/// <summary>
/// 读取机器人的详细信息，返回解析后的数据类型
/// </summary>
/// <returns>结果数据信息</returns>
public OperateResult <EfortData> ReadEfortData( )
{
OperateResult <byte[]> read = Read("");
if (!read.IsSuccess)
{
return(OperateResult.CreateFailedResult <EfortData>(read));
}
return(EfortData.PraseFrom(read.Content));
}
/// <summary>
/// 从新版本数据构造一个埃夫特机器人的数据类型
/// </summary>
/// <param name="data">真实的数据内容</param>
/// <returns>转换的结果内容</returns>
public static OperateResult <EfortData> PraseFrom(byte[] data)
{
if (data.Length < 788)
{
return(new OperateResult <EfortData>(string.Format(StringResources.Language.DataLengthIsNotEnough, 788, data.Length)));
}
// 开始解析数据
EfortData efortData = new EfortData( );
efortData.PacketStart = Encoding.ASCII.GetString(data, 0, 16).Trim( );
efortData.PacketOrders = BitConverter.ToUInt16(data, 18);
efortData.PacketHeartbeat = BitConverter.ToUInt16(data, 20);
efortData.ErrorStatus = data[22];
efortData.HstopStatus = data[23];
efortData.AuthorityStatus = data[24];
efortData.ServoStatus = data[25];
efortData.AxisMoveStatus = data[26];
efortData.ProgMoveStatus = data[27];
efortData.ProgLoadStatus = data[28];
efortData.ProgHoldStatus = data[29];
efortData.ModeStatus = BitConverter.ToUInt16(data, 30);
efortData.SpeedStatus = BitConverter.ToUInt16(data, 32);
for (int i = 0; i < 32; i++)
{
efortData.IoDOut[i] = data[34 + i];
}
for (int i = 0; i < 32; i++)
{
efortData.IoDIn[i] = data[66 + i];
}
for (int i = 0; i < 32; i++)
{
efortData.IoIOut[i] = BitConverter.ToInt32(data, 100 + 4 * i);
}
for (int i = 0; i < 32; i++)
{
efortData.IoIIn[i] = BitConverter.ToInt32(data, 228 + 4 * i);
}
efortData.ProjectName = Encoding.ASCII.GetString(data, 356, 32).Trim('\u0000');
efortData.ProgramName = Encoding.ASCII.GetString(data, 388, 32).Trim('\u0000');
efortData.ErrorText = Encoding.ASCII.GetString(data, 420, 128).Trim('\u0000');
for (int i = 0; i < 7; i++)
{
efortData.DbAxisPos[i] = BitConverter.ToSingle(data, 548 + 4 * i);
}
for (int i = 0; i < 6; i++)
{
efortData.DbCartPos[i] = BitConverter.ToSingle(data, 576 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisSpeed[i] = BitConverter.ToSingle(data, 600 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisAcc[i] = BitConverter.ToSingle(data, 628 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisAccAcc[i] = BitConverter.ToSingle(data, 656 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisTorque[i] = BitConverter.ToSingle(data, 684 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisDirCnt[i] = BitConverter.ToInt32(data, 712 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisTime[i] = BitConverter.ToInt32(data, 740 + 4 * i);
}
efortData.DbDeviceTime = BitConverter.ToInt32(data, 768);
efortData.PacketEnd = Encoding.ASCII.GetString(data, 772, 16).Trim( );
return(OperateResult.CreateSuccessResult(efortData));
}
/// <summary>
/// 读取机器人的详细信息
/// </summary>
/// <returns>结果数据信息</returns>
public OperateResult <EfortData> Read( )
{
OperateResult <byte[]> read = ReadFromCoreServer(GetReadCommand( ));
if (!read.IsSuccess)
{
return(OperateResult.CreateFailedResult <EfortData>(read));
}
if (read.Content.Length < 784)
{
return new OperateResult <EfortData>( )
{
Message = "数据长度不足"
}
}
;
// 开始解析数据
EfortData efortData = new EfortData( );
efortData.PacketStart = Encoding.ASCII.GetString(read.Content, 0, 15).Trim( );
efortData.PacketOrders = BitConverter.ToUInt16(read.Content, 17);
efortData.PacketHeartbeat = BitConverter.ToUInt16(read.Content, 19);
efortData.ErrorStatus = read.Content[21];
efortData.HstopStatus = read.Content[22];
efortData.AuthorityStatus = read.Content[23];
efortData.ServoStatus = read.Content[24];
efortData.AxisMoveStatus = read.Content[25];
efortData.ProgMoveStatus = read.Content[26];
efortData.ProgLoadStatus = read.Content[27];
efortData.ProgHoldStatus = read.Content[28];
efortData.ModeStatus = BitConverter.ToUInt16(read.Content, 29);
efortData.SpeedStatus = BitConverter.ToUInt16(read.Content, 31);
for (int i = 0; i < 32; i++)
{
efortData.IoDOut[i] = read.Content[33 + i];
}
for (int i = 0; i < 32; i++)
{
efortData.IoDIn[i] = read.Content[65 + i];
}
for (int i = 0; i < 32; i++)
{
efortData.IoIOut[i] = BitConverter.ToInt32(read.Content, 97 + 4 * i);
}
for (int i = 0; i < 32; i++)
{
efortData.IoIIn[i] = BitConverter.ToInt32(read.Content, 225 + 4 * i);
}
efortData.ProjectName = Encoding.ASCII.GetString(read.Content, 353, 32).Trim('\u0000');
efortData.ProgramName = Encoding.ASCII.GetString(read.Content, 385, 32).Trim('\u0000');
efortData.ErrorText = Encoding.ASCII.GetString(read.Content, 417, 128).Trim('\u0000');
for (int i = 0; i < 7; i++)
{
efortData.DbAxisPos[i] = BitConverter.ToSingle(read.Content, 545 + 4 * i);
}
for (int i = 0; i < 6; i++)
{
efortData.DbCartPos[i] = BitConverter.ToSingle(read.Content, 573 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisSpeed[i] = BitConverter.ToSingle(read.Content, 597 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisAcc[i] = BitConverter.ToSingle(read.Content, 625 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisAccAcc[i] = BitConverter.ToSingle(read.Content, 653 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisTorque[i] = BitConverter.ToSingle(read.Content, 681 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisDirCnt[i] = BitConverter.ToInt32(read.Content, 709 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisTime[i] = BitConverter.ToInt32(read.Content, 737 + 4 * i);
}
efortData.DbDeviceTime = BitConverter.ToInt32(read.Content, 765);
efortData.PacketEnd = Encoding.ASCII.GetString(read.Content, 769, 15).Trim( );
return(OperateResult.CreateSuccessResult(efortData));
}
/// <summary>
/// 从之前的版本数据构造一个埃夫特机器人的数据类型
/// </summary>
/// <param name="data">真实的数据内容</param>
/// <returns>转换的结果内容</returns>
public static OperateResult <EfortData> PraseFromPrevious(byte[] data)
{
if (data.Length < 784)
{
return(new OperateResult <EfortData>(string.Format(StringResources.Language.DataLengthIsNotEnough, 784, data.Length)));
}
// 开始解析数据
EfortData efortData = new EfortData( );
efortData.PacketStart = Encoding.ASCII.GetString(data, 0, 15).Trim( );
efortData.PacketOrders = BitConverter.ToUInt16(data, 17);
efortData.PacketHeartbeat = BitConverter.ToUInt16(data, 19);
efortData.ErrorStatus = data[21];
efortData.HstopStatus = data[22];
efortData.AuthorityStatus = data[23];
efortData.ServoStatus = data[24];
efortData.AxisMoveStatus = data[25];
efortData.ProgMoveStatus = data[26];
efortData.ProgLoadStatus = data[27];
efortData.ProgHoldStatus = data[28];
efortData.ModeStatus = BitConverter.ToUInt16(data, 29);
efortData.SpeedStatus = BitConverter.ToUInt16(data, 31);
for (int i = 0; i < 32; i++)
{
efortData.IoDOut[i] = data[33 + i];
}
for (int i = 0; i < 32; i++)
{
efortData.IoDIn[i] = data[65 + i];
}
for (int i = 0; i < 32; i++)
{
efortData.IoIOut[i] = BitConverter.ToInt32(data, 97 + 4 * i);
}
for (int i = 0; i < 32; i++)
{
efortData.IoIIn[i] = BitConverter.ToInt32(data, 225 + 4 * i);
}
efortData.ProjectName = Encoding.ASCII.GetString(data, 353, 32).Trim('\u0000');
efortData.ProgramName = Encoding.ASCII.GetString(data, 385, 32).Trim('\u0000');
efortData.ErrorText = Encoding.ASCII.GetString(data, 417, 128).Trim('\u0000');
for (int i = 0; i < 7; i++)
{
efortData.DbAxisPos[i] = BitConverter.ToSingle(data, 545 + 4 * i);
}
for (int i = 0; i < 6; i++)
{
efortData.DbCartPos[i] = BitConverter.ToSingle(data, 573 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisSpeed[i] = BitConverter.ToSingle(data, 597 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisAcc[i] = BitConverter.ToSingle(data, 625 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisAccAcc[i] = BitConverter.ToSingle(data, 653 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisTorque[i] = BitConverter.ToSingle(data, 681 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisDirCnt[i] = BitConverter.ToInt32(data, 709 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisTime[i] = BitConverter.ToInt32(data, 737 + 4 * i);
}
efortData.DbDeviceTime = BitConverter.ToInt32(data, 765);
efortData.PacketEnd = Encoding.ASCII.GetString(data, 769, 15).Trim( );
return(OperateResult.CreateSuccessResult(efortData));
}
/// <summary>
/// 读取机器人的详细信息
/// </summary>
/// <returns>结果数据信息</returns>
public OperateResult <EfortData> Read( )
{
OperateResult <byte[]> read = ReadFromCoreServer(GetReadCommand( ));
if (!read.IsSuccess)
{
return(OperateResult.CreateFailedResult <EfortData>(read));
}
if (read.Content.Length < 788)
{
return(new OperateResult <EfortData>(string.Format(StringResources.Language.DataLengthIsNotEnough, 788, read.Content.Length)));
}
// 开始解析数据
EfortData efortData = new EfortData( );
efortData.PacketStart = Encoding.ASCII.GetString(read.Content, 0, 16).Trim( );
efortData.PacketOrders = BitConverter.ToUInt16(read.Content, 18);
efortData.PacketHeartbeat = BitConverter.ToUInt16(read.Content, 20);
efortData.ErrorStatus = read.Content[22];
efortData.HstopStatus = read.Content[23];
efortData.AuthorityStatus = read.Content[24];
efortData.ServoStatus = read.Content[25];
efortData.AxisMoveStatus = read.Content[26];
efortData.ProgMoveStatus = read.Content[27];
efortData.ProgLoadStatus = read.Content[28];
efortData.ProgHoldStatus = read.Content[29];
efortData.ModeStatus = BitConverter.ToUInt16(read.Content, 30);
efortData.SpeedStatus = BitConverter.ToUInt16(read.Content, 32);
for (int i = 0; i < 32; i++)
{
efortData.IoDOut[i] = read.Content[34 + i];
}
for (int i = 0; i < 32; i++)
{
efortData.IoDIn[i] = read.Content[66 + i];
}
for (int i = 0; i < 32; i++)
{
efortData.IoIOut[i] = BitConverter.ToInt32(read.Content, 100 + 4 * i);
}
for (int i = 0; i < 32; i++)
{
efortData.IoIIn[i] = BitConverter.ToInt32(read.Content, 228 + 4 * i);
}
efortData.ProjectName = Encoding.ASCII.GetString(read.Content, 356, 32).Trim('\u0000');
efortData.ProgramName = Encoding.ASCII.GetString(read.Content, 388, 32).Trim('\u0000');
efortData.ErrorText = Encoding.ASCII.GetString(read.Content, 420, 128).Trim('\u0000');
for (int i = 0; i < 7; i++)
{
efortData.DbAxisPos[i] = BitConverter.ToSingle(read.Content, 548 + 4 * i);
}
for (int i = 0; i < 6; i++)
{
efortData.DbCartPos[i] = BitConverter.ToSingle(read.Content, 576 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisSpeed[i] = BitConverter.ToSingle(read.Content, 600 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisAcc[i] = BitConverter.ToSingle(read.Content, 628 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisAccAcc[i] = BitConverter.ToSingle(read.Content, 656 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisTorque[i] = BitConverter.ToSingle(read.Content, 684 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisDirCnt[i] = BitConverter.ToInt32(read.Content, 712 + 4 * i);
}
for (int i = 0; i < 7; i++)
{
efortData.DbAxisTime[i] = BitConverter.ToInt32(read.Content, 740 + 4 * i);
}
efortData.DbDeviceTime = BitConverter.ToInt32(read.Content, 768);
efortData.PacketEnd = Encoding.ASCII.GetString(read.Content, 772, 16).Trim( );
return(OperateResult.CreateSuccessResult(efortData));
}