public void activateAndRunPLC()
{
adsClient.Connect(sysMan.GetTargetNetId(), 10000); //AMS net id of target system. TwinCAT system service port = 10000
System.Threading.Thread.Sleep(10000); //waiting for TwinCAT to go into Run mode.
sysMan.ActivateConfiguration();
sysMan.StartRestartTwinCAT();
try
{
bool rundo = true;
do
{
if (adsClient.ReadState().AdsState == AdsState.Run) //reads TwinCAT's system state, if it is in run mode then log into plc.
{
string xml = "<TreeItem><IECProjectDef><OnlineSettings><Commands><LoginCmd>true</LoginCmd><StartCmd>true</StartCmd></Commands></OnlineSettings></IECProjectDef></TreeItem>";
ITcSmTreeItem plcProject = sysMan.LookupTreeItem("TIPC^Untitled1^Untitled1 Project");
plcProject.ConsumeXml(xml);
rundo = false;
}
} while (rundo);
}
catch (Exception ex)
{
Debug.WriteLine(ex.Message);
}
}
} //ActivateConfiguration()
public void EditParams(ITcSmTreeItem drive, string filename)
{
//Create the filepath to the motor file using the path provided to load the excel spreadsheet.
string file = filename;
string path = buildPathString(file);
//open the Motor file as an xml document,read its tags with InitCmds
XmlDocument xDoc = new XmlDocument();
xDoc.Load(path);
XmlNode xNode = xDoc.SelectSingleNode("/EtherCATMailbox/CoE/InitCmds");
string driveParams = drive.ProduceXml();
XmlNodeList xmlInitCmds = xNode.ChildNodes;
foreach (XmlNode Cmd in xmlInitCmds)
{
string newStartListParam = "<" + Cmd.Name + ">";
foreach (XmlNode node in Cmd)
{
newStartListParam += "<" + node.Name + ">";
newStartListParam += node.InnerText;
newStartListParam += "</" + node.Name + ">";
}
newStartListParam += "</" + Cmd.Name + ">";
int idx = driveParams.IndexOf("</InitCmd></InitCmds><CanOpenType>55</CanOpenType></CoE></Mailbox>");
idx = idx + 10;
driveParams = driveParams.Insert(idx, newStartListParam);
}
drive.ConsumeXml(driveParams);
}//EditParams
/// <summary>
/// Stops the PLC, assuming that you already have a running PLC.
/// </summary>
public Boolean stopPLC()
{
Console.WriteLine("Stopping " + project.Name);
ITcSysManager4 systemManager = (ITcSysManager4)(project.Object);
if (!systemManager.IsTwinCATStarted())
{
Console.WriteLine("No Twincat project running!!");
return(false);
}
ITcSmTreeItem plcApp = getPLCApp(systemManager);
System.Threading.Thread.Sleep(1000);
if (!login(plcApp))
{
return(false);
}
System.Threading.Thread.Sleep(1000);
Console.WriteLine("Stopping PLC");
plcApp.ConsumeXml(createXMLString(PLCAction.STOP));
if (!checkWithTimeout(COMMAND_TIMEOUT, () => checkXmlIsString(plcApp, "PlcAppState", "Stop")))
{
Console.WriteLine("Failed to stop!");
return(false);
}
return(true);
}
/// <summary>
/// Checks that a solution contains at least one PLC project and starts the project running.
/// </summary>
public Boolean startPLC()
{
Console.WriteLine("Starting " + project.Name);
ITcSysManager4 systemManager = (ITcSysManager4)(project.Object);
ITcSmTreeItem plcApp = getPLCApp(systemManager);
System.Threading.Thread.Sleep(1000);
if (!login(plcApp))
{
return(false);
}
if (isRunning(plcApp))
{
Console.WriteLine("PLC is running");
return(true);
}
System.Threading.Thread.Sleep(1000);
Console.WriteLine("Starting PLC");
plcApp.ConsumeXml(createXMLString(PLCAction.START));
if (!checkWithTimeout(COMMAND_TIMEOUT, () => isRunning(plcApp)))
{
Console.WriteLine("Failed to start!");
return(false);
}
return(true);
}
private void ConsumeTemplate(ITcSmTreeItem item, string templatePath)
{
string templ = Path.Combine(ApplicationDirectory, templatePath);
XmlTextReader reader = new XmlTextReader(templ);
reader.MoveToContent();
item.ConsumeXml(reader.ReadOuterXml());
}
private Boolean login(ITcSmTreeItem plcApp)
{
Console.WriteLine("Logging in");
plcApp.ConsumeXml(createXMLString(PLCAction.LOGIN));
if (!checkWithTimeout(COMMAND_TIMEOUT, () => checkXmlIsString(plcApp, "LoggedIn", "true")))
{
Console.WriteLine("Failed to login!");
return(false);
}
return(true);
}
static void Main(string[] args)
{
bool showHelp = false;
bool enableDebugLoggingLevel = false;
Console.CancelKeyPress += new ConsoleCancelEventHandler(CancelKeyPressHandler);
log4net.GlobalContext.Properties["LogLocation"] = AppDomain.CurrentDomain.BaseDirectory + "\\logs";
log4net.Config.XmlConfigurator.ConfigureAndWatch(new System.IO.FileInfo(AppDomain.CurrentDomain.BaseDirectory + "log4net.config"));
OptionSet options = new OptionSet()
.Add("v=|VisualStudioSolutionFilePath=", "The full path to the TwinCAT project (sln-file)", v => VisualStudioSolutionFilePath = v)
.Add("t=|TcUnitTaskName=", "[OPTIONAL] The name of the task running TcUnit defined under \"Tasks\"", t => TcUnitTaskName = t)
.Add("a=|AmsNetId=", "[OPTIONAL] The AMS NetId of the device of where the project and TcUnit should run", a => AmsNetId = a)
.Add("w=|TcVersion=", "[OPTIONAL] The TwinCAT version to be used to load the TwinCAT project", w => ForceToThisTwinCATVersion = w)
.Add("u=|Timeout=", "[OPTIONAL] Timeout the process with an error after X minutes", u => Timeout = u)
.Add("d|debug", "[OPTIONAL] Increase debug message verbosity", d => enableDebugLoggingLevel = d != null)
.Add("?|h|help", h => showHelp = h != null);
try
{
options.Parse(args);
}
catch (OptionException e)
{
Console.WriteLine(e.Message);
Console.WriteLine("Try `TcUnit-Runner --help' for more information.");
Environment.Exit(Constants.RETURN_ARGUMENT_ERROR);
}
if (showHelp)
{
DisplayHelp(options);
Environment.Exit(Constants.RETURN_SUCCESSFULL);
}
/* Set logging level.
* This is handled by changing the log4net.config file on the fly.
* The following levels are defined in order of increasing priority:
* - ALL
* - DEBUG
* - INFO
* - WARN
* - ERROR
* - FATAL
* - OFF
*/
XmlDocument doc = new XmlDocument();
doc.Load(AppDomain.CurrentDomain.BaseDirectory + "log4net.config");
XmlNode root = doc.DocumentElement;
XmlNode subNode1 = root.SelectSingleNode("root");
XmlNode nodeForModify = subNode1.SelectSingleNode("level");
if (enableDebugLoggingLevel)
{
nodeForModify.Attributes[0].Value = "DEBUG";
}
else
{
nodeForModify.Attributes[0].Value = "INFO";
}
doc.Save(AppDomain.CurrentDomain.BaseDirectory + "log4net.config");
System.Threading.Thread.Sleep(500); // A tiny sleep just to make sure that log4net manages to detect the change in the file
/* Make sure the user has supplied the path for the Visual Studio solution file.
* Also verify that this file exists.
*/
if (VisualStudioSolutionFilePath == null)
{
log.Error("Visual studio solution path not provided!");
Environment.Exit(Constants.RETURN_VISUAL_STUDIO_SOLUTION_PATH_NOT_PROVIDED);
}
if (!File.Exists(VisualStudioSolutionFilePath))
{
log.Error("Visual studio solution " + VisualStudioSolutionFilePath + " does not exist!");
Environment.Exit(Constants.RETURN_VISUAL_STUDIO_SOLUTION_PATH_NOT_FOUND);
}
LogBasicInfo();
/* Start a timeout for the process(es) if the user asked for it
*/
if (Timeout != null)
{
log.Info("Timeout enabled - process(es) timesout after " + Timeout + " minute(s)");
System.Timers.Timer timeout = new System.Timers.Timer(Int32.Parse(Timeout) * 1000 * 60);
timeout.Elapsed += KillProcess;
timeout.AutoReset = false;
timeout.Start();
}
MessageFilter.Register();
TwinCATProjectFilePath = TcFileUtilities.FindTwinCATProjectFile(VisualStudioSolutionFilePath);
if (String.IsNullOrEmpty(TwinCATProjectFilePath))
{
log.Error("Did not find TwinCAT project file in solution. Is this a TwinCAT project?");
Environment.Exit(Constants.RETURN_TWINCAT_PROJECT_FILE_NOT_FOUND);
}
if (!File.Exists(TwinCATProjectFilePath))
{
log.Error("TwinCAT project file " + TwinCATProjectFilePath + " does not exist!");
Environment.Exit(Constants.RETURN_TWINCAT_PROJECT_FILE_NOT_FOUND);
}
string tcVersion = TcFileUtilities.GetTcVersion(TwinCATProjectFilePath);
if (String.IsNullOrEmpty(tcVersion))
{
log.Error("Did not find TwinCAT version in TwinCAT project file path");
Environment.Exit(Constants.RETURN_TWINCAT_VERSION_NOT_FOUND);
}
try
{
vsInstance = new VisualStudioInstance(@VisualStudioSolutionFilePath, tcVersion, ForceToThisTwinCATVersion);
bool isTcVersionPinned = XmlUtilities.IsTwinCATProjectPinned(TwinCATProjectFilePath);
log.Info("Version is pinned: " + isTcVersionPinned);
vsInstance.Load(isTcVersionPinned);
}
catch
{
log.Error("Error loading VS DTE. Is the correct version of Visual Studio and TwinCAT installed? Is the TcUnit-Runner running with administrator privileges?");
CleanUpAndExitApplication(Constants.RETURN_ERROR_LOADING_VISUAL_STUDIO_DTE);
}
try
{
vsInstance.LoadSolution();
}
catch
{
log.Error("Error loading the solution. Try to open it manually and make sure it's possible to open and that all dependencies are working");
CleanUpAndExitApplication(Constants.RETURN_ERROR_LOADING_VISUAL_STUDIO_SOLUTION);
}
if (vsInstance.GetVisualStudioVersion() == null)
{
log.Error("Did not find Visual Studio version in Visual Studio solution file");
CleanUpAndExitApplication(Constants.RETURN_ERROR_FINDING_VISUAL_STUDIO_SOLUTION_VERSION);
}
AutomationInterface automationInterface = new AutomationInterface(vsInstance.GetProject());
if (automationInterface.PlcTreeItem.ChildCount <= 0)
{
log.Error("No PLC-project exists in TwinCAT project");
CleanUpAndExitApplication(Constants.RETURN_NO_PLC_PROJECT_IN_TWINCAT_PROJECT);
}
ITcSmTreeItem realTimeTasksTreeItem = automationInterface.RealTimeTasksTreeItem;
/* Task name provided */
if (!String.IsNullOrEmpty(TcUnitTaskName))
{
log.Info("Setting task '" + TcUnitTaskName + "' enable and autostart, and all other tasks (if existing) to disable and non-autostart");
bool foundTcUnitTaskName = false;
/* Find all tasks, and check whether the user provided TcUnit task is amongst them.
* Also update the task object (Update <Disabled> and <Autostart>-tag)
*/
foreach (ITcSmTreeItem child in realTimeTasksTreeItem)
{
ITcSmTreeItem testTreeItem = realTimeTasksTreeItem.LookupChild(child.Name);
string xmlString = testTreeItem.ProduceXml();
string newXmlString = "";
try
{
if (TcUnitTaskName.Equals(XmlUtilities.GetItemNameFromRealTimeTaskXML(xmlString)))
{
foundTcUnitTaskName = true;
newXmlString = XmlUtilities.SetDisabledAndAndAutoStartOfRealTimeTaskXml(xmlString, false, true);
}
else
{
newXmlString = XmlUtilities.SetDisabledAndAndAutoStartOfRealTimeTaskXml(xmlString, true, false);
}
testTreeItem.ConsumeXml(newXmlString);
System.Threading.Thread.Sleep(3000);
}
catch
{
log.Error("Could not parse real time task XML data");
CleanUpAndExitApplication(Constants.RETURN_NOT_POSSIBLE_TO_PARSE_REAL_TIME_TASK_XML_DATA);
}
}
if (!foundTcUnitTaskName)
{
log.Error("Could not find task '" + TcUnitTaskName + "' in TwinCAT project");
CleanUpAndExitApplication(Constants.RETURN_FAILED_FINDING_DEFINED_UNIT_TEST_TASK_IN_TWINCAT_PROJECT);
}
}
/* No task name provided */
else
{
log.Info("No task name provided. Assuming only one task exists");
/* Check that only one task exists */
if (realTimeTasksTreeItem.ChildCount.Equals(1))
{
// Get task name
ITcSmTreeItem child = realTimeTasksTreeItem.get_Child(1);
ITcSmTreeItem testTreeItem = realTimeTasksTreeItem.LookupChild(child.Name);
string xmlString = testTreeItem.ProduceXml();
TcUnitTaskName = XmlUtilities.GetItemNameFromRealTimeTaskXML(xmlString);
log.Info("Found task with name '" + TcUnitTaskName + "'");
string newXmlString = "";
newXmlString = XmlUtilities.SetDisabledAndAndAutoStartOfRealTimeTaskXml(xmlString, false, true);
testTreeItem.ConsumeXml(newXmlString);
System.Threading.Thread.Sleep(3000);
}
/* Less ore more than one task, which is an error */
else
{
log.Error("The number of tasks is not equal to 1 (one). Found " + realTimeTasksTreeItem.ChildCount.ToString() + " number of tasks. Please provide which task is the TcUnit task");
CleanUpAndExitApplication(Constants.RETURN_TASK_COUNT_NOT_EQUAL_TO_ONE);
}
}
/* Build the solution and collect any eventual errors. Make sure to
* filter out everything that is an error
*/
vsInstance.CleanSolution();
vsInstance.BuildSolution();
ErrorItems errorsBuild = vsInstance.GetErrorItems();
int tcBuildWarnings = 0;
int tcBuildError = 0;
for (int i = 1; i <= errorsBuild.Count; i++)
{
ErrorItem item = errorsBuild.Item(i);
if ((item.ErrorLevel != vsBuildErrorLevel.vsBuildErrorLevelLow))
{
if (item.ErrorLevel == vsBuildErrorLevel.vsBuildErrorLevelMedium)
{
tcBuildWarnings++;
}
else if (item.ErrorLevel == vsBuildErrorLevel.vsBuildErrorLevelHigh)
{
tcBuildError++;
log.Error("Description: " + item.Description);
log.Error("ErrorLevel: " + item.ErrorLevel);
log.Error("Filename: " + item.FileName);
}
}
}
/* If we don't have any errors, activate the configuration and
* start/restart TwinCAT */
if (tcBuildError.Equals(0))
{
/* Check whether the user has provided an AMS NetId. If so, use it. Otherwise use
* the local AMS NetId */
if (String.IsNullOrEmpty(AmsNetId))
{
AmsNetId = Constants.LOCAL_AMS_NET_ID;
}
log.Info("Setting target NetId to '" + AmsNetId + "'");
automationInterface.ITcSysManager.SetTargetNetId(AmsNetId);
log.Info("Enabling boot project and setting BootProjectAutostart on " + automationInterface.ITcSysManager.GetTargetNetId());
for (int i = 1; i <= automationInterface.PlcTreeItem.ChildCount; i++)
{
ITcSmTreeItem plcProject = automationInterface.PlcTreeItem.Child[i];
ITcPlcProject iecProject = (ITcPlcProject)plcProject;
iecProject.BootProjectAutostart = true;
/* add the port that is used for this PLC to the AmsPorts list that
* is later used to monitory the AdsState
*/
string xmlString = plcProject.ProduceXml();
AmsPorts.Add(XmlUtilities.AmsPort(xmlString));
}
System.Threading.Thread.Sleep(1000);
automationInterface.ActivateConfiguration();
// Wait
System.Threading.Thread.Sleep(10000);
/* Clean the solution. This is the only way to clean the error list which needs to be
* clean prior to starting the TwinCAT runtime */
vsInstance.CleanSolution();
// Wait
System.Threading.Thread.Sleep(10000);
automationInterface.StartRestartTwinCAT();
}
else
{
log.Error("Build errors in project");
CleanUpAndExitApplication(Constants.RETURN_BUILD_ERROR);
}
/* Establish a connection to the ADS router
*/
TcAdsClient tcAdsClient = new TcAdsClient();
/* Run TcUnit until the results have been returned */
TcUnitResultCollector tcUnitResultCollector = new TcUnitResultCollector();
ErrorList errorList = new ErrorList();
log.Info("Waiting for results from TcUnit...");
ErrorItems errorItems;
while (true)
{
System.Threading.Thread.Sleep(10000);
/* Monitor the AdsState for each PLC that is used in the
* solution. If we can't connect to the Ads Router, we just
* carry on.
*/
try
{
foreach (int amsPort in AmsPorts)
{
tcAdsClient.Connect(AmsNetId, amsPort);
AdsState adsState = tcAdsClient.ReadState().AdsState;
if (adsState != AdsState.Run)
{
log.Error("Invalid AdsState " + adsState + "<>" + AdsState.Run + ". This could indicate a PLC Exception, terminating ...");
Environment.Exit(Constants.RETURN_INVALID_ADSSTATE);
}
}
}
catch (Exception ex)
{ }
finally
{
tcAdsClient.Disconnect();
}
errorItems = vsInstance.GetErrorItems();
var newErrors = errorList.AddNew(errorItems);
if (log.IsDebugEnabled)
{
foreach (var error in newErrors)
{
log.Debug(error.ErrorLevel + ": " + error.Description);
}
}
log.Info("... got " + errorItems.Count + " report lines so far.");
if (tcUnitResultCollector.AreResultsAvailable(errorItems))
{
log.Info("All results from TcUnit obtained");
/* The last test suite result can be returned after that we have received the test results, wait a few seconds
* and fetch again
*/
System.Threading.Thread.Sleep(10000);
break;
}
}
List <ErrorList.Error> errors = new List <ErrorList.Error>(errorList.Where(e => (e.ErrorLevel == vsBuildErrorLevel.vsBuildErrorLevelHigh || e.ErrorLevel == vsBuildErrorLevel.vsBuildErrorLevelLow)));
List <ErrorList.Error> errorsSorted = errors.OrderBy(o => o.Description).ToList();
/* Parse all events (from the error list) from Visual Studio and store the results */
TcUnitTestResult testResult = tcUnitResultCollector.ParseResults(errorsSorted, TcUnitTaskName);
/* Write xUnit XML report */
if (testResult != null)
{
// No need to check if file (VisualStudioSolutionFilePath) exists, as this has already been done
string VisualStudioSolutionDirectoryPath = Path.GetDirectoryName(VisualStudioSolutionFilePath);
string XUnitReportFilePath = VisualStudioSolutionDirectoryPath + "\\" + Constants.XUNIT_RESULT_FILE_NAME;
log.Info("Writing xUnit XML file to " + XUnitReportFilePath);
// Overwrites all existing content (if existing)
XunitXmlCreator.WriteXml(testResult, XUnitReportFilePath);
}
CleanUpAndExitApplication(Constants.RETURN_SUCCESSFULL);
}
/// <summary>
/// Import an xml file for an IO device
/// </summary>
/// <param name="xmlFile"></param>
public void importIoXmls(string xmlFile)
{
if (!File.Exists(xmlFile))
{
throw new ApplicationException($"IO Xml file {xmlFile} could not be found.");
}
string deviceName = Path.GetFileNameWithoutExtension(xmlFile);
ITcSmTreeItem currentIo = null;
//Need to look for a match "somewhere"
//Top level first
try
{
currentIo = Io.LookupChild(deviceName);
}
catch
{
//do nothing
}
//If not found, search next level
if (currentIo == null)
{
for (int i = 1; i <= Io.ChildCount; i++)
{
try
{
currentIo = Io.Child[i].LookupChild(deviceName);
if (currentIo != null)
{
break;
}
}
catch
{
//do nothing, go for next run
}
}
}
//If still not found, go for next level
if (currentIo == null)
{
for (int i = 1; i <= Io.ChildCount; i++)
{
for (int j = 1; j <= Io.Child[i].ChildCount; i++)
{
try
{
currentIo = Io.Child[i].Child[j].LookupChild(deviceName);
if (currentIo != null)
{
break;
}
}
catch
{
//do nothing, go for next run
}
}
}
}
//we've looked everywhere dude
if (currentIo == null)
{
throw new ApplicationException($"Could not find device {deviceName}");
}
XmlDocument ioXml = new XmlDocument();
ioXml.Load(xmlFile);
try
{
currentIo.ConsumeXml(ioXml.OuterXml);
}
catch
{
throw new ApplicationException($"Failed to load xml for {deviceName}");
}
}
public void ScanDevicesAndBoxes(DataTable dt)
{
int config;
if ((config = checkForRunMode()) == 1)
{
ITcSmTreeItem ioDevicesItem = sysMan.LookupTreeItem("TIID"); // Get The IO Devices Node
// Scan Devices (Be sure that the target system is in Config mode!)
string scannedXml = ioDevicesItem.ProduceXml(false); // Produce Xml implicitly starts the ScanDevices on this node.
XmlDocument xmlDoc = new XmlDocument();
xmlDoc.LoadXml(scannedXml); // Loads the Xml data into an XML Document
XmlNodeList xmlDeviceList = xmlDoc.SelectNodes("TreeItem/DeviceGrpDef/FoundDevices/Device");
List <ITcSmTreeItem> devices = new List <ITcSmTreeItem>();
//local variables for our spreadsheet writing statements
int deviceCount = 0;
int i = 2;
// Add all found devices to configuration
foreach (XmlNode node in xmlDeviceList)
{
// Add a selection or subrange of devices
int itemSubType = int.Parse(node.SelectSingleNode("ItemSubType").InnerText);
string typeName = node.SelectSingleNode("ItemSubTypeName").InnerText;
XmlNode xmlAddress = node.SelectSingleNode("AddressInfo");
ITcSmTreeItem device = ioDevicesItem.CreateChild(string.Format("Device_{0}", ++deviceCount), itemSubType, string.Empty, null);
string xml = string.Format("<TreeItem><DeviceDef>{0}</DeviceDef></TreeItem>", xmlAddress.OuterXml);
device.ConsumeXml(xml); // Consume Xml Parameters (here the Address of the Device)
devices.Add(device);
}
// Scan all added devices for attached boxes
foreach (ITcSmTreeItem device in devices)
{
string xml = "<TreeItem><DeviceDef><ScanBoxes>1</ScanBoxes></DeviceDef></TreeItem>"; // Using the "ScanBoxes XML-Method"
try
{
device.ConsumeXml(xml); // Consume starts the ScanBoxes and inserts every found box/terminal into the configuration
}
catch (Exception ex)
{
Console.WriteLine("Warning: {0}", ex.Message);
}
int j = 0;
foreach (ITcSmTreeItem Box in device)
{
if (Box.ItemSubTypeName.Contains("EP7402-0057"))
{
Box.Name = dt.Rows[j].ItemArray[0].ToString() + j.ToString();
this.EditParams(Box, dt.Rows[j].ItemArray[2].ToString());
j++;
LinkIoToPlc(Box);
}
} //for each Box
} //end of foreach loops
}
} //ScanDevicesandBoxes()