public void UpdateIO(DateTime referenceDateTime)
{
lock (_lock)
{
if (_isReconfiguring)
{
return;
}
_counter = (int)((_counter + 1) % _settings.CycleFrequency);
_actualWorkingCounter = EcHL.UpdateIo(this.Context, out _dcTime);
#region "Diagnostics"
// statistics
if (_counter == 0)
{
Trace.WriteLine($"lost frames: {(double)_lostFrameCounter / _settings.CycleFrequency:P2} / wkc mismatch: {(double)_wkcMismatchCounter / _settings.CycleFrequency:P2}");
if (_lostFrameCounter == _settings.CycleFrequency)
{
_logger.LogWarning($"frame loss occured ({ _settings.CycleFrequency } frames)");
_lostFrameCounter = 0;
}
if (_wkcMismatchCounter == _settings.CycleFrequency)
{
_logger.LogWarning($"working counter mismatch { _actualWorkingCounter }/{ _expectedWorkingCounter }");
//Trace.WriteLine(EcUtilities.GetSlaveStateDescription(_ecSettings.RootSlaves.SelectMany(x => x.Descendants()).ToList()));
_wkcMismatchCounter = 0;
}
_lostFrameCounter = 0;
_wkcMismatchCounter = 0;
}
// no frame
if (_actualWorkingCounter == -1)
{
_lostFrameCounter += 1;
this.UtcDateTime = DateTime.MinValue;
this.DcRingBufferAverage = 0;
return;
}
// working counter mismatch
if (_expectedWorkingCounter != _actualWorkingCounter)
{
_wkcMismatchCounter += 1;
this.UtcDateTime = DateTime.MinValue;
this.DcRingBufferAverage = 0;
return;
}
#endregion
// the UpdateIo timer tries to fire at discrete times. The timer is allowed to be early or delayed by < (CycleTime - Offset) and the resulting DC time will be floored to nearest 10 ms.
this.UtcDateTime = _dcEpoch.AddTicks(Convert.ToInt64(_dcTime / _dateTime_To_Ns)); // for time loop control
// for compensation, if DC is not initialized with real time or not initialized at all
if (_offset == TimeSpan.Zero)
{
_offset = referenceDateTime - this.UtcDateTime;
}
else
{
this.UtcDateTime += _offset;
}
// dc drift compensation
_dcRingBuffer[_dcRingBufferIndex] = Convert.ToInt64(referenceDateTime.Ticks - this.UtcDateTime.Ticks) * _dateTime_To_Ns;
this.DcRingBufferAverage = Convert.ToInt64(_dcRingBuffer.Average());
if (!_isDcCompensationRunning && Math.Abs(this.DcRingBufferAverage) > 1500000) // 1.5 ms
{
_isDcCompensationRunning = true;
_logger.LogInformation("DC drift compensation started");
}
else if (_isDcCompensationRunning && Math.Abs(this.DcRingBufferAverage) < 1000000) // 1.0 ms
{
_isDcCompensationRunning = false;
_logger.LogInformation("DC drift compensation finished");
}
if (_isDcCompensationRunning)
{
EcHL.CompensateDcDrift(this.Context, Convert.ToInt32(Math.Min(Math.Max(this.DcRingBufferAverage, -_dcDriftCompensationRate), _dcDriftCompensationRate)));
}
_dcRingBufferIndex = (_dcRingBufferIndex + 1) % _dcRingBufferSize;
}
}