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 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);
}
