From 968484af90916012d5c7cbbba8d6a365006243a2 Mon Sep 17 00:00:00 2001
From: "Samuele E. Locatelli" <samuele@steamware.net>
Date: Fri, 26 Feb 2021 19:17:08 +0100
Subject: [PATCH] add axes cmd (target pos and strobe/ack)

---
 CMS_CORE_Library/NcThermo.cs       | 11 ++++++++
 CMS_CORE_Library/S7Net/Nc_S7Net.cs | 45 ++++++++++++++++++++++++++++--
 2 files changed, 53 insertions(+), 3 deletions(-)

diff --git a/CMS_CORE_Library/NcThermo.cs b/CMS_CORE_Library/NcThermo.cs
index 163b3a5..e3e75fb 100644
--- a/CMS_CORE_Library/NcThermo.cs
+++ b/CMS_CORE_Library/NcThermo.cs
@@ -676,6 +676,17 @@ namespace CMS_CORE_Library
         /// <param name="confirmUpdate">true: HMI --> PLC, false: PLC --> HMI</param>
         /// <returns></returns>
         public abstract CmsError PLC_WRecipeEdit(bool confirmUpdate);
+
+        /// <summary>
+        /// Send axis command
+        /// </summary>
+        /// <param name="AxisNum">ID asse</param>
+        /// <param name="CommandBit">Comando (0..15)</param>
+        /// <param name="WritePos">Indica se scrivere la TargetPos</param>
+        /// <param name="TargetPos">Posizione target</param>
+        /// <returns></returns>
+        public abstract CmsError PLC_WAxisCommand(int AxisNum, uint CommandBit, bool WritePos, double TargetPos);
+
         /// <summary>
         /// Confirm FLIR image acquired and copied to PLC
         /// </summary>
diff --git a/CMS_CORE_Library/S7Net/Nc_S7Net.cs b/CMS_CORE_Library/S7Net/Nc_S7Net.cs
index 9280f43..1dd52e5 100644
--- a/CMS_CORE_Library/S7Net/Nc_S7Net.cs
+++ b/CMS_CORE_Library/S7Net/Nc_S7Net.cs
@@ -40,11 +40,13 @@ namespace CMS_CORE_Library.S7Net
 
         internal static MEMORY_CELL ALARMS_STATUS = new MEMORY_CELL(MEMORY_TYPE.Siemens_DB, TABLE, 14, 128);
 
+        // assi
         internal static MEMORY_CELL AXES_BUTTON_VISIBLE = new MEMORY_CELL(MEMORY_TYPE.Siemens_DB, TABLE, 3044, 16);
 
-        internal static MEMORY_CELL AXES_INFO = new MEMORY_CELL(MEMORY_TYPE.Siemens_DB, 616, 0, 896);
+        internal static MEMORY_CELL AXES_COMMAND = new MEMORY_CELL(MEMORY_TYPE.Siemens_DB, 616, 512, 512);
+
+        internal static MEMORY_CELL AXES_INFO = new MEMORY_CELL(MEMORY_TYPE.Siemens_DB, 616, 0, 512);
 
-        // assi
         internal static MEMORY_CELL AXES_RTDATA = new MEMORY_CELL(MEMORY_TYPE.Siemens_DB, 615, 0, 768);
 
         internal static MEMORY_CELL AXIS_RESET_PROCEDURE = new MEMORY_CELL(MEMORY_TYPE.Siemens_DB, TABLE, 2608, 1);
@@ -3320,7 +3322,7 @@ namespace CMS_CORE_Library.S7Net
                 }
             }
             return libraryError;
-        } 
+        }
 
         /// <summary>
         /// Get current Axis RT data
@@ -4624,6 +4626,43 @@ namespace CMS_CORE_Library.S7Net
             return NO_ERROR;
         }
 
+        /// <summary>
+        /// Send axis command
+        /// </summary>
+        /// <param name="AxisNum">ID asse</param>
+        /// <param name="CommandBit">Comando (0..15)</param>
+        /// <param name="WritePos">Indica se scrivere la TargetPos</param>
+        /// <param name="TargetPos">Posizione target</param>
+        /// <returns></returns>
+        public override CmsError PLC_WAxisCommand(int AxisNum, uint CommandBit, bool WritePos, double TargetPos)
+        {
+            CmsError libraryError = NO_ERROR;
+
+            if (WritePos)
+            {
+                MEMORY_CELL caTgtPos = new MEMORY_CELL(AXES_COMMAND.MemType, AXES_COMMAND.Address, AXES_COMMAND.SubAddress + ((AxisNum - 1) * 8), 2);
+                // in primis scrivo la TargetPos nei 4 byte DWord...
+                libraryError = MEM_RWDouble(W, 0, caTgtPos.MemType, caTgtPos.Address, caTgtPos.SubAddress, ref TargetPos);
+                if (libraryError.IsError())
+                    return libraryError;
+            }
+
+            // ...è permesso solo 0..7
+            if (CommandBit >= 0 && CommandBit < 7)
+            {
+                // posizione: è da array assi 0..n-1, 8byte ogni asse
+                MEMORY_CELL currAxAck = new MEMORY_CELL(AXES_COMMAND.MemType, AXES_COMMAND.Address, AXES_COMMAND.SubAddress + ((AxisNum - 1) * 8), 2);
+                MEMORY_CELL currAxStr = new MEMORY_CELL(AXES_COMMAND.MemType, AXES_COMMAND.Address, AXES_COMMAND.SubAddress + ((AxisNum - 1) * 8 + 2), 2);
+
+                // Call confirm update
+                libraryError = PLC_WStrobe(true, currAxAck, currAxStr, CommandBit);
+                if (libraryError.IsError())
+                    return libraryError;
+            }
+
+            return libraryError;
+        }
+
         public override CmsError PLC_WRefreshAllMessages()
         {
             // imposto come UserSoftKey