URRobotClient.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using URSoldering.Common;
namespace URSoldering.DeviceLibrary
{
public class URRobotClient
{
public static bool IsSpitPackage = true ;
public delegate void SafetModePro(string mode);
public static event SafetModePro SafetModeFun;
public delegate void RobotModePro(string mode);
public static event RobotModePro RobotModeFun;
private static URTcpClient listenClient = null;
private static int Port = 30003;
public static string LastMoveCMD = "";
public static void StartListen(string ip)
{
LastReviceDataTime = DateTime.Now;
listenClient = new URTcpClient();
listenClient.DefaultDataLength = 1108;
listenClient.ReviceSleepMS = 5;
bool result = listenClient.connect(ip, Port, HandleMessage);
if (result)
{
double loadValue =(double) ConfigAppSettings.GetNumValue(Setting_Init.RobotLoad);
string setLoadCMD = "set_payload_mass("+loadValue+")";
listenClient.sendLine(setLoadCMD);
LogUtil.debug("【UR端口：" + Port + "】连接成功，设置机器人负载【"+setLoadCMD+"】");
}
}
public static void StopListen()
{
if (listenClient != null)
{
listenClient.close();
}
}
public static bool IsConnected()
{
if (listenClient != null)
{
return listenClient.IsConnected();
}return false;
}
public static string LogName
{
get { return "【UR端口：" + Port + "】"; }
}
private static double BitToDouble(byte[] data)
{
double f = BitConverter.ToDouble(data, 0);
return f;
}
private static int BitToInt(byte[] data)
{
int f = BitConverter.ToInt32(data, 0);
return f;
}
private static double BitToFloat(string hexString)
{
uint num = uint.Parse(hexString, System.Globalization.NumberStyles.AllowHexSpecifier);
byte[] floatVals = BitConverter.GetBytes(num);
double f = BitConverter.ToDouble(floatVals, 0);
return f;
}
private static string ByteToStr(byte[] reviceData)
{
string strFromat = "{0:X2}";
string reviceMsg = "";
foreach (byte data in reviceData)
{
reviceMsg = reviceMsg + " " + String.Format(strFromat, data);
}return reviceMsg;
}
private static DateTime LastReviceDataTime = DateTime.Now;
public static bool IsTimeOut()
{
TimeSpan span = DateTime.Now - LastReviceDataTime;
if (span.TotalSeconds > 1)
{
return true;
}return false;
}
private static void HandleMessage(byte[] reviceData)
{
if (LastMoveCMD.Equals("").Equals(false))
{
listenClient.sendLine(LastMoveCMD);
LastMoveCMD = "";
}
if (!IsSpitPackage)
{
StopListen();
}
try
{
byte[] msgSizeArray = reviceData.Skip(0).Take(4).ToArray();
//byte[] timeArray = reviceData.Skip(4).Take(8).ToArray();
//byte[] qTargetArray = reviceData.Skip(12).Take(48).ToArray();
//byte[] qdTargetArray = reviceData.Skip(60).Take(48).ToArray();
//byte[] qddArray = reviceData.Skip(108).Take(48).ToArray();
//byte[] iTargetArray = reviceData.Skip(156).Take(48).ToArray();
int messageSize = BitToInt(reviceData.Skip(0).Take(4).ToArray().Reverse<byte>().ToArray());
int maxdouble = (messageSize - 4) / 8;
List<double> doubleList = new List<double>();
doubleList.Add(messageSize);
if (maxdouble > 61)
{
int[] array = new int[] { 55,56,57,58,59,60,94,101,103,132};
for (int i = 0; i < maxdouble; i++)
{
if (array.Contains(i))
{
if (reviceData.Length >= (12 + i * 8))
{
byte[] data = reviceData.Skip(4 + i * 8).Take(8).ToArray().Reverse<byte>().ToArray();
double value = BitToDouble(data);
//LogUtil.info("第【"+(i+1)+"】个double["+ByteToStr(data) +"]值："+value);
doubleList.Add(value);
}
else
{
break;
}
}
else
{
doubleList.Add(0);
}
}
if (doubleList.Count > 61)
{
LastReviceDataTime = DateTime.Now;
double x = doubleList[56] * 1000;
double y = doubleList[57] * 1000;
double z = doubleList[58] * 1000;
double rx = doubleList[59] * 1;
double ry = doubleList[60] * 1;
double rz = doubleList[61] * 1;
URPointValue newp = new URPointValue(x, y, z, rx, ry, rz);
int robotMode =(int) doubleList[95];
int safetyMode =(int) doubleList[102];
string robotModeStr = GetRobotMode(robotMode);
string safetyModeStr = GetSafetyMode(safetyMode);
int programState = (int)doubleList[132];
SafetModeFun?.Invoke(safetyModeStr);
RobotModeFun?.Invoke(robotModeStr);
if (!URRobotControl.IsSamePoint(newp, URRobotControl.LastPoint))
{
LogUtil.URLInfo(LogName + "length[" + messageSize + "]，data长[" + reviceData.Length + "]，【" + programState + "】【" + robotModeStr + "】【" + safetyModeStr + "】坐标" + newp.ToShowStr()+"");
}
URRobotControl.LastPoint = newp;
}
}
else
{
string reviceMsg = ByteToStr(reviceData);
LogUtil.URLError(LogName + "length[" + messageSize + "]，data长[" + reviceData.Length + "]无法获取坐标，关闭重新连接");
if (IsSpitPackage)
{
StopListen();
}
}
}
catch(Exception ex)
{
LogUtil.URLError(LogName+ "HandleMessage出错：" + ex.ToString());
StopListen();
}
}
public static string GetRobotMode(int type)
{
switch (type)
{
case 0:
return "ROBOT_MODE_DISCONNECTED";
case 1:
return "ROBOT_MODE_CONFIRM_SAFETY";
case 2:
return "ROBOT_MODE_BOOTING";
case 3:
return "ROBOT_MODE_POWER_OFF";
case 4:
return "ROBOT_MODE_POWER_ON";
case 5:
return "ROBOT_MODE_IDLE";
case 6:
return "ROBOT_MODE_BACKDRIVE";
case 7:
return "ROBOT_MODE_RUNNING";
case 8:
return "ROBOT_MODE_UPDATING_FIRMWARE";
default:
return "";
}
}
public static string GetSafetyMode(int type)
{
switch (type)
{
case 1:
return "SAFETY_MODE_NORMAL";
case 2:
return "SAFETY_MODE_REDUCED";
case 3:
return "SAFETY_MODE_PROTECTIVE_STOP";
case 4:
return "SAFETY_MODE_RECOVERY";
case 5:
return "SAFETY_MODE_SAFEGUARD_STOP";
case 6:
return "SAFETY_MODE_SYSTEM_EMERGENCY_STOP";
case 7:
return "SAFETY_MODE_ROBOT_EMERGENCY_STOP";
case 8:
return "SAFETY_MODE_VIOLATION";
case 9:
return "SAFETY_MODE_FAULT";
default:
return "";
}
}
public static void SendCMD(string moveCmd)
{
try
{
if (listenClient != null)
{
listenClient.send(moveCmd);
}
}catch(Exception ex)
{
LogUtil.URSError(LogName+"发送命令【"+moveCmd+"】出错："+ex.ToString());
}
}
}
}