YRC1000TcpNet.cs
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using HslCommunication.Core;
using HslCommunication.Core.IMessage;
using HslCommunication.Core.Net;
using System.Net.Sockets;
using System.Text;
namespace HslCommunication.Robot.YASKAWA
{
/// <summary>
/// 安川机器人的Ethernet 服务器功能的通讯类
/// </summary>
public class YRC1000TcpNet : NetworkDoubleBase<HslMessage, ReverseWordTransform>, IRobotNet
{
#region Constructor
/// <summary>
/// 实例化一个默认的对象
/// </summary>
/// <param name="ipAddress">Ip地址</param>
/// <param name="port">端口号</param>
public YRC1000TcpNet(string ipAddress, int port)
{
}
#endregion
#region IRobot Interface
/// <summary>
/// 根据地址读取机器人的原始的字节数据信息
/// </summary>
/// <param name="address">指定的地址信息，对于某些机器人无效</param>
/// <returns>带有成功标识的byte[]数组</returns>
public OperateResult<byte[]> Read(string address)
{
OperateResult<string> read = ReadString(address);
if (!read.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(read);
return OperateResult.CreateSuccessResult(Encoding.ASCII.GetBytes(read.Content));
}
/// <summary>
/// 根据地址读取机器人的字符串的数据信息
/// </summary>
/// <param name="address">地址信息</param>
/// <returns>带有成功标识的字符串数据</returns>
public OperateResult<string> ReadString(string address)
{
if (address.IndexOf('.') >= 0 || address.IndexOf(':') >= 0 || address.IndexOf(';') >= 0)
{
string[] commands = address.Split(new char[] { '.', ':', ';' });
return ReadByCommand(commands[0], commands[1]);
}
else
{
return ReadByCommand(address, null);
}
}
/// <summary>
/// 根据地址，来写入设备的相关的数据
/// </summary>
/// <param name="address">指定的地址信息，有些机器人可能不支持</param>
/// <param name="value">原始的字节数据信息</param>
/// <returns>是否成功的写入</returns>
public OperateResult Write(string address, byte[] value)
{
return Write(address, Encoding.ASCII.GetString(value));
}
/// <summary>
/// 根据地址，来写入设备相关的数据
/// </summary>
/// <param name="address">指定的地址信息，有些机器人可能不支持</param>
/// <param name="value">字符串的数据信息</param>
/// <returns>是否成功的写入</returns>
public OperateResult Write(string address, string value)
{
return ReadByCommand(address, value);
}
#endregion
#region Initialization Override
/// <summary>
/// before read data , the connection should be Initialized
/// </summary>
/// <param name="socket">connected socket</param>
/// <returns>whether is the Initialization is success.</returns>
protected override OperateResult InitializationOnConnect(Socket socket)
{
var read = ReadFromCoreServer(socket, "CONNECT Robot_access KeepAlive:-1\r\n");
if (!read.IsSuccess) return read;
if (read.Content != "OK:YR Information Server(Ver) Keep-Alive:-1.\r\n")
return new OperateResult(read.Content);
return OperateResult.CreateSuccessResult();
}
#endregion
#region Override Read
/// <summary>
/// 重写父类的数据交互方法，接收的时候采用标识符来接收
/// </summary>
/// <param name="socket">套接字</param>
/// <param name="send">发送的数据</param>
/// <returns>发送结果对象</returns>
public override OperateResult<byte[]> ReadFromCoreServer(Socket socket, byte[] send)
{
LogNet?.WriteDebug(ToString(), StringResources.Language.Send + " : " + BasicFramework.SoftBasic.ByteToHexString(send, ' '));
// send
OperateResult sendResult = Send(socket, send);
if (!sendResult.IsSuccess)
{
socket?.Close();
return OperateResult.CreateFailedResult<byte[]>(sendResult);
}
if (ReceiveTimeOut < 0) return OperateResult.CreateSuccessResult(new byte[0]);
// receive msg
OperateResult<byte[]> resultReceive = NetSupport.ReceiveCommandLineFromSocket(socket, (byte)'\r', (byte)'\n');
if (!resultReceive.IsSuccess) return new OperateResult<byte[]>(StringResources.Language.ReceiveDataTimeout + ReceiveTimeOut);
LogNet?.WriteDebug(ToString(), StringResources.Language.Receive + " : " + BasicFramework.SoftBasic.ByteToHexString(resultReceive.Content, ' '));
// Success
return OperateResult.CreateSuccessResult(resultReceive.Content);
}
/// <summary>
/// Read string value from socket
/// </summary>
/// <param name="socket">connected socket</param>
/// <param name="send">string value</param>
/// <returns>received string value with is successfully</returns>
protected OperateResult<string> ReadFromCoreServer(Socket socket, string send)
{
var read = ReadFromCoreServer(socket, Encoding.Default.GetBytes(send));
if (!read.IsSuccess) return OperateResult.CreateFailedResult<string>(read);
return OperateResult.CreateSuccessResult(Encoding.Default.GetString(read.Content));
}
/// <summary>
/// 根据指令来读取设备的信息，如果命令数据为空，则传入null即可，注意，所有的命令不带换行符
/// </summary>
/// <param name="command">命令的内容</param>
/// <param name="commandData">命令数据内容</param>
/// <returns>最终的结果内容，需要对IsSuccess进行验证</returns>
public OperateResult<string> ReadByCommand(string command, string commandData)
{
InteractiveLock.Enter();
// 获取有用的网络通道，如果没有，就建立新的连接
OperateResult<Socket> resultSocket = GetAvailableSocket();
if (!resultSocket.IsSuccess)
{
IsSocketError = true;
if (AlienSession != null) AlienSession.IsStatusOk = false;
InteractiveLock.Leave();
return OperateResult.CreateFailedResult<string>(resultSocket);
}
// 先发送命令
string sendCommand = string.IsNullOrEmpty(commandData) ? $"HOSTCTRL_REQUEST {command} 0\r\n" : $"HOSTCTRL_REQUEST {command} {commandData.Length}\r\n";
OperateResult<string> readCommand = ReadFromCoreServer(resultSocket.Content, sendCommand);
if (!readCommand.IsSuccess)
{
IsSocketError = true;
if (AlienSession != null) AlienSession.IsStatusOk = false;
InteractiveLock.Leave();
return OperateResult.CreateFailedResult<string>(readCommand);
}
// 检查命令是否返回成功的状态
if (!readCommand.Content.StartsWith("OK:"))
{
if (!isPersistentConn) resultSocket.Content?.Close();
InteractiveLock.Leave();
return new OperateResult<string>(readCommand.Content.Remove(readCommand.Content.Length - 2));
}
// 在必要的情况下发送命令数据
if (!string.IsNullOrEmpty(commandData))
{
byte[] send2 = Encoding.ASCII.GetBytes($"{commandData}\r");
LogNet?.WriteDebug(ToString(), StringResources.Language.Send + " : " + BasicFramework.SoftBasic.ByteToHexString(send2, ' '));
OperateResult sendResult2 = Send(resultSocket.Content, send2);
if (!sendResult2.IsSuccess)
{
resultSocket.Content?.Close();
IsSocketError = true;
if (AlienSession != null) AlienSession.IsStatusOk = false;
InteractiveLock.Leave();
return OperateResult.CreateFailedResult<string>(sendResult2);
}
}
// 接收数据信息，先接收到\r为止，再根据实际情况决定是否接收\r
OperateResult<byte[]> resultReceive2 = NetSupport.ReceiveCommandLineFromSocket(resultSocket.Content, (byte)'\r');
if (!resultReceive2.IsSuccess)
{
IsSocketError = true;
if (AlienSession != null) AlienSession.IsStatusOk = false;
InteractiveLock.Leave();
return OperateResult.CreateFailedResult<string>(resultReceive2);
}
string commandDataReturn = Encoding.ASCII.GetString(resultReceive2.Content);
if (commandDataReturn.StartsWith("ERROR:"))
{
if (!isPersistentConn) resultSocket.Content?.Close();
InteractiveLock.Leave();
NetSupport.ReadBytesFromSocket(resultSocket.Content, 1);
return new OperateResult<string>(commandDataReturn);
}
else if (commandDataReturn.StartsWith("0000\r"))
{
if (!isPersistentConn) resultSocket.Content?.Close();
NetSupport.ReadBytesFromSocket(resultSocket.Content, 1);
InteractiveLock.Leave();
return OperateResult.CreateSuccessResult("0000");
}
else
{
if (!isPersistentConn) resultSocket.Content?.Close();
InteractiveLock.Leave();
return OperateResult.CreateSuccessResult(commandDataReturn.Remove(commandDataReturn.Length - 1));
}
}
#endregion
#region Public Method
/// <summary>
/// 读取机器人的报警信息
/// </summary>
/// <returns>原始的报警信息</returns>
public OperateResult<string> ReadRALARM()
{
return ReadByCommand("RALARM", null);
}
/// <summary>
/// 读取机器人的坐标数据信息
/// </summary>
/// <returns>原始的报警信息</returns>
public OperateResult<string> ReadRPOSJ()
{
return ReadByCommand("RPOSJ", null);
}
#endregion
#region Object Override
/// <summary>
/// 返回表示当前对象的字符串
/// </summary>
/// <returns>字符串信息</returns>
public override string ToString()
{
return $"YRC1000TcpNet Robot[{IpAddress}:{Port}]";
}
#endregion
#region Static Member
#endregion
}
}