public MotorProtocolFactory()
{
InitializeDecoders();
TxQueue = new MotorTxQueue();
RxQueue = new MotorRxQueue();
RxMsgQueue = new MotorRxMsgQueue();
TxMsgQueue = new MotorTxMsgQueue();
MotorProtocol = new MotorProtocol();
}
public MotorProtocol DePackage(byte[] data)
{
MotorProtocol mp = new MotorProtocol();
if (data.Length < 8)
{
LogHelper.GetLogger <MotorProtocol>().Error("通信层待编码数据为空，丢弃。");
return(null);
}
mp.CodeRegion = new byte[data.Length - 8];
Array.Copy(data, 6, mp.CodeRegion, 0, mp.CodeRegion.Length);
return(mp);
}
public void DecodeInternal()
{
while (RunDecodeThread)
{
if (Decode)
{
List <Original> list = RxQueue.PopAll();
{
if (list != null && list.Count > 0)
{
foreach (var o in list)
{
OriginalBytes obytes = o as OriginalBytes;
if (o != null)
{
if (obytes.Data[0] == 0x5D && obytes.Data[1] == 0x5B)
{
MotorProtocol mp = motorProtocol.DePackage(obytes.Data);
byte[] data = mp.CodeRegion;
byte commandCode = data[0];
byte additionCode = data[1];
if (!Decoders.ContainsKey(commandCode))
{
return;
}
MotorBaseResponse mr = Decoders[commandCode].Decode(obytes);
if (mr != null)
{
RxMsgQueue.Push(mr);
//LogHelper.GetLogger<LaserProtocolFactory>().Error(string.Format("接受到的原始数据为： {0}",
// ByteHelper.Byte2ReadalbeXstring(obytes.Data)));
}
}
else
{
//LogHelper.GetLogger<LaserProtocolFactory>().Error(string.Format("接受到的原始数据非法： {0}",
// ByteHelper.Byte2ReadalbeXstring(obytes.Data)));
}
}
}
}
}
}
Thread.Sleep(10);
}
}
