ER7BC10.cs
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using HslCommunication.BasicFramework;
using HslCommunication.Core;
using HslCommunication.Core.IMessage;
using HslCommunication.Core.Net;
using System;
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
}
}