Kepler-Release/Venus/Venus_Simulator/Devices/DETMSimulatorServer.cs

using Aitex.Core.Util;
using MECF.Framework.Simulator.Core.Driver;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net.Http.Headers;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;

namespace Venus_Simulator.Devices
{
    public class DETMSimulatorServer : SocketDeviceSimulator
    {

        private readonly Regex _check_load = new Regex(@"CHECK LOAD\s+(\d)+\s+(A|B)\s*");
        private readonly Regex _move_arm = new Regex(@"(PLACE|PICK)\s+(\d+)\s+ARM\s+(A|B)\s+(\w{4})\s*");
        private readonly Regex _move_wafer = new Regex(@"(PLACE|PICK)\s+(\d+)\s+ARM\s+(A|B)\s*");
        private readonly Regex _rq_arm = new Regex(@"(RQ)\s+(LOAD)\s+(ARM)\s*");
        private readonly Regex _rq_speed = new Regex(@"(RQ)\s+(MOTIONPARA)\s*");
        private readonly Regex _set_speed = new Regex(@"(SET)\s+(MOTIONPARA)\s*");
        private readonly Regex _store_speed = new Regex(@"(STORE)\s+(MOTIONPARA)\s*");
        private PeriodicJob _HwThread;
        private string WithWaferSpeed = "0300";
        private string NoWaferSpeed = "0300";
        public DETMSimulatorServer() : base(1103, -1, "\n", ' ')
        {
            _HwThread = new PeriodicJob(500, OnSendEvent, "honghuRobot", true);
        }

        private bool OnSendEvent()
        {
            return true;
        }

        protected override void ProcessUnsplitMessage(string str)
        {
            if (str.Contains("HOME") || str.Contains("GOTO") || str.Contains("XFER") || str.Contains("HALT"))
            {
                OnWriteMessage("_RDY");
            }

            if (_rq_speed.IsMatch(str))
            {
                switch (str.Split(' ')[2])
                {
                    case "WITHWAFER":
                        OnWriteMessage($"MOTIONPARA WITHWAFER SPDPCT ALL {WithWaferSpeed} 0100 0100");
                        OnWriteMessage("_RDY");
                        break;
                    case "NOWAFER":
                        OnWriteMessage($"MOTIONPARA NOWAFER SPDPCT ALL {NoWaferSpeed} 0100 0100");
                        OnWriteMessage("_RDY");
                        break;
                    default:
                        OnWriteMessage(str);
                        OnWriteMessage($"_ERR 350");
                        break;
                }
            }

            if (_set_speed.IsMatch(str))
            {
                switch (str.Split(' ')[2])
                {
                    case "WITHWAFER":
                        WithWaferSpeed = str.Split(' ')[5];
                        OnWriteMessage(str);
                        OnWriteMessage("_RDY");
                        break;
                    case "NOWAFER":
                        NoWaferSpeed = str.Split(' ')[5];
                        OnWriteMessage(str);
                        OnWriteMessage("_RDY");
                        break;
                    default:
                        OnWriteMessage(str);
                        OnWriteMessage($"_ERR 350");
                        break;
                }
            }

            if (_store_speed.IsMatch(str))
            {
                OnWriteMessage(str);
                OnWriteMessage("_RDY");
            }

            if (_rq_arm.IsMatch(str))
            {
                //OnWriteMessage(string.Format($"LOAD {arm} OFF"));
                //OnWriteMessage(string.Format($"CHECK LOAD"));
                OnWriteMessage("_RDY");
            }
            //if (str.Contains("RQ WAF_CEN DATA"))
            //{
            //    string t = new Random().Next(0, 359).ToString().PadLeft(6, '0');
            //    string r = new Random().Next(0, 50000).ToString().PadLeft(6, '0');
            //    OnWriteMessage($"WAF_CEN RT 000000 000000 000000 000000 LFT 000000 000000 000000 000000 OFFSET {r} {t}");
            //    OnWriteMessage("_RDY");
            //}

            if (_check_load.IsMatch(str))
            {
                Match result = _check_load.Match(str);
                string station = result.Groups[1].Value;
                string arm = result.Groups[2].Value;

                //OnWriteMessage(string.Format($"LOAD {arm} OFF"));
                //OnWriteMessage(string.Format($"CHECK LOAD"));
                OnWriteMessage("_RDY");
            }
            else if (_move_arm.IsMatch(str))
            {
                // @"(PLACE|PICK)\s+(\d+)\s+SLOT\s+(\d+)\s+ARM\s+(A|B)\s+(\w{4})\s+"

                Match result = _move_arm.Match(str);
                string operation = result.Groups[1].Value;
                string station = result.Groups[2].Value;
                string slot = result.Groups[3].Value;
                string arm = result.Groups[4].Value;
                string dir = result.Groups[5].Value;

                Thread.Sleep(2000);
                OnWriteMessage("_RDY");
            }
            else if (_move_wafer.IsMatch(str))
            {
                // @"(PLACE|PICK)\s+(\d+)\s+SLOT\s+(\d+)\s+ARM\s+(A|B)\s+"

                Match result = _move_wafer.Match(str);
                string operation = result.Groups[1].Value;
                string station = result.Groups[2].Value;
                string slot = result.Groups[3].Value;
                string arm = result.Groups[4].Value;

                Thread.Sleep(2000);
                OnWriteMessage("_RDY");
            }
        }
    }
}