93 lines
3.2 KiB
C#
93 lines
3.2 KiB
C#
using System.Collections.Generic;
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using System.IO.Ports;
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using System.Linq;
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using System.Text;
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using Aitex.Core.RT.Log;
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using MECF.Framework.Common.Communications;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.JEL
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{
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public class JelC5000RobotFlippeMessage : 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 JelC5000RobotFlippeConnection : SerialPortConnectionBase
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{
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//private bool _isAckMode = false;//should read from config file
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private string _cachedBuffer = string.Empty;
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private List<byte> _lstCacheBuffer = new List<byte>();
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private RobotBaseDevice m_Robot;
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public JelC5000RobotFlippeConnection(RobotBaseDevice robot, string portName, int baudRate = 9600, int dataBits = 8, Parity parity = Parity.None, StopBits stopBits = StopBits.One)
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: base(portName, baudRate, dataBits, parity, stopBits,"", true)
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{
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m_Robot = robot;
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}
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public override bool SendMessage(byte[] message)
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{
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_lstCacheBuffer.Clear();
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return base.SendMessage(message);
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}
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public override bool SendMessage(string message)
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{
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_cachedBuffer = string.Empty;
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while (m_Robot.CommandMessages.Count > 50)
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m_Robot.CommandMessages.RemoveLast();
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m_Robot.CommandMessages.AddFirst($"Send:{message.Replace("\r","")}");
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return base.SendMessage(message);
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}
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protected override MessageBase ParseResponse(string rawmsg)
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{
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_cachedBuffer += rawmsg;
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JelC5000RobotFlippeMessage msg = new JelC5000RobotFlippeMessage();
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if (_activeHandler == null)
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{
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_cachedBuffer = string.Empty;
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return msg;
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}
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if (_cachedBuffer == ">" && (_activeHandler.GetType() != typeof(JelC5000RobotFlippeReadHandler)))
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{
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msg.IsAck = true;
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msg.Data = _cachedBuffer.Replace(">", "").Replace("\r", "");
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while (m_Robot.CommandMessages.Count > 50)
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m_Robot.CommandMessages.RemoveLast();
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m_Robot.CommandMessages.AddFirst($"Received:{_cachedBuffer.Replace("\r", "")}");
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_cachedBuffer = string.Empty;
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}
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else if(_cachedBuffer.Contains("\r"))
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{
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msg.IsAck = true;
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msg.IsResponse = true;
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msg.Data = _cachedBuffer.Replace(">", "").Replace("\r", "");
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while (m_Robot.CommandMessages.Count > 50)
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m_Robot.CommandMessages.RemoveLast();
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m_Robot.CommandMessages.AddFirst($"Received:{_cachedBuffer.Replace("\r", "")}");
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_cachedBuffer = string.Empty;
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}
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//else if(_cachedBuffer.Contains("\r"))
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//{
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// msg.IsAck = true;
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// msg.Data = rawmsg.Replace(">", "").Replace("\r", "");
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// _cachedBuffer = string.Empty;
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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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