public bool checkEqual(Orientamento o2)
{
if (o2 != null)
{
return checkValue(o2.X, this.X) && checkValue(o2.Y, this.Y) && checkValue(o2.Z, this.Z);
}
return false;
}
private void letturascrittuta(Orientamento currentOrientamento)
{
int res = -1;
byte[] buff;
plc.setTextln("*************Scrittura memoria M" + param.asseX + " Asse x:***************");
buff = new byte[] { currentOrientamento.Xbyte };
res = dc.writeBytes(libnodave.daveFlags, 0, param.asseX, param.numByteMemWrite, buff);
plc.setTextln("function result:" + res + "=" + libnodave.daveStrerror(res));
if (res == 0)
{
plc.setTextln("Valore byte scritto: " + buff[0]);
}
plc.setTextln("*************Scrittura memoria M" + param.asseY + " Asse x:***************");
buff = new byte[] { currentOrientamento.Ybyte };
res = dc.writeBytes(libnodave.daveFlags, 0, param.asseY, param.numByteMemWrite, buff);
plc.setTextln("function result:" + res + "=" + libnodave.daveStrerror(res));
if (res == 0)
{
plc.setTextln("Valore byte scritto: " + buff[0]);
}
plc.setTextln("*************Scrittura memoria M" + param.asseZ + " Asse x:***************");
buff = new byte[] { currentOrientamento.Zbyte };
res = dc.writeBytes(libnodave.daveFlags, 0, param.asseZ, param.numByteMemWrite, buff);
plc.setTextln("function result:" + res + "=" + libnodave.daveStrerror(res));
if (res == 0)
{
plc.setTextln("Valore byte scritto: " + buff[0]);
}
plc.setTextln("*************Scrittura memoria M" + param.datoPronto + " Dato pronto:***************");
buff = new byte[] { param.dataready };
res = dc.writeBytes(libnodave.daveFlags, 0, param.datoPronto, param.numByteMemWrite, buff);
plc.setTextln("function result:" + res + "=" + libnodave.daveStrerror(res));
if (res == 0)
{
plc.setTextln("Valore byte scritto: " + buff[0]);
}
Thread.Sleep(10);
plc.setTextln("*************Output " + param.addressInputRead + " :***************");
buff = new byte[param.numByteInputRead];
res = dc.readBytes(libnodave.daveOutputs, 0, param.addressInputRead, param.numByteInputRead, buff);
plc.setTextln("function result:" + res + "=" + libnodave.daveStrerror(res));
if (res == 0)
{
plc.setTextln("Valore byte: " + buff[0]);
calculateAngle((Param.State)buff[0]);
}
}
private void send()
{
if (connetti() == 0)
{
while (true)
{
plc.setTextln("In attesa...");
Orientamento currentOrientamento = microToPLC.Waitremove();
plc.setTextln("Invio dati in corso....");
letturascrittuta(currentOrientamento);
plc.setTextln("Dati inviati");
}
//dc.disconnectPLC();
}
//disconnetti();
}
//Viene invocato per aggiungere testo alla RichTextBox
private void SetText(string text)
{
//Append del Testo
string[] subtext = text.Split(';');
foreach (string tmp in subtext)
{
if (tmp != String.Empty && tmp != "")
{
string[] split = tmp.Split(',');
Orientamento currentOrientamento = new Orientamento();
foreach (string test in split)
{
if (test != String.Empty && test != "")
{
string[] assi = test.Split(':');
byte asse = 10;
try
{
asse=Convert.ToByte(assi[0]);
}
catch (System.Exception) {
asse = 10;
}
switch (asse)
{
case 0: {
try
{
currentOrientamento.X = Convert.ToSByte(assi[1], 2);
}
catch (System.Exception) {
currentOrientamento.X = 0;
}
break;
}
case 2: {
try
{
currentOrientamento.Y = Convert.ToSByte(assi[1], 2);
}
catch (System.Exception) {
currentOrientamento.Y = 0;
}
break;
}
case 4: {
try
{
currentOrientamento.Z = Convert.ToSByte(assi[1], 2);
}
catch (System.Exception) {
currentOrientamento.Z = 0;
}
break;
}
}
}
}
if(!currentOrientamento.checkEqual(microToPLC.Tail))microToPLC.Waitinsert(currentOrientamento);
this.rtbIncoming.Text = currentOrientamento.ToString() + "\n" + this.rtbIncoming.Text;
}
}
}
//Viene invocato per aggiungere testo alla RichTextBox
private void SetText(string text)
{
//Append del Testo
string[] subtext = text.Split(';');
foreach (string tmp in subtext)
{
if (tmp != String.Empty && tmp != "")
{
string[] split = tmp.Split(',');
Orientamento currentOrientamento = new Orientamento();
foreach (string test in split)
{
if (test != String.Empty && test != "")
{
string[] assi = test.Split(':');
byte asse = 10;
try
{
asse = Convert.ToByte(assi[0]);
}
catch (System.Exception) {
asse = 10;
}
switch (asse)
{
case 0: {
try
{
currentOrientamento.X = Convert.ToSByte(assi[1], 2);
}
catch (System.Exception) {
currentOrientamento.X = 0;
}
break;
}
case 2: {
try
{
currentOrientamento.Y = Convert.ToSByte(assi[1], 2);
}
catch (System.Exception) {
currentOrientamento.Y = 0;
}
break;
}
case 4: {
try
{
currentOrientamento.Z = Convert.ToSByte(assi[1], 2);
}
catch (System.Exception) {
currentOrientamento.Z = 0;
}
break;
}
}
}
}
if (!currentOrientamento.checkEqual(microToPLC.Tail))
{
microToPLC.Waitinsert(currentOrientamento);
}
this.rtbIncoming.Text = currentOrientamento.ToString() + "\n" + this.rtbIncoming.Text;
}
}
}
private void letturascrittuta(Orientamento currentOrientamento)
{
int res = -1;
byte[] buff;
plc.setTextln("*************Scrittura memoria M" + param.asseX + " Asse x:***************");
buff = new byte[] { currentOrientamento.Xbyte };
res = dc.writeBytes(libnodave.daveFlags, 0, param.asseX, param.numByteMemWrite, buff);
plc.setTextln("function result:" + res + "=" + libnodave.daveStrerror(res));
if (res == 0) plc.setTextln("Valore byte scritto: " + buff[0]);
plc.setTextln("*************Scrittura memoria M" + param.asseY + " Asse x:***************");
buff = new byte[] { currentOrientamento.Ybyte };
res = dc.writeBytes(libnodave.daveFlags, 0, param.asseY, param.numByteMemWrite, buff);
plc.setTextln("function result:" + res + "=" + libnodave.daveStrerror(res));
if (res == 0) plc.setTextln("Valore byte scritto: " + buff[0]);
plc.setTextln("*************Scrittura memoria M" + param.asseZ + " Asse x:***************");
buff = new byte[] { currentOrientamento.Zbyte };
res = dc.writeBytes(libnodave.daveFlags, 0, param.asseZ, param.numByteMemWrite, buff);
plc.setTextln("function result:" + res + "=" + libnodave.daveStrerror(res));
if (res == 0) plc.setTextln("Valore byte scritto: " + buff[0]);
plc.setTextln("*************Scrittura memoria M" + param.datoPronto + " Dato pronto:***************");
buff = new byte[] { param.dataready };
res = dc.writeBytes(libnodave.daveFlags, 0, param.datoPronto, param.numByteMemWrite, buff);
plc.setTextln("function result:" + res + "=" + libnodave.daveStrerror(res));
if (res == 0) plc.setTextln("Valore byte scritto: " + buff[0]);
Thread.Sleep(10);
plc.setTextln("*************Output " + param.addressInputRead + " :***************");
buff = new byte[param.numByteInputRead];
res = dc.readBytes(libnodave.daveOutputs, 0, param.addressInputRead, param.numByteInputRead, buff);
plc.setTextln("function result:" + res + "=" + libnodave.daveStrerror(res));
if (res == 0)
{
plc.setTextln("Valore byte: " + buff[0]);
calculateAngle((Param.State)buff[0]);
}
}
public bool checkEqual(Orientamento o2)
{
if (o2 != null)
{
return checkValue(o2.X, this.X) && checkValue(o2.Y, this.Y) && checkValue(o2.Z, this.Z);
}
return false;
}
