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- using System.Collections.Generic;
- using System.IO.Ports;
- using System.Text;
- using Aitex.Core.RT.Log;
- using MECF.Framework.Common.Communications;
- namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Siasun1500C800C
- {
- public class RobotSiasun1500C800CMessage : AsciiMessage
- {
- public string Data { get; set; }
- public string ErrorText { get; set; }
- }
- public class RobotSiasun1500C800CConnection : SerialPortConnectionBase
- {
- private bool _isAckMode = false;//should read from config file
- private string _cachedBuffer = string.Empty;
- public RobotSiasun1500C800CConnection(string portName, int baudRate = 19200, int dataBits = 8, Parity parity = Parity.None, StopBits stopBits = StopBits.One)
- : base(portName, baudRate, dataBits, parity, stopBits, "\r", true)
- {
- }
- public override bool SendMessage(byte[] message)
- {
- return base.SendMessage(message);
- }
- protected override MessageBase ParseResponse(string rawText)
- {
- RobotSiasun1500C800CMessage msg = new RobotSiasun1500C800CMessage();
- msg.RawMessage = rawText;
- if (rawText.Length <= 0)
- {
- LOG.Error($"empty response,");
- msg.IsFormatError = true;
- return msg;
- }
- rawText = rawText.Substring(0, rawText.Length - 1);
- if (rawText.Contains("_ERR"))
- {
- msg.IsError = true;
- var rewTextArray = rawText.Split(' ');
- msg.Data = rewTextArray[1];
- }
- else if (rawText == "_RDY")
- {
- msg.Data = rawText;
- if (_isAckMode)
- {
- msg.IsResponse = true;
- msg.IsAck = true;
- msg.IsComplete = false;
- }
- else
- {
- msg.IsResponse = true;
- msg.IsAck = true;
- msg.IsComplete = true;
- }
- }
- else if(rawText == "BG_RDY")
- {
- if (!_isAckMode)
- {
- LOG.Error($"response format check failed, BG_RDY is not valid in Mode 1");
- msg.IsFormatError = true;
- return msg;
- }
- msg.Data = rawText;
- msg.IsResponse = true;
- msg.IsAck = true;
- msg.IsComplete = true;
- }
- else
- {
- msg.Data = rawText;
- msg.IsResponse = true;
- msg.IsAck = true;
- msg.IsComplete = true;
- }
- return msg;
- }
- }
- public class RobotSiasun1500C800CTCPConnection : TCPPortConnectionBase
- {
- private bool _isAckMode = false;//should read from config file
- public RobotSiasun1500C800CTCPConnection(string address)
- : base(address, "\r", true)
- {
- }
- public override bool SendMessage(string message)
- {
- return base.SendMessage(message);
- }
- protected override MessageBase ParseResponse(string rawText)
- {
- RobotSiasun1500C800CMessage msg = new RobotSiasun1500C800CMessage();
- msg.RawMessage = rawText;
- if (rawText.Length <= 0)
- {
- LOG.Error($"empty response,");
- msg.IsFormatError = true;
- return msg;
- }
- rawText = rawText.Substring(0, rawText.Length - 1);
- if (rawText.Contains("_ERR"))
- {
- msg.IsError = true;
- var rewTextArray = rawText.Split(' ');
- msg.Data = rewTextArray[1];
- msg.IsComplete = true;
- }
- else if (rawText == "_RDY")
- {
- msg.Data = rawText;
- if (_isAckMode)
- {
- msg.IsResponse = true;
- msg.IsAck = true;
- msg.IsComplete = false;
- }
- else
- {
- msg.IsResponse = true;
- msg.IsAck = true;
- msg.IsComplete = true;
- }
- }
- else if (rawText == "BG_RDY")
- {
- if (!_isAckMode)
- {
- LOG.Error($"response format check failed, BG_RDY is not valid in Mode 1");
- msg.IsFormatError = true;
- return msg;
- }
- msg.Data = rawText;
- msg.IsResponse = true;
- msg.IsAck = true;
- msg.IsComplete = true;
- }
- else
- {
- msg.Data = rawText;
- msg.IsResponse = true;
- }
- return msg;
- }
- }
- }
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