private void ConfigureIoMap(IList <SlaveInfo> slaves)
{
var ioMapByteOffset = 0;
var ioMapBitOffset = 0;
var slavePdoOffsets = default(int[]);
var slaveRxPdoOffsets = new int[slaves.Count() + 1];
var slaveTxPdoOffsets = new int[slaves.Count() + 1];
_actualIoMapSize = EcHL.ConfigureIoMap(this.Context, _ioMapPtr, slaveRxPdoOffsets, slaveTxPdoOffsets, out _expectedWorkingCounter);
foreach (DataDirection dataDirection in Enum.GetValues(typeof(DataDirection)))
{
switch (dataDirection)
{
case DataDirection.Output:
slavePdoOffsets = slaveRxPdoOffsets;
break;
case DataDirection.Input:
slavePdoOffsets = slaveTxPdoOffsets;
break;
default:
throw new NotImplementedException();
}
foreach (var slave in slaves)
{
ioMapByteOffset = slavePdoOffsets[slaves.ToList().IndexOf(slave) + 1];
foreach (var variable in slave.DynamicData.Pdos.Where(x => x.SyncManager >= 0).ToList().SelectMany(x => x.Variables).ToList().Where(x => x.DataDirection == dataDirection))
{
variable.DataPtr = IntPtr.Add(_ioMapPtr, ioMapByteOffset);
variable.BitOffset = ioMapBitOffset;
if (variable.DataType == EthercatDataType.Boolean)
{
variable.BitOffset = ioMapBitOffset; // bool is treated as bit-oriented
}
Debug.WriteLine($"{variable.Name} {variable.DataPtr.ToInt64() - _ioMapPtr.ToInt64()}/{variable.BitOffset}");
ioMapBitOffset += variable.BitLength;
if (ioMapBitOffset > 7)
{
ioMapBitOffset = ioMapBitOffset % 8;
ioMapByteOffset += (variable.BitLength + 7) / 8;
}
}
}
}
_logger.LogInformation($"IO map configured ({slaves.Count()} {(slaves.Count() > 1 ? "slaves" : "slave")}, {_actualIoMapSize} bytes)");
}