TcTimer Sample für VisualStudio 2005

TwinCAT I/O - TcTimer Sample Project for VisualStudio 2005

 

/////////////////////////////////////////////////////////////////////////////// 
// 
// Beckhoff Automation 
// 
// TwinCAT CE ® I/O sample program using TwinCAT Timer.
// 
///////////////////////////////////////////////////////////////////////////////
// TcTimerWrap.lib and TCatIoDrvW32.lib must be linked for this project
//

#include "stdafx.h"
#include "stdio.h" 
#include "windows.h" 
#include "TCatIoW32Api.h"     // header file shipped with TwinCAT® I/O 
#include "TcTimerApi.h"     // header file shipped with TwinCAT® I/O 
#include "Task1ms.h"     // TwinCAT® System Manager generated 
#include "Task10ms.h"     // TwinCAT® System Manager generated


#define IOERR_IOSTATEBUSY             0x2075
#define TASK1MS_DELAY             1 // Ticks 
#define TASK10MS_DELAY             10 // Ticks
#define DELAY_IN_100NS(x)             (x*10000)

PTask1ms_Outputs         pT1msOut; 
PTask1ms_Inputs         pT1msIn; 
PTask10ms_Outputs     pT10msOut; 
PTask10ms_Inputs         pT10msIn;
HANDLE                    g_hEvent1, g_hEvent2;
BOOL                        g_bExit;


///////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
static DWORD WINAPI TimerProc1( LPVOID lpParam) 
{ 
    static int i=0; 
    long nError; 
    
    while(!g_bExit)
    { 
        WaitForSingleObject(g_hEvent1,INFINITE);
        // first try to get the inputs and test if input update succeeded
        if ( (nError = TCatIoInputUpdate( TASK1MS_PORTNUMBER )) == 0 ) 
        { 
            // do your calculation and logic 
            pT1msOut->AnalogOut = pT1msIn->AnalogIn; 
            // start the I/O update and field bus cycle 
            TCatIoOutputUpdate( TASK1MS_PORTNUMBER ); 
        }
        else 
            printf( "TCatInputUpdate(%d) %d failed with 0x%x !\n",
                    TASK1MS_PORTNUMBER, i++, nError ); 
     }
    return 0;
}
///////////////////////////////////////////////////////////////////////////////
static DWORD WINAPI TimerProc2( LPVOID lpParam) 
{ 
    static int i=0; 
    long nError; 
    
    while(!g_bExit)
    { 
        WaitForSingleObject(g_hEvent2,INFINITE);
        if ( (nError = TCatIoInputUpdate( TASK10MS_PORTNUMBER )) == 0 ) 
        { 
            // optionally test the device state, zero is ok. 
            if ( pT10msIn->IoDeviceState != 0 ) 
                printf( "I Device Error !\n" ); 
            else 
            { 
                // do your calculation and logic
                pT10msOut->DigitalOut[0] = pT10msIn->DigitalIn[0];
                pT10msOut->DigitalOut[1] = pT10msIn->DigitalIn[1]; 
                // start the I/O update and field bus cycle 
                TCatIoOutputUpdate( TASK10MS_PORTNUMBER ); 
            } 
        } 
        else 
            printf("TCatInputUpdate(%d) %d failed with 0x%x !\n", 
            TASK10MS_PORTNUMBER, i++, nError ); 
    }
    return 0;
}


int _tmain(int argc, TCHAR* argv[])
{
    INT idTimer1, idTimer2; 
    TCHAR pszTask1Name[MAX_PATH] = TEXT("evt_TASK_1_TICK"); 
    TCHAR pszTask2Name[MAX_PATH] = TEXT("evt_TASK_10_TICK"); 
    HANDLE hThreadTask1, hThreadTask2;
    long m_nAdsState;
    DWORD m_dwBaseTime;
    // always call TCatIoOpen first. 
    if ( TCatIoOpen() == 0 ) 
    { 
        m_nAdsState = TCatGetState();
        if( (TcTimerInitialize() != STATUS_SUCCESS) && (m_nAdsState != ADSSTATE_RUN) )
        {
            TCatIoClose();
            printf("Failed to Initialize TcTimer or TwinCAT not in RUN mode\n");
            getchar();
            return FALSE;
        }
        m_dwBaseTime = TcTimerGetTickTime()/10; 
        printf("Base Time = %d microseconds\n", m_dwBaseTime);

        // get the process image pointer 
        if ( TCatIoGetOutputPtr(TASK1MS_PORTNUMBER, (void**)&pT1msOut,sizeof(Task1ms_Outputs) ) == 0 && 
            TCatIoGetInputPtr( TASK1MS_PORTNUMBER,(void**)&pT1msIn, sizeof(Task1ms_Inputs) ) == 0 &&
            TCatIoGetOutputPtr(TASK10MS_PORTNUMBER,(void**)&pT10msOut, sizeof(Task10ms_Outputs) )== 0 && 
            TCatIoGetInputPtr(TASK10MS_PORTNUMBER,(void**)&pT10msIn, sizeof(Task10ms_Inputs) )== 0 ) 
        { 
            // Create Events for the Tasks 
            g_hEvent1 = CreateEvent(NULL,FALSE,FALSE,pszTask1Name); 
            g_hEvent2 = CreateEvent(NULL,FALSE,FALSE,pszTask2Name); 
            // Set Events in TcTimer
            idTimer1 = TcTimerSetEvent( TASK1MS_DELAY, pszTask1Name, TIME_CALLBACK_EVENT_SET|TIME_PERIODIC ); 
            idTimer2 = TcTimerSetEvent( TASK10MS_DELAY, pszTask2Name, TIME_CALLBACK_EVENT_SET|TIME_PERIODIC ); 
            g_bExit = FALSE;
            // Create thread
            hThreadTask1 = CreateThread( NULL, 0, TimerProc1, NULL, CREATE_SUSPENDED, NULL); 
            hThreadTask2 = CreateThread( NULL, 0, TimerProc2, NULL, CREATE_SUSPENDED, NULL); 
            // Set the Priorities of the Thread
            if (CeSetThreadPriority(hThreadTask1, 26) && CeSetThreadPriority(hThreadTask2, 27))
            {
                ResumeThread(hThreadTask1);
                ResumeThread(hThreadTask2);
            }
            
            // Wait for the end
            printf("Press any key to End !!\n");
            getchar();
            g_bExit = TRUE;
            SetEvent(g_hEvent1);
            SetEvent(g_hEvent2);
            // events are no longer needed 
            TcTimerKillEvent( idTimer1 ); 
            TcTimerKillEvent( idTimer2 ); 
            CloseHandle( g_hEvent1 ); 
            CloseHandle( g_hEvent2 ); 
        } 
        // free resources 
        TCatIoClose(); 
        TcTimerDeinitialize(); 
    }
    return 0;
}

Debuggen der BeispielApplikation

Um das Programm zu debuggen führen sie die folgenden Schritte durch: