/// <summary>
/// 解析数据,收到一包有效数据后,添加到消息队列
/// </summary>
/// <param name="recvBytes">接收到的数据</param>
/// <param name="recvCount">接收到的数据长度</param>
/// <param name="client">客户端</param>
/// <param name="parseCount">解析计数器</param>
/// <param name="arrayParse">解析缓冲区</param>
public void ParseAndAddMessageToQueue(byte[] RecvBytes, int RecvCount, TcpClient Client, ref int parseCount, byte[] arrayParse)
{
//匹配比较数组, -1表示不需要比较,忽略
int[] arrayCompare = new int[CommunicationProtocol.MessageLength]
{
CommunicationProtocol.MessStartCode, CommunicationProtocol.MessVID1, CommunicationProtocol.MessVID2, -1, CommunicationProtocol.MessRightState, -1, -1, -1,
-1, -1, -1, -1, -1, -1, -1, -1,
-1, -1, -1, -1, -1, -1, -1, -1,
-1, -1, -1, -1, -1, -1, -1, CommunicationProtocol.MessEndCode,
};
for (int i = 0; i < RecvCount; i++)
{
if (arrayCompare[parseCount] != -1) //需要匹配
{
if (RecvBytes[i] == arrayCompare[parseCount]) //相等
{
arrayParse[parseCount++] = RecvBytes[i];
}
else //不相等,复位计数器
{
parseCount = 0;
}
}
else //不需要比较,直接赋值,并更新计数器
{
arrayParse[parseCount++] = RecvBytes[i];
}
if (parseCount >= CommunicationProtocol.MessageLength)
{
parseCount = 0; //和校验
if (MyMath.CheckSum(arrayParse, CommunicationProtocol.MessageLength)) //分析数据，把数据添加到队列m_TcpMeas
{
TcpMeasType MeasType = TcpMeasType.MEAS_TYPE_NONE;
byte MeasCode = 0;
if (arrayParse[CommunicationProtocol.MessageCommandIndex] == (byte)CommunicationProtocol.CommandCode_PLC.GetCurStationState) //根据命令码区分消息类型
{
MeasType = TcpMeasType.MEAS_TYPE_PLC;
MeasCode = arrayParse[CommunicationProtocol.MessageCommandIndex];
}
TcpMeas TempMeas = new TcpMeas();
if (TempMeas != null)
{
TempMeas.Client = Client;
TempMeas.MeasType = MeasType;
TempMeas.MeasCode = MeasCode;
Array.Copy(arrayParse, TempMeas.Param, TempMeas.Param.Length);
m_RecvMeasQueue.Enqueue(TempMeas);
}
}
else //校验和错误,则更新错误码后发回
{
arrayParse[CommunicationProtocol.MessageStateIndex] = CommunicationProtocol.MessErrorState;
arrayParse[CommunicationProtocol.MessageSumCheck] = 0x00;
arrayParse[CommunicationProtocol.MessageSumCheck] = MyMath.CalculateSum(arrayParse, CommunicationProtocol.MessageLength);
Client.GetStream().Write(arrayParse, 0, arrayParse.Length);
}
}
}
}
public void AddCommandMessageToQueue(Board boardIndex, ControlerCommandCode Code, ref byte[] Command)
{
switch (Code)
{
//设置相关的指令
case ControlerCommandCode.SetOutput:
case ControlerCommandCode.SetOutputByInput:
case ControlerCommandCode.SetOutputDefault:
case ControlerCommandCode.SetAxisParametersDefault:
case ControlerCommandCode.SetAxisParameters:
case ControlerCommandCode.SetAxisStepsAbs:
case ControlerCommandCode.SetAxisStepsRef:
case ControlerCommandCode.SetAxisMoveContinuous:
case ControlerCommandCode.SetAxisStepsMax:
case ControlerCommandCode.StopAxis:
case ControlerCommandCode.ResetAxisError:
case ControlerCommandCode.AxisGoHome:
case ControlerCommandCode.SetIp:
case ControlerCommandCode.SetVersionHardware:
case ControlerCommandCode.ResetFactory:
{
if (m_MyTcpClient[(int)boardIndex].IsConnected)
{
m_MyTcpClient[(int)boardIndex].m_SetCommandQueue.Enqueue(Command);
}
}
break;
//“获取”相关的指令
case ControlerCommandCode.GetOutput:
case ControlerCommandCode.GetInput:
case ControlerCommandCode.GetAxisParameters:
case ControlerCommandCode.GetAxisStepsAbs:
case ControlerCommandCode.GetAxisState:
case ControlerCommandCode.GetBoardInformation:
{
if (m_MyTcpClient[(int)boardIndex].IsConnected)
{
if (m_MyTcpClient[(int)boardIndex].m_GetCommandQueue.Count == 0)
{
m_MyTcpClient[(int)boardIndex].m_GetCommandQueue.Enqueue(Command);
}
else
{
bool AddToDequeue = true;
foreach (var temp in m_MyTcpClient[(int)boardIndex].m_GetCommandQueue)
{
if (MyMath.IsEquals(temp, Command)) //避免加入的相同的指令过多
{
AddToDequeue = false;
break;
}
}
if (AddToDequeue)
{
m_MyTcpClient[(int)boardIndex].m_GetCommandQueue.Enqueue(Command);
}
}
}
}
break;
default:
break;
}
}