System information & energy

AbbController robot = new AbbController();
robot.Connect("192.168.0.1");
SystemInfo info = robot.Rws.System.GetInfo();

Console.WriteLine(info.Name);          // name of the system
Console.WriteLine(info.VersionName);   // readable robot software version
Console.WriteLine(info.Version);
Console.WriteLine(info.SystemId);      // unique identifier of the system
Console.WriteLine(info.StartTime);     // last start, null on some controllers
Console.WriteLine(info.OptionCount);

// The options come with the description, no second call needed
foreach (string option in info.Options)
    Console.WriteLine(option);
robot.Disconnect();
}

AbbController robot = new AbbController();
robot.Connect("192.168.0.1");
// Installed options
foreach (string option in robot.Rws.System.GetOptions())
    Console.WriteLine(option);

// Installed products and their versions
foreach (SystemProduct product in robot.Rws.System.GetProducts())
    Console.WriteLine($"{product.Name} {product.VersionName}");

// One product only. The name must match exactly
SystemProduct[] robotWare = robot.Rws.System.GetProducts("RobotWare");

// Type of every robot the controller drives
foreach (string type in robot.Rws.System.GetRobotTypes())
    Console.WriteLine(type);

// License the robot software runs under
Console.WriteLine(robot.Rws.System.GetLicense());
Console.WriteLine(robotWare.Length);
robot.Disconnect();

AbbController robot = new AbbController();
robot.Connect("192.168.0.1");
SystemEnergy energy = robot.Rws.System.GetEnergy();

// Always check this first, the other values mean nothing when it is false
if (!energy.IsMeasurementValid)
{
    Console.WriteLine($"No measurement available, state is {energy.State}");
    return;
}

Console.WriteLine($"Interval : {energy.IntervalEnergy} J over {energy.IntervalLength} s");
Console.WriteLine($"Average power : {energy.AveragePower} W");
Console.WriteLine($"Accumulated : {energy.AccumulatedEnergy} J since {energy.ResetTime}");

// Breakdown per mechanical unit and per axis
foreach (SystemEnergyMechanicalUnit unit in energy.MechanicalUnits)
{
    Console.WriteLine(unit.Name);

    foreach (SystemEnergyAxis axis in unit.Axes)
        Console.WriteLine($"  axis {axis.Number} : {axis.IntervalEnergy} J");
}
robot.Disconnect();
}

AbbController robot = new AbbController();
robot.Connect("192.168.0.1");
int? lastCount = robot.Rws.System.GetEnergyChangeCount();

while (true)
{
    Thread.Sleep(1000);

    // One small request. Read the whole measurement only when the counter moved
    int? count = robot.Rws.System.GetEnergyChangeCount();

    if (count == lastCount) continue;

    lastCount = count;

    SystemEnergy energy = robot.Rws.System.GetEnergy();
    Console.WriteLine($"{energy.TimeStamp} : {energy.AccumulatedEnergy} J");
}
}
}

AbbController robot = new AbbController();
robot.Connect("192.168.0.1");
// The accumulated counter goes back to zero, the energy counted before is lost
robot.Rws.System.ResetAccumulatedEnergy();

SystemEnergy energy = robot.Rws.System.GetEnergy();

// ResetTime is now the reference of the accumulated energy
Console.WriteLine($"{energy.AccumulatedEnergy} J since {energy.ResetTime}");
robot.Disconnect();
}