163 lines
4.5 KiB
C#
163 lines
4.5 KiB
C#
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Text.RegularExpressions;
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using System.Threading.Tasks;
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using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Log;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot.MAG7
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{
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public class Mag7RobotHandlerBase<T> : IHandler where T : ITransferMsg, new()
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{
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public int ID { get; set; }
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public int Unit { get; set; }
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public bool IsBackground
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{
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get
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{
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return !_seqMode && _imp.background;
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}
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}
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private static int retry_time = 3;
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private int retry_count = retry_time;
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private object[] _objs = null;
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private TokenGenerator _generator;
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private T _imp = new T();
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private Robot _device;
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private bool _seqMode = true;
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public Mag7RobotHandlerBase(IDevice device)
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{
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_device = (Robot)device;
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_imp.Robot = device;
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}
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public Mag7RobotHandlerBase(IDevice device, ref TokenGenerator gen, params object[] objs)
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{
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_device = (Robot)device;
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_imp.Robot = device;
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this._generator = gen;
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this._objs = objs;
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}
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public bool Execute<TPort>(ref TPort port) where TPort : ICommunication
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{
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retry_count = retry_time;
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ID = _generator.create();
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return port.Write(string.Format("{0}{1}", package(), ProtocolTag.tag_end));
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}
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/// <summary>
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/// return value: bhandle
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/// </summary>
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/// <typeparam name="TPort"></typeparam>
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/// <param name="port"></param>
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/// <param name="msg"></param>
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/// <param name="completed"></param>
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/// <returns></returns>
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///
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public bool OnMessage<TPort>(ref TPort port, string message, out bool completed) where TPort : ICommunication
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{
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try
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{
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completed = false;
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string package = message;
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string[] words = Regex.Split(package, ProtocolTag.cmd_token);
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string type = words[0];
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if (type == ProtocolTag.resp_tag_error)
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{
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int error = int.Parse(words[1]);
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_device.LastErrorCode = error;
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if (error != 0) //can't retry
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{
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string warning = string.Format("Error code {0:D4}", error);
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LOG.Warning(warning);
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completed = _imp.unpackage(type, words);
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throw (new ExcuteFailedException(warning));
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}
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if (retry_count-- <= 0)
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{
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string warning = string.Format("retry over {0} times", retry_time);
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LOG.Warning(warning);
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throw (new ExcuteFailedException(warning));
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}
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return true;
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}
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else if (type == ProtocolTag.resp_tag_event)
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{
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string evtType = words[3];
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string evtInfo = words[5];
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if (_imp.evt)
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completed = _imp.unpackage(type, words);
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return _imp.evt;
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}
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else if (type == ProtocolTag.resp_tag_excute)
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{
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completed = _imp.unpackage(type, words);
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if (completed)
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{
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_generator.release(ID);
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return true;
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}
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return true;
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}
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else
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{
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completed = _imp.unpackage(type, words);
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if (completed)
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{
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_generator.release(ID);
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return true;
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}
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return true;
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}
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}
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catch (ExcuteFailedException e)
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{
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throw (e);
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}
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catch (InvalidPackageException e)
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{
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throw e;
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}
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catch (Exception ex)
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{
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LOG.Write(ex);
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throw (new InvalidPackageException(message));
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}
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}
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private string package()
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{
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//Commands<CR>
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string data = string.Empty;
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data = _imp.package(this._objs);
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return data;
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}
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}
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}
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