public override int processMsg(string msg)
{
int cobId = MsgUtils.getCobIdInt(msg);
int nodeId = MsgUtils.getNodeIdInt(msg);
string data = MsgUtils.getDataString(msg);
int retVal = 0;
msgCount++;
statusString = "";
if (nodeId == 0x2)
{
switch (cobId)
{
case 0x082: // MG Error
{
var error = decodeErrorStatus(data);
statusString = "ERR: ";
statusString += error.Item1;
errorCount++;
break;
}
case 0x182: // MG TXPDO1
{
//FIXME
//F72CC7030000820100000227100DUnknown
//FC2CC7030000820100000227000DUnknown
statusString = "MG TXPDO1";
break;
}
case 0x282: // MG TXPDO2
{
//FIXME
//F72CC7030000820200000827100000000000000DUnknown
//FC2CC7030000820200000827000000000000000DUnknown
statusString = "MG TXPDO2";
break;
}
case 0x402: // MG RXPDO2
{
//FIXME
//EF2CC703000002040000063F00000000000DUnknown
//7B3EC703000002040000063F00504F23000DUnknown
statusString = "MG RXPDO2";
break;
}
case 0x582: // MG SDO Response
{
var SDO = decodeSDO(data);
if (SDO.Item2 == 0x3401)
{
temperature = SDO.Item3;
statusString = "TMP MG: ";
statusString += SDO.Item3.ToString();
break;
}
statusString = "SDOR MG: ";
statusString += SDO.Item1;
statusString += SDO.Item3.ToString();
break;
}
case 0x602: // MG SDO Request
{
var SDO = decodeSDO(data);
statusString = "SDOT MG: ";
statusString += SDO.Item1;
statusString += SDO.Item3.ToString();
break;
}
case 0x382: // Mode + Position
{
position = Int32.Parse(MsgUtils.hexSwap(data.Substring(4, 6)), System.Globalization.NumberStyles.HexNumber);;
statusString = "POS MG: ";
statusString += position.ToString();
break;
}
case 0x482: // Mode + Velocity
{
velocity = Int32.Parse(MsgUtils.hexSwap(data.Substring(4, 8)), System.Globalization.NumberStyles.HexNumber);;
statusString = "VEL MG: ";
statusString += velocity.ToString();
break;
}
case 0x702: // Motor Gateway Heartbeat
{
heartbeatCount++;
break;
}
default:
{
statusString = "Unknown";
break;
}
}//End switch
lastCobId = cobId;
}// End if(nodeId == 0x1)
else
{
retVal = 2;
} //"Non-MG Message Sent To MG Processor"
return(retVal);
}
