CyberX8/Framework/Common/Device/Galil/GalilMessage.cs

using Aitex.Core.Utilities;
using MECF.Framework.Common.Device.Festo;
using MECF.Framework.Common.Device.PowerSupplier;
using MECF.Framework.Common.Net;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace MECF.Framework.Common.Device.Galil
{
    public class GalilMessage : INetMessage<GalilCommand>
    {
        #region 属性
        public int ProtocolHeadBytesLength { get; set; } = 1;

        public int ErrorCode { get; set; }

        public string ErrorMsg { get; set; }

        public byte[] HeadBytes { get; set; }
        public byte[] ContentBytes { get; set; }
        public byte[] SendBytes { get; set; }
        #endregion

        #region 内部变量
        IByteTransform byteTransform = new SmallEndianByteTransformBase();
        #endregion

        public bool CheckDataLegal()
        {
            return true;
        }
        public bool CheckHeadBytesLegal()
        {
            return true;
        }


        public bool ConfirmResponseResult()
        {
            return HeadBytes[0] == 0x3A;
        }

        public GalilCommand Decode()
        {
            GalilCommand command = new GalilCommand();
            command.ControllerData = new GalilControllerData();
            int offset = 0;
            command.ControllerData.Sample = byteTransform.TransUInt16(ContentBytes, 0);
            offset += 2;
            int inputLength = 10;
            command.ControllerData.Inputs = new byte[inputLength];
            Array.Copy(ContentBytes,2,command.ControllerData.Inputs, 0, inputLength);
            offset += inputLength;
            int outputLength = 10;
            command.ControllerData.Outputs = new byte[outputLength];
            Array.Copy(ContentBytes,offset,command.ControllerData.Outputs,0, outputLength);
            offset += outputLength;
            command.ControllerData.ErrorCode = ContentBytes[offset];
            offset += 1;
            command.ControllerData.Status = ContentBytes[offset];
            offset += 1;
            int sBlockLength = 8;
            command.ControllerData.SBlocks = new byte[sBlockLength];
            Array.Copy(ContentBytes, offset, command.ControllerData.SBlocks, 0, sBlockLength);
            offset += sBlockLength;
            command.ControllerData.TBlocks = new byte[sBlockLength];
            Array.Copy(ContentBytes,offset, command.ControllerData.TBlocks, 0, sBlockLength);
            offset += sBlockLength;
            int axisLength = 28;
            command.ControllerData.GalilAxisDatas = new List<GalilAxisData>();
            for(int i = offset; i < ContentBytes.Length; i += axisLength)
            {
                if(ContentBytes.Length-i < axisLength)
                {
                    break;
                }
                byte[] axisByt=new byte[axisLength];
                Array.Copy(ContentBytes,i,axisByt,0,axisLength);
                GalilAxisData galilAxisData = AnalyseAxisData(axisByt);
                command.ControllerData.GalilAxisDatas.Add(galilAxisData);
            }
            return command;
        }

        private GalilAxisData AnalyseAxisData(byte[] data)
        {
            int offset = 0;
            GalilAxisData axisData = new GalilAxisData();
            axisData.IsSwitchOn = (data[0] & 0x01)==0x00;
            axisData.Status=byteTransform.TransUInt16(data,offset);
            offset += 2;
            axisData.Switches = data[offset];
            axisData.ForwardLimit = ((axisData.Switches >> 3) & 0x01) == 0x01;
            axisData.ReverseLimit = ((axisData.Switches >> 2) & 0x01) == 0x01;
            offset += 1;
            axisData.StopCode = data[offset];
            offset += 1;
            axisData.ReferencePosition=byteTransform.TransInt32(data,offset);
            offset += 4;
            axisData.MotorPosition = byteTransform.TransInt32(data, offset);
            offset += 4;
            axisData.PositionError=byteTransform.TransInt32(data,offset);
            offset += 4;
            axisData.AuxiliaryPosition=byteTransform.TransInt32(data,offset);
            offset += 4;
            axisData.Velocity=byteTransform.TransInt32(data,offset);
            offset += 4;
            axisData.Torque = byteTransform.TransInt16(data, offset);
            offset += 2;
            axisData.Res=byteTransform.TransInt16(data,offset);
            return axisData;
        }

        public int GetContentLengthByHeadBytes()
        {
            if (HeadBytes.Length > 1)
            {
                return byteTransform.TransInt16(HeadBytes, 2)-ProtocolHeadBytesLength+1;
            }
            else
            {
                return 0;
            }
        }

        public int GetHeadBytesIdentity()
        {
            return byteTransform.TransInt16(HeadBytes, 0);
        }

        public byte[] Code(GalilCommand data)
        {
            if (data.CommandCode == 3)
            {
                ProtocolHeadBytesLength = 4;
            }
            else
            {
                ProtocolHeadBytesLength = 1;
            }
            return ASCIIEncoding.ASCII.GetBytes(data.SetData);     
        }

        public void SetProtocolHeadBytesLength()
        {

        }
    }
}