JET-EFEM/athos/athosRT/Devices/Robot/RorzeRobot751MotionHandler.cs

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;

namespace athosRT.Modules.Robot
{
    public class RorzeRobot751MotionHandler : RorzeRobot751Handler
    {
        private string _motionCmd = "HOME,EXTD,LOAD, UNLD,TRNS, EXCH,CLMP, UCLM,WMAP, UTRN,MGET, MPUT,MGT1, MGT2,MPT1, MPT2,WCHK, ALEX,ALLD, ALUL,ALGT, ALEA,ALMV,STEP,GCHK";

        public RorzeRobot751MotionHandler(RorzeRobot751 robot, string command, string parameter = null)
            : base(robot, command, parameter)
        {
            string text = (string.IsNullOrEmpty(parameter) ? parameter : "");
            LOG.Write(robot.Name + " execute motion command " + command + " " + text + " in ASCII.", 2, "D:\\sorter\\trunk\\Efem\\Jet\\Jet_001_2P_Jet\\EfemRT\\Devices\\Rorze751\\RorzeRobot751Handler.cs", ".ctor", 152);
        }

        public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
        {
            RorzeRobot751Message rorzeRobot751Message = msg as RorzeRobot751Message;
            base.ResponseMessage = msg;
            LogObject.Info("Robot", $"Robot Handle Message: {rorzeRobot751Message.RawMessage}" + $"{(rorzeRobot751Message.IsError ? $",Error:{rorzeRobot751Message.ErrorCode}" : "")}");
            if (msg.IsError)
            {
                base.Device.NoteError(rorzeRobot751Message.RawMessage);
                transactionComplete = true;
                return true;
            }
            if (msg.IsAck)
            {
                SetState(EnumHandlerState.Acked);
            }
            if (msg.IsComplete)
            {
            }
            if (rorzeRobot751Message.IsEvent)
            {
                if (_command == "ORGN" && rorzeRobot751Message.RawMessage.Contains("STAT") && base.Device.IsOrgshCompleted && base.Device.CurrentOpStatus == RROpStatusEnum.Stop)
                {
                    base.Device.OnActionDone(null);
                    transactionComplete = true;
                    return true;
                }
                if (_command == "INIT" && rorzeRobot751Message.RawMessage.Contains("STAT") && base.Device.CurrentOpMode != 0)
                {
                    base.Device.OnActionDone(null);
                    transactionComplete = true;
                    return true;
                }
                if (_motionCmd.Contains(_command))
                {
                    if (rorzeRobot751Message.RawMessage.Contains("STAT") && !base.Device.IsOrgshCompleted)
                    {
                        base.Device.OnError("GetErrorMsg:" + rorzeRobot751Message.RawMessage + " on command:" + _command);
                        transactionComplete = true;
                        return true;
                    }
                    if (rorzeRobot751Message.RawMessage.Contains("STAT") && base.Device.CurrentOpStatus == RROpStatusEnum.Stop)
                    {
                        if (base.Device.CurrentIdCodeForErrorController != "00")
                        {
                            EV.PostAlarmLog("Robot", "occurred error:GetErrorMsg:" + rorzeRobot751Message.RawMessage + " on command:" + _command);
                        }
                        base.Device.OnActionDone(null);
                        transactionComplete = true;
                        return true;
                    }
                }
            }
            transactionComplete = false;
            return false;
        }
    }
}