KukaAvarProxyCommunication.cs
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using HHECS.BllModel;
using HHECS.DAQClient.Common;
using HHECS.EquipmentModel;
using HslCommunication;
using HslCommunication.Robot.KUKA;
using System.Diagnostics;
using System.Text;
namespace HHECS.DAQClient.Communications
{
/// <summary>
/// Kuka机器人通信
/// </summary>
public class KukaAvarProxyCommunication : ICommunication
{
public readonly KukaAvarProxyNet KukaAvar = null!;
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 BllResult ConnectServer()
{
var result = KukaAvar.ConnectServer();
if (!result.IsSuccess)
{
return BllResultFactory.Error(result.Message);
}
return BllResultFactory.Success();
}
public BllResult ConnectClose()
{
KukaAvar.ConnectClose();
return BllResultFactory.Success();
}
public BllResult Read(IEnumerable<DataItem> dataItems)
{
try
{
foreach (var item in dataItems)
{
var nodes = item.DataAddress?.Split(';');
var result = KukaAvar.Read(item.DataAddress);
if (!result.IsSuccess)
{
item.Value = string.Empty;
return BllResultFactory.Error($"读取Kuka机器人[{KukaAvar.IpAddress}]地址{item.DataAddress}数据失败：{result.Message}");
}
var val = Encoding.Default.GetString(result.Content);
if (item.DataType == EquipmentDataType.BOOL)
{
item.Value = Thread.CurrentThread.CurrentCulture.TextInfo.ToTitleCase(val.ToLower());
}
else
{
item.Value = val;
}
}
return BllResultFactory.Success();
}
catch (Exception ex)
{
return BllResultFactory.Error($"读取Kuka机器人[{KukaAvar.IpAddress}]数据失败：{ex.Message}");
}
}
public BllResult Read(DataItem dataItem)
{
return Read([dataItem]);
}
public BllResult Write(IEnumerable<DataItem> dataItems)
{
try
{
foreach (var item in dataItems)
{
var result = KukaAvar.Write(item.DataAddress, item.Value);
if (!result.IsSuccess)
{
return BllResultFactory.Error($"写入Kuka机器人[{KukaAvar.IpAddress}]_变量地址{item.DataAddress}失败：{result.Message}");
}
}
return BllResultFactory.Success();
}
catch (Exception ex)
{
return BllResultFactory.Error($"写入Kuka机器人[{KukaAvar.IpAddress}]数据失败：{ex.Message}");
}
}
public BllResult Write(DataItem dataItem)
{
return Write([dataItem]);
}
}
}