private MCPacket CreatePacket()
{
var packet = new MCPacket();
var subHeader = new MCSubHeader3E();
packet.SubHeader = subHeader;
var qHeader = new MCQHeaderRequest();
this.SetupQHeader(qHeader);
qHeader.Watchdog = 0;
packet.QHeader = qHeader;
return(packet);
}
private void Connection()
{
try
{
while (true)
{
using (var sw = new StreamWrapper(this.Stream))
{
try
{
MCPacket request = null;
MCErrorCode errorCode = MCErrorCode.None;
MCFunction responseFunction = null;
try
{
request = this.Parent.Slave.Protocol.ReadPacket(sw, null);
errorCode = this.ProcessPacket(request.Function, out responseFunction);
}
catch (MCProtocolException e)
{
errorCode = e.ErrorCode;
responseFunction = null;
}
catch (IOException)
{
throw;
}
catch (ThreadInterruptedException)
{
throw;
}
catch (Exception)
{
errorCode = MCErrorCode.UnkownRequest;
responseFunction = null;
}
var response = new MCPacket();
response.SubHeader = request.SubHeader;
response.QHeader = this.CreateResponseQHeader(request.QHeader, errorCode);
response.Function = this.GetResponseFunction(request.QHeader, errorCode, request.Function, responseFunction);
this.Parent.Slave.Protocol.WritePacket(sw, response);
}
finally
{
var mco = this.Parent.Slave;
var datas = mco.MemoryMap.Get(DeviceCode.D, 500, 32);
Console.Clear();
Console.WriteLine("status : " + datas[3]);
var position = new BitNumber2Words(new BitShort(), new BitShort());
position.UpperWord.Raw32 = datas[4];
position.LowerWord.Raw32 = datas[5];
Console.WriteLine("Position : " + position.Value);
var force = new BitNumber2Words(new BitShort(), new BitShort());
force.UpperWord.Raw32 = datas[6];
force.LowerWord.Raw32 = datas[7];
Console.WriteLine("Force : " + force.Value);
for (int i = 0; i < datas.Length; i++)
{
//Console.WriteLine(i.ToString("D2") + " : " + datas[i].ToString("X4"));
}
//this.Logger.OnCommunicationLog(sw.Log);
}
}
}
}
catch (Exception e)
{
this.Logger.OnMessageLog(e.ToString());
}
this.Close();
}
