int GetRegisterData(int addr, EYMCDataType type, uint RegisterDataNumber, out Int16[] Reg_ShortData, out Int32[] Reg_LongData)
{
Debug.Assert(INPUT_ORIGIN <= addr && addr <= OUTPUT_END);
Reg_ShortData = new Int16[RegisterDataNumber];
Reg_LongData = new Int32[RegisterDataNumber];
#if SIMULATION_IO
return(SUCCESS);
#endif
uint hDataHandle;
int iResult = GetRegisterDataHandle(addr, type, out hDataHandle);
if (iResult != SUCCESS)
{
return(iResult);
}
UInt32 ReadDataNumber = 0; // Number of obtained registers
//UInt32 RegisterDataNumber = 1; // Number of read-in registers
//Int16[] Reg_ShortData = new Int16[1]; // W or B size register data storage variable
//Int32[] Reg_LongData = new Int32[1]; // L size register data storage variable
uint rc;
if (type == EYMCDataType.B || type == EYMCDataType.W)
{
rc = CMotionAPI.ymcGetRegisterData(hDataHandle, RegisterDataNumber, Reg_ShortData, ref ReadDataNumber);
}
else
{
rc = CMotionAPI.ymcGetRegisterData(hDataHandle, RegisterDataNumber, Reg_LongData, ref ReadDataNumber);
}
if (rc != CMotionAPI.MP_SUCCESS)
{
string str = $"Error ymcGetRegisterData MB \nErrorCode [ 0x{rc.ToString("X")} ]";
WriteLog(str, ELogType.Debug, ELogWType.Error, true);
return(GenerateErrorCode(ERR_YMC_FAIL_GET_DATA));
}
return(SUCCESS);
}
int GetRegisterDataHandle(int addr, EYMCDataType type, out uint hDataHandle)
{
Debug.Assert(INPUT_ORIGIN <= addr && addr <= OUTPUT_END);
hDataHandle = 0;
#if SIMULATION_IO
return(SUCCESS);
#endif
string registerName;
// register type
if (addr < OUTPUT_ORIGIN)
{
registerName = EYMCRegisterType.I.ToString();
}
else
{
registerName = EYMCRegisterType.O.ToString();
}
// data type
registerName += type.ToString();
// address 계산 부분
registerName += "0000";
// get handle
uint rc = CMotionAPI.ymcGetRegisterDataHandle(registerName, ref hDataHandle);
if (rc != CMotionAPI.MP_SUCCESS)
{
string str = $"Error ymcGetRegisterDataHandle ML \nErrorCode [ 0x{rc.ToString("X")} ]";
WriteLog(str, ELogType.Debug, ELogWType.Error, true);
return(GenerateErrorCode(ERR_YMC_FAIL_GET_DATA_HANDLE));
}
return(SUCCESS);
}