144 lines
4.4 KiB
C#
144 lines
4.4 KiB
C#
using Aitex.Core.RT.Log;
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using MECF.Framework.Common.Communications;
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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.Tasks;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners.YaskawaAligner
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{
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public abstract class YaskawaAlignerHandler : HandlerBase
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{
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public YaskawaAligner Device { get; }
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public string _commandType;
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public string _command;
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public string _parameter;
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private int _seqNO;
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public YaskawaAlignerHandler(YaskawaAligner device, string command, string parameter = null)
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: base(BuildMessage(command, parameter))
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{
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Device = device;
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_command = command;
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_parameter = parameter;
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Name = command;
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}
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protected static string BuildMessage(string command, string parameter)
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{
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if (string.IsNullOrEmpty(parameter))
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return command;
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return $"{command},{parameter}";
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}
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private static string Checksum(byte[] bytes)
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{
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int sum = 0;
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foreach (byte code in bytes)
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{
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sum += code;
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}
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string hex = String.Format("{0:X2}", sum % 256);
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return hex;
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}
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public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
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{
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YaskawaRobotMessage response = msg as YaskawaRobotMessage;
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ResponseMessage = msg;
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if (msg.IsError)
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{
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Device.OnError(response.RawMessage);
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transactionComplete = true;
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return true;
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}
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if (msg.IsAck)
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{
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SetState(EnumHandlerState.Acked);
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}
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if (response.IsComplete)
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{
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SetState(EnumHandlerState.Completed);
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Device.SenACK();
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Device.OnActionDone(null);
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transactionComplete = true;
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return true;
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}
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transactionComplete = false;
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return false;
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}
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protected virtual void NoteCommandResult(YaskawaRobotMessage response)
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{
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}
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}
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public class YaskawaAlignerReadHandler : YaskawaAlignerHandler
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{
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public YaskawaAlignerReadHandler(YaskawaAligner aligner, string command, string parameter = null)
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: base(aligner, command, parameter)
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{
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string temp = string.IsNullOrEmpty(parameter) ? parameter : "";
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LOG.Write($"{aligner.Name} execute read command {command} {temp} in ASCII.");
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}
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public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
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{
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YaskawaRobotMessage response = msg as YaskawaRobotMessage;
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if (Device.ParseReadData(_command, response.Data))
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{
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Device.OnActionDone(null);
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transactionComplete = true;
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return true;
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}
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response.IsError = true;
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return base.HandleMessage(response, out transactionComplete);
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}
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}
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public class YaskawaAlignerSetHandler : YaskawaAlignerHandler
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{
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public YaskawaAlignerSetHandler(YaskawaAligner pa, string command, string parameter = null)
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: base(pa, command, parameter)
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{
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string temp = string.IsNullOrEmpty(parameter) ? parameter : "";
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LOG.Write($"{pa.Name} execute set command {command} {temp} in ASCII.");
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}
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public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
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{
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YaskawaRobotMessage response = msg as YaskawaRobotMessage;
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if (response.IsComplete)
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{
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Device.OnActionDone(null);
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transactionComplete = true;
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return true;
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}
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return base.HandleMessage(response, out transactionComplete);
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}
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}
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public class YaskawaAlignerMotionHandler : YaskawaAlignerHandler
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{
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public YaskawaAlignerMotionHandler(YaskawaAligner pa, string command, string parameter = null)
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: base(pa, command, parameter)
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{
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string temp = string.IsNullOrEmpty(parameter) ? parameter : "";
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LOG.Write($"{pa.Name} execute motion command {command} {temp} in ASCII.");
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}
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}
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}
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