private static void Syncdbus()
{
while (true)
{
if (dbusThread.exitEvent.WaitOne(Dbus.Cycle))
{
break;
}
int AgvNum;
#region AGV1
AgvNum = 1;
if (UdpSever.EndPointArray[AgvNum] != null)
{
//Sever => AGV 1
Dbus.SetRegister(AgvNum, 1);
//PLC => AGV
//56 -60 => 26-30
//更新Modbus数据到Dbus
UpdateModbusToDbus(AgvNum, 56, 26, 5);
//设置到AGV
Dbus.SetRegister(AgvNum, 26, 30);
//AGV => PLC
//20 -25 => 50-55
//更新Dbus数据到Modbus
UpdateDbusToModbus(AgvNum, 20, 50, 6);
//设置到Modbus
Profinet.SetRegister(50, 55);
}
#endregion
#region AGV2
//Sever => AGV 1
AgvNum = 2;
if (UdpSever.EndPointArray[AgvNum] != null)
{
Dbus.SetRegister(AgvNum, 1);
//PLC => AGV
//67 -71 => 37-41
//更新Modbus数据到Dbus
UpdateModbusToDbus(AgvNum, 67, 37, 5);
//设置到AGV
Dbus.SetRegister(AgvNum, 37, 41);
//AGV => PLC
//31 -36 => 61-66
//更新Dbus数据到Modbus
UpdateDbusToModbus(AgvNum, 31, 61, 6);
//设置到Modbus
Profinet.SetRegister(61, 66);
}
#endregion
}
}
void wwsig(WvDbusWriter w, Dbus.Field c, string sig, string val)
{
w.Write((byte)c);
w.WriteSig(sig);
w.WriteSig(val);
}
void wwu(WvDbusWriter w, Dbus.Field c, string sig, uint val)
{
w.Write((byte)c);
w.WriteSig(sig);
w.Write(val);
}
