static void Main(string[] args)
{
var memory = new PLCMemory();
PLCController controller = new PLCController(memory, TimeSpan.FromSeconds(1.0));
var logic = new PLCLogic(controller);
var server = new PLCServer(memory, "tcp://*:5555");
Console.WriteLine("Starting server to listen on {0} ...", server.Address);
server.Start();
Console.WriteLine("Waiting for controller connection ...");
logic.WaitUntilConnected();
Console.WriteLine("Controller connected.");
try
{
if (controller.GetBoolean("isError"))
{
Console.WriteLine("controller is in error 0x{0:X}, resetting", controller.Get("errorcode"));
logic.ResetError();
}
if (controller.GetBoolean("isRunningOrderCycle"))
{
Console.WriteLine("previous cycle already running, so stop and wait");
logic.StopOrderCycle();
}
Console.WriteLine("Waiting for cycle ready...");
logic.WaitUntilOrderCycleReady();
Console.WriteLine("Starting order cycle ...");
PLCLogic.PLCOrderCycleStatus status;
if (true)
{
// first work piece
controller.Set("orderRobotId", 1);
status = logic.StartOrderCycle("123", "work1", 1);
}
else
{
// for the second work piece do
controller.Set("orderRobotId", 2);
status = logic.StartOrderCycle("123", "work2_b", 1);
}
Console.WriteLine("Order cycle started. numLeftInOrder = {0}, numLeftInLocation1 = {1}.", status.numLeftInOrder, status.numLeftInLocation1);
while (true)
{
status = logic.WaitForOrderCycleStatusChange();
if (!status.isRunningOrderCycle)
{
Console.WriteLine("Cycle finished. {0}", status.orderCycleFinishCode);
break;
}
Console.WriteLine("Cycle running. numLeftInOrder = {0}, numLeftInLocation1 = {1}.", status.numLeftInOrder, status.numLeftInLocation1);
}
}
catch (PLCLogic.PLCError e)
{
Console.WriteLine("PLC Error. {0}", e.Message);
}
Console.WriteLine("Press any key to exit.");
Console.ReadKey(true);
server.Stop();
}