public static AstDescriptionBlock ReadAsAstDescriptionBlock(this AstFile astFile, string groupName)
{
var astDeviceParams =
astFile.DescriptionBlocks.Items.OfType <AstDescriptionBlock>()
.SingleOrDefault(x => x.GroupName.Equals(groupName, StringComparison.OrdinalIgnoreCase));
if (astDeviceParams == null)
{
throw new ParserContextErrorException(
$"Could not find Description Block with group name of \"{groupName}\"");
}
return(astDeviceParams);
}
private static RobConstants ReadRobConstants(AstFile astFile)
{
var astConstants = astFile.ReadAsAstDescriptionBlock("PROCONST2");
var variables = astConstants.Variables;
var robConstants = new RobConstants()
{
Header = new RobConstantsHeader()
{
Reserved0 = astConstants.Headers.ReadAsInt(0),
RamBlockAddressOffset = astConstants.Headers.ReadAsInt(1),
},
Parameters = ReadRobParameters(variables),
};
return(robConstants);
}
private static List <RobRomText> ReadRomTexts(AstFile astFile)
{
var result = new List <RobRomText>();
var romTextBlocks =
astFile.DescriptionBlocks.Items.Cast <AstDescriptionBlock>()
.Where(x => x.GroupName.Equals("ROMTEXT", StringComparison.OrdinalIgnoreCase));
foreach (var source in romTextBlocks)
{
var headers = source.Headers;
result.Add(new RobRomText()
{
Description = headers.ReadAsText(0),
Label = headers.ReadAsText(1),
Address = headers.ReadAsInt(2),
TextType = headers.ReadAsInt(3),
MaxLength = headers.ReadAsInt(4),
});
}
return(result);
}
private static RobDeviceParams ReadRobDeviceParams(AstFile astFile, RobControlUnitType controlUnitType)
{
var astDeviceParams = astFile.ReadAsAstDescriptionBlock("DEVPARAM");
RobDeviceParams robDeviceParams;
var headers = astDeviceParams.Headers;
if (controlUnitType.HasFlag(RobControlUnitType.CAN))
{
// DEVPARAM layout seems to depend on the control unit type
robDeviceParams = new RobCanDeviceParams()
{
BaseAddressBinaryImage = headers.ReadAsUInt(0),
BaseAddressMeasurementData = headers.ReadAsUInt(1),
CanCcpIdentifierDto = headers.ReadAsInt(2),
CanCcpIdentifierCro = headers.ReadAsInt(3),
AnalogOutput1Control = headers.ReadAsInt(4),
AnalogOutput2Control = headers.ReadAsInt(5),
AnalogOutput3Control = headers.ReadAsInt(6),
AnalogOutput4Control = headers.ReadAsInt(7),
};
}
else if (controlUnitType.HasFlag(RobControlUnitType.ABUS))
{
throw new ParserContextErrorException(
"DEVPARAM not implemented for ABUS, need an example file to implement more.", astDeviceParams);
}
else
{
// ROM
robDeviceParams = new RobRomDeviceParams()
{
OffsetRomImage = headers.ReadAsSeq(0).ReadAsInt(0),
OffsetProvariAddress = headers.ReadAsSeq(0).ReadAsInt(1),
};
}
return(robDeviceParams);
}
private static List <RobCharacteristicMap> ReadCharacteristicMaps(AstFile astFile)
{
var results = new List <RobCharacteristicMap>();
var astCharline = astFile.DescriptionBlocks.Items.OfType <AstCharacteristicMapBlock>();
foreach (var descriptionBlock in astCharline)
{
var header = new RobCharacteristicMapHeader()
{
Description = descriptionBlock.Headers.ReadAsText(0),
Label = descriptionBlock.Headers.ReadAsText(1),
AddressOfMap = descriptionBlock.Headers.ReadAsUInt(2),
Reserve3 = descriptionBlock.Headers.ReadAsInt(3),
Reserve4 = descriptionBlock.Headers.ReadAsInt(4),
};
var independantAxis = ReadRobIndependantAxis(descriptionBlock.IndependantAxis).ToList();
var dependantAxis = ReadRobDependantAxis(descriptionBlock.DependantAxis);
RobCharacteristicMap robCharacteristicMap;
switch (descriptionBlock.GroupName.ToUpperInvariant())
{
case "CHARLINE2":
robCharacteristicMap = new RobCharLine2()
{
Header = header,
UAxis = independantAxis[0],
QAxis = dependantAxis,
};
break;
case "CHARMAP2":
robCharacteristicMap = new RobCharMap2()
{
Header = header,
UAxis = independantAxis[0],
VAxis = independantAxis[1],
QAxis = dependantAxis,
};
break;
case "CHARSPACE":
robCharacteristicMap = new RobCharSpace()
{
Header = header,
UAxis = independantAxis[0],
VAxis = independantAxis[1],
WAxis = independantAxis[2],
QAxis = dependantAxis,
};
break;
default:
throw new ParserContextErrorException($"Unknown characteristic map type {descriptionBlock.GroupName}", descriptionBlock);
}
results.Add(robCharacteristicMap);
}
return(results);
}
