KukaTcpCommunication.cs
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using DataAcquisition.Models;
using System.Text;
using System.Xml;
namespace DataAcquisition.Common.Communications
{
public class KukaTcpCommunication : TcpClientCommunication
{
public KukaTcpCommunication(int communicationId, string ip, int port) : base(communicationId, ip, port)
{
}
public override void Read(IEnumerable<EquipmentProperty> equipmentProperties)
{
var stream = tcpClient.GetStream();
stream.Write(Encoding.Default.GetBytes($"<Ext><Msg>{Guid.NewGuid().ToString("N")[..8]}</Msg></Ext>"));
var buffer = new byte[8192];
stream.Read(buffer);
var bufferString = Encoding.Default.GetString(buffer).TrimEnd('\0');
if (!string.IsNullOrWhiteSpace(bufferString))
{
var xml = new XmlDocument();
xml.LoadXml(bufferString);
foreach (var property in equipmentProperties)
{
property.Value = xml.DocumentElement?.SelectSingleNode(property.Code)?.InnerText ?? string.Empty;
}
}
}
public override void Write(IEnumerable<EquipmentProperty> equipmentProperties)
{
var xml = new XmlDocument();
var robot = xml.CreateElement("Robot");
foreach (var property in equipmentProperties)
{
var element = xml.CreateElement(property.Code);
element.InnerText = property.Value ?? string.Empty;
robot.AppendChild(element);
}
xml.AppendChild(robot);
var stream = tcpClient.GetStream();
stream.Write(Encoding.Default.GetBytes(xml.InnerXml));
}
}
}