853 lines
37 KiB
C#
853 lines
37 KiB
C#
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using System;
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using System.Collections.Generic;
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using System.IO.Ports;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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namespace MegaRobo.C00225155.ControlDevices
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{
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/// <summary>
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/// 高温温度模块 485 uart 定制HCM通信协议封装类（PC→主控板指令构建 + 主控板→PC指令解析）
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/// </summary>
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public static class LowTemperatureUartHCM
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{
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#region 协议常量定义（码表及指令规范）
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private const byte ST = 0x5E; // 帧头
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private const byte HELLO = 0x01; // 握手指令
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private const byte STATUS = 0x05; // 读取报错状态
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private const byte SETTEMP = 0x06; // 制冷温度控制
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private const byte MOTOR = 0x07; // 电机控制
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private const byte RDTEMP = 0x08; // 读取温度
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private const byte RDADC = 0x09; // 读取传感器AD
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private const byte RDEE = 0x11; // 读取EEPROM
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private const byte WREE = 0x12; // 写入EEPROM
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private const byte RDMotSpeed = 0x13; // 获取实际转速
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private const byte RDIOStatus = 0x14; // 获取开关盖状态
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private const byte Calb = 0x15; // 校准温度
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private const byte SETHOTTEMP = 0x16; // 加热温度控制（补充遗漏指令）
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private const byte RelayControl = 0x17; // 电磁阀控制（补充遗漏指令）
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private const byte RESPONSE_FLAG = 0x80; // 上传指令标志（指令码 | 0x80）
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#endregion
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#region
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private static byte _cmdSequence = 0; // 指令序号（0-255自动溢出）
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private static readonly object _lock = new object();// 线程安全锁（避免多线程序号混乱）
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#endregion
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#region 校验和计算（协议第6点：前n-1字节之和的低8位）
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/// <summary>
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/// 计算帧的校验和（核心：前length字节之和的低8位）
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/// </summary>
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/// <param name="data">待计算的帧数据</param>
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/// <param name="length">参与计算的字节数（前n-1字节）</param>
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/// <returns>校验和字节</returns>
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private static byte CalculateChecksum(byte[] data, int length)
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{
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if (data == null || length <= 0 || length > data.Length)
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throw new ArgumentException("校验和计算参数无效");
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int sum = 0;
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for (int i = 0; i < length; i++)
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sum += data[i];
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return (byte)(sum & 0xFF); // 取低8位，确保是1字节
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}
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#endregion
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#region 指令序号自增（线程安全）
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/// <summary>
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/// 指令序号自增（0-255自动溢出，确保除溢出外无重复指令）
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/// </summary>
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private static void IncrementCmdSequence()
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{
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lock (_lock)
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{
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_cmdSequence++; // 字节类型自动溢出（255→0）
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// 确保序号不超过0x7F（避免下发指令CMD被误认为上传指令）
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if (_cmdSequence >= 0x80)
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_cmdSequence = 0;
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}
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}
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/// <summary>
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/// 获取当前指令序号（带线程安全）
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/// </summary>
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private static byte GetCurrentCmdSequence()
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{
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lock (_lock)
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{
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return _cmdSequence;
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}
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}
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#endregion
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#region 下传指令构建（PC→主控板，返回byte[]帧）
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/// <summary>
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/// 握手指令（系统开机必发）
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/// </summary>
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/// <param name="deviceId">设备ID（0-255，默认0）</param>
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/// <returns>握手指令帧（5字节）</returns>
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public static byte[] SendHello(byte deviceId = 0)
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{
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byte[] frame = new byte[5]; // 帧长固定5字节
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byte seq = GetCurrentCmdSequence();
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// 按协议填充帧结构：ST → HELLO+序号 → 设备ID → LTH=5 → 校验和
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frame[0] = ST;
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frame[1] = (byte)(HELLO | seq);
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frame[2] = deviceId;
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frame[3] = 5; // LTH固定为5
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frame[4] = CalculateChecksum(frame, 4); // 前4字节求和取低8位
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IncrementCmdSequence(); // 序号自增
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AddFrameInterval(); // 帧间隔>2ms
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return frame;
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}
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/// <summary>
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/// 读取报错状态指令
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/// </summary>
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/// <param name="deviceId">设备ID（0-255，默认0）</param>
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/// <returns>报错状态指令帧（5字节）</returns>
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public static byte[] SendStatusRequest(byte deviceId = 0)
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{
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byte[] frame = new byte[5]; // 帧长固定5字节
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byte seq = GetCurrentCmdSequence();
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// 帧结构：ST → STATUS+序号 → 设备ID → LTH=5 → 校验和
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frame[0] = ST;
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frame[1] = (byte)(STATUS | seq);
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frame[2] = deviceId;
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frame[3] = 5; // LTH固定为5
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frame[4] = CalculateChecksum(frame, 4);
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IncrementCmdSequence();
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AddFrameInterval();
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return frame;
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}
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/// <summary>
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/// 温度控制指令（下发后主控板直接执行温度控制）
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/// </summary>
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/// <param name="targetTemp">目标温度（10.0-180.0℃，精度0.1）</param>
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/// <param name="deviceId">设备ID（0-255，默认0）</param>
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/// <param name="releaseControl">是否释放控制（true=0xFFFF，关断功率）关闭温度</param>
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/// <returns>温度控制指令帧（7字节）</returns>
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public static byte[] SendSetTemp(double targetTemp, byte deviceId = 0, bool releaseControl=false)
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{
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byte[] frame = new byte[7]; // 帧长固定7字节
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byte seq = GetCurrentCmdSequence();
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int tempParam = 0; // 温度参数（16位：高8位+低8位）
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// 处理参数：释放控制/正常温度
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if (releaseControl)
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{
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tempParam = 0xFFFF; // 协议约定：释放控制=0xFFFF
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}
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else
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{
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// 参数校验：温度范围10.0-180.0℃（对应1000-18000）
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if (targetTemp < -50.0 || targetTemp > 50.0)
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throw new ArgumentOutOfRangeException(nameof(targetTemp), "温度必须在[-50 , 50]℃之间");
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tempParam = (short)(targetTemp * 100); // 放大100倍（精度0.1）
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}
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// 帧结构：ST → SETTEMP+序号 → 设备ID → LTH=7 → 参数1(高8) → 参数2(低8) → 校验和
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frame[0] = ST;
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frame[1] = (byte)(SETTEMP | seq);
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frame[2] = deviceId;
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frame[3] = 7; // LTH固定为7
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frame[4] = (byte)(tempParam >> 8); // 参数1（高8位）
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frame[5] = (byte)(tempParam & 0xFF); // 参数2（低8位）
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frame[6] = CalculateChecksum(frame, 6); // 前6字节求和
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IncrementCmdSequence();
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AddFrameInterval();
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return frame;
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}
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/// <summary>
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/// 电机控制指令（设置电机转速）
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/// </summary>
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/// <param name="motorSpeed">电机转速（200-1500，16位参数）</param>
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/// <param name="deviceId">设备ID（0-255，默认0）</param>
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/// <returns>电机控制指令帧（11字节，0x0B=11）</returns>
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public static byte[] SendMotorControl(int motorSpeed, byte deviceId = 0)
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{
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// 参数校验：转速范围100-1500
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if (motorSpeed < 100 || motorSpeed > 1500)
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throw new ArgumentOutOfRangeException(nameof(motorSpeed), "转速必须在100-1500之间");
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byte[] frame = new byte[11]; // 帧长固定0x0B（11字节）
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byte seq = GetCurrentCmdSequence();
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ushort speedParam = (ushort)motorSpeed; // 转速参数（16位）
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// 帧结构：ST → MOTOR+序号 → 设备ID → LTH=0x0B → 0x10 → 预留0×3 → 参数4(高8) → 参数5(低8) → 校验和
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frame[0] = ST;
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frame[1] = (byte)(MOTOR | seq);
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frame[2] = deviceId;
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frame[3] = 0x0B; // LTH固定为11
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frame[4] = 0x10; // 协议固定值
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frame[5] = 0; // 预留位1
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frame[6] = 0; // 预留位2
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frame[7] = 0; // 预留位3
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frame[8] = (byte)(speedParam >> 8); // 参数4（高8位）
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frame[9] = (byte)(speedParam & 0xFF); // 参数5（低8位）
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frame[10] = CalculateChecksum(frame, 10); // 前10字节求和
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IncrementCmdSequence();
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AddFrameInterval();
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return frame;
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}
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/// <summary>
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/// 读取温度指令（获取设置温度、实际温度、到温标志）
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/// </summary>
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/// <param name="deviceId">设备ID（0-255，默认0）</param>
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/// <returns>读取温度指令帧（5字节）</returns>
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public static byte[] SendReadTempRequest(byte deviceId = 0)
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{
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byte[] frame = new byte[5]; // 帧长固定5字节
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byte seq = GetCurrentCmdSequence();
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// 帧结构：ST → RDTEMP+序号 → 设备ID → LTH=5 → 校验和
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frame[0] = ST;
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frame[1] = (byte)(RDTEMP | seq);
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frame[2] = deviceId;
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frame[3] = 5; // LTH固定为5
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frame[4] = CalculateChecksum(frame, 4);
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IncrementCmdSequence();
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AddFrameInterval();
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return frame;
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}
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/// <summary>
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/// 读取传感器AD指令（获取AD值）
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/// </summary>
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/// <param name="deviceId">设备ID（0-255，默认0）</param>
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/// <returns>读取AD指令帧（5字节）</returns>
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public static byte[] SendReadAdcRequest(byte deviceId = 0)
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{
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byte[] frame = new byte[5]; // 帧长固定5字节（协议3.6）
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byte seq = GetCurrentCmdSequence();
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// 帧结构：ST → RDADC+序号 → 设备ID → LTH=5 → 校验和
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frame[0] = ST;
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frame[1] = (byte)(RDADC | seq);
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frame[2] = deviceId;
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frame[3] = 5; // LTH固定为5
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frame[4] = CalculateChecksum(frame, 4);
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IncrementCmdSequence();
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AddFrameInterval();
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return frame;
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}
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/// <summary>
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/// 读取EEPROM指令（获取指定地址的硬件/调试信息）
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/// </summary>
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/// <param name="addrHigh">地址高位字节</param>
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/// <param name="addrMid">地址中位字节</param>
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/// <param name="addrLow">地址低位字节</param>
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/// <param name="readLength">读取长度（字节数）</param>
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/// <param name="deviceId">设备ID（0-255，默认0）</param>
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/// <returns>读取EEPROM指令帧（变长，9 + readLength字节）</returns>
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public static byte[] SendReadEepromRequest(byte addrHigh, byte addrMid, byte addrLow, int readLength, byte deviceId = 0)
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{
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// 参数校验：读取长度≥1（避免空数据）
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if (readLength < 1)
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throw new ArgumentOutOfRangeException(nameof(readLength), "读取长度必须≥1");
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int frameLength = 9 + readLength; // 帧长N=9（固定段）+ 读取长度
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byte[] frame = new byte[frameLength];
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byte seq = GetCurrentCmdSequence();
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// 帧结构：ST → RDEE+序号 → 设备ID → LTH=N → 地址高→中→低 → 读取长度 → 校验和
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frame[0] = ST;
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frame[1] = (byte)(RDEE | seq);
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frame[2] = deviceId;
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frame[3] = (byte)frameLength; // LTH=N（实际帧长）
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frame[4] = addrHigh; // 地址高位
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frame[5] = addrMid; // 地址中位
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frame[6] = addrLow; // 地址低位
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frame[7] = (byte)readLength; // 读取长度
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// 校验和：前（frameLength-1）字节求和（帧长-1 = 8 + readLength）
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frame[frameLength - 1] = CalculateChecksum(frame, frameLength - 1);
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IncrementCmdSequence();
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AddFrameInterval();
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return frame;
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}
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/// <summary>
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/// 写入EEPROM指令（写入硬件/调试/标定参数）
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/// </summary>
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/// <param name="addrHigh">地址高位字节</param>
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/// <param name="addrMid">地址中位字节</param>
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/// <param name="addrLow">地址低位字节</param>
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/// <param name="writeData">待写入的数据（字节数组）</param>
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/// <param name="deviceId">设备ID（0-255，默认0）</param>
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/// <returns>写入EEPROM指令帧（变长，9 + writeData.Length字节）</returns>
|
|||
|
|
public static byte[] SendWriteEepromRequest(byte addrHigh, byte addrMid, byte addrLow, byte[] writeData, byte deviceId = 0)
|
|||
|
|
{
|
|||
|
|
// 参数校验：写入数据非空
|
|||
|
|
if (writeData == null || writeData.Length == 0)
|
|||
|
|
throw new ArgumentException("写入数据不能为空", nameof(writeData));
|
|||
|
|
|
|||
|
|
int frameLength = 9 + writeData.Length; // 帧长N=9（固定段）+ 数据长度
|
|||
|
|
byte[] frame = new byte[frameLength];
|
|||
|
|
byte seq = GetCurrentCmdSequence();
|
|||
|
|
|
|||
|
|
// 帧结构：ST → WREE+序号 → 设备ID → LTH=N → 地址高→中→低 → 写入数据 → 校验和
|
|||
|
|
frame[0] = ST;
|
|||
|
|
frame[1] = (byte)(WREE | seq);
|
|||
|
|
frame[2] = deviceId;
|
|||
|
|
frame[3] = (byte)frameLength; // LTH=N（实际帧长）
|
|||
|
|
frame[4] = addrHigh; // 地址高位
|
|||
|
|
frame[5] = addrMid; // 地址中位
|
|||
|
|
frame[6] = addrLow; // 地址低位
|
|||
|
|
// 填充写入数据（从第8字节开始，索引7）
|
|||
|
|
Array.Copy(writeData, 0, frame, 7, writeData.Length);
|
|||
|
|
// 校验和：前（frameLength-1）字节求和
|
|||
|
|
frame[frameLength - 1] = CalculateChecksum(frame, frameLength - 1);
|
|||
|
|
|
|||
|
|
IncrementCmdSequence();
|
|||
|
|
AddFrameInterval();
|
|||
|
|
return frame;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 获取实际转速指令
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="deviceId">设备ID（0-255，默认0）</param>
|
|||
|
|
/// <returns>获取转速指令帧（5字节）</returns>
|
|||
|
|
public static byte[] SendReadMotorSpeedRequest(byte deviceId = 0)
|
|||
|
|
{
|
|||
|
|
byte[] frame = new byte[5]; // 帧长固定5字节
|
|||
|
|
byte seq = GetCurrentCmdSequence();
|
|||
|
|
|
|||
|
|
// 帧结构：ST → RDMotSpeed+序号 → 设备ID → LTH=5 → 校验和
|
|||
|
|
frame[0] = ST;
|
|||
|
|
frame[1] = (byte)(RDMotSpeed | seq);
|
|||
|
|
frame[2] = deviceId;
|
|||
|
|
frame[3] = 5; // LTH固定为5
|
|||
|
|
frame[4] = CalculateChecksum(frame, 4);
|
|||
|
|
|
|||
|
|
IncrementCmdSequence();
|
|||
|
|
AddFrameInterval();
|
|||
|
|
return frame;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 获取开关盖状态指令
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="deviceId">设备ID（0-255，默认0）</param>
|
|||
|
|
/// <returns>获取开关盖状态指令帧（5字节）</returns>
|
|||
|
|
public static byte[] SendReadIoStatusRequest(byte deviceId = 0)
|
|||
|
|
{
|
|||
|
|
byte[] frame = new byte[5]; // 帧长固定5字节
|
|||
|
|
byte seq = GetCurrentCmdSequence();
|
|||
|
|
|
|||
|
|
// 帧结构：ST → RDIOStatus+序号 → 设备ID → LTH=5 → 校验和
|
|||
|
|
frame[0] = ST;
|
|||
|
|
frame[1] = (byte)(RDIOStatus | seq);
|
|||
|
|
frame[2] = deviceId;
|
|||
|
|
frame[3] = 5; // LTH固定为5
|
|||
|
|
frame[4] = CalculateChecksum(frame, 4);
|
|||
|
|
|
|||
|
|
IncrementCmdSequence();
|
|||
|
|
AddFrameInterval();
|
|||
|
|
return frame;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 校准温度指令（设置温度校准B值）
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="calibBValue">校准B值（16位：B=(实际温度-目标温度)×100）</param>
|
|||
|
|
/// <param name="deviceId">设备ID（0-255，默认0）</param>
|
|||
|
|
/// <returns>校准温度指令帧（7字节）</returns>
|
|||
|
|
public static byte[] SendCalibrateTempRequest(int calibBValue, byte deviceId = 0)
|
|||
|
|
{
|
|||
|
|
// 参数校验：B值为16位有符号范围（-32768~32767）
|
|||
|
|
if (calibBValue < short.MinValue || calibBValue > short.MaxValue)
|
|||
|
|
throw new ArgumentOutOfRangeException(nameof(calibBValue), "校准B值必须在-32768~32767之间");
|
|||
|
|
|
|||
|
|
byte[] frame = new byte[7]; // 帧长固定7字节
|
|||
|
|
byte seq = GetCurrentCmdSequence();
|
|||
|
|
ushort bParam = (ushort)calibBValue; // 转换为16位无符号（高位在前）
|
|||
|
|
|
|||
|
|
// 帧结构：ST → Calb+序号 → 设备ID → LTH=7 → 参数1(高8) → 参数2(低8) → 校验和
|
|||
|
|
frame[0] = ST;
|
|||
|
|
frame[1] = (byte)(Calb | seq);
|
|||
|
|
frame[2] = deviceId;
|
|||
|
|
frame[3] = 7; // LTH固定为7
|
|||
|
|
frame[4] = (byte)(bParam >> 8); // 参数1（高8位）
|
|||
|
|
frame[5] = (byte)(bParam & 0xFF); // 参数2（低8位）
|
|||
|
|
frame[6] = CalculateChecksum(frame, 6); // 前6字节求和
|
|||
|
|
|
|||
|
|
IncrementCmdSequence();
|
|||
|
|
AddFrameInterval();
|
|||
|
|
return frame;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 加热温度控制
|
|||
|
|
/// </summary>
|
|||
|
|
public static byte[] SendSetHotTemp(double targetTemp, byte deviceId = 0, bool releaseControl = false)
|
|||
|
|
{
|
|||
|
|
byte[] frame = new byte[7];
|
|||
|
|
byte seq = GetCurrentCmdSequence();
|
|||
|
|
ushort tempParam;
|
|||
|
|
|
|||
|
|
if (releaseControl)
|
|||
|
|
{
|
|||
|
|
tempParam = 0xFFFF; // 释放控制
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
// 协议范围：室温~100℃（对应室温*100~10000）
|
|||
|
|
if (targetTemp < 20.0 || targetTemp > 100.0) // 室温暂以20℃为参考下限
|
|||
|
|
throw new ArgumentOutOfRangeException(nameof(targetTemp), "温度必须在[20.0 , 100]℃之间（参考室温）");
|
|||
|
|
tempParam = (ushort)(targetTemp * 100);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
frame[0] = ST;
|
|||
|
|
frame[1] = (byte)(SETHOTTEMP | seq);
|
|||
|
|
frame[2] = deviceId;
|
|||
|
|
frame[3] = 7; // LTH=7
|
|||
|
|
frame[4] = (byte)(tempParam >> 8);
|
|||
|
|
frame[5] = (byte)(tempParam & 0xFF);
|
|||
|
|
frame[6] = CalculateChecksum(frame, 6);
|
|||
|
|
|
|||
|
|
IncrementCmdSequence();
|
|||
|
|
AddFrameInterval();
|
|||
|
|
return frame;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 电磁阀控制指令
|
|||
|
|
/// </summary>
|
|||
|
|
public static byte[] SendRelayControl(bool isOpen, byte deviceId = 0)
|
|||
|
|
{
|
|||
|
|
byte[] frame = new byte[6];
|
|||
|
|
byte seq = GetCurrentCmdSequence();
|
|||
|
|
byte param = (byte)(isOpen ? 1 : 0); // 1=开启，0=关闭
|
|||
|
|
|
|||
|
|
frame[0] = ST;
|
|||
|
|
frame[1] = (byte)(RelayControl | seq);
|
|||
|
|
frame[2] = deviceId;
|
|||
|
|
frame[3] = 6; // LTH=6
|
|||
|
|
frame[4] = param;
|
|||
|
|
frame[5] = CalculateChecksum(frame, 5);
|
|||
|
|
|
|||
|
|
IncrementCmdSequence();
|
|||
|
|
AddFrameInterval();
|
|||
|
|
return frame;
|
|||
|
|
}
|
|||
|
|
#endregion
|
|||
|
|
|
|||
|
|
#region 指令解析（主控板→PC，返回结构化结果）
|
|||
|
|
/// <summary>
|
|||
|
|
/// 解析主控板返回的帧数据（入口方法）
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="receivedFrame">主控板返回的原始字节数组</param>
|
|||
|
|
/// <returns>解析结果（结构化对象，包含指令类型、状态、数据）</returns>
|
|||
|
|
public static ParseResult ParseReceivedFrame(byte[] receivedFrame)
|
|||
|
|
{
|
|||
|
|
// 基础校验：帧非空、帧长≥5（最短帧为5字节）
|
|||
|
|
if (receivedFrame == null || receivedFrame.Length < 5)
|
|||
|
|
return new ParseResult(false, "无效帧：数据为空或长度不足", null);
|
|||
|
|
|
|||
|
|
// 1. 校验帧头（必须为ST=0x5E）
|
|||
|
|
if (receivedFrame[0] != ST)
|
|||
|
|
return new ParseResult(false, $"帧头错误：实际0x{receivedFrame[0]:X2}，期望0x{ST:X2}", null);
|
|||
|
|
|
|||
|
|
// 2. 提取核心字段
|
|||
|
|
byte cmdWithFlag = receivedFrame[1]; // 带0x80标志的指令码
|
|||
|
|
byte deviceId = receivedFrame[2]; // 设备ID
|
|||
|
|
byte frameLength = receivedFrame[3]; // 帧长LTH
|
|||
|
|
byte checksum = receivedFrame[frameLength - 1]; // 帧中校验和
|
|||
|
|
|
|||
|
|
// 3. 校验帧长（实际长度必须等于帧长字段）
|
|||
|
|
if (receivedFrame.Length != frameLength)
|
|||
|
|
return new ParseResult(false, $"帧长不匹配：实际{receivedFrame.Length}字节，期望{frameLength}字节", null);
|
|||
|
|
|
|||
|
|
// 4. 校验和验证
|
|||
|
|
byte calculatedChecksum = CalculateChecksum(receivedFrame, frameLength - 1);
|
|||
|
|
if (calculatedChecksum != checksum)
|
|||
|
|
return new ParseResult(false, $"校验和错误：实际0x{checksum:X2}，计算0x{calculatedChecksum:X2}", null);
|
|||
|
|
|
|||
|
|
// 5. 去除响应标志，获取原始指令码
|
|||
|
|
byte originalCmd = (byte)(cmdWithFlag & ~RESPONSE_FLAG);
|
|||
|
|
|
|||
|
|
// 6. 按指令类型分发解析
|
|||
|
|
switch (originalCmd)
|
|||
|
|
{
|
|||
|
|
case HELLO:
|
|||
|
|
return ParseHelloResponse(receivedFrame, deviceId);
|
|||
|
|
case STATUS:
|
|||
|
|
return ParseStatusResponse(receivedFrame, deviceId);
|
|||
|
|
case SETTEMP:
|
|||
|
|
return ParseSetTempResponse(receivedFrame, deviceId);
|
|||
|
|
case MOTOR:
|
|||
|
|
return ParseMotorResponse(receivedFrame, deviceId);
|
|||
|
|
case RDTEMP:
|
|||
|
|
return ParseReadTempResponse(receivedFrame, deviceId);
|
|||
|
|
case RDADC:
|
|||
|
|
return ParseReadAdcResponse(receivedFrame, deviceId);
|
|||
|
|
case RDEE:
|
|||
|
|
return ParseReadEepromResponse(receivedFrame, deviceId);
|
|||
|
|
case WREE:
|
|||
|
|
return ParseWriteEepromResponse(receivedFrame, deviceId);
|
|||
|
|
case RDMotSpeed:
|
|||
|
|
return ParseReadMotorSpeedResponse(receivedFrame, deviceId);
|
|||
|
|
case RDIOStatus:
|
|||
|
|
return ParseReadIoStatusResponse(receivedFrame, deviceId);
|
|||
|
|
case Calb:
|
|||
|
|
return ParseCalibrateTempResponse(receivedFrame, deviceId);
|
|||
|
|
case SETHOTTEMP:
|
|||
|
|
return ParseSetHotTempResponse(receivedFrame, deviceId);
|
|||
|
|
case RelayControl:
|
|||
|
|
return ParseRelayControlResponse(receivedFrame, deviceId);
|
|||
|
|
default:
|
|||
|
|
return new ParseResult(false, $"未知指令：0x{originalCmd:X2}", null);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
#region 各指令解析实现
|
|||
|
|
/// <summary>
|
|||
|
|
/// 解析握手响应
|
|||
|
|
/// </summary>
|
|||
|
|
private static ParseResult ParseHelloResponse(byte[] frame, byte deviceId)
|
|||
|
|
{
|
|||
|
|
// 响应帧长固定6字节（协议3.1）
|
|||
|
|
if (frame.Length != 6)
|
|||
|
|
return new ParseResult(false, "握手响应帧长错误（需6字节）", null);
|
|||
|
|
|
|||
|
|
byte status = frame[4]; // 状态位（0=成功）
|
|||
|
|
var data = new Dictionary<string, object>
|
|||
|
|
{
|
|||
|
|
{ "设备ID", deviceId },
|
|||
|
|
{ "状态码", status },
|
|||
|
|
{ "状态描述", status == 0 ? "握手成功" : $"握手失败（错误码：{status}）" }
|
|||
|
|
};
|
|||
|
|
return new ParseResult(true, "握手响应解析成功", data);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 解析报错状态响应
|
|||
|
|
/// </summary>
|
|||
|
|
private static ParseResult ParseStatusResponse(byte[] frame, byte deviceId)
|
|||
|
|
{
|
|||
|
|
// 响应帧长固定8字节（协议3.2）
|
|||
|
|
if (frame.Length != 8)
|
|||
|
|
return new ParseResult(false, "报错状态响应帧长错误（需8字节）", null);
|
|||
|
|
|
|||
|
|
// 提取Error（2字节：Bit0-11）和状态位
|
|||
|
|
ushort error = (ushort)((frame[4] << 8) | frame[5]);
|
|||
|
|
byte status = frame[6];
|
|||
|
|
|
|||
|
|
// 解析Error按位含义（协议3.2）
|
|||
|
|
var errorDesc = new Dictionary<string, bool>
|
|||
|
|
{
|
|||
|
|
{ "测温传感器故障（Bit0）", (error & (1 << 0)) != 0 },
|
|||
|
|
{ "温度过高>200℃（Bit1）", (error & (1 << 1)) != 0 },
|
|||
|
|
{ "温度过低≤0℃（Bit2）", (error & (1 << 2)) != 0 },
|
|||
|
|
{ "电机故障（Bit3）", (error & (1 << 3)) != 0 },
|
|||
|
|
{ "预留Bit4", (error & (1 << 4)) != 0 },
|
|||
|
|
{ "预留Bit5", (error & (1 << 5)) != 0 }
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
var data = new Dictionary<string, object>
|
|||
|
|
{
|
|||
|
|
{ "设备ID", deviceId },
|
|||
|
|
{ "状态码", status },
|
|||
|
|
{ "状态描述", status == 0 ? "读取报错状态成功" : $"读取失败（错误码：{status}）" },
|
|||
|
|
{ "报错详情", errorDesc },
|
|||
|
|
{ "原始Error值", $"0x{error:X4}" }
|
|||
|
|
};
|
|||
|
|
return new ParseResult(true, "报错状态响应解析成功", data);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 解析温度控制响应
|
|||
|
|
/// </summary>
|
|||
|
|
private static ParseResult ParseSetTempResponse(byte[] frame, byte deviceId)
|
|||
|
|
{
|
|||
|
|
// 响应帧长固定6字节（协议3.3）
|
|||
|
|
if (frame.Length != 6)
|
|||
|
|
return new ParseResult(false, "温度控制响应帧长错误（需6字节）", null);
|
|||
|
|
|
|||
|
|
byte status = frame[4]; // 状态位（0=成功）
|
|||
|
|
var data = new Dictionary<string, object>
|
|||
|
|
{
|
|||
|
|
{ "设备ID", deviceId },
|
|||
|
|
{ "状态码", status },
|
|||
|
|
{ "状态描述", status == 0 ? "温度控制指令接收成功" : $"接收失败（错误码：{status}）" }
|
|||
|
|
};
|
|||
|
|
return new ParseResult(true, "温度控制响应解析成功", data);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 解析电机控制响应
|
|||
|
|
/// </summary>
|
|||
|
|
private static ParseResult ParseMotorResponse(byte[] frame, byte deviceId)
|
|||
|
|
{
|
|||
|
|
// 响应帧长固定6字节（协议3.4）
|
|||
|
|
if (frame.Length != 6)
|
|||
|
|
return new ParseResult(false, "电机控制响应帧长错误（需6字节）", null);
|
|||
|
|
|
|||
|
|
byte status = frame[4]; // 状态位（0=成功）
|
|||
|
|
var data = new Dictionary<string, object>
|
|||
|
|
{
|
|||
|
|
{ "设备ID", deviceId },
|
|||
|
|
{ "状态码", status },
|
|||
|
|
{ "状态描述", status == 0 ? "电机控制指令接收成功" : $"接收失败（错误码：{status}）" }
|
|||
|
|
};
|
|||
|
|
return new ParseResult(true, "电机控制响应解析成功", data);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 解析读取温度响应
|
|||
|
|
/// </summary>
|
|||
|
|
private static ParseResult ParseReadTempResponse(byte[] frame, byte deviceId)
|
|||
|
|
{
|
|||
|
|
// 响应帧长固定0x0D（13字节，协议3.5）
|
|||
|
|
if (frame.Length != 0x0D)
|
|||
|
|
return new ParseResult(false, $"读取温度响应帧长错误（需13字节，实际{frame.Length}字节）", null);
|
|||
|
|
|
|||
|
|
// 提取数据：设置温度（5-6字节）、实际温度（7-8字节）、预留（9-10）、标志位（11）、状态位（12）
|
|||
|
|
ushort setTempParam = (ushort)((frame[4] << 8) | frame[5]);
|
|||
|
|
ushort actualTempParam = (ushort)((frame[6] << 8) | frame[7]);
|
|||
|
|
byte flag = frame[10]; // 0=未到温，1=到温
|
|||
|
|
byte status = frame[11];
|
|||
|
|
|
|||
|
|
// 转换为实际温度（除以100，精度0.1）
|
|||
|
|
double setTemp = setTempParam / 100.0;
|
|||
|
|
double actualTemp = actualTempParam / 100.0;
|
|||
|
|
|
|||
|
|
var data = new Dictionary<string, object>
|
|||
|
|
{
|
|||
|
|
{ "设备ID", deviceId },
|
|||
|
|
{ "状态码", status },
|
|||
|
|
{ "状态描述", status == 0 ? "读取温度成功" : $"读取失败（错误码：{status}）" },
|
|||
|
|
{ "设置温度（℃）", setTemp },
|
|||
|
|
{ "实际温度（℃）", actualTemp },
|
|||
|
|
{ "到温标志", flag == 0 ? "未到温" : "已到温" },
|
|||
|
|
{ "原始设置温度参数", $"0x{setTempParam:X4}" },
|
|||
|
|
{ "原始实际温度参数", $"0x{actualTempParam:X4}" }
|
|||
|
|
};
|
|||
|
|
return new ParseResult(true, "读取温度响应解析成功", data);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 解析读取AD响应
|
|||
|
|
/// </summary>
|
|||
|
|
private static ParseResult ParseReadAdcResponse(byte[] frame, byte deviceId)
|
|||
|
|
{
|
|||
|
|
// 响应帧长固定0x0D（13字节，协议3.6）
|
|||
|
|
if (frame.Length != 0x0D)
|
|||
|
|
return new ParseResult(false, $"读取AD响应帧长错误（需13字节，实际{frame.Length}字节）", null);
|
|||
|
|
|
|||
|
|
// 提取数据：AD值（5-6字节）、预留（7-8）、状态位（9）
|
|||
|
|
ushort adcValue = (ushort)((frame[4] << 8) | frame[5]);
|
|||
|
|
byte status = frame[8];
|
|||
|
|
|
|||
|
|
var data = new Dictionary<string, object>
|
|||
|
|
{
|
|||
|
|
{ "设备ID", deviceId },
|
|||
|
|
{ "状态码", status },
|
|||
|
|
{ "状态描述", status == 0 ? "读取AD成功" : $"读取失败（错误码：{status}）" },
|
|||
|
|
{ "AD值", adcValue },
|
|||
|
|
{ "原始AD参数", $"0x{adcValue:X4}" }
|
|||
|
|
};
|
|||
|
|
return new ParseResult(true, "读取AD响应解析成功", data);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 解析读取EEPROM响应
|
|||
|
|
/// </summary>
|
|||
|
|
private static ParseResult ParseReadEepromResponse(byte[] frame, byte deviceId)
|
|||
|
|
{
|
|||
|
|
// 响应帧长N≥6（协议3.7：返回长度-6为数据字节数）
|
|||
|
|
if (frame.Length < 6)
|
|||
|
|
return new ParseResult(false, "读取EEPROM响应帧长不足（需≥6字节）", null);
|
|||
|
|
|
|||
|
|
// 提取数据：参数1~参数n（5到N-2字节）、状态位（N-2字节）
|
|||
|
|
int dataLength = frame.Length - 6; // 数据字节数（N-6）
|
|||
|
|
byte[] eepromData = new byte[dataLength];
|
|||
|
|
Array.Copy(frame, 4, eepromData, 0, dataLength); // 从第5字节（索引4）开始复制
|
|||
|
|
byte status = frame[frame.Length - 2]; // 状态位（N-2字节）
|
|||
|
|
|
|||
|
|
var data = new Dictionary<string, object>
|
|||
|
|
{
|
|||
|
|
{ "设备ID", deviceId },
|
|||
|
|
{ "状态码", status },
|
|||
|
|
{ "状态描述", status == 0 ? "读取EEPROM成功" : $"读取失败（错误码：{status}）" },
|
|||
|
|
{ "读取数据长度（字节）", dataLength },
|
|||
|
|
{ "读取数据（十六进制）", BitConverter.ToString(eepromData).Replace("-", " ") },
|
|||
|
|
{ "原始数据数组", eepromData }
|
|||
|
|
};
|
|||
|
|
return new ParseResult(true, "读取EEPROM响应解析成功", data);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 解析写入EEPROM响应
|
|||
|
|
/// </summary>
|
|||
|
|
private static ParseResult ParseWriteEepromResponse(byte[] frame, byte deviceId)
|
|||
|
|
{
|
|||
|
|
// 响应帧长固定6字节（协议3.8）
|
|||
|
|
if (frame.Length != 6)
|
|||
|
|
return new ParseResult(false, "写入EEPROM响应帧长错误（需6字节）", null);
|
|||
|
|
|
|||
|
|
byte status = frame[4]; // 状态位（0=成功）
|
|||
|
|
var data = new Dictionary<string, object>
|
|||
|
|
{
|
|||
|
|
{ "设备ID", deviceId },
|
|||
|
|
{ "状态码", status },
|
|||
|
|
{ "状态描述", status == 0 ? "写入EEPROM成功" : $"写入失败（错误码：{status}）" }
|
|||
|
|
};
|
|||
|
|
return new ParseResult(true, "写入EEPROM响应解析成功", data);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 解析获取实际转速响应
|
|||
|
|
/// </summary>
|
|||
|
|
private static ParseResult ParseReadMotorSpeedResponse(byte[] frame, byte deviceId)
|
|||
|
|
{
|
|||
|
|
// 响应帧长固定8字节（协议3.9）
|
|||
|
|
if (frame.Length != 8)
|
|||
|
|
return new ParseResult(false, "获取转速响应帧长错误（需8字节）", null);
|
|||
|
|
|
|||
|
|
// 提取数据：转速参数（5-6字节）、状态位（7字节）
|
|||
|
|
ushort speedParam = (ushort)((frame[4] << 8) | frame[5]);
|
|||
|
|
byte status = frame[6];
|
|||
|
|
|
|||
|
|
var data = new Dictionary<string, object>
|
|||
|
|
{
|
|||
|
|
{ "设备ID", deviceId },
|
|||
|
|
{ "状态码", status },
|
|||
|
|
{ "状态描述", status == 0 ? "获取转速成功" : $"获取失败（错误码：{status}）" },
|
|||
|
|
{ "实际转速", speedParam },
|
|||
|
|
{ "原始转速参数", $"0x{speedParam:X4}" }
|
|||
|
|
};
|
|||
|
|
return new ParseResult(true, "获取转速响应解析成功", data);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 解析获取开关盖状态响应
|
|||
|
|
/// </summary>
|
|||
|
|
private static ParseResult ParseReadIoStatusResponse(byte[] frame, byte deviceId)
|
|||
|
|
{
|
|||
|
|
// 响应帧长固定7字节（协议3.10）
|
|||
|
|
if (frame.Length != 7)
|
|||
|
|
return new ParseResult(false, "获取开关盖状态响应帧长错误（需7字节）", null);
|
|||
|
|
|
|||
|
|
// 提取数据：开关盖参数（5字节）、状态位（6字节）
|
|||
|
|
byte ioParam = frame[4]; // 0=关盖，1=开盖
|
|||
|
|
byte status = frame[5];
|
|||
|
|
|
|||
|
|
var data = new Dictionary<string, object>
|
|||
|
|
{
|
|||
|
|
{ "设备ID", deviceId },
|
|||
|
|
{ "状态码", status },
|
|||
|
|
{ "状态描述", status == 0 ? "获取开关盖状态成功" : $"获取失败（错误码：{status}）" },
|
|||
|
|
{ "开关盖状态", ioParam == 0 ? "关盖" : "开盖" },
|
|||
|
|
{ "原始状态参数", $"0x{ioParam:X2}" }
|
|||
|
|
};
|
|||
|
|
return new ParseResult(true, "获取开关盖状态响应解析成功", data);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 解析校准温度响应
|
|||
|
|
/// </summary>
|
|||
|
|
private static ParseResult ParseCalibrateTempResponse(byte[] frame, byte deviceId)
|
|||
|
|
{
|
|||
|
|
// 响应帧长固定6字节（协议3.11）
|
|||
|
|
if (frame.Length != 6)
|
|||
|
|
return new ParseResult(false, "校准温度响应帧长错误（需6字节）", null);
|
|||
|
|
|
|||
|
|
byte status = frame[4]; // 状态位（0=成功）
|
|||
|
|
var data = new Dictionary<string, object>
|
|||
|
|
{
|
|||
|
|
{ "设备ID", deviceId },
|
|||
|
|
{ "状态码", status },
|
|||
|
|
{ "状态描述", status == 0 ? "温度校准指令接收成功" : $"接收失败（错误码：{status}）" }
|
|||
|
|
};
|
|||
|
|
return new ParseResult(true, "校准温度响应解析成功", data);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 加热温度控制响应解析
|
|||
|
|
/// </summary>
|
|||
|
|
private static ParseResult ParseSetHotTempResponse(byte[] frame, byte deviceId)
|
|||
|
|
{
|
|||
|
|
if (frame.Length != 6)
|
|||
|
|
return new ParseResult(false, "加热温度响应帧长错误（需6字节）", null);
|
|||
|
|
|
|||
|
|
byte status = frame[4];
|
|||
|
|
var data = new Dictionary<string, object>
|
|||
|
|
{
|
|||
|
|
{ "设备ID", deviceId },
|
|||
|
|
{ "状态码", status },
|
|||
|
|
{ "状态描述", status == 0 ? "加热温度指令接收成功" : $"接收失败（错误码：{status}）" }
|
|||
|
|
};
|
|||
|
|
return new ParseResult(true, "加热温度响应解析成功", data);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 电磁阀控制响应解析
|
|||
|
|
/// </summary>
|
|||
|
|
private static ParseResult ParseRelayControlResponse(byte[] frame, byte deviceId)
|
|||
|
|
{
|
|||
|
|
if (frame.Length != 6)
|
|||
|
|
return new ParseResult(false, "电磁阀控制响应帧长错误（需6字节）", null);
|
|||
|
|
|
|||
|
|
byte status = frame[4];
|
|||
|
|
var data = new Dictionary<string, object>
|
|||
|
|
{
|
|||
|
|
{ "设备ID", deviceId },
|
|||
|
|
{ "状态码", status },
|
|||
|
|
{ "状态描述", status == 0 ? "电磁阀指令接收成功" : $"接收失败（错误码：{status}）" }
|
|||
|
|
};
|
|||
|
|
return new ParseResult(true, "电磁阀控制响应解析成功", data);
|
|||
|
|
}
|
|||
|
|
#endregion
|
|||
|
|
#endregion
|
|||
|
|
/// <summary>
|
|||
|
|
/// 帧间隔时间（协议要求>2ms，留3ms余量）
|
|||
|
|
/// </summary>
|
|||
|
|
private static void AddFrameInterval()
|
|||
|
|
{
|
|||
|
|
Task.Delay(3);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// CRC16校验（用户原类中定义，协议未使用，保留以备扩展）
|
|||
|
|
/// </summary>
|
|||
|
|
public static byte[] CRC16(byte[] data)
|
|||
|
|
{
|
|||
|
|
int len = data.Length;
|
|||
|
|
if (len <= 0)
|
|||
|
|
return new byte[] { 0, 0 };
|
|||
|
|
|
|||
|
|
ushort crc = 0xFFFF;
|
|||
|
|
for (int i = 0; i < len; i++)
|
|||
|
|
{
|
|||
|
|
crc = (ushort)(crc ^ data[i]);
|
|||
|
|
for (int j = 0; j < 8; j++)
|
|||
|
|
{
|
|||
|
|
crc = (crc & 1) != 0 ? (ushort)((crc >> 1) ^ 0xA001) : (ushort)(crc >> 1);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
byte hi = (byte)((crc & 0xFF00) >> 8);
|
|||
|
|
byte lo = (byte)(crc & 0x00FF);
|
|||
|
|
return BitConverter.IsLittleEndian ? new byte[] { lo, hi } : new byte[] { hi, lo };
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|