private void btConnect_Click(object sender, EventArgs e)
{
btConnect.Enabled = false;
AmsAddress serverAddress = null; //服务器的ADS地址
try
{
if (tbPort.Text.StartsWith("0x") || tbPort.Text.StartsWith("0X"))
{
string temp = tbPort.Text.Substring(2);
serverAddress = new AmsAddress(tbNetID.Text, Int32.Parse(temp, System.Globalization.NumberStyles.HexNumber));
}
else
{
serverAddress = new AmsAddress(tbNetID.Text, Int32.Parse(tbPort.Text));
}
}
catch
{
MessageBox.Show("ADS Port 或 NetID 输入有误!");
return;
}
try
{
_tcClient.Connect(serverAddress.NetId, serverAddress.Port);
lbOutput.Items.Add("端口" + _tcClient.ClientAddress.Port + "打开成功！");
lbOutput.SelectedIndex = lbOutput.Items.Count - 1;
}
catch
{
MessageBox.Show("连接服务器失败！");
}
}
internal void SwitchTarget()
{
AmsAddress address = this._sender;
this._sender = this._target;
this._target = address;
}
/*
* Connect the client to the local AMS router
*/
private void btConnect_Click(object sender, EventArgs e)
{
AmsAddress serverAddress = null;
try
{
// check if port is a hex value
if (tbPort.Text.StartsWith(("0x")) || tbPort.Text.StartsWith(("0X")))
{
string sHexValue = tbPort.Text.Substring(2);
serverAddress = new AmsAddress(tbNetId.Text, Int32.Parse(sHexValue, System.Globalization.NumberStyles.HexNumber));
}
// interpret as dec value
else
{
serverAddress = new AmsAddress(tbNetId.Text, Int32.Parse(tbValue.Text));
}
}
catch
{
MessageBox.Show("Invalid AMS NetId or Ams port");
return;
}
try
{
_tcClient.Connect(serverAddress.NetId, serverAddress.Port);
lbOutput.Items.Add("Client port " + _tcClient.ClientPort + " opened");
lbOutput.SelectedIndex = lbOutput.Items.Count - 1;
}
catch
{
MessageBox.Show("Could not connect client");
}
}
public TcAdsSyncPort(AmsAddress addr, TcLocalSystem localSystem, INotificationReceiver iNoteReceiver, bool clientCycle, bool synchronize)
{
object[] args = new object[] { this._id, addr };
using (new MethodTrace("Id: {0:d}, Address = {1}", args))
{
this._localSystem = localSystem;
this._iNoteReceiver = iNoteReceiver;
if (!base.IsLocalNetId(addr.netId, localSystem.NetId))
{
base.address = addr.Clone();
}
else
{
base.address = new AmsAddress(localSystem.NetId, addr.port);
this._bLocal = true;
}
this._bSynchronize = synchronize;
this._bClientCycle = clientCycle;
this._adsStateHandle = 0;
this._symbolVersionHandle = 0;
this._symbolTable = new SymbolTable(this);
if (synchronize)
{
this._routerSyncWindow = new SyncWindow(this);
}
}
}
private void ServiceRequest(Protocol.AdsContext context)
{
Protocol.AdsResponse response = context.Response;
switch (response.Command)
{
case Protocol.AdsCommand.Read:
base.AdsReadRes(AmsAddress.Parse(context.Route), context.InvokeID, MapError(response.Error), response.Payload == null ? 0 : (uint)response.Payload.Length, response.Payload);
break;
case Protocol.AdsCommand.Write:
base.AdsWriteRes(AmsAddress.Parse(context.Route), context.InvokeID, MapError(response.Error));
break;
case Protocol.AdsCommand.ReadWrite:
base.AdsReadWriteRes(AmsAddress.Parse(context.Route), context.InvokeID, MapError(response.Error), response.Payload == null ? 0 : (uint)response.Payload.Length, response.Payload);
break;
default:
break;
}
if (_pendingRequests.ContainsKey(context.InvokeID))
{
_pendingRequests.Remove(context.InvokeID);
}
}
public ControllerConnectionFactory(AmsAddress address)
{
if (address == null)
{
throw new ArgumentNullException();
}
_address = address;
}
public AdsErrorCode AdsDelDeviceNotificationRes(AmsAddress rAddr, uint invokeId, AdsErrorCode result)
{
TcAdsDelDeviceNotificationResHeader adsHeader = new TcAdsDelDeviceNotificationResHeader {
_result = result
};
return(this.AdsResponse(rAddr, invokeId, 7, 0, adsHeader, null));
}
public AdsErrorCode AdsDelDeviceNotificationReq(AmsAddress rAddr, uint invokeId, uint hNotification)
{
TcAdsDelDeviceNotificationReqHeader adsHeader = new TcAdsDelDeviceNotificationReqHeader {
_notificationHandle = hNotification
};
return(this.AdsRequest(rAddr, invokeId, 7, 0, adsHeader, null));
}
public AdsErrorCode AdsWriteRes(AmsAddress rAddr, uint invokeId, AdsErrorCode result)
{
TcAdsWriteResHeader adsHeader = new TcAdsWriteResHeader {
_result = result
};
return(this.AdsResponse(rAddr, invokeId, 3, 0, adsHeader, null));
}
protected override void OnBound(IBinder binder)
{
IAdsBinder binder2 = binder as IAdsBinder;
if (binder2 != null)
{
this.imageBaseAddress = binder2.ImageBaseAddress;
}
}
public AdsErrorCode AdsAddDeviceNotificationRes(AmsAddress rAddr, uint invokeId, AdsErrorCode result, uint handle)
{
TcAdsAddDeviceNotificationResHeader adsHeader = new TcAdsAddDeviceNotificationResHeader {
_result = result,
_notificationHandle = handle
};
return(this.AdsResponse(rAddr, invokeId, 6, 0, adsHeader, null));
}
private void btnLoad_Click(object sender, System.EventArgs e)
{
treeViewSymbols.Nodes.Clear();
//check adr info
AmsAddress serverAddress = null;
try
{
// check if port is a hex value
if (tbAdsPort.Text.StartsWith(("0x")) || tbAdsPort.Text.StartsWith(("0X")))
{
string sHexValue = tbAdsPort.Text.Substring(2);
serverAddress = new AmsAddress(tbNetID.Text, Int32.Parse(sHexValue, System.Globalization.NumberStyles.HexNumber));
}
// interpret as dec value
else
{
serverAddress = new AmsAddress(tbNetID.Text, Int32.Parse(tbAdsPort.Text));
}
}
catch
{
MessageBox.Show("Invalid AMS NetId " + tbNetID.Text + " or Ams port " + tbAdsPort.Text + "!");
return;
}
//connect
try
{
//orig for just 127.0...: adsClient.Connect(Convert.ToInt32(tbAdsPort.Text));
adsClient.Connect(serverAddress.NetId, serverAddress.Port);
symbolLoader = adsClient.CreateSymbolInfoLoader();
if (!cbFlat.Checked)
{
TcAdsSymbolInfo symbol = symbolLoader.GetFirstSymbol(true);
while (symbol != null)
{
treeViewSymbols.Nodes.Add(CreateNewNode(symbol));
symbol = symbol.NextSymbol;
}
}
else
{
foreach (TcAdsSymbolInfo symbol in symbolLoader)
{
TreeNode node = new TreeNode(symbol.Name);
node.Tag = symbol;
treeViewSymbols.Nodes.Add(node);
}
}
}
catch (Exception err)
{
MessageBox.Show(err.Message);
}
}
internal TcAmsHeader(TcMarshallableAmsHeader mHeader)
{
this._target = new AmsAddress(mHeader.targetNetId, mHeader.targetPort);
this._sender = new AmsAddress(mHeader.senderNetId, mHeader.senderPort);
this._commandId = mHeader.cmdId;
this._stateFlags = mHeader.stateFlags;
this._cbData = mHeader.cbData;
this._errCode = mHeader.errCode;
this._hUser = mHeader.hUser;
}
public AdsErrorCode AdsReadReq(AmsAddress rAddr, uint invokeId, uint indexGroup, uint indexOffset, uint cbLength)
{
TcAdsReadReqHeader adsHeader = new TcAdsReadReqHeader {
_indexGroup = indexGroup,
_indexOffset = indexOffset,
_cbLength = cbLength
};
return(this.AdsRequest(rAddr, invokeId, 2, 0, adsHeader, null));
}
public AdsErrorCode AdsReadStateRes(AmsAddress rAddr, uint invokeId, AdsErrorCode result, AdsState adsState, ushort deviceState)
{
TcAdsReadStateResHeader adsHeader = new TcAdsReadStateResHeader {
_result = result,
_adsState = (ushort)adsState,
_deviceState = deviceState
};
return(this.AdsResponse(rAddr, invokeId, 4, 0, adsHeader, null));
}
private void ConnectAds()
{
_tcClient = new TcAdsClient();
string netid = "5.39.221.128.1.1";
int net_port = 0x8888;
AmsAddress serverAddress = new AmsAddress(netid, net_port); //配置服务端地址
_tcClient.Connect(serverAddress.NetId, serverAddress.Port); //连接服务端
}
public AdsErrorCode AdsDeviceNotificationReq(AmsAddress rAddr, uint invokeId, uint numStampHeaders, TcAdsStampHeader[] notificationHeaders)
{
TcAdsDeviceNotificationReqHeader adsHeader = new TcAdsDeviceNotificationReqHeader {
_numStamps = numStampHeaders
};
byte[] adsData = TcAdsParser.BuildDeviceNotificationBuffer(notificationHeaders);
adsHeader._cbData = (uint)adsData.Length;
return(this.AdsRequest(rAddr, invokeId, 8, (uint)adsData.Length, adsHeader, adsData));
}
internal TcAmsHeader(AmsAddress target, AmsAddress sender, ushort commandId, ushort stateFlags, uint cbData, uint errCode, uint hUser)
{
this._target = target;
this._sender = sender;
this._commandId = commandId;
this._stateFlags = stateFlags;
this._cbData = cbData;
this._errCode = errCode;
this._hUser = hUser;
}
public ADSClient(String AMSAddress, Boolean IsBeckhoff, int NumberOfKids)
{
Client.Timeout = 1000;
AmsAddress g = new AmsAddress(AMSAddress, 851);
try
{
Client.Connect(AMSAddress, 851);
// TcAdsSymbolInfoLoader ld = Client.CreateSymbolInfoLoader();
TimeOutSwitch = Client.CreateVariableHandle("MAIN.TimeOutSwitch");
DeadMan = Client.CreateVariableHandle("MAIN.Joystick1DeadMan");
FaultReset = Client.CreateVariableHandle("Main.GlobalReset");
GlobalEstop = Client.CreateVariableHandle("Main.GlobalEstopActive");
//MomControl = Client.CreateVariableHandle("MAIN.Execute");
Connected = true;
// TcADSSI = Client.CreateSymbolInfoLoader().GetSymbols(true);
// ROS = Client.CreateSymbolLoader(TwinCAT.SymbolsLoadMode.Flat).Symbols;
}
catch
{
Connected = false;
throw;
}
Client.Timeout = 500;
Kids = new AdsKid[NumberOfKids];
for (int x = 1; x <= NumberOfKids; x++)
{
Kids[x - 1] = new AdsKid(Client, x);
}
// TcAdsSymbolInfoCollection ADSSI = Client.CreateSymbolInfoLoader().GetSymbols(false);
// DeviceInfo DI = Client.ReadDeviceInfo();
//StateInfo SI = Client.ReadState();
this.IsBeckhoff = IsBeckhoff;
ParamHandles = new int[]
{
TargetX,
TargetY,
PosAccel,
//PosDecel,
PosVel,
//MotCmd,
//StartBit,
CurX,
CurY,
CurSpeed
};
}
private async Task <Unit> SendNotification(AmsAddress target, AmsAddress sender, byte[] data)
{
await server.AmsSendAsync(
new AmsCommand(
new AmsHeader(target, sender, AdsCommandId.Notification,
AmsStateFlags.MaskAdsRequest, (uint)data.Length, 0, notificationCounter),
new ReadOnlyMemory <byte>(data)), CancellationToken.None);
notificationCounter++;
return(Unit.Default);
}
private AdsErrorCode AdsRequest(AmsAddress rAddr, uint invokeId, ushort serviceId, uint cbLength, ITcAdsHeader adsHeader, byte[] adsData)
{
uint num = 0;
if (adsHeader != null)
{
num = (uint)Marshal.SizeOf(adsHeader);
}
TcAmsHeader amsHeader = new TcAmsHeader(rAddr, this.Address, serviceId, 4, num + cbLength, 0, invokeId);
return(this._amsServer.Send(new TcAmsCommand(amsHeader, TcAdsParser.BuildAdsBuffer(adsHeader, adsData))));
}
public AdsErrorCode AdsReadDeviceInfoRes(AmsAddress rAddr, uint invokeId, AdsErrorCode result, string name, AdsVersion version)
{
TcAdsReadDeviceInfoResHeader adsHeader = new TcAdsReadDeviceInfoResHeader {
_result = result,
_majorVersion = version.Version,
_minorVersion = version.Revision,
_versionBuild = (ushort)version.Build,
_deviceName = Encoding.ASCII.GetBytes(name.ToCharArray(), 0, (name.Length < 0x10) ? name.Length : 0x10)
};
return(this.AdsResponse(rAddr, invokeId, 1, 0, adsHeader, null));
}
public AdsErrorCode AdsAddDeviceNotificationReq(AmsAddress rAddr, uint invokeId, uint indexGroup, uint indexOffset, uint cbLength, AdsTransMode transMode, uint maxDelay, uint cycleTime)
{
TcAdsAddDeviceNotificationReqHeader adsHeader = new TcAdsAddDeviceNotificationReqHeader {
_indexGroup = indexGroup,
_indexOffset = indexOffset,
_cbLength = cbLength,
_transMode = transMode,
_maxDelay = maxDelay,
_cycleTime = cycleTime
};
return(this.AdsRequest(rAddr, invokeId, 6, 0, adsHeader, null));
}
private void CreateNotification(int handler, NotificationRequest request, AmsAddress target, AmsAddress sender)
{
var cycleTime = TimeSpan.FromMilliseconds(100);
var disposable = Observable.Timer(TimeSpan.FromMilliseconds(10), cycleTime)
.Select(_ => memory.GetData(request.IndexGroup, request.IndexOffset, request.Length))
.DistinctUntilChanged(new ByteEqualityComparer())
.Select(data => CreateNotificationStream(handler, data))
.SelectMany(data => SendNotification(target, sender, data))
.Subscribe()
;
Notifications.Add(handler, disposable);
}
internal AdsValueAccessor(IAdsConnection connection, ValueAccessMode accessMethod, IAccessorValueFactory valueFactory, NotificationSettings defaultSettings) : base(valueFactory, connection, defaultSettings)
{
this._converter = new DynamicValueConverter();
this._syncNotification = new object();
this._accessMethod = ValueAccessMode.IndexGroupOffsetPreferred;
this._notificationTable = new AdsNotificationCache();
this._notificationStream = new AdsStream();
this._address = connection.Address;
this._accessMethod = accessMethod;
base._notificationSettings = defaultSettings;
connection.AdsNotification += new AdsNotificationEventHandler(this.adsClient_AdsNotification);
connection.AdsNotificationError += new AdsNotificationErrorEventHandler(this.adsClient_AdsNotificationError);
}
internal TcAmsHeader(BinaryReader reader)
{
byte[] buffer = new byte[6];
reader.Read(buffer, 0, 6);
this._target = new AmsAddress(buffer, reader.ReadUInt16());
reader.Read(buffer, 0, 6);
this._sender = new AmsAddress(buffer, reader.ReadUInt16());
this._commandId = reader.ReadUInt16();
this._stateFlags = reader.ReadUInt16();
this._cbData = reader.ReadUInt32();
this._errCode = reader.ReadUInt32();
this._hUser = reader.ReadUInt32();
}
public override void AdsReadWriteInd(AmsAddress rAddr, uint invokeId, uint indexGroup, uint indexOffset, uint cbReadLength, uint cbWriteLength, byte[] data)
{
if (OnClientReadWriteRequest != null)
{
_pendingRequests.Add(
invokeId,
Task.Factory.StartNew(() => {
Protocol.AdsContext context = new Protocol.AdsContext(rAddr.ToString(), Protocol.AdsCommand.ReadWrite, invokeId, indexGroup, indexOffset, cbReadLength, data);
OnClientReadWriteRequest(context);
ServiceRequest(context);
}, _cancellationSource.Token)
);
}
}
/// <summary>
/// Constructor - establishes connection and creates symbol loader
/// </summary>
/// <param name="AmsNetId">ADS Client AMS Net Id "x.x.x.x.x.x:port" (127.0.0.1.1.1:851)</param>
public AdsConnection(string AmsNetId)
{
_client = new TcAdsClient();
// connect ADS client
_client.Connect(AmsAddress.Parse(AmsNetId));
if (_client.IsConnected)
{
// create symbol loader
_symbolLoader = SymbolLoaderFactory.Create(_client,
new SymbolLoaderSettings(SymbolsLoadMode.VirtualTree));
}
}
public AdsErrorCode AdsReadWriteRes(AmsAddress rAddr, uint invokeId, AdsErrorCode result, uint cbLength, byte[] data)
{
TcAdsReadWriteResHeader adsHeader = new TcAdsReadWriteResHeader {
_result = result,
_cbData = cbLength
};
uint length = 0;
if (data != null)
{
length = (uint)data.Length;
}
return(this.AdsResponse(rAddr, invokeId, 9, length, adsHeader, data));
}
private PLCConnection(string beckhoffAddress, int port, int bufferSize = 1000)
{
_dataStream = new AdsStream(bufferSize);
_binReader = new BinaryReader(_dataStream);
_tcClient = new TcAdsClient();
AmsAddress serverAddress = new AmsAddress(beckhoffAddress, 851);
_tcClient.Connect(serverAddress.NetId, serverAddress.Port);
foreach (var item in Enum.GetNames(typeof(X)))
{
var en = item.CastToEnum <X>().Value;
RegisterParameter(en);
}
}
