100 lines
2.9 KiB
C#
100 lines
2.9 KiB
C#
using Aitex.Core.RT.Log;
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using MECF.Framework.Common.Communications;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Temps.AE;
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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.Robots.Sunway
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{
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public class SunwayRobotMessage : AsciiMessage
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{
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public string Data { get; set; }
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public string ErrorText { get; set; }
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}
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public class SunwayRobotTCPConnection : TCPPortConnectionBase
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{
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private bool _isAckMode = false;//should read from config file
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public SunwayRobotTCPConnection(string address, string endof)
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: base(address, endof, true)
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{
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}
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public override bool SendMessage(string message)
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{
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return base.SendMessage(message);
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}
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protected override void ActiveHandlerProceedMessage(MessageBase msg)
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{
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lock (_lockerActiveHandler)
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{
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if (_activeHandler != null)
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{
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if (msg.IsFormatError || !((SunwayRobotHandler)_activeHandler).HasResponse || (_activeHandler.HandleMessage(msg, out bool transactionComplete) && transactionComplete))
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{
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_activeHandler = null;
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}
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}
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}
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}
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protected override MessageBase ParseResponse(string rawText)
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{
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SunwayRobotMessage msg = new SunwayRobotMessage();
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msg.RawMessage = rawText;
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if (rawText.Length <= 0)
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{
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LOG.Error($"empty response,");
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msg.IsFormatError = true;
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return msg;
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}
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rawText = rawText.Replace("\r", "").Replace("\n", "");
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if (rawText.Contains("_ERR"))
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{
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msg.IsError = true;
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var rewTextArray = rawText.Split(' ');
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msg.Data = rewTextArray[1];
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msg.IsComplete = true;
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}
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else if (rawText.Contains("_BG_RDY"))
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{
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if (!_isAckMode)
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{
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LOG.Error($"response format check failed, BG_RDY is not valid in Mode 1");
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msg.IsFormatError = true;
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return msg;
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}
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msg.Data = rawText;
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msg.IsResponse = true;
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msg.IsAck = true;
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msg.IsComplete = true;
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}
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else if (rawText.Contains("_RDY"))
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{
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msg.Data = rawText;
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msg.IsResponse = true;
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msg.IsAck = true;
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msg.IsComplete = true;
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}
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else
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{
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msg.Data = rawText;
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msg.IsResponse = true;
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msg.IsAck = true;
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msg.IsComplete = true;
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}
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return msg;
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}
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}
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}
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