KukaVarProxyMessage.cs
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namespace HslCommunication.Core.IMessage
{
/// <summary>
/// Kuka机器人的 KRC4 控制器中的服务器KUKAVARPROXY
/// </summary>
public class KukaVarProxyMessage : INetMessage
{
/// <summary>
/// 本协议的消息头长度
/// </summary>
public int ProtocolHeadBytesLength
{
get { return 4; }
}
/// <summary>
/// 头子节信息
/// </summary>
public byte[] HeadBytes { get; set; }
/// <summary>
/// 内容字节信息
/// </summary>
public byte[] ContentBytes { get; set; }
/// <summary>
/// 检查接收的数据是否合法
/// </summary>
/// <param name="token">令牌</param>
/// <returns>是否合法</returns>
public bool CheckHeadBytesLegal(byte[] token)
{
return true;
}
/// <summary>
/// 从头子节信息中解析出接下来需要接收的数据长度
/// </summary>
/// <returns>接下来的数据长度</returns>
public int GetContentLengthByHeadBytes()
{
if (HeadBytes?.Length >= 4)
{
return HeadBytes[2] * 256 + HeadBytes[3];
}
else
{
return 0;
}
}
/// <summary>
/// 获取头子节里的特殊标识
/// </summary>
/// <returns>标识信息</returns>
public int GetHeadBytesIdentity()
{
if (HeadBytes?.Length >= 4)
{
return HeadBytes[0] * 256 + HeadBytes[1];
}
else
{
return 0;
}
}
/// <summary>
/// 发送的字节信息
/// </summary>
public byte[] SendBytes { get; set; }
}
}