private void Button_Click(object sender, RoutedEventArgs e)
{
try
{
_tcClient.ReadWrite(0x1, 0x1, adsReadStream, adsWriteStream);
byte[] dataBuffer = adsReadStream.ToArray();
Box.Text = "Counter started value = " + BitConverter.ToUInt32(dataBuffer, 0);
}
catch (Exception err)
{
MessageBox.Show(err.Message);
}
}
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);
}
private static AdsStream BatchRead(TcAdsClient adsClient, IList <IAddressable> variables)
{
if (!variables.Any())
{
throw new InvalidOperationException("Variables should not be empty");
}
// Allocate memory
int rdLength = variables.Count * ErrorSize;
int wrLength = (SymbolValueByHandleSize + VariableHandleSize + BitSizeSize) * variables.Count;
// Write data for handles into the ADS Stream
using (var writer = new BinaryWriter(new AdsStream(wrLength)))
{
// Byt till Immutable list!
foreach (var readableAddress in variables)
{
writer.Write((int)AdsReservedIndexGroups.SymbolValueByHandle);
writer.Write(readableAddress.Address.VariableHandle);
writer.Write(readableAddress.Address.BitSize);
rdLength += readableAddress.Address.BitSize;
}
// Sum command to read variables from the PLC
AdsStream dataAndErrorStream = new AdsStream(rdLength);
adsClient.ReadWrite(0xF080, variables.Count, dataAndErrorStream, (AdsStream)writer.BaseStream);
// Return the ADS error codes
return(dataAndErrorStream);
}
}
//0xF081指令，将Stream写入PLC的内存地址，注意方法名为ReadWrite
private AdsStream BlockWrite(VariableInfo variables, double[,] joint_states)
{
//分配内存
int rdLength = 4;
int wrLength = 12 + 48 * 5000;
BinaryWriter writer = new BinaryWriter(new AdsStream(wrLength));
// Write data for handles into the ADS stream
writer.Write(variables.indexGroup);
writer.Write(variables.indexOffset);
writer.Write(variables.length);
// Write data to send to PLC behind the structure
for (int i = 0; i < 5000; i++)
{
for (int j = 0; j < 6; j++)
{
writer.Write(joint_states[i, j]);
}
}
// Sum command to write the data into the PLC
AdsStream rdStream = new AdsStream(rdLength);
tcclient.ReadWrite(0xF081, 1, rdStream, (AdsStream)writer.BaseStream);
return(rdStream);
}
private static AdsStream BatchWrite(TcAdsClient adsClient, IList <IWritableAddress> addresses)
{
if (!addresses.Any())
{
throw new InvalidOperationException("addresses should not be empty");
}
// Allocate memory
int rdLength = addresses.Count * ErrorSize;
var totalMemorySize = addresses.Sum(x => x.Address.BitSize);
int wrLength = (addresses.Count * (SymbolValueByHandleSize + VariableHandleSize + BitSizeSize)) + totalMemorySize;
using (var writer = new BinaryWriter(new AdsStream(wrLength)))
{
// Write data for handles into the ADS stream
foreach (var writableAddress in addresses)
{
writer.Write((int)AdsReservedIndexGroups.SymbolValueByHandle);
writer.Write(writableAddress.Address.VariableHandle);
writer.Write(writableAddress.Address.BitSize);
}
foreach (var writableAddress in addresses)
{
writableAddress.WriteValueToStream(writer);
}
AdsStream errorStream = new AdsStream(rdLength);
adsClient.ReadWrite(0xF081, addresses.Count, errorStream, (AdsStream)writer.BaseStream);
foreach (var writableAddress in addresses)
{
writableAddress.NotifyWritten();
}
// Return the ADS error codes
return(errorStream);
}
}
