/// <summary>
/// Initializes a new instance of the <see cref="RigidArgs"/> struct.
/// </summary>
/// <param name="sourceModel"> The source model used in a rigid registration.</param>
/// <param name="targetModel">The target model used in a rigid registration.</param>
/// <param name="mappingAlgorithm">The point mapping algorithm used in a rigid registration.</param>
/// <param name="numberOfIterations">The number of iterations.</param>
public RigidArgs(Model3DFile sourceModel, Model3DFile targetModel, IPointMapping mappingAlgorithm, int numberOfIterations)
{
this.SourceModel = sourceModel;
this.TargetModel = targetModel;
this.MappingAlgorithm = mappingAlgorithm;
this.NumberOfIterations = numberOfIterations;
}
/// <summary>
/// Initializes a new instance of the <see cref="RigidRegistration"/> class and sets a mapping algorithm and max number of iterations.
/// </summary>
/// <param name="pointMapping">The mapping algorithm.</param>
/// <param name="numberOfIterations">The number of iterations.</param>
public RigidRegistration(IPointMapping pointMapping, int numberOfIterations)
{
Log.Info("Creating rigid registration.");
this.pointMapping = pointMapping;
this.rotation = new Kabsch();
this.numberOfIterations = numberOfIterations;
}
/// <summary>
/// Read Hold Register Rely
/// Fucntion:0x03
/// </summary>
/// <param name="address">40001~49999</param>
/// <param name="count">less than 128</param>
/// <returns></returns>
private byte[] readHoldRegisterRely(int address, int count)
{
byte[] dataBuffer = new byte[count * 2];
byte[] relyBuffer = new byte[count * 2 + 3]; //addtion SlaveId，Function,Count
IPointMapping <ushort> _ushortMapping = _mapping as IPointMapping <ushort>;
var ushortData = new ushort[count];
for (int i = 0; i < count; i++)
{
var addressString = string.Format("{0:D5}", address + i + 1 + 40000);//地址偏移+1
if (_mapping.Find(addressString))
{
ushortData[i] = _ushortMapping.GetValue(addressString)[0];
}
else
{
return(errorRely(FunctionCode.ReadHoldRegister, ErrorCode.LllegalDataAddress));
};
}
dataBuffer = UnsafeNetConvert.UShortsToBytes(ushortData, ByteOrder.BigEndian);
relyBuffer[0] = (byte)_salveId;
relyBuffer[1] = (byte)FunctionCode.ReadHoldRegister;
relyBuffer[2] = (byte)dataBuffer.Length;
Array.Copy(dataBuffer, 0, relyBuffer, 3, dataBuffer.Length);
return(relyBuffer);
}
/// <summary>
/// byte型点注册
/// </summary>
/// <param name="points"></param>
/// <param name="mapping"></param>
public static void Register(ref PointDeviceCollcet points, IPointMapping <byte> mapping, ILog log)
{
List <DevicePoint <byte> > dupPoints = new List <DevicePoint <byte> >();//重复点名列表
foreach (var point in points.BytePoints)
{
if (mapping.Find(point.Name))
{
dupPoints.Add(point);
log.ErrorLog(string.Concat("Point Register Error:Duplication point name <", point.Name, ">"));
}
else
{
mapping.Register(point.Name, point);
}
}
foreach (var point in dupPoints)
{
points.BytePoints.Remove(point);
}
}
