/// <summary>
/// This function enables the program to read the tacho count as sensor input.
/// </summary>
/// <param name="socket">socket for executing command to brick</param>
/// <param name="layer">Specify chain layer number [0 - 3]</param>
/// <param name="ports">Output bit field [0x00 – 0x0F]</param>
/// <remarks>
/// Instruction opOutput_Get_Count (LAYER, NOS, *TACHO)
/// Opcode 0xB3
/// Arguments (Data8) LAYER – Specify chain layer number [0 - 3]
/// (Data8) NOS – Output bit field [0x00 – 0x0F]
/// (Data32) *TACHO – Tacho count as sensor value
/// Dispatch status Unchanged
/// Description This function enables the program to read the tacho count as sensor input.
/// </remarks>
public static async Task <int> GetTachoCount(ISocket socket, ChainLayer layer, OutputPortName port)
{
Command cmd = null;
using (CommandBuilder cb = new CommandBuilder(CommandType.DIRECT_COMMAND_REPLY, 4, 0))
{
cb.OpCode(OP.opOUTPUT_GET_COUNT);
cb.PAR8((byte)layer);
cb.PAR8((byte)port);
cb.VARIABLE_PAR32(0, PARAMETER_VARIABLE_SCOPE.GLOBAL);
cmd = cb.ToCommand();
}
Response response = await socket.Execute(cmd);
return(BitConverter.ToInt32(response.PayLoad, 0));
}
