KukaAvarProxyNet.cs
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using HslCommunication.BasicFramework;
using HslCommunication.Core;
using HslCommunication.Core.IMessage;
using HslCommunication.Core.Net;
using System;
using System.Collections.Generic;
using System.Text;
namespace HslCommunication.Robot.KUKA
{
/// <summary>
/// Kuka机器人的数据交互对象，通讯支持的条件为KUKA 的 KRC4 控制器中运行KUKAVARPROXY 这个第三方软件，端口通常为7000
/// </summary>
/// <remarks>
/// 非常感谢 昆山-LT 网友的测试和意见反馈。
/// </remarks>
public class KukaAvarProxyNet : NetworkDoubleBase<KukaVarProxyMessage, ReverseWordTransform>, IRobotNet
{
#region Constructor
/// <summary>
/// 实例化一个默认的对象
/// </summary>
public KukaAvarProxyNet()
{
softIncrementCount = new SoftIncrementCount(ushort.MaxValue);
}
/// <summary>
/// 实例化一个默认的Kuka机器人对象，并指定IP地址和端口号，端口号通常为7000
/// </summary>
/// <param name="ipAddress">Ip地址</param>
/// <param name="port">端口号</param>
public KukaAvarProxyNet(string ipAddress, int port)
{
IpAddress = ipAddress;
Port = port;
softIncrementCount = new SoftIncrementCount(ushort.MaxValue);
}
#endregion
#region Read Write Support
/// <summary>
/// 读取埃夫特机器人的原始的字节数据信息，该地址参数是没有任何作用的，随便填什么
/// </summary>
/// <param name="address">无效参数</param>
/// <returns>带有成功标识的byte[]数组</returns>
public OperateResult<byte[]> Read(string address)
{
OperateResult<byte[]> read = ReadFromCoreServer(PackCommand(BuildReadValueCommand(address)));
if (!read.IsSuccess) return read;
return ExtractActualData(read.Content);
}
/// <summary>
/// 读取机器人的所有的数据信息，返回JSON格式的数据对象，地址参数无效
/// </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)
{
OperateResult<byte[]> read = Read(address);
if (!read.IsSuccess) return OperateResult.CreateFailedResult<string>(read);
return OperateResult.CreateSuccessResult(Encoding.Default.GetString(read.Content));
}
/// <summary>
/// 本机器人不支持该方法操作，将永远返回失败，无效的操作
/// </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.Default.GetString(value));
}
/// <summary>
/// 本机器人支持该方法操作，根据实际的值记性返回
/// </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)
{
OperateResult<byte[]> read = ReadFromCoreServer(PackCommand(BuildWriteValueCommand(address, value)));
if (!read.IsSuccess) return read;
return ExtractActualData(read.Content);
}
#endregion
#region Command Build
/// <summary>
/// 将核心的指令打包成一个可用于发送的消息对象
/// </summary>
/// <param name="commandCore">核心命令</param>
/// <returns>最终实现的可以发送的机器人的字节数据</returns>
private byte[] PackCommand(byte[] commandCore)
{
byte[] buffer = new byte[commandCore.Length + 4];
ByteTransform.TransByte((ushort)softIncrementCount.GetCurrentValue()).CopyTo(buffer, 0);
ByteTransform.TransByte((ushort)commandCore.Length).CopyTo(buffer, 2);
commandCore.CopyTo(buffer, 4);
return buffer;
}
private OperateResult<byte[]> ExtractActualData(byte[] response)
{
try
{
if (response[response.Length - 1] != 0x01) return new OperateResult<byte[]>(response[response.Length - 1], "Wrong: " + SoftBasic.ByteToHexString(response, ' '));
int length = response[5] * 256 + response[6];
byte[] buffer = new byte[length];
Array.Copy(response, 7, buffer, 0, length);
return OperateResult.CreateSuccessResult(buffer);
}
catch (Exception ex)
{
return new OperateResult<byte[]>("Wrong:" + ex.Message + " Code:" + SoftBasic.ByteToHexString(response, ' '));
}
}
private byte[] BuildCommands(byte function, string[] commands)
{
List<byte> buffer = new List<byte>();
buffer.Add(function);
for (int i = 0; i < commands.Length; i++)
{
byte[] buffer_command = Encoding.Default.GetBytes(commands[i]);
buffer.AddRange(ByteTransform.TransByte((ushort)buffer_command.Length));
buffer.AddRange(buffer_command);
}
return buffer.ToArray();
}
private byte[] BuildReadValueCommand(string address)
{
return BuildCommands(0x00, new string[] { address });
}
private byte[] BuildWriteValueCommand(string address, string value)
{
return BuildCommands(0x01, new string[] { address, value });
}
#endregion
#region Private Member
private SoftIncrementCount softIncrementCount; // 自增消息的对象
#endregion
#region Object Override
/// <summary>
/// 返回表示当前对象的字符串
/// </summary>
/// <returns>字符串</returns>
public override string ToString()
{
return $"KukaAvarProxyNet Robot[{IpAddress}:{Port}]";
}
#endregion
}
}