public string SeekHome(SeekHome vEn)
{
if (vEn.v00.cmdName == eDev485obj.Free)
{
vEn.v00.cmdName = (eDev485obj)Enum.Parse(
typeof(eDev485obj),
vEn.GetType().Name);
}
// 调整位
return(doObjectToString(vEn));
}
static int getSendData(clsFaim3 _faim3, string vCmdName, string vHL, string vReset)
{
int _devNo = -1;
if (_faim3.dict_CmdFormats.ContainsKey(vCmdName))
{
_devNo = Convert.ToInt32(_faim3.dict_CmdFormats[vCmdName].devNo);//[0] cfgCmdFormat.xls
}
else if (_faim3.dict_DevFunction.ContainsKey(vCmdName))
{
_devNo = _faim3.dict_DevFunction[vCmdName].devNo;//[0] cfgDev_Function.xls
vCmdName = _faim3.dict_DevFunction[vCmdName].varName;
}
else
{
F_Log.Error_4("clsProtocol.getSendData()",
string.Format(" --->>>> 此命令不存在 {0} {1} {2}", vCmdName, vHL, vReset));
return(-1); //没有此命令 模板
}
int _ref_1i = _faim3.sect_iDev * _devNo;
int _ref_1s = _faim3.sect_sDev * _devNo + _faim3.sect_sDev_start;
string _str_HL = " ";
string _str_Reset = " ";
int _val_HL = F_TransCalc._Get_Value_2(_faim3, vHL, ref _str_HL);
int _val_Reset = F_TransCalc._Get_Value_2(_faim3, vReset, ref _str_Reset);
clsCommonInfo _en = null;
if (_val_Reset > 0)
{
if (_faim3.dict_CommonInfo.ContainsKey(_val_Reset)) // 可能是表值 tb_CommonInfo.xls
{
_en = _faim3.dict_CommonInfo[_val_Reset];
}
}
switch ((eDeviceName)_devNo)
{
case eDeviceName.RS485_6:
#region // RS485_6
if (_en != null) // 有表值 tb_CommonInfo.xls
{
#region // SeekHome Home_Dir
switch (vCmdName)
{
case "SeekHome":
SeekHome _SeekHome = _faim3._SeekHome;
_SeekHome.v02.OutputNum = F_Parse._ConverToInt(clsFaim3.StringFormat(_faim3, _en.val_01));
_SeekHome.v03.Condition = F_Parse._ConverToInt(clsFaim3.StringFormat(_faim3, _en.val_02));
break;
case "Home_Dir":
Home_Dir _Home_Dir = _faim3._Home_Dir;
_Home_Dir.v02.Acc = F_Parse._ConverToDouble(clsFaim3.StringFormat(_faim3, _en.val_01));
_Home_Dir.v03.Dec = F_Parse._ConverToInt(clsFaim3.StringFormat(_faim3, _en.val_02));
_Home_Dir.v04.Vel = F_Parse._ConverToDouble(clsFaim3.StringFormat(_faim3, _en.val_03));
_Home_Dir.v05.Location = F_Parse._ConverTofloat(clsFaim3.StringFormat(_faim3, _en.arr_01[0]));
_Home_Dir.v06.Location = F_Parse._ConverTofloat(clsFaim3.StringFormat(_faim3, _en.arr_01[1]));
break;
}
#endregion
}
clsProt485 _485 = new clsProt485(_faim3);
_485.Out_Ready(vCmdName, _val_HL); // 485 对象
break;
#endregion
case eDeviceName.TCP_5:
case eDeviceName.TCP_8:
case eDeviceName.TCP_9:
string _Format2 = _faim3.dict_CmdFormats[vCmdName].Format; //[2]; 模板
//clsRobot_AZ _az = new clsRobot_AZ(_faim3);
List <string> _lstPara = new List <string>();
if (_val_HL != -999)
{
// $GetVariable,{0}&CrLf
if (!string.IsNullOrEmpty(vHL))
{
_lstPara.Add(vHL);
}
}
else if (_str_HL != " ")
{
if (!string.IsNullOrEmpty(vHL))
{
_lstPara.Add(_str_HL);
}
}
if (_en != null) // 有表值
{
// J Point {0} {1} {2} {3}
if (!string.IsNullOrEmpty(_en.val_01))
{
_lstPara.Add(clsFaim3.StringFormat(_faim3, _en.val_01));
}
if (!string.IsNullOrEmpty(_en.val_02))
{
_lstPara.Add(clsFaim3.StringFormat(_faim3, _en.val_02));
}
if (!string.IsNullOrEmpty(_en.val_03))
{
_lstPara.Add(clsFaim3.StringFormat(_faim3, _en.val_03));
}
if (!string.IsNullOrEmpty(_en.arr_1))
{
_lstPara.Add(clsFaim3.StringFormat(_faim3, _en.arr_1));
}
if (!string.IsNullOrEmpty(_en.arr_2))
{
_lstPara.Add(clsFaim3.StringFormat(_faim3, _en.arr_2));
}
if (!string.IsNullOrEmpty(_en.arr_3))
{
_lstPara.Add(clsFaim3.StringFormat(_faim3, _en.arr_3));
}
}
_faim3._sss[_ref_1s] = ""; // 非标准二进制字节码
string _cmd = F_TransCalc.StringFormat(_Format2, _lstPara);
_faim3._sss[_ref_1s + _faim3.snd_sAsc] = _cmd; //
string _Echo4 = _faim3.dict_CmdFormats[vCmdName].Echo; //[4]; 反馈
_faim3._sss[_ref_1s + _faim3.test_sLoc] = _Echo4;
break;
}
return(_devNo);
}
/*
* 把需要的参数，顺序放到设备域的 bt_out数组中
* 此函数 取 数组中的数据放到 对象中，组合为字符串
* --- 用法比较麻烦 ---
* int _ref = vDevNo * _faim3.sect_iDev; // 偏移
* _faim3.Comm_Data._bt_out[0][_ref + 1] = 12;
* _faim3.Comm_Data._bt_out[0][_ref + 2] = X;
* _faim3.Comm_Data._bt_out[0][_ref + 3] = Y;
* call doProtocol_01(-1, "home_set_pos", 2)
* ------
*/
string doProtocol_01(int vAxisNum = -1, string vCmdName = "", int vDevNo = 0)
{
string _res = "";
if (string.IsNullOrEmpty(vCmdName))
{
return(_res); // 命令名为空
}
//if (vAxisNum < 0) return _res;
int _ref = vDevNo * _faim3.sect_iDev; // 偏移
if (vAxisNum < 0)
{
vAxisNum = _faim3.Comm_Data._bt_out[0][_ref + 1]; // 无轴号，则自动取轴号
}
int i = 0;
switch (vCmdName.ToLower())
{
#region //..
case "home_set_pos":
_res = home_Set_Pos(vAxisNum);
break;
case "home_set_posa":
_res = home_Set_PosA(vAxisNum);
break;
case "motoron":
_res = MotorOn(vAxisNum);
break;
case "motoroff":
_res = MotorOff(vAxisNum);
break;
case "motoralarmreset":
_res = MotorAlarmReset(vAxisNum);
break;
case "readstatus":
_res = ReadStatus(vAxisNum);
break;
case "readpos":
_res = ReadPOS(vAxisNum);
break;
case "stopmove":
_res = StopMove(vAxisNum);
break;
case "position_a_move":
_res = Position_A_Move(vAxisNum);
break;
case "position_r_move":
_res = Position_R_Move(vAxisNum);
break;
case "setregistersub":
SetRegisterSub _en1 = new SetRegisterSub();
_en1.v00.cmdName = eDev485obj.SetRegisterSub;
_en1.v01.AxisNum = vAxisNum;
i = _ref + 2;
_en1.v02.Addr = _faim3.Comm_Data._bt_out[0][i++];
_en1.v03.Acc = _faim3.Comm_Data._bt_out[0][i++];
_res = SetRegisterSub(_en1);
break;
case "outputline":
OutputLine _OutputLine = new OutputLine();
_OutputLine.v00.cmdName = eDev485obj.OutputLine;
_OutputLine.v01.AxisNum = vAxisNum;
i = _ref + 2;
_OutputLine.v02.InputNum = _faim3.Comm_Data._bt_out[0][i++];
_OutputLine.v03.Condition = _faim3.Comm_Data._bt_out[0][i++];
_res = OutputLine(_OutputLine);
break;
case "seekhome":
SeekHome _SeekHome = new SeekHome();
_SeekHome.v00.cmdName = eDev485obj.SeekHome;
_SeekHome.v01.AxisNum = vAxisNum;
i = _ref + 2;
_SeekHome.v02.OutputNum = _faim3.Comm_Data._bt_out[0][i++];
_SeekHome.v03.Condition = _faim3.Comm_Data._bt_out[0][i++];
_res = SeekHome(_SeekHome);
break;
case "home_dir":
Home_Dir _Home_Dir = new Home_Dir();
_Home_Dir.v00.cmdName = eDev485obj.Home_Dir;
_Home_Dir.v01.AxisNum = vAxisNum;
i = _ref + 2;
_Home_Dir.v02.Acc = _faim3.Comm_Data._bt_out[0][i++];
_Home_Dir.v03.Dec = _faim3.Comm_Data._bt_out[0][i++];
_Home_Dir.v04.Vel = _faim3.Comm_Data._bt_out[0][i++];
_Home_Dir.v05.Location = _faim3.Comm_Data._bt_out[0][i++];
_Home_Dir.v06.Location = _faim3.Comm_Data._bt_out[0][i++];
_res = Home_Dir(_Home_Dir); // 一般使用
break;
case "position_set_pos":
Position_Set_Pos _Position_Set_Pos = new Position_Set_Pos();
_Position_Set_Pos.v00.cmdName = eDev485obj.Position_Set_Pos;
_Position_Set_Pos.v01.AxisNum = vAxisNum;
i = _ref + 2;
_Position_Set_Pos.v02.Acc = _faim3.Comm_Data._bt_out[0][i++];
_Position_Set_Pos.v03.Dec = _faim3.Comm_Data._bt_out[0][i++];
_Position_Set_Pos.v04.Vel = _faim3.Comm_Data._bt_out[0][i++];
_Position_Set_Pos.v05.Location = _faim3.Comm_Data._bt_out[0][i++];
_Position_Set_Pos.v06.Location = _faim3.Comm_Data._bt_out[0][i++];
_res = Position_Set_Pos(_Position_Set_Pos);
break;
#endregion
}
return(_res);
}