662 lines
20 KiB
C#
662 lines
20 KiB
C#
using System;
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using System.Threading;
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using MECF.Framework.Simulator.Core.Driver;
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namespace MECF.Framework.Simulator.Core.Robots
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{
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public class YaskawaNX100ControllerSimulator : SocketDeviceSimulator
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{
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protected Random _rd = new Random();
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public bool Failed { get; set; }
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public string ResultValue { get; set; }
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public YaskawaNX100ControllerSimulator(int port)
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:base(port, 4, "\r", ' ')
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{
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//Action Command
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AddCommandHandler("INIT", HandleINIT);
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AddCommandHandler("MHOM", HandleMHOM);
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AddCommandHandler("MTRG", HandleMTRG);
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AddCommandHandler("MTRE", HandleMTRE);
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AddCommandHandler("MTGO", HandleMTGO);
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AddCommandHandler("MTPO", HandleMTPO);
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AddCommandHandler("MTRP", HandleMTRP);
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AddCommandHandler("MMAP", HandleMMAP);
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AddCommandHandler("MALN", HandleMALN);
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AddCommandHandler("MPNT", HandleMPNT);
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AddCommandHandler("MTPT", HandleMTPT);
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AddCommandHandler("MTRS", HandleMTRS);
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AddCommandHandler("MEXG", HandleMEXG);
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/*
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AddCommandHandler("MREL", HandleMREL);
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AddCommandHandler("MALN", HandleMALN);
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AddCommandHandler("MACA", HandleMACA);
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AddCommandHandler("MCTR", HandleMCTR);
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AddCommandHandler("MTCH", HandleMTCH);
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AddCommandHandler("MABS", HandleMABS);
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AddCommandHandler("MMCA", HandleMMCA);
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*/
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//Control Command
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AddCommandHandler("CCLR", HandleCCLR);
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AddCommandHandler("CSOL", HandleCSOL);
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AddCommandHandler("CHLT", HandleCHLT);
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AddCommandHandler("CLFT", HandleCLFT);
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//AddCommandHandler("CSTP", HandleCSTP);
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AddCommandHandler("CRSM", HandleCRSM);
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//AddCommandHandler("CSRV", HandleCSRV);
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//Setting Command
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AddCommandHandler("SSPD", HandleSSPD);
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AddCommandHandler("SSLV", HandleSSLV);
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AddCommandHandler("SPRM", HandleSPRM);
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AddCommandHandler("SMSK", HandleSMSK);
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//Reference Command
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AddCommandHandler("RMAP", HandleRMAP);
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AddCommandHandler("RSTS", HandleRSTS);
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/*
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AddCommandHandler("RSPD", HandleRSPD);
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AddCommandHandler("RSLV", HandleRSLV);
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AddCommandHandler("RPRM", HandleRPRM);
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AddCommandHandler("RERR", HandleRERR);
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AddCommandHandler("RMSK", HandleRMSK);
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AddCommandHandler("RVER", HandleRVER);
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AddCommandHandler("RALN", HandleRALN);
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AddCommandHandler("RACA", HandleRACA);
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AddCommandHandler("RCCD", HandleRCCD);
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AddCommandHandler("RLOG", HandleRLOG);
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AddCommandHandler("RMAP", HandleRMAP);
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*/
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//ACK
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AddCommandHandler("ACKN", HandleACKN);
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AddCommandHandler("Unknown", HandleUnknown);
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}
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public virtual void HandleMTRG(string obj)
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{
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Response("MTRG", obj);
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Thread.Sleep(2000);
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EndOfExecution(obj);
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}
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public virtual void HandleMTRE(string obj)
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{
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Response("MTRE", obj);
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Thread.Sleep(1000);
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EndOfExecution(obj);
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}
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public virtual void HandleMTPO(string obj)
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{
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Response("MTPO", obj);
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Thread.Sleep(1000);
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EndOfExecution(obj);
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}
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public virtual void HandleMTGO(string obj)
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{
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Response("MTGO", obj);
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Thread.Sleep(1000);
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EndOfExecution(obj);
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}
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public virtual void HandleMTRP(string obj)
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{
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Response("MTRP", obj);
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Thread.Sleep(2000);
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EndOfExecution(obj);
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}
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public virtual void HandleRMAP(string obj)
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{
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Response("RMAP", obj);
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EndOfExecution(obj);
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}
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public virtual void HandleMMCA(string obj)
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{
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Response("MMCA", obj);
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EndOfExecution(obj);
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}
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public virtual void HandleMMAP(string msg)
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{
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string unit = msg.Substring(1, 1);
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string seq = msg.Substring(2, 2); ;
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string cmd = msg.Substring(4, 4); ;
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string sts = 0.ToString("X02");
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string Ackcd = 0.ToString("X04");
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//$ <UNo> (<SeqNo>) <StsN> <Ackcd> <Sum> <CR>
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string feedback = string.Format(",{0},{1},{2},{3},{4},", unit, seq, sts, Ackcd, cmd).Replace(",", "");
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string sum = CheckSum(feedback);
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string result = String.Format("{0}{1}{2}", "$", feedback, sum);
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OnWriteMessage(result);
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Thread.Sleep(3000);
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int executeTime = _rd.Next(10000, 999999);
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string exeTime = executeTime.ToString("D6");
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string posData = GetPosData();
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string error = 0.ToString("X04");
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//! <UNo> (<SeqNo>) <StsN> <Errcd> INIT <Sum> <CR>
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feedback = string.Format(",{0},{1},{2},{3},{4},", unit, seq, sts, error, cmd).Replace(",", "");
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sum = CheckSum(feedback);
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result = String.Format("{0}{1}{2}", "!", feedback, sum);
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OnWriteMessage(result);
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}
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public virtual void HandleMABS(string obj)
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{
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Response("MABS", obj);
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EndOfExecution(obj);
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}
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public virtual void HandleMTCH(string obj)
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{
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Response("MTCH", obj);
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EndOfExecution(obj);
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}
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public virtual void HandleMCTR(string obj)
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{
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Response("MCTR", obj);
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EndOfExecution(obj);
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}
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public virtual void HandleMTRS(string obj)
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{
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Response("MTRS", obj);
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EndOfExecution(obj);
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}
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public virtual void HandleMPNT(string obj)
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{
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Response("MPNT", obj);
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Thread.Sleep(1000);
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EndOfExecution(obj);
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}
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public virtual void HandleMTPT(string obj)
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{
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Response("MTPT", obj);
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Thread.Sleep(1000);
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EndOfExecution(obj);
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}
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public virtual void HandleMEXG(string obj)
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{
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Response("MEXG", obj);
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Thread.Sleep(1000);
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EndOfExecution(obj);
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}
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public virtual void HandleUnknown(string obj)
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{
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Response("", obj);
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}
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private void HandleACKN(string obj)
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{
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//DO NOTHING
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}
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private void HandleRLOG(string obj)
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{
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Response("RLOG", obj);
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}
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private void HandleRCCD(string obj)
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{
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Response("RCCD", obj);
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}
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private void HandleRACA(string obj)
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{
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Response("RACA", obj);
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}
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private void HandleRALN(string obj)
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{
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Response("RALN", obj);
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}
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private void HandleRVER(string obj)
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{
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Response("RVER", obj);
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}
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private void HandleRMSK(string obj)
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{
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Response("RMSK", obj);
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}
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private void HandleRERR(string obj)
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{
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Response("RERR", obj);
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}
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//$,<UNo>(,<SeqNo>),RSTS(,<Sum>)<CR>
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//$ <UNo> (<SeqNo>) <StsN> <Ackcd> <Sum> <CR>
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//$ <UNo> (<SeqNo>) <StsN> <Ackcd> <Errcd> <Status1> … <Status4> <Sum> <CR>
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public virtual void HandleRSTS(string msg)
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{
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string unit = msg.Substring(1, 1);
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string seq = msg.Substring(2, 2); ;
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string cmd = msg.Substring(4, 4); ;
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string sts = 0.ToString("X02");
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string Ackcd = 0.ToString("X04");
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string error = 0.ToString("X04");
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int status1 = Convert.ToInt32("0011", 2);
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string status = string.Format("{0}000", status1.ToString("X1"));
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string feedback = string.Format(",{0},{1},{2},{3},{4},{5},{6},", unit, seq, sts, Ackcd, cmd, error, status).Replace(",","");
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string sum = CheckSum(feedback);
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string result = String.Format("{0}{1}{2}", "$", feedback, sum);
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OnWriteMessage(result);
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}
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private void HandleRPRM(string obj)
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{
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Response("RPRM", obj);
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}
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private void HandleRSLV(string obj)
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{
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Response("RSLV", obj);
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}
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private void HandleRSPD(string obj)
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{
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Response("RSPD", obj);
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}
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private void HandleSMSK(string obj)
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{
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Response("SMSK", obj);
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}
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private void HandleSPRM(string obj)
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{
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Response("SPRM", obj);
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}
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private void HandleSSLV(string obj)
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{
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Response("SSLV", obj);
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}
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private void HandleSSPD(string obj)
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{
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Response("SSPD", obj);
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}
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private void HandleCSOL(string obj)
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{
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Response("CSOL", obj);
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EndOfExecution(obj);
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}
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private void HandleCLFT(string obj)
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{
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Response("CLFT", obj);
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EndOfExecution(obj);
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}
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private void HandleCHLT(string obj)
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{
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Response("CHLT", obj);
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EndOfExecution(obj);
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}
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//$,<UNo>(,<SeqNo>),CCLR,<CMode>(,<Sum>)<CR>
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//$,<UNo>(,<SeqNo>),<Sts>,<Ackcd>,CCLR,<CMode>(,<Sum>)<CR>
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//!,<UNo>(,<SeqNo>),<Sts>,<Errcd>,CCLR,<ExeTime>,<PosData1>…,<PosDataN>(,<Sum>)<CR>
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public virtual void HandleCCLR(string msg)
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{
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string unit = msg.Substring(1, 1);
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string seq = msg.Substring(2, 2); ;
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string cmd = msg.Substring(4, 4); ;
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string sts = 0.ToString("X02");
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string Ackcd = 0.ToString("X04");
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string feedback = string.Format(",{0},{1},{2},{3},{4},", unit, seq, sts, Ackcd, cmd).Replace(",", "");
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string sum = CheckSum(feedback);
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string result = String.Format("{0}{1}{2}", "$", feedback, sum);
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OnWriteMessage(result);
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Thread.Sleep(3000);
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int executeTime = _rd.Next(10000, 999999);
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string exeTime = executeTime.ToString("D6");
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string posData = GetPosData();
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string error = 0.ToString("X04");
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feedback = string.Format(",{0},{1},{2},{3},{4},{5},{6},", unit, seq, sts, error, cmd, exeTime, posData).Replace(",", "");
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sum = CheckSum(feedback);
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result = String.Format("{0}{1}{2}", "!", feedback, sum);
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OnWriteMessage(result);
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}
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private void HandleCSRV(string obj)
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{
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Response("CSRV", obj);
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EndOfExecution(obj);
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}
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private void HandleCRSM(string obj)
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{
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Response("CRSM", obj);
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EndOfExecution(obj);
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}
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private void HandleCSTP(string obj)
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{
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Response("CSTP", obj);
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EndOfExecution(obj);
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}
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private void HandleMACA(string obj)
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{
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Response("MACA", obj);
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EndOfExecution(obj);
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}
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//$,<UNo>(,<SeqNo>),MALN,<Mode>,<Angle>(,<Sum>)<CR>
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//$,<UNo>(,<SeqNo>),<Sts>,<Ackcd>,MALN,<Mode>,<Angle>(,<Sum>)<CR>
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//! <UNo> (<SeqNo>) <StsN> <Errcd> MALN<Sum> <CR>
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//!,<UNo>(,<SeqNo>),<Sts>,<Errcd>,MALN,<ExeTime>,<PosData1>…,<PosDataN>,<Value1>…,<Value10>(,<Sum>)<CR>
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public virtual void HandleMALN(string msg)
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{
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string unit = msg.Substring(1, 1);
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string seq = msg.Substring(2, 2); ;
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string cmd = msg.Substring(4, 4); ;
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string sts = 0.ToString("X02");
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string Ackcd = 0.ToString("X04");
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string feedback = string.Format(",{0},{1},{2},{3},{4},", unit, seq, sts, Ackcd, cmd).Replace(",", "");
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string sum = CheckSum(feedback);
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string result = String.Format("{0}{1}{2}", "$", feedback, sum);
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OnWriteMessage(result);
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Thread.Sleep(3000);
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string error = 0.ToString("X04");
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int executeTime = _rd.Next(10000, 999999);
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string exeTime = executeTime.ToString("D6");
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string posData = GetPosData();
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string valueData = GetValueData();
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feedback = string.Format(",{0},{1},{2},{3},{4},{5},{6},{7},", unit, seq, sts, error, cmd, exeTime, posData, valueData).Replace(",", "");
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sum = CheckSum(feedback);
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result = String.Format("{0}{1}{2}", "!", feedback, sum);
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OnWriteMessage(result);
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}
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private void HandleMREL(string obj)
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{
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Response("MREL", obj);
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EndOfExecution(obj);
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}
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//$,<UNo>(,<SeqNo>),INIT,<ErrClr>,<SrvOn>,<Home>(,<Sum>)<CR>
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//$,<UNo>(,<SeqNo>),<Sts>,<Ackcd>,INIT,<ErrClr>,<SrvOn>,<Axis>(,<Sum>)<CR>
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//!,<UNo>(,<SeqNo>),<Sts>,<Errcd>,INIT,<ExeTime>,<PosData1>…,<PosDataN>(,<Sum>)<CR>
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public virtual void HandleINIT(string msg)
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{
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string unit = msg.Substring(1, 1);
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string seq = msg.Substring(2, 2); ;
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string cmd = msg.Substring(4, 4); ;
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string sts = 0.ToString("X02");
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string Ackcd = 0.ToString("X04");
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//$ <UNo> (<SeqNo>) <StsN> <Ackcd> <Sum> <CR>
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string feedback = string.Format(",{0},{1},{2},{3},{4},", unit, seq, sts, Ackcd, cmd).Replace(",", "");
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string sum = CheckSum(feedback);
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string result = String.Format("{0}{1}{2}", "$", feedback, sum);
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OnWriteMessage(result);
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Thread.Sleep(3000);
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int executeTime = _rd.Next(10000, 999999);
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string exeTime = executeTime.ToString("D6");
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string posData = GetPosData();
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string error = 0.ToString("X04");
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//! <UNo> (<SeqNo>) <StsN> <Errcd> INIT <Sum> <CR>
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feedback = string.Format(",{0},{1},{2},{3},{4},", unit, seq, sts, error, cmd).Replace(",", "");
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sum = CheckSum(feedback);
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result = String.Format("{0}{1}{2}", "!", feedback, sum);
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OnWriteMessage(result);
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}
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public virtual void HandleMHOM(string msg)
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{
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string unit = msg.Substring(1,1);
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string seq = msg.Substring(2, 2); ;
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string cmd = msg.Substring(4, 4); ;
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string sts = 0.ToString("X02");
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string Ackcd = 0.ToString("X04");
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//$ <UNo> (<SeqNo>) <StsN> <Ackcd> <Sum> <CR>
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string feedback = string.Format(",{0},{1},{2},{3},{4},", unit, seq, sts, Ackcd, cmd).Replace(",", "");
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string sum = CheckSum(feedback);
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string result = String.Format("{0}{1}{2}", "$", feedback, sum);
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OnWriteMessage(result);
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Thread.Sleep(3000);
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int executeTime = _rd.Next(10000, 999999);
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string exeTime = executeTime.ToString("D6");
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string posData = GetPosData();
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string error = 0.ToString("X04");
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//! <UNo> (<SeqNo>) <StsN> <Errcd> INIT <Sum> <CR>
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feedback = string.Format(",{0},{1},{2},{3},{4},", unit, seq, sts, error, cmd).Replace(",", "");
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sum = CheckSum(feedback);
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result = String.Format("{0}{1}{2}", "!", feedback, sum);
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OnWriteMessage(result);
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}
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//$,0 ,1 ,2 ,3 ,4 ,5 ,6 ,7 <CR>
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//$,<UNo>(,<SeqNo>),<Sts>,<Ackcd>,<Command>,<Parameter>, <Value>(,<Sum>)<CR>
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//
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public void Response(string cmd, string msg)
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{
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string unit = msg.Substring(1, 1);
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string seq = msg.Substring(2, 2); ;
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string sts = 0.ToString("X02");
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string Ackcd = 0.ToString("X04");
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int status1 = Convert.ToInt32("0011", 2);
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string status = string.Format("{0}000", status1.ToString("X1"));
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//$ <UNo> (<SeqNo>) <StsN> <Ackcd> <Sum> <CR>
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string feedback = string.Format(",{0},{1},{2},{3},{4},", unit, seq, sts, Ackcd, cmd).Replace(",", "");
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string sum = CheckSum(feedback);
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string result = String.Format("{0}{1}{2}", "$", feedback, sum);
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OnWriteMessage(result);
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}
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public string CheckSum(string feedback)
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{
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int sum = 0;
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foreach (var item in feedback)
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{
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sum += (int)item;
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}
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sum = sum % 256;
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return sum.ToString("X02");
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}
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public void EndOfExecution(string msg)
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{
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string[] arrayMsg = msg.Split(',');
|
|
string unit = msg.Substring(1, 1);
|
|
string seq = msg.Substring(2, 2); ;
|
|
string cmd = msg.Substring(4, 4); ;
|
|
string sts = 0.ToString("X02");
|
|
string Ackcd = Failed ? "33D4" : 0.ToString("X04");
|
|
|
|
int executeTime = _rd.Next(10000, 999999);
|
|
string exeTime = executeTime.ToString("D6");
|
|
string posData = 0.ToString("D8");
|
|
int status1 = Convert.ToInt32("0011", 2);
|
|
string status = string.Format("{0}000", status1.ToString("X1"));
|
|
//! < UNo > (< SeqNo >) < StsN > < Errcd > MTRG<Sum> < CR >
|
|
string feedback = string.Format(",{0},{1},{2},{3},{4},", unit, seq, sts, Ackcd, cmd).Replace(",", "");
|
|
string sum = CheckSum(feedback);
|
|
string result = String.Format("{0}{1}{2}", "!", feedback, sum);
|
|
|
|
OnWriteMessage(result);
|
|
}
|
|
|
|
|
|
public string GetPosData()
|
|
{
|
|
return string.Format("{0},{1},{2},{3},{4}", _rd.Next().ToString("D8"), _rd.Next().ToString("D8"), _rd.Next().ToString("D8"), _rd.Next().ToString("D8"), _rd.Next().ToString("D8"));
|
|
}
|
|
|
|
public string GetValueData()
|
|
{
|
|
return string.Format("{0},{1},{2},{3},{4},{5},{6},{7},{8},{9}",
|
|
_rd.Next(0, 0).ToString("D8"),
|
|
_rd.Next(0, 0).ToString("D8"),
|
|
_rd.Next(0, 0).ToString("D8"),
|
|
_rd.Next(0, 0).ToString("D8"),
|
|
_rd.Next(0, 0).ToString("D8"),
|
|
_rd.Next(0, 0).ToString("D8"),
|
|
_rd.Next(0, 0).ToString("D8"),
|
|
_rd.Next(0, 0).ToString("D8"),
|
|
_rd.Next(0, 0).ToString("D8"),
|
|
_rd.Next(0, 0).ToString("D8"));
|
|
}
|
|
|
|
public string GetMapData(bool random, bool full)
|
|
{
|
|
string result="";
|
|
for (int i = 0; i < 25; i++)
|
|
{
|
|
if (random)
|
|
{
|
|
result += string.Format("{0:00}:{1}", i + 1, _rd.Next(100) > 50 ? "OK" : "--");
|
|
}else if (full)
|
|
{
|
|
result += string.Format("{0:00}:{1}", i + 1, "OK" );
|
|
}
|
|
else
|
|
{
|
|
result += string.Format("{0:00}:{1}", i + 1, "--");
|
|
|
|
}
|
|
if (i < 24)
|
|
{
|
|
result += ",";
|
|
}
|
|
}
|
|
|
|
return result;
|
|
}
|
|
|
|
public string GetMapData(bool pre, bool post, bool mid)
|
|
{
|
|
string result = "";
|
|
for (int i = 0; i < 25; i++)
|
|
{
|
|
if (i < 8)
|
|
{
|
|
result += string.Format("{0:00}:{1}", i + 1, pre ? "OK" : "--");
|
|
}
|
|
else if (i < 16)
|
|
{
|
|
result += string.Format("{0:00}:{1}", i + 1, mid ? "OK" : "--");
|
|
}
|
|
else
|
|
{
|
|
result += string.Format("{0:00}:{1}", i + 1, post ? "OK" : "--");
|
|
}
|
|
|
|
if (i < 24)
|
|
{
|
|
result += ",";
|
|
}
|
|
}
|
|
|
|
return result;
|
|
}
|
|
public string GetMapData(int startslot, int endslot)
|
|
{
|
|
string result = "";
|
|
for (int i = 0; i < 25; i++)
|
|
{
|
|
if (i >= startslot && i<=endslot)
|
|
{
|
|
result += string.Format("{0:00}:{1}", i + 1, "OK" );
|
|
}
|
|
|
|
else
|
|
{
|
|
result += string.Format("{0:00}:{1}", i + 1, "--");
|
|
}
|
|
|
|
if (i < 24)
|
|
{
|
|
result += ",";
|
|
}
|
|
}
|
|
|
|
return result;
|
|
}
|
|
}
|
|
}
|
|
|