Exemplo n.º 1
0
        /// <summary>
        /// 读取机器人的详细信息,返回解析后的数据类型
        /// </summary>
        /// <returns>结果数据信息</returns>
        public OperateResult <EfortData> ReadEfortData( )
        {
            OperateResult <byte[]> read = Read("");

            if (!read.IsSuccess)
            {
                return(OperateResult.CreateFailedResult <EfortData>(read));
            }

            return(EfortData.PraseFrom(read.Content));
        }
Exemplo n.º 2
0
        /// <summary>
        /// 从新版本数据构造一个埃夫特机器人的数据类型
        /// </summary>
        /// <param name="data">真实的数据内容</param>
        /// <returns>转换的结果内容</returns>
        public static OperateResult <EfortData> PraseFrom(byte[] data)
        {
            if (data.Length < 788)
            {
                return(new OperateResult <EfortData>(string.Format(StringResources.Language.DataLengthIsNotEnough, 788, data.Length)));
            }

            // 开始解析数据
            EfortData efortData = new EfortData( );

            efortData.PacketStart     = Encoding.ASCII.GetString(data, 0, 16).Trim( );
            efortData.PacketOrders    = BitConverter.ToUInt16(data, 18);
            efortData.PacketHeartbeat = BitConverter.ToUInt16(data, 20);
            efortData.ErrorStatus     = data[22];
            efortData.HstopStatus     = data[23];
            efortData.AuthorityStatus = data[24];
            efortData.ServoStatus     = data[25];
            efortData.AxisMoveStatus  = data[26];
            efortData.ProgMoveStatus  = data[27];
            efortData.ProgLoadStatus  = data[28];
            efortData.ProgHoldStatus  = data[29];
            efortData.ModeStatus      = BitConverter.ToUInt16(data, 30);
            efortData.SpeedStatus     = BitConverter.ToUInt16(data, 32);

            for (int i = 0; i < 32; i++)
            {
                efortData.IoDOut[i] = data[34 + i];
            }
            for (int i = 0; i < 32; i++)
            {
                efortData.IoDIn[i] = data[66 + i];
            }
            for (int i = 0; i < 32; i++)
            {
                efortData.IoIOut[i] = BitConverter.ToInt32(data, 100 + 4 * i);
            }
            for (int i = 0; i < 32; i++)
            {
                efortData.IoIIn[i] = BitConverter.ToInt32(data, 228 + 4 * i);
            }

            efortData.ProjectName = Encoding.ASCII.GetString(data, 356, 32).Trim('\u0000');
            efortData.ProgramName = Encoding.ASCII.GetString(data, 388, 32).Trim('\u0000');
            efortData.ErrorText   = Encoding.ASCII.GetString(data, 420, 128).Trim('\u0000');

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisPos[i] = BitConverter.ToSingle(data, 548 + 4 * i);
            }

            for (int i = 0; i < 6; i++)
            {
                efortData.DbCartPos[i] = BitConverter.ToSingle(data, 576 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisSpeed[i] = BitConverter.ToSingle(data, 600 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisAcc[i] = BitConverter.ToSingle(data, 628 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisAccAcc[i] = BitConverter.ToSingle(data, 656 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisTorque[i] = BitConverter.ToSingle(data, 684 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisDirCnt[i] = BitConverter.ToInt32(data, 712 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisTime[i] = BitConverter.ToInt32(data, 740 + 4 * i);
            }


            efortData.DbDeviceTime = BitConverter.ToInt32(data, 768);
            efortData.PacketEnd    = Encoding.ASCII.GetString(data, 772, 16).Trim( );


            return(OperateResult.CreateSuccessResult(efortData));
        }
Exemplo n.º 3
0
        /// <summary>
        /// 读取机器人的详细信息
        /// </summary>
        /// <returns>结果数据信息</returns>
        public OperateResult <EfortData> Read( )
        {
            OperateResult <byte[]> read = ReadFromCoreServer(GetReadCommand( ));

            if (!read.IsSuccess)
            {
                return(OperateResult.CreateFailedResult <EfortData>(read));
            }

            if (read.Content.Length < 784)
            {
                return new OperateResult <EfortData>( )
                       {
                           Message = "数据长度不足"
                       }
            }
            ;

            // 开始解析数据
            EfortData efortData = new EfortData( );

            efortData.PacketStart     = Encoding.ASCII.GetString(read.Content, 0, 15).Trim( );
            efortData.PacketOrders    = BitConverter.ToUInt16(read.Content, 17);
            efortData.PacketHeartbeat = BitConverter.ToUInt16(read.Content, 19);
            efortData.ErrorStatus     = read.Content[21];
            efortData.HstopStatus     = read.Content[22];
            efortData.AuthorityStatus = read.Content[23];
            efortData.ServoStatus     = read.Content[24];
            efortData.AxisMoveStatus  = read.Content[25];
            efortData.ProgMoveStatus  = read.Content[26];
            efortData.ProgLoadStatus  = read.Content[27];
            efortData.ProgHoldStatus  = read.Content[28];
            efortData.ModeStatus      = BitConverter.ToUInt16(read.Content, 29);
            efortData.SpeedStatus     = BitConverter.ToUInt16(read.Content, 31);

            for (int i = 0; i < 32; i++)
            {
                efortData.IoDOut[i] = read.Content[33 + i];
            }
            for (int i = 0; i < 32; i++)
            {
                efortData.IoDIn[i] = read.Content[65 + i];
            }
            for (int i = 0; i < 32; i++)
            {
                efortData.IoIOut[i] = BitConverter.ToInt32(read.Content, 97 + 4 * i);
            }
            for (int i = 0; i < 32; i++)
            {
                efortData.IoIIn[i] = BitConverter.ToInt32(read.Content, 225 + 4 * i);
            }

            efortData.ProjectName = Encoding.ASCII.GetString(read.Content, 353, 32).Trim('\u0000');
            efortData.ProgramName = Encoding.ASCII.GetString(read.Content, 385, 32).Trim('\u0000');
            efortData.ErrorText   = Encoding.ASCII.GetString(read.Content, 417, 128).Trim('\u0000');

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisPos[i] = BitConverter.ToSingle(read.Content, 545 + 4 * i);
            }

            for (int i = 0; i < 6; i++)
            {
                efortData.DbCartPos[i] = BitConverter.ToSingle(read.Content, 573 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisSpeed[i] = BitConverter.ToSingle(read.Content, 597 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisAcc[i] = BitConverter.ToSingle(read.Content, 625 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisAccAcc[i] = BitConverter.ToSingle(read.Content, 653 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisTorque[i] = BitConverter.ToSingle(read.Content, 681 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisDirCnt[i] = BitConverter.ToInt32(read.Content, 709 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisTime[i] = BitConverter.ToInt32(read.Content, 737 + 4 * i);
            }


            efortData.DbDeviceTime = BitConverter.ToInt32(read.Content, 765);
            efortData.PacketEnd    = Encoding.ASCII.GetString(read.Content, 769, 15).Trim( );


            return(OperateResult.CreateSuccessResult(efortData));
        }
Exemplo n.º 4
0
        /// <summary>
        /// 从之前的版本数据构造一个埃夫特机器人的数据类型
        /// </summary>
        /// <param name="data">真实的数据内容</param>
        /// <returns>转换的结果内容</returns>
        public static OperateResult <EfortData> PraseFromPrevious(byte[] data)
        {
            if (data.Length < 784)
            {
                return(new OperateResult <EfortData>(string.Format(StringResources.Language.DataLengthIsNotEnough, 784, data.Length)));
            }

            // 开始解析数据
            EfortData efortData = new EfortData( );

            efortData.PacketStart     = Encoding.ASCII.GetString(data, 0, 15).Trim( );
            efortData.PacketOrders    = BitConverter.ToUInt16(data, 17);
            efortData.PacketHeartbeat = BitConverter.ToUInt16(data, 19);
            efortData.ErrorStatus     = data[21];
            efortData.HstopStatus     = data[22];
            efortData.AuthorityStatus = data[23];
            efortData.ServoStatus     = data[24];
            efortData.AxisMoveStatus  = data[25];
            efortData.ProgMoveStatus  = data[26];
            efortData.ProgLoadStatus  = data[27];
            efortData.ProgHoldStatus  = data[28];
            efortData.ModeStatus      = BitConverter.ToUInt16(data, 29);
            efortData.SpeedStatus     = BitConverter.ToUInt16(data, 31);

            for (int i = 0; i < 32; i++)
            {
                efortData.IoDOut[i] = data[33 + i];
            }
            for (int i = 0; i < 32; i++)
            {
                efortData.IoDIn[i] = data[65 + i];
            }
            for (int i = 0; i < 32; i++)
            {
                efortData.IoIOut[i] = BitConverter.ToInt32(data, 97 + 4 * i);
            }
            for (int i = 0; i < 32; i++)
            {
                efortData.IoIIn[i] = BitConverter.ToInt32(data, 225 + 4 * i);
            }

            efortData.ProjectName = Encoding.ASCII.GetString(data, 353, 32).Trim('\u0000');
            efortData.ProgramName = Encoding.ASCII.GetString(data, 385, 32).Trim('\u0000');
            efortData.ErrorText   = Encoding.ASCII.GetString(data, 417, 128).Trim('\u0000');

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisPos[i] = BitConverter.ToSingle(data, 545 + 4 * i);
            }

            for (int i = 0; i < 6; i++)
            {
                efortData.DbCartPos[i] = BitConverter.ToSingle(data, 573 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisSpeed[i] = BitConverter.ToSingle(data, 597 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisAcc[i] = BitConverter.ToSingle(data, 625 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisAccAcc[i] = BitConverter.ToSingle(data, 653 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisTorque[i] = BitConverter.ToSingle(data, 681 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisDirCnt[i] = BitConverter.ToInt32(data, 709 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisTime[i] = BitConverter.ToInt32(data, 737 + 4 * i);
            }


            efortData.DbDeviceTime = BitConverter.ToInt32(data, 765);
            efortData.PacketEnd    = Encoding.ASCII.GetString(data, 769, 15).Trim( );


            return(OperateResult.CreateSuccessResult(efortData));
        }
Exemplo n.º 5
0
        /// <summary>
        /// 读取机器人的详细信息
        /// </summary>
        /// <returns>结果数据信息</returns>
        public OperateResult <EfortData> Read( )
        {
            OperateResult <byte[]> read = ReadFromCoreServer(GetReadCommand( ));

            if (!read.IsSuccess)
            {
                return(OperateResult.CreateFailedResult <EfortData>(read));
            }

            if (read.Content.Length < 788)
            {
                return(new OperateResult <EfortData>(string.Format(StringResources.Language.DataLengthIsNotEnough, 788, read.Content.Length)));
            }

            // 开始解析数据
            EfortData efortData = new EfortData( );

            efortData.PacketStart     = Encoding.ASCII.GetString(read.Content, 0, 16).Trim( );
            efortData.PacketOrders    = BitConverter.ToUInt16(read.Content, 18);
            efortData.PacketHeartbeat = BitConverter.ToUInt16(read.Content, 20);
            efortData.ErrorStatus     = read.Content[22];
            efortData.HstopStatus     = read.Content[23];
            efortData.AuthorityStatus = read.Content[24];
            efortData.ServoStatus     = read.Content[25];
            efortData.AxisMoveStatus  = read.Content[26];
            efortData.ProgMoveStatus  = read.Content[27];
            efortData.ProgLoadStatus  = read.Content[28];
            efortData.ProgHoldStatus  = read.Content[29];
            efortData.ModeStatus      = BitConverter.ToUInt16(read.Content, 30);
            efortData.SpeedStatus     = BitConverter.ToUInt16(read.Content, 32);

            for (int i = 0; i < 32; i++)
            {
                efortData.IoDOut[i] = read.Content[34 + i];
            }
            for (int i = 0; i < 32; i++)
            {
                efortData.IoDIn[i] = read.Content[66 + i];
            }
            for (int i = 0; i < 32; i++)
            {
                efortData.IoIOut[i] = BitConverter.ToInt32(read.Content, 100 + 4 * i);
            }
            for (int i = 0; i < 32; i++)
            {
                efortData.IoIIn[i] = BitConverter.ToInt32(read.Content, 228 + 4 * i);
            }

            efortData.ProjectName = Encoding.ASCII.GetString(read.Content, 356, 32).Trim('\u0000');
            efortData.ProgramName = Encoding.ASCII.GetString(read.Content, 388, 32).Trim('\u0000');
            efortData.ErrorText   = Encoding.ASCII.GetString(read.Content, 420, 128).Trim('\u0000');

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisPos[i] = BitConverter.ToSingle(read.Content, 548 + 4 * i);
            }

            for (int i = 0; i < 6; i++)
            {
                efortData.DbCartPos[i] = BitConverter.ToSingle(read.Content, 576 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisSpeed[i] = BitConverter.ToSingle(read.Content, 600 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisAcc[i] = BitConverter.ToSingle(read.Content, 628 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisAccAcc[i] = BitConverter.ToSingle(read.Content, 656 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisTorque[i] = BitConverter.ToSingle(read.Content, 684 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisDirCnt[i] = BitConverter.ToInt32(read.Content, 712 + 4 * i);
            }

            for (int i = 0; i < 7; i++)
            {
                efortData.DbAxisTime[i] = BitConverter.ToInt32(read.Content, 740 + 4 * i);
            }


            efortData.DbDeviceTime = BitConverter.ToInt32(read.Content, 768);
            efortData.PacketEnd    = Encoding.ASCII.GetString(read.Content, 772, 16).Trim( );


            return(OperateResult.CreateSuccessResult(efortData));
        }