public EmergencyFrm(libCanopenSimple.libCanopenSimple lco)
{
_lco = lco;
InitializeComponent();
init();
}
public PDOForm(libCanopenSimple.libCanopenSimple lco)
{
this.lco = lco;
InitializeComponent();
pdoValue1.sendpdo += PdoValue_sendpdo;
pdoValue2.sendpdo += PdoValue_sendpdo;
pdoValue3.sendpdo += PdoValue_sendpdo;
pdoValue4.sendpdo += PdoValue_sendpdo;
}
/// <summary>
/// Construct a new SDO object
/// </summary>
/// <param name="can">a libCanopenSimple object that will give access to the hardware</param>
/// <param name="node">The note to talk to (UInt16)</param>
/// <param name="index">The index in the object dictionary to access</param>
/// <param name="subindex">The subindex in the object dictionary to access</param>
/// <param name="dir">Direction of transfer</param>
/// <param name="completedcallback">Optional, completed callback (or null if not required)</param>
/// <param name="databuffer">A byte array of data to be transfered to or from if more than 4 bytes</param>
public SDO(libCanopenSimple can, byte node, UInt16 index, byte subindex, direction dir, Action <SDO> completedcallback, byte[] databuffer)
{
this.can = can;
this.index = index;
this.subindex = subindex;
this.node = node;
this.dir = dir;
this.completedcallback = completedcallback;
this.databuffer = databuffer;
finishedevent = new ManualResetEvent(false);
state = SDO_STATE.SDO_INIT;
dbglevel = can.dbglevel;
}
/// <summary>
/// A simple test that uses libcanopensimple to open a can device, set up some COB specific callbacks
/// then send a bus reset all nodes NMT command after 5 seconds
/// </summary>
/// <param name="args"></param>
static void Main(string[] args)
{
//Change these to load correct driver and connect it to correct bus
string driver = "can_usb_win32";
string bus = "COM4";
BUSSPEED bitrate = BUSSPEED.BUS_500Kbit;
try
{
libCanopenSimple.libCanopenSimple lco = new libCanopenSimple.libCanopenSimple();
lco.nmtevent += Lco_nmtevent;
lco.nmtecevent += Lco_nmtecevent;
lco.pdoevent += Lco_pdoevent;
lco.sdoevent += Lco_sdoevent;
lco.open(4, bitrate, driver);
Console.WriteLine("listening for any traffic");
Console.WriteLine("Sending NMT reset all nodes in 5 seconds");
System.Threading.Thread.Sleep(5000);
lco.NMT_ResetNode(); //reset all
Console.WriteLine("Press any key to exit test..");
while (!Console.KeyAvailable)
{
}
lco.close();
}
catch (Exception e)
{
Console.WriteLine("That did not work out, exception message was \n" + e.ToString());
}
}
public SDOEditor(libCanopenSimple.libCanopenSimple lco)
{
this.lco = lco;
InitializeComponent();
}
public IOForm(libCanopenSimple.libCanopenSimple lco)
{
_lco = lco;
InitializeComponent();
}
public ResetEEPROM(libCanopenSimple.libCanopenSimple lco)
{
this.lco = lco;
InitializeComponent();
}
public Flasher(libCanopenSimple.libCanopenSimple lco)
{
this.lco = lco;
InitializeComponent();
this.FormClosing += Flasher_FormClosing;
}
public NMTFrm(libCanopenSimple.libCanopenSimple lco)
{
this.lco = lco;
InitializeComponent();
}
public void setlco(libCanopenSimple.libCanopenSimple lco)
{
this._lco = lco;
}
