private void ConfigureSlaves(IList <SlaveInfo> slaves)
{
var callbacks = new List <EcHL.PO2SOCallback>();
foreach (var slave in slaves)
{
// SDO / PDO config / PDO assign
var currentSlaveIndex = (ushort)(Convert.ToUInt16(slaves.ToList().IndexOf(slave)) + 1);
var extensions = slave.Extensions;
var sdoWriteRequests = slave.GetConfiguration(extensions).ToList();
EcHL.PO2SOCallback callback = slaveIndex =>
{
sdoWriteRequests.ToList().ForEach(sdoWriteRequest =>
{
EcUtilities.CheckErrorCode(this.Context, EcUtilities.SdoWrite(this.Context, slaveIndex, sdoWriteRequest.Index, sdoWriteRequest.SubIndex, sdoWriteRequest.Dataset), nameof(EcHL.SdoWrite));
});
return(0);
};
EcHL.RegisterCallback(this.Context, currentSlaveIndex, callback);
callbacks.Add(callback);
}
callbacks.ForEach(callback =>
{
GC.KeepAlive(callback);
});
}
private void ConfigureSlaves(IList <SlaveInfo> slaveInfoSet)
{
List <EcHL.PO2SOCallback> callbackSet;
callbackSet = new List <EcHL.PO2SOCallback>();
foreach (SlaveInfo slaveInfo in slaveInfoSet)
{
ushort currentSlaveIndex;
IEnumerable <SlaveExtensionLogic> extensionSet;
IEnumerable <SdoWriteRequest> sdoWriteRequestSet;
EcHL.PO2SOCallback callback;
// SDO / PDO config / PDO assign
currentSlaveIndex = (ushort)(Convert.ToUInt16(slaveInfoSet.ToList().IndexOf(slaveInfo)) + 1);
extensionSet = slaveInfo.SlaveExtensionSet.Select(slaveExtension => _extensionFactory.BuildLogic <SlaveExtensionLogic>(slaveExtension)).ToList();
sdoWriteRequestSet = slaveInfo.GetConfiguration(extensionSet).ToList();
callback = slaveIndex =>
{
sdoWriteRequestSet.ToList().ForEach(sdoWriteRequest =>
{
EcUtilities.CheckErrorCode(this.Context, EcUtilities.SdoWrite(this.Context, slaveIndex, sdoWriteRequest.Index, sdoWriteRequest.SubIndex, sdoWriteRequest.Dataset), nameof(EcHL.SdoWrite));
});
return(0);
};
EcHL.RegisterCallback(this.Context, currentSlaveIndex, callback);
callbackSet.Add(callback);
}
callbackSet.ForEach(callback =>
{
GC.KeepAlive(callback);
});
}
