Mars200/FrameworkLocal/RTEquipmentLibrary/HardwareUnits/Robots/SUNWAY/SPaceTRanRobotConnection.cs

using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Text.RegularExpressions;
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.SUNWAY
{
    public class SPaceTRanRobotMessage : AsciiMessage
    {
        public int UNo { get; set; }
        public int SeqNo { get; set; }
        public string Status { get; set; }
        public string Ackcd { get; set; }
        public string Command { get; set; }
        public string[] Data { get; set; }
        public string ErrorCode { get; set; }
        public string EvNo { get; set; }
        public string EvDate { get; set; }
        public string EvData { get; set; }

    }
    public class SPaceTRanRobotConnection : TCPPortConnectionBase
    {
        public const string ERROR = "_ERR";
        public const string RDY = "_RDY";
        public const string CMDToken = " ";
        private SPaceTRanRobot _robot;
        private readonly Regex _rex_error_code = new Regex(@"_ERR\s+(\d+)\s*");
        public SPaceTRanRobotConnection(SPaceTRanRobot robot, string ipaddress): base(ipaddress, "\r", true)
        {
            _robot = robot;
        }
        protected override MessageBase ParseResponse(string rawMessage)
        {
            SPaceTRanRobotMessage msg = new SPaceTRanRobotMessage();
            try
            {
                msg.RawMessage = rawMessage.Replace("\r", "").Trim();
                msg.IsAck = true;
                msg.IsComplete = false;
                msg.IsFormatError = false;
                msg.IsEvent = false;
                if (_rex_error_code.IsMatch(rawMessage))
                {
                    msg.IsAck = false;
                    msg.IsComplete = false;
                    msg.IsError = true;
                    var results = _rex_error_code.Match(rawMessage);
                    msg.ErrorCode = results.Groups[1].Value;
                    _robot.OnError($"Execution error,Error code is {msg.ErrorCode}");
                }
                else if (rawMessage.Trim() == RDY || (rawMessage.Contains(RDY) && !rawMessage.Contains(ERROR)) || rawMessage.Contains("LOAD"))
                {
                    msg.IsComplete = (rawMessage.Trim() == RDY) || (rawMessage.Contains(RDY) && !rawMessage.Contains(ERROR));
                    msg.IsError = false;
                }
                else
                {
                    msg.IsFormatError = true;
                    msg.IsAck = false;
                    msg.IsComplete = false;
                }
                return msg;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                msg.IsFormatError = true;
                return msg;
            }
        }
    }
}