/// <summary>
///
/// </summary>
/// <param name="slaveMacId"></param>
/// <param name="classCode"></param>
/// <param name="instanceId"></param>
public void ObjectResetService(int slaveMacId, byte classCode, byte instanceId)
{
byte[] request = new byte[]
{
(byte)MasterMacId, /*Source MAC Id: 0..64 */
Services.SRVS_RESET, /*Get Attribute Single*/
classCode, /*Class Code*/
instanceId, /*Instance Id*/
};
Adapter.Write(new CanMessage[]
{
new CanMessage(DeviceNetAddressing.GetExplicitRequestCanId(slaveMacId), request)
});
int retrty = 3;
long timestamp = DateTime.Now.Ticks;
bool isTimeout = false;
CanMessage[] rxMsgBuffer = new CanMessage[1];
do
{
do
{
if (Adapter.Attributes.PendingRxMessages > 0)
{
isTimeout = false;
Adapter.Read(rxMsgBuffer, 0, 1);
break;
}
isTimeout = DateTime.Now.Ticks - timestamp > 1000 * 10000;
} while (!isTimeout);
if (isTimeout && retrty != 0)
{
timestamp = DateTime.Now.Ticks;
}
} while (--retrty != 0 && isTimeout);
if (isTimeout)
{
throw new DeviceNetException("DeviceNet: Response Timeout.");
}
byte[] response = rxMsgBuffer[0].Data;
if (response[1] == 0x94)
{
throw new DeviceNetException("DeviceNet:" + DeviceNetException.ErrorMessageToString(response[2], response[3]));
}
if ((response[1] & 0x80) != 0x80)
{
throw new ApplicationException("DeviceNet:" + "Response Invalid.");
}
}
/// <summary>
///
/// </summary>
public void AllocateExplicitConnection(int slaveMacId)
{
Adapter.Write(new CanMessage[]
{
new CanMessage(DeviceNetAddressing.GetUnconnctedExplicitRequestCanId(slaveMacId), new byte[] { 0x00, 0x4B, 0x03, 0x01, 0x01, 0x00 })
});
int retrty = 3;
long timestamp = DateTime.Now.Ticks;
bool isTimeout = false;
CanMessage[] rxMsgBuffer = new CanMessage[1];
do
{
do
{
if (Adapter.Attributes.PendingRxMessages > 0)
{
isTimeout = false;
Adapter.Read(rxMsgBuffer, 0, 1);
break;
}
isTimeout = DateTime.Now.Ticks - timestamp > 1000 * 10000;
} while (!isTimeout);
if (isTimeout && retrty != 0)
{
timestamp = DateTime.Now.Ticks;
}
} while (--retrty != 0 && isTimeout);
CanMessage response = rxMsgBuffer[0];
if (isTimeout)
{
throw new DeviceNetException("DeviceNet: Response Timeout.");
}
if (response.Data[1] == 0x94)
{
throw new DeviceNetException("DeviceNet:" + DeviceNetException.ErrorMessageToString(response.Data[2], response.Data[3]));
}
if ((response.Data[1] & 0x80) != 0x80)
{
throw new ApplicationException("DeviceNet:" + "Response Invalid.");
}
}
/// <summary>
///
/// </summary>
/// <param name="slaveMacId"></param>
/// <param name="classCode"></param>
/// <param name="instanceId"></param>
/// <param name="attributeId"></param>
/// <param name="value"></param>
public void SetAttribute(int slaveMacId, byte classCode, byte instanceId, byte attributeId, byte[] value)
{
//bool rxComplete = false;
//byte fragCounter = 0;
byte[] requestHeader = new byte[]
{
(byte)MasterMacId, /*Source MAC Id: 0..64 */
Services.SRVS_SET_ATTRIB_SINGLE, /*Set Attribute Single*/
classCode, /*Class Code*/
instanceId, /*Instance Id*/
attributeId, /*Attribute Id*/
};
byte[] request = new byte[requestHeader.Length + value.Length];
Buffer.BlockCopy(requestHeader, 0, request, 0, requestHeader.Length);
Buffer.BlockCopy(value, 0, request, requestHeader.Length, value.Length);
Adapter.Write(new CanMessage[]
{
new CanMessage(DeviceNetAddressing.GetExplicitRequestCanId(slaveMacId), request)
});
int retrty = 3;
long timestamp = DateTime.Now.Ticks;
bool isTimeout = false;
CanMessage[] rxMsgBuffer = new CanMessage[1];
do
{
do
{
if (Adapter.Attributes.PendingRxMessages > 0)
{
isTimeout = false;
Adapter.Read(rxMsgBuffer, 0, 1);
break;
}
isTimeout = DateTime.Now.Ticks - timestamp > 1000 * 10000;
} while (!isTimeout);
if (isTimeout && retrty != 0)
{
timestamp = DateTime.Now.Ticks;
}
} while (--retrty != 0 && isTimeout);
if (isTimeout)
{
throw new DeviceNetException("DeviceNet: Response Timeout.");
}
byte[] response = rxMsgBuffer[0].Data;
if (response[1] == 0x94)
{
throw new DeviceNetException("DeviceNet:" + DeviceNetException.ErrorMessageToString(response[2], response[3]));
}
if ((response[1] & 0x80) != 0x80)
{
throw new ApplicationException("DeviceNet:" + "Response Invalid.");
}
}
/// <summary>
///
/// </summary>
/// <param name="slaveMacId"></param>
/// <param name="classCode"></param>
/// <param name="instanceId"></param>
/// <param name="attributeId"></param>
/// <returns></returns>
public byte[] GetAttribute(int slaveMacId, byte classCode, byte instanceId, byte attributeId)
{
bool rxComplete = false;
byte fragCounter = 0;
byte[] response = new byte[256];
int responseLength = 0;
byte[] request = new byte[]
{
(byte)MasterMacId, /*Source MAC Id: 0..64 */
Services.SRVS_GET_ATTRIB_SINGLE, /*Get Attribute Single*/
classCode, /*Class Code*/
instanceId, /*Instance Id*/
attributeId, /*Attribute Id*/
};
Adapter.Write(new CanMessage[]
{
new CanMessage(DeviceNetAddressing.GetExplicitRequestCanId(slaveMacId), request)
});
do
{
int retrty = 3;
long timestamp = DateTime.Now.Ticks;
bool isTimeout = false;
CanMessage[] rxMsgBuffer = new CanMessage[1];
do
{
do
{
if (Adapter.Attributes.PendingRxMessages > 0)
{
isTimeout = false;
Adapter.Read(rxMsgBuffer, 0, 1);
break;
}
isTimeout = DateTime.Now.Ticks - timestamp > 1000 * 10000;
} while (!isTimeout);
if (isTimeout && retrty != 0)
{
timestamp = DateTime.Now.Ticks;
}
} while (--retrty != 0 && isTimeout);
if (isTimeout)
{
throw new DeviceNetException("DeviceNet: Response Timeout.");
}
CanMessage responseBuffer = rxMsgBuffer[0];
if ((responseBuffer.Data[0] & 0x80) == 0x80)
{ /*Fragmented Response*/
int fragmentType = (responseBuffer.Data[1] & 0xC0) >> 6;
if (fragmentType == 0x02)
{
rxComplete = true;
}
byte[] ack = new byte[]
{
(byte)(0x80 | MasterMacId), /*0x80|MasterMacId*/
(byte)(0xC0 | fragCounter), /*0xC0|FragCounter -> ACK*/
0x00
};
Adapter.Write(new CanMessage[] {
new CanMessage(DeviceNetAddressing.GetExplicitRequestCanId(slaveMacId), ack)
});
Buffer.BlockCopy(responseBuffer.Data, 2, response, responseLength, responseBuffer.Data.Length - 2);
responseLength += responseBuffer.Data.Length - 2;
fragCounter++;
}
else
{ /*Not Fragmented Response*/
Buffer.BlockCopy(responseBuffer.Data, 1, response, 0, responseBuffer.Data.Length - 1);
responseLength += responseBuffer.Data.Length - 1;
rxComplete = true;
}
} while (!rxComplete);
if (response[0] == 0x94)
{
throw new DeviceNetException("DeviceNet:" + DeviceNetException.ErrorMessageToString(response[1], response[2]));
}
if ((response[0] & 0x80) != 0x80)
{
throw new ApplicationException("DeviceNet:" + "Response Invalid.");
}
byte[] value = new byte[responseLength - 1];
Buffer.BlockCopy(response, 1, value, 0, responseLength - 1);
return(value);
}
