public void EncodeInternal()
{
while (RunEncodeThread)
{
if (Encode)
{
List <MotorBaseRequest> list = txMsgQueue.PopAll();
if (list != null && list.Count > 0)
{
foreach (var mr in list)
{
CIIBasePackage bp = mr.Encode();
OriginalBytes ob = new OriginalBytes();
ob.Data = motorProtocol.EnPackage(bp);
txQueue.Push(ob);
}
}
}
Thread.Sleep(10);
}
}
public byte[] EnPackage(CIIBasePackage bp)
{
if (bp.AppData == null)
{
LogHelper.GetLogger <MotorProtocol>().Error("通信层待编码数据为空，丢弃。");
return(null);
}
byte[] enData = new byte[bp.AppData.Length + 10];
Array.Copy(bp.MarkHead, 0, enData, 0, 2);
enData[2] = bp.DestLength;
enData[3] = bp.DestRegion;
enData[4] = bp.SourceLength;
enData[5] = bp.SourceRegion;
Array.Copy(bp.AppData, 0, enData, 6, bp.AppData.Length);
byte[] temp = new byte[enData.Length - 6];
Array.Copy(enData, 2, temp, 0, temp.Length);
byte[] crc16 = BitConverter.GetBytes(CRC16.Compute(temp));
Array.Copy(crc16, 0, enData, enData.Length - 4, 2);
Array.Copy(bp.MarkTail, 0, enData, enData.Length - 2, 2);
return(enData);
}