubObjects["@WBHTest.WBH_FR"].Value, 10);
        SetResult(21, "Y");
        SetValue(16, XmlFO.PubObjects["@WBHTest.WBH_RL"].Value, 10);
        SetResult(22, "Y");
        SetValue(18, XmlFO.PubObjects["@WBHTest.WBH_RR"].Value, 10);
        SetResult(23, "Y");
    });
}

//Byte 07
//BIT0: 改位置 1 表示 BBK LDA 测量结束
//BIT1: 改位置 1 表示 BBK 畸变测量结束
//BIT2: 改位置 1 表示 BBK FOV 测量结束
//BIT3: 改位置 1 表示 BBK 重影测量结束
//BIT4: 改位置 1 表示 BBK VID 测量结束
//BIT5: 改位置 1 表示 BBK LOA 测量结束
private void IDT_SERVICE_10_LDA()
{
    try
    {
        HUDTestServiceHandle(0, "Device_FAS_HUD_LDA", "Communication_IDT_PlatLDAStatus");
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_11_LDAResult()
{
    try
    {
        SetResult(10, zjHUD.ValueLDA.bResult);
        SetResult(11, zjHUD.ValueLDACalibrable.bResult);
        SetValue(12, zjHUD.ValueLDAOffset.Value);
        SetValue(14, zjHUD.ValueLDA.Value.Value, 100);
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

//Byte 07 BIT1: 改位置 1 表示 BBK 畸变 测量结束
private void IDT_SERVICE_12_Distortion()
{
    try
    {
        //zjHUD.eyeBoxPos = "M";
        HUDTestServiceHandle(1, "Device_FAS_HUD_Distortion", "Communication_IDT_PlatDistortionStatus");
        //HUDTestServiceHandle(1, "Device_FAS_HUD_RotateAngle");
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_13_DistortionResult()
{
    try
    {
        SetResult(10, zjHUD.ValueDistortion.bResult &&
                      zjHUD.ValueDistortionMaxH.bResult &&
                      zjHUD.ValueDistortionMaxV.bResult &&
                      zjHUD.ValueDistortionRotation.bResult);
        SetResult(11, zjHUD.ValueDistortionHCalibrable.bResult &&
                       zjHUD.ValueDistortionVCalibrable.bResult &&
                       zjHUD.ValueDistortionRCalibrable.bResult);
        SetValue(12, zjHUD.ValueDistortionMaxH.Value.Value, 100);
        SetValue(14, zjHUD.ValueDistortionMaxV.Value.Value, 100);
        SetValue(16, zjHUD.ValueDistortionRotation.Value.Value, 100);
        SetValue(18, zjHUD.ValueDistortion.Value.Value, 100);
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

#region 畸变刷写

private void IDT_SERVICE_14_DistortionParam1()
{
    try
    {
        Array.Copy(zjHUD.warpParamMsg, 0, SendData, 12, 25);
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_15_DistortionParam2()
{
    try
    {
        Array.Copy(zjHUD.warpParamMsg, 25, SendData, 12, 25);
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_16_DistortionParam3()
{
    try
    {
        Array.Copy(zjHUD.warpParamMsg, 50, SendData, 12, 25);
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_17_DistortionParam4()
{
    try
    {
        Array.Copy(zjHUD.warpParamMsg, 75, SendData, 12, 25);
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_18_DistortionParam5()
{
    try
    {
        Array.Copy(zjHUD.warpParamMsg, 100, SendData, 12, 24);
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

#endregion

private void IDT_SERVICE_19_FOVTest()
{
    try
    {
        //zjHUD.eyeBoxPos = "M";
        HUDTestServiceHandle(2, "Device_FAS_HUD_FOV", "Communication_IDT_PlatFOVStatus");
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_1A_FOVResult()
{
    try
    {
        SetResult(10, zjHUD.ValueHorFOVDistance.bResult && zjHUD.ValueVerFOVDistance.bResult);
        SetValue(12, zjHUD.ValueHorFOVDistance.Value.Value, 10);
        SetValue(14, zjHUD.ValueVerFOVDistance.Value.Value, 10);
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_1B_GhostTest()
{
    try
    {
        if (RecvData[8] == 0x00)
            zjHUD.EyeBoxPos.Value = "Top";
        if (RecvData[8] == 0x01)
            zjHUD.EyeBoxPos.Value = "Mid";
        if (RecvData[8] == 0x02)
            zjHUD.EyeBoxPos.Value = "Bot";
        HUDTestServiceHandle(3, "Device_FAS_HUD_Ghost", "Communication_IDT_PlatGhostStatus");
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_1C_GhostResult()
{
    try
    {
        SetResult(10, zjHUD.ValueGhost.bResult);
        SetValue(12, zjHUD.ValueGhost.Value.Value, 10);
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_1D_VIDTest()
{
    try
    {
        HUDTestServiceHandle(4, "Device_FAS_HUD_Distance", "Communication_IDT_PlatDistanceStatus");
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_1E_VIDResult()
{
    try
    {
        SetResult(10, zjHUD.ValueDistance.bResult);
        SetValue(12, zjHUD.ValueDistance.Value.Value, 10);
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_1F_LOATest()
{
    try
    {
        //TestServiceHandle(4, "Device_FAS_HUD_Distance");//FOV中测试完成
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void IDT_SERVICE_20_LOAResult()
{
    try
    {
        SetResult(10, zjHUD.ValueLLA.Result.Value);
        SetValue(12, zjHUD.ValueLLA.Value.Value, 10);
    }
    catch (System.Exception ex)
    {
        Log(ex.ToString());
        SetState(IDTState.NOK);
    }
}

private void HUDTestServiceHandle(int bits, string proName, string checkObject)
{
    byte shift = 0x01;
    SendData[7] &= (byte)~(shift << bits);
    ExecutePlatTeam(proName, checkObject, () =>
    {
        SetState(IDTState.OK);
        SendData[7] |= (byte)(shift << bits);
    }, () =>
    {
        SetState(IDTState.NOK);
        SendData[7] |= (byte)(shift << bits);
    });
}

public override void SendBeforeHandle()
{
    //Byte5 bit0:急停 bit1:fault bit4:Automode bit5:Manualmode bit6:calmode bit7:ready
    int byte5 = 0x00;
    bool ems = Pt["Communication_FAS_IN_System_EStop"].zString().StartsWith("T");
    bool fault = Pt["Communication_FAS_IN_System_Fault"].zString().StartsWith("T");
    bool autoMode = Pt["Communication_FAS_IN_System_AutoMode"].zString().StartsWith("T");
    bool ready = !ems && !fault && autoMode;

    byte5 = ems ? (byte5 | (1 << 0)) : byte5;
    byte5 = fault ? (byte5 | (1 << 1)) : byte5;
    byte5 = autoMode ? (byte5 | (1 << 4)) : byte5;
    byte5 = !autoMode ? (byte5 | (1 << 5)) : byte5;
    byte5 = ready ? (byte5 | (1 << 7)) : byte5;
    SendData[5] = (byte)byte5;
    //8-11 车型信息--未知

    //12-13 前后对中状态
    //RecvData[12] = RecvData[13] = (byte)(Pt["Communication_FAS_IN_Center_TestPos"].zString().StartsWith("T") ? 0x01 : 0x00);

    //17-18 PLC心跳

    //21-24 坐标信息
    //SetValue(20, Pt["Communication_FAS_IN_ACC_XDirection_CurrentValue"]);
    //SetValue(21, Pt["Communication_FAS_IN_ACC_Hori_CurrentValue"]);
    //SetValue(22, Pt["Communication_FAS_IN_ACC_Vertical_CurrentValue"]);

    byte xor = 0x00;
    for (int i = 0; i < (SendData.Length - 2); i++)
        xor ^= SendData[i];
    SendData[SendData.Length - 2] = xor;
}

public override void SetResult(int index, object value)
{
    string sval = Convert.ToString(value).ToUpper();
    if (sval.StartsWith("Y"))
        SendData[index] = 0x01;
    if (sval.StartsWith("T"))
        SendData[index] = 0x01;
    if (sval.StartsWith("N"))
        SendData[index] = 0x00;
    if (sval.StartsWith("F"))
        SendData[index] = 0x00;
}