126 lines
3.4 KiB
C#
126 lines
3.4 KiB
C#
using System.Collections.Generic;
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using System.IO.Ports;
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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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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.VCE.BrooksVCE
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{
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public class BrooksVCEMessage : 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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public bool IsRDY { get; set; }
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}
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public class BrooksVCEConnection : SerialPortConnectionBase
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{
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//private bool _isBKGPlusMode = true;//should read from config file
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private string _cachedBuffer = string.Empty;
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public BrooksVCEConnection(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, "\r", true)
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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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//1) Format: id,X,category,data<LF><CR>
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//2) request response
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//00,R,ARM,R,EX
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//00,X,ARM,R,EX,0169500
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//3) action response
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//S,BUFFER,NS,2
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//_RDY
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//_BKGRDY
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//A,DO
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//_RDY
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//_BKGERR A6
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//BAD,COMMAND
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//_ERR S4
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//_RDY
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protected override MessageBase ParseResponse(string rawText)
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{
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BrooksVCEMessage msg = new BrooksVCEMessage();
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msg.RawMessage = rawText;
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if (rawText.Length <= 0)
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{
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LOG.Error($"empty response,");
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msg.IsFormatError = true;
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return msg;
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}
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rawText = rawText.Remove(rawText.Length - 1).Substring(3);
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if (rawText.Contains("_ERR"))
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{
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msg.IsError = true;
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msg.IsAck = true;
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var rewTextArray = rawText.Split(' ');
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msg.Data = rewTextArray[1];
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}
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else if (rawText.Contains("_BKGERR"))
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{
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msg.IsError = true;
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msg.IsComplete = true;
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var rewTextArray = rawText.Split(' ');
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msg.Data = rewTextArray[1];
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}
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else if (rawText == "_RDY")
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{
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msg.IsRDY = true;
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}
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else if (rawText == "_BKGRDY")
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{
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msg.Data = rawText;
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msg.IsComplete = true;
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}
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//Request response axisPosition
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//R,ARM,R,RE
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//X,ARM,R,RE,0000000
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else
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{
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msg.MessagePart = rawText.Split(',');
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if (msg.MessagePart.Length < 2)
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{
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LOG.Error($"too short response,");
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msg.IsFormatError = true;
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return msg;
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}
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if (msg.MessagePart[0] != "X")
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{
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LOG.Error($"invalid record type for response ,");
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msg.IsFormatError = true;
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return msg;
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}
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if (msg.MessagePart.Length > 2)
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{
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msg.Data = string.Join(",", msg.MessagePart, 2, msg.MessagePart.Length - 2);
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}
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msg.IsComplete = true;
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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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