倍福TwinCAT ADS通讯：变量读写

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1、PLC变量类型对应C#变量

C# 基本数据类型，值类型隐式继承自System.ValueType->System.Object
基本类型占用字节

PLC变量	C#
BOOL	bool
INT	short
UINT	ushort
DINT	int
UDINT(包括时间类型TIME)	uint
REAL	float
LREAL	double
STRING(80)	string, new int[] { 80 }
ARRAY[0…3] OF REAL	float[], new int[]{ 4 }
结构体	结构体(考虑字节对齐问题)

2、读写任意类型变量

2.0 官方例程

TwinCAT 3 -> TE1000 XAE -> Technologies ->ADS -> TwinCAT ADS

2.1、TcAdsClient类 ReadAny() 方法

	//read
	bool bTest1 = (bool)tcAdsClient.ReadAny(pHandle_bool1, typeof(Boolean));//read by handle
	short nTest1 = (short)tcAdsClient.ReadAny(pHandle_int1, typeof(short));//read by handle
	int dintTest1 = (int)tcAdsClient.ReadAny(pHandle_dint1, typeof(int));//read by handle
	double dfTest1 = (double)tcAdsClient.ReadAny(pHandle_lreal1, typeof(double));//read by handle
	string strTest1 = (string)tcAdsClient.ReadAny(pHandle_str1, typeof(string), new int[] { 11 });//read by handle
 	float fTest1 = (float)tcAdsClient.ReadAny(pHandle_array_real1, typeof(float));
 	MyStruct1 StructTest1 = (MyStruct1)tcAdsClient.ReadAny(pHandle_complexStruct1, typeof(MyStruct1))
	//数组读写方式1，readany
	float[] arrfTest1 = (float[])tcAdsClient.ReadAny(pHandle_array_real1, typeof(float[]), new int[] { 4 });//read by handle
	Console.Write("=====结果=====：");
	Console.Write("\n{0}\n{1}\n{2}\n{3}\n{4}\n", bTest1, nTest1, dintTest1, dfTest1, strTest1);

	for (int i = 0; i < 4; i++){
		Console.Write("{0} ",arrfTest1[i]);}

2.2、TcAdsClient类 WriteAny()方法

3、对上面ReadAny()、WriteAny()方法 做一些集成

3.1、使用泛型

/// <summary>
/// ReadAny<T> 泛型方法 实现
/// </summary>
/// <typeparam name="T">PLC数据类型，BOOL->bool, INT->short, REAL->float, LREAL->double 。</typeparam>
/// <param name="plcVariableName">plc变量名，字符串类型。</param>
/// <param name="Args">0：单个PLC变量； >0：PLC变量的字符串字符个数或数组元素个数。</param>
/// <returns>返回PLC变量值</returns>
public T ReadAny<T>(string plcVariableName, int Args = 0)
{
    if (base.ClientIsConnected)
    {
        try
        {
            int varHandle = this.tcAdsClient.CreateVariableHandle(plcVariableName);
            if (Args != 0)//是数组类型 或 字符串类型
            {
                return (T)this.tcAdsClient.ReadAny(varHandle, typeof(T), new int[] { Args });//read by handle
            }
            else//单个变量
            {
                return (T)this.tcAdsClient.ReadAny(varHandle, typeof(T));
            }
        }
        catch (Exception)
        {
            return default(T);
            throw;
        }
    }
    else
    {
        return default(T);
        //throw new Exception("base.ClientIsConnected 没有连接");
    }
}
/// <summary>
///  WriteAny<T> 泛型方法 实现
/// </summary>
/// <typeparam name="T">PLC数据类型，BOOL->bool, INT->short, REAL->float, LREAL->double 。</typeparam>
/// <param name="plcVariableName">plc变量名，字符串类型。</param>
/// <param name="value">写入的值。</param>
/// <param name="Args">0：单个PLC变量； >0：PLC变量的字符串字符个数或数组元素个数。</param>
/// <returns>true:写成功。</returns>
public bool WriteAny<T>(string plcVariableName, T value, int Args = 0)
{
    if (base.ClientIsConnected)
    {
        try
        {
            int varHandle = this.tcAdsClient.CreateVariableHandle(plcVariableName);
            if (Args != 0)//是数组类型 或 字符串类型
            {
                this.tcAdsClient.WriteAny(varHandle, value, new int[] { Args });
            }
            else//单个变量
            {
                this.tcAdsClient.WriteAny(varHandle, value);
            }
            return true;
        }
        catch (Exception)
        {    
            throw;
        }
    }
    else
    {
        return false;
        // throw new Exception("base.ClientIsConnected 没有连接");
    }
}

3.2、使用List泛型 - 实现PLC变量的批量读写

/// <summary>
/// 批量读取 PLC变量值
/// </summary>
/// <typeparam name="T">PLC变量类型</typeparam>
/// <param name="plcVariableName">PLC 变量名</param>
/// <param name="args">0：单个变量，>0：数组/字符串型PLC变量元素个数</param>
/// <returns>.NET 批量访问变量列表</returns>
public List<T> ReadAnyBatch<T>(List<string> plcVariableName, int args = 0)
{
    List<T> result = new List<T>();
    try
    {
        foreach (var item in plcVariableName)
        {
            result.Add(ReadAny<T>(item, args));
        }
        return result;
    }
    catch (Exception)
    {
        return result;
        throw;//读PLC变量失败
    }
}

/// <summary>
/// 批量写
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="plcVariableName"></param>
/// <param name="value"></param>
/// <param name="args"></param>
/// <returns></returns>
public bool WriteAnyBatch<T>(List<string> plcVariableName, T value, int args = 0)
{
    try
    {
        foreach (var item in plcVariableName)
        {
            if (WriteAny<T>(item, value, args) !=true)
            {
                return false;//写PLC变量失败  
            }
        }
        return true;
    }
    catch (Exception)
    {
        throw;
    }
}