/// <summary>
/// 0x40读取监控数据
/// </summary>
/// <returns></returns>
public MonitorData GetMonitorData()
{
try
{
MonitorData data = new MonitorData();
SendCommand sendCmd40 = new SendCommand(CommandId.SystemMonitor, CommandExtendId.Read);
RecvCommand recvCmd40 = (RecvCommand)PortManager.GetInstance().Send(InsName, sendCmd40);
CheckRecvCommand(recvCmd40);
if (recvCmd40 != null)
{
data.Motor1Switch = recvCmd40.GetByte(ParamId.SystemMonitor_ReadResponse_Motor1Status);
data.Motor1Status = recvCmd40.GetByte(ParamId.SystemMonitor_ReadResponse_Motor1Result);
data.Motor1completeSteps = (int)recvCmd40.GetULong(ParamId.SystemMonitor_ReadResponse_Motor1CompleteSteps);
data.Motor1Steps = (int)recvCmd40.GetULong(ParamId.SystemMonitor_ReadResponse_Motor1SumSteps);
data.Motor2Switch = recvCmd40.GetByte(ParamId.SystemMonitor_ReadResponse_Motor2Status);
data.Motor2Status = recvCmd40.GetByte(ParamId.SystemMonitor_ReadResponse_Motor2Result);
data.Motor2completeSteps = (int)recvCmd40.GetULong(ParamId.SystemMonitor_ReadResponse_Motor2CompleteSteps);
data.Motor2Steps = (int)recvCmd40.GetULong(ParamId.SystemMonitor_ReadResponse_Motor2SumSteps);
return(data);
}
else
{
return(null);
}
}
catch (Exception ex)
{
return(null);
}
}
/// <summary>
/// 检查PortManager的Send返回值RecvCommand
/// </summary>
/// <param name="recvCmd"></param>
private static void CheckRecvCommand(RecvCommand recvCmd)
{
if (recvCmd == null)
{
//PC或MCU问题；
//通信操作返回值为空：同步通讯不会为空，检查通信日志的MCU读/写回应记录来确定是PC上位机问题还是MCU下位机问题；
//throw new Exception("ErrorCode(0xFF)");
//MessageBox.Show("检查电机串口配置是否正确", "错误", MessageBoxButtons.OK);
return;
}
if (((CII.Library.CIINet.Commands.Command)(recvCmd)).GetParamData() == null || ((CII.Library.CIINet.Commands.Command)(recvCmd)).GetParamData().Length <= 0)
{
//MCU问题；
//MCU读/写回应未按CII-NET协议约定格式返回操作结果（0x88成功或0x99失败等），请反馈给MCU同事解决；
throw new Exception("ErrorCode(0xFE)");
}
if ((((CII.Library.CIINet.Commands.Command)(recvCmd)).GetParamData())[0] == R_FAILE)
{
//MCU问题；
//MCU返回读/写失败，请反馈给MCU同事解决；
throw new Exception("ErrorCode(0x99)");
}
if ((((CII.Library.CIINet.Commands.Command)(recvCmd)).GetParamData())[0] == R_BADPARAM)
{
//PC问题；
//因上位机输入参数非法或越限而导致MCU拒绝该操作，请PC上位机软件检查输入数据的合法性；
throw new Exception("ErrorCode(0xAA)");
}
}
public ResponseCode SetMotorSteps(byte controlMode1, byte direction1, int totalSteps1, byte controlMode2, byte direction2, int totalSteps2)
{
SendCommand sendCmd60 = new SendCommand(CommandId.ControlConfig, CommandExtendId.Write);
sendCmd60.SetParamValid(ParamId.ControlConfig_ReadWrite_Select, true);
sendCmd60.SetValue(ParamId.ControlConfig_ReadWrite_Select, 0x60);
sendCmd60.SetParamValid(ParamId.ControlConfig_ReadWrite_ControlMode1, true);
sendCmd60.SetValue(ParamId.ControlConfig_ReadWrite_ControlMode1, controlMode1);
sendCmd60.SetParamValid(ParamId.ControlConfig_ReadWrite_Direction1, true);
sendCmd60.SetValue(ParamId.ControlConfig_ReadWrite_Direction1, direction1);
sendCmd60.SetParamValid(ParamId.ControlConfig_ReadWrite_TotalSteps1, true);
sendCmd60.SetValue(ParamId.ControlConfig_ReadWrite_TotalSteps1, totalSteps1);
sendCmd60.SetParamValid(ParamId.ControlConfig_ReadWrite_ControlMode2, true);
sendCmd60.SetValue(ParamId.ControlConfig_ReadWrite_ControlMode2, controlMode2);
sendCmd60.SetParamValid(ParamId.ControlConfig_ReadWrite_Direction2, true);
sendCmd60.SetValue(ParamId.ControlConfig_ReadWrite_Direction2, direction2);
sendCmd60.SetParamValid(ParamId.ControlConfig_ReadWrite_TotalSteps2, true);
sendCmd60.SetValue(ParamId.ControlConfig_ReadWrite_TotalSteps2, totalSteps2);
RecvCommand recvCmd60 = (RecvCommand)PortManager.GetInstance().Send(InsName, sendCmd60);
var v60 = recvCmd60.GetBytes();
ResponseCode responeCode = new ResponseCode();
responeCode.Code = recvCmd60.GetBytes()[0];
return(responeCode);
}
