//扫描从站
private void button1_Click(object sender, EventArgs e)
{
ethercat.getDevice();//然后就可以用ethercat.devices来进行操作了
TreeNode rootNode = new TreeNode("Devices");
treeView1.Nodes.Add(rootNode);
TreeNode[] typeNode = new TreeNode[4];
for (int i = 0; i < 4; i++)
{
typeNode[i] = new TreeNode(type[i]);
}
rootNode.Nodes.AddRange(typeNode);
for (int i = 0; i < EtherCAT.devices.Length; i++)
{
IOdevice device = EtherCAT.devices[i];
TreeNode slave = new TreeNode(device.name);
int slaveType = device.type;
typeNode[slaveType - 1].Nodes.Add(slave);
for (int channel = 0; channel < device.channelNum; channel++)
{
TreeNode ch = new TreeNode("channel" + (channel + 1));
slave.Nodes.Add(ch);
}
}
}
//将info中的list<list<>>变为TreeNode
public TreeNode ListToTree(Config config)
{
List <List <IOdevice> > deviceList = config.DeviceInfo.DeviceList;
TreeNode deviceTree = new TreeNode("DEVICE");
int deviceNum = 0, channelNum = 0;
foreach (List <IOdevice> deviceGroup in deviceList)
{
if (deviceGroup == null)
{
break;
}
//For the first, we need to select coupler out.
IOdevice coupler = deviceGroup[0];
TreeNode couplerNode = new TreeNode(coupler.name);
channelNum += coupler.channelNum; //If servo, neet to count channel.
deviceNum += deviceGroup.Count; //add to deviceNum.
for (int i = 1; i < deviceGroup.Count; i++)
{
//For others, we need to add them to the coupler Node one-by-one.
IOdevice device = deviceGroup[i];
TreeNode deviceNode = new TreeNode(device.name);
for (int channel = 0; channel < device.channelNum; channel++)
{
//For each channel, we add them auto-ly.
TreeNode ch = new TreeNode("Channel" + (channel + 1));
deviceNode.Nodes.Add(ch);
}
channelNum += device.channelNum;
couplerNode.Nodes.Add(deviceNode);
}
deviceTree.Nodes.Add(couplerNode);
}
/* TODO: Refresh deviceNum & channelNum. but if you haven't click scan_butten,
* this will not work. So we should find solution to get these two params before
* running.*/
config.DeviceInfo.DeviceNum = deviceNum;
config.DeviceInfo.AllChannelCount = channelNum;
return(deviceTree);
}
public IOdevice[] getDevice()
{
int slaveNum = CppConnect.getSlaveNum();
deviceNum = slaveNum;
for (int i = 0; i < slaveNum; i++)
{
IOdevice tmpSlave = new IOdevice();
int err = CppConnect.getSlaveInfo(ref tmpSlave, i);
if (err == SAFECODE)
{
devices[i] = tmpSlave;
}
else//有错误
{
throw new Exception();
}
}
return(devices);
}
/// <summary>
/// 获取设备列表
/// </summary>
public List <List <IOdevice> > GetDevice()
{
BuildConnection();
int slaveNum = ConnectionContext.deviceNum;
List <List <IOdevice> > deviceContiner = new List <List <IOdevice> >(); //全部device
List <IOdevice> devGroup = null; //一个device组
IOdevice tmpDevice = null;
for (int i = 1; i < slaveNum + 2; i++)
{
HtEcEntity tmpSlave = new HtEcEntity();
StringBuilder tmpSlaveName = new StringBuilder();
tmpSlaveName.Capacity = 128;
int err = HtEcConnector.getSlaveInfo(tmpSlaveName, ref tmpSlave, i);
if (tmpSlave.type == 10 || tmpSlave.type == 20) //耦合器或驱动器
{
if (devGroup != null)
{
deviceContiner.Add(devGroup);
}
devGroup = new List <IOdevice>();
}
tmpDevice = new IOdevice(tmpSlave.id, DeviceType.NULL, tmpSlaveName.ToString(), tmpSlave.channelNum);
//type
switch (tmpSlave.type)
{
case 1:
tmpDevice.type = DeviceType.DI;
break;
case 2:
tmpDevice.type = DeviceType.DO;
break;
case 3:
tmpDevice.type = DeviceType.AI;
break;
case 4:
tmpDevice.type = DeviceType.AO;
break;
case 10:
tmpDevice.type = DeviceType.COUPLER;
break;
case 20:
tmpDevice.type = DeviceType.SOLVER;
break;
default:
break;
}
devGroup.Add(tmpDevice);
tmpSlaveName.Clear();
}
deviceContiner.Add(devGroup);
return(deviceContiner);
}
public static extern int getSlaveInfo(ref IOdevice slaveInfo, int id);
