internal TIAOpennessTag(PlcTag source)
{
Name = source.Name;
Address = source.LogicalAddress;
DataTypeName = source.DataTypeName;
Comments = source.Comment.Items
.Select(c => new TIAOpennessComment()
{
Culture = c.Language.Culture, Text = c.Text
}).ToList();
IsExternalAccessible = source.ExternalAccessible;
IsExternalVisible = source.ExternalVisible;
}
private async Task SendPoints(Point first, Point second, CancellationToken ct)
{
if (test)
{
await Task.Run(() => Thread.Sleep(500));
return;
}
#region PLCTags
PlcTag <short> tagFirstPointX = new PlcTag <short>("OpcUaServer;Application.GVL_Chess.G_lrFirstPointX", Controller, Monitor);
PlcTag <short> tagFirstPointY = new PlcTag <short>("OpcUaServer;Application.GVL_Chess.G_lrFirstPointY", Controller, Monitor);
PlcTag <short> tagSecondPointX = new PlcTag <short>("OpcUaServer;Application.GVL_Chess.G_lrSecondPointX", Controller, Monitor);
PlcTag <short> tagSecondPointY = new PlcTag <short>("OpcUaServer;Application.GVL_Chess.G_lrSecondPointY", Controller, Monitor);
PlcTag <bool> tagRobotIsDone = new PlcTag <bool>("OpcUaServer;Application.GVL_Chess.G_xRobotIsDone", Controller, Monitor);
PlcTag <bool> tagRobotHasStopped = new PlcTag <bool>("OpcUaServer;Application.GVL_Chess.G_xRobotHasStopped", Controller, Monitor);
PlcTag <short> tagWatchDog = new PlcTag <short>("OpcUaServer;Application.GVL_Chess.G_iWatchdog", Controller, Monitor);
PlcTag <bool> tagGenLocation = new PlcTag <bool>("OpcUaServer;Application.GVL_Chess.G_xGenPosition", Controller, Monitor);
#endregion
_robotIsDone = false;
List <Task <bool> > tasks = new List <Task <bool> >()
{
tagFirstPointX.WriteValueAsync((short)first.X),
tagFirstPointY.WriteValueAsync((short)first.Y),
tagSecondPointX.WriteValueAsync((short)second.X),
tagSecondPointY.WriteValueAsync((short)second.Y),
};
await Task.WhenAll(tasks);
short resultFx;
short resultFy;
short resultSx;
short resultSy;
do
{
(_, resultFx) = await tagFirstPointX.ReadValueAsync();
(_, resultFy) = await tagFirstPointY.ReadValueAsync();
(_, resultSx) = await tagSecondPointX.ReadValueAsync();
(_, resultSy) = await tagSecondPointY.ReadValueAsync();
} while (resultFx != first.X || resultFy != first.Y || resultSx != second.X || resultSy != second.Y);
await tagGenLocation.WriteValueAsync(true);
tagRobotIsDone.ValueChanged += TagRobotIsDoneOnValueChanged;
int i = 0;
while (!_robotIsDone)
{
Console.WriteLine(i);
i++;
Thread.Sleep(1000);
/*tagRobotHasStopped.ValueChanged += (sender, e) =>
* {
* _robotHasStopped = e.NewValue;
* IsPlaying = IsPlaying == EColor.White ? EColor.Black : EColor.White;
* Console.WriteLine("Broken");
* };*/
if (ct.IsCancellationRequested)
{
Console.WriteLine("?");
break;
}
}
List <Task <bool> > tasks2 = new List <Task <bool> >()
{
tagFirstPointX.WriteValueAsync(0),
tagFirstPointY.WriteValueAsync(0),
tagSecondPointX.WriteValueAsync(0),
tagSecondPointY.WriteValueAsync(0),
tagGenLocation.WriteValueAsync(false),
};
await Task.WhenAll(tasks2);
Console.WriteLine(@"Tasks completed");
}
