internal void Parse(AdsStream symbolStream, AdsStream dataTypeStream, TcAdsClient adsClient)
{
this._subSymbolFactory = new SubSymbolFactory(this);
this._defaultTypes = DataTypeInfoTable.GetDefaultTypes(this);
this.OnTypesCreated(this._defaultTypes);
object[] args = new object[] { adsClient.Address, symbolStream.Length, dataTypeStream.Length };
Module.Trace.TraceInformation("Client: {0}, SymbolStream: {1} bytes, DataTypeStream: {2} bytes", args);
this._adsClient = adsClient;
using (AdsBinaryReader reader = new AdsBinaryReader(symbolStream))
{
using (AdsBinaryReader reader2 = new AdsBinaryReader(dataTypeStream))
{
uint[] numArray;
uint[] numArray2;
int symbolCount = 0;
symbolCount = this.countSymbols(reader);
object[] objArray2 = new object[] { symbolCount };
Module.Trace.TraceInformation("SymbolCount: {0}", objArray2);
this._symbolTable = this.fillSymbolTables(reader, symbolCount, out numArray);
int dataTypeCount = this.countDataTypes(reader2);
object[] objArray3 = new object[] { symbolCount };
Module.Trace.TraceInformation("DataTypeCount: {0}", objArray3);
Dictionary <string, int> dictionary = this.fillDataTypeTables(reader2, dataTypeCount, out numArray2);
this._dataTypes = this.collectDataTypes(dataTypeCount, numArray2, reader2);
this.expandDataTypes();
}
}
}
///////////////////////////////////////////////////////////////////////////
public void AñadirRedireccion()
{
int tamaño = 0;
notifications.Clear();
foreach (IO_Parameter IO in IOparameters.Out.Values)
{
tamaño += getTypeSize(Type.GetType(IO.TypeStr));
}
stream = new AdsStream(tamaño);
reader = new BinaryReader(stream, Encoding.ASCII);
string asd = "";
tamaño = 0;
try
{
tcAds.AdsNotification -= new AdsNotificationEventHandler(OnNotification);
foreach (IO_Parameter IO in IOparameters.Out.Values)
{
asd = IO.Name;
notifications.Add(tcAds.AddDeviceNotification(IO.Name, stream, tamaño, getTypeSize(Type.GetType(IO.TypeStr)), AdsTransMode.OnChange, 1, 1, IO.Value), IO.Name);
tamaño += getTypeSize(Type.GetType(IO.TypeStr));
}
}
catch (Exception e)
{
parent.UBSMod.Error("Error al añadir la redirección. " + e.Message, true, false);
}
tcAds.AdsNotification += new AdsNotificationEventHandler(OnNotification);
}
private void buttonFalse_Click(object sender, RoutedEventArgs e)
{
using (var client = new TwinCAT.Ads.TcAdsClient())
{
try
{
client.Connect(851);
// creates a stream with a length of 4 byte
AdsStream ds = new AdsStream(4);
BinaryWriter bw = new BinaryWriter(ds);
ds.Position = 0;
bw.Write(Convert.ToInt32(textBox.Text));
// writes a DINT to PLC
client.Write(0x4020, 0x0001, ds);
//client.WriteSymbol("MyGVL.MyBoolVar", false, reloadSymbolInfo: true);
client.WriteSymbol("P_Motion2.ati_xStart", false, reloadSymbolInfo: true);
client.Dispose();
}
catch (TwinCAT.Ads.AdsErrorException ex)
{
MessageBox.Show("PLC Control Error: \r\n\r\n" + ex.Message);
}
catch (System.FormatException ex)
{
textBoxPLCSetPosition.Text = "0";
MessageBox.Show("Invalid float value for Position. ErrMsg: \r\n\r\n" + ex.Message);
}
}
}
public static Coordinate[] CoordinateArrayRead(int ArraySize, string VarAdress)
{
Coordinate[] ReadedCoordinate = new Coordinate[ArraySize];
try
{
hVar = TwinCat3Client.CreateVariableHandle(VarAdress);
AdsStream ADSdataStream = new AdsStream(8 * 4 * ArraySize);
BinaryReader binRead = new BinaryReader(ADSdataStream);
TwinCat3Client.Read(hVar, ADSdataStream);
ADSdataStream.Position = 0;
for (int i = 0; i < ArraySize; i++)
{
ReadedCoordinate[i].X = binRead.ReadDouble();
ReadedCoordinate[i].Y = binRead.ReadDouble();
ReadedCoordinate[i].Z = binRead.ReadDouble();
ReadedCoordinate[i].C = binRead.ReadDouble();
}
TwinCat3Client.DeleteVariableHandle(hVar);
hVar = 0;
ADSdataStream.Dispose();
binRead.Dispose();
}
catch (Exception err)
{
MessageBox.Show(err.Message);
}
return(ReadedCoordinate);
}
public PLCSymbols()
{
m_dataStream = new AdsStream(31);
m_binRead = new BinaryReader(m_dataStream, System.Text.Encoding.ASCII);
m_adsClient.AdsNotification += new AdsNotificationEventHandler(OnNotification);
}
public static Coordinate CoordinateRead(string VarAdress)
{
Coordinate ReadedCoordinate = new Coordinate();
try
{
hVar = TwinCat3Client.CreateVariableHandle(VarAdress);
AdsStream ADSdataStream = new AdsStream(8 * 4);
BinaryReader binRead = new BinaryReader(ADSdataStream);
TwinCat3Client.Read(hVar, ADSdataStream);
ADSdataStream.Position = 0;
ReadedCoordinate.X = binRead.ReadDouble();
ReadedCoordinate.Y = binRead.ReadDouble();
ReadedCoordinate.Z = binRead.ReadDouble();
ReadedCoordinate.C = binRead.ReadDouble();
TwinCat3Client.DeleteVariableHandle(hVar);
hVar = 0;
ADSdataStream.Dispose();
binRead.Dispose();
}
catch (Exception err)
{
MessageBox.Show(err.Message);
}
return(ReadedCoordinate);
}
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);
}
}
public bool IsHeartBeatAlive()
{
try
{
AdsStream dataStream = new AdsStream(4);
AdsBinaryReader binReader = new AdsBinaryReader(dataStream);
int iHandle = 0;
int iValue = 0;
iHandle = _tcAds.CreateVariableHandle("TwinCAT_SystemInfoVarList._AppInfo.OnlineChangeCnt");
_tcAds.Read(iHandle, dataStream);
iValue = binReader.ReadInt32();
dataStream.Position = 0;
if (iValue != _onlineChangeCount)
{
_onlineChangeCount = iValue;
isHierarchieLoaded = false;
}
}
catch (Exception e)
{
DiagnosticWindow.AddToDebug(e.Message);
return(false);
}
return(true);
}
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;
}
/**
* Reads one variable from the PLC. The variable must be declared as a REAL.
*
* Input:
* tcAds - TwinCat ADS client object
* var - The variable name (as a string) to be read from the PLC. E.g "MAIN.var1"
* vartype - The variable type as declared in the PLC. REAL is the only supported variable type.
* More types can be added by making changes where appropriate.
*
* Output: Floating value representing the value in the PLC.
*
**/
static float readByString(TcAdsClient tcAds, string var, string vartype)
{
int hVar = 0;
try
{
hVar = tcAds.CreateVariableHandle(var);
}
catch (Exception err)
{
Console.WriteLine(err);
}
if (vartype == "REAL")
{
// creates a stream with a length of 4 byte
AdsStream ds = new AdsStream(4);
BinaryReader br = new BinaryReader(ds);
tcAds.Read(hVar, ds);
try
{
tcAds.DeleteVariableHandle(hVar);
}
catch (Exception err)
{
Console.WriteLine(err);
}
return(br.ReadSingle());
}
else
{
Console.WriteLine("Error: Variable type not implemented!");
return(0.0F);
}
}
public void InitializeInterface()
{
dataStream = new AdsStream(255);
//Encoding wird auf ASCII gesetzt, um Strings lesen zu können
binRead = new BinaryReader(dataStream, System.Text.Encoding.ASCII);
// Instanz der Klasse TcAdsClient erzeugen
tcClient = new TcAdsClient();
// Verbindung mit Port 851 auf dem lokalen Computer herstellen
tcClient.Connect(851);
hConnect = new int[7];
aiData = new int[7];
try
{
hConnect[0] = tcClient.AddDeviceNotification(m_sVariabelName, dataStream, 0, 255, AdsTransMode.OnChange, 500, 0, aiData);
//hConnect[1] = tcClient.AddDeviceNotification("MAIN.intVal", dataStream, 1, 2, AdsTransMode.OnChange, 100, 0, tbInt);
}
catch (Exception err)
{
bool b = true;
while (b)
{
string message = "Connection to PLC-Variables failed. Please Run TwinCat or check declared variables and retry";
string caption = "Connection failed!";
}
}
tcClient.AdsNotification += new AdsNotificationEventHandler(OnNotification);
}
//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 void buttonConnect_Click(object sender, EventArgs e)
{
// luodaan AdsClient-olio yhteyttä varten
adsClient = new TcAdsClient();
// otetaan yhteys TwinCAT PLC:hen portin 851 kautta
adsClient.Connect(851);
// luodaan PLC:n muuttujiin viittaavat "osoittimet"
startHandle = adsClient.CreateVariableHandle("MAIN.start");
stopHandle = adsClient.CreateVariableHandle("MAIN.reset");
// Luodaan tapahtumankäsittelijä. Parametrina näyttöä päivittävän metodin nimi
adsClient.AdsNotification += new AdsNotificationEventHandler(UpdateVariables);
// avataan Ads-stream (luettava byte-määrä pitänee antaa parametrina
this.adsStream = new AdsStream(24);
binReader = new BinaryReader(this.adsStream);
/*
* timeHi: UDINT; // aika
* timeLo: UDINT; // aika
* measurement1: REAL; // mittaus 1
* measurement2: REAL; // mittaus 2
* measurement3: REAL; // mittaus 3
* counter: INT; // juokseva numero
* arrayValue: INT; // jotain
* */
measurementDataHandle = adsClient.AddDeviceNotification("MAIN.measurementData", this.adsStream, 0, 24,
AdsTransMode.Cyclic, 100, 0, null);
buttonConnect.Enabled = false;
buttonSetSR1.Enabled = true;
buttonResetSR1.Enabled = false;
}
//protected virtual void OnNotification(AdsNotificationEventArgs e)
//{
// ADSNotification?.Invoke(this, e);
//}
public TC_Communicator(ArrayList tcwritestructvariables)
{
this.TCWriteStructVariables = tcwritestructvariables;
ads = new TcAdsClient();
datastream = new AdsStream(31);
binread = new BinaryReader(datastream, System.Text.Encoding.ASCII);
}
public static void WriteBusQueue(List <string> list)
{
try
{
WriteTwincat("GVL.EraseTable", true);
TcAdsClient client = new TcAdsClient();
client.Connect(amsnetid, Convert.ToInt32(amsnetport));
int handle = client.CreateVariableHandle("GVL.DataFromBus");
foreach (string el in list)
{
AdsStream stream = new AdsStream(500);
AdsBinaryWriter writer = new AdsBinaryWriter(stream);
writer.WritePlcString(el, 500, Encoding.Unicode);
client.Write(handle, stream);
stream.Dispose();
writer.Dispose();
Thread.Sleep(10);
}
client.DeleteVariableHandle(handle);
client.Dispose();
}
catch (Exception ex)
{
Console.WriteLine("BusWrite: " + ex.Message);
}
}
private void Form1_Load(object sender, EventArgs e)
{
// create a new TcClient instance
_tcClient = new TcAdsClient();
adsReadStream = new AdsStream(4);
adsWriteStream = new AdsStream(4);
}
private void BtnRead_Click(object sender, EventArgs e)
{
stream = new AdsStream(4);
reader = new AdsBinaryReader(stream);
try
{
client.Read(htime1, stream);
txtTime.Text = (reader.ReadPlcTIME()).ToString();
stream.Position = 0;
client.Read(hdate1, stream);
txtDate.Text = reader.ReadPlcDATE().ToString();
stream.Position = 0;
client.Read(hdate2, stream);
txtDate2.Text = reader.ReadPlcDATE().ToString();
stream.Position = 0;
}
catch (Exception err)
{
MessageBox.Show("BtnRead " + err.Message);
}
}
//Camera initialization
public void initCamera()
{
try
{
myCamera = new Camera();
myCamera.cameraInit(cameraType);
Camera.dataDelegate dd = new Camera.dataDelegate(onNewData);
myCamera.startFrameGrab(0x8888, 0, dd, cameraType);
cameraStatus = 1;
}
catch (System.Threading.ThreadAbortException) { }
catch (Exception ex)
{
cameraStatus = 0;
//Camera status bit
ds = new AdsStream(4);
BinaryWriter bw = new BinaryWriter(ds);
bw.Write(cameraStatus);
if (twinCatBool)
{
tcAds.Write(0x4020, 40, ds);
}
EmailError.emailAlert(ex);
throw (ex);
}
}
/*
* public static string ReadStruct(int varHandle, List<string> types, int[] size, ref TcAdsClient tcClient, out List<List<object>> output)
* {
* output = new List<List<object>>();
* try
* {
* string message = "";
* int streamLength = 0;
* for (int i = 0; i < size.Length; i++) streamLength += StreamLength(types[i]) * size[i];
*
* AdsStream dataStream = new AdsStream(streamLength);
* AdsBinaryReader reader = new AdsBinaryReader(dataStream);
* for (int i = 0; i < size.Length; i++)
* {
* List<object> o = new List<object>();
* for (int j = 0; j < size[i]; j++)
* {
* object obj = new object();
* if (!ReadObject(reader, types[i], out obj))
* message = String.Format("Error while reading " + types[i] + " at struct position (i, j): (" + i + ", " + j + ")");
* o.Add(obj);
* }
* output.Add(o);
* }
*
* return message;
* }
* catch (Exception e)
* {
* return e.ToString();
* }
*
* }
*/
public void WriteStruct(string structName, string[] types, object[][] values)
{
int dataStreamLength = 0;
for (int i = 0; i < values.Length; i++)
{
dataStreamLength += StreamLength(types[i]) * values[i].Length;
}
using (AdsStream dataStream = new AdsStream(dataStreamLength))
using (AdsBinaryWriter writer = new AdsBinaryWriter(dataStream))
{
int varHandle = TcClient.CreateVariableHandle(structName);
dataStream.Position = 0;
for (int i = 0; i < values.Length; i++)
{
foreach (object obj in values[i])
{
WriteObjectToWriter(writer, types[i], obj);
if (types[i] == "string")
{
dataStream.Position += 81 - obj.ToString().Length;
}
}
}
TcClient.Write(varHandle, dataStream);
writer.Flush();
}
}
public void Read(string name, TcReadHandler handler, int length, int position = 0)
{
int handle = GetHandle(name);
if (length < 1)
{
throw new Exception("Reading length must be over 0 in UlTcAdsClient::Read");
}
lock (criticalLock)
{
using (AdsStream stream = new AdsStream(length))
{
using (AdsBinaryReader reader = new AdsBinaryReader(stream))
{
try
{
client.Read(handle, stream);
stream.Position = position;
handler(reader);
}
catch (Exception e)
{
string str = string.Format("Occurred exception({0}) in UlTcAdsClient::Read", e.ToString());
throw new Exception(str);
}
}
}
}
}
public double[] ReadDouble(string name, int length)
{
double[] value = new double[length];
int handle = GetHandle(name);
if (length < 2)
{
throw new Exception("Reading length must be over 1 in UlTcAdsClient::GetDouble");
}
lock (criticalLock)
{
using (AdsStream stream = new AdsStream(sizeof(double) * length))
{
using (AdsBinaryReader reader = new AdsBinaryReader(stream))
{
client.Read(handle, stream);
for (int i = 0; i < length; i++)
{
value[i] = reader.ReadDouble();
}
}
}
}
return(value);
}
public DisposableNotificationHandleBag(IAdsConnection client, IEnumerable <ISymbol> symbols, NotificationSettings settings, object userData) : base(client)
{
if (symbols == null)
{
throw new ArgumentNullException("dict");
}
int length = Enumerable.Sum <ISymbol>(symbols, s => s.ByteSize);
this._stream = new AdsStream(length);
base.handleDict = new SumHandleList();
this._handleSymbolDict = new Dictionary <uint, ISymbol>();
base.validHandleDict = new Dictionary <string, uint>();
int offset = 0;
foreach (ISymbol symbol in symbols)
{
uint handle = 0;
int byteSize = symbol.ByteSize;
AdsErrorCode errorCode = client.TryAddDeviceNotification(symbol.InstancePath, this._stream, offset, byteSize, settings, userData, out handle);
base.handleDict.Add(new SumHandleInstancePathEntry(symbol.InstancePath, handle, errorCode));
if (errorCode == AdsErrorCode.NoError)
{
base.validHandleDict.Add(symbol.InstancePath, handle);
this._handleSymbolDict.Add(handle, symbol);
}
offset += byteSize;
}
}
public bool writeToPLCString(string sName, string sValue)
{
bool bret = true;
TcAdsClient tcClient = new TcAdsClient();
AdsStream dataStream = new AdsStream(100);
AdsBinaryReader binReader = new AdsBinaryReader(dataStream);
int iHandle = 0;
tcClient.Connect(851);
iHandle = tcClient.CreateVariableHandle(sName);
try
{
tcClient.WriteAnyString(iHandle, sValue, sValue.Length, Encoding.Default);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
bret = false;
}
finally
{
tcClient.DeleteVariableHandle(iHandle);
tcClient.Dispose();
}
return(bret);
}
//TcAdsClient tcClient = new TcAdsClient();
//AdsStream dataStream = new AdsStream(4);
//AdsBinaryReader binReader = new AdsBinaryReader(dataStream);
public bool writeToPLCInt(string sName, int iValue)
{
TcAdsClient tcClient = new TcAdsClient();
AdsStream dataStream = new AdsStream(4);
AdsBinaryReader binReader = new AdsBinaryReader(dataStream);
int iHandle = 0;
tcClient.Connect(851);
iHandle = tcClient.CreateVariableHandle(sName);
try
{
tcClient.WriteAny(iHandle, iValue);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
finally
{
tcClient.DeleteVariableHandle(iHandle);
tcClient.Dispose();
}
return(true);
}
public MainWindow()
{
InitializeComponent();
_tcClient = new TcAdsClient();
adsReadStream = new AdsStream(4);
adsWriteStream = new AdsStream(4);
DataContext = this;
}
public override void VarSize(int arraySize, int arrayTypeSize)
{
m_arraySize = arraySize;
m_size = arraySize * arrayTypeSize;
m_dataStream = new AdsStream(m_size);
m_binRead = new BinaryReader(m_dataStream);
m_binWrite = new BinaryWriter(m_dataStream);
}
public PLCAny(PLC plc, string Name)
{
m_plc = plc;
m_hVar = plc.AdsClient.CreateVariableHandle(Name);
m_varName = Name;
m_dataStream = new AdsStream(31);
m_binRead = new BinaryReader(m_dataStream, System.Text.Encoding.ASCII);
}
private void Form1_Load_1(object sender, EventArgs e)
{
_tcClient = new TcAdsClient();
adsReadStream = new AdsStream(100);
adsWriteStream = new AdsStream(100);
tabPage1.Text = "通讯";
tabPage2.Text = "控制";
tabPage3.Text = "机械臂";
}
public override int AddNotification(string variableName, AdsStream data, int offset, int length, int transMode, int cycleTime, int maxDelay, object userData, out AdsErrorCode result)
{
int clientHandle = 0;
result = base._symbolTable.TryCreateVariableHandle(variableName, out clientHandle);
if (result != AdsErrorCode.NoError)
{
return(0);
}
uint serverHandle = base._symbolTable.GetServerHandle(clientHandle, out result);
if (result != AdsErrorCode.NoError)
{
return(0);
}
result = AdsErrorCode.NoError;
if (!base._bInitialized)
{
this.Init();
}
cycleTime /= 0x2710;
if (cycleTime <= 50)
{
cycleTime = 50;
}
int nextHandle = this.GetNextHandle();
NotificationEntry entry = base.AddNotification(nextHandle, nextHandle, clientHandle, data, offset, length, userData);
ITimer timer = this._timer;
lock (timer)
{
CycleTableEntry entry2;
if (!this._cycleTable.TryGetValue(cycleTime, out entry2))
{
entry2 = new CycleTableEntry {
lastRead = NativeMethods.GetTickCount(),
timerCount = 0,
cycleList = new List <CycleListEntry>()
};
this._cycleTable.Add(cycleTime, entry2);
}
CycleListEntry item = new CycleListEntry {
handle = nextHandle,
variable =
{
indexGroup = 0xf005,
indexOffset = serverHandle,
length = entry.length
},
transMode = transMode,
data = new byte[entry.length]
};
entry2.cycleList.Add(item);
this._initialNotes.Add(item);
}
return(nextHandle);
}
static void Main(string[] args)
{
TcAdsClient tcClient = new TcAdsClient();
AdsStream dataStream = new AdsStream(4);
AdsBinaryReader binReader = new AdsBinaryReader(dataStream);
int handle = 0;
int iValue = 0;
int exValue = 0;
string variable, adres;
DateTime now = DateTime.Now;
Console.WriteLine("Podaj adres serwera ADS: ");
adres = Console.ReadLine();
Console.WriteLine("Podaj nazwe zmienna do zapysywania w bazie danych: ");
variable = Console.ReadLine();
FileStream File = new FileStream("data.txt", FileMode.OpenOrCreate, FileAccess.Write);
StreamWriter writer = new StreamWriter(File);
writer.WriteLine(adres + " 801 " + variable + " " + now.ToString("F"));
try
{
tcClient.Connect(adres, 801);
handle = tcClient.CreateVariableHandle(variable);
Console.WriteLine("Czekam na znak");
do
{
tcClient.Read(handle, dataStream);
iValue = binReader.ReadInt32();
dataStream.Position = 0;
if (iValue != exValue)
{
writer.WriteLine(iValue + " " + now.ToString("F"));
}
Console.WriteLine("Aktualna wartosc wynosi: " + iValue);
exValue = iValue;
} while (Console.ReadKey().Key.Equals(ConsoleKey.Enter));
}
catch (Exception ex)
{
Console.WriteLine(ex.Message + " xdddd");
}
finally
{
writer.Close();
tcClient.DeleteVariableHandle(handle);
tcClient.Dispose();
}
Console.ReadKey();
}
public bool IsHeartBeatAlive()
{
try
{
AdsStream dataStream = new AdsStream(4);
AdsBinaryReader binReader = new AdsBinaryReader(dataStream);
int iHandle = 0;
int iValue = 0;
iHandle = _tcAds.CreateVariableHandle("TwinCAT_SystemInfoVarList._AppInfo.OnlineChangeCnt");
_tcAds.Read(iHandle, dataStream);
iValue = binReader.ReadInt32();
dataStream.Position = 0;
if(iValue != _onlineChangeCount)
{
_onlineChangeCount = iValue;
isHierarchieLoaded = false;
}
}
catch(Exception e)
{
DiagnosticWindow.AddToDebug(e.Message);
return false;
}
return true;
}
/**
* Reads one variable from the PLC. The variable must be declared as a REAL.
*
* Input:
* tcAds - TwinCat ADS client object
* var - The variable name (as a string) to be read from the PLC. E.g "MAIN.var1"
* vartype - The variable type as declared in the PLC. REAL is the only supported variable type.
* More types can be added by making changes where appropriate.
*
* Output: Floating value representing the value in the PLC.
*
**/
static float readByString(TcAdsClient tcAds,string var,string vartype)
{
int hVar = 0;
try
{
hVar = tcAds.CreateVariableHandle(var);
}
catch (Exception err)
{
Console.WriteLine(err);
}
if (vartype == "REAL")
{
// creates a stream with a length of 4 byte
AdsStream ds = new AdsStream(4);
BinaryReader br = new BinaryReader(ds);
tcAds.Read(hVar, ds);
try
{
tcAds.DeleteVariableHandle(hVar);
}
catch (Exception err)
{
Console.WriteLine(err);
}
return br.ReadSingle();
}
else {
Console.WriteLine("Error: Variable type not implemented!");
return 0.0F;
}
}
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);
}
public WoopsaValue ReadAdsValue(IWoopsaProperty woopsaProperty)
{
WoopsaAdsProperty property = (WoopsaAdsProperty)woopsaProperty;
AdsStream stream = new AdsStream(80); // for STRING(80)
long data = 0;
stream.Flush();
try
{
_tcAds.Read(property.AdsInfo.IndexGroup, property.AdsInfo.IndexOffset, stream);
}
catch (Exception)
{
isAdsConnected = false;
return null;
}
switch (property.Type)
{
case WoopsaValueType.Integer:
if (property.AdsInfo.Type == BeckhoffValueType.WORD ||
property.AdsInfo.Type == BeckhoffValueType.UINT)
return BitConverter.ToUInt16(stream.GetBuffer(), 0);
else if (property.AdsInfo.Type == BeckhoffValueType.DWORD ||
property.AdsInfo.Type == BeckhoffValueType.UDINT)
return BitConverter.ToUInt32(stream.GetBuffer(), 0);
else if (property.AdsInfo.Type == BeckhoffValueType.SINT)
return Convert.ToSByte((sbyte)stream.GetBuffer()[0]);
else if (property.AdsInfo.Type == BeckhoffValueType.INT)
return BitConverter.ToInt16(stream.GetBuffer(), 0);
else if (property.AdsInfo.Type == BeckhoffValueType.DINT)
return BitConverter.ToInt32(stream.GetBuffer(), 0);
else if (property.AdsInfo.Type == BeckhoffValueType.LINT || property.AdsInfo.Type == BeckhoffValueType.ULINT)
return BitConverter.ToInt64(stream.GetBuffer(), 0);
else if (property.AdsInfo.Type == BeckhoffValueType.USINT || property.AdsInfo.Type == BeckhoffValueType.BYTE)
return (byte)stream.GetBuffer()[0];
else
throw new WoopsaException("Ads type not compatible with Woopsa Integer");
case WoopsaValueType.Logical:
return Convert.ToBoolean(stream.GetBuffer()[0]);
case WoopsaValueType.Real:
if (property.AdsInfo.Type == BeckhoffValueType.REAL)
return BitConverter.ToSingle(stream.GetBuffer(), 0);
else if (property.AdsInfo.Type == BeckhoffValueType.LREAL)
return BitConverter.ToDouble(stream.GetBuffer(), 0);
else
throw new WoopsaException("Ads type not compatible with Woopsa Real");
case WoopsaValueType.Text:
string s = System.Text.Encoding.ASCII.GetString(stream.GetBuffer());
int index = s.IndexOf('\0');
return s.Remove(index, s.Length - index);
case WoopsaValueType.TimeSpan:
data = bufferToLong(stream.GetBuffer(), 4);
TimeSpan timeSpan = new TimeSpan(TimeSpan.TicksPerMillisecond * data);
return timeSpan;
case WoopsaValueType.DateTime:
TimeSpan timeSp;
DateTime dateTime;
data = bufferToLong(stream.GetBuffer(), 4);
dateTime = BeckhoffPlcReferenceDateTime;
if (property.AdsInfo.Type == BeckhoffValueType.TIME_OF_DAY)
timeSp = TimeSpan.FromMilliseconds(data);
else
timeSp = TimeSpan.FromSeconds(data);
dateTime = dateTime + timeSp;
WoopsaValue value = new WoopsaValue(dateTime);
return value;
default:
return null;
}
}
