public static string GetSlaveStateDescription(IntPtr context, IEnumerable <SlaveInfo> slaves)
{
var slaveStateDescription = new StringBuilder();
foreach (var slave in slaves)
{
var slaveIndex = Convert.ToUInt16(slaves.ToList().IndexOf(slave) + 1);
// Since the registers 0x092c and 0x0932 cannot be read always, the value will be reset before
var systemTimeDifference = int.MaxValue;
var speedCounterDifference = ushort.MaxValue;
ushort requestedState = 0;
ushort actualState = 0;
ushort alStatusCode = 0;
ushort outputPdoCount = 0;
ushort inputPdoCount = 0;
var returnValue = EcHL.ReadSlaveState(context, slaveIndex, ref requestedState, ref actualState, ref alStatusCode, ref systemTimeDifference, ref speedCounterDifference, ref outputPdoCount, ref inputPdoCount);
// ActualState <> RequestedState OrElse AlStatusCode > 0x0 Then
if (true)
{
if (returnValue < 0)
{
slaveStateDescription.AppendLine($"-- Error reading data ({slave.DynamicData.Name}) --");
}
else
{
string hasCompleteAccess = slave.Esi.Mailbox?.CoE?.CompleteAccess == true
? " True"
: "False";
slaveStateDescription.AppendLine($"Slave {slaveIndex,3} | CA: {hasCompleteAccess} | Req-State: 0x{requestedState:X4} | Act-State: 0x{actualState:X4} | AL-Status: 0x{alStatusCode:X4} | Sys-Time Diff: 0x{systemTimeDifference:X8} | Speed Counter Diff: 0x{speedCounterDifference:X4} | #Pdo out: {outputPdoCount} | #Pdo in: {inputPdoCount} | ({slave.DynamicData.Name})");
}
}
}
return(slaveStateDescription.ToString());
}