save

BlazorApp/Models/Canopen/CanopenDeviceRegistry.cs

@@ -0,0 +1,50 @@
+using BlazorApp.Models.Canopen.Eds;
+namespace BlazorApp.Models.Canopen
+{
+    public static class CanopenDeviceRegistry
+    {
+        private static readonly Dictionary<int, ICanopenDeviceDecoder> _decoders
+            = new();
+
+        static CanopenDeviceRegistry()
+        {
+            // 🔹 Ví dụ cấu hình từ EDS
+            var encoderEds = new EdsDevice
+            {
+                NodeId = 5,
+                DeviceName = "Encoder GXMMW",
+                Tpdos =
+                {
+                    [1] = new EdsTpdo
+                    {
+                        PdoIndex = 1,
+                        Objects =
+                        {
+                            new EdsObject
+                            {
+                                Index = 0x6004,
+                                Name = "Position",
+                                BitOffset = 0,
+                                BitLength = 32,
+                                Factor = 0.094,
+                                Unit = "mm"
+                            }
+                        }
+                    }
+                }
+            };
+
+            Register(new EdsDeviceDecoder(encoderEds));
+        }
+
+        public static void Register(ICanopenDeviceDecoder decoder)
+        {
+            _decoders[decoder.NodeId] = decoder;
+        }
+        public static ICanopenDeviceDecoder? GetDecoder(int nodeId)
+        {
+            return _decoders.TryGetValue(nodeId, out var d) ? d : null;
+        }
+
+    }
+}

BlazorApp/Models/Canopen/Eds/EdsDevice.cs

@@ -0,0 +1,10 @@
+namespace BlazorApp.Models.Canopen.Eds
+{
+    public class EdsDevice
+    {
+        public int NodeId { get; set; }
+        public string DeviceName { get; set; } = "";
+
+        public Dictionary<int, EdsTpdo> Tpdos { get; set; } = new();
+    }
+}

BlazorApp/Models/Canopen/Eds/EdsDeviceDecoder.cs

@@ -0,0 +1,47 @@
+using BlazorApp.Models.Canopen;
+using BlazorApp.Models.Canopen.Eds;
+namespace BlazorApp.Models.Canopen.Eds
+{
+    public class EdsDeviceDecoder : ICanopenDeviceDecoder
+    {
+        private readonly EdsDevice _device;
+
+        public int NodeId => _device.NodeId;
+
+        public EdsDeviceDecoder(EdsDevice device)
+        {
+            _device = device;
+        }
+
+        public string DecodeTpdo(int pdoIndex, byte[] data, byte length)
+        {
+            if (!_device.Tpdos.TryGetValue(pdoIndex, out var tpdo))
+                return "-";
+
+            var results = new List<string>();
+
+            foreach (var obj in tpdo.Objects)
+            {
+                ulong raw = ReadBits(data, obj.BitOffset, obj.BitLength);
+                double value = raw * obj.Factor;
+
+                results.Add($"{obj.Name}: {value:F2} {obj.Unit}");
+            }
+
+            return string.Join(" | ", results);
+        }
+
+        private static ulong ReadBits(byte[] data, int bitOffset, int bitLength)
+        {
+            ulong value = 0;
+            int byteOffset = bitOffset / 8;
+
+            for (int i = 0; i < bitLength / 8; i++)
+            {
+                value |= (ulong)data[byteOffset + i] << (8 * i);
+            }
+
+            return value;
+        }
+    }
+}

BlazorApp/Models/Canopen/Eds/EdsObject.cs

@@ -0,0 +1,13 @@
+namespace BlazorApp.Models.Canopen.Eds
+{
+    public class EdsObject
+    {
+        public ushort Index { get; set; }
+        public byte SubIndex { get; set; }
+        public string Name { get; set; } = "";
+        public double Factor { get; set; } = 1.0;
+        public string Unit { get; set; } = "";
+        public int BitOffset { get; set; }
+        public int BitLength { get; set; }
+    }
+}

BlazorApp/Models/Canopen/Eds/EdsTpdo.cs

@@ -0,0 +1,8 @@
+namespace BlazorApp.Models.Canopen.Eds
+{
+    public class EdsTpdo
+    {
+        public int PdoIndex { get; set; }
+        public List<EdsObject> Objects { get; set; } = new();
+    }
+}

BlazorApp/Models/Canopen/ICanopenDeviceDecoder.cs

@@ -0,0 +1,10 @@
+using BlazorApp.Models;
+namespace BlazorApp.Models.Canopen
+{
+    public interface ICanopenDeviceDecoder
+    {
+        int NodeId { get; }
+
+        string DecodeTpdo(int pdoIndex, byte[] data, byte length);
+    }
+}