private void DoWriteTcInstructions(AdsBinaryWriter writer)
{
writer.Write(inst.Handle);
writer.Write(inst.Index);
writer.Write(inst.Step);
writer.Write(inst.Active);
writer.Write(inst.State);
}
internal void WritePointerValue(string symbolPath, object value, AdsDatatypeId dataType, int byteSize, AdsBinaryWriter writer, int writerOffset)
{
if (string.IsNullOrEmpty(symbolPath))
{
throw new ArgumentNullException("symbolPath");
}
if ((byteSize < 0) || ((byteSize != 4) && (byteSize != 8)))
{
throw new ArgumentOutOfRangeException("byteSize");
}
if (writer == null)
{
throw new ArgumentNullException("writer");
}
if (writerOffset < 0)
{
throw new ArgumentOutOfRangeException("writerOffset");
}
Type targetType = null;
if (byteSize == 4)
{
targetType = typeof(uint);
}
else if (byteSize == 8)
{
targetType = typeof(ulong);
}
if (targetType != value.GetType())
{
try
{
object obj1 = PrimitiveTypeConverter.Convert(value, targetType);
value = obj1;
}
catch (MarshalException exception)
{
throw new ArgumentException($"Cannot convert value type '{value.GetType()}' to symbol type '{targetType}'!", "value", exception);
}
}
writer.BaseStream.Position = writerOffset;
if (byteSize == 4)
{
writer.Write((uint)value);
}
else if (byteSize == 8)
{
writer.Write((ulong)value);
}
}
private void adsSendData(double shoulderLevelShift, double elbow, double wrist, double hand)
{
adsReadStream = new AdsStream(40);
adsWriteStream = new AdsStream(sizeof(double) * 4);
AdsBinaryWriter binWriter = new AdsBinaryWriter(adsWriteStream);
adsWriteStream.Position = 0;
binWriter.Write(shoulderLevelShift);
binWriter.Write(elbow);
binWriter.Write(wrist);
binWriter.Write(hand);
_tcClient.ReadWrite(0x1, 0x1, null, adsWriteStream);
}
public static tcFunctionResult tcWriteData(int index, object data)
{
if (!tcClient.IsConnected)
{
LogMessage(string.Format("Error\t: {0}", "Attempted to write to PLC when not connected"));
return(tcFunctionResult.TC_NOT_CONNECTED);
}
if (index > tcVarList.Count || index < 0)
{
LogMessage(string.Format("Error\t: {0}", "Attempted to access a value outside the list"));
return(tcFunctionResult.TC_VARLIST_OUTOFBOUND);
}
AdsStream _DataStrem = new AdsStream(tcVarList[index].DataSize);
AdsBinaryWriter tcStreamWriter = new AdsBinaryWriter(_DataStrem);
try
{
switch (tcVarList[index].VariableType.ToLower())
{
case "bool":
tcStreamWriter.Write((bool)data);
tcClient.Write(tcVarList[index].Handle, _DataStrem);
break;
case "arbool":
break;
case "int":
break;
case "arint":
break;
case "string":
break;
case "real":
break;
case "lreal":
break;
}
tcStreamWriter.Close();
}
catch (Exception ex)
{
LogMessage(string.Format("Error at writing data {0}\t: {1}", index.ToString(), ex.Message));
return(tcFunctionResult.TC_FAIL_TO_WRITE_DATA);
}
finally
{
tcStreamWriter.Close();
}
return(tcFunctionResult.TC_SUCCESS);
}
private void adsSendShoulder(double shoulderLevelShift)
{
//adsReadStream = new AdsStream(40);
adsWriteStream = new AdsStream(sizeof(double));
AdsBinaryWriter binWriter = new AdsBinaryWriter(adsWriteStream);
adsWriteStream.Position = 0;
binWriter.Write(shoulderLevelShift);
_tcClient.ReadWrite(0x1, 0x2, null, adsWriteStream);
}
private void DoWriteTcArgs(AdsBinaryWriter writer)
{
int i;
for (i = 0; i < 8; i++)
{
writer.Write(inst.Args.Bools[i]);
}
for (i = 0; i < 8; i++)
{
writer.Write(inst.Args.Bytes[i]);
}
for (i = 0; i < 8; i++)
{
writer.Write(inst.Args.Int16s[i]);
}
for (i = 0; i < 8; i++)
{
writer.Write(inst.Args.Int32s[i]);
}
for (i = 0; i < 8; i++)
{
writer.Write(inst.Args.Floats[i]);
}
for (i = 0; i < 8; i++)
{
writer.Write(inst.Args.Doubles[i]);
}
}
private void SendIndexCtr(int indexCtr) //发送控制轴的索引
{
try
{
AdsBinaryWriter binWriter = new AdsBinaryWriter(adsWriteStream);
adsWriteStream.Position = 0;
binWriter.Write(indexCtr);
_tcClient.ReadWrite(0x02, 0x02, adsReadStream, adsWriteStream);
byte[] dataBuffer2 = adsReadStream.ToArray();
}
catch
{
MessageBox.Show("索引发送错误！");
}
}
private void SendPos(double Pos)
{
try
{
AdsBinaryWriter binWriter = new AdsBinaryWriter(adsWriteStream);
adsWriteStream.Position = 0;
binWriter.Write(Pos);
_tcClient.ReadWrite(0x02, 0x03, adsReadStream, adsWriteStream);
byte[] dataBuffer3 = adsReadStream.ToArray();
}
catch
{
MessageBox.Show("位置指令发送错误！");
}
}
private void SendVelY(double VelY)
{
try
{
AdsBinaryWriter binWriter = new AdsBinaryWriter(adsWriteStream);
adsWriteStream.Position = 0;
binWriter.Write(VelY);
_tcClient.ReadWrite(0x02, 0x08, adsReadStream, adsWriteStream);
byte[] dataBuffer6 = adsReadStream.ToArray();
}
catch
{
MessageBox.Show("Y速度指令发送错误！");
}
}
private void SendAutoInstruct(int instruct)
{
try
{
AdsBinaryWriter binWriter = new AdsBinaryWriter(adsWriteStream);
adsWriteStream.Position = 0;
binWriter.Write(instruct);
_tcClient.ReadWrite(0x02, 0x10, adsReadStream, adsWriteStream);
byte[] dataBuffer5 = adsReadStream.ToArray();
}
catch
{
MessageBox.Show("指令发送错误！");
}
}
public void WriteUInt64(string name, UInt64 value)
{
int handle = GetHandle(name);
lock (criticalLock)
{
using (AdsStream stream = new AdsStream())
{
using (AdsBinaryWriter writer = new AdsBinaryWriter(stream))
{
writer.Write(value);
client.Write(handle, stream);
}
}
}
}
private void Overwrite_Clicked(object sender, RoutedEventArgs e)
{
try
{
AdsBinaryWriter binWriter = new AdsBinaryWriter(adsWriteStream);
adsWriteStream.Position = 0;
binWriter.Write(uint.Parse(Overwrite));
_tcClient.ReadWrite(0x3, 0x1, adsReadStream, adsWriteStream);
byte[] dataBuffer = adsReadStream.ToArray();
Box.Text = "Counter overwritten with Value = " + BitConverter.ToUInt32(dataBuffer, 0);
}
catch (Exception err)
{
MessageBox.Show(err.Message);
}
}
private void btOverwrite_Click(object sender, EventArgs e)
{
try
{
AdsBinaryWriter binWriter = new AdsBinaryWriter(adsWriteStream);
adsWriteStream.Position = 0;
binWriter.Write(uint.Parse(tbValue.Text));
_tcClient.ReadWrite(0x3, 0x1, adsReadStream, adsWriteStream);
byte[] dataBuffer = adsReadStream.ToArray();
lbOutput.Items.Add("Counter overwritten with Value = " + BitConverter.ToUInt32(dataBuffer, 0));
lbOutput.SelectedIndex = lbOutput.Items.Count - 1;
}
catch (Exception err)
{
MessageBox.Show(err.Message);
}
}
public void WriteUInt64(string name, UInt64[] value)
{
int handle = GetHandle(name);
lock (criticalLock)
{
using (AdsStream stream = new AdsStream())
{
using (AdsBinaryWriter writer = new AdsBinaryWriter(stream))
{
for (int i = 0; i < value.Length; i++)
{
writer.Write(value[i]);
}
client.Write(handle, stream);
}
}
}
}
private void lblStop_Click(object sender, EventArgs e)
{
lblPause.BackColor = Color.Empty;
lblStart.BackColor = Color.Empty;
lblStop.BackColor = Color.Green;
// 用sample03, adsbinaryWriter and adsstream 方法
AdsStream stopStream = new AdsStream(1);
AdsBinaryWriter stopWriter = new AdsBinaryWriter(stopStream);
try
{
stopWriter.Write(true);
client.Write(hStopUI, stopStream);
client.WriteAny(hPauseUI, false);
}
catch (Exception err)
{
MessageBox.Show("write stop to PLC: " + err.Message);
}
}
private void lblStart_Click(object sender, EventArgs e)
{
//
AdsStream btnStream = new AdsStream(1);
AdsBinaryWriter btnWriter = new AdsBinaryWriter(btnStream);
try
{
btnWriter.Write(true);
client.Write(hStartUI, btnStream);
//------adsClient的WriteAny方法
client.WriteAny(hPauseUI, false);
client.WriteAny(hStopUI, false);
//------adsClient的WriteAny方法
}
catch (Exception err)
{
MessageBox.Show("write start value to PLC: " + err.Message);
}
lblPause.BackColor = Color.Empty;
lblStart.BackColor = Color.Green;
lblStop.BackColor = Color.Empty;
}
//连接ADS
private void Cycle()
{
int indexStatus = 0;
while (true)
{
//发送要读取的轴的索引
try
{
AdsBinaryWriter binWriter = new AdsBinaryWriter(adsWriteStream);
adsWriteStream.Position = 0;
binWriter.Write(indexStatus);
_tcClient.ReadWrite(0x2, 0x9, adsReadStream, adsWriteStream);
byte[] dataBuffer = adsReadStream.ToArray();
lbOutput.Items.Add("要读取的轴的索引为： " + BitConverter.ToUInt32(dataBuffer, 0));
lbOutput.SelectedIndex = lbOutput.Items.Count - 1;
}
catch
{
MessageBox.Show("读写轴索引发生错误！");
}
//读取对应索引的轴的使能情况
try
{
_tcClient.ReadWrite(0x1, 0x1, adsReadStream, adsWriteStream);
byte[] dataBuffer3 = adsReadStream.ToArray();
lbOutput.Items.Add("当前轴的使能情况为： " + BitConverter.ToInt32(dataBuffer3, 0));
lbOutput.SelectedIndex = lbOutput.Items.Count - 1;
GlobalVar.R_Enable = BitConverter.ToUInt32(dataBuffer3, 0);
//DrivingWheel1Enable.Text = GlobalVar.R_Enable.ToString();
}
catch
{
MessageBox.Show("读取轴使能出现错误！");
}
//读取对应索引的轴的速度大小
try
{
_tcClient.ReadWrite(0x1, 0x2, adsReadStream, adsWriteStream);
byte[] dataBuffer4 = adsReadStream.ToArray();
lbOutput.Items.Add("当前轴的速度为： " + BitConverter.ToDouble(dataBuffer4, 0));
lbOutput.SelectedIndex = lbOutput.Items.Count - 1;
GlobalVar.R_ActVelo = BitConverter.ToDouble(dataBuffer4, 0);
GlobalVar.R_ActVelo = ((int)(GlobalVar.R_ActVelo * 100)) / 100.0;
//DrivingWheel1ActVel.Text = GlobalVar.R_ActVelo.ToString();
}
catch
{
MessageBox.Show("读取当前轴速度出现错误！");
}
//读取对应索引轴的位置
try
{
_tcClient.ReadWrite(0x1, 0x3, adsReadStream, adsWriteStream);
byte[] dataBuffer5 = adsReadStream.ToArray();
lbOutput.Items.Add("当前轴的位置为： " + BitConverter.ToDouble(dataBuffer5, 0));
lbOutput.SelectedIndex = lbOutput.Items.Count - 1;
GlobalVar.R_ActPos = BitConverter.ToDouble(dataBuffer5, 0);
GlobalVar.R_ActPos = ((int)(GlobalVar.R_ActPos * 100)) / 100.0;
//DrivingWheel1ActPos.Text = GlobalVar.R_ActPos.ToString();
}
catch
{
MessageBox.Show("读取当前轴位置出现错误！");
}
//读取对应索引轴的电流
try
{
_tcClient.ReadWrite(0x1, 0x4, adsReadStream, adsWriteStream);
byte[] dataBuffer9 = adsReadStream.ToArray();
lbOutput.Items.Add("当前轴的电流为： " + BitConverter.ToInt16(dataBuffer9, 0));
lbOutput.SelectedIndex = lbOutput.Items.Count - 1;
GlobalVar.R_ActCur = BitConverter.ToInt16(dataBuffer9, 0);
//DrivingWheel1ActPos.Text = GlobalVar.R_ActPos.ToString();
}
catch
{
MessageBox.Show("读取当前轴位置出现错误！");
}
//读取对应索引轴的位置
try
{
_tcClient.ReadWrite(0x1, 0x5, adsReadStream, adsWriteStream);
byte[] dataBuffer6 = adsReadStream.ToArray();
lbOutput.Items.Add("当前轴的位置为： " + BitConverter.ToDouble(dataBuffer6, 0));
lbOutput.SelectedIndex = lbOutput.Items.Count - 1;
GlobalVar.R_ActPosX = BitConverter.ToDouble(dataBuffer6, 0);
GlobalVar.R_ActPosX = ((int)(GlobalVar.R_ActPosX * 100)) / 100.0;
tx_handx.Text = GlobalVar.R_ActPosX.ToString();
}
catch
{
MessageBox.Show("读取当前轴位置出现错误！");
}
//读取对应索引轴的位置
try
{
_tcClient.ReadWrite(0x1, 0x6, adsReadStream, adsWriteStream);
byte[] dataBuffer7 = adsReadStream.ToArray();
lbOutput.Items.Add("当前轴的位置为： " + BitConverter.ToDouble(dataBuffer7, 0));
lbOutput.SelectedIndex = lbOutput.Items.Count - 1;
GlobalVar.R_ActPosY = BitConverter.ToDouble(dataBuffer7, 0);
GlobalVar.R_ActPosY = ((int)(GlobalVar.R_ActPosY * 100)) / 100.0;
tx_handy.Text = GlobalVar.R_ActPosY.ToString();
}
catch
{
MessageBox.Show("读取当前轴位置出现错误！");
}
try
{
_tcClient.ReadWrite(0x1, 0x7, adsReadStream, adsWriteStream);
byte[] dataBuffer8 = adsReadStream.ToArray();
lbOutput.Items.Add("当前轴的位置为： " + BitConverter.ToDouble(dataBuffer8, 0));
lbOutput.SelectedIndex = lbOutput.Items.Count - 1;
GlobalVar.R_ActPosX = BitConverter.ToDouble(dataBuffer8, 0);
GlobalVar.R_ActPosX = ((int)(GlobalVar.R_ActPosX * 100)) / 100.0;
tx_bigarm.Text = GlobalVar.R_ActPosX.ToString();
}
catch
{
MessageBox.Show("读取当前轴位置出现错误！");
}
try
{
_tcClient.ReadWrite(0x1, 0x8, adsReadStream, adsWriteStream);
byte[] dataBuffer9 = adsReadStream.ToArray();
lbOutput.Items.Add("当前轴的位置为： " + BitConverter.ToDouble(dataBuffer9, 0));
lbOutput.SelectedIndex = lbOutput.Items.Count - 1;
GlobalVar.R_ActPosX = BitConverter.ToDouble(dataBuffer9, 0);
GlobalVar.R_ActPosX = ((int)(GlobalVar.R_ActPosX * 100)) / 100.0;
tx_middlearm.Text = GlobalVar.R_ActPosX.ToString();
}
catch
{
MessageBox.Show("读取当前轴位置出现错误！");
}
try
{
_tcClient.ReadWrite(0x1, 0x9, adsReadStream, adsWriteStream);
byte[] dataBuffer10 = adsReadStream.ToArray();
lbOutput.Items.Add("当前轴的位置为： " + BitConverter.ToDouble(dataBuffer10, 0));
lbOutput.SelectedIndex = lbOutput.Items.Count - 1;
GlobalVar.R_ActPosX = BitConverter.ToDouble(dataBuffer10, 0);
GlobalVar.R_ActPosX = ((int)(GlobalVar.R_ActPosX * 100)) / 100.0;
tx_smallarm.Text = GlobalVar.R_ActPosX.ToString();
}
catch
{
MessageBox.Show("读取当前轴位置出现错误！");
}
try
{
switch (indexStatus)
{
case 0:
if (GlobalVar.R_Enable != 0) //已经使能
{
DrivingWheel1Enable.Text = "Enable";
DrivingWheel1Enable.BackColor = Color.Chartreuse;
}
else
{
DrivingWheel1Enable.Text = "Disable";
DrivingWheel1Enable.BackColor = Color.Red;
}
DrivingWheel1ActVel.Text = GlobalVar.R_ActVelo.ToString();
DrivingWheel1ActPos.Text = GlobalVar.R_ActPos.ToString();
DrivingWheel1ActCur.Text = GlobalVar.R_ActCur.ToString();
break;
case 1:
if (GlobalVar.R_Enable != 0) //已经使能
{
DrivingWheel2Enable.Text = "Enable";
DrivingWheel2Enable.BackColor = Color.Chartreuse;
}
else
{
DrivingWheel2Enable.Text = "Disable";
DrivingWheel2Enable.BackColor = Color.Red;
}
DrivingWheel2ActVel.Text = GlobalVar.R_ActVelo.ToString();
DrivingWheel2ActPos.Text = GlobalVar.R_ActPos.ToString();
DrivingWheel2ActCur.Text = GlobalVar.R_ActCur.ToString();
break;
case 2:
if (GlobalVar.R_Enable != 0) //已经使能
{
DrivingWheel3Enable.Text = "Enable";
DrivingWheel3Enable.BackColor = Color.Chartreuse;
}
else
{
DrivingWheel3Enable.Text = "Disable";
DrivingWheel3Enable.BackColor = Color.Red;
}
DrivingWheel3ActVel.Text = GlobalVar.R_ActVelo.ToString();
DrivingWheel3ActPos.Text = GlobalVar.R_ActPos.ToString();
DrivingWheel3ActCur.Text = GlobalVar.R_ActCur.ToString();
break;
case 3:
if (GlobalVar.R_Enable != 0) //已经使能
{
DrivingWheel4Enable.Text = "Enable";
DrivingWheel4Enable.BackColor = Color.Chartreuse;
}
else
{
DrivingWheel4Enable.Text = "Disable";
DrivingWheel4Enable.BackColor = Color.Red;
}
DrivingWheel4ActVel.Text = GlobalVar.R_ActVelo.ToString();
DrivingWheel4ActPos.Text = GlobalVar.R_ActPos.ToString();
DrivingWheel4ActCur.Text = GlobalVar.R_ActCur.ToString();
break;
case 4:
if (GlobalVar.R_Enable != 0) //已经使能
{
SwingArm1Enable.Text = "Enable";
SwingArm1Enable.BackColor = Color.Chartreuse;
}
else
{
SwingArm1Enable.Text = "Disable";
SwingArm1Enable.BackColor = Color.Red;
}
SwingArm1ActVel.Text = GlobalVar.R_ActVelo.ToString();
SwingArm1ActPos.Text = GlobalVar.R_ActPos.ToString();
SwingArm1ActCur.Text = GlobalVar.R_ActCur.ToString();
break;
case 5:
if (GlobalVar.R_Enable != 0) //已经使能
{
SwingArm2Enable.Text = "Enable";
SwingArm2Enable.BackColor = Color.Chartreuse;
}
else
{
SwingArm2Enable.Text = "Disable";
SwingArm2Enable.BackColor = Color.Red;
}
SwingArm2ActVel.Text = GlobalVar.R_ActVelo.ToString();
SwingArm2ActPos.Text = GlobalVar.R_ActPos.ToString();
SwingArm2ActCur.Text = GlobalVar.R_ActCur.ToString();
break;
case 6:
if (GlobalVar.R_Enable != 0) //已经使能
{
SwingArm3Enable.Text = "Enable";
SwingArm3Enable.BackColor = Color.Chartreuse;
}
else
{
SwingArm3Enable.Text = "Disable";
SwingArm3Enable.BackColor = Color.Red;
}
SwingArm3ActVel.Text = GlobalVar.R_ActVelo.ToString();
SwingArm3ActPos.Text = GlobalVar.R_ActPos.ToString();
SwingArm3ActCur.Text = GlobalVar.R_ActCur.ToString();
break;
case 7:
if (GlobalVar.R_Enable != 0) //已经使能
{
SwingArm4Enable.Text = "Enable";
SwingArm4Enable.BackColor = Color.Chartreuse;
}
else
{
SwingArm4Enable.Text = "Disable";
SwingArm4Enable.BackColor = Color.Red;
}
SwingArm4ActVel.Text = GlobalVar.R_ActVelo.ToString();
SwingArm4ActPos.Text = GlobalVar.R_ActPos.ToString();
SwingArm4ActCur.Text = GlobalVar.R_ActCur.ToString();
break;
case 9:
if (GlobalVar.R_Enable != 0) //已经使能
{
BigArmEnable.Text = "Enable";
BigArmEnable.BackColor = Color.Chartreuse;
}
else
{
BigArmEnable.Text = "Disable";
BigArmEnable.BackColor = Color.Red;
}
BigArmActVel.Text = GlobalVar.R_ActVelo.ToString();
BigArmActPos.Text = GlobalVar.R_ActPos.ToString();
BigArmActCur.Text = GlobalVar.R_ActCur.ToString();
break;
case 10:
if (GlobalVar.R_Enable != 0) //已经使能
{
FlexEnable.Text = "Enable";
FlexEnable.BackColor = Color.Chartreuse;
}
else
{
FlexEnable.Text = "Disable";
FlexEnable.BackColor = Color.Red;
}
FlexActVel.Text = GlobalVar.R_ActVelo.ToString();
FlexActPos.Text = GlobalVar.R_ActPos.ToString();
FlexActCur.Text = GlobalVar.R_ActCur.ToString();
break;
case 11:
if (GlobalVar.R_Enable != 0) //已经使能
{
MiddleArmEnable.Text = "Enable";
MiddleArmEnable.BackColor = Color.Chartreuse;
}
else
{
MiddleArmEnable.Text = "Disable";
MiddleArmEnable.BackColor = Color.Red;
}
MiddleArmActVel.Text = GlobalVar.R_ActVelo.ToString();
MiddleArmActPos.Text = GlobalVar.R_ActPos.ToString();
MiddleArmActCur.Text = GlobalVar.R_ActCur.ToString();
break;
case 12:
if (GlobalVar.R_Enable != 0) //已经使能
{
SmallArmEnable.Text = "Enable";
SmallArmEnable.BackColor = Color.Chartreuse;
}
else
{
SmallArmEnable.Text = "Disable";
SmallArmEnable.BackColor = Color.Red;
}
SmallArmActVel.Text = GlobalVar.R_ActVelo.ToString();
SmallArmActPos.Text = GlobalVar.R_ActPos.ToString();
SmallArmActCur.Text = GlobalVar.R_ActCur.ToString();
break;
case 13:
if (GlobalVar.R_Enable != 0) //已经使能
{
RotationEnable.Text = "Enable";
RotationEnable.BackColor = Color.Chartreuse;
}
else
{
RotationEnable.Text = "Disable";
RotationEnable.BackColor = Color.Red;
}
RotationActVel.Text = GlobalVar.R_ActVelo.ToString();
RotationActPos.Text = GlobalVar.R_ActPos.ToString();
RotationActCur.Text = GlobalVar.R_ActCur.ToString();
break;
case 14:
if (GlobalVar.R_Enable != 0) //已经使能
{
ClampEnable.Text = "Enable";
ClampEnable.BackColor = Color.Chartreuse;
}
else
{
ClampEnable.Text = "Disable";
ClampEnable.BackColor = Color.Red;
}
ClampActVel.Text = GlobalVar.R_ActVelo.ToString();
ClampActPos.Text = GlobalVar.R_ActPos.ToString();
ClampActCur.Text = GlobalVar.R_ActCur.ToString();
break;
case 8:
if (GlobalVar.R_Enable != 0) //已经使能
{
WaistEnable.Text = "Enable";
WaistEnable.BackColor = Color.Chartreuse;
}
else
{
WaistEnable.Text = "Disable";
WaistEnable.BackColor = Color.Red;
}
WaistActVel.Text = GlobalVar.R_ActVelo.ToString();
WaistActPos.Text = GlobalVar.R_ActPos.ToString();
WaistActCur.Text = GlobalVar.R_ActCur.ToString();
break;
}
indexStatus++;
if (indexStatus == 15)
{
indexStatus = 0;
}
}
catch
{
}
}
}
static public tcFunctionResult tcSetAxisCommand(int index, Axis_HmiToPlc COMMAND)
{
if (!tcClient.IsConnected)
{
return(tcFunctionResult.TC_NOT_CONNECTED);
}
if (Axis_MaxAxes <= 0)
{
return(tcFunctionResult.TC_NO_AXIS);
}
if (index < 0 || index >= Axis_MaxAxes)
{
return(tcFunctionResult.TC_AXIS_OUTOFBOUND);
}
tcAxCommand[index].CONTROLLER_OVERRIDE = COMMAND.CONTROLLER_OVERRIDE;
tcAxCommand[index].SERVO_HOME = COMMAND.SERVO_HOME;
tcAxCommand[index].SERVO_JOG_BW_FAST = COMMAND.SERVO_JOG_BW_FAST;
tcAxCommand[index].SERVO_JOG_BW_SLOW = COMMAND.SERVO_JOG_BW_SLOW;
tcAxCommand[index].SERVO_JOG_FW_FAST = COMMAND.SERVO_JOG_FW_FAST;
tcAxCommand[index].SERVO_JOG_FW_SLOW = COMMAND.SERVO_JOG_FW_SLOW;
tcAxCommand[index].SERVO_JOG_MODE = COMMAND.SERVO_JOG_MODE;
tcAxCommand[index].SERVO_MOVE_ABS = COMMAND.SERVO_MOVE_ABS;
tcAxCommand[index].SERVO_MOVE_REL = COMMAND.SERVO_MOVE_REL;
tcAxCommand[index].SERVO_HALT = COMMAND.SERVO_HALT;
tcAxCommand[index].SERVO_OFF = COMMAND.SERVO_OFF;
tcAxCommand[index].SERVO_ON = COMMAND.SERVO_ON;
tcAxCommand[index].SERVO_ON_BW = COMMAND.SERVO_ON_BW;
tcAxCommand[index].SERVO_ON_FW = COMMAND.SERVO_ON_FW;
tcAxCommand[index].SERVO_RESET = COMMAND.SERVO_RESET;
tcAxCommand[index].TARGET_ACCELERATION = COMMAND.TARGET_ACCELERATION;
tcAxCommand[index].TARGET_DECELERATION = COMMAND.TARGET_DECELERATION;
tcAxCommand[index].TARGET_JERK = COMMAND.TARGET_JERK;
tcAxCommand[index].TARGET_POSITION = COMMAND.TARGET_POSITION;
tcAxCommand[index].TARGET_VELOCITY = COMMAND.TARGET_VELOCITY;
AdsStream _dataStream = new AdsStream(tcAxCommand[index].size);
AdsBinaryWriter _dataWriter = new AdsBinaryWriter(_dataStream);
_dataWriter.Write(tcAxCommand[index].TARGET_POSITION);
_dataWriter.Write(tcAxCommand[index].TARGET_VELOCITY);
_dataWriter.Write(tcAxCommand[index].TARGET_ACCELERATION);
_dataWriter.Write(tcAxCommand[index].TARGET_DECELERATION);
_dataWriter.Write(tcAxCommand[index].TARGET_JERK);
_dataWriter.Write(tcAxCommand[index].CONTROLLER_OVERRIDE);
_dataWriter.Write(tcAxCommand[index].SERVO_ON);
_dataWriter.Write(tcAxCommand[index].SERVO_ON_BW);
_dataWriter.Write(tcAxCommand[index].SERVO_ON_FW);
_dataWriter.Write(tcAxCommand[index].SERVO_OFF);
_dataWriter.Write(tcAxCommand[index].SERVO_MOVE_ABS);
_dataWriter.Write(tcAxCommand[index].SERVO_MOVE_REL);
_dataWriter.Write(tcAxCommand[index].SERVO_HALT);
_dataWriter.Write(tcAxCommand[index].SERVO_HOME);
_dataWriter.Write(tcAxCommand[index].SERVO_RESET);
_dataWriter.Write(tcAxCommand[index].SERVO_JOG_MODE);
_dataWriter.Write(tcAxCommand[index].SERVO_JOG_FW_FAST);
_dataWriter.Write(tcAxCommand[index].SERVO_JOG_BW_FAST);
_dataWriter.Write(tcAxCommand[index].SERVO_JOG_FW_SLOW);
_dataWriter.Write(tcAxCommand[index].SERVO_JOG_BW_SLOW);
try
{
tcClient.Write(tcAxCommand[index].handle, _dataStream);
}
catch (Exception ex)
{
LogMessage(string.Format("{0}\t: {1}", "Error", "Failed to send Axis Command " + ex.Message));
_dataWriter.Close();
return(tcFunctionResult.TC_GENERAL_FAILURE_1);
}
_dataWriter.Close();
return(tcFunctionResult.TC_SUCCESS);
}
private bool WriteToStream(AdsStream dataStream, Tag tag, object value)
{
var binaryWriter = new AdsBinaryWriter(dataStream);
switch (tag.DataType)
{
case IEC61131_3_DataTypes.Boolean:
if (value is string)
{
value = Boolean.Parse((string)value);
}
binaryWriter.Write((bool)value);
break;
case IEC61131_3_DataTypes.Byte:
binaryWriter.Write((byte)value);
break;
case IEC61131_3_DataTypes.SInt:
binaryWriter.Write(Convert.ToSByte(value));
break;
case IEC61131_3_DataTypes.USInt:
binaryWriter.Write(Convert.ToByte(value));
break;
case IEC61131_3_DataTypes.UInt:
binaryWriter.Write(Convert.ToUInt16(value));
break;
case IEC61131_3_DataTypes.Int:
binaryWriter.Write(Convert.ToInt16(value));
break;
case IEC61131_3_DataTypes.DInt:
binaryWriter.Write((int)value);
break;
case IEC61131_3_DataTypes.LInt:
binaryWriter.Write(Convert.ToInt64(value));
break;
case IEC61131_3_DataTypes.Real:
binaryWriter.Write((float)value);
break;
case IEC61131_3_DataTypes.LReal:
binaryWriter.Write((double)value);
break;
case IEC61131_3_DataTypes.Word:
binaryWriter.Write(Convert.ToUInt16(value));
break;
case IEC61131_3_DataTypes.DWord:
binaryWriter.Write(Convert.ToUInt32(value));
break;
case IEC61131_3_DataTypes.LWord:
binaryWriter.Write(Convert.ToUInt64(value));
break;
case IEC61131_3_DataTypes.ULInt:
binaryWriter.Write(Convert.ToUInt64(value));
break;
case IEC61131_3_DataTypes.UDInt:
binaryWriter.Write(Convert.ToUInt32(value));
break;
default:
// handle STRINT DataType
if (StructuredTextSyntaxRegexHelper.StringDataTypeRegex.IsMatch(tag.DataType))
{
var tmpString = (string)value;
var length = tag.BitSize / 8;
if (tmpString.Length > length)
{
throw new TagException("string is exceeds max defined lenght of " + length, tag);
}
binaryWriter.WritePlcString((string)value, (int)dataStream.Length);
break;
}
if (BeckhoffHelper.IsEnum(tag.DataType, tag.BitSize))
{
binaryWriter.Write(Convert.ToInt16(value));
break;
}
switch (tag.BitSize)
{
case 1:
if (value is string)
{
value = Boolean.Parse((string)value);
}
binaryWriter.Write((bool)value);
break;
case 8:
binaryWriter.Write(Convert.ToByte(value));
break;
case 16:
binaryWriter.Write(Convert.ToUInt16(value));
break;
case 32:
binaryWriter.Write(Convert.ToUInt32(value));
break;
case 64:
binaryWriter.Write(Convert.ToUInt64(value));
break;
default:
return(false);
}
break;
}
return(true);
}
/// <summary>
/// Internal util function that maps arbitrary object write actions to the corresponding AdsBinaryWriter write function
/// </summary>
/// <param name="writer"></param>
/// <param name="value"></param>
private void WriteObjectToWriter(AdsBinaryWriter writer, string typeName, object value)
{
if (typeName == "bool")
{
writer.Write(bool.Parse(value.ToString()));
}
else if (typeName == "byte")
{
writer.Write((byte)value);
}
else if (typeName == "sint")
{
writer.Write(Int16.Parse(value.ToString()));
}
else if (typeName == "int")
{
writer.Write(Int32.Parse(value.ToString()));
}
else if (typeName == "dint")
{
writer.Write(Int64.Parse(value.ToString()));
}
else if (typeName == "usint")
{
writer.Write(UInt16.Parse(value.ToString()));
}
else if (typeName == "uint")
{
writer.Write(UInt32.Parse(value.ToString()));
}
else if (typeName == "udint")
{
writer.Write(UInt64.Parse(value.ToString()));
}
else if (typeName == "real")
{
writer.Write(float.Parse(value.ToString(), CultureInfo.InvariantCulture.NumberFormat));
}
else if (typeName == "lreal")
{
writer.Write(Double.Parse(value.ToString(), CultureInfo.InvariantCulture.NumberFormat));
}
else if (typeName == "time")
{
writer.WritePlcType(TimeSpan.Parse(value.ToString()));
}
else if (typeName == "date")
{
writer.WritePlcType(DateTime.Parse(value.ToString()));
}
else if (typeName.StartsWith("string"))
{
int length = typeName == "string" ? 80 : int.Parse(typeName.Substring(6));
writer.WritePlcAnsiString(value.ToString(), length);
}
else
{
Send_TcClient_EventHandling(DateTime.Now, LogTextCategory.Error,
string.Format("Can not write to AdsBinaryReader. Data type '{0}' not supported", typeName));
}
}
internal void WritePrimitiveValue(string symbolPath, object value, Type managedType, AdsDatatypeId dataType, int byteSize, AdsBinaryWriter writer, int writerOffset)
{
if (string.IsNullOrEmpty(symbolPath))
{
throw new ArgumentNullException("symbolPath");
}
if (managedType == null)
{
throw new ArgumentNullException("managedType");
}
if (byteSize < 0)
{
throw new ArgumentOutOfRangeException("byteSize");
}
if (writer == null)
{
throw new ArgumentNullException("writer");
}
if (writerOffset < 0)
{
throw new ArgumentOutOfRangeException("writerOffset");
}
Type type = value.GetType();
bool flag2 = PrimitiveTypeConverter.IsPlcOpenType(value.GetType());
if (PrimitiveTypeConverter.IsPlcOpenType(managedType))
{
Type tp = null;
if (PrimitiveTypeConverter.TryGetManagedType(dataType, out tp))
{
managedType = tp;
}
else if (managedType == typeof(LTIME))
{
managedType = typeof(ulong);
dataType = AdsDatatypeId.ADST_UINT64;
}
}
if (managedType != type)
{
try
{
object obj1 = PrimitiveTypeConverter.Convert(value, managedType);
value = obj1;
}
catch (MarshalException exception)
{
throw new ArgumentException($"Cannot convert value type '{value.GetType()}' to symbol type '{managedType}'!", "value", exception);
}
}
writer.BaseStream.Position = writerOffset;
switch (dataType)
{
case AdsDatatypeId.ADST_INT16:
writer.Write((short)value);
return;
case AdsDatatypeId.ADST_INT32:
writer.Write((int)value);
return;
case AdsDatatypeId.ADST_REAL32:
writer.Write((float)value);
return;
case AdsDatatypeId.ADST_REAL64:
writer.Write((double)value);
return;
}
switch (dataType)
{
case AdsDatatypeId.ADST_INT8:
writer.Write((sbyte)value);
return;
case AdsDatatypeId.ADST_UINT8:
writer.Write((byte)value);
return;
case AdsDatatypeId.ADST_UINT16:
writer.Write((ushort)value);
return;
case AdsDatatypeId.ADST_UINT32:
writer.Write((uint)value);
return;
case AdsDatatypeId.ADST_INT64:
writer.Write((long)value);
return;
case AdsDatatypeId.ADST_UINT64:
writer.Write((ulong)value);
return;
}
switch (dataType)
{
case AdsDatatypeId.ADST_STRING:
{
int byteCount = Encoding.Default.GetByteCount("a");
long position = writer.BaseStream.Position;
int length = ((string)value).Length;
if (((length + 1) * byteCount) > byteSize)
{
throw AdsErrorException.Create(AdsErrorCode.DeviceInvalidSize);
}
writer.WritePlcAnsiString((string)value, length);
writer.BaseStream.Position = position + byteSize;
return;
}
case AdsDatatypeId.ADST_WSTRING:
{
int byteCount = Encoding.Unicode.GetByteCount("a");
long position = writer.BaseStream.Position;
int length = ((string)value).Length;
if (((length + 1) * byteCount) > byteSize)
{
throw AdsErrorException.Create(AdsErrorCode.DeviceInvalidSize);
}
writer.WritePlcUnicodeString((string)value, length);
writer.BaseStream.Position = position + byteSize;
return;
}
case AdsDatatypeId.ADST_BIT:
if ((bool)value)
{
writer.Write((byte)1);
return;
}
writer.Write((byte)0);
return;
}
throw new ArgumentException("Unexpected datatype. Cannot convert datatype of symbol to this type.", "type");
}