JET-EFEM/athos/athosRT/Devices/Robot/RorzeRobot751Handler.cs

using System;
using System.Diagnostics;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Communications;
using HandlerBase = athosRT.tool.Comm.HandlerBase;

namespace athosRT.Modules.Robot
{
    public abstract class RorzeRobot751Handler : HandlerBase
    {
        protected string _commandType;

        protected string _command;

        protected string _parameter;

        private SCConfigItem _scMotionTimeout;

        public RorzeRobot751 Device { get; }

        public RorzeRobot751Handler(RorzeRobot751 device, string command, string parameter = null)
            : base(BuildMessage(command, parameter, device))
        {
            _scMotionTimeout = SC.GetConfigItem("Robot.Robot.MotionTimeout");
            Device = device;
            _command = command;
            _parameter = parameter;
            Name = command;
            AckTimeout = TimeSpan.FromSeconds(_scMotionTimeout.IntValue);
            CompleteTimeout = TimeSpan.FromSeconds(_scMotionTimeout.IntValue);
        }

        protected static string BuildMessage(string command, string parameter, RorzeRobot751 rbt)
        {
            string message = string.Format("oTRB{0}.{1}{2}\r", rbt.RobotBodyNumber, command, parameter ?? "");
            Trace.WriteLine("消息：" + message);
            return message;
        }


        public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
        {
            Trace.WriteLine("执行以下指令");
            Trace.WriteLine("处理过后的信息：" + msg.ToString());
            RorzeRobot751Message rorzeRobot751Message = msg as RorzeRobot751Message;
            base.ResponseMessage = msg;
            if (msg.IsError)
            {
                Device.NoteError(rorzeRobot751Message.RawMessage);
                transactionComplete = true;
                return true;
            }
            if (msg.IsAck)
            {
                SetState(EnumHandlerState.Acked);
                transactionComplete = false;
                return true;
            }
            if (msg.IsComplete)
            {
                SetState(EnumHandlerState.Completed);
                Device.OnActionDone(null);
                transactionComplete = true;
                return true;
            }
            transactionComplete = false;
            return false;
        }
    }
}