443 lines
19 KiB
C#
443 lines
19 KiB
C#
using System;
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using System.Collections.Generic;
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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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public class HighTemperatureUartHCM
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{
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#region 协议常量定义
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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 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 Calb = 0x15; // 校准温度
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private const byte SETHOTTEMP = 0x16; // 加热温度控制
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private const byte RESPONSE_FLAG = 0x80; // 上传指令标志
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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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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1字节
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}
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#endregion
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#region 帧间隔控制（协议1.1g：帧与帧间隔>2ms，用Thread.Sleep确保阻塞）
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/// <summary>
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/// 帧间隔时间（预留3ms余量，确保符合协议要求）
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/// </summary>
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private static void AddFrameInterval()
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{
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Task.Delay(3);
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}
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#endregion
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#region 下传指令构建（PC→主控板，严格遵循协议指令格式）
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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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public static byte[] SendHello(byte deviceId = 0)
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{
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byte[] frame = new byte[5]; // 协议固定帧长5字节
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// 帧结构：ST → HELLO(0x01) → 设备ID → LTH=5 → 校验和
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frame[0] = ST;
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frame[1] = HELLO; // 移除序号或运算，CMD为固定指令码（协议3.1）
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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
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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
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/// </summary>
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public static byte[] SendReadTempRequest(byte deviceId = 0)
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{
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byte[] frame = new byte[5]; // 协议固定帧长5字节
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// 帧结构：ST → RDTEMP(0x08) → 设备ID → LTH=5 → 校验和
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frame[0] = ST;
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frame[1] = RDTEMP;
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frame[2] = deviceId;
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frame[3] = 5;
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frame[4] = CalculateChecksum(frame, 4);
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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
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/// </summary>
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public static byte[] SendReadAdcRequest(byte deviceId = 0)
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{
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byte[] frame = new byte[5]; // 协议固定帧长5字节
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// 帧结构：ST → RDADC(0x09) → 设备ID → LTH=5 → 校验和
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frame[0] = ST;
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frame[1] = RDADC;
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frame[2] = deviceId;
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frame[3] = 5;
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frame[4] = CalculateChecksum(frame, 4);
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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
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/// </summary>
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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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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=9（固定段）+ 读取长度（协议3.4）
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byte[] frame = new byte[frameLength];
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// 帧结构：ST → RDEE(0x11) → 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] = RDEE;
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frame[2] = deviceId;
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frame[3] = (byte)frameLength;
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frame[4] = addrHigh;
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frame[5] = addrMid;
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frame[6] = addrLow;
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frame[7] = (byte)readLength;
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frame[frameLength - 1] = CalculateChecksum(frame, frameLength - 1);
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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
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/// </summary>
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public static byte[] SendWriteEepromRequest(byte addrHigh, byte addrMid, byte addrLow, byte[] writeData, byte deviceId = 0)
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{
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if (writeData == null || writeData.Length == 0)
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throw new ArgumentException("写入数据不能为空", nameof(writeData));
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int frameLength = 9 + writeData.Length; // 帧长=9（固定段）+ 数据长度（协议3.5）
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byte[] frame = new byte[frameLength];
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// 帧结构：ST → WREE(0x12) → 设备ID → LTH=N → 地址高→中→低 → 写入数据 → 校验和
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frame[0] = ST;
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frame[1] = WREE;
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frame[2] = deviceId;
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frame[3] = (byte)frameLength;
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frame[4] = addrHigh;
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frame[5] = addrMid;
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frame[6] = addrLow;
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Array.Copy(writeData, 0, frame, 7, writeData.Length);
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frame[frameLength - 1] = CalculateChecksum(frame, frameLength - 1);
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AddFrameInterval();
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return frame;
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}
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/// <summary>
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/// 校准温度指令（设置B值=(实际温度-目标温度)×100）
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/// </summary>
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public static byte[] SendCalibrateTempRequest(int calibBValue, byte deviceId = 0)
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{
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if (calibBValue < short.MinValue || calibBValue > short.MaxValue)
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throw new ArgumentOutOfRangeException(nameof(calibBValue), "校准B值必须在-32768~32767之间");
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byte[] frame = new byte[7]; // 协议固定帧长7字节
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short bParam = (short)calibBValue; // 16位有符号数（支持负值）
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// 帧结构：ST → Calb(0x15) → 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] = Calb;
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frame[2] = deviceId;
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frame[3] = 7;
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frame[4] = (byte)(bParam >> 8); // 高位在前（协议3.6）
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frame[5] = (byte)(bParam & 0xFF);
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frame[6] = CalculateChecksum(frame, 6);
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AddFrameInterval();
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return frame;
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}
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/// <summary>
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/// 加热温度控制（设置目标温度或释放控制）
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/// </summary>
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public static byte[] SendSetHotTemp(double targetTemp, byte deviceId = 0, bool releaseControl = false)
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{
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byte[] frame = new byte[7]; // 协议固定帧长7字节
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ushort tempParam;
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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（关断功率）
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}
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else
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{
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// 协议范围：室温~100℃（对应室温×100~10000），室温暂以20℃为参考
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if (targetTemp < 20.0 || targetTemp > 100.0)
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throw new ArgumentOutOfRangeException(nameof(targetTemp), "温度必须在[20.0, 100.0]℃之间（符合协议室温要求）");
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tempParam = (ushort)(targetTemp * 100); // 放大100倍（协议3.7）
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}
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// 帧结构：ST → SETHOTTEMP(0x16) → 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] = SETHOTTEMP;
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frame[2] = deviceId;
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frame[3] = 7;
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frame[4] = (byte)(tempParam >> 8); // 高位在前（协议3.7）
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frame[5] = (byte)(tempParam & 0xFF);
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frame[6] = CalculateChecksum(frame, 6);
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AddFrameInterval();
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return frame;
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}
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#endregion
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#region 指令解析
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/// <summary>
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/// 解析主控板返回的帧数据（入口方法）
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/// </summary>
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public static ParseResult ParseReceivedFrame(byte[] receivedFrame)
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{
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// 基础校验：帧非空、最短帧≥6字节（上传指令最短为握手响应6字节）
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if (receivedFrame == null || receivedFrame.Length < 6)
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return new ParseResult(false, "无效帧：数据为空或长度不足", null);
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// 1. 校验帧头
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if (receivedFrame[0] != ST)
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return new ParseResult(false, $"帧头错误：实际0x{receivedFrame[0]:X2}，期望0x{ST:X2}", null);
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// 2. 提取核心字段
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byte cmdWithFlag = receivedFrame[1];
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byte deviceId = receivedFrame[2];
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byte frameLength = receivedFrame[3];
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byte checksum = receivedFrame[frameLength - 1];
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// 3. 校验帧长（实际长度=帧长字段）
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if (receivedFrame.Length != frameLength)
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return new ParseResult(false, $"帧长不匹配：实际{receivedFrame.Length}字节，期望{frameLength}字节", null);
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// 4. 校验和验证
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byte calculatedChecksum = CalculateChecksum(receivedFrame, frameLength - 1);
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if (calculatedChecksum != checksum)
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return new ParseResult(false, $"校验和错误：实际0x{checksum:X2}，计算0x{calculatedChecksum:X2}", null);
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// 5. 去除响应标志，获取原始指令码
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byte originalCmd = (byte)(cmdWithFlag & ~RESPONSE_FLAG);
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// 6. 按指令类型分发解析
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switch (originalCmd)
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{
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case HELLO:
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return ParseHelloResponse(receivedFrame, deviceId);
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case RDTEMP:
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return ParseReadTempResponse(receivedFrame, deviceId);
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case RDADC:
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return ParseReadAdcResponse(receivedFrame, deviceId);
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case RDEE:
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return ParseReadEepromResponse(receivedFrame, deviceId);
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case WREE:
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return ParseWriteEepromResponse(receivedFrame, deviceId);
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case Calb:
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return ParseCalibrateTempResponse(receivedFrame, deviceId);
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case SETHOTTEMP:
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return ParseSetHotTempResponse(receivedFrame, deviceId);
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default:
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return new ParseResult(false, $"未知指令：0x{originalCmd:X2}", null);
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}
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}
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#region 各指令解析实现（严格对齐协议响应格式）
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/// <summary>
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/// 解析握手响应
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/// </summary>
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private static ParseResult ParseHelloResponse(byte[] frame, byte deviceId)
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{
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if (frame.Length != 6) // 协议固定响应帧长6字节
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return new ParseResult(false, "握手响应帧长错误（需6字节）", null);
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byte status = frame[4]; // 状态位（协议3.1）
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var data = new Dictionary<string, object>
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{
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{ "设备ID", deviceId },
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{ "状态码", status },
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{ "状态描述", status == 0 ? "握手成功" : $"握手失败（错误码：{status}）" }
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};
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return new ParseResult(true, "握手响应解析成功", data);
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}
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/// <summary>
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/// 解析读取温度响应
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/// </summary>
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private static ParseResult ParseReadTempResponse(byte[] frame, byte deviceId)
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{
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if (frame.Length != 0x0D) // 协议固定响应帧长13字节（0x0D）
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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);
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// 提取数据：参数1(设置温度)、参数2(实际温度)、参数3(预留)、标志位、状态位（协议3.2）
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ushort setTempParam = (ushort)((frame[4] << 8) | frame[5]); // 高位在前
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ushort actualTempParam = (ushort)((frame[6] << 8) | frame[7]); // 高位在前
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byte flag = frame[10]; // 预留标志位（NC）
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byte status = frame[11];
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// 转换为实际温度（除以100，精度0.1℃）
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double setTemp = setTempParam / 100.0;
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double actualTemp = actualTempParam / 100.0;
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var data = new Dictionary<string, object>
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{
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{ "设备ID", deviceId },
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{ "状态码", status },
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{ "状态描述", status == 0 ? "读取温度成功" : $"读取失败（错误码：{status}）" },
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{ "设置温度（℃）", setTemp },
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{ "实际温度（℃）", actualTemp },
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{ "预留标志位", flag },
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{ "原始设置温度参数", $"0x{setTempParam:X4}" },
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{ "原始实际温度参数", $"0x{actualTempParam:X4}" }
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};
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return new ParseResult(true, "读取温度响应解析成功", data);
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}
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/// <summary>
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/// 解析读取AD响应
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/// </summary>
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private static ParseResult ParseReadAdcResponse(byte[] frame, byte deviceId)
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{
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if (frame.Length != 0x0A) // 协议固定响应帧长10字节（0x0A），修正原13字节错误
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return new ParseResult(false, $"读取AD响应帧长错误：需10字节，实际{frame.Length}字节", null);
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// 提取数据：AD值（5-6字节）、预留（7-8字节）、状态位（9字节）（协议3.3）
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ushort adcValue = (ushort)((frame[4] << 8) | frame[5]); // 高位在前
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byte status = frame[8];
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var data = new Dictionary<string, object>
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{
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{ "设备ID", deviceId },
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{ "状态码", status },
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{ "状态描述", status == 0 ? "读取AD成功" : $"读取失败（错误码：{status}）" },
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{ "AD值", adcValue },
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{ "原始AD参数", $"0x{adcValue:X4}" }
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};
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return new ParseResult(true, "读取AD响应解析成功", data);
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}
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/// <summary>
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/// 解析读取EEPROM响应
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/// </summary>
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private static ParseResult ParseReadEepromResponse(byte[] frame, byte deviceId)
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{
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if (frame.Length < 6) // 协议响应帧长≥6字节
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return new ParseResult(false, "读取EEPROM响应帧长不足（需≥6字节）", null);
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// 提取数据：参数1~n（5到N-2字节）、状态位（N-2字节）（协议3.4）
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int dataLength = frame.Length - 6; // 数据字节数=N-6
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byte[] eepromData = new byte[dataLength];
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Array.Copy(frame, 4, eepromData, 0, dataLength);
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byte status = frame[frame.Length - 2];
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var data = new Dictionary<string, object>
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{
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{ "设备ID", deviceId },
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{ "状态码", status },
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{ "状态描述", status == 0 ? "读取EEPROM成功" : $"读取失败（错误码：{status}）" },
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{ "读取数据长度（字节）", dataLength },
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{ "读取数据（十六进制）", BitConverter.ToString(eepromData).Replace("-", " ") },
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{ "原始数据数组", eepromData }
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};
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return new ParseResult(true, "读取EEPROM响应解析成功", data);
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}
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/// <summary>
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/// 解析写入EEPROM响应
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/// </summary>
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private static ParseResult ParseWriteEepromResponse(byte[] frame, byte deviceId)
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{
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if (frame.Length != 6) // 协议固定响应帧长6字节
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return new ParseResult(false, "写入EEPROM响应帧长错误（需6字节）", null);
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byte status = frame[4]; // 状态位（协议3.5）
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var data = new Dictionary<string, object>
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{
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{ "设备ID", deviceId },
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{ "状态码", status },
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{ "状态描述", status == 0 ? "写入EEPROM成功" : $"写入失败（错误码：{status}）" }
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};
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return new ParseResult(true, "写入EEPROM响应解析成功", data);
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}
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/// <summary>
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/// 解析校准温度响应
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/// </summary>
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private static ParseResult ParseCalibrateTempResponse(byte[] frame, byte deviceId)
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{
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if (frame.Length != 6) // 协议固定响应帧长6字节
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return new ParseResult(false, "校准温度响应帧长错误（需6字节）", null);
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byte status = frame[4]; // 状态位（协议3.6）
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var data = new Dictionary<string, object>
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{
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{ "设备ID", deviceId },
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{ "状态码", status },
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{ "状态描述", status == 0 ? "温度校准成功" : $"校准失败（错误码：{status}）" }
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};
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return new ParseResult(true, "校准温度响应解析成功", data);
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}
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/// <summary>
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/// 解析加热温度控制响应
|
||
/// </summary>
|
||
private static ParseResult ParseSetHotTempResponse(byte[] frame, byte deviceId)
|
||
{
|
||
if (frame.Length != 6) // 协议固定响应帧长6字节
|
||
return new ParseResult(false, "加热温度响应帧长错误（需6字节）", null);
|
||
|
||
byte status = frame[4]; // 状态位（协议3.7）
|
||
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);
|
||
}
|
||
#endregion
|
||
#endregion
|
||
|
||
#region 预留CRC16校验（协议未使用，保留以备扩展）
|
||
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 };
|
||
}
|
||
#endregion
|
||
}
|
||
}
|