public void gennetpdodoc(string filepath, List <EDSsharp> network)
{
file = new StreamWriter(filepath, false);
file.Write("<!DOCTYPE html><html><head><link rel=\"stylesheet\" type=\"text/css\" href=\"style.css\" /> <title>Network PDO report</title></head><body>");
file.Write(string.Format("<h1>PDO Network Documentation </h1>"));
file.Write("<table id=\"nodelist\">");
write2linetableheader("Node ID", "Name");
foreach (EDSsharp eds in network)
{
write2linetablerow(eds.dc.NodeId.ToString(), eds.di.ProductName);
}
file.Write("</table>");
file.Write(string.Format("<h1>PDO Map</h1>"));
//now for each node find each TX PDO
foreach (EDSsharp eds in network)
{
foreach (KeyValuePair <UInt16, ODentry> kvp in eds.ods)
{
//find the com params for each TX pdo
if (kvp.Key >= 0x1800 && kvp.Key < 0x1a00)
{
//check the mapping also exists
if (eds.ods.ContainsKey((UInt16)(kvp.Key + 0x200)))
{
ODentry map = eds.ods[(UInt16)(kvp.Key + 0x200)];
ODentry compar = eds.ods[(UInt16)(kvp.Key)];
//Fix me we need some generic PDO access functions
UInt32 TXCOB = 0;
byte syncstart = 0;
UInt16 timer = 0;
UInt16 inhibit = 0;
byte type = 0;
bool nodeidpresent;
if (kvp.Value.Containssubindex(1))
{
TXCOB = eds.GetNodeID(kvp.Value.Getsubobject(1).defaultvalue, out nodeidpresent);
}
if (kvp.Value.Containssubindex(2))
{
type = EDSsharp.ConvertToByte(kvp.Value.Getsubobject(2).defaultvalue);
}
if (kvp.Value.Containssubindex(3))
{
inhibit = EDSsharp.ConvertToUInt16(kvp.Value.Getsubobject(3).defaultvalue);
}
if (kvp.Value.Containssubindex(5))
{
timer = EDSsharp.ConvertToUInt16(kvp.Value.Getsubobject(5).defaultvalue);
}
if (kvp.Value.Containssubindex(6))
{
syncstart = EDSsharp.ConvertToByte(kvp.Value.Getsubobject(6).defaultvalue);
}
byte totalsize = 0;
for (UInt16 sub = 1; sub <= map.Getmaxsubindex(); sub++)
{
if (!map.Containssubindex(sub))
{
continue;
}
UInt32 mapping = EDSsharp.ConvertToUInt32(map.Getsubobject(sub).defaultvalue);
if (mapping == 0)
{
continue;
}
Byte size = (byte)mapping;
totalsize += size;
}
if (totalsize != 0)
{
file.Write(string.Format("<h2> PDO 0x{0:x3} <h2>", TXCOB));
file.Write("<table><tr> <th>Parameter</th> <th>value</th> </tr>");
file.Write(string.Format("<tr><td>{0}</td><td>0x{1:x3}</td></tr>", "COB", TXCOB));
file.Write(string.Format("<tr><td>{0}</td><td>0x{1:x}</td></tr>", "Type", type));
file.Write(string.Format("<tr><td>{0}</td><td>0x{1:x} ({2})</td></tr>", "Inhibit", inhibit, inhibit));
file.Write(string.Format("<tr><td>{0}</td><td>0x{1:x} ({2})</td></tr>", "Event timer", timer, timer));
file.Write(string.Format("<tr><td>{0}</td><td>0x{1:x} ({2})</td></tr>", "Sync start", syncstart, syncstart));
file.Write(string.Format("<tr><td>{0}</td><td>0x{1:x}</td></tr>", "PDO Size (Bytes)", totalsize / 8));
file.Write("<table class=\"pdomap\">");
file.Write(string.Format("<tr><th>{0}</th><th>{1}</th><th>{2}</th><th>{3}</th><th>{4}</th><th>{5}</th></tr>", "Node", "Dev name", "OD Index", "Name", "Size", "Receivers"));
}
byte offsetend = 0;
byte offsetstart = 0;
for (UInt16 sub = 1; sub <= map.Getmaxsubindex(); sub++)
{
if (!map.Containssubindex(sub))
{
continue;
}
if (map.Getsubobjectdefaultvalue(sub) == "")
{
continue;
}
UInt32 mapping = EDSsharp.ConvertToUInt32(map.Getsubobjectdefaultvalue(sub));
if (mapping == 0)
{
continue;
}
//its real extract the OD and sub index
UInt16 index = (UInt16)(mapping >> 16);
UInt16 subindex = (UInt16)(0x00FF & (mapping >> 8));
Byte size = (byte)mapping;
String name;
if (!eds.ods.ContainsKey(index))
{
break;
}
if (subindex == 0)
{
name = eds.ods[index].parameter_name;
}
else
{
name = eds.ods[index].Getsubobject(subindex).parameter_name;
}
file.Write(string.Format("<tr> <td>0x{0:x2}</td> <td>{1}</td> <td>0x{2:x4}/0x{3:x2}</td><td>{4}</td> <td>{5}</td><td>", eds.dc.NodeId, eds.di.ProductName, index, subindex, name, size));
//find all receivers here
file.Write("<table class=\"receivers\">");
file.Write(string.Format("<tr> <th>Node</th> <th>Dev Name</th> <th>OD Index</th> <th>Name</th> <th>Size</td></tr>"));
offsetend += (byte)(size / 8);
foreach (EDSsharp eds2 in network)
{
if (eds == eds2)
{
continue;
}
else
{
foreach (KeyValuePair <UInt16, ODentry> kvp2 in eds2.ods)
{
if (kvp2.Key >= 0x1400 && kvp2.Key < 0x1600)
{
if (eds2.ods.ContainsKey((UInt16)(kvp2.Key + 0x200)))
{
bool nodeidpresent2;
UInt32 RXCOB = eds2.GetNodeID(kvp2.Value.Getsubobjectdefaultvalue(1), out nodeidpresent2);
if (RXCOB == TXCOB)
{
ODentry map2 = eds2.ods[(UInt16)(kvp2.Key + 0x200)];
//Get the actual subindex to use
byte offsetstart2 = 0;
byte offsetend2 = 0;
Byte size2 = 0;
UInt32 mapping2 = 0;
UInt16 index2 = 0;
UInt16 subindex2 = 0;
byte totalsize2 = 0;
//Sanity check the total size
for (byte sub2 = 1; sub2 <= map2.Getmaxsubindex(); sub2++)
{
mapping2 = EDSsharp.ConvertToUInt32(map2.Getsubobjectdefaultvalue(sub2));
size2 = (byte)(mapping2);
totalsize2 += size2;
}
if (totalsize2 != totalsize)
{
file.WriteLine("<B> Critical error with network RX PDO size != TX PDO SIZE");
}
for (byte sub2 = 1; sub2 <= map2.Getmaxsubindex(); sub2++)
{
mapping2 = EDSsharp.ConvertToUInt32(map2.Getsubobjectdefaultvalue(sub2));
index2 = (UInt16)(mapping2 >> 16);
subindex2 = (UInt16)(0x00FF & (mapping2 >> 8));
size2 = (byte)mapping2;
if (mapping2 == 0)
{
continue;
}
offsetend2 += (byte)(size2 / 8);
// if(offsetstart == offsetstart2 && offsetend == offsetend2)
//we are all good equal data 1:1 mapping
if (offsetstart2 < offsetstart)
{
//more data needed to reach start
offsetstart2 += (byte)(size2 / 8);
continue;
}
if (offsetend2 > offsetend && offsetstart2 > offsetstart)
{
break; //we are done
}
offsetstart2 += (byte)(size2 / 8);
if (offsetend2 > offsetend)
{
//merge cell required on parent table
//meh difficult to do from here
}
String name2;
if (subindex2 == 0)
{
//fixme getobject could return null
name2 = eds2.Getobject(index2).parameter_name;
}
else
{
//fixme getobject could return null
name2 = eds2.Getobject(index2).Getsubobject(subindex2).parameter_name;
}
string sizemsg = "";
if (size != size2)
{
sizemsg = " <b>WARNING</b>";
}
file.Write(string.Format("<tr> <td>0x{0:x2}</td> <td>{1}</td> <td>0x{2:x4}/0x{3:x2}</td> <td>{4}</td><td>{5}{6}</td></tr>", eds2.dc.NodeId, eds2.di.ProductName, index2, subindex2, name2, size2, sizemsg));
}
}
}
}
}
}
}
offsetstart += (byte)(size / 8);
file.Write("</table>");
file.Write("</td>");
file.Write(string.Format("</tr>"));
}
}
file.Write("</table>");
}
}
}
file.Close();
}
public void Test_CompactSubObj()
{
string testobject = @"[1003]
ParameterName=Pre-defined error field
ObjectType=0x8
DataType=0x0007
AccessType=rw
CompactSubObj=9
";
injectobject(testobject);
if (!ods.ContainsKey(0x1003))
{
throw (new Exception("parseEDSentry() failed no object"));
}
ODentry od = ods[0x1003];
if (od.subobjects.Count != 10)
{
throw (new Exception("parseEDSentry() CompactSubObj failed to generate children"));
}
ODentry sub = od.Getsubobject(0);
if (sub.parameter_name != "NrOfObjects")
{
throw (new Exception("parseEDSentry() CompactSubObj incorrect generation"));
}
if (sub.datatype != DataType.UNSIGNED8)
{
throw (new Exception("parseEDSentry() CompactSubObj incorrect generation"));
}
if (sub.accesstype != AccessType.ro)
{
throw (new Exception("parseEDSentry() CompactSubObj incorrect generation"));
}
UInt16 defaultvalue = EDSsharp.ConvertToByte(sub.defaultvalue);
if (defaultvalue != 9)
{
throw (new Exception("parseEDSentry() CompactSubObj incorrect generation"));
}
if (sub.PDOtype != PDOMappingType.no)
{
throw (new Exception("parseEDSentry() CompactSubObj incorrect generation"));
}
for (UInt16 x = 1; x < 10; x++)
{
if (!od.Containssubindex(x))
{
throw (new Exception("parseEDSentry() CompactSubObj incorrect generation"));
}
sub = od.Getsubobject(x);
string name = string.Format("{0}{1:00}", od.parameter_name, x);
if (sub.parameter_name != name)
{
throw (new Exception("parseEDSentry() CompactSubObj incorrect generation"));
}
if (sub.datatype != DataType.UNSIGNED32)
{
throw (new Exception("parseEDSentry() CompactSubObj incorrect generation"));
}
if (sub.accesstype != AccessType.rw)
{
throw (new Exception("parseEDSentry() CompactSubObj incorrect generation"));
}
}
}
