ER7BC10.cs
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using HslCommunication.BasicFramework;
using HslCommunication.Core;
using HslCommunication.Core.IMessage;
using HslCommunication.Core.Net;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace HslCommunication.Robot.EFORT
{
/// <summary>
/// 埃夫特机器人对应型号为ER7B-C10，此协议为定制版，使用前请测试
/// </summary>
public class ER7BC10 : NetworkDoubleBase<EFORTMessage, RegularByteTransform>, IRobotNet
{
#region Constructor
/// <summary>
/// 实例化一个默认的对象，并指定IP地址和端口号，端口号通常为8008
/// </summary>
/// <param name="ipAddress">Ip地址</param>
/// <param name="port">端口号</param>
public ER7BC10( string ipAddress, int port )
{
IpAddress = ipAddress;
Port = port;
softIncrementCount = new SoftIncrementCount( ushort.MaxValue );
}
#endregion
#region Request Create
/// <summary>
/// 获取发送的消息的命令
/// </summary>
/// <returns>字节数组命令</returns>
public byte[] GetReadCommand()
{
byte[] command = new byte[38];
Encoding.ASCII.GetBytes( "MessageHead" ).CopyTo( command, 0 );
BitConverter.GetBytes( (ushort)command.Length ).CopyTo( command, 16 );
BitConverter.GetBytes( (ushort)1001 ).CopyTo( command, 18 );
BitConverter.GetBytes( (ushort)softIncrementCount.GetCurrentValue( ) ).CopyTo( command, 20 );
Encoding.ASCII.GetBytes( "MessageTail" ).CopyTo( command, 22);
return command;
}
#endregion
#region IRobotNet Support
/// <summary>
/// 读取埃夫特机器人的原始的字节数据信息，该地址参数是没有任何作用的，随便填什么
/// </summary>
/// <param name="address">无效参数</param>
/// <returns>带有成功标识的byte[]数组</returns>
public OperateResult<byte[]> Read( string address )
{
return ReadFromCoreServer( GetReadCommand( ) );
}
/// <summary>
/// 读取机器人的所有的数据信息，返回JSON格式的数据对象，地址参数无效
/// </summary>
/// <param name="address">地址信息</param>
/// <returns>带有成功标识的字符串数据</returns>
public OperateResult<string> ReadString( string address )
{
OperateResult<EfortData> read = ReadEfortData( );
if (!read.IsSuccess) return OperateResult.CreateFailedResult<string>( read );
return OperateResult.CreateSuccessResult( Newtonsoft.Json.JsonConvert.SerializeObject( read.Content, Newtonsoft.Json.Formatting.Indented ) );
}
/// <summary>
/// 本机器人不支持该方法操作，将永远返回失败，无效的操作
/// </summary>
/// <param name="address">指定的地址信息，有些机器人可能不支持</param>
/// <param name="value">原始的字节数据信息</param>
/// <returns>是否成功的写入</returns>
public OperateResult Write( string address, byte[] value )
{
return new OperateResult( StringResources.Language.NotSupportedFunction );
}
/// <summary>
/// 本机器人不支持该方法操作，将永远返回失败，无效的操作
/// </summary>
/// <param name="address">指定的地址信息，有些机器人可能不支持</param>
/// <param name="value">字符串的数据信息</param>
/// <returns>是否成功的写入</returns>
public OperateResult Write( string address, string value )
{
return new OperateResult( StringResources.Language.NotSupportedFunction );
}
/// <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 );
}
#endregion
#region Private Member
private SoftIncrementCount softIncrementCount; // 自增消息的对象
#endregion
#region Object Override
/// <summary>
/// 返回表示当前对象的字符串
/// </summary>
/// <returns>字符串</returns>
public override string ToString( )
{
return $"ER7BC10 Robot[{IpAddress}:{Port}]";
}
#endregion
}
}