public void WaitProgramEnd(ProgramBuffer index, int timeout)
{
if (IsProgramRunning(index))
{
Api.WaitProgramEnd(index, timeout);
}
}
private void StopBufferIfRunning(ProgramBuffer index)
{
if (IsProgramRunning(index))
{
Api.StopBuffer(index);
Thread.Sleep(100);
}
}
public bool IsProgramRunning(ProgramBuffer index)
{
try {
return((uint)(Api.GetProgramState(index) & ProgramStates.ACSC_PST_RUN) > 0U);
}
catch (Exception ex) {
logger.Error(string.Format("BufferHelper.IsProgramRunning: Exception {0}: {1}", index, ex.Message));
return(false);
}
}
private bool IsBufferEmpty(ProgramBuffer bufferIndex)
{
string buffer;
try {
buffer = Api.UploadBuffer(bufferIndex);
}
catch (Exception e) {
throw new AcsException("Failed to upload buffer. Exception: " + e.Message);
}
return(buffer == null);
}
private void DeclareVariableInDBuffer()
{
string Warning = "! Warning, generated by Host for digital input and output, do NOT change." + NewLine;
string inputDefine = string.Empty;
for (int i = 0; i < InputModuleNum; i++)
{
inputDefine += GlobalDefine + GetInputName(i) + NewLine;
}
string outputDefine = string.Empty;
for (int i = 0; i < OutputModuleNum; i++)
{
outputDefine += GlobalDefine + GetOutputName(i) + NewLine;
}
string program = Warning + inputDefine + outputDefine;
ProgramBuffer DBuffer = (ProgramBuffer)(Convert.ToInt16(Ch.GetDBufferIndex()));
string originProgram = Ch.UploadBuffer(DBuffer);
if (originProgram != null)
{
if (originProgram.Contains(InputVariableName + BaseAddressOffset) == false)
{
Ch.AppendBuffer(DBuffer, program);
for (int i = 0; i < 9; i++)
{
Ch.ClearBuffer((ProgramBuffer)i, 1, 2000);
}
Ch.CompileBuffer(DBuffer);
}
}
else
{
Ch.AppendBuffer(DBuffer, program);
for (int i = 0; i < 9; i++)
{
Ch.ClearBuffer((ProgramBuffer)i, 1, 2000);
}
Ch.CompileBuffer(DBuffer);
}
MapEtherCAT();
}
public void StopBuffer(ProgramBuffer index)
{
if (!Api.IsConnected)
{
logger.Info("BufferHelper.StopBuffer: Controller not connected");
return;
}
try {
Api.StopBuffer(index);
}
catch (Exception ex) {
logger.Error(string.Format("AcsUtil.ReadVar: Failed to stop buffer {0}: {1}", index, ex.Message));
}
}
public void WriteVariable(object value, string variable, ProgramBuffer buffer = ProgramBuffer.ACSC_NONE)
{
try
{
if (Connected())
{
ch.WriteVariable(value, variable, buffer);
}
}
catch (Exception ex)
{
LogScreen.PushMessage(ex.StackTrace, MessageType.Error);
Console.WriteLine(ex.StackTrace);
}
}
public void RunBuffer(ProgramBuffer buffer)
{
if (Connected())
{
try
{
ch.RunBuffer(buffer, null);
}
catch (Exception ex)
{
LogScreen.PushMessage(ex.StackTrace, MessageType.Error);
Console.WriteLine(ex.StackTrace);
}
}
}
private void WriteBuffer(ProgramBuffer index, string buffer)
{
if (!CompareBuffer(index, buffer))
{
return;
}
StopBufferIfRunning(index);
try {
Api.LoadBuffer(index, buffer);
Api.CompileBuffer(index);
changesMadeToBuffer = true;
}
catch (Exception e) {
throw new AcsException($"Failed to load and compile buffer {index}. Exception: " + e.Message);
}
}
public object ReadVariableAsMatrix(string varName, ProgramBuffer bufferIndex = ProgramBuffer.ACSC_NONE,
int from1 = -1, int to1 = -1, int from2 = -1, int to2 = -1)
{
if (!api.IsConnected)
{
logger.Info("AcsUtil.ReadVariableAsMatrix: Controller not connected");
return(null);
}
try {
return(api.ReadVariableAsMatrix(varName, bufferIndex, from1, to1, from2, to2));
}
catch (Exception ex) {
logger.Error($"AcsUtil.ReadVariableAsMatrix: Exception while accessing '{varName}': " + ex.Message);
return(null);
}
}
public object ReadVar(string varName, ProgramBuffer bufferIndex = ProgramBuffer.ACSC_NONE,
int indFrom = -1, int indFromTo = -1)
{
if (!api.IsConnected)
{
logger.Info("AcsUtil.ReadVar: Controller not connected");
return(null);
}
try {
return(api.ReadVariable(varName, bufferIndex, indFrom, indFromTo));
}
catch (Exception ex) {
logger.Error($"AcsUtil.ReadVar: Exception while accessing '{varName}', index from '{indFrom}' to '{indFromTo}': " + ex.Message);
return(null);
}
}
public void RunBuffer(ProgramBuffer index, string label = null)
{
if (!Api.IsConnected)
{
logger.Info("BufferHelper.RunBuffer: Controller not connected");
return;
}
try {
StopBufferIfRunning(index);
Api.RunBuffer(index, label);
}
catch (Exception ex) {
logger.Error(
string.Format("BufferHelper.RunBuffer: Failed to run buffer {0}:{1} {2}", index,
label == null ? "the top" : (object)label, ex.Message));
}
}
public object ReadVariable(string variable, ProgramBuffer buffer = ProgramBuffer.ACSC_NONE)
{
object data = (int)0;
try
{
if (Connected())
{
data = ch.ReadVariable(variable, buffer);
}
}
catch (Exception ex)
{
LogScreen.PushMessage(ex.StackTrace, MessageType.Error);
Console.WriteLine(ex.StackTrace);
}
return(data);
}
private void DeclareVariableInDBuffer()
{
string Warning = "! Warning, generated by Host for Motor Abs Position, do not change." + _newLine;
string EcatActPosDefine = string.Empty;
foreach (var motor in Motors)
{
EcatActPosDefine += GlobalDefine + GetEcatActPosName(motor) + _newLine;
}
string program = Warning + EcatActPosDefine;
ProgramBuffer DBuffer = (ProgramBuffer)(Convert.ToInt16(_ch.GetDBufferIndex()));
string originProgram = _ch.UploadBuffer(DBuffer);
if (originProgram != null)
{
if (originProgram.Contains(EcatActPosName) == false)
{
_ch.AppendBuffer(DBuffer, program);
for (int i = 0; i < 9; i++)
{
_ch.ClearBuffer((ProgramBuffer)i, 1, 2000);
}
_ch.CompileBuffer(DBuffer);
}
}
else
{
_ch.AppendBuffer(DBuffer, program);
for (int i = 0; i < 9; i++)
{
_ch.ClearBuffer((ProgramBuffer)i, 1, 2000);
}
_ch.CompileBuffer(DBuffer);
}
MapEtherCat();
}
/// <summary>
/// compare buffer to be written with existing buffer on the ACS controller (if any)
/// </summary>
/// <param name="bufferIndex">index of the buffer</param>
/// <param name="toWrite">buffer to be written</param>
/// <returns>true when there's different between the buffer, or the buffer on the controller is empty</returns>
/// <exception cref="AcsException">triggered when buffer uploading failed</exception>
private bool CompareBuffer(ProgramBuffer bufferIndex, string toWrite)
{
string toCompare;
try {
toCompare = Api.UploadBuffer(bufferIndex);
}
catch (Exception e) {
throw new AcsException("Failed to upload buffer. Exception: " + e.Message);
}
if (toCompare == null)
{
return(true);
}
var writeReader = new StringReader(toWrite);
var compareReader = new StringReader(toCompare);
string writeLine;
string compareLine;
do
{
writeLine = writeReader.ReadLine();
compareLine = compareReader.ReadLine();
if (writeLine == null)
{
return(compareLine != null);
}
if (compareLine == null)
{
return(true);
}
} while (writeLine.CompareTo(compareLine) == 0);
return(true);
}
