public bool Cmd_SendHome_Z()
{
_WorkStatus = WORK_STATUS.MOVING;
string strCmd = "HOME Z\r";
return(SendData(strCmd));
}
public void ResetSeq()
{
Flush();
m_nSeqNo = 0;
m_RetryCount = 0;
_WorkStatus = WORK_STATUS.IDLE;
}
public bool Cmd_SendPlace(int nStage, int nSlot, ARM _Arm)
{
_WorkStatus = WORK_STATUS.MOVING;
string strCmd = string.Format("PLACE {0} SLOT {1} ARM {2}\r"
, nStage
, nSlot
, _Arm == ARM.LOWER ? "A" : "B");
return(SendData(strCmd));
}
public bool Cmd_Retract(int nStage, int nSlot, ARM _Arm, UPDOWN_POS _UpDnPos)
{
_WorkStatus = WORK_STATUS.MOVING;
string strCmd = string.Format("RETRACT {0} {1} {2} {3}\r"
, nStage
, _UpDnPos == UPDOWN_POS.UP ? "UP" : "DN"
, nSlot
, _Arm == ARM.LOWER ? "A" : "B");
return(SendData(strCmd));
}
public bool Cmd_SendZAxis(int nStage, int nSlot, ARM _Arm, UPDOWN_POS _UpDnPos)
{
_WorkStatus = WORK_STATUS.MOVING;
string strCmd = string.Format("ZAXIS {0} SLOT {1} {2} ARM {3}\r"
, nStage
, nSlot
, _UpDnPos == UPDOWN_POS.UP ? "UP" : "DN"
, _Arm == ARM.LOWER ? "A" : "B");
return(SendData(strCmd));
}
public bool Cmd_SendGoTo(int nStage, int nSlot, ARM _Arm, RADIAL_POS _RadialPos, UPDOWN_POS _UpDnPos)
{
_WorkStatus = WORK_STATUS.MOVING;
string strCmd = string.Format("GOTO N {0} R {1} Z {2} SLOT {3} ARM {4}\r"
, nStage
, _RadialPos == RADIAL_POS.EXTENDED ? "EX" : "RE"
, _UpDnPos == UPDOWN_POS.UP ? "UP" : "DN"
, nSlot
, _Arm == ARM.LOWER ? "A" : "B");
return(SendData(strCmd));
}
public bool Cmd_SendHomeAll()
{
_WorkStatus = WORK_STATUS.MOVING;
char[] CH = new char[3];
CH[0] = (char)0x0d;
CH[1] = (char)0x00;
CH[1] = (char)0x00;
StringBuilder st = new StringBuilder("HOME ALL");
st.Append(CH[0].ToString());
//string strCmd = st.ToString();//"HOME ALL\r";
//strCmd = strCmd + CH[0].ToString() + CH[1].ToString() + CH[2].ToString();
string strCmd = "HOME ALL\r";
return(SendData(strCmd));
}
public int Seq_Wait_Command_Test(string strCmd, ACK_MODE _CheckMode)
{
int nSeqNo = m_nSeqNo;
int nRet = 0;
switch (nSeqNo)
{
case 0: //상태 체크
{
nSeqNo = 100;
_WorkStatus = WORK_STATUS.ACK_CHECK;
m_RetryCount = 0;
}
break;
case 100: //명령 전송
{
if (SendData(strCmd + "\n") == true)
{
nSeqNo = 200;
m_TimeOut = DateTime.Now;
}
else
{
//알람
Flush();
nSeqNo = 0;
nRet = -1;
_ErrMsg = "Send Fail.";
_WorkStatus = WORK_STATUS.ERROR;
}
}
break;
case 200: //ACK Check.
{
string strRcv = "";
ACK_MODE _AckMode = RcvCheck(ref strRcv);
if ((int)_AckMode > 0)
{
if (_AckMode == _CheckMode)
{
//원하는 데이터 받을때 까지..돈다..
m_TimeOut = DateTime.Now;
nSeqNo = 1000;
}
else
{
m_TimeOut = DateTime.Now;
}
}
else if ((int)_AckMode < 0)
{
if (_AckMode == ACK_MODE.BEFORE_CMD_PROC)
{ //이미 명령 나가있는놈이 있어서, 방금보낸 명령이 안먹음...리트라이 해야한다.
if (m_RetryCount < MaxRetryCount)
{
m_RetryCount += 1;
nSeqNo = 100;
m_TimeOut = DateTime.Now;
LogTextOut(string.Format("{0}/Retry Count:{1})", strCmd, m_RetryCount));
}
else
{
nRet = nSeqNo * -1;
nSeqNo = 0;
LogTextOut(string.Format("{0}/RetryCount Over.", strCmd));
}
}
else
{
_WorkStatus = WORK_STATUS.ERROR;
nRet = nSeqNo * -1;
nSeqNo = 0;
}
}
else
{
if (strCmd == "OPEN" || strCmd == "CLOSE")
{
if (GetElapseTime(m_TimeOut) > READ_END_DELAY * 20)
{
_ErrMsg = "Receive Time Out.";
_WorkStatus = WORK_STATUS.ERROR;
nRet = nSeqNo * -1;
nSeqNo = 0;
Flush();
}
}
else
{
if (GetElapseTime(m_TimeOut) > READ_END_DELAY)
{
_ErrMsg = "Receive Time Out.";
_WorkStatus = WORK_STATUS.ERROR;
nRet = nSeqNo * -1;
nSeqNo = 0;
Flush();
}
}
}
}
break;
case 1000:
{
nRet = 1;
nSeqNo = 0;
_WorkStatus = WORK_STATUS.IDLE;
}
break;
default:
{
_ErrMsg = "Seq No Error.";
_WorkStatus = WORK_STATUS.ERROR;
nSeqNo = 0;
nRet = -1;
Flush();
}
break;
}
m_nSeqNo = nSeqNo;
return(nRet);
}
public int Seq_ReadCommand_Test(string strCmd, ref string sRcvData)
{
int nSeqNo = m_nSeqNo;
int nRet = 0;
char STX = '#';
switch (nSeqNo)
{
case 0: //상태 체크
{
nSeqNo = 100;
_WorkStatus = WORK_STATUS.READING;
}
break;
case 100: //명령 전송
{
if (SendData(STX + strCmd + "\r") == true)
{
nSeqNo = 200;
m_TimeOut = DateTime.Now;
}
else
{
//알람
Flush();
nSeqNo = 0;
nRet = -1;
}
}
break;
case 200: //ACK Check.
{
ACK_MODE _AckMode = RcvCheck(ref sRcvData);
if ((int)_AckMode > 0)
{
if (_AckMode == ACK_MODE.DATA)
{
m_strBeforeRcvData = sRcvData;
_WorkStatus = WORK_STATUS.IDLE;
nRet = 1;
nSeqNo = 0;
}
}
else if ((int)_AckMode < 0)
{
nRet = nSeqNo * -1;
nSeqNo = 0;
}
else
{
if (GetElapseTime(m_TimeOut) > READ_END_DELAY)
{
nRet = nSeqNo * -1;
nSeqNo = 0;
Flush();
}
}
}
break;
default:
{
nSeqNo = 0;
nRet = -1;
Flush();
}
break;
}
m_nSeqNo = nSeqNo;
return(nRet);
}
private int Seq_SendCommand_WaitComplete(string strCmd)
{
int nSeqNo = m_nSeqNo;
int nRet = 0;
char STX = '#';
switch (nSeqNo)
{
case 0: //상태 체크
{
nSeqNo = 100;
_WorkStatus = WORK_STATUS.MOVING;
} break;
case 100: //명령 전송
{
if (SendData(STX + strCmd + "\r") == true)
{
nSeqNo = 200;
m_TimeOut = DateTime.Now;
}
else
{
//알람
Flush();
nSeqNo = 0;
nRet = -1;
}
} break;
case 200: //ACK Check.
{
string strRcvData = "";
ACK_MODE _AckMode = RcvCheck(ref strRcvData);
if ((int)_AckMode > 0)
{
m_TimeOut = DateTime.Now;
if (_AckMode == ACK_MODE.COMPLETE)
{
_WorkStatus = WORK_STATUS.IDLE;
nRet = 1;
nSeqNo = 0;
}
}
else if ((int)_AckMode < 0)
{
nRet = nSeqNo * -1;
nSeqNo = 0;
}
else
{
//if (GetElapseTime(m_TimeOut) > MOVING_COMPLETE_DELAY)
//{
// nRet = nSeqNo * -1;
// nSeqNo = 0;
// Flush();
//}
}
} break;
default:
{
nSeqNo = 0;
nRet = -1;
Flush();
} break;
}
m_nSeqNo = nSeqNo;
return(nRet);
}
private int Seq_ReadCommand(string strCmd, ref string sRcvData)
{
int nSeqNo = m_nReadSeqNo;
int nRet = 0;
switch (nSeqNo)
{
case 0: //상태 체크
{
nSeqNo = 100;
_WorkStatus = WORK_STATUS.READING;
//Console.WriteLine("Send 1->" + strCmd);
} break;
case 100: //명령 전송
{
if (SendData(strCmd + "\r\n") == true)
{
//Console.WriteLine("Send 2->" + strCmd);
nSeqNo = 200;
m_TimeOut = DateTime.Now;
}
else
{
//알람
Flush();
nSeqNo = 0;
nRet = -1;
}
} break;
case 200: //ACK Check.
{
ACK_MODE _AckMode = RcvCheck(ref sRcvData);
if ((int)_AckMode > 0)
{
switch (_AckMode)
{
case ACK_MODE.ACK:
{ //Ack 받고.
m_TimeOut = DateTime.Now;
//Console.WriteLine("Ack->" + sRcvData);
} break;
case ACK_MODE.DATA:
{ //데이터 받고..
m_TimeOut = DateTime.Now;
sRcvData = sRcvData.Replace("\r\n", "");
sRcvData = sRcvData.Replace("*", "");
sRcvData = sRcvData.Replace(" ", "");
m_strBeforeRcvData = sRcvData;
//Console.WriteLine("Data->" + sRcvData);
} break;
case ACK_MODE.COMPLETE:
{ //데이터 받는거 완료 되었다..진짜끝임.
m_TimeOut = DateTime.Now;
sRcvData = m_strBeforeRcvData;
nRet = 1;
nSeqNo = 0;
//Console.WriteLine("Rcv Compl->" + strCmd);
} break;
}
}
else if ((int)_AckMode < 0)
{
nRet = nSeqNo * -1;
nSeqNo = 0;
}
else
{
if (GetElapseTime(m_TimeOut) > READ_END_DELAY)
{
nRet = nSeqNo * -1;
nSeqNo = 0;
Flush();
//Console.WriteLine("Time Out");
}
}
} break;
default:
{
Console.WriteLine("Error");
nSeqNo = 0;
nRet = -1;
Flush();
} break;
}
m_nReadSeqNo = nSeqNo;
return(nRet);
}
private int Seq_SendCommand(string strCmd)
{
int nSeqNo = m_nSeqNo;
int nRet = 0;
switch (nSeqNo)
{
case 0: //상태 체크
{
nSeqNo = 100;
_WorkStatus = WORK_STATUS.MOVING;
} break;
case 100: //명령 전송
{
if (SendData(strCmd + "\r\n") == true)
{
nSeqNo = 200;
m_TimeOut = DateTime.Now;
}
else
{
//알람
Flush();
nSeqNo = 0;
nRet = -1;
}
} break;
case 200: //ACK Check.
{
string strRcvData = "";
ACK_MODE _AckMode = RcvCheck(ref strRcvData);
if ((int)_AckMode > 0)
{
nRet = 1;
nSeqNo = 0;
}
else if ((int)_AckMode < 0)
{
nRet = nSeqNo * -1;
nSeqNo = 0;
}
else
{
if (GetElapseTime(m_TimeOut) > READ_END_DELAY)
{
nRet = nSeqNo * -1;
nSeqNo = 0;
Flush();
}
}
} break;
default:
{
nSeqNo = 0;
nRet = -1;
Flush();
} break;
}
m_nSeqNo = nSeqNo;
return(nRet);
}
