185 lines
5.8 KiB
C#
185 lines
5.8 KiB
C#
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using MECF.Framework.Common.Communications;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Servo.NAIS
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{
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public class NAISServoMessage : BinaryMessage
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{
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public byte DeviceAddress { get; set; }
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public byte FunctionCode { get; set; }
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public byte Length { get; set; }
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public byte[] Data { get; set; }
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}
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public class NAISServoConnection : SerialPortConnectionBase
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{
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private List<byte> _lstCacheBuffer = new List<byte>();
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public NAISServoConnection(string portName) : base(portName, 9600, 8, System.IO.Ports.Parity.Even, System.IO.Ports.StopBits.One, "\n", false)
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{
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}
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public override bool SendMessage(byte[] message)
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{
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_lstCacheBuffer.Clear();
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return base.SendMessage(message);
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}
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protected override MessageBase ParseResponse(byte[] rawMessage)
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{
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_lstCacheBuffer.AddRange(rawMessage);
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byte[] temps = _lstCacheBuffer.ToArray();
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NAISServoMessage msg = new NAISServoMessage();
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msg.IsResponse = false;
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msg.IsAck = false;
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msg.IsComplete = false;
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msg.RawMessage = _lstCacheBuffer.ToArray();
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if (temps.Length < 4) return msg;
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msg.DeviceAddress = temps[0];
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msg.FunctionCode = temps[1];
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if (msg.FunctionCode == 3)
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{
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msg.Length = temps[2];
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if (temps.Length < msg.Length + 5) return msg;
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msg.Data = _lstCacheBuffer.Skip(3).Take(msg.Length).ToArray();
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}else msg.Data = _lstCacheBuffer.ToArray();
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msg.IsResponse = true;
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msg.IsAck = true;
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msg.IsComplete = true;
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return msg;
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}
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private static byte ModRTU_CRC(byte[] buffer)
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{
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//ushort crc = 0xFFFF;
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// var buf = System.Text.Encoding.UTF8.GetBytes(String.Join(Environment.NewLine, buffer));
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var buf = buffer;
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var len = buffer.Length;
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byte temp = buffer[0];
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for (int i = 1; i < buffer.Length; i++)
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{
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temp = (byte)(temp ^ buffer[i]);
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}
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return (byte)~temp;
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}
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}
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public abstract class NAISServoHandler : HandlerBase
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{
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public NAISServo Device { get; }
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protected NAISServoHandler(NAISServo device, byte[] commandvalue)
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: base(BuildMessage(commandvalue))
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{
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Device = device;
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}
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private static byte[] BuildMessage(byte[] commandvalue)
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{
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byte[] crc = ModRTU_CRC(commandvalue);
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List<byte> result = commandvalue.ToList();
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foreach (byte b in crc)
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{
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result.Add(b);
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}
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return result.ToArray();
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}
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public override bool HandleMessage(MessageBase msg, out bool handled)
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{
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var result = msg as NAISServoMessage;
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ResponseMessage = msg;
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handled = true;
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return true;
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}
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private static byte[] ModRTU_CRC(byte[] buffer)
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{
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ushort crc = 0xFFFF;
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// var buf = System.Text.Encoding.UTF8.GetBytes(String.Join(Environment.NewLine, buffer));
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var buf = buffer;
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var len = buffer.Length;
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for (var pos = 0; pos < len; pos++)
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{
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crc ^= buf[pos]; // XOR byte into least sig. byte of crc
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for (var i = 8; i != 0; i--)
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// Loop over each bit
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if ((crc & 0x0001) != 0)
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{
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// If the LSB is set
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crc >>= 1; // Shift right and XOR 0xA001
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crc ^= 0xA001;
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}
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else // Else LSB is not set
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{
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crc >>= 1; // Just shift right
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}
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}
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// Note, this number has low and high bytes swapped, so use it accordingly (or swap bytes)
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return BitConverter.GetBytes(crc);
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}
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}
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public class NAISServoQueryHandler : NAISServoHandler
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{
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public NAISServoQueryHandler(NAISServo device, string name, byte groupAddress, byte functionCode, byte offerHigh, byte offerLow, byte dataHigh, byte dataLow)
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: base(device, new byte[] { groupAddress, functionCode, offerHigh, offerLow, dataHigh, dataLow })
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{
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Name = name;
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}
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public override bool HandleMessage(MessageBase msg, out bool handled)
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{
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var result = msg as NAISServoMessage;
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handled = false;
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if (!result.IsResponse) return true;
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if (result.FunctionCode==0x01)
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{
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Device.PraseData(Name,result.Data);
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}
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Device._connecteTimes = 0;
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ResponseMessage = msg;
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handled = true;
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return true;
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}
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}
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public class NAISServoSetHandler : NAISServoHandler
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{
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public NAISServoSetHandler(NAISServo device, string name, byte groupAddress,byte functionCode, byte offerHigh, byte offerLow, byte dataHigh, byte dataLow)
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: base(device, new byte[] { groupAddress, functionCode, offerHigh, offerLow, dataHigh, dataLow })
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{
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Name =name;
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}
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public override bool HandleMessage(MessageBase msg, out bool handled)
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{
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var result = msg as NAISServoMessage;
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handled = false;
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if (!result.IsResponse) return true;
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if (Name=="Clear Error On")
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{
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}
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ResponseMessage = msg;
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Device.IsBusy = false;
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handled = true;
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return true;
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}
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}
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}
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