108 lines
3.7 KiB
C#
108 lines
3.7 KiB
C#
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using Aitex.Core.RT.Event;
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using Aitex.Core.RT.Log;
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using System.Text.RegularExpressions;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot.MAG7
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{
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public class Mag7Robot : Robot
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{
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public override bool Error
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{
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get
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{
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return _commErr || _exceuteErr;
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}
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}
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public Mag7Robot(string module, string address)
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: base(module, module, module, module, address, RobotType.MAG7)
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{
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}
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public override void OnDataChanged(string package)
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{
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try
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{
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package = package.ToUpper();
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string[] msgs = Regex.Split(package, delimiter);
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foreach (string msg in msgs)
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{
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if (msg.Length > 0)
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{
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bool completed = false;
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string resp = msg;
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lock (_locker)
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{
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if (_foregroundHandler != null && _foregroundHandler.OnMessage(ref _socket, resp, out completed))
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{
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if (completed)
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{
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_foregroundHandler = null;
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}
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}
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else if (_backgroundHandler != null && _backgroundHandler.OnMessage(ref _socket, resp, out completed))
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{
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if (completed)
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{
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string reason = string.Empty;
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QueryState(out reason);
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_backgroundHandler = null;
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}
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}
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else
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{
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if (_eventHandler != null)
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{
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if (_eventHandler.OnMessage(ref _socket, resp, out completed))
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{
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if (completed)
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{
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EV.PostMessage("Robot", EventEnum.DefaultWarning, string.Format(" has error. {0:X}", ErrorCode));
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_exceuteErr = true;
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}
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}
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}
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}
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}
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}
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}
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}
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catch (ExcuteFailedException e)
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{
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EV.PostMessage("Robot", EventEnum.DefaultWarning, string.Format("Robot execute failed, {0}", e.Message));
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_exceuteErr = true;
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if (_foregroundHandler != null)
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{
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_foregroundHandler = null;
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}
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else if (_backgroundHandler != null)
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{
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_backgroundHandler = null;
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}
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}
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catch (InvalidPackageException e)
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{
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EV.PostMessage("Robot", EventEnum.DefaultWarning, string.Format("receive invalid package. {0}", e.Message));
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}
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catch (System.Exception ex)
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{
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_commErr = true;
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LOG.Write("Robot failed：" + ex.ToString());
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}
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}
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public override void Reset()
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{
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_exceuteErr = false;
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if (_commErr)
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{
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Connect();
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}
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Swap = false;
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}
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}
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}
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