ZZ-EFEM/Framework/RTEquipmentLibrary1/HardwareUnits/Robots/Hiwin/HiwinRobotConnection.cs

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

namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HiWin
{
    public class HiwinRobotMessage : AsciiMessage 
    {
        public string Data { get; set; }

        public string ErrorText { get; set; }
    }


    public class HiwinRobotConnection : TCPPortConnectionBase
    {
        private bool _isAckMode = false;//should read from config file
        public HiwinRobotConnection(string adress,string endof) : base(adress,endof,true) 
        {

        }

        public override bool SendMessage(byte[] message)
        {
            return base.SendMessage(message);
        }

        protected override void ActiveHandlerProceedMessage(MessageBase msg)
        {
            lock (_lockerActiveHandler) 
            {
                if (_activeHandler != null) 
                {
                    if(msg.IsFormatError|| (_activeHandler.HandleMessage(msg, out bool transactionComplete) && transactionComplete)) 
                    {
                        _activeHandler = null;
                    }
                }
            }
        }


        protected override MessageBase ParseResponse(string rawText)
        {
            HiwinRobotMessage msg = new HiwinRobotMessage();
            msg.RawMessage = rawText;


            if (rawText.Length <= 0) 
            {
                LOG.Error($"empty response");
                msg.IsFormatError = true;
                return msg;
            }
            rawText = rawText.Replace("\r", "").Replace("\n", "").Replace(">","");
            if (rawText.Contains("?"))
            {
                msg.IsError = true;
                msg.IsComplete = true;
            }
            msg.Data = rawText;
            msg.IsResponse = true;
            msg.IsAck = true;
            msg.IsComplete = true;

            return msg;
        }

        

    }
}