JET-EFEM/athos/athosRT/Devices/Robot/RorzeRobot751Connection.cs

using System;
using System.Diagnostics;
using System.Linq;
using System.Net;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using athosRT.tool;
using MECF.Framework.Common.Communications;
using EV = Aitex.Core.RT.Event.EV;
using TCPPortConnectionBase = athosRT.tool.Comm.TCPPortConnectionBase;

namespace athosRT.Modules.Robot
{
    public class RorzeRobot751Connection : TCPPortConnectionBase
    {
        private RorzeRobot751 _robot;
        private string _address;
        public RorzeRobot751Connection(RorzeRobot751 robot, string ipaddress)
            : base(ipaddress)
        {
            _address = ipaddress;
            _robot = robot;
        }

        protected override MessageBase ParseResponse(string rawMessage)
        {
            LogObject.Info("Robot", $"Communication {_address} Receive {rawMessage.Replace("\r", "")}");
            RorzeRobot751Message rorzeRobot751Message = new RorzeRobot751Message();
            try
            {
                rorzeRobot751Message.RawMessage = rawMessage.Replace("\r", "");
                rorzeRobot751Message.IsAck = false;
                rorzeRobot751Message.IsComplete = false;
                rorzeRobot751Message.IsFormatError = false;
                rorzeRobot751Message.IsEvent = false;
                switch (rawMessage[0])
                {
                    case 'a':
                        rorzeRobot751Message.IsAck = true;
                        rorzeRobot751Message.IsComplete = false;
                        rorzeRobot751Message.Data = rawMessage.Split(';').LastOrDefault().Split('/');
                        break;
                    case 'n':
                        rorzeRobot751Message.IsNak = true;
                        rorzeRobot751Message.IsComplete = false;
                        break;
                    case 'c':
                        rorzeRobot751Message.IsError = true;
                        rorzeRobot751Message.IsComplete = false;
                        break;
                    case 'e':
                        rorzeRobot751Message.IsEvent = true;
                        rorzeRobot751Message.IsComplete = false;
                        _robot.OnEventReceived(rawMessage);
                        break;
                }
                return rorzeRobot751Message;
            }
            catch (Exception ex)
            {
                LOG.Write(ex, 2, "D:\\sorter\\trunk\\Efem\\Jet\\Jet_001_2P_Jet\\EfemRT\\Devices\\Rorze751\\RorzeRobot751Connection.cs", "ParseResponse", 76);
                rorzeRobot751Message.IsFormatError = true;
                return rorzeRobot751Message;
            }
        }

        protected override void OnEventArrived(MessageBase msg)
        {
            RorzeRobot751Message rorzeRobot751Message = msg as RorzeRobot751Message;
            if (rorzeRobot751Message.EvNo == "100")
            {
                string text = rorzeRobot751Message.EvData.Substring(1, rorzeRobot751Message.EvData.Length - 1);
                _robot.NotifyAlarmByErrorCode(text.ToUpper());
                if (Convert.ToInt32(text, 16) > 240)
                {
                    _robot.OnError("Robot occurred error:" + rorzeRobot751Message.EvData + " on " + rorzeRobot751Message.EvDate + ".");
                }
                else
                {
                    EV.PostWarningLog("Robot", "Robot occurred error:" + rorzeRobot751Message.EvData + " on " + rorzeRobot751Message.EvDate + ".");
                }
            }
            if (!(rorzeRobot751Message.EvNo == "140"))
            {
            }
        }

        protected override void ActiveHandlerProceedMessage(MessageBase msg)
        {
            //Trace.WriteLine("ActiveHandlerProceedMessage override");

            lock (_lockerActiveHandler)
            {
                //if (_activeHandler != null && (msg.IsFormatError || (_activeHandler.HandleMessage(msg, out var transactionComplete) && transactionComplete)))
                if (_activeHandler != null && (_activeHandler.HandleMessage(msg, out var transactionComplete) && transactionComplete))
                {
                    _activeHandler = null;
                }
            }
        }


    }
}