KukaAvarProxyCommunication.cs
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using DataAcquisition.Common.Enums;
using DataAcquisition.Common.Utils;
using DataAcquisition.Models;
using HslCommunication;
using HslCommunication.Robot.KUKA;
using System.Diagnostics;
using System.Text;
namespace DataAcquisition.Common.Communications
{
/// <summary>
/// Kuka机器人通信
/// </summary>
public class KukaAvarProxyCommunication : ICommunication
{
public readonly KukaAvarProxyNet KukaAvar = null!;
private readonly SystemLog systemLog = SystemLog.Instance;
public string IpAddress => KukaAvar.IpAddress;
public int CommunicationId { get; set; }
private KukaAvarProxyCommunication() { }
public KukaAvarProxyCommunication(int communicationId, string ipAddress, int port = 7000)
{
CommunicationId = communicationId;
KukaAvar = new KukaAvarProxyNet(ipAddress, port);
KukaAvar.SetPersistentConnection();
}
public OperateResult ConnectServer() => KukaAvar.ConnectServer();
public OperateResult ConnectClose() => KukaAvar.ConnectClose();
public void Read(IEnumerable<EquipmentProperty> equipmentProperties)
{
try
{
var stopwatch = Stopwatch.StartNew();
foreach (var item in equipmentProperties)
{
var nodes = item.DataAddress?.Split(';');
if (item.Code == RobotProps.Work_Mode.ToString() && nodes!.Length > 1)
{
foreach (var node in nodes)
{
var nodeResult = KukaAvar.Read(node);
if (!nodeResult.IsSuccess)
{
systemLog.LogError($"读取Kuka机器人[{KukaAvar.IpAddress}]地址{item.DataAddress}数据失败：{nodeResult.Message}");
return;
}
_ = bool.TryParse(Encoding.Default.GetString(nodeResult.Content), out var val);
if (val)
{
item.Value = $"{Array.IndexOf(nodes, node) + 1}";
item.UpdateTime = DateTime.Now;
break;
}
}
}
else
{
var result = KukaAvar.Read(item.DataAddress);
if (!result.IsSuccess)
{
item.Value = string.Empty;
item.UpdateTime = DateTime.Now;
systemLog.LogError($"读取Kuka机器人[{KukaAvar.IpAddress}]地址{item.DataAddress}数据失败：{result.Message}");
return;
}
var val = Encoding.Default.GetString(result.Content);
if (item.Code == RobotProps.Weld_V.ToString())
{
_ = float.TryParse(val, out var v);
item.Value = v > 0 ? $"{v / 32767 * 107}" : "0";
}
else if (item.DataType == DataTypeConst.Bool)
{
item.Value = Thread.CurrentThread.CurrentCulture.TextInfo.ToTitleCase(val.ToLower());
}
else
{
item.Value = val;
}
}
item.UpdateTime = DateTime.Now;
}
stopwatch.Stop();
systemLog.LogInfo($"读取Kuka变量[{equipmentProperties.FirstOrDefault()?.Equipment.CommunicationConfig?.IpAddress}]地址数量：{equipmentProperties.Count()}，耗时：{stopwatch.Elapsed}");
}
catch (Exception ex)
{
systemLog.LogError($"读取Kuka机器人[{KukaAvar.IpAddress}]数据失败：{ex.Message}");
}
}
public void Read(EquipmentProperty equipmentProperty)
{
Read([equipmentProperty]);
}
public void Write(IEnumerable<EquipmentProperty> equipmentProperties)
{
try
{
foreach (var item in equipmentProperties)
{
var result = KukaAvar.Write(item.DataAddress, item.Value);
if (!result.IsSuccess)
{
systemLog.LogError($"写入Kuka机器人[{KukaAvar.IpAddress}]_变量地址{item.DataAddress}失败：{result.Message}");
return;
}
}
}
catch (Exception ex)
{
systemLog.LogError($"写入Kuka机器人[{KukaAvar.IpAddress}]数据失败：{ex.Message}");
}
}
public void Write(EquipmentProperty equipmentProperty)
{
Write([equipmentProperty]);
}
}
}