FurnaceELK/Branch/NTP02/FrameworkLocal/RTEquipmentLibrary/HardwareUnits/Robots/HRC100Robots/GM201LVPRobot/GM201LVPRobotHandler.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using MECF.Framework.Common.Communications;
using Newtonsoft.Json.Linq;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;

namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.GM201LVPRobot
{
    public abstract class GM201LVPRobotHandler : HandlerBase
    {
        public GM201LVPRobot Device { get; }

        public string _commandType;
        public string _command;
        public string _parameter;

        public GM201LVPRobotHandler(GM201LVPRobot device, string command, string parameter = null)
            : base(BuildMessage(command, parameter))
        {
            Device = device;
            _command = command;
            _parameter = parameter;
            Name = command;
        }
        protected static string BuildMessage(string command, string parameter)
        {
            if (string.IsNullOrEmpty(parameter))
                return command + "\r";
            return $"{command},{parameter}\r";



        }
        private static string Checksum(byte[] bytes)
        {
            int sum = 0;
            foreach (byte code in bytes)
            {
                sum += code;
            }
            string hex = String.Format("{0:X2}", sum % 256);
            return hex;
        }


        public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
        {
            GM201LVPRobotMessage response = msg as GM201LVPRobotMessage;
            ResponseMessage = msg;
            if (msg.IsError)
            {
                Device.NoteError(response.RawMessage);
                transactionComplete = true;
                return true;
            }
            if (msg.IsAck)
            {
                SetState(EnumHandlerState.Acked);
            }

            if (msg.IsComplete && response.RawMessage.Split(',')[0] == "!")
            {
                SetState(EnumHandlerState.Completed);
                //Device.SenACK();
                Device.OnActionDone(null);
                transactionComplete = true;
                return true;
            }
            transactionComplete = false;
            return false;
        }


        protected virtual void NoteCommandResult(YaskawaRobotMessage response)
        {
        }

        public List<string> replayWithErrorAtCmd = new List<string>() { "INIT", "MTRS", "MTCH", "MABS", "MREL" };
    }

    public class GM201LVPRobotReadHandler : GM201LVPRobotHandler
    {
        public GM201LVPRobotReadHandler(GM201LVPRobot robot, string command, string parameter = null, int timeout = 60)
            : base(robot, command, parameter)
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
            string temp = string.IsNullOrEmpty(parameter) ? parameter : "";
            LOG.Write($"{robot.Name} execute read command {command} {temp} in ASCII.");
        }
        public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
        {
            GM201LVPRobotMessage response = msg as GM201LVPRobotMessage;
            if (msg.IsError)
            {
                Device.NoteError(response.RawMessage);
                transactionComplete = true;
                return true;
            }
            if (!response.RawMessage.Contains(_command))
            {
                transactionComplete = false;
                return false;
            }
            if (Device.ParseReadData(_command, response.Data))
            {
                Device.OnActionDone(null);
                transactionComplete = true;
                return true;
            }
            response.IsError = true;
            return base.HandleMessage(response, out transactionComplete);
        }

    }
    public class GM201LVPRobotSetHandler : GM201LVPRobotHandler
    {
        public GM201LVPRobotSetHandler(GM201LVPRobot robot, string command, string parameter = null, int timeout = 60)
            : base(robot, command, parameter)
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
            string temp = string.IsNullOrEmpty(parameter) ? parameter : "";
            LOG.Write($"{robot.Name} execute set command {command} {temp} in ASCII.");
        }

        public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
        {
            GM201LVPRobotMessage response = msg as GM201LVPRobotMessage;
            if (msg.IsError)
            {
                Device.NoteError(response.RawMessage);
                transactionComplete = true;
                return true;
            }
            if (!response.RawMessage.Contains(_command))
            {
                transactionComplete = false;
                return false;
            }
            if (response.IsAck)
            {

                Device.OnActionDone(null);
                transactionComplete = true;
                return true;
            }
            return base.HandleMessage(response, out transactionComplete);
        }
    }

    public class GM201LVPRobotMotionHandler : GM201LVPRobotHandler
    {
        public GM201LVPRobotMotionHandler(GM201LVPRobot robot, string command, string parameter = null, int timeout = 60)
           : base(robot, command, parameter)
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
            string temp = string.IsNullOrEmpty(parameter) ? parameter : "";
            LOG.Write($"{robot.Name} execute motion command {command} {temp} in ASCII.");
        }
        public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
        {
            GM201LVPRobotMessage response = msg as GM201LVPRobotMessage;
            ResponseMessage = msg;

            LOG.Write($"{Device.Name} handler message:{response.RawMessage} in ASCII.");
            if (msg.IsError)
            {
                Device.NoteError(response.RawMessage);
                transactionComplete = true;
                return true;
            }
            if (msg.IsAck)
            {
                SetState(EnumHandlerState.Acked);
            }
            if (msg.IsComplete)
            {
                //Device.SenACK();
            }
            if (IsAcked && msg.IsComplete)
            {
                SetState(EnumHandlerState.Completed);
                Device.OnActionDone(null);
                transactionComplete = true;
                return true;
            }
            transactionComplete = false;
            return false;
        }
    }
}