JAKABean.cs
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using log4net;
using System;
using System.Threading;
using static JAKA.JKTYPE;
namespace JAKA
{
public partial class JAKABean
{
private static ILog log;
/// <summary>
/// 机器人句柄
/// </summary>
private int _handle = 0;
public string IP { get; private set; }
public string RemoteEndPoint { get; set; } = "";
private string progFileName { get; set; } = "lizhen1011";
/// <summary>
/// 机器人数据
/// </summary>
public RobotData RobotData;
bool initok = false;
public JAKABean(string robotIp, string logname = "jaka")
{
IP = robotIp;
log = LogManager.GetLogger(logname);
RobotData = new RobotData();
try
{
initok = CreateHandler(robotIp);
SetStatusDataUpdateTimeInterval(100);
}
catch (Exception ex)
{
log.Error("Init JAKABean", ex);
}
}
public void Start()
{
if (initok)
{
// Load(progFileName);
started = true;
updateThread = new System.Threading.Thread(UpdateData);
updateThread.IsBackground = true;
updateThread.Start();
//updateTimer.Enabled = true;
//updateTimer.Interval = 300;
//updateTimer.Elapsed += UpdateTimer_Elapsed; ;
//updateTimer.AutoReset = true;
}
}
object updateLoc = new object();
private void UpdateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (Monitor.TryEnter(updateLoc))
{
try
{
JKTYPE.ErrorCode error = new JKTYPE.ErrorCode();
if (GetRobotStatus(out robotData.RobotStatus))//GetRobotState(out RobotData.RobotState) &&
{
if (robotData.RobotStatus.errcode != 0)
{
if (GetLastError(ref error))
{
robotData.Errorinfo = $"运行异常：【{error.code}】【{string.Join("", error.message)}】";
if (!err.Equals(robotData.Errorinfo))
{
err = robotData.Errorinfo;
log.Error(err);
}
}
else
{
robotData.Errorinfo = $"运行异常：{robotData.RobotStatus.errcode}";
}
}
else
robotData.Errorinfo = "运行正常";
GetProgramState(out robotData.ProgramState);
if (!RobotData.Equals(robotData))
{
RobotData.RobotStatus = robotData.RobotStatus;
RobotData.Errorinfo = robotData.Errorinfo;
RobotData.ProgramState = robotData.ProgramState;
robotData.Online = RobotData.Online;
robotData.CurCmd = RobotData.CurCmd;
robotData.RecvMsg = RobotData.RecvMsg;
log.Info($"Update Robot Data:【{RobotData.CurCmd}】【{RobotData.RecvMsg}】【{RobotData.Errorinfo}】");
if (robotData != null)
UpdateDataEvent?.Invoke(robotData);
}
}
}
catch (Exception ex)
{
log.Error("UpdateData", ex);
}
finally
{
Monitor.Exit(updateLoc);
}
}
}
System.Timers.Timer updateTimer = new System.Timers.Timer();
~JAKABean()
{
started = false;
if (initok)
DestroyHandler();
}
#region 更新数据信息
System.Threading.Thread updateThread;
bool started = false;
public delegate void UpdateEventHandler(RobotData robotData);
event UpdateEventHandler UpdateDataEvent;
/// <summary>
/// 刷新频率
/// </summary>
public int ScanRate = 1000;
RobotData robotData = new RobotData();
string err = "";
private void UpdateData()
{
while (started)
{
try
{
JKTYPE.ErrorCode error = new JKTYPE.ErrorCode();
if (GetRobotStatus(out robotData.RobotStatus))//GetRobotState(out RobotData.RobotState) &&
{
if (robotData.RobotStatus.errcode != 0)
{
if (GetLastError(ref error))
{
robotData.Errorinfo = $"运行异常：【{error.code}】【{string.Join("", error.message)}】";
if (!err.Equals(robotData.Errorinfo))
{
err = robotData.Errorinfo;
log.Error(err);
}
}
else
{
robotData.Errorinfo = $"运行异常：{robotData.RobotStatus.errcode}";
}
}
else
robotData.Errorinfo = "运行正常";
GetProgramState(out robotData.ProgramState);
if (!RobotData.Equals(robotData))
{
RobotData.RobotStatus = robotData.RobotStatus;
RobotData.Errorinfo = robotData.Errorinfo;
RobotData.ProgramState = robotData.ProgramState;
robotData.Online = RobotData.Online;
robotData.CurCmd = RobotData.CurCmd;
robotData.RecvMsg = RobotData.RecvMsg;
log.Info($"Update Robot Data:【{RobotData.CurCmd}】【{RobotData.RecvMsg}】【{RobotData.Errorinfo}】");
if (robotData != null)
UpdateDataEvent?.Invoke(robotData);
}
}
}
catch (Exception ex)
{
log.Error("UpdateData", ex);
}
System.Threading.Thread.Sleep(ScanRate);
}
}
public void RegisterUpdataEvent(UpdateEventHandler eventHandler)
{
UpdateDataEvent += eventHandler;
}
#endregion
#region 日志打印
private void DebugLog(string txt)
{
log.Debug($"[{IP}][{_handle}] {txt}]");
}
private void ErrorLog(string txt, Exception exception = null)
{
log.Error($"[{IP}][{_handle}] {txt}]", exception);
}
private void InfoLog(string txt)
{
log.Info($"[{IP}][{_handle}] {txt}]");
}
#endregion
}
}