92 lines
3.2 KiB
C#
92 lines
3.2 KiB
C#
|
using System.Collections.Generic;
|
|||
|
using System.IO.Ports;
|
|||
|
using System.Linq;
|
|||
|
using System.Text;
|
|||
|
using Aitex.Core.RT.Log;
|
|||
|
using MECF.Framework.Common.Communications;
|
|||
|
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
|
|||
|
|
|||
|
namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.JEL
|
|||
|
{
|
|||
|
public class JelC5000RobotMessage : AsciiMessage
|
|||
|
{
|
|||
|
public string Data { get; set; }
|
|||
|
public string ErrorText { get; set; }
|
|||
|
}
|
|||
|
|
|||
|
public class JelC5000RobotConnection : SerialPortConnectionBase
|
|||
|
{
|
|||
|
//private bool _isAckMode = false;//should read from config file
|
|||
|
|
|||
|
private string _cachedBuffer = string.Empty;
|
|||
|
private List<byte> _lstCacheBuffer = new List<byte>();
|
|||
|
private RobotBaseDevice m_Robot;
|
|||
|
|
|||
|
public JelC5000RobotConnection(RobotBaseDevice robot, string portName, int baudRate = 9600, int dataBits = 8, Parity parity = Parity.None, StopBits stopBits = StopBits.One)
|
|||
|
: base(portName, baudRate, dataBits, parity, stopBits,"", true)
|
|||
|
{
|
|||
|
m_Robot = robot;
|
|||
|
}
|
|||
|
|
|||
|
public override bool SendMessage(byte[] message)
|
|||
|
{
|
|||
|
_lstCacheBuffer.Clear();
|
|||
|
return base.SendMessage(message);
|
|||
|
}
|
|||
|
public override bool SendMessage(string message)
|
|||
|
{
|
|||
|
_cachedBuffer = string.Empty;
|
|||
|
while (m_Robot.CommandMessages.Count > 50)
|
|||
|
m_Robot.CommandMessages.RemoveLast();
|
|||
|
m_Robot.CommandMessages.AddFirst($"Send:{message.Replace("\r","")}");
|
|||
|
return base.SendMessage(message);
|
|||
|
}
|
|||
|
|
|||
|
protected override MessageBase ParseResponse(string rawmsg)
|
|||
|
{
|
|||
|
_cachedBuffer += rawmsg;
|
|||
|
JelC5000RobotMessage msg = new JelC5000RobotMessage();
|
|||
|
|
|||
|
if (_activeHandler == null)
|
|||
|
{
|
|||
|
_cachedBuffer = string.Empty;
|
|||
|
return msg;
|
|||
|
}
|
|||
|
|
|||
|
if (_cachedBuffer == ">" && (_activeHandler.GetType() != typeof(JelC5000RobotReadHandler)))
|
|||
|
{
|
|||
|
msg.IsAck = true;
|
|||
|
msg.Data = _cachedBuffer.Replace(">", "").Replace("\r", "");
|
|||
|
|
|||
|
|
|||
|
while (m_Robot.CommandMessages.Count > 50)
|
|||
|
m_Robot.CommandMessages.RemoveLast();
|
|||
|
m_Robot.CommandMessages.AddFirst($"Received:{_cachedBuffer.Replace("\r", "")}");
|
|||
|
|
|||
|
_cachedBuffer = string.Empty;
|
|||
|
}
|
|||
|
else if(_cachedBuffer.Contains("\r"))
|
|||
|
{
|
|||
|
msg.IsAck = true;
|
|||
|
msg.IsResponse = true;
|
|||
|
msg.Data = _cachedBuffer.Replace(">", "").Replace("\r", "");
|
|||
|
|
|||
|
while (m_Robot.CommandMessages.Count > 50)
|
|||
|
m_Robot.CommandMessages.RemoveLast();
|
|||
|
m_Robot.CommandMessages.AddFirst($"Received:{_cachedBuffer.Replace("\r", "")}");
|
|||
|
_cachedBuffer = string.Empty;
|
|||
|
|
|||
|
}
|
|||
|
|
|||
|
//else if(_cachedBuffer.Contains("\r"))
|
|||
|
//{
|
|||
|
// msg.IsAck = true;
|
|||
|
// msg.Data = rawmsg.Replace(">", "").Replace("\r", "");
|
|||
|
// _cachedBuffer = string.Empty;
|
|||
|
//}
|
|||
|
return msg;
|
|||
|
}
|
|||
|
|
|||
|
}
|
|||
|
}
|