private Boolean procPrint(string exp)
{
Boolean result = false;
try
{
exp = exp.Replace("PRINT(", "").Replace(");", "");
exp = trimDoubleQuotes(exp);
string msg = null;
if (exp.Contains("+"))
{
string[] msgs = exp.Split(new char[] { '+' }, StringSplitOptions.RemoveEmptyEntries);
foreach (string foo in msgs)
{
string temp = trimDoubleQuotes(foo);
msg = (msg != null ? msg : "") + temp;
}
}
else
{
msg = exp;
}
//info(msg);
Marco.Print(msg);
result = true;
}
catch (Exception e)
{
error(e.StackTrace + " " + e.Message);
result = false;
}
return(result);
}
public void cmdProcess(Socket handler, string msg)
{
try
{
replayer = handler;
Dictionary <string, string> argMap = new Dictionary <string, string>();
argMap.Add("msg", msg);
#region 息解析
string returnMsg = "";
string orgMsg = msg.Substring(6, msg.Length - 7);//去除前六碼, 與最後的;
argMap.Add("orgMsg", orgMsg);
//分解訊息
string[] rcvMsgAry = msg.Substring(0, msg.Length - 1).Split('/');//去最後一碼;
//取得命令
string cmd = rcvMsgAry[0];
argMap.Add("cmd", cmd);
//取得引數
string[] rcvArgs = new string[rcvMsgAry.Length - 1];//0 是命令，不是參數，所以長度少1
Array.Copy(rcvMsgAry, 1, rcvArgs, 0, rcvArgs.Length);
//分解命令: 取得 address
string address = cmd.Substring(1, 1);
argMap.Add("address", address);
//分解命令: 取得 命令類別
string cmd_type = cmd.Substring(2, 3);
argMap.Add("cmd_type", cmd_type);
//分解命令: 取得 功能名稱
int lastIdx = cmd.LastIndexOf(":") > 5 ? cmd.LastIndexOf(":") : cmd.Length;
string func_name = cmd.Substring(6, lastIdx - 6).Replace(";", "");// 前六碼為固定前修飾詞, 例如 $1CMD: $2MCR:
//宣告回傳參數與錯誤原因
string[] param = null;
string factor = "";
#endregion
#region 處理INF 的 ACK
if (cmd_type.Equals("ACK"))
{
logger.Info("Receive:" + msg);
return;//收到前台ACK 暫時不做事情
}
#endregion
#region 檢查指令格式與目前狀態是否能執行
checkCmd(msg, ref factor, ref param);
switch (factor)
{
case "MSG":
returnMsg = "$" + address + "NAK:MSG|" + orgMsg;
Send(handler, returnMsg + ";\r");
return;
case "ACK":
returnMsg = "$" + address + "ACK:" + orgMsg;
Send(handler, returnMsg + ";\r");
break;
case "CAN":
default:
//returnMsg = "$" + address + "CAN:" + orgMsg + "|" + factor + "/Place";
returnMsg = "$" + address + "CAN:" + orgMsg + "|" + factor;
Send(handler, returnMsg + ";\r");
return;
}
#endregion
#region 執行工作
//Thread.Sleep(50);20191114 取消 SLEEP for IO REFRESH 效能
returnMsg = "$" + address;
switch (func_name)
{
#region Robot 指令
case "ROBOT_CARRY":
argMap.Add("@src", rcvArgs[0]); //src : P101, SHELF1, ... 等等; 讓Marco 自行處理可辨識的名稱
argMap.Add("@dest", rcvArgs[1]); //dest : P101, SHELF1, ... 等等; 讓Marco 自行處理可辨識的名稱
Marco.RunMarco(func_name, argMap);
break;
case "ROBOT_PRESENCE":
argMap.Add("@position", rcvArgs[0]); //position : ARM1,ARM2 ... 等等; 讓Marco 自行處理可辨識的名稱
Marco.RunMarco(func_name, argMap);
break;
#endregion
default: //不須特別做參數處理的 function, 傳入之參數會依序放在 @arg1...@argn
for (int i = 0; i < rcvArgs.Length; i++)
{
argMap.Add("@arg" + (i + 1), rcvArgs[i]);
}
Marco.RunMarco(func_name, argMap);
break;
}
#endregion
}
catch (Exception e)
{
logger.Error(e.Message + " " + e.StackTrace);
}
}
