private void MCom_TRIGGERMESSIGE(object sender, BaseSpace.SERIALPORT.MESSIGEEventArgs e)
{
switch (e.MyType)
{
case BaseSpace.SERIALPORT.MESSIGEEventArgs.MessageType.Warning:
LogWarning(e.MyMessage);
if (System.Windows.Forms.MessageBox.Show(e.MyMessage + "是否重新连接",
"Error", System.Windows.Forms.MessageBoxButtons.OKCancel)
== System.Windows.Forms.DialogResult.OK)
{
mCom.ResetCOM();
}
else
{
this.Close();
}
break;
case BaseSpace.SERIALPORT.MESSIGEEventArgs.MessageType.Message:
LogMessage(e.MyMessage);
break;
case BaseSpace.SERIALPORT.MESSIGEEventArgs.MessageType.Error:
LogError(e.MyMessage);
break;
}
}
private void MSERIALPORT_TRIGGERMESSIGE(object sender, SERIALPORT.MESSIGEEventArgs e)
{
switch (e.MyType)
{
case SERIALPORT.MESSIGEEventArgs.MessageType.Warning:
break;
case SERIALPORT.MESSIGEEventArgs.MessageType.Error:
break;
case SERIALPORT.MESSIGEEventArgs.MessageType.Message:
break;
case SERIALPORT.MESSIGEEventArgs.MessageType.Data:
if (e.MyData[0] == PRO)
{
//发出去的寄存器地址
string strTemp = "";
strTemp = e.SendData[2].ToString("X2") + e.SendData[3].ToString("X2");
int iRegister = Convert.ToInt32(strTemp, 16);
RegisterEnum temp = (RegisterEnum)iRegister;
//发出去的功能码
string strFunction = e.SendData[1].ToString("X2");
FunctionCodeEnum Function = (FunctionCodeEnum)Convert.ToInt32(strFunction);
int inumber = 0;
byte[] byteArray = null;
if (Function == FunctionCodeEnum.MultipleReads)
{
try
{
//抓取数据回来
inumber = e.MyData[2];
byteArray = new byte[inumber];
for (int i = 0; i < inumber; i++)
{
byteArray[i] = e.MyData[i + 3];
}
}
catch (Exception ex)
{
MESSIGEEventArgs ee = new MESSIGEEventArgs();
ee.MyType = MESSIGEEventArgs.MessageType.Error;
ee.MyMessage = ex.Message;
OnTRIGGERMESSIGE(ee);
}
}
else
{
return;
}
switch (temp)
{
case RegisterEnum.MotorMode:
MotorModel = System.Text.Encoding.Default.GetString(byteArray).Replace("\0", "");
break;
case RegisterEnum.MotorVersionHardware:
MotorVersionHardware = System.Text.Encoding.Default.GetString(byteArray).Replace("\0", "");
break;
case RegisterEnum.MotorVersionSoftware:
MotorVersionSoftware = System.Text.Encoding.Default.GetString(byteArray).Replace("\0", "");
break;
case RegisterEnum.MotorErrorCode:
string error = "";
foreach (byte by in byteArray)
{
error += Convert.ToString(by, 2).PadLeft(8, '0');
}
error = ToMotorError(error);
if (error != "")
{
MESSIGEEventArgs ee = new MESSIGEEventArgs();
ee.MyType = MESSIGEEventArgs.MessageType.Error;
ee.MyMessage = error;
OnTRIGGERMESSIGE(ee);
}
break;
case RegisterEnum.MotorPositionNow:
strTemp = "";
if (byteArray.Length == 4)
{
for (int i = 0; i < byteArray.Length; i++)
{
strTemp += byteArray[i].ToString("X2");
}
}
MotorPositionNow = Convert.ToInt32(strTemp, 16);
break;
case RegisterEnum.MotorSpeedNow:
strTemp = "";
for (int i = 0; i < byteArray.Length; i++)
{
strTemp += byteArray[i].ToString("X2");
}
MotorSpeedNow = Convert.ToInt32(strTemp, 16);
break;
case RegisterEnum.MotorObjectPosition:
strTemp = "";
for (int i = 0; i < byteArray.Length; i++)
{
strTemp += byteArray[i].ToString("X2");
}
iObjectrPosition = Convert.ToInt32(strTemp, 16);
break;
case RegisterEnum.MotorObjectSpeed:
strTemp = "";
for (int i = 0; i < byteArray.Length; i++)
{
strTemp += byteArray[i].ToString("X2");
}
iObjectSpeed = Convert.ToInt32(strTemp, 16);
break;
case RegisterEnum.MotorAcceleration:
strTemp = "";
for (int i = 0; i < byteArray.Length; i++)
{
strTemp += byteArray[i].ToString("X2");
}
iAcceleration = Convert.ToInt32(strTemp, 16);
break;
case RegisterEnum.MotorDeceleration:
strTemp = "";
for (int i = 0; i < byteArray.Length; i++)
{
strTemp += byteArray[i].ToString("X2");
}
iDeceleration = Convert.ToInt32(strTemp, 16);
break;
case RegisterEnum.MotorQuickStopDeceleration:
strTemp = "";
for (int i = 0; i < byteArray.Length; i++)
{
strTemp += byteArray[i].ToString("X2");
}
iQuickStopDeceleration = Convert.ToInt32(strTemp, 16);
break;
case RegisterEnum.MotorHomeAddSubtract:
strTemp = "";
for (int i = 0; i < byteArray.Length; i++)
{
strTemp += byteArray[i].ToString("X2");
}
iHomeAddSubtract = Convert.ToInt32(strTemp, 16);
break;
case RegisterEnum.MotorHomeMechanicsSpeed:
strTemp = "";
for (int i = 0; i < byteArray.Length; i++)
{
strTemp += byteArray[i].ToString("X2");
}
iHomeMechanicsSpeed = Convert.ToInt32(strTemp, 16);
break;
case RegisterEnum.MotorHomeSpeed:
strTemp = "";
for (int i = 0; i < byteArray.Length; i++)
{
strTemp += byteArray[i].ToString("X2");
}
iHomeSpeed = Convert.ToInt32(strTemp, 16);
break;
case RegisterEnum.MotorZeroOffset:
strTemp = "";
for (int i = 0; i < byteArray.Length; i++)
{
strTemp += byteArray[i].ToString("X2");
}
iZeroOffset = Convert.ToInt32(strTemp, 16);
break;
case RegisterEnum.MotorState:
strTemp = "";
for (int i = 0; i < byteArray.Length; i++)
{
strTemp += byteArray[i].ToString("X2");
}
strTemp = Convert.ToString(Convert.ToInt32(strTemp, 16), 2).PadLeft(16, '0');
ToMotorState(strTemp);
break;
}
}
break;
}
}
