FurnaceELK/FrameworkLocal/RTEquipmentLibrary/HardwareUnits/Robots/HRC100Robots/GM201LVPRobot/GM201LVPRobotConnection.cs

using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.GM201LVPRobot;
using System;
using System.Collections.Generic;
using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Text;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Communications;

namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.GM201LVPRobot
{
    public class GM201LVPRobotMessage : AsciiMessage
    {
        public string Command { get; set; }
        public string[] Data { get; set; }
        public string ErrorCode { get; set; }
    }
    public class GM201LVPRobotConnection : TCPPortConnectionBase
    {
        private GM201LVPRobot _robot;
        public GM201LVPRobotConnection(GM201LVPRobot robot, string ipaddress)
            : base(ipaddress, "\r", true, SC.GetValue<bool>("System.IsSimulatorMode") ? System.Net.Sockets.ProtocolType.Tcp : System.Net.Sockets.ProtocolType.Udp)
        {
            _robot = robot;
        }
        protected override MessageBase ParseResponse(string rawMessage)
        {
            GM201LVPRobotMessage msg = new GM201LVPRobotMessage();
            try
            {
                msg.RawMessage = rawMessage.Replace("\r", "");
                string[] msgdata = rawMessage.Replace("\r", "").Split(',');
                msg.IsAck = false;
                msg.IsComplete = false;
                msg.IsFormatError = false;

                if (msgdata.Length < 1)
                {
                    return msg;
                }
                if (msgdata[0] == "CSTP")
                {
                    if (msgdata.Length > 1 && msgdata[1] == "H")
                    {
                        _robot.NotePause(true);
                        msg.IsComplete = false;
                        return msg;
                    }
                }
                if (msgdata[0] == "CRSM")
                {
                    _robot.NotePause(false);
                    msg.IsComplete = false;
                    return msg;
                }
                if (msgdata[0] == "FAIL")
                {
                    // msg.IsFormatError = true;
                    msg.IsError = true;
                    //_robot.OnError($"Execution error,Error Content is {msgdata[1]}");
                    return msg;
                }
                if (msgdata[0] == "INIT" && msgdata.Contains("E"))
                {
                    // msg.IsFormatError = true;
                    msg.IsError = true;
                    //_robot.OnError($"Execution error,Error Content is {msgdata[1]}");
                    return msg;
                }
                if (replayWithErrorAtCmd.Contains(msgdata[0]))
                {


                    if (msgdata[msgdata.Length - 1] == "E")
                    {
                        msg.IsError = true;
                        // _robot.OnError($"Execution error,Error Content is {msgdata[1]}");
                        return msg;
                    }
                }
                msg.Command = msgdata[0];
                msg.IsAck = true;
                msg.IsComplete = true;
                msg.Data = msgdata;

                //_robot.ParseStatus(msg.Status);

                return msg;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                msg.IsFormatError = true;
                return msg;
            }
        }
        public List<string> replayWithErrorAtCmd = new List<string>() { "INIT", "MTRS", "MTCH", "MABS", "MREL", "MMAP" };


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

    }


}