118 lines
3.8 KiB
C#
118 lines
3.8 KiB
C#
namespace FASS.Extend.Car.Fairyland.Pcb
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{
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public class NodeMessage
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{
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public ushort Node { get; set; }
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public ushort Distance { get; set; }
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public byte StartStop { get; set; }
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public byte Direction { get; set; }
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public byte Orientation { get; set; }
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public byte Byroad { get; set; }
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public ushort Speed { get; set; }
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public byte Obstacle { get; set; }
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public byte Audio { get; set; }
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public byte Light { get; set; }
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public byte Charge { get; set; }
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public byte Rest { get; set; }
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public byte Lift { get; set; }
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public byte Clamp { get; set; }
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public byte Tray { get; set; }
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public byte Roll { get; set; }
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public byte Shutdown { get; set; }
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public byte[] Reserve { get; set; } = new byte[5];
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public NodeMessage SetMessage(
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ushort node,
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ushort distance,
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byte startStop,
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byte direction,
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byte orientation,
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byte byroad,
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ushort speed,
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byte obstacle,
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byte audio,
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byte light,
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byte charge,
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byte rest,
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byte lift,
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byte clamp,
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byte tray,
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byte roll,
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byte shutdown)
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{
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Node = node;
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Distance = distance;
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StartStop = startStop;
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Direction = direction;
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Orientation = orientation;
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Byroad = byroad;
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Speed = speed;
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Obstacle = obstacle;
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Audio = audio;
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Light = light;
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Charge = charge;
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Rest = rest;
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Lift = lift;
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Clamp = clamp;
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Tray = tray;
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Roll = roll;
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Shutdown = shutdown;
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return this;
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}
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public NodeMessage GetMessage(byte[] byteArray)
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{
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if (byteArray == null || byteArray.Length < 25) throw new Exception($"数据长度错误：{Utility.ByteArrayToHexString(byteArray)}");
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Node = BitConverter.ToUInt16(byteArray[0..2]);
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Distance = BitConverter.ToUInt16(byteArray[2..4]);
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StartStop = byteArray[4];
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Direction = byteArray[5];
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Orientation = byteArray[6];
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Byroad = byteArray[7];
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Speed = BitConverter.ToUInt16(byteArray[8..10]);
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Obstacle = byteArray[10];
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Audio = byteArray[11];
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Light = byteArray[12];
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Charge = byteArray[13];
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Rest = byteArray[14];
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Lift = byteArray[15];
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Clamp = byteArray[16];
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Tray = byteArray[17];
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Roll = byteArray[18];
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Shutdown = byteArray[19];
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Reserve = byteArray[20..];
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return this;
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}
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public byte[] GetByteArray()
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{
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var byteArray = new byte[25];
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var node = BitConverter.GetBytes(Node);
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byteArray[0] = node[0];
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byteArray[1] = node[1];
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var distance = BitConverter.GetBytes(Distance);
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byteArray[2] = distance[0];
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byteArray[3] = distance[1];
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byteArray[4] = StartStop;
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byteArray[5] = Direction;
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byteArray[6] = Orientation;
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byteArray[7] = Byroad;
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var speed = BitConverter.GetBytes(Speed);
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byteArray[8] = speed[0];
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byteArray[9] = speed[1];
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byteArray[10] = Obstacle;
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byteArray[11] = Audio;
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byteArray[12] = Light;
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byteArray[13] = Charge;
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byteArray[14] = Rest;
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byteArray[15] = Lift;
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byteArray[16] = Clamp;
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byteArray[17] = Tray;
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byteArray[18] = Roll;
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byteArray[19] = Shutdown;
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Array.Copy(Reserve, 0, byteArray, 20, Reserve.Length);
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return byteArray;
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}
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}
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}
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