KukaAvarProxyCommunication.cs
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using DataAcquisitionServer.Common.Utils;
using DataAcquisitionServer.Models;
using HslCommunication;
using HslCommunication.Robot.KUKA;
using System.Text;
namespace DataAcquisitionServer.Common.Communications
{
/// <summary>
/// Kuka机器人通信
/// </summary>
public class KukaAvarProxyCommunication : ICommunication
{
public readonly KukaAvarProxyNet KukaAvar = null!;
private readonly SystemLog systemLog = SystemLog.Instance;
public string IpAddress => KukaAvar.IpAddress;
public int CommunicationId { get => throw new NotImplementedException(); set => throw new NotImplementedException(); }
private KukaAvarProxyCommunication() { }
public KukaAvarProxyCommunication(int communicationId, string ipAddress, int port = 7000)
{
CommunicationId = communicationId;
KukaAvar = new KukaAvarProxyNet(ipAddress, port);
KukaAvar.SetPersistentConnection();
}
public OperateResult ConnectServer() => KukaAvar.ConnectServer();
public OperateResult ConnectClose() => KukaAvar.ConnectClose();
public void Read(IEnumerable<EquipmentProperty> equipmentProperties)
{
try
{
foreach (var item in equipmentProperties)
{
var result = KukaAvar.Read(item.DataAddress);
if (!result.IsSuccess)
{
item.Value = string.Empty;
item.UpdateTime = DateTime.Now;
systemLog.LogError($"读取Kuka机器人[{KukaAvar.IpAddress}]地址{item.DataAddress}数据失败：{result.Message}");
return;
}
item.Value = Encoding.Default.GetString(result.Content);
item.UpdateTime = DateTime.Now;
}
}
catch (Exception ex)
{
systemLog.LogError($"读取Kuka机器人[{KukaAvar.IpAddress}]数据失败：{ex.Message}");
}
}
public void Read(EquipmentProperty equipmentProperty)
{
Read(new List<EquipmentProperty> { equipmentProperty });
}
public void Write(IEnumerable<EquipmentProperty> equipmentProperties)
{
try
{
foreach (var item in equipmentProperties)
{
var result = KukaAvar.Write(item.DataAddress, item.Value);
if (!result.IsSuccess)
{
systemLog.LogError($"写入Kuka机器人[{KukaAvar.IpAddress}]_变量地址{item.DataAddress}失败：{result.Message}");
return;
}
}
}
catch (Exception ex)
{
systemLog.LogError($"写入Kuka机器人[{KukaAvar.IpAddress}]数据失败：{ex.Message}");
}
}
public void Write(EquipmentProperty equipmentProperty)
{
Write(new List<EquipmentProperty> { equipmentProperty });
}
}
}