private void RecvDataDecode(Byte inData)
{
// 逐个字节进行解析
switch (recvStatus)
{
case RECV_STATUS.STATE_IDLE:
if (inData == 0xAA)
{
recvStatus = RECV_STATUS.STATE_GOT_HEAD1; // 获得了 HEAD1
commState = COMM_STATE.RECVING; // 状态转变为正在接收
}
break;
case RECV_STATUS.STATE_GOT_HEAD1:
if (inData == 0x55)
{
recvStatus = RECV_STATUS.STATE_GOT_HEAD2; // 获得了 HEAD2
RecvDataIndex = 0;
}
else
{
recvStatus = RECV_STATUS.STATE_IDLE; // 错误，返回初始状态
}
break;
case RECV_STATUS.STATE_GOT_HEAD2:
recvBuff[RecvDataIndex + 2] = inData;
RecvDataIndex++;
if (RecvDataIndex >= PayloadDataNum)
{
recvStatus = RECV_STATUS.STATE_GOT_DATA; // 获得了 数据
RecvDataIndex = 0;
}
break;
case RECV_STATUS.STATE_GOT_DATA:
if (inData == 0xA5)
{
recvStatus = RECV_STATUS.STATE_GOT_END1; // 获得了 END1
}
else
{
recvStatus = RECV_STATUS.STATE_IDLE; // 错误，返回初始状态
}
break;
case RECV_STATUS.STATE_GOT_END1:
if (inData == 0x5A)
{
recvStatus = RECV_STATUS.STATE_IDLE; // 重新恢复到IDLE状态
// 成功获得了所有数据
//recvBuff[0]
commState = COMM_STATE.IDLE; // 成功收到数据，切换为通信空闲状态
//
GenericOp.xPos = 5 * BitConverter.ToInt16(recvBuff, 4); // 转化为 mm 单位
GenericOp.zPos = 5 * BitConverter.ToInt16(recvBuff, 6); // 转化为 mm 单位
GenericOp.xPos_servo = -5 * BitConverter.ToInt16(recvBuff, 8); // 转化为 mm 单位
GenericOp.zPos_servo = -5 * BitConverter.ToInt16(recvBuff, 10); // 转化为 mm 单位
gtryState = BitConverter.ToUInt32(recvBuff, 12); // 龙门机构状态
GenericOp.weight = (int)BitConverter.ToInt16(recvBuff, 16); // 载重量
// 龙门机构的急停状态的获取
if (SerialWireless.GetGtryState(SerialWireless.GTRY_STATE_ESTOP_STATE))
{
gtry_estop_state_cntr++;
if (gtry_estop_state_cntr % 20 == 0) // 每20包数据，检查一下PLC的急停状态
{
GenericOp.EStop_Soft = true; // 根据 龙门急停状态 给 软急停标识 赋值，只赋值10次就不重复赋值。为了避免反复被刷新。
}
}
else
{
//gtry_estop_state_cntr = 0;
}
// 龙门原点回归请求
if (SerialWireless.GetGtryState(SerialWireless.GTRY_STATE_REQUEST_ZRN))
{
gtry_request_zrn_cntr++;
if (gtry_request_zrn_cntr > 5)
{
gtry_request_zrn_cntr = 5;
GenericOp.RequestZRN = true; // 请求原点回归标识 置位
}
}
else
{
gtry_request_zrn_cntr = 0;
GenericOp.RequestZRN = false;
}
}
else
{
recvStatus = RECV_STATUS.STATE_IDLE; // 错误，返回初始状态
}
break;
}
}
private const int PayloadDataNum = RecvDataNum - 4; // 除去 AA 55 A5 5A头4字节后的有效数据长度。
private void RecvDataDecode(Byte inData)
{
// 逐个字节进行解析
switch (recvStatus)
{
case RECV_STATUS.STATE_IDLE:
if (inData == 0xAA)
{
recvStatus = RECV_STATUS.STATE_GOT_HEAD1; // 获得了 HEAD1
commState = COMM_STATE.RECVING; // 状态转变为正在接收
}
break;
case RECV_STATUS.STATE_GOT_HEAD1:
if (inData == 0x55)
{
recvStatus = RECV_STATUS.STATE_GOT_HEAD2; // 获得了 HEAD2
RecvDataIndex = 0;
}
else
{
recvStatus = RECV_STATUS.STATE_IDLE; // 错误，返回初始状态
}
break;
case RECV_STATUS.STATE_GOT_HEAD2:
recvBuff[RecvDataIndex + 2] = inData;
RecvDataIndex++;
if (RecvDataIndex >= PayloadDataNum)
{
recvStatus = RECV_STATUS.STATE_GOT_DATA; // 获得了 数据
RecvDataIndex = 0;
}
break;
case RECV_STATUS.STATE_GOT_DATA:
if (inData == 0xA5)
{
recvStatus = RECV_STATUS.STATE_GOT_END1; // 获得了 END1
}
else
{
recvStatus = RECV_STATUS.STATE_IDLE; // 错误，返回初始状态
}
break;
case RECV_STATUS.STATE_GOT_END1:
if (inData == 0x5A)
{
recvStatus = RECV_STATUS.STATE_IDLE; // 重新恢复到IDLE状态
// 成功获得了所有数据
//recvBuff[0]
commState = COMM_STATE.RECV; // 成功收到数据，切换为通信接受状态
//获取水槽温度
GenericOp.temperature1 = BitConverter.ToInt16(recvBuff, 2) / 10; // 1号水槽温度
GenericOp.temperature2 = BitConverter.ToInt16(recvBuff, 4) / 10; // 2号水槽温度
GenericOp.temperature3 = BitConverter.ToInt16(recvBuff, 6) / 10; // 3号水槽温度
GenericOp.temperature41 = BitConverter.ToInt16(recvBuff, 8) / 10; //4号炉子上温区温度
GenericOp.temperature42 = BitConverter.ToInt16(recvBuff, 10) / 10; //4号炉子下温区温度
GenericOp.temperature51 = BitConverter.ToInt16(recvBuff, 12) / 10; //5号炉子上温区温度
GenericOp.temperature52 = BitConverter.ToInt16(recvBuff, 14) / 10; //5号炉子下温区温度
GenericOp.temperature61 = BitConverter.ToInt16(recvBuff, 16) / 10; //6号炉子上温区温度
GenericOp.temperature62 = BitConverter.ToInt16(recvBuff, 18) / 10; //6号炉子下温区温度
GenericOp.temperature71 = BitConverter.ToInt16(recvBuff, 20) / 10; //7号炉子上温区温度
GenericOp.temperature72 = BitConverter.ToInt16(recvBuff, 22) / 10; //7号炉子上温区温度
GenericOp.temperature111 = BitConverter.ToInt16(recvBuff, 24) / 10; //11号炉子上温区温度
GenericOp.temperature112 = BitConverter.ToInt16(recvBuff, 26) / 10; //11号炉子下温区温度
GenericOp.temperature121 = BitConverter.ToInt16(recvBuff, 28) / 10; //12号炉子上温区温度
GenericOp.temperature122 = BitConverter.ToInt16(recvBuff, 30) / 10; //12号炉子下温区温度
GenericOp.temperature131 = BitConverter.ToInt16(recvBuff, 32) / 10; //13号炉子温度
}
else
{
recvStatus = RECV_STATUS.STATE_IDLE; // 错误，返回初始状态
}
break;
}
}
private void RecvDataDecode(Byte inData)
{
// 逐个字节进行解析
switch (recvStatus)
{
case RECV_STATUS.STATE_IDLE:
if (inData == 0xAA)
{
recvStatus = RECV_STATUS.STATE_GOT_HEAD1; // 获得了 HEAD1
commState = COMM_STATE.RECVING; // 状态转变为正在接收
}
break;
case RECV_STATUS.STATE_GOT_HEAD1:
if (inData == 0x55)
{
recvStatus = RECV_STATUS.STATE_GOT_HEAD2; // 获得了 HEAD2
RecvDataIndex = 0;
}
else
{
recvStatus = RECV_STATUS.STATE_IDLE; // 错误，返回初始状态
}
break;
case RECV_STATUS.STATE_GOT_HEAD2:
recvBuff[RecvDataIndex + 2] = inData;
RecvDataIndex++;
if (RecvDataIndex >= PayloadDataNum)
{
recvStatus = RECV_STATUS.STATE_GOT_DATA; // 获得了 数据
RecvDataIndex = 0;
}
break;
case RECV_STATUS.STATE_GOT_DATA:
if (inData == 0xA5)
{
recvStatus = RECV_STATUS.STATE_GOT_END1; // 获得了 END1
}
else
{
recvStatus = RECV_STATUS.STATE_IDLE; // 错误，返回初始状态
}
break;
case RECV_STATUS.STATE_GOT_END1:
if (inData == 0x5A)
{
recvStatus = RECV_STATUS.STATE_IDLE; // 重新恢复到IDLE状态
// 成功获得了所有数据
//recvBuff[0]
commState = COMM_STATE.IDLE; // 成功收到数据，切换为通信空闲状态
//
// X00 - X15
stoveLidState[0] = (STOVE_LID_STATE)(recvBuff[2] & 0x3); // 1#炉盖 X0 - X01
stoveLidState[1] = (STOVE_LID_STATE)((recvBuff[2] >> 2) & 0x3); // 2#炉盖
stoveLidState[2] = (STOVE_LID_STATE)((recvBuff[2] >> 4) & 0x3); // 3#炉盖
stoveLidState[3] = (STOVE_LID_STATE)((recvBuff[2] >> 6) & 0x3); // 4#炉盖
stoveLidState[4] = (STOVE_LID_STATE)(recvBuff[3] & 0x3); // 5#炉盖
stoveLidState[5] = (STOVE_LID_STATE)((recvBuff[3] >> 2) & 0x3); // 6#炉盖
stoveLidState[6] = (STOVE_LID_STATE)((recvBuff[3] >> 4) & 0x3); // 7#炉盖
stoveLidState[7] = (STOVE_LID_STATE)(recvBuff[4] & 0x3); //后门
stoveLidState[8] = (STOVE_LID_STATE)((recvBuff[4] >> 2) & 0x3); //前门
// X30 自动 X31手动
//if ((recvBuff[5] & 0x01) == 0)
//{
//automode_change_cntr_manual = 0;
/*
* automode_change_cntr_auto++;
* if (automode_change_cntr_auto < 10)
* {
* GenericOp.AutoMode = true;// 自动模式
* }
* else
* {
* automode_change_cntr_auto = 10;
* }*/
// }
// else
// {
//automode_change_cntr_auto = 0;
// automode_change_cntr_manual++;
// if (automode_change_cntr_manual < 10)
// {
// GenericOp.AutoMode = false;// 手动模式
// }
// else
// {
// automode_change_cntr_manual = 10;
// }
// }
// 手动控制柜用于控制龙门的前进、后退、上下、抓放，对应PLC的X41 - X46
GenericOp.manual_gtry_action = GenericOp.GTRY_ACTION_TYPE.NONE; // 初始为不做任何动作
//if ((recvBuff[6] & 0x02) !=0) GenericOp.manual_gtry_action = GenericOp.GTRY_ACTION_TYPE.FORWARD; // X41
//else if ((recvBuff[6] & 0x04) !=0) GenericOp.manual_gtry_action = GenericOp.GTRY_ACTION_TYPE.BAKWARD; // X42
//else if ((recvBuff[6] & 0x08) != 0) GenericOp.manual_gtry_action = GenericOp.GTRY_ACTION_TYPE.UP; // X43
//else if ((recvBuff[6] & 0x10) != 0) GenericOp.manual_gtry_action = GenericOp.GTRY_ACTION_TYPE.DOWN;// X44
//else if ((recvBuff[6] & 0x20) != 0) GenericOp.manual_gtry_action = GenericOp.GTRY_ACTION_TYPE.CLAMP;// X45
//else if ((recvBuff[6] & 0x40) != 0) GenericOp.manual_gtry_action = GenericOp.GTRY_ACTION_TYPE.CLAMP_RELAX;// X46
//GenericOp.EStop_Manual = ((recvBuff[6] >> 7) == 0);// X47 急停信号
}
else
{
recvStatus = RECV_STATUS.STATE_IDLE; // 错误，返回初始状态
}
break;
}
}
