/// <summary>
/// 关闭连接
/// </summary>
/// <param name="commu"></param>
/// <returns></returns>
public static bool CloseCommu(KRcc.Commu commu)
{
try
{
bool result = true;
if (commu != null && commu.IsConnected)
{
commu.disconnect();
commu.Dispose();
}
return(result);
}
catch (Exception ex)
{
return(false);
}
}
/// <summary>
/// 运行命令
/// </summary>
/// <param name="commu"></param>
/// <param name="commandString"></param>
/// <returns></returns>
public static string RunCommand(KRcc.Commu commu, string commandString)
{
try
{
//默认回车
ArrayList arrayList = commu.command(commandString + "\n");
int returnStatusCode = 0;
int.TryParse(arrayList[0].ToString(), out returnStatusCode);
if (returnStatusCode == 0)
{
return(arrayList[1].ToString());
}
return(string.Empty);
}
catch (Exception ex)
{
throw ex;
}
}
/// <summary>
/// 检查机器人连接是否已经正常
/// </summary>
/// <param name="commu"></param>
/// <returns></returns>
public static bool CheckCommu(KRcc.Commu commu)
{
return(commu != null && commu.IsConnected);
}
/// <summary>
/// 开始监控（设定时间）
/// </summary>
/// <param name="IntervalMilliseconds"></param>
/// <returns></returns>
public bool StartTrigger(int IntervalMilliseconds)
{
try
{
// 读取指定位置的配置文件
var logger = NLogBuilder.ConfigureNLog("XmlConfig/nlog.config").GetCurrentClassLogger();
if (MC_AllMachineList == null || MC_AllMachineList.Count == 0)
{
return(false);
}
//循环所有机器人创建线程进行监控
foreach (var item in MC_AllMachineList)
{
string robotID = item.id;
var t = new Thread(new ThreadStart(() =>
{
//一直运行
while (true)
{
Thread.Sleep(IntervalMilliseconds);
KRcc.Commu commu = null;
try
{
//默认状态
item.Status = Common.Enum.Robot.RobotStatus.Default;
commu = Common.RobotOperationHandler.GetCommu(item.IPAddress, "TCP", "23");
if (Common.RobotOperationHandler.CheckCommu(commu))
{
//解析状态
string commandResult = Common.RobotOperationHandler.RunCommand(commu, "SWITCH REPEAT,CS,POWER,EMERGENCY,ERROR");
//连接状态
item.Status = Common.Enum.Robot.RobotStatus.Link;
//var redisManger = new RedisManagerPool("127.0.0.1:6379");
//var _redis = redisManger.GetClient();
//var redisTodos = _redis.As<Model.RobotStatus>();
//var newTodo = new RobotStatus
//{
// id = item.id,
// IPAddress = item.IPAddress,
// Status = item.Status,
// DateTime = DateTime.Now.Date
//};
//redisTodos.Store(newTodo);
}
}
catch (Exception ex)
{
//错误状态
item.Status = Common.Enum.Robot.RobotStatus.Error;
//foreach (var intm in MC_AllMachineList)
//{
// if (item.Status == Common.Enum.Robot.RobotStatus.Error)
// {
// item.IsConnect = false;
// Common.RobotStatusHelper.UpdateRobotMasterEntity(intm);
// }
//}
logger.Error(ex, "机器人连接错误");
}
finally
{
//关闭连接
if (Common.RobotOperationHandler.CheckCommu(commu))
{
commu.disconnect();
}
//清除变量
if (commu != null)
{
commu.Dispose();
}
}
}
}))
{
Name = robotID
};
t.Start();
threads.Add(t);
}
return(true);
}
catch (Exception ex)
{
//Common.LogHandler.WriteLog("机器人状态错误 原因是：" + ex.Message, ex);
throw ex;
}
}
