/// <summary>
/// Writes a user specified value to the specified register address.
/// </summary>
/// <param name="location">
/// The user specified RegisterAddress to which to save the value.
/// </param>
/// <param name="value">
/// The value to store in the specified RegisterAddress
/// </param>
public void StoreParameter(ServoDriveEnums.RegisterAddress location, int value)
{
try
{
lock (_objLock)
{
//Debug.WriteLine("Entering ServoDrive.StoreParameter() \n\t value: {0}\n\t RegisterLocation: {1}", new object[] { value, location.ToString() });
_server.Connect(IP_ADDRESS);
// for clarity, defining parameters
var byteValue = BitConverter.GetBytes(value);
Array.Reverse(byteValue);
ushort transId = 1;
var startAddress = (ushort)location;
var response = new byte[5]; // per Modbus standard, response is 5 bytes.
_server.WriteMultipleRegister(transId, startAddress, byteValue, ref response);
_server.Dispose();
}
}
catch (Exception ex)
{
Debug.WriteLine("EXCEPTION: \n\t{0}", new object[] { ex.Message });
}
}
public int RetrieveParameter(ServoDriveEnums.RegisterAddress location)
{
if (location != ServoDriveEnums.RegisterAddress.DiffLimit)
{
return((int)GetType().GetProperty(_addressDictionary[location], BindingFlags.NonPublic | BindingFlags.Instance).GetValue(this));
}
return((int)this.DiffLimit);
}
public void StoreParameter(ServoDriveEnums.RegisterAddress location, float value)
{
PropertyInfo property = GetType().GetProperty(_addressDictionary[location], BindingFlags.NonPublic | BindingFlags.Instance);
if (property.PropertyType == typeof(int))
{
value = (int)value;
}
property.SetValue(this, value);
}
private float RetrieveAngleLimits(ServoDriveEnums.RegisterAddress address)
{
float limit = 0f;
lock (_objLock)
{
_server.Connect(IP_ADDRESS);
ushort transId = 1;
ushort startAddr = (ushort)address;
ushort qtyRegisters = 4; // 64 bit value.
var data = new byte[16];
_server.ReadHoldingRegister(transId, startAddr, qtyRegisters, ref data);
if (data != null)
{
Array.Reverse(data);
var value = BitConverter.ToInt64(data, 0);
if (value == 0)
{
GearboxAngle = 0f;
}
else
{
// represents the PL.FB from the ADK drive.
long count = 0;
if (Math.Abs(value) < COUNTS_PER_REV)
{
count = value;
}
else
{
count = value % COUNTS_PER_REV;
}
limit = count * (360f / COUNTS_PER_REV);
}
}
_server.Dispose();
}
return(limit);
}
/// <summary>
/// Gets a value from a specific register address.
/// </summary>
/// <param name="location">
/// The user specified RegisterAddress
/// </param>
/// <returns>
/// A 32 bit signed integer representing the value in the
/// holding register on the servo drive.
/// </returns>
public int RetrieveParameter(ServoDriveEnums.RegisterAddress location)
{
try
{
// in case the value is not retrieved, I will know with this insane number.
var value = -5000;
lock (_objLock)
{
_server.Connect(IP_ADDRESS);
// for clarity, defining parameters
ushort transId = 1;
var startAddress = (ushort)location;
ushort qtyRegisters = 2;
var response = new byte[8]; // per Modbus standard, response is 8 bytes.
_server.ReadHoldingRegister(transId, startAddress, qtyRegisters, ref response);
// response null means the connection was temporarily lost
if (response != null)
{
Array.Reverse(response);
value = BitConverter.ToInt32(response, 0);
}
_server.Dispose();
}
return(value);
}
catch (Exception ex)
{
Debug.WriteLine("EXCEPTION: \n\t{0}", new object[] { ex.Message });
return(22); // memorable value, at least today it is...
}
}
/// <summary>
/// Stores a test parameter for a bench component. The bench component will behave
/// in a certain way, based off the value of that parameter.
/// </summary>
/// <param name="location"></param>
/// <param name="value"></param>
internal void LoadTestParameter(ServoDriveEnums.RegisterAddress location, float value)
{
_acDrive.StoreParameter(location, value);
}
public void StoreParameter(ServoDriveEnums.RegisterAddress location, int value)
{
GetType().GetProperty(_addressDictionary[location], BindingFlags.NonPublic | BindingFlags.Instance).SetValue(this, value);
}
