我可以使用this代码阅读多个订阅主题。但是我订阅了很多不同的主题,而if if语句正在减慢我的代码。我已经不得不在PlcTask中将循环滴答的数量增加到20(这可能是矫枉过正,但是10还不够)。我正在寻找一种更智能的解决方案,能够以更少的周期滴答作用。在下面显示的代码中,很明显这个IF语句有多长,这甚至不是整个if语句(仅适用于主题机器和motion1)。
IF fbMessageQueue.nQueuedMessages > 0 THEN
IF fbMessageQueue.Dequeue(fbMessage:=fbMessage) THEN
IF fbMessage.CompareTopic(sTopic:='machine/on') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Machine.bOnPB := STRING_TO_BOOL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='machine/off') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Machine.bOffPB := STRING_TO_BOOL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='motion1/position') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Motion.nMotion1Postion := STRING_TO_LREAL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='motion1/velocity') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Motion.nMotion1Velocity := STRING_TO_LREAL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='motion1/acceleration') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Motion.nMotion1Acceleration := STRING_TO_LREAL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='motion1/deceleration') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Motion.nMotion1Deceleration := STRING_TO_LREAL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='motion1/execute') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Motion.nMotion1Execute := STRING_TO_LREAL(sPayloadRcv);
// same for motion2 and motion3
END_IF
END_IF
END_IF
我的主题建立起来像'motion1 / position''motion1 / acceleration''motion2 / acceleration'等等(我希望你能得到这个想法)。所以我已经能够通过订阅'motion1 /#'来订阅所有的motion1主题。所以我尝试使用fb.Message.CompareTopic(sTopic:='motion1 /#')来查找属于motion1的主题,而不是识别主题'motion1 / somethingsomething'的if语句。然而,fb.Message.CompareTopic(sTopic:='motion1 /#')无法识别motion1主题。
IF fbMessageQueue.nQueuedMessages > 0 THEN
IF fbMessageQueue.Dequeue(fbMessage:=fbMessage) THEN
IF fbMessage.CompareTopic(sTopic:='machine/on') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Machine.bOnPB := STRING_TO_BOOL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='machine/off') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Machine.bOffPB := STRING_TO_BOOL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='motion1/#') THEN
IF fbMessage.CompareTopic(sTopic:='motion1/position') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Motion.nMotion1Postion := STRING_TO_LREAL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='motion1/velocity') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Motion.nMotion1Velocity := STRING_TO_LREAL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='motion1/acceleration') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Motion.nMotion1Acceleration := STRING_TO_LREAL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='motion1/deceleration') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Motion.nMotion1Deceleration := STRING_TO_LREAL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='motion1/execute') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Motion.nMotion1Execute := STRING_TO_LREAL(sPayloadRcv);
END_IF
// same for motion2 and motion3
END_IF
END_IF
END_IF
所以我展示的第一个代码确实从MQTT读取了我需要的所有消息,所以这非常好。但是应该有一种更有效的方法来做到这一点。我尝试了第二个代码中显示的方法,但是没有用。
好的,有很多事情需要改进。首先让我们创建将主题转换为数组的SPLIT
函数
FUNCTION SPLIT : ARRAY[0..255] OF STRING(250)
VAR_INPUT
STR: STRING(250);
CHAR: STRING(1);
END_VAR
VAR
iPos: INT;
sTest: STRING(250);
iIndex: INT;
xFinish: BOOL;
END_VAR
sTest := STR;
REPEAT
iPos := FIND(sTest, CHAR);
IF iPos = 0 THEN
SPLIT[iIndex] := sTest;
xFinish := TRUE;
ELSE
SPLIT[iIndex] := LEFT(sTest, iPos - 1);
sTest := RIGHT(sTest, LEN(sTest) - iPos);
END_IF;
iIndex := iIndex + 1;
UNTIL (xFinish = TRUE)
END_REPEAT;
END_FUNCTION
现在你如何找到当前主题是否与'motion1'相关
VAR
arsTopic: ARRAY[0..255] OF STRING(250);
END_VAR
IF fbMessageQueue.nQueuedMessages > 0 THEN
IF fbMessageQueue.Dequeue(fbMessage:=fbMessage) THEN
fbMessage.GetTopic(pTopic:=ADR(sTopicRcv), nTopicSize := SIZEOF(sTopicRcv));
arsTopic := SPLIT(sTopicRcv, '/');
IF (arsTopic[0] = 'motion1') THEN
// do your staff
END_IF
END_IF
END_IF
但是,既然你将不同的有效负载加载到不同的变量,我会创建一个映射。我不知道你所有的程序,但从我看到的我会开始:
TYPE SR_MOTION:
STRUCT
lrPostion: LREAL;
lrVelocity: LREAL;
lrAcceleration: LREAL;
lrDeceleration: LREAL;
lrExecute: LREAL;
END_STRUCT
END_TYPE
SR表示Sergey Romanov,您可以使用任何前缀
现在让我们创建一系列动作。假设你有3个。这样我们就可以将运动数分解为单独的变量。请注意,您的代码可以顺畅地工作而不需要太多的垃圾代码,您的主题必须不是motion1/velocity
而是motion/1/velosity
。
VAR
astMotions: ARRAY[1..3] OF SR_MOTION;
arsTopic: ARRAY[0..255] OF STRING(250);
i: INT;
END_VAR
IF fbMessageQueue.nQueuedMessages > 0 THEN
IF fbMessageQueue.Dequeue(fbMessage:=fbMessage) THEN
fbMessage.GetTopic(pTopic:=ADR(sTopicRcv), nTopicSize := SIZEOF(sTopicRcv));
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
arsTopic := SPLIT(sTopicRcv, '/');
IF arsTopic[0] = 'machine' THEN
IF arsTopic[1] = 'on' THEN
Machine.bOnPB := STRING_TO_BOOL(sPayloadRcv);
ELSIF arsTopic[1] = 'off' THEN
Machine.bOffPB := STRING_TO_BOOL(sPayloadRcv);
END_IF
ELSIF arsTopic[0] = 'motion' THEN
i := STRING_TO_INT(arsTopic[1]); // arsTopic[1] has motion number in `motion/1/velosity`
IF arsTopic[2] = 'position' THEN
astMotions[i].lrPosition := STRING_TO_LREAL(sPayloadRcv);
ELSIF arsTopic[2] = 'velosity' THEN
astMotions[i].lrVelosity := STRING_TO_LREAL(sPayloadRcv);
ELSIF arsTopic[2] = 'acceleration' THEN
astMotions[i].lrAcceleration := STRING_TO_LREAL(sPayloadRcv);
ELSIF arsTopic[2] = 'Deceleration' THEN
astMotions[i].lrDeceleration := STRING_TO_LREAL(sPayloadRcv);
ELSIF arsTopic[2] = 'execute' THEN
astMotions[i].lrExecute := STRING_TO_LREAL(sPayloadRcv);
END_IF
END_IF
END_IF
END_IF
以下是所有3个动作的所有代码。
编辑:添加主题中的数字删除
如果您不想将主题更改为motion/1/velosity
,那么您可以使用此函数来提取最后一个char并转换为int
FUNCTION TOPIC_TO_INT: INT
VAR_INPUT
str: STRING;
END_VAR
VAR
ps: POINTER TO ARRAY[0..200] OF BYTE;
END_VAR
ps := ADR(str);
TOPIC_TO_INT := BYTE_TO_INT(ps^[LEN(str) - 1]) - 48;
END_FUNCTION
然后在代码而不是i := STRING_TO_INT(arsTopic[1]);
你可以i := TOPIC_TO_INT(arsTopic[0])
和其余的代码略有变化。
所以如果你使用TOPIC_TO_INT(STRING#'message2')
这个函数将返回INT#2
我解决了我的问题!这是我的代码:
IF fbMessageQueue.nQueuedMessages > 0 THEN
IF fbMessageQueue.Dequeue(fbMessage:=fbMessage) THEN
fbMessage.GetTopic(pTopic:=ADR(sTopicRcv), nTopicSize := SIZEOF(sTopicRcv));
IF fbMessage.CompareTopic(sTopic:='machine/on') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Machine.bOnPB := STRING_TO_BOOL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='machine/off') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Machine.bOffPB := STRING_TO_BOOL(sPayloadRcv);
ELSIF INT_TO_BOOL(FIND(sTopicRcv,'motion1')) THEN
IF fbMessage.CompareTopic(sTopic:='motion1/position') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Motion.nMotion1Postion := STRING_TO_LREAL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='motion1/velocity') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Motion.nMotion1Velocity := STRING_TO_LREAL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='motion1/acceleration') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Motion.nMotion1Acceleration := STRING_TO_LREAL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='motion1/deceleration') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Motion.nMotion1Deceleration := STRING_TO_LREAL(sPayloadRcv);
ELSIF fbMessage.CompareTopic(sTopic:='motion1/execute') THEN
fbMessage.GetPayload(pPayload:=ADR(sPayloadRcv), nPayloadSize:=SIZEOF(sPayloadRcv), bSetNullTermination:=TRUE);
Motion.nMotion1Execute := STRING_TO_LREAL(sPayloadRcv);
END_IF
// same for motion2 and motion3
END_IF
END_IF
END_IF