171 lines
4.9 KiB
C#
171 lines
4.9 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.Robots.Siasun1500C800C
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{
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public class RobotSiasun1500C800CMessage : 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 RobotSiasun1500C800CConnection : 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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public RobotSiasun1500C800CConnection(string portName, int baudRate = 19200, 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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protected override MessageBase ParseResponse(string rawText)
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{
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RobotSiasun1500C800CMessage msg = new RobotSiasun1500C800CMessage();
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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.Substring(0, rawText.Length - 1);
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if (rawText.Contains("_ERR"))
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{
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msg.IsError = 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.Data = rawText;
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if (_isAckMode)
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{
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msg.IsResponse = true;
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msg.IsAck = true;
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msg.IsComplete = false;
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}
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else
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{
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msg.IsResponse = true;
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msg.IsAck = true;
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msg.IsComplete = true;
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}
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}
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else if(rawText == "BG_RDY")
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{
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if (!_isAckMode)
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{
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LOG.Error($"response format check failed, BG_RDY is not valid in Mode 1");
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msg.IsFormatError = true;
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return msg;
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}
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msg.Data = rawText;
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msg.IsResponse = true;
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msg.IsAck = true;
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msg.IsComplete = true;
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}
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else
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{
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msg.Data = rawText;
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msg.IsResponse = true;
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msg.IsAck = true;
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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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public class RobotSiasun1500C800CTCPConnection : TCPPortConnectionBase
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{
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private bool _isAckMode = false;//should read from config file
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public RobotSiasun1500C800CTCPConnection(string address)
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: base(address, "\r", true)
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{
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}
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public override bool SendMessage(string 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(string rawText)
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{
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RobotSiasun1500C800CMessage msg = new RobotSiasun1500C800CMessage();
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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.Substring(0, rawText.Length - 1);
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if (rawText.Contains("_ERR"))
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{
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msg.IsError = true;
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var rewTextArray = rawText.Split(' ');
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msg.Data = rewTextArray[1];
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msg.IsComplete = true;
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}
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else if (rawText == "_RDY")
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{
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msg.Data = rawText;
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if (_isAckMode)
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{
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msg.IsResponse = true;
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msg.IsAck = true;
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msg.IsComplete = false;
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}
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else
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{
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msg.IsResponse = true;
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msg.IsAck = true;
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msg.IsComplete = true;
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}
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}
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else if (rawText == "BG_RDY")
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{
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if (!_isAckMode)
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{
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LOG.Error($"response format check failed, BG_RDY is not valid in Mode 1");
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msg.IsFormatError = true;
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return msg;
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}
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msg.Data = rawText;
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msg.IsResponse = true;
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msg.IsAck = true;
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msg.IsComplete = true;
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}
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else
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{
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msg.Data = rawText;
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msg.IsResponse = 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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