112 lines
3.3 KiB
C#
112 lines
3.3 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.Common.Utilities;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot.NX100;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.MFCs.FujikinMFC
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{
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public class FujikinMFCMessage : BinaryMessage
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{
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public string CommandType { get; set; }
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public string Command { get; set; }
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public string ErrorCode { get; set; }
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public byte[] Data { get; set; }
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}
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public class FujikinMFCConnection : SerialPortConnectionBase
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{
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private static byte _start = 0x02;
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//private static byte _end = 0x00;
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private static byte _ack = 0x06;
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private static byte _nak = 0x16;
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private static byte _address = 0x00;
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public FujikinMFCConnection(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, "", false)
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{
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}
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public override bool SendMessage(byte[] message)
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{
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return base.SendMessage(message);
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}
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protected override MessageBase ParseResponse(byte[] rawMessage)
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{
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FujikinMFCMessage msg = new FujikinMFCMessage();
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msg.RawMessage = rawMessage;
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//msg.Data = rawMessage;
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if (rawMessage.Length == 1)
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{
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if(rawMessage[0] == _ack)
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{
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msg.IsAck = true;
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}
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else if(rawMessage[0] == _nak)
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{
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msg.IsNak = true;
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}
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else
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{
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msg.IsFormatError = true;
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LOG.Error($"invalid response");
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}
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return msg;
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}
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if (rawMessage.Length < 7)
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{
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msg.IsFormatError = true;
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LOG.Error($"invalid response");
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return msg;
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}
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if (rawMessage[0] != _address)
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{
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msg.IsFormatError = true;
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LOG.Error($"invalid address byte");
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return msg;
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}
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if (rawMessage[1] != _start)
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{
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msg.IsFormatError = true;
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LOG.Error($"invalid start byte");
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return msg;
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}
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byte checkSum = 0;
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for (int i = 1; i < rawMessage.Length-1; i++)
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{
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checkSum += rawMessage[i];
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}
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var recSum = rawMessage[rawMessage.Length - 1];
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if (recSum != checkSum)
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{
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LOG.Error($"check sum failed,");
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msg.IsFormatError = true;
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return msg;
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}
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msg.CommandType = rawMessage[2].ToString("X2");
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var commandArray = rawMessage.Skip(4).Take(3).ToArray();
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msg.Command = string.Join(",", commandArray.Select(bt => bt.ToString("X2")).ToArray());
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msg.Data = rawMessage.Skip(7).Take(rawMessage.Length - 9).ToArray();
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msg.IsResponse = true;
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msg.IsComplete = true;
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return msg;
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}
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}
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}
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