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

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using MECF.Framework.Common.Communications;
using Newtonsoft.Json.Linq;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;

namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.SUNWAY
{
    public abstract class SPaceTRanRobotHandler : HandlerBase
    {
        public SPaceTRanRobot Device { get; }

        protected string _commandType;
        protected string _command;
        protected string _parameter;

        public SPaceTRanRobotHandler(SPaceTRanRobot device, string command, string parameter = null)
            : base(BuildMessage(command, parameter, device))
        {
            Device = device;
            _command = command;
            _parameter = parameter;
            Name = command;
            AckTimeout = TimeSpan.FromSeconds(30);
            CompleteTimeout = TimeSpan.FromSeconds(60);


        }
        protected static string BuildMessage(string command, string parameter, SPaceTRanRobot rbt)
        {
            return  $"{command}{parameter ?? ""}" + "\r";
        }


        public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
        {
            SPaceTRanRobotMessage response = msg as SPaceTRanRobotMessage;
            ResponseMessage = msg;
            if (msg.IsError)
            {
                Device.NoteError(response.RawMessage);
                transactionComplete = true;
                return true;
            }
            if (msg.IsAck)
            {
                SetState(EnumHandlerState.Acked);
            }

            if (msg.IsComplete)
            {
                SetState(EnumHandlerState.Completed);
                Device.OnActionDone(null);
                transactionComplete = true;
                return true;
            }
            transactionComplete = false;
            return false;
        }
    }
    public class SPaceTRanRobotSetHandler : SPaceTRanRobotHandler
    {
        public SPaceTRanRobotSetHandler(SPaceTRanRobot robot, string command, string parameter = null)
            : base(robot, command, parameter)
        {
            string temp = string.IsNullOrEmpty(parameter) ? parameter : "";
            LOG.Write($"{robot.Name} execute set command {command} {temp} in ASCII.");
        }
    }
    public class SPaceTRanRobotReadHandler : SPaceTRanRobotHandler
    {
        public SPaceTRanRobotReadHandler(SPaceTRanRobot robot, string command, string parameter = null)
            : base(robot, command, parameter)
        {
            string temp = string.IsNullOrEmpty(parameter) ? parameter : "";
            LOG.Write($"{robot.Name} execute read command {command} {temp} in ASCII.");
        }
        public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
        {
            SPaceTRanRobotMessage response = msg as SPaceTRanRobotMessage;
            ResponseMessage = msg;
            if (msg.IsError)
            {
                Device.NoteError(response.RawMessage);
                transactionComplete = true;
                return true;
            }
            if (msg.IsAck)
            {
                SetState(EnumHandlerState.Acked);
            }
            Device.ParseReadData(_command, response.RawMessage);
            if (msg.IsComplete)
            {
                SetState(EnumHandlerState.Completed);
                Device.OnActionDone(null);
                transactionComplete = true;
                return true;
            }
            transactionComplete = false;
            return false;
        }

    }
    public class SPaceTRanRobotMotionHandler : SPaceTRanRobotHandler
    {
        public SPaceTRanRobotMotionHandler(SPaceTRanRobot robot, string command, string parameter = null)
           : base(robot, command, parameter)
        {
            string temp = string.IsNullOrEmpty(parameter) ? parameter : "";
            LOG.Write($"{robot.Name} execute motion command {command} {temp} in ASCII.");
        }

        public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
        {
            SPaceTRanRobotMessage response = msg as SPaceTRanRobotMessage;
            ResponseMessage = msg;

            LOG.Write($"{Device.Name} handler message:{response.RawMessage} in ASCII.");
            if (msg.IsError)
            {
                Device.NoteError(response.RawMessage);
                transactionComplete = true;
                return true;
            }
            if (msg.IsAck)
            {
                SetState(EnumHandlerState.Acked);
            }
            if (msg.IsComplete)
            {
                SetState(EnumHandlerState.Completed);
                Device.OnActionDone(null);
                transactionComplete = true;
                return true;
            }
            transactionComplete = false;
            return false;
        }
    }
}