TwinCAT ADS interface to Beckhoff PLCs (real and virtual)

Inheritance diagram for realvirtual.TwinCatAdsInterface:

Public Types
enum	updatemode

Public Types inherited from realvirtual.realvirtualBehavior
enum	ActiveOnly

Public Member Functions
override void	OpenInterface ()
	Opens a connection to TwinCAT ADS Client and initializes the stream readers and Router and ADS Notifications. More...

override void	CloseInterface ()
	Closes the connection to TwinCAT ADS Client. More...

void	ImportSignals (bool simstart)
	Imports all signal objects under the interface gameobject. More...

override void	OpenInterface ()

override void	CloseInterface ()

Public Member Functions inherited from realvirtual.InterfaceBaseClass
void	UpdateInterfaceSignals (ref int inputs, ref int outputs)
	Creates a new List of InterfaceSignals based on the Components under this Interface GameObject.

Signal	CreateSignalObject (string name, SIGNALTYPE type, SIGNALDIRECTION direction)
	Create a signal object as sub gameobject.

Signal	AddSignal (InterfaceSignal interfacesignal)

void	RemoveSignal (InterfaceSignal interfacesignal)

virtual GameObject	GetSignal (string name)
	Gets a signal with a name. More...

virtual void	OpenInterface ()

virtual void	CloseInterface ()

void	SetAllSignalStatus (bool connected)

void	DestroyAllSignals ()

void	DeleteSignals ()

Public Member Functions inherited from realvirtual.realvirtualBehavior
void	SetForceStop (bool forcestop)

Vector3	DirectionToVector (DIRECTION direction)
	Transfers the direction enumeration to a vector.

DIRECTION	VectorToDirection (bool torotatoin, Vector3 vector)
	Transfers a vector to the direction enumeration.

float	GetLocalScale (Transform thetransform, DIRECTION direction)

List< BehaviorInterfaceConnection >	UpdateConnectionInfo ()

List< Signal >	GetConnectedSignals ()

void	SetVisibility (bool visibility)
	Sets the visibility of this object including all subobjects.

List< BehaviorInterfaceConnection >	GetConnections ()

List< Signal >	GetSignals ()

GameObject	GetChildByName (string name)
	Gets a child by name.

List< GameObject >	GetChildsByName (string name)
	Gets all child by name.

GameObject	GetChildByNameAlsoHidden (string name)

List< GameObject >	GetAllMeshesWithGroup (string group)

List< GameObject >	GetAllWithGroup (string group)

List< GameObject >	GetAllWithGroups (List< string > groups)

List< GameObject >	GetAllMeshesWithGroups (List< string > groups)

List< string >	GetMyGroups ()

List< GameObject >	GetMeshesWithSameGroups ()

List< GameObject >	GetAllWithSameGroups ()

MeshRenderer	GetMeshRenderer ()
	Gets the mesh renderers in the childrens.

void	SetCollider (bool enabled)
	sets the collider in all child objects

void	ErrorMessage (string message)
	Displays an error message.

void	ChangeConnectionMode (bool isconnected)

void	Log (string message)
	Logs a message.

void	Log (string message, object obj)
	Logs a message with a relation to an object.

void	Warning (string message, object obj)
	Logs a warinng with a relation to an object.

void	Error (string message, object obj)
	Logs an error with a relation to an object.

void	Error (string message)
	Logs an error.

GameObject	DebugPosition (string debugname, Vector3 position, Quaternion quaternation, float scale)
	Displays a gizmo for debugging positions.

void	SetFreezePosition (bool enabled)
	Freezes all child components to the current poosition.

virtual void	AwakeAlsoDeactivated ()

Public Attributes
string	NetId = "127.0.0.1.1.1"
	The TwinCAT NetID of the PLC to communicate with.

int	Port = 851
	The TwinCAT Port of the PLC to communicate with.

updatemode	UpdateMode

int	PLCOutputsMinUpdateCycleMs
	Specifies if the event should be fired cyclically or only if the variable has changed. More...

int	PLCOutputsMaxUpdateDelay
	The ADS server checks whether the variable has changed after this time interval. Unit is in ms. More...

int	MaxNumberADSSubCommands = 1000

bool	ReadAllOutputsOnStart = false

bool	WriteAllInputsOnStart = false

bool	DebugMode = false

string	ConnectionStatus
	The connection Status to the PLC - Connected if everything is ok (ReadOnly)

string	RouterStatus
	The Status to the Router -.

string	PLCStatus

int	NumberInputs
	The number of Inputs in the interface (ReadOnly)

int	NumberOutputs
	The number of Outputs in the interface (ReadOnly)

int	StreamLength
	The number of Outputs in the interface (ReadOnly)

List< string >	RegExImportSignals

List< string >	RegExSkipSignals
	Regex to limit the imported signals to certain symbols. If nothing is in this list every symbol is imported.

List< string >	RegExSymbolIsPLCInput
	Regex to limit the imported signals to certain symbols. All Signals which are matchting these Regexs are not imported;.

bool	CreateSubFolders = true
	Regex to define which variables are PLCInputs. For some variables like globals which are not linked directly to an input or output it can not be detected automatically.

bool	ReadSignalValuesOnImport = true
	Create Subfolders for the Symbols with "." separating the name.

Public Attributes inherited from realvirtual.InterfaceThreadedBaseClass
int	MinUpdateCycle = 8

int	CommCycleMeasures = 1000

int	CommCycleNr

int	CommTimeMs

int	CommTimeMin

float	CommTimeMed

int	CommTimeMax

int	CommCycleMeasureNum

int	UpdateCycleMs

string	ThreadStatus

int	MinUpdateCycle2 = 8

int	CommCycleNr2

int	CommTimeMs2

int	CommTimeMin2

float	CommTimeMed2

int	CommTimeMax2

int	CommCycleMeasureNum2

int	UpdateCycleMs2

string	ThreadStatus2

bool	NoThreading = false

bool	TwoThreads = false

Public Attributes inherited from realvirtual.InterfaceBaseClass
bool	IsConnected =false

List< InterfaceSignal >	InterfaceSignals = new List<InterfaceSignal>()

Public Attributes inherited from realvirtual.realvirtualBehavior
string	Name
	The name of the component if it should be different from the GameObject name.

ActiveOnly	Active

GameObject	FromTemplate

realvirtualController	realvirtualController

bool	HideNonG44Components

bool	SceneIsAdditive

bool	ForceStop = false

Protected Member Functions
override void	CommunicationThreadUpdate ()

Protected Member Functions inherited from realvirtual.InterfaceThreadedBaseClass
virtual void	CommunicationThreadUpdate ()

virtual void	CommunicationThreadClose ()

virtual void	SecondCommunicationThreadUpdate ()

virtual void	SecondCommunicationThreadClose ()

Protected Member Functions inherited from realvirtual.InterfaceBaseClass
void	OnConnected ()

void	OnDisconnected ()

Protected Member Functions inherited from realvirtual.realvirtualBehavior
bool	hidename ()

bool	hideactiveonly ()

virtual void	OnStop ()

virtual void	OnStart ()

MU	GetTopOfMu (GameObject obj)
	Gets the top of an MU component (the first MU script going up in the hierarchy)

void	InitGame4Automation ()
	Initialiates the components and gets the reference to the realvirtualController in the scene.

virtual void	AfterAwake ()

void	Awake ()

Additional Inherited Members
Static Public Member Functions inherited from realvirtual.realvirtualBehavior
static bool	DirectionIsLinear (DIRECTION direction)
	Gets back if the direction is linear or a rotation.

Member Function Documentation

◆ CloseInterface()

override void realvirtual.TwinCatAdsInterface.CloseInterface ( )

virtual

Reimplemented from realvirtual.InterfaceThreadedBaseClass.

◆ CommunicationThreadUpdate()

override void realvirtual.TwinCatAdsInterface.CommunicationThreadUpdate ( )

protectedvirtual

Block Read

Reimplemented from realvirtual.InterfaceThreadedBaseClass.

◆ ImportSignals()

void realvirtual.TwinCatAdsInterface.ImportSignals ( bool simstart )

Create Signals Object if not existing

◆ OpenInterface()

override void realvirtual.TwinCatAdsInterface.OpenInterface ( )

virtual

Creates a new List of InterfaceSignals based on the Components under this Interface GameObject

Starts Multithreading

Reimplemented from realvirtual.InterfaceThreadedBaseClass.

Member Data Documentation

◆ PLCOutputsMaxUpdateDelay

int realvirtual.TwinCatAdsInterface.PLCOutputsMaxUpdateDelay

Initial value:

=

40

◆ PLCOutputsMinUpdateCycleMs

int realvirtual.TwinCatAdsInterface.PLCOutputsMinUpdateCycleMs

Initial value:

=

40

◆ UpdateMode

updatemode realvirtual.TwinCatAdsInterface.UpdateMode

Initial value:

=
                updatemode
                    .CyclicSumCommand

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Member Function Documentation

◆ CloseInterface()

◆ CommunicationThreadUpdate()

◆ ImportSignals()

◆ OpenInterface()

Member Data Documentation

◆ PLCOutputsMaxUpdateDelay

◆ PLCOutputsMinUpdateCycleMs

◆ UpdateMode