EfortCommunication.cs
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using DataAcquisition.Common.Enums;
using DataAcquisition.Common.Utils;
using DataAcquisition.Models;
using HslCommunication;
using HslCommunication.Robot.EFORT;
namespace DataAcquisition.Common.Communications
{
/// <summary>
/// Efort机器人通讯
/// </summary>
public class EfortCommunication : ICommunication
{
public int CommunicationId { get; set; }
public string IpAddress => client.IpAddress;
private readonly ER7BC10 client = null!;
private SystemLog log = SystemLog.Instance;
private EfortCommunication() { }
public EfortCommunication(int communicationId, string ipAddress, int port)
{
CommunicationId = communicationId;
client = new ER7BC10(ipAddress, port);
client.SetPersistentConnection();
}
public OperateResult ConnectClose()
{
try
{
client.ConnectClose();
return OperateResult.CreateSuccessResult();
}
catch (Exception ex)
{
return new OperateResult
{
ErrorCode = 500,
IsSuccess = false,
Message = ex.Message,
};
}
}
public OperateResult ConnectServer()
{
try
{
return client.ConnectServer();
}
catch (Exception ex)
{
return new OperateResult
{
ErrorCode = 500,
IsSuccess = false,
Message = ex.Message,
};
}
}
public void Read(IEnumerable<EquipmentProperty> equipmentProperties)
{
try
{
var result = client.ReadEfortData();
if (!result.IsSuccess)
{
log.LogError($"读取Efort[{IpAddress}]数据失败，{result.Message}");
}
var data = result.Content;
foreach (var item in equipmentProperties)
{
_ = Enum.TryParse<RobotProps>(item.Code, out var robotPropCode);
item.Value = robotPropCode switch
{
RobotProps.BootFlag => bool.TrueString,
//RobotProps.WorkFlag => throw new NotImplementedException(),
//RobotProps.WeldFlag => throw new NotImplementedException(),
//RobotProps.WeldCompleteFlag => throw new NotImplementedException(),
//RobotProps.Weld_V => throw new NotImplementedException(),
//RobotProps.Weld_I => throw new NotImplementedException(),
//RobotProps.Weld_Speed => throw new NotImplementedException(),
//RobotProps.Weld_Gas => throw new NotImplementedException(),
//RobotProps.Gas_Flow => throw new NotImplementedException(),
//RobotProps.Weld_CleanGun => throw new NotImplementedException(),
RobotProps.Alarm => Convert.ToBoolean(data.ErrorStatus).ToString(),
//RobotProps.Work_Time => throw new NotImplementedException(),
RobotProps.Work_Mode => data.ModeStatus.ToString(),
//RobotProps.Type => throw new NotImplementedException(),
RobotProps.Pos_X => data.DbCartPos[0].ToString(),
RobotProps.Pos_Y => data.DbCartPos[1].ToString(),
RobotProps.Pos_Z => data.DbCartPos[2].ToString(),
RobotProps.Pos_A => data.DbCartPos[3].ToString(),
RobotProps.Pos_B => data.DbCartPos[4].ToString(),
RobotProps.Pos_C => data.DbCartPos[5].ToString(),
//RobotProps.Pos_E1 => throw new NotImplementedException(),
//RobotProps.Pos_E2 => throw new NotImplementedException(),
//RobotProps.Pos_E3 => throw new NotImplementedException(),
//RobotProps.Pos_E4 => throw new NotImplementedException(),
RobotProps.Program_No => data.ProgramName,
_ => string.Empty,
};
}
}
catch (Exception ex)
{
log.LogError($"读取Efort[{IpAddress}]数据失败，{ex.Message}");
}
}
public void Read(EquipmentProperty equipmentProperty)
{
Read([equipmentProperty]);
}
public void Write(IEnumerable<EquipmentProperty> equipmentProperties)
{
log.LogError($"Efort机器人[{IpAddress}]不支持数据写入操作");
}
public void Write(EquipmentProperty equipmentProperty)
{
Write([equipmentProperty]);
}
}
}