Read & write I/O signals

AbbController robot = new AbbController();
robot.Connect("192.168.0.1");
// A signal is identified by its network, its device and its name
IoSignalItem signal = robot.Rws.Io.GetSignal("Local", "Board10", "DO_Gripper");

Console.WriteLine(signal.Path);          // Local/Board10/DO_Gripper
Console.WriteLine(signal.Type);          // DigitalOutput
Console.WriteLine(signal.LogicalValue);  // 1
Console.WriteLine(signal.LogicalState);  // NotSimulated
Console.WriteLine(signal.PhysicalValue); // 1
Console.WriteLine(signal.PhysicalState); // Valid


// Every signal of the controller, in one call
IoSignalItem[] signals = robot.Rws.Io.GetSignals();

foreach (IoSignalItem item in signals)
{
    Console.WriteLine($"{item.Path} = {item.LogicalValue} ({item.Type})");
}
robot.Disconnect();
}

AbbController robot = new AbbController();
robot.Connect("192.168.0.1");
// A digital signal takes 0 or 1
robot.Rws.Io.SetSignalValue("Local", "Board10", "DO_Gripper", 1);

// An analog or a group signal takes any value inside its range
robot.Rws.Io.SetSignalValue("Local", "Board10", "AO_Speed", 12.5f);

// The last argument writes the change in the event log of the controller
robot.Rws.Io.SetSignalValue("Local", "Board10", "DO_Gripper", 0, true);

// The controller applies the value 500 ms later, and answers immediately
robot.Rws.Io.SetSignalValueDelayed("Local", "Board10", "DO_Gripper", 1, 500);
robot.Disconnect();
}

AbbController robot = new AbbController();
robot.Connect("192.168.0.1");
// Three pulses to 1, 200 ms active and 200 ms passive
robot.Rws.Io.PulseSignal("Local", "Board10", "DO_Gripper", 1, 3, 200, 200);

// Same, with the pulse lengths configured on the controller
robot.Rws.Io.PulseSignal("Local", "Board10", "DO_Gripper", 1, 1);

// Toggle pulses the signal by starting from the opposite of its current value
robot.Rws.Io.ToggleSignal("Local", "Board10", "DO_Gripper", 1, 2, 200, 200);

// Invert writes the opposite of the current value, once
robot.Rws.Io.InvertSignal("Local", "Board10", "DO_Gripper", 1);
robot.Disconnect();
}

    AbbController robot = new AbbController();
    robot.Connect("192.168.0.1");
    // Ask the robot to work, then wait for its answer
    robot.Rws.Io.SetSignalValue("Local", "Board10", "DO_Start", 1);

    if (!WaitValue(robot, "Local", "Board10", "DI_Done", 1, 10000))
        throw new Exception("The robot did not answer in 10 seconds");

    robot.Rws.Io.SetSignalValue("Local", "Board10", "DO_Start", 0);
    

// Polls one signal until it reaches the expected value, or the timeout expires.
// 200 ms is a reasonable period : a shorter one loads the controller for nothing.
static bool WaitValue(AbbController robot, string network, string device, string signal,
                      float expected, int timeoutMs)
{
    DateTime limit = DateTime.UtcNow.AddMilliseconds(timeoutMs);

    while (DateTime.UtcNow < limit)
    {
        IoSignalItem item = robot.Rws.Io.GetSignal(network, device, signal);

        if (item.LogicalValue == expected)
            return true;

        Thread.Sleep(200);
    }

    return false;
}
}

AbbController robot = new AbbController();
robot.Connect("192.168.0.1");
// Simulate an input: it keeps the value written by the client
robot.Rws.Io.SetSignalState("Local", "Board10", "DI_PartPresent", true);
robot.Rws.Io.SetSignalValue("Local", "Board10", "DI_PartPresent", 1);

IoSignalItem signal = robot.Rws.Io.GetSignal("Local", "Board10", "DI_PartPresent");
Console.WriteLine(signal.LogicalState); // Simulated

// Give the signal back to its device
robot.Rws.Io.SetSignalState("Local", "Board10", "DI_PartPresent", false);

// Or stop simulating every simulated signal of the controller at once
robot.Rws.Io.UnblockSignals();
robot.Disconnect();
}

AbbController robot = new AbbController();
robot.Connect("192.168.0.1");
IoSignalConfiguration config = robot.Rws.Io.GetSignalConfiguration("Local", "Board10", "DO_Gripper");

Console.WriteLine(config.SignalName);   // DO_Gripper
Console.WriteLine(config.SignalBits);   // 1

// Who is allowed to write the signal, and in which operation mode
Console.WriteLine(config.Rapid);        // a RAPID program
Console.WriteLine(config.LocalManual);  // the teach pendant, in manual mode
Console.WriteLine(config.LocalAuto);    // the teach pendant, in auto mode
Console.WriteLine(config.RemoteManual); // a remote client, in manual mode
Console.WriteLine(config.RemoteAuto);   // a remote client, in auto mode
robot.Disconnect();
}

AbbController robot = new AbbController();
robot.Connect("192.168.0.1");
// Every digital output of one device
IoSignalSearchCriteria criteria = new IoSignalSearchCriteria();
criteria.DeviceName = "Board10";
criteria.Type = IoSignalType.DigitalOutput;

IoSignalItem[] outputs = robot.Rws.Io.SearchSignals(criteria);

foreach (IoSignalItem signal in outputs)
{
    Console.WriteLine($"{signal.Name} = {signal.LogicalValue}");
}


// The extended search also reports the physical value and the write access level
IoSignalItem[] extended = robot.Rws.Io.SearchSignalsExtended(criteria, null, 0, 50);

Console.WriteLine(extended[0].PhysicalValue);
Console.WriteLine(extended[0].Quality);
Console.WriteLine(extended[0].WriteAccessLevel);

// A second inverted criteria excludes what it matches, here the safety signals
IoSignalSearchCriteria exclude = new IoSignalSearchCriteria();
exclude.Category = "safety";
exclude.Invert = true;

IoSignalItem[] withoutSafety = robot.Rws.Io.SearchSignals(criteria, exclude);
robot.Disconnect();
}