aivfo-tl-3.0/ivf_tl_control_2.0/ivf_tl_SerialHelper/Util/Commander.cs

using IvfTl.Control.Entity;

namespace ivf_tl_SerialHelper.Util
{
    public static class Commander
    {

        //public static int MachineModel { get; set; }

        /// <summary>
        /// 求累加和校验
        /// </summary>
        /// <param name="bytes"></param>
        /// <returns></returns>
        public static byte[] CreateORC(byte[] bytes)
        {
            byte orcByte = 0x00;
            for (int i = 0; i < bytes.Length - 1; i++)
            {
                orcByte += bytes[i];
            }
            bytes[bytes.Length - 1] = orcByte;
            return bytes;

        }

        /// <summary>
        /// 判断校验
        /// </summary>
        /// <param name="bytes"></param>
        /// <returns></returns>
        public static bool CheckORC(byte[] bytes)
        {
            byte orcByte = 0x00;
            for (int i = 0; i < bytes.Length - 1; i++)
            {
                orcByte += bytes[i];
            }

            return bytes[bytes.Length - 1] == orcByte;
        }

        public static void CustomProtocolLength(CustomProtocol custom)
        {
            custom.lenght = 6;
            custom.WaitTime = 0;
            switch (custom.sendBuffer[1])
            {
                case 0x01://握手指令
                    custom.lenght = 6;
                    break;
                case 0x02://自检指令
                    custom.lenght = 6;
                    break;
                case 0x04://设置目标温度
                    custom.lenght = 7;
                    break;
                case 0x05://电机控制指令
                    custom.lenght = 6;
                    break;
                case 0x06://读传感器信号
                    custom.lenght = 9;
                    break;
                case 0x08://读传感器AD
                    custom.lenght = 9;
                    break;
                case 0x09://设置IO
                    custom.lenght = 6;
                    break;
                case 0x10://获取IO
                    custom.lenght = 7;
                    break;
                case 0x11://读E方
                    custom.lenght = 10;
                    break;
                case 0x12://写E方
                    custom.lenght = 6;
                    break;
                case 0x18://读电机位置
                    custom.lenght = 10;
                    break;
                case 0x19://缓冲瓶补气
                    custom.lenght = 6;
                    break;
                case 0x20://读缓冲瓶数据
                    custom.lenght = 12;
                    break;
            }
        }

        #region 操作
        /// <summary>
        /// 握手 64
        /// </summary>
        /// <returns></returns>
        public static void CreateHandCommand(this CustomProtocol custom)
        {
            
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x01, 0x00, 0x05, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 打开CCD补光LED,长度7
        /// </summary>
        /// <returns></returns>
        public static void CreateOpenLEDCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = new byte[] { 0x5E, 0x09, 0x00, 0x07, 0x00, 0x01, 0x6F };
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 关闭CCD补光LED,长度7
        /// </summary>
        /// <returns></returns>
        public static void CreateCloseLEDCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = new byte[] { 0x5E, 0x09, 0x00, 0x07, 0x00, 0x00, 0x6E };
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 打开进气阀
        /// </summary>
        /// <returns></returns>
        public static void CreateOpenIntakeValveCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x09, 0x00, 0x07, 0x01, 0x01, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 关闭进气阀
        /// </summary>
        /// <returns></returns>
        public static void CreateCloseIntakeValveCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x09, 0x00, 0x07, 0x01, 0x00, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 打开排气阀
        /// </summary>
        /// <returns></returns>
        public static void CreateOpenExhaustValveCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x09, 0x00, 0x07, 0x02, 0x01, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 关闭排气阀
        /// </summary>
        /// <returns></returns>
        public static void CreateCloseExhaustValveCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x09, 0x00, 0x07, 0x02, 0x00, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 缓冲瓶补气 7C
        /// </summary>
        /// <returns></returns>
        public static void CreateBufferBottleAerationCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x19, 0x00, 0x05, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 仓室补气 72
        /// </summary>
        /// <returns></returns>
        public static void CreateHouseAerationCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x09, 0x00, 0x07, 0x04, 0x01, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 舱室排气
        /// </summary>
        /// <returns></returns>
        public static void CreateHouseVentCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x09, 0x00, 0x07, 0x05, 0x01, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 读垂直电机位置
        /// </summary>
        /// <returns></returns>
        public static void CreateReadVerticalMotorCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x18, 0x00, 0x06, 0x02, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 读水平电机位置
        /// </summary>
        /// <returns></returns>
        public static void CreateReadHorizontalMotorCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x18, 0x00, 0x06, 0x01, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 读E方 仪器编号
        /// </summary>
        /// <returns></returns>
        public static void CreateReadTLNumCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x11, 0x00, 0x09, 0x00, 0x00, 0x08, 0x04, 0x00 });
            CustomProtocolLength(custom);
        }
        #endregion

        #region 温度、压力、仓门状态
        /// <summary>
        /// 温度 6b（下盖板温度）
        /// </summary>
        /// <param name="wayNum"></param>
        /// <returns></returns>
        public static void CreateReadTemperatureCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x06, 0x00, 0x06, 0x00, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 获取上盖板温度
        /// </summary>
        /// <returns></returns>
        public static void CreateReadShangTemperatureCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x06, 0x00, 0x06, 0x01, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 获取玻璃片下方温度
        /// </summary>
        /// <returns></returns>
        public static void CreateReadBoLiTemperatureCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x06, 0x00, 0x06, 0x02, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 压力
        /// </summary>
        /// <param name="wayNum"></param>
        /// <returns></returns>
        public static void CreateReadPressureCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x06, 0x00, 0x06, 0x03, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 获取缓冲瓶气压 83
        /// </summary>
        /// <returns></returns>
        public static void CreateBufferBottlePressureCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x20, 0x00, 0x05, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 门
        /// </summary>
        /// <returns>5E 0A 00 06 02 71</returns>
        public static void CreateReadDoorCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x10, 0x00, 0x06, 0x02, 0x00 });
            CustomProtocolLength(custom);
        }
        
        #endregion

        /// <summary>
        ///  读EEPROM->水平电机Well位置,返回长度10个字节
        /// </summary>
        /// <param name="wellNum"></param>
        /// <returns></returns>
        public static void CreateReadEEPROMhoriMtWellHoriPos(this CustomProtocol custom,int wellNum)
        {
            List<byte> command = new List<byte>();
            command.Add(0x5E);
            command.Add(0x11);
            command.Add(0x00);
            command.Add(0x09);
            switch (wellNum)
            {
                case 1:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x00);
                    break;
                case 2:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x50);
                    break;
                case 3:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x54);
                    break;
                case 4:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x58);
                    break;
                case 5:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x5C);
                    break;
                case 6:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x60);
                    break;
                case 7:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x64);
                    break;
                case 8:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x68);
                    break;
                case 9:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x6C);
                    break;
                case 10:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x70);
                    break;
                case 11:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x74);
                    break;
                case 12:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x78);
                    break;
                case 13:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x7C);
                    break;
                case 14:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x80);
                    break;
                case 15:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x84);
                    break;
                case 16:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x04);
                    break;
                default:
                    break;
            }
            command.Add(0x04);
            command.Add(0x00);

            custom.sendBuffer = CreateORC(command.ToArray());
            CustomProtocolLength(custom);
        }

        /// <summary>
        ///  写EEPROM->水平电机Well位置,返回长度10个字节
        /// </summary>
        /// <param name="wellNum"></param>
        /// <returns></returns>
        public static void CreateWriteEEPROMhoriMtWellHoriPos(this CustomProtocol custom,int wellNum, int newValue)
        {
            byte[] pulses = BitConverter.GetBytes(newValue);
            List<byte> command = new List<byte>();
            command.Add(0x5E);//帧头
            command.Add(0x12);//WRITE_EEPROM
            command.Add(0x00);//CMDNO
            command.Add(0x0C);//LTH
            switch (wellNum)
            {
                case 1:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x00);
                    break;
                case 2:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x50);
                    break;
                case 3:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x54);
                    break;
                case 4:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x58);
                    break;
                case 5:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x5C);
                    break;
                case 6:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x60);
                    break;
                case 7:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x64);
                    break;
                case 8:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x68);
                    break;
                case 9:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x6C);
                    break;
                case 10:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x70);
                    break;
                case 11:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x74);
                    break;
                case 12:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x78);
                    break;
                case 13:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x7C);
                    break;
                case 14:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x80);
                    break;
                case 15:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x84);
                    break;
                case 16:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x04);
                    break;
                default:
                    break;
            }
            if (BitConverter.IsLittleEndian)
            {
                command.Add(pulses[0]);//参数1(低)
                command.Add(pulses[1]);//参数2
                command.Add(pulses[2]);//参数3 
                command.Add(pulses[3]);//参数4(高) 
            }
            else
            {
                command.Add(pulses[3]);//参数1(低)
                command.Add(pulses[2]);//参数2
                command.Add(pulses[1]);//参数3 
                command.Add(pulses[0]);//参数4 (高)
            }
               

            command.Add(0x00);//校验和CRC

            custom.sendBuffer = CreateORC(command.ToArray());
            CustomProtocolLength(custom);
        }

        /// <summary>
        ///  读EEPROM->下加热板目标温度
        /// </summary>
        /// <param name="wellNum"></param>
        /// <returns></returns>
        public static void CreateReadTargetTemp(this CustomProtocol custom)
        {
            List<byte> command = new List<byte>();
            command.Add(0x5E);
            command.Add(0x11);
            command.Add(0x00);
            command.Add(0x09);

            command.Add(0x00);
            command.Add(0x02);
            command.Add(0x38);

            command.Add(0x04);
            command.Add(0x00);
            custom.sendBuffer = CreateORC(command.ToArray());
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 读EEPROM->垂直电机焦准脉冲数（零点）,返回长度10个字节
        /// </summary>
        /// <returns></returns>
        public static void CreateReadEEPROMvertMtStartPulse(this CustomProtocol custom,int i)
        {
            List<byte> command = new List<byte>();
            command.Add(0x5E);
            command.Add(0x11);
            command.Add(0x00);
            command.Add(0x09);
            switch (i)
            {
                case 1:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x08);
                    break;
                case 2:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x0C);
                    break;
                case 3:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x10);
                    break;
                case 4:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x14);
                    break;
                case 5:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x18);
                    break;
                case 6:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x1C);
                    break;
                case 7:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x20);
                    break;
                case 8:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x24);
                    break;
                case 9:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x28);
                    break;
                case 10:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x2C);
                    break;
                case 11:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x30);
                    break;
                case 12:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x34);
                    break;
                case 13:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x38);
                    break;
                case 14:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x3C);
                    break;
                case 15:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x40);
                    break;
                case 16:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x44);
                    break;
                default:
                    break;
            }
            command.Add(0x04);
            command.Add(0x00);
            custom.sendBuffer = CreateORC(command.ToArray());
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 写入EEPROM->垂直电机焦准脉冲数（零点）,返回长度6个字节
        /// </summary>
        /// <returns></returns>
        public static void CreateWriteEEPROMvertMtStartPulse(this CustomProtocol custom, int pulse)
        {
            byte[] pulses = BitConverter.GetBytes(pulse);
            List<byte> command = new List<byte>();
            command.Add(0x5E);//帧头
            command.Add(0x12);//WRITE_EEPROM
            command.Add(0x00);//CMDNO
            command.Add(0x0C);//LTH
            command.Add(0x00);//地址(高)
            command.Add(0x03);//地址(中)
            command.Add(0x1C);//地址(低)
            if (BitConverter.IsLittleEndian)
            {
                command.Add(pulses[0]);//参数1(低)
                command.Add(pulses[1]);//参数2
                command.Add(pulses[2]);//参数3 
                command.Add(pulses[3]);//参数4(高) 
            }
            else
            {
                command.Add(pulses[3]);//参数1(低)
                command.Add(pulses[2]);//参数2
                command.Add(pulses[1]);//参数3 
                command.Add(pulses[0]);//参数4 (高)
            }
            command.Add(0x00);//校验和CRC
            custom.sendBuffer = CreateORC(command.ToArray());
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 读EEPROM->垂直电机扫描间隔脉冲,返回长度10个字节
        /// </summary>
        /// <returns></returns>
        public static void CreateReadEEPROMvertMtScanPluse(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x11, 0x00, 0x09, 0x00, 0x04, 0x48, 0x04, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 写入EEPROM->垂直电机扫描间隔脉冲,返回长度6个字节
        /// </summary>
        /// <returns></returns>
        public static void CreateWriteEEPROMvertMtScanPluse(this CustomProtocol custom,int pulse)
        {
            byte[] pulses = BitConverter.GetBytes(pulse);
            List<byte> command = new List<byte>();
            command.Add(0x5E);//帧头
            command.Add(0x12);//WRITE_EEPROM
            command.Add(0x00);//CMDNO
            command.Add(0x0C);//LTH

            command.Add(0x00);//地址(高)
            command.Add(0x04);//地址(中)
            command.Add(0x48);//地址(低)

            if (BitConverter.IsLittleEndian)
            {
                command.Add(pulses[0]);//参数1(低)
                command.Add(pulses[1]);//参数2
                command.Add(pulses[2]);//参数3  
                command.Add(pulses[3]);//参数4(高) 
            }
            else
            {
                command.Add(pulses[3]);//参数1(低) 
                command.Add(pulses[2]);//参数2
                command.Add(pulses[1]);//参数3  
                command.Add(pulses[0]);//参数4(高)
            }
            command.Add(0x00);//校验和CRC
            custom.sendBuffer = CreateORC(command.ToArray());
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 读EEPROM->仓室进气阀打开时间
        /// </summary>
        /// <returns></returns>
        public static void CreateReadEEPROOpenIntakeTimeCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x11, 0x00, 0x09, 0x00, 0x03, 0x0c, 0x04, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        ///  写EEPROM->仓室进气阀打开时间
        /// </summary>
        /// <param name="wellNum"></param>
        /// <returns></returns>
        public static void CreateWriteEEPROOpenIntakeTimeCommand(this CustomProtocol custom,int newValue)
        {
            byte[] pulses = BitConverter.GetBytes(newValue);
            List<byte> command = new List<byte>();
            command.Add(0x5E);//帧头
            command.Add(0x12);//WRITE_EEPROM
            command.Add(0x00);//CMDNO
            command.Add(0x0C);//LTH

            command.Add(0x00);
            command.Add(0x03);
            command.Add(0x0c);

            if (BitConverter.IsLittleEndian)
            {
                command.Add(pulses[0]);//参数1(低)
                command.Add(pulses[1]);//参数2
                command.Add(pulses[2]);//参数3  
                command.Add(pulses[3]);//参数4(高) 
            }
            else
            {
                command.Add(pulses[3]);//参数1(低)
                command.Add(pulses[2]);//参数2
                command.Add(pulses[1]);//参数3 
                command.Add(pulses[0]);//参数4(高) 
            }
            command.Add(0x00);//校验和CRC
            custom.sendBuffer = CreateORC(command.ToArray());
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 读EEPROM->缓冲瓶气阀打开时间
        /// </summary>
        /// <returns></returns>
        public static void CreateReadEEPROOpenIntakeTimeBufferCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x11, 0x00, 0x09, 0x00, 0x05, 0x0c, 0x04, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        ///  写EEPROM->缓冲瓶进气阀打开时间
        /// </summary>
        /// <param name="wellNum"></param>
        /// <returns></returns>
        public static void CreateWriteEEPROOpenIntakeTimeBufferCommand(this CustomProtocol custom,int newValue)
        {
            byte[] pulses = BitConverter.GetBytes(newValue);
            List<byte> command = new List<byte>();
            command.Add(0x5E);//帧头
            command.Add(0x12);//WRITE_EEPROM
            command.Add(0x00);//CMDNO
            command.Add(0x0C);//LTH

            command.Add(0x00);
            command.Add(0x05);
            command.Add(0x0c);

            if (BitConverter.IsLittleEndian)
            {
                command.Add(pulses[0]);//参数1(低)
                command.Add(pulses[1]);//参数2
                command.Add(pulses[2]);//参数3  
                command.Add(pulses[3]);//参数4(高) 
            }
            else
            {
                command.Add(pulses[3]);//参数1(低)
                command.Add(pulses[2]);//参数2
                command.Add(pulses[1]);//参数3 
                command.Add(pulses[0]);//参数4(高) 
            }
            command.Add(0x00);//校验和CRC
            custom.sendBuffer = CreateORC(command.ToArray());
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 读E方 -->灯光亮度
        /// </summary>
        /// <param name="num"></param>
        /// <returns></returns>
        public static void CreateReadEEPROMLightNum(this CustomProtocol custom)
        {
            var array = new byte[] { 0x5E, 0x11, 0x00, 0x09, 0x00, 0x05, 0x34, 0x04, 0x00 };
            custom.sendBuffer = CreateORC(array);
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 读EEPROM->ＣＣＤＳＮ
        /// </summary>
        /// <returns></returns>
        public static void CreateGetModuleCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x11, 0x00, 0x09, 0x00, 0x00, 0x10, 0x04, 0x00 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 写EEPROM
        /// </summary>
        /// <param name="address">地址</param>
        /// <param name="value">值</param>
        /// <returns></returns>
        public static void CreateWriteEEPROM(this CustomProtocol custom,int address, double value)
        {
            byte[] byteAddress = BitConverter.GetBytes(address);
            byte[] byteValue = BitConverter.GetBytes(value);
            List<byte> command = new List<byte>();
            command.Add(0x5E);//帧头
            command.Add(0x12);//WRITE_EEPROM
            command.Add(0x00);//CMDNO
            command.Add(0x0C);//LTH
            if (BitConverter.IsLittleEndian)
            {
                command.Add(byteAddress[2]);//地址(高)
                command.Add(byteAddress[1]);//地址(中)
                command.Add(byteAddress[0]);//地址(低)
                command.Add(byteValue[0]);//参数1(低)
                command.Add(byteValue[1]);//参数2
                command.Add(byteValue[2]);//参数3  
                command.Add(byteValue[3]);//参数4(高) 
            }
            else
            {
                command.Add(byteAddress[0]);//地址(高)
                command.Add(byteAddress[1]);//地址(中)
                command.Add(byteAddress[2]);//地址(低)
                command.Add(byteValue[3]);//参数1(低)
                command.Add(byteValue[2]);//参数2
                command.Add(byteValue[1]);//参数3
                command.Add(byteValue[0]);//参数4(高) 
            }

          
            command.Add(0x00);//校验和CRC
            custom.sendBuffer = CreateORC(command.ToArray());
            CustomProtocolLength(custom);
        }

        #region 电机运动
        /// <summary>
        /// 水平电机复位运动，长度11
        /// </summary>
        /// <returns></returns>
        public static void CreateHorizontalMotorResetCommand(this CustomProtocol custom)
        {
            /*
             * 第1字节	第2字节	   第3字节	第4字节	第5字节	    第6字节	第7字节	第8字节	第9字节	第10字节	第11字节
               帧头 ST	SET_MOTOR	CMDNO	LTH  	辅助指令码	参数1	参数2	参数3	参数4	参数5	    校验和CRC
               帧头 ST = 5E
               SET_MOTOR = 0x05
               CMDNO = 00
               LTH = 11
               辅助指令码 = 高半字节(水平电机=1|扫描电机=2) + 低半字节(正转=0|反转=1|脱机=2|复位=3|绝对运动=4)
               参数1，参数2：电机运动的脉冲值，参数1是高8位，参数2是低8位，组成16位的脉冲值；
               参数3：0x00；
               参数4，参数5：0x00,0x00
             */

            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x05, 0x00, 0x0B, 0x13, 0x00, 0x00, 0x00, 0x0B, 0xB8, 0x44 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 水平电机正向运动，长度11
        /// </summary>
        /// <param name="pulse">脉冲值</param>
        /// <returns></returns>
        public static void CreateHorizontalMotorForwardCommand(this CustomProtocol custom,int? pulse)
        {
            byte[] pulses = BitConverter.GetBytes(pulse.Value);
            List<byte> command = new List<byte>();
            command.Add(0x5E);//帧头
            command.Add(0x05);//SET_MOTOR
            command.Add(0x00);//CMDNO
            command.Add(0x0B);//LTH
            command.Add(0x10);//辅助指令码

            if (BitConverter.IsLittleEndian)
            {
                command.Add(pulses[3]);//参数1 高
                command.Add(pulses[2]);//参数2
                command.Add(pulses[1]);//参数3
                command.Add(pulses[0]);//参数4 低
            }
            else
            {
                command.Add(pulses[0]);//参数1 高
                command.Add(pulses[1]);//参数2
                command.Add(pulses[2]);//参数3
                command.Add(pulses[3]);//参数4 低
            }
            command.Add(0x00);//参数5
            command.Add(0x00);//校验和CRC
            custom.sendBuffer = CreateORC(command.ToArray());
            CustomProtocolLength(custom);

        }

        /// <summary>
        /// 水平电机反向运动，长度11
        /// </summary>
        /// <returns></returns>
        public static void CreateHorizontalMotorBackwardCommand(this CustomProtocol custom,int? pulse)
        {
            byte[] pulses = BitConverter.GetBytes(pulse.Value);
            List<byte> command = new List<byte>();
            command.Add(0x5E);//帧头
            command.Add(0x05);//SET_MOTOR
            command.Add(0x00);//CMDNO
            command.Add(0x0B);//LTH
            command.Add(0x11);//辅助指令码
            if (BitConverter.IsLittleEndian)
            {
                command.Add(pulses[3]);//参数1 高
                command.Add(pulses[2]);//参数2
                command.Add(pulses[1]);//参数3
                command.Add(pulses[0]);//参数4 低
            }
            else
            {
                command.Add(pulses[0]);//参数1 高
                command.Add(pulses[1]);//参数2
                command.Add(pulses[2]);//参数3
                command.Add(pulses[3]);//参数4 低
            }
            command.Add(0x00);//参数5
            command.Add(0x00);//校验和CRC
            custom.sendBuffer = CreateORC(command.ToArray());
            CustomProtocolLength(custom);

        }

        /// <summary>
        /// 水平电机绝对运动
        /// </summary>
        /// <param name="pulse"></param>
        /// <returns></returns>
        public static void CreateHorizontalMotorMoveToCommand(this CustomProtocol custom,int? pulse)
        {
            byte[] pulses = BitConverter.GetBytes(pulse.Value);
            List<byte> command = new List<byte>();
            command.Add(0x5E);//帧头
            command.Add(0x05);//SET_MOTOR
            command.Add(0x00);//CMDNO
            command.Add(0x0B);//LTH
            command.Add(0x14);//辅助指令码
            if (BitConverter.IsLittleEndian)
            {
                command.Add(pulses[3]);//参数1 高
                command.Add(pulses[2]);//参数2
                command.Add(pulses[1]);//参数3
                command.Add(pulses[0]);//参数4 低
            }
            else
            {
                command.Add(pulses[0]);//参数1 高
                command.Add(pulses[1]);//参数2
                command.Add(pulses[2]);//参数3
                command.Add(pulses[3]);//参数4 低
            }
            command.Add(0x00);//参数5
            command.Add(0x00);//校验和CRC
            custom.sendBuffer = CreateORC(command.ToArray());
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 垂直电机复位运动，长度11
        /// </summary>
        /// <returns></returns>
        public static void CreateVerticalMotorResetCommand(this CustomProtocol custom)
        {
            custom.sendBuffer = CreateORC(new byte[] { 0x5E, 0x05, 0x00, 0x0B, 0x23, 0x00, 0x00, 0x00, 0x07, 0xD0, 0x68 });
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 垂直电机正向运动，长度11
        /// </summary>
        /// <param name="pulse">脉冲值</param>
        /// <returns></returns>
        public static void CreateVerticalMotorForwardCommand(this CustomProtocol custom,int? pulse)
        {
            byte[] pulses = BitConverter.GetBytes(pulse.Value);
            List<byte> command = new List<byte>();
            command.Add(0x5E);//帧头
            command.Add(0x05);//SET_MOTOR
            command.Add(0x00);//CMDNO
            command.Add(0x0B);//LTH

            command.Add(0x20);//辅助指令码

            if (BitConverter.IsLittleEndian)
            {
                command.Add(pulses[3]);//参数1 高
                command.Add(pulses[2]);//参数2
                command.Add(pulses[1]);//参数3
                command.Add(pulses[0]);//参数4 低
            }
            else
            {
                command.Add(pulses[0]);//参数1 高
                command.Add(pulses[1]);//参数2
                command.Add(pulses[2]);//参数3
                command.Add(pulses[3]);//参数4 低
            }
            command.Add(0x00);//参数5
            command.Add(0x00);//校验和CRC
            custom.sendBuffer = CreateORC(command.ToArray());
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 垂直电机绝对运动
        /// </summary>
        /// <param name="pulse"></param>
        /// <returns></returns>
        public static void CreateVerticalMotorAbsoluteMovementCommand(this CustomProtocol custom,int? pulse)
        {
            byte[] pulses = BitConverter.GetBytes(pulse.Value);
            List<byte> command = new List<byte>();
            command.Add(0x5E);//帧头
            command.Add(0x05);//SET_MOTOR
            command.Add(0x00);//CMDNO
            command.Add(0x0B);//LTH

            command.Add(0x24);//辅助指令码

            if (BitConverter.IsLittleEndian)
            {
                command.Add(pulses[3]);//参数1 高
                command.Add(pulses[2]);//参数2
                command.Add(pulses[1]);//参数3
                command.Add(pulses[0]);//参数4 低
            }
            else
            {
                command.Add(pulses[0]);//参数1 高
                command.Add(pulses[1]);//参数2
                command.Add(pulses[2]);//参数3
                command.Add(pulses[3]);//参数4 低
            }
            command.Add(0x00);//参数5
            command.Add(0x00);//校验和CRC
            custom.sendBuffer = CreateORC(command.ToArray());
            CustomProtocolLength(custom);
        }

        /// <summary>
        /// 垂直电机反向运动，长度11
        /// </summary>
        /// <returns></returns>
        public static void CreateVerticalMotorBackwardCommand(this CustomProtocol custom,int? pulse)
        {
            byte[] pulses = BitConverter.GetBytes(pulse.Value);
            List<byte> command = new List<byte>();
            command.Add(0x5E);//帧头
            command.Add(0x05);//SET_MOTOR
            command.Add(0x00);//CMDNO
            command.Add(0x0B);//LTH
            command.Add(0x21);//辅助指令码
            if (BitConverter.IsLittleEndian)
            {
                command.Add(pulses[3]);//参数1 高
                command.Add(pulses[2]);//参数2
                command.Add(pulses[1]);//参数3
                command.Add(pulses[0]);//参数4 低
            }
            else
            {
                command.Add(pulses[0]);//参数1 高
                command.Add(pulses[1]);//参数2
                command.Add(pulses[2]);//参数3
                command.Add(pulses[3]);//参数4 低
            }
            command.Add(0x00);//参数5
            command.Add(0x00);//校验和CRC
            custom.sendBuffer = CreateORC(command.ToArray());
            CustomProtocolLength(custom);

        }
        #endregion

        #region 
        /// <summary>
        /// 换气时打开气阀 
        /// </summary>
        /// <returns></returns>
        public static byte[] CreateOpenGasValveCommand()
        {
            return CreateORC(new byte[] { 0x5E, 0x09, 0x00, 0x07, 0x01, 0x01, 0x00 });//上电
        }

        /// <summary>
        /// 换气时关闭气阀
        /// </summary>
        /// <returns></returns>
        public static byte[] CreateCloseGasValveCommand()
        {
            return CreateORC(new byte[] { 0x5E, 0x09, 0x00, 0x07, 0x01, 0x00, 0x00 });//断电
        }

        /// <summary>
        /// 培养指令
        /// </summary>
        /// <param name="isOpen"></param>
        /// <returns></returns>
        public static byte[] CreateGasCommand(bool isOpen)
        {
            //5E 09 00 07 02 01 71
            if (isOpen)
                return CreateORC(new byte[] { 0x5E, 0x09, 0x00, 0x07, 0x02, 0x01, 0x00 });//开始培养
            else
                return CreateORC(new byte[] { 0x5E, 0x09, 0x00, 0x07, 0x02, 0x00, 0x00 });//结束培养
        }
        /// <summary>
        /// 读EEPROM->水平电机well间隔脉冲,返回长度10个字节
        /// </summary>
        /// <returns></returns>
        public static byte[] CreateReadEEPROMhoriMtWellInterval()
        {
            var array = new byte[] { 0x5E, 0x11, 0x00, 0x09, 0x00, 0x02, 0x24, 0x04, 0x00 };
            return CreateORC(array);
        }
        /// <summary>
        /// 读EEPROM->16垂直电机焦准脉冲数（零点）,返回长度10个字节
        /// </summary>
        /// <returns></returns>
        public static byte[] CreateReadEEPROMvertMtStartPulse1(int wellNum)
        {
            List<byte> command = new List<byte>();
            command.Add(0x5E);
            command.Add(0x11);
            command.Add(0x00);
            command.Add(0x09);
            switch (wellNum)
            {
                case 1:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x08);
                    break;
                case 2:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x0C);
                    break;
                case 3:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x10);
                    break;
                case 4:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x14);
                    break;
                case 5:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x18);
                    break;
                case 6:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x1C);
                    break;
                case 7:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x20);
                    break;
                case 8:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x24);
                    break;
                case 9:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x28);
                    break;
                case 10:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x2C);
                    break;
                case 11:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x30);
                    break;
                case 12:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x34);
                    break;
                case 13:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x38);
                    break;
                case 14:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x3C);
                    break;
                case 15:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x40);
                    break;
                case 16:
                    command.Add(0x00);
                    command.Add(0x04);
                    command.Add(0x44);
                    break;
                default:
                    break;
            }
            command.Add(0x04);
            command.Add(0x00);
            var result = CreateORC(command.ToArray());
            return result;
        }
        /// <summary>
        /// 写EEPROM->水平电机1号Well位置（零点）,返回长度6个字节
        /// </summary>
        /// <returns></returns>
        public static byte[] CreateWriteEEPROMhoriMtWell1HoriPos(int pulse)
        {
            byte[] pulses = BitConverter.GetBytes(pulse);
            List<byte> command = new List<byte>();
            command.Add(0x5E);//帧头
            command.Add(0x12);//WRITE_EEPROM
            command.Add(0x00);//CMDNO
            command.Add(0x0C);//LTH
            command.Add(0x00);//地址(高)
            command.Add(0x04);//地址(中)
            command.Add(0x00);//地址(低)
            if (BitConverter.IsLittleEndian)
            {
                command.Add(pulses[0]);//参数1(低)
                command.Add(pulses[1]);//参数2
                command.Add(pulses[2]);//参数3  
                command.Add(pulses[3]);//参数4(高) 
            }
            else
            {
                command.Add(pulses[3]);//参数1(低)
                command.Add(pulses[2]);//参数2
                command.Add(pulses[1]);//参数3 
                command.Add(pulses[0]);//参数4(高) 
            }
            command.Add(0x00);//校验和CRC
            var result = CreateORC(command.ToArray());
            return result;
        }
        /// <summary>
        /// 写入EEPROM->水平电机well间隔脉冲,返回长度6个字节
        /// </summary>
        /// <returns></returns>
        public static byte[] CreateWriteEEPROMhoriMtWellInterval(int pulse)
        {
            byte[] pulses = BitConverter.GetBytes(pulse);
            List<byte> command = new List<byte>();
            command.Add(0x5E);//帧头
            command.Add(0x12);//WRITE_EEPROM
            command.Add(0x00);//CMDNO
            command.Add(0x0C);//LTH
            command.Add(0x00);//地址(高)
            command.Add(0x02);//地址(中)
            command.Add(0x24);//地址(低)
            if (BitConverter.IsLittleEndian)
            {
                command.Add(pulses[0]);//参数1(低)
                command.Add(pulses[1]);//参数2
                command.Add(pulses[2]);//参数3  
                command.Add(pulses[3]);//参数4(高) 
            }
            else
            {
                command.Add(pulses[3]);//参数1(低)
                command.Add(pulses[2]);//参数2
                command.Add(pulses[1]);//参数3 
                command.Add(pulses[0]);//参数4(高) 
            }
            command.Add(0x00);//校验和CRC
            var result = CreateORC(command.ToArray());
            return result;
        }

        /// <summary>
        /// 写入EEPROM->换气标志
        /// </summary>
        /// <param name="flag">换气前写1，换气后写0。</param>
        /// <returns></returns>
        public static byte[] CreateWriteEEPROMChangeAir(uint flag)
        {
            byte[] pulses = BitConverter.GetBytes(flag);
            List<byte> command = new List<byte>();
            command.Add(0x5E);//帧头
            command.Add(0x12);//WRITE_EEPROM
            command.Add(0x00);//CMDNO
            command.Add(0x0C);//LTH
            command.Add(0x00);//地址(高)
            command.Add(0x03);//地址(中)
            command.Add(0x3C);//地址(低)
            if (BitConverter.IsLittleEndian)
            {
                command.Add(pulses[0]);//参数1(低)
                command.Add(pulses[1]);//参数2
                command.Add(pulses[2]);//参数3  
                command.Add(pulses[3]);//参数4(高) 
            }
            else
            {
                command.Add(pulses[3]);//参数1(低)
                command.Add(pulses[2]);//参数2
                command.Add(pulses[1]);//参数3 
                command.Add(pulses[0]);//参数4(高) 
            }
            command.Add(0x00);//校验和CRC
            var result = CreateORC(command.ToArray());
            return result;
        }

        /// <summary>
        /// 换气标志
        /// </summary>
        /// <param name="flag">flag=1表示换气前执行的操作</param>
        /// <returns></returns>
        public static byte[] CreateChangeAir(uint flag)
        {
            //5E  09  00  07  03  01  72 换气前
            //5E  09  00  07  03  00  71 换气后
            byte[] newValue = BitConverter.GetBytes(flag);
            List<byte> command = new List<byte>();
            command.Add(0x5E);//帧头
            command.Add(0x09);//WRITE_EEPROM
            command.Add(0x00);//CMDNO
            command.Add(0x07);//LTH
            command.Add(0x03);
            if (flag == 1)
            {
                command.Add(0x01);
                command.Add(0x72);
            }
            else
            {
                command.Add(0x00);
                command.Add(0x71);
            }

            return command.ToArray();
        }
        #endregion
    }
}