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Sic.Framework/SimulatorCore/Robots/YaskawaSR100RobotSimulator.cs

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2023-04-13 11:51:03 +08:00
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using MECF.Framework.Simulator.Core.Driver;
namespace MECF.Framework.Simulator.Core.Robots
{
public class YaskawaSR100RobotSimulator : YaskawaSR100ControllerSimulator
{
public YaskawaSR100RobotSimulator()
: base(10110)
{
}
//$,<UNo>(,<SeqNo>),INIT,<ErrClr>,<SrvOn>,<Home>(,<Sum>)<CR>
//$,<UNo>(,<SeqNo>),<Sts>,<Ackcd>,INIT,<ErrClr>,<SrvOn>,<Axis>(,<Sum>)<CR>
//!,<UNo>(,<SeqNo>),<Sts>,<Errcd>,INIT,<ExeTime>,<PosData1>…,<PosDataN>(,<Sum>)<CR>
public override void HandleINIT(string msg)
{
string[] arrayMsg = msg.Split(',');
string unit = arrayMsg[1];
string seq = arrayMsg[2];
string cmd = arrayMsg[3];
string sts = 0.ToString("X02");
string Ackcd = 0.ToString("X04");
string errorClr = arrayMsg[4];
string srvOn = arrayMsg[5];
string axis = arrayMsg[6];
string feedback = string.Format(",{0},{1},{2},{3},{4},{5},{6},{7},", unit, seq, sts, Ackcd, cmd, errorClr, srvOn, axis);
string sum = CheckSum(feedback);
string result = String.Format("{0}{1}{2}", arrayMsg[0], feedback, sum);
OnWriteMessage(result);
Thread.Sleep(3000);
Random rd = new Random();
int executeTime = rd.Next(10000, 999999);
string exeTime = executeTime.ToString("D6");
string posData = GetPosData();
string error = 0.ToString("X04");
feedback = string.Format(",{0},{1},{2},{3},{4},{5},{6},", unit, seq, sts, error, cmd, exeTime, posData);
sum = CheckSum(feedback);
result = String.Format("{0}{1}{2}", "!", feedback, sum);
OnWriteMessage(result);
}
//$,<UNo>(,<SeqNo>),CCLR,<CMode>(,<Sum>)<CR>
//$,<UNo>(,<SeqNo>),<Sts>,<Ackcd>,CCLR,<CMode>(,<Sum>)<CR>
//!,<UNo>(,<SeqNo>),<Sts>,<Errcd>,CCLR,<ExeTime>,<PosData1>…,<PosDataN>(,<Sum>)<CR>
public override void HandleCCLR(string msg)
{
string[] arrayMsg = msg.Split(',');
string unit = arrayMsg[1];
string seq = arrayMsg[2];
string cmd = arrayMsg[3];
string sts = 0.ToString("X02");
string Ackcd = 0.ToString("X04");
string cmode = arrayMsg[4];
string feedback = string.Format(",{0},{1},{2},{3},{4},{5},", unit, seq, sts, Ackcd, cmd, cmode);
string sum = CheckSum(feedback);
string result = String.Format("{0}{1}{2}", arrayMsg[0], feedback, sum);
OnWriteMessage(result);
Thread.Sleep(3000);
int executeTime = _rd.Next(10000, 999999);
string exeTime = executeTime.ToString("D6");
string posData = GetPosData();
string error = 0.ToString("X04");
feedback = string.Format(",{0},{1},{2},{3},{4},{5},{6},", unit, seq, sts, error, cmd, exeTime, posData);
sum = CheckSum(feedback);
result = String.Format("{0}{1}{2}", "!", feedback, sum);
OnWriteMessage(result);
}
//$,<UNo>(,<SeqNo>),RSTS(,<Sum>)<CR>
//$,<UNo>(,<SeqNo>),<Sts>,<Ackcd>,RSTS,<Errcd>,<Status>(,<Sum>)<CR>
public override void HandleRSTS(string msg)
{
string[] arrayMsg = msg.Split(',');
string unit = arrayMsg[1];
string seq = arrayMsg[2];
string cmd = arrayMsg[3];
string sts = 0.ToString("X02");
string Ackcd = 0.ToString("X04");
string error = 0.ToString("X04");
int status1 = Convert.ToInt32("0011", 2);
string status = string.Format("{0}000", status1.ToString("X1"));
string feedback = string.Format(",{0},{1},{2},{3},{4},{5},{6},", unit, seq, sts, Ackcd, cmd, error, status);
string sum = CheckSum(feedback);
string result = String.Format("{0}{1}{2}", arrayMsg[0], feedback, sum);
OnWriteMessage(result);
}
//$,<UNo>(,<SeqNo>),MALN,<Mode>,<Angle>(,<Sum>)<CR>
//$,<UNo>(,<SeqNo>),<Sts>,<Ackcd>,MALN,<Mode>,<Angle>(,<Sum>)<CR>
//!,<UNo>(,<SeqNo>),<Sts>,<Errcd>,MALN,<ExeTime>,<PosData1>…,<PosDataN>,<Value1>…,<Value10>(,<Sum>)<CR>
public override void HandleMALN(string msg)
{
string[] arrayMsg = msg.Split(',');
string unit = arrayMsg[1];
string seq = arrayMsg[2];
string cmd = arrayMsg[3];
string sts = 0.ToString("X02");
string Ackcd = 0.ToString("X04");
string mode = arrayMsg[4];
string angle = arrayMsg[5];
string feedback = string.Format(",{0},{1},{2},{3},{4},{5},{6},", unit, seq, sts, Ackcd, cmd, mode, angle);
string sum = CheckSum(feedback);
string result = String.Format("{0}{1}{2}", arrayMsg[0], feedback, sum);
OnWriteMessage(result);
Thread.Sleep(3000);
string error = 0.ToString("X04");
int executeTime = _rd.Next(10000, 999999);
string exeTime = executeTime.ToString("D6");
string posData = GetPosData();
string valueData = GetValueData();
feedback = string.Format(",{0},{1},{2},{3},{4},{5},{6},{7},", unit, seq, sts, error, cmd, exeTime, posData, valueData);
sum = CheckSum(feedback);
result = String.Format("{0}{1}{2}", "!", feedback, sum);
OnWriteMessage(result);
}
//$,<UNo>(,<SeqNo>),MTRS,<Mtn>,<TrsSt>,<Slot>,<Posture>,<Hand>,<TrsPnt>(,<OfstX>,<OfstY>,<OfstZ>)(,<Angle>)(,<Sum>)<CR>
//$,<UNo>(,<SeqNo>),<Sts>,<Ackcd>,MTRS,<Mtn>,<TrsSt>,<Slot>,<Posture>,<Hand>,<TrsPnt>(,<OfstX>,<OfstY>,<OfstZ>)(,<Angle>)(,<Sum>)<CR>
//!,<UNo>(,<SeqNo>),<Sts>,<Errcd>,MTRS,<ExeTime>,<PosData1>…,<PosDataN>(,<Sum>)<CR>
public override void HandleMTRS(string msg)
{
string[] arrayMsg = msg.Split(',');
string unit = arrayMsg[1];
string seq = arrayMsg[2];
string cmd = arrayMsg[3];
string sts = 0.ToString("X02");
string Ackcd = 0.ToString("X04");
string leftAll = "";
for (int i = 4; i < arrayMsg.Length - 1; i++)
leftAll += arrayMsg[i] + ",";
string feedback = string.Format(",{0},{1},{2},{3},{4},{5}", unit, seq, sts, Ackcd, cmd, leftAll);
string sum = CheckSum(feedback);
string result = String.Format("{0}{1}{2}", arrayMsg[0], feedback, sum);
OnWriteMessage(result);
Thread.Sleep(3000);
string error = 0.ToString("X04");
int executeTime = _rd.Next(10000, 999999);
string exeTime = executeTime.ToString("D6");
string posData = GetPosData();
feedback = string.Format(",{0},{1},{2},{3},{4},{5},{6},", unit, seq, sts, error, cmd, exeTime, posData);
sum = CheckSum(feedback);
result = String.Format("{0}{1}{2}", "!", feedback, sum);
OnWriteMessage(result);
OnWriteMessage(result);
}
//$,<UNo>(,<SeqNo>),RMAP,<TrsSt>,<Slot>(,<Sum>)<CR>
//$,<UNo>(,<SeqNo>),<Sts>,<Ackcd>,RMAP,<TrsSt>,<Slot>,01:<Result1>…,N:<ResultN>(,<Sum>)<CR>
public override void HandleRMAP(string msg)
{
Random rd = new Random();
string[] arrayMsg = msg.Split(',');
string unit = arrayMsg[1];
string seq = arrayMsg[2];
string cmd = arrayMsg[3];
string trs = arrayMsg[4];
string slot = arrayMsg[5];
string sts = 0.ToString("X02");
string Ackcd = 0.ToString("X04");
string error = 0.ToString("X04");
//bool random = false;
bool full = trs == "C01" || trs == "C02";
//string mapData = GetMapData(random, full);
bool pre = trs == "C01" || trs == "C02";
bool mid = trs == "C03" || trs == "C04";
bool post = trs == "C05" || trs == "C06";
string mapData = full? GetMapData(true, true, true) : GetMapData(pre, mid, post);
if (trs == "C01")
mapData = GetMapData(1, 2);
if (trs == "C02")
mapData = GetMapData(4, 5);
if (trs == "C07")
mapData = GetMapData(4, 5);
if (trs == "C08")
mapData = GetMapData(4, 5);
if (trs == "C06")
mapData = GetMapData(4, 5);
string feedback = string.Format(",{0},{1},{2},{3},{4},{5},{6},{7},", unit, seq, sts, Ackcd, cmd, trs, slot, mapData);
string sum = CheckSum(feedback);
string result = String.Format("{0}{1}{2}", arrayMsg[0], feedback, sum);
OnWriteMessage(result);
}
//$,<UNo>(,<SeqNo>),MMAP,<TrsSt>,<Slot>(,<Safe>)(,<Sum>)<CR>
//$,<UNo>(,<SeqNo>),<Sts>,<Ackcd>,MMAP,<TrsSt>,<Slot>(,<Safe>)(,<Sum>)<CR>
//!,<UNo>(,<SeqNo>),<Sts>,<Errcd>,MMAP,<ExeTime>,<PosData1>,…<PosDataN> ,01:<Result1>…,N:<ResultN>(,<Sum>)<CR>
public override void HandleMMAP(string msg)
{
string[] arrayMsg = msg.Split(',');
string unit = arrayMsg[1];
string seq = arrayMsg[2];
string cmd = arrayMsg[3];
string trs = arrayMsg[4];
string slot = arrayMsg[5];
string sts = 0.ToString("X02");
string Ackcd = 0.ToString("X04");
string leftAll = "";
for (int i = 4; i < arrayMsg.Length - 1; i++)
leftAll += arrayMsg[i] + ",";
string feedback = string.Format(",{0},{1},{2},{3},{4},{5}", unit, seq, sts, Ackcd, cmd, leftAll);
string sum = CheckSum(feedback);
string result = String.Format("{0}{1}{2}", arrayMsg[0], feedback, sum);
OnWriteMessage(result);
Thread.Sleep(2000);
string error = 0.ToString("X04");
int executeTime = _rd.Next(10000, 999999);
string exeTime = executeTime.ToString("D6");
string posData = GetPosData();
//bool random = false;
bool full = trs == "C01" || trs == "C02";
bool pre = trs == "C03" || trs == "C04" || trs == "C05" || trs == "C06";
bool mid = trs == "C03" || trs == "C04" ;
bool post = trs == "C05" || trs == "C06";
string mapData = full ? GetMapData(true, true, true) : GetMapData(pre, mid, post);
feedback = string.Format(",{0},{1},{2},{3},{4},{5},{6},{7},", unit, seq, sts, error, cmd, exeTime, posData, mapData);
sum = CheckSum(feedback);
result = String.Format("{0}{1}{2}", "!", feedback, sum);
OnWriteMessage(result);
}
public override void HandleRMPD(string msg)
{
Random rd = new Random();
string[] arrayMsg = msg.Split(',');
string unit = arrayMsg[1];
string seq = arrayMsg[2];
string cmd = arrayMsg[3];
string trs = arrayMsg[4];
//string slot = arrayMsg[5];
string sts = 0.ToString("X02");
string Ackcd = 0.ToString("X04");
string error = 0.ToString("X04");
//bool random = false;
bool full = trs == "C01" || trs == "C02";
//string mapData = GetMapData(random, full);
bool pre = trs == "C01" || trs == "C02";
bool mid = trs == "C03" || trs == "C04";
bool post = trs == "C05" || trs == "C06";
string mapData = full ? GetMapData(true, true, true) : GetMapData(pre, mid, post);
if (trs == "C01")
mapData = GetMapThickData(0, 1);
if (trs == "C02")
mapData = GetMapThickData(1, 5);
mapData = GetMapThickData(1, 5);
string feedback = string.Format(",{0},{1},{2},{3},{4},{5},{6},", unit, seq, sts, Ackcd, cmd, trs, mapData);
string sum = CheckSum(feedback);
string result = String.Format("{0}{1}{2}", arrayMsg[0], feedback, sum);
OnWriteMessage(result);
}
public override void HandleCSOL(string msg)
{
Response("CSOL", msg);
Thread.Sleep(3000);
string[] arrayMsg = msg.Split(',');
string unit = arrayMsg[1];
string seq = arrayMsg[2];
string sts = 0.ToString("X02");
string error = 0.ToString("X04");
string type = arrayMsg[3];
int executeTime = _rd.Next(10000, 999999);
string exeTime = executeTime.ToString("D6");
string posData = GetPosData();
int status1 = Convert.ToInt32("0011", 2);
string status = string.Format("{0}000", status1.ToString("X1"));
string feedback = string.Format(",{0},{1},{2},{3},{4},{5},{6},", unit, seq, sts, error, type, exeTime, posData);
string sum = CheckSum(feedback);
string result = String.Format("{0}{1}{2}", "!", feedback, sum);
OnWriteMessage(result);
}
public override void HandleMPNT(string msg)
{
Response("MPNT", msg);
Thread.Sleep(3000);
string[] arrayMsg = msg.Split(',');
string unit = arrayMsg[1];
string seq = arrayMsg[2];
string sts = 0.ToString("X02");
string error = 0.ToString("X04");
string type = arrayMsg[3];
int executeTime = _rd.Next(10000, 999999);
string exeTime = executeTime.ToString("D6");
string posData = GetPosData();
int status1 = Convert.ToInt32("0011", 2);
string status = string.Format("{0}000", status1.ToString("X1"));
string feedback = string.Format(",{0},{1},{2},{3},{4},{5},{6},", unit, seq, sts, error, type, exeTime, posData);
string sum = CheckSum(feedback);
string result = String.Format("{0}{1}{2}", "!", feedback, sum);
OnWriteMessage(result);
}
}
}