/// <summary>
/// Write item array to TwinCAT Variables
/// </summary>
/// <param name="name"></param>
/// <param name="type"></param>
/// <param name="values"></param>
public void WriteArray(string name, string type, object[] values)
{
int arrLength = values.Length;
int streamLength = StreamLength(type);
using (AdsStream dataStream = new AdsStream(arrLength * streamLength))
using (AdsBinaryWriter writer = new AdsBinaryWriter(dataStream))
{
int varHandle = TcClient.CreateVariableHandle(name);
dataStream.Position = 0;
foreach (object val in values)
{
WriteObjectToWriter(writer, type, val);
}
TcClient.Write(varHandle, dataStream);
writer.Flush();
}
}
private void btnAutoMode_Click(object sender, EventArgs e)
{
try
{
//lenght of the stream = length of string + 1
//1,先有adsstream,
//2,再有binarywriter.write
//3,再有clien.write()
//---------把字符串分解成char 在写入plc -------
//modeWrite = new BinaryWriter(modeStream);
//modeWrite.Write(strMode.ToCharArray());
//client.Write(hModeUI, modeStream);
//---------把字符串分解成char 在写入plc
//From version 1.0.0.10 and higher the classes AdsBinaryReader and AdsBinaryWriter
// can be used to read and write strings
//---------用字符串的方式写入---------------
strMode = "Auto";
modeStream = new AdsStream(30);
adsWriter = new AdsBinaryWriter(modeStream);
adsWriter.WritePlcString(strMode, 30, Encoding.ASCII);
client.Write(hModeUI, modeStream);
//-----------可以使用的------------
//---------用字符串的方式写入---------------
}
catch (Exception err)
{
MessageBox.Show("set Auto to PLC: " + err.Message);
}
btnAutoMode.BackColor = Color.Green;
btnCalibMode.BackColor = Color.Empty;
btnManualMode.BackColor = Color.Empty;
btnSettingMode.BackColor = Color.Empty;
}
private void BtnWrite_Click(object sender, EventArgs e)
{
try
{
AdsStream stream = new AdsStream(4);
writer = new AdsBinaryWriter(stream);
writer.WritePlcType(TimeSpan.Parse(txtTime.Text));
client.Write(htime1, stream);
stream.Position = 0;
writer.WritePlcType(DateTime.Parse(txtDate.Text));
client.Write(hdate1, stream);
stream.Position = 0;
writer.WritePlcType(DateTime.Parse(txtDate2.Text));
client.Write(hdate2, stream);
}
catch (Exception err)
{
MessageBox.Show("BtnWrite " + err.Message);
}
}
//往TwinCAT写入数值
private void mTwinCATCoil_CoilUpdate(object sender, EventArgs e)
{
try
{
TwinCATCoil temp = sender as TwinCATCoil;
if (temp.CoilHandle == 0)
{
temp.CoilHandle = adsClient.CreateVariableHandle(temp.CoilName);
}
if (temp.CoilGroup != 0)//如果是数组~
{
//adsClient.WriteAny(temp.CoilHandle, a, new int[] { temp.CoilGroup });//这样不行~
dynamic dynamicObj = Convert.ChangeType(temp.CoilValue, temp.CoilType);
int size = 0;
if (dynamicObj is bool[])//否则得出结果是4字节
{
size = 1;
}
else
{
size = Marshal.SizeOf(dynamicObj[0]);
}
AdsStream datastream = new AdsStream(size * temp.CoilGroup); //每个元素占用位
System.IO.BinaryWriter binwrite = new System.IO.BinaryWriter(datastream);
datastream.Position = 0;
for (int i = 0; i < temp.CoilGroup; i++)
{
binwrite.Write(dynamicObj[i]);
}
adsClient.Write(temp.CoilHandle, datastream);
}
else
{
adsClient.WriteAny(temp.CoilHandle, Convert.ChangeType(temp.CoilValue, temp.CoilType));
}
}
catch (Exception ex)
{
if (sender is TwinCATCoil)
{
Trace.Write(ex, "Update:" + (sender as TwinCATCoil).CoilName);
}
else
{
Trace.Write(ex, "Update");
}
}
}
private void button2_Click(object sender, EventArgs e)
{
try
{
Form1_Load(sender, e);
AdsStream adsStream = new AdsStream(30);
AdsBinaryWriter writer = new AdsBinaryWriter(adsStream);
writer.WritePlcAnsiString(textBox1.Text, 30);
adsClient.Write(varHandle, adsStream);
adsClient.Dispose();
}
catch (Exception err)
{
MessageBox.Show(err.Message);
}
}
private void AdsWrite()
{
AdsStream wdStream = new AdsStream(wdLength);
BinaryWriter Writer = new BinaryWriter(new AdsStream(wdLength));
//Axis1
Writer.Write(Controlword_axis1);
Writer.Write(ModesOfOperation_axis1);
Writer.Write(TargetPosition_axis1);
Writer.Write(Polarity_axis1);
Writer.Write(ProfileVelocity_axis1);
Writer.Write(ProfileAcceleration_axis1);
Writer.Write(ProfileDeceleration_axis1);
Writer.Write(TargetVelocity_axis1);
//Axix2
Writer.Write(HomingMethod_axix2);
Writer.Write(HomeSpeed_axix2[0]);
Writer.Write(HomeSpeed_axix2[1]);
Writer.Write(HomingAcceleration_axix2);
tcClient.Write(Group, objControlWord_axis1, (AdsStream)Writer.BaseStream);
}
private void btnWrite_Click(object sender, EventArgs e)
{
stream = new AdsStream(32);
writer = new BinaryWriter(stream);
stream.Position = 0;
try
{
writer.Write(short.Parse(txtINT.Text));
stream.Position = 4;
writer.Write(int.Parse(txtDINT.Text));
stream.Position = 8;
writer.Write(byte.Parse(txtByte.Text));
stream.Position = 16;
writer.Write(double.Parse(txtLreal.Text));
stream.Position = 24;
writer.Write(float.Parse(txtReal.Text));
client.Write(hPLCVar, stream);
}
catch (Exception err)
{
MessageBox.Show("btnWrite " + err.Message);
}
}
public static void WriteTwincat(string comando, object valore)
{
if (!(valore is null))
{
using (TcAdsClient client = new TcAdsClient())
{
try
{
client.Connect(amsnetid, Convert.ToInt32(amsnetport));
int handle = client.CreateVariableHandle(comando);
if (valore.GetType().FullName.Contains("String"))
{
string el = valore.ToString();
AdsStream stream = new AdsStream(500);
AdsBinaryWriter writer = new AdsBinaryWriter(stream);
writer.WritePlcString(el, 500, Encoding.Unicode);
client.Write(handle, stream);
stream.Dispose();
writer.Dispose();
}
else
{
client.WriteAny(handle, valore);
}
//client.Dispose();
client.DeleteVariableHandle(handle);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
}
}
public void Write(string name, TcWriteHandler handler)
{
int handle = GetHandle(name);
lock (criticalLock)
{
using (AdsStream stream = new AdsStream())
{
using (AdsBinaryWriter writer = new AdsBinaryWriter(stream))
{
try
{
handler(writer);
client.Write(handle, stream);
}
catch (Exception e)
{
string str = string.Format("Occurred exception({0}) in UlTcAdsClient::Write", e.ToString());
throw new Exception(str);
}
}
}
}
}
public Task WriteTag(Tag tag, object value)
{
if (tag.Value == null && value == null)
{
return(Task.FromResult(true));
}
var task = _writeTaskScheduler.Schedule(() =>
{
tag.LockValue();
try
{
tag.DetectDataTypeForValue(value);
if (!IsConnected)
{
throw new PlcCommunicationException(
"BeckhoffTagController can't write tag because there is no connection established!",
_adsAddress, _adsPort.ToString(CultureInfo.InvariantCulture), string.Empty);
}
var address = GetPlcAddress(tag);
var dataStream = new AdsStream(tag.BitSize == 0 ? 81 : tag.BitSize / 8);
try
{
if (address == null)
{
int handle = _twinCatClient.CreateVariableHandle(tag.FullName());
var isDataStream = WriteToStream(dataStream, tag, value);
try
{
if (isDataStream)
{
_twinCatClient.Write(handle, dataStream);
}
else
{
_twinCatClient.WriteAny(handle, value);
}
}
finally
{
_twinCatClient.DeleteVariableHandle(handle);
}
}
else
{
var isDataStream = WriteToStream(dataStream, tag, value);
if (isDataStream)
{
_twinCatClient.Write(address.IndexGroup, address.IndexOffset, dataStream);
}
else
{
_twinCatClient.WriteAny(address.IndexGroup, address.IndexOffset, value);
}
}
}
catch (AdsErrorException ex)
{
if (_logger != null)
{
_logger.Warn("Couldn't write " + tag.FullName() + " because " + ex.ErrorCode.ToString() + " will try again...");
}
try
{
// try again
if (address == null)
{
int handle = _twinCatClient.CreateVariableHandle(tag.FullName());
var isDataStream = WriteToStream(dataStream, tag, value);
try
{
if (isDataStream)
{
_twinCatClient.Write(handle, dataStream);
}
else
{
_twinCatClient.WriteAny(handle, value);
}
}
finally
{
_twinCatClient.DeleteVariableHandle(handle);
}
}
else
{
var isDataStream = WriteToStream(dataStream, tag, value);
if (isDataStream)
{
_twinCatClient.Write(address.IndexGroup, address.IndexOffset, dataStream);
}
else
{
_twinCatClient.WriteAny(address.IndexGroup, address.IndexOffset, value);
}
}
}
catch (AdsErrorException e)
{
throw new PlcCommunicationException("Can't write tag " + tag.FullName() + " on port " + _adsPort.ToString(CultureInfo.InvariantCulture),
_adsPort.ToString(CultureInfo.InvariantCulture),
_adsPort.ToString(CultureInfo.InvariantCulture), string.Empty, e);
}
}
}
finally
{
tag.ReleaseValue();
}
// at this point we assume the value was written successfully to the PLC
Type type;
if (IEC61131_3_DataTypes.NetDataTypes.TryGetValue(tag.DataType, out type))
{
tag.Value = Convert.ChangeType(value, type);
}
else
{
tag.Value = value;
}
});
return(task);
}
static void Main(string[] args)
{
TcAdsClient tcAds = new TcAdsClient();
AdsStream ds = new AdsStream(16);
bool scan = false;
double input1 = 0;
double input2 = 0;
double freq = 0.2;
double startFreq = 0.05;
double endFreq = 0.2;
double steps = 4;
double periodNumber = 20;
double time = 0;
double amp = 2.5;
double offset = 2.5;
double deltaF = 1;
double lastTime = 0;
tcAds.Connect(851);
Stopwatch stopWatch = new Stopwatch();
stopWatch.Start();
if (scan == true)
{
freq = startFreq;
deltaF = (endFreq - startFreq) / steps;
Console.WriteLine(DateTime.Now.ToString("h:mm:ss tt"));
Console.WriteLine(freq);
while (freq <= endFreq)
{
time = stopWatch.ElapsedMilliseconds / 1000f;
if ((time - lastTime) >= periodNumber / freq)
{
lastTime = time;
freq += deltaF;
Console.WriteLine(time);
Console.WriteLine(freq);
}
else
{
ds = new AdsStream(8);
BinaryWriter bw = new BinaryWriter(ds);
input1 = (amp * Math.Sin(2 * Math.PI * freq * time) + offset) * 3276.8;
input2 = (-amp / 2 * Math.Sin(2 * Math.PI * freq * time) + offset) * 3276.8;
bw.Write((int)input1);
bw.Write((int)input2);
tcAds.Write(0x4020, 0, ds);
}
}
Console.WriteLine("Done!");
Console.ReadLine();
}
else
{
while (true)
{
ds = new AdsStream(8);
BinaryWriter bw = new BinaryWriter(ds);
time = stopWatch.ElapsedMilliseconds / 1000f;
input1 = (amp * Math.Sin(2 * Math.PI * freq * time) + offset) * 3276.8;
input2 = (-amp / 2 * Math.Sin(2 * Math.PI * freq * time) + offset) * 3276.8;
input1 = 1;
bw.Write((int)input1);
bw.Write((int)input2);
tcAds.Write(0x4020, 0, ds);
Console.WriteLine(input1);
}
}
}
public void WriteAdsValue(IWoopsaProperty property, IWoopsaValue value)
{
WoopsaAdsProperty adsProperty = (WoopsaAdsProperty)property;
AdsStream stream = new AdsStream();
switch (property.Type)
{
case WoopsaValueType.Integer:
if (adsProperty.AdsInfo.Type == BeckhoffValueType.WORD ||
adsProperty.AdsInfo.Type == BeckhoffValueType.UINT)
{
stream = new AdsStream(BitConverter.GetBytes(value.ToUInt16()));
}
else if (adsProperty.AdsInfo.Type == BeckhoffValueType.DWORD ||
adsProperty.AdsInfo.Type == BeckhoffValueType.UDINT)
{
stream = new AdsStream(BitConverter.GetBytes(value.ToUInt32()));
}
else if (adsProperty.AdsInfo.Type == BeckhoffValueType.SINT)
{
stream = new AdsStream(BitConverter.GetBytes(value.ToSByte()));
}
else if (adsProperty.AdsInfo.Type == BeckhoffValueType.INT)
{
stream = new AdsStream(BitConverter.GetBytes(value.ToInt16()));
}
else if (adsProperty.AdsInfo.Type == BeckhoffValueType.DINT)
{
stream = new AdsStream(BitConverter.GetBytes(value.ToInt32()));
}
else if (adsProperty.AdsInfo.Type == BeckhoffValueType.LINT)
{
stream = new AdsStream(BitConverter.GetBytes(value.ToInt64()));
}
else if (adsProperty.AdsInfo.Type == BeckhoffValueType.USINT ||
adsProperty.AdsInfo.Type == BeckhoffValueType.BYTE)
{
stream = new AdsStream(1);
stream.WriteByte(value.ToByte());
}
else if (adsProperty.AdsInfo.Type == BeckhoffValueType.ULINT)
{
stream = new AdsStream(BitConverter.GetBytes(value.ToUInt64()));
}
else
{
throw new WoopsaException("Ads type not compatible with Woopsa Integer");
}
break;
case WoopsaValueType.Logical:
stream = new AdsStream(BitConverter.GetBytes(value.ToBool()));
break;
case WoopsaValueType.Real:
if (adsProperty.AdsInfo.Type == BeckhoffValueType.REAL)
{
stream = new AdsStream(BitConverter.GetBytes(value.ToFloat()));
}
else if (adsProperty.AdsInfo.Type == BeckhoffValueType.LREAL)
{
stream = new AdsStream(BitConverter.GetBytes(value.ToDouble()));
}
else
{
throw new WoopsaException("Ads type not compatible with Woopsa Real");
}
break;
case WoopsaValueType.Text:
stream = new AdsStream(80);
byte[] byteString = System.Text.Encoding.ASCII.GetBytes(value.ToString());
stream.Write(byteString, 0, byteString.Length);
break;
case WoopsaValueType.TimeSpan:
stream = new AdsStream(BitConverter.GetBytes((uint)(value.ToTimeSpan().Ticks / TimeSpan.TicksPerMillisecond)));
break;
case WoopsaValueType.DateTime:
TimeSpan timeSp;
DateTime dateTime;
if (adsProperty.AdsInfo.Type == BeckhoffValueType.TIME_OF_DAY)
{
dateTime = value.ToDateTime();
uint timeOfDay = (uint)dateTime.Millisecond + ((uint)dateTime.Second + ((uint)dateTime.Minute + ((uint)dateTime.Hour * 60)) * 60) * 1000;
stream = new AdsStream(BitConverter.GetBytes(timeOfDay));
}
else
{
timeSp = value.ToDateTime() - BeckhoffPlcReferenceDateTime;
stream = new AdsStream(BitConverter.GetBytes((uint)timeSp.TotalSeconds));
}
break;
default:
stream = new AdsStream(1);
break;
}
_tcAds.Write(adsProperty.AdsInfo.IndexGroup, adsProperty.AdsInfo.IndexOffset, stream);
}
