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- using System.Collections.Generic;
- using System.IO.Ports;
- using System.Linq;
- using System.Text;
- using Aitex.Core.RT.Log;
- using MECF.Framework.Common.Communications;
- using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
- namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.JEL
- {
- public class JelC5000RobotFlippeMessage : AsciiMessage
- {
- public string Data { get; set; }
- public string ErrorText { get; set; }
- }
- public class JelC5000RobotFlippeConnection : SerialPortConnectionBase
- {
- //private bool _isAckMode = false;//should read from config file
- private string _cachedBuffer = string.Empty;
- private List<byte> _lstCacheBuffer = new List<byte>();
- private RobotBaseDevice m_Robot;
-
- public JelC5000RobotFlippeConnection(RobotBaseDevice robot, string portName, int baudRate = 9600, int dataBits = 8, Parity parity = Parity.None, StopBits stopBits = StopBits.One)
- : base(portName, baudRate, dataBits, parity, stopBits,"", true)
- {
- m_Robot = robot;
- }
- public override bool SendMessage(byte[] message)
- {
- _lstCacheBuffer.Clear();
- return base.SendMessage(message);
- }
- public override bool SendMessage(string message)
- {
- _cachedBuffer = string.Empty;
- while (m_Robot.CommandMessages.Count > 50)
- m_Robot.CommandMessages.RemoveLast();
- m_Robot.CommandMessages.AddFirst($"Send:{message.Replace("\r","")}");
- return base.SendMessage(message);
- }
- protected override MessageBase ParseResponse(string rawmsg)
- {
- _cachedBuffer += rawmsg;
- JelC5000RobotFlippeMessage msg = new JelC5000RobotFlippeMessage();
- if (_activeHandler == null)
- {
- _cachedBuffer = string.Empty;
- return msg;
- }
- if (_cachedBuffer == ">" && (_activeHandler.GetType() != typeof(JelC5000RobotFlippeReadHandler)))
- {
- msg.IsAck = true;
- msg.Data = _cachedBuffer.Replace(">", "").Replace("\r", "");
-
- while (m_Robot.CommandMessages.Count > 50)
- m_Robot.CommandMessages.RemoveLast();
- m_Robot.CommandMessages.AddFirst($"Received:{_cachedBuffer.Replace("\r", "")}");
- _cachedBuffer = string.Empty;
- }
- else if(_cachedBuffer.Contains("\r"))
- {
- msg.IsAck = true;
- msg.IsResponse = true;
- msg.Data = _cachedBuffer.Replace(">", "").Replace("\r", "");
- while (m_Robot.CommandMessages.Count > 50)
- m_Robot.CommandMessages.RemoveLast();
- m_Robot.CommandMessages.AddFirst($"Received:{_cachedBuffer.Replace("\r", "")}");
- _cachedBuffer = string.Empty;
- }
- //else if(_cachedBuffer.Contains("\r"))
- //{
- // msg.IsAck = true;
- // msg.Data = rawmsg.Replace(">", "").Replace("\r", "");
- // _cachedBuffer = string.Empty;
- //}
- return msg;
- }
-
- }
- }
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