雷达加判断

Service/Padar/Client/PadarClient.cs

@@ -14,7 +14,7 @@ public class PadarClient : TcpClient<IBaseHandler, Decoder, Encoder>
     /// <summary>
     /// 0-雷达不工作；1-无车；2-无电池，3-角度偏移过大；4-车辆靠后；5-车辆靠前；6-车辆到位
     /// </summary>
-    public byte CarState { get; set; }
+    public byte CarState =new byte();
 
     public static readonly byte[] StartChar = { 0xFE, 0x68 };
 

Service/Padar/Codec/Decoder.cs

@@ -16,7 +16,7 @@ public class Decoder : ByteToMessageDecoder
 
     protected override void Decode(IChannelHandlerContext context, IByteBuffer buffer, List<object> output)
     {
-        IByteBuffer? delimiter = FindDelimiter(buffer);
+        IByteBuffer delimiter = FindDelimiter(buffer);
         if (delimiter != null)
         {
             //分隔符索引 
@@ -53,12 +53,18 @@ public class Decoder : ByteToMessageDecoder
             try 
             {
                 buffer.ReadBytes(data);
+                if (PadarMgr._PadarClient!=null) 
+                {
+                    PadarMgr._PadarClient.CarState = data[3];
+                    Log.Info($"receive {BitUtls.BytesToHexStr(data)}:{PadarMgr._PadarClient.CarState}");
+                }
+                
 
-                PadarMgr._PadarClient.CarState = data[3];
-
-                Log.Info($"receive {BitUtls.BytesToHexStr(data)}:{PadarMgr._PadarClient.CarState}");
             }
-            catch (Exception e) { }
+            catch (Exception e) 
+            {
+               
+            }
            
         }
     }

WebStarter/Program.cs

@@ -180,6 +180,9 @@ AppInfo.Container = app.Services.GetAutofacRoot();
 //    PlcMgr.Init();
 //}
 
+
+//雷达
+PadarMgr.InitClient();
 ////启动换电流程
 if (AppSettingsHelper.GetBool("swap", "enable"))
 {