/// <summary>
/// Reads values from CoDeSys PLC. Datatypes are listed in "dataTypeCollection".
/// </summary>
/// <returns>ArrayList which contains the values from CoDeSys PLC</returns>
public ArrayList ReadValues()
{
numberOfTags = dataType.Count;
DateTime dt1 = DateTime.Now;
DateTime dt2;
byte[] receiveBytes = new byte[12];
int elementCount;
bool elementZeroDetected = false;
bool waitForNextElement = true;
int lastTelegramCount = 0;
UInt16 subIndex = 1;
returnList = new ArrayList();
if (udpClient == null)
{
this.connect();
}
while (((receiveBytes[8] != cobID) | receiveBytes == null | waitForNextElement | elementZeroDetected == false | returnList.Count != dataType.Count))
{
dt2 = DateTime.Now;
if ((dt2.Ticks - dt1.Ticks) > 100000000)
{
throw new Exception("Error receiving UDP-Messages; Check cob-ID, Port and IP-Address");
}
receiveBytes = udpClient.Receive(ref iPEndPoint);
elementCount = 20;
#region createTelegramInformation
cTelegramReceive = new CTelegram();
Buffer.BlockCopy(receiveBytes, 0, cTelegramReceive.Identity, 0, 4);
UInt32[] uintarray = new UInt32[1];
UInt16[] uint16array = new UInt16[1];
byte[] bytearray = new byte[1];
Buffer.BlockCopy(receiveBytes, 4, uintarray, 0, 4);
cTelegramReceive.ID = uintarray[0];
Buffer.BlockCopy(receiveBytes, 8, uint16array, 0, 2);
cTelegramReceive.Index = uint16array[0];
Buffer.BlockCopy(receiveBytes, 10, uint16array, 0, 2);
cTelegramReceive.SubIndex = uint16array[0];
subIndex = cTelegramReceive.SubIndex;
Buffer.BlockCopy(receiveBytes, 12, uint16array, 0, 2);
cTelegramReceive.Items = uint16array[0];
Buffer.BlockCopy(receiveBytes, 14, uint16array, 0, 2);
cTelegramReceive.Length = uint16array[0];
Buffer.BlockCopy(receiveBytes, 16, uint16array, 0, 2);
cTelegramReceive.Counter = uint16array[0];
Buffer.BlockCopy(receiveBytes, 18, bytearray, 0, 1);
cTelegramReceive.Flags = bytearray[0];
Buffer.BlockCopy(receiveBytes, 19, bytearray, 0, 1);
cTelegramReceive.Checksum = bytearray[0];
cTelegramReceive.Data = new byte[receiveBytes.Length - 20];
Buffer.BlockCopy(receiveBytes, 20, cTelegramReceive.Data, 0, cTelegramReceive.Data.Length);
#endregion
if ((cTelegramReceive.SubIndex == 0) & (receiveBytes[8] == cobID))
{
elementZeroDetected = true;
returnList.Clear();
lastTelegramCount = 0;
}
if ((lastTelegramCount + 1) != (cTelegramReceive.SubIndex) & lastTelegramCount != 0 & (receiveBytes[8] == cobID))
{
elementZeroDetected = false;
returnList.Clear();
}
if (cobID == cTelegramReceive.Index)
{
lastTelegramCount = cTelegramReceive.SubIndex;
}
if ((lastTelegramCount) != (CountNumberOfDatagrams(returnList.Count) + 1) & lastTelegramCount != 0 & (receiveBytes[8] == cobID))
{
elementZeroDetected = false;
returnList.Clear();
}
if (receiveBytes[8] == cobID & elementZeroDetected)
{
for (int i = 0; i < cTelegramReceive.Items; i++)
{
CDataTypeCollection cDataTypeCollection = (CDataTypeCollection)dataType[returnList.Count];
if (cDataTypeCollection.DataTypes == DataTypes.booltype)
{
bool boolValue = Convert.ToBoolean(receiveBytes[elementCount]);
returnList.Add(boolValue);
elementCount = elementCount + 1;
}
if (cDataTypeCollection.DataTypes == DataTypes.bytetype)
{
byte byteValue = receiveBytes[elementCount];
returnList.Add(byteValue);
elementCount = elementCount + 1;
}
if (cDataTypeCollection.DataTypes == DataTypes.wordtype)
{
UInt16 wordValue = Convert.ToUInt16(receiveBytes[elementCount]
| (receiveBytes[elementCount + 1] << 8));
returnList.Add(wordValue);
elementCount = elementCount + 2;
}
if (cDataTypeCollection.DataTypes == DataTypes.dwordtype)
{
UInt32 dwordValue = ((UInt32)receiveBytes[elementCount]
| ((UInt32)receiveBytes[elementCount + 1] << 8)
| ((UInt32)receiveBytes[elementCount + 2] << 16)
| ((UInt32)receiveBytes[elementCount + 3] << 24));
returnList.Add(dwordValue);
elementCount = elementCount + 4;
}
if (cDataTypeCollection.DataTypes == DataTypes.sinttype)
{
sbyte sintValue = (sbyte)receiveBytes[elementCount];
returnList.Add(sintValue);
elementCount = elementCount + 1;
}
if (cDataTypeCollection.DataTypes == DataTypes.usintType)
{
byte usintValue = receiveBytes[elementCount];
returnList.Add(usintValue);
elementCount = elementCount + 1;
}
if (cDataTypeCollection.DataTypes == DataTypes.inttype)
{
Int16 intValue = BitConverter.ToInt16(receiveBytes, elementCount);
returnList.Add(intValue);
elementCount = elementCount + 2;
}
if (cDataTypeCollection.DataTypes == DataTypes.uinttype)
{
UInt16 usintValue = Convert.ToUInt16(receiveBytes[elementCount]
| (receiveBytes[elementCount + 1] << 8));
returnList.Add(usintValue);
elementCount = elementCount + 2;
}
if (cDataTypeCollection.DataTypes == DataTypes.udinttype)
{
UInt32 udintValue = ((UInt32)receiveBytes[elementCount]
| ((UInt32)receiveBytes[elementCount + 1] << 8)
| ((UInt32)receiveBytes[elementCount + 2] << 16)
| ((UInt32)receiveBytes[elementCount + 3] << 24));
returnList.Add(udintValue);
elementCount = elementCount + 4;
}
if (cDataTypeCollection.DataTypes == DataTypes.dinttype)
{
Int32 dintValue = BitConverter.ToInt32(receiveBytes, elementCount);
returnList.Add(dintValue);
elementCount = elementCount + 4;
}
if (cDataTypeCollection.DataTypes == DataTypes.realtype)
{
float floatValue = BitConverter.ToSingle(receiveBytes, elementCount);
returnList.Add(floatValue);
elementCount = elementCount + 4;
}
if (cDataTypeCollection.DataTypes == DataTypes.lrealtype)
{
double dfloatValue = BitConverter.ToDouble(receiveBytes, elementCount);
returnList.Add(dfloatValue);
elementCount = elementCount + 8;
}
if (cDataTypeCollection.DataTypes == DataTypes.stringtype)
{
string stringValue = System.Text.Encoding.UTF8.GetString(receiveBytes, elementCount, cDataTypeCollection.FieldLength);
int nullSignPosition = stringValue.Length;
for (int j = 0; j < stringValue.Length; j++)
{
if (receiveBytes[elementCount + j] == 0)
{
nullSignPosition = j;
break;
}
}
stringValue = stringValue.Substring(0, nullSignPosition);
returnList.Add(stringValue);
elementCount = elementCount + cDataTypeCollection.FieldLength + 1;
}
}
}
if (((this.CountNumberOfDatagrams(dataType.Count)) <= subIndex) & elementZeroDetected & receiveBytes[8] == cobID)
{
waitForNextElement = false;
}
}
return(returnList);
}
public void SendValues()
{
Socket s = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp);
s.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.Broadcast, 1);
int numberOfDatagrams = this.CountNumberOfDatagrams(dataType.Count) + 1;
int numberOfTagsInDatagram = 0;
int datagramCounter = 0;
int tagCounter = 0;
numberOfTags = dataType.Count;
byte[] send_buffer;
CTelegram cTelegramSend = new CTelegram();
IPAddress broadcast = IPAddress.Parse(ipAddress);
IPEndPoint endPoint = new IPEndPoint(broadcast, port);
s.EnableBroadcast = true;
for (int k = 0; k < numberOfDatagrams; k++)
{
if (sendCounter >= 65535)
{
sendCounter = 0;
}
else
{
sendCounter++;
}
numberOfTagsInDatagram = 0;
tagCounter++;
numberOfTagsInDatagram++;
while ((this.CountNumberOfDatagrams(tagCounter) == datagramCounter) & (tagCounter != dataType.Count))
{
numberOfTagsInDatagram++;
tagCounter++;
}
if (this.CountNumberOfDatagrams(tagCounter) > datagramCounter)
{
tagCounter--;
numberOfTagsInDatagram--;
}
#region createTelegramInformatiom
send_buffer = new byte[20];
UInt32[] uintarray = new UInt32[1];
Int32[] intarray = new Int32[1];
UInt16[] uint16array = new UInt16[1];
Int16[] int16array = new Int16[1];
byte[] bytearray = new byte[1];
sbyte[] sbytearray = new sbyte[1];
float[] floatarray = new float[1];
double[] doublearray = new double[1];
Buffer.BlockCopy(cTelegramSend.Identity, 0, send_buffer, 0, 4);
uintarray[0] = cTelegramSend.ID;
Buffer.BlockCopy(uintarray, 0, send_buffer, 4, 4);
cTelegramSend.Index = (ushort)cobID;
uint16array[0] = cTelegramSend.Index;
Buffer.BlockCopy(uint16array, 0, send_buffer, 8, 2);
cTelegramSend.SubIndex = (ushort)datagramCounter;
uint16array[0] = cTelegramSend.SubIndex;
Buffer.BlockCopy(uint16array, 0, send_buffer, 10, 2);
cTelegramSend.Items = (ushort)numberOfTagsInDatagram;
uint16array[0] = cTelegramSend.Items;
Buffer.BlockCopy(uint16array, 0, send_buffer, 12, 2);
cTelegramSend.Counter = (ushort)sendCounter;
uint16array[0] = cTelegramSend.Counter;
Buffer.BlockCopy(uint16array, 0, send_buffer, 16, 2);
send_buffer[18] = cTelegramSend.Flags;
send_buffer[19] = cTelegramSend.Checksum;
int byteCount = 0;
for (int i = 0; i < numberOfTagsInDatagram; i++)
{
switch (dataType[i + this.CountNumberOfDatagrams(tagCounter)].DataTypes)
{
case DataTypes.booltype:
Array.Resize(ref send_buffer, send_buffer.Length + 1);
send_buffer[20 + byteCount] = Convert.ToByte(dataType[i + this.CountNumberOfDatagrams(tagCounter)].SendValue);
byteCount++;
break;
case DataTypes.bytetype:
Array.Resize(ref send_buffer, send_buffer.Length + 1);
send_buffer[20 + byteCount] = Convert.ToByte(dataType[i + this.CountNumberOfDatagrams(tagCounter)].SendValue);
byteCount++;
break;
case DataTypes.wordtype:
Array.Resize(ref send_buffer, send_buffer.Length + 2);
uint16array[0] = Convert.ToUInt16(dataType[i + this.CountNumberOfDatagrams(tagCounter)].SendValue);
Buffer.BlockCopy(uint16array, 0, send_buffer, 20 + byteCount, 2);
byteCount = byteCount + 2;
break;
case DataTypes.dwordtype:
Array.Resize(ref send_buffer, send_buffer.Length + 4);
uintarray[0] = Convert.ToUInt32(dataType[i + this.CountNumberOfDatagrams(tagCounter)].SendValue);
Buffer.BlockCopy(uintarray, 0, send_buffer, 20 + byteCount, 4);
byteCount = byteCount + 4;
break;
case DataTypes.sinttype:
Array.Resize(ref send_buffer, send_buffer.Length + 1);
sbytearray[0] = Convert.ToSByte(dataType[i + this.CountNumberOfDatagrams(tagCounter)].SendValue);
Buffer.BlockCopy(sbytearray, 0, send_buffer, 20 + byteCount, 1);
byteCount = byteCount + 1;
break;
case DataTypes.usintType:
Array.Resize(ref send_buffer, send_buffer.Length + 1);
send_buffer[20 + byteCount] = Convert.ToByte(dataType[i + this.CountNumberOfDatagrams(tagCounter)].SendValue);
byteCount++;
break;
case DataTypes.inttype:
Array.Resize(ref send_buffer, send_buffer.Length + 2);
int16array[0] = Convert.ToInt16(dataType[i + this.CountNumberOfDatagrams(tagCounter)].SendValue);
Buffer.BlockCopy(int16array, 0, send_buffer, 20 + byteCount, 2);
byteCount = byteCount + 2;
break;
case DataTypes.uinttype:
Array.Resize(ref send_buffer, send_buffer.Length + 2);
uint16array[0] = Convert.ToUInt16(dataType[i + this.CountNumberOfDatagrams(tagCounter)].SendValue);
Buffer.BlockCopy(uint16array, 0, send_buffer, 20 + byteCount, 2);
byteCount = byteCount + 2;
break;
case DataTypes.dinttype:
Array.Resize(ref send_buffer, send_buffer.Length + 4);
intarray[0] = Convert.ToInt32(dataType[i + this.CountNumberOfDatagrams(tagCounter)].SendValue);
Buffer.BlockCopy(intarray, 0, send_buffer, 20 + byteCount, 4);
byteCount = byteCount + 4;
break;
case DataTypes.udinttype:
Array.Resize(ref send_buffer, send_buffer.Length + 4);
uintarray[0] = Convert.ToUInt32(dataType[i + this.CountNumberOfDatagrams(tagCounter)].SendValue);
Buffer.BlockCopy(uintarray, 0, send_buffer, 20 + byteCount, 4);
byteCount = byteCount + 4;
break;
case DataTypes.realtype:
Array.Resize(ref send_buffer, send_buffer.Length + 4);
floatarray[0] = (float)Convert.ToDouble(dataType[i + this.CountNumberOfDatagrams(tagCounter)].SendValue);
Buffer.BlockCopy(floatarray, 0, send_buffer, 20 + byteCount, 4);
byteCount = byteCount + 4;
break;
case DataTypes.lrealtype:
Array.Resize(ref send_buffer, send_buffer.Length + 8);
doublearray[0] = Convert.ToDouble(dataType[i + this.CountNumberOfDatagrams(tagCounter)].SendValue);
Buffer.BlockCopy(doublearray, 0, send_buffer, 20 + byteCount, 8);
byteCount = byteCount + 8;
break;
case DataTypes.stringtype:
char[] charArray = new char[dataType[i + this.CountNumberOfDatagrams(tagCounter)].FieldLength + 1];
byte[] byteArray = new byte[dataType[i + this.CountNumberOfDatagrams(tagCounter)].FieldLength + 1];
charArray = Convert.ToString(dataType[i + this.CountNumberOfDatagrams(tagCounter)].SendValue).ToCharArray();
int oldLength = charArray.Length;
if (charArray.Length <= dataType[i + this.CountNumberOfDatagrams(tagCounter)].FieldLength)
{
Array.Resize(ref charArray, (dataType[i + this.CountNumberOfDatagrams(tagCounter)].FieldLength + 1));
}
charArray[oldLength] = (char)0x0;
Array.Resize(ref send_buffer, send_buffer.Length + charArray.Length);
for (int j = 0; j < charArray.Length; j++)
{
byteArray[j] = (byte)charArray[j];
}
Buffer.BlockCopy(byteArray, 0, send_buffer, 20 + byteCount, (byteArray.Length));
byteCount = byteCount + charArray.Length;
break;
default:
break;
}
}
cTelegramSend.Length = (ushort)send_buffer.Length;
uint16array[0] = cTelegramSend.Length;
Buffer.BlockCopy(uint16array, 0, send_buffer, 14, 2);
#endregion
s.SendTo(send_buffer, endPoint);
datagramCounter++;
}
}
