private void bt_Click_Setting(object sender, RoutedEventArgs e)
{
CMotionAPI.COM_DEVICE comDevice = new CMotionAPI.COM_DEVICE();
comDevice.ComDeviceType = (UInt16)CMotionAPI.ApiDefs.COMDEVICETYPE_PCI_MODE;
comDevice.PortNumber = 1;
comDevice.CpuNumber = UInt16.Parse(CPU.Text);
comDevice.NetworkNumber = 0;
comDevice.StationNumber = 0;
comDevice.UnitNumber = 0;
comDevice.IPAddress = "";
comDevice.Timeout = 10000;
r = CMotionAPI.ymcOpenController(ref comDevice, ref hController);
if (r != CMotionAPI.MP_SUCCESS)
{
MessageBox.Show(String.Format("打开控制器错误 \n错误码 [ 0x{0} ]", r.ToString("X")));
return;
}
r = CMotionAPI.ymcSetAPITimeoutValue(10000);
if (r != CMotionAPI.MP_SUCCESS)
{
MessageBox.Show(String.Format("设置超时错误 \n错误码 [ 0x{0} ]", r.ToString("X")));
return;
}
}
private void bt_Click_Exit(object sender, RoutedEventArgs e)
{
r = CMotionAPI.ymcCloseController(hController);
if (r != CMotionAPI.MP_SUCCESS)
{
MessageBox.Show(String.Format("关闭控制器错误 \n错误码 [ 0x{0} ]", r.ToString("X")));
return;
}
this.Close();
}
int GetRegisterData(int addr, EYMCDataType type, uint RegisterDataNumber, out Int16[] Reg_ShortData, out Int32[] Reg_LongData)
{
Debug.Assert(INPUT_ORIGIN <= addr && addr <= OUTPUT_END);
Reg_ShortData = new Int16[RegisterDataNumber];
Reg_LongData = new Int32[RegisterDataNumber];
#if SIMULATION_IO
return(SUCCESS);
#endif
uint hDataHandle;
int iResult = GetRegisterDataHandle(addr, type, out hDataHandle);
if (iResult != SUCCESS)
{
return(iResult);
}
UInt32 ReadDataNumber = 0; // Number of obtained registers
//UInt32 RegisterDataNumber = 1; // Number of read-in registers
//Int16[] Reg_ShortData = new Int16[1]; // W or B size register data storage variable
//Int32[] Reg_LongData = new Int32[1]; // L size register data storage variable
uint rc;
if (type == EYMCDataType.B || type == EYMCDataType.W)
{
rc = CMotionAPI.ymcGetRegisterData(hDataHandle, RegisterDataNumber, Reg_ShortData, ref ReadDataNumber);
}
else
{
rc = CMotionAPI.ymcGetRegisterData(hDataHandle, RegisterDataNumber, Reg_LongData, ref ReadDataNumber);
}
if (rc != CMotionAPI.MP_SUCCESS)
{
string str = $"Error ymcGetRegisterData MB \nErrorCode [ 0x{rc.ToString("X")} ]";
WriteLog(str, ELogType.Debug, ELogWType.Error, true);
return(GenerateErrorCode(ERR_YMC_FAIL_GET_DATA));
}
return(SUCCESS);
}
private void bt_Click_Set(object sender, RoutedEventArgs e)
{
UInt32 hRegisterML01000 = 0x00000000;
UInt32 hRegisterML01002 = 0x00000000; //注意,L类型寄存器名只能为偶数!!
UInt32[] dataML = new UInt32[1];
r = CMotionAPI.ymcGetRegisterDataHandle("ML01000", ref hRegisterML01000);
if (r != CMotionAPI.MP_SUCCESS)
{
MessageBox.Show(String.Format("获取寄存器引用错误 \n错误码 [ 0x{0} ]", r.ToString("X")));
return;
}
r = CMotionAPI.ymcGetRegisterDataHandle("ML01002", ref hRegisterML01002);
if (r != CMotionAPI.MP_SUCCESS)
{
MessageBox.Show(String.Format("获取寄存器引用错误 \n错误码 [ 0x{0} ]", r.ToString("X")));
return;
}
dataML[0] = UInt32.Parse(S_ML01000.Text);
r = CMotionAPI.ymcSetRegisterData(hRegisterML01000, 1, dataML);
if (r != CMotionAPI.MP_SUCCESS)
{
MessageBox.Show(String.Format("设置寄存器值错误 \n错误码 [ 0x{0} ]", r.ToString("X")));
return;
}
dataML[0] = UInt32.Parse(S_ML01002.Text);
r = CMotionAPI.ymcSetRegisterData(hRegisterML01002, 1, dataML);
if (r != CMotionAPI.MP_SUCCESS)
{
MessageBox.Show(String.Format("设置寄存器值错误 \n错误码 [ 0x{0} ]", r.ToString("X")));
return;
}
}
private void bt_Click_Get(object sender, RoutedEventArgs e)
{
UInt32 hRegisterML01000 = 0x00000000;
UInt32 hRegisterML01002 = 0x00000000;
UInt32[] dataML = new UInt32[1];
UInt32 pReadDataNumber = 0;
r = CMotionAPI.ymcGetRegisterDataHandle("ML01000", ref hRegisterML01000);
if (r != CMotionAPI.MP_SUCCESS)
{
MessageBox.Show(String.Format("获取寄存器引用错误 \n错误码 [ 0x{0} ]", r.ToString("X")));
return;
}
r = CMotionAPI.ymcGetRegisterDataHandle("ML01002", ref hRegisterML01002);
if (r != CMotionAPI.MP_SUCCESS)
{
MessageBox.Show(String.Format("获取寄存器引用错误 \n错误码 [ 0x{0} ]", r.ToString("X")));
return;
}
CMotionAPI.ymcGetRegisterData(hRegisterML01000, 1, dataML, ref pReadDataNumber);
if (r != CMotionAPI.MP_SUCCESS)
{
MessageBox.Show(String.Format("获取寄存器值错误 \n错误码 [ 0x{0} ]", r.ToString("X")));
return;
}
G_ML01000.Text = dataML[0].ToString();
CMotionAPI.ymcGetRegisterData(hRegisterML01002, 1, dataML, ref pReadDataNumber);
if (r != CMotionAPI.MP_SUCCESS)
{
MessageBox.Show(String.Format("获取寄存器值错误 \n错误码 [ 0x{0} ]", r.ToString("X")));
return;
}
G_ML01002.Text = dataML[0].ToString();
}
int GetRegisterDataHandle(int addr, EYMCDataType type, out uint hDataHandle)
{
Debug.Assert(INPUT_ORIGIN <= addr && addr <= OUTPUT_END);
hDataHandle = 0;
#if SIMULATION_IO
return(SUCCESS);
#endif
string registerName;
// register type
if (addr < OUTPUT_ORIGIN)
{
registerName = EYMCRegisterType.I.ToString();
}
else
{
registerName = EYMCRegisterType.O.ToString();
}
// data type
registerName += type.ToString();
// address 계산 부분
registerName += "0000";
// get handle
uint rc = CMotionAPI.ymcGetRegisterDataHandle(registerName, ref hDataHandle);
if (rc != CMotionAPI.MP_SUCCESS)
{
string str = $"Error ymcGetRegisterDataHandle ML \nErrorCode [ 0x{rc.ToString("X")} ]";
WriteLog(str, ELogType.Debug, ELogWType.Error, true);
return(GenerateErrorCode(ERR_YMC_FAIL_GET_DATA_HANDLE));
}
return(SUCCESS);
}
