private void PrintPdo(ushort start, ushort end, string caption, EDSsharp eds)
{
file.WriteLine("## {0}", caption);
file.WriteLine();
foreach (var kvp in eds.ods)
{
ODentry od = kvp.Value;
int index = kvp.Key;
if (od.Disabled)
{
continue;
}
if (od.Index >= start && od.Index < end)
{
file.WriteLine(string.Format("### {0} {1:x4}", caption, od.Index));
file.WriteLine();
byte current_bit = 0;
foreach (var kvp2 in od.subobjects)
{
ODentry odsub = kvp2.Value;
ushort subindex = kvp2.Key;
if (subindex == 0)
{
continue;
}
var data = Convert.ToUInt32(odsub.defaultvalue, EDSsharp.Getbase(odsub.defaultvalue));
if (data != 0)
{
byte datasize = (byte)(data & 0x000000FF);
ushort pdoindex = (ushort)((data >> 16) & 0x0000FFFF);
byte pdosub = (byte)((data >> 8) & 0x000000FF);
file.Write($"* Byte{current_bit / 8}: ");
if (eds.ods.ContainsKey(pdoindex) && (pdosub == 0 || eds.ods[pdoindex].Containssubindex(pdosub)))
{
ODentry maptarget;
if (pdosub == 0)
{
maptarget = eds.ods[pdoindex];
}
else
{
maptarget = eds.ods[pdoindex].Getsubobject(pdosub);
}
if (!maptarget.Disabled && datasize == (8 * maptarget.Sizeofdatatype()))
{
if (maptarget.parent == null)
{
file.Write(string.Format("[0x{0:x4} - {1}]", maptarget.Index, maptarget.parameter_name));
}
else
{
file.Write(string.Format("[0x{0:x4} sub 0x{1:x2} - {2}]", maptarget.Index, maptarget.Subindex, maptarget.parameter_name));
}
}
}
file.WriteLine();
var by = (datasize / 8);
for (int i = 1; i < by; ++i)
{
file.WriteLine($"* Byte{current_bit / 8 + i}: -\"-");
}
current_bit += datasize;
}
}
for (int i = (current_bit / 8); i < 8; ++i)
{
file.WriteLine($"* Byte{i}: empty");
}
file.WriteLine();
}
}
}
void UpdatePDOTXslot(ODentry od, int row)
{
UInt16 idx = (UInt16)(od.Index + 0x200);
if (!eds.ods.ContainsKey(idx))
{
return;
}
ODentry oddef = eds.ods[idx];
int byteoff = 0;
foreach (KeyValuePair <UInt16, ODentry> kvp in oddef.subobjects)
{
if (byteoff >= 8)
{
continue;
}
ODentry sub = kvp.Value;
if (sub.Subindex == 0)
{
continue;
}
UInt32 data = 0;
if (sub.defaultvalue != "")
{
data = Convert.ToUInt32(sub.defaultvalue, EDSsharp.Getbase(sub.defaultvalue));
}
if (data == 0)
{
listView_TXCOBmap.AddComboBoxCell(row, byteoff + 3, TXchoices);
listView_TXCOBmap.Items[row].SubItems[byteoff + 3].Text = "empty";
byteoff++;
continue;
}
//format is 0x6000 01 08
byte datasize = (byte)(data & 0x000000FF);
UInt16 pdoindex = (UInt16)((data >> 16) & 0x0000FFFF);
byte pdosub = (byte)((data >> 8) & 0x000000FF);
//sanity check the real OD against the mapping parameters section
bool mappingfail = true;
if (eds.ods.ContainsKey(pdoindex) && (pdosub == 0 || eds.ods[pdoindex].Containssubindex(pdosub)))
{
ODentry maptarget;
if (pdosub == 0)
{
maptarget = eds.ods[pdoindex];
}
else
{
maptarget = eds.ods[pdoindex].Getsubobject(pdosub);
}
if (maptarget.Disabled == false && datasize == (8 * maptarget.Sizeofdatatype()))
{
mappingfail = false;
}
if (mappingfail == true)
{
MessageBox.Show(String.Format("PDO mapping failed for object 0x{0:x4}/{1:x2}\nplease manually check the PDO mapping in the TX and RX PDO tabs\n as it does not agree with the mapping parameter 0x{2:x4}/{3:x2}\nThis can occur if you edit objects that are already mapped", pdoindex, pdosub, idx, sub.Subindex));
}
}
String target = "";
int PDOdatasize = 0;
//dummy objects
if (pdoindex >= 0x0002 && pdoindex <= 0x007)
{
//the dummy objects
switch (pdoindex)
{
case 0x002:
target = "0x0002/00/Dummy Int8";
PDOdatasize = 1;
break;
case 0x003:
target = "0x0003/00/Dummy Int16";
PDOdatasize = 2;
break;
case 0x004:
target = "0x0004/00/Dummy Int32";
PDOdatasize = 4;
break;
case 0x005:
target = "0x0005/00/Dummy UInt8";
PDOdatasize = 1;
break;
case 0x006:
target = "0x0006/00/Dummy UInt16";
PDOdatasize = 2;
break;
case 0x007:
target = "0x0007/00/Dummy UInt32";
PDOdatasize = 4;
break;
}
if (PDOdatasize == 0)
{
continue;
}
}
else
{
//fixme sanity checking here please
if (!eds.ods.ContainsKey(pdoindex))
{
continue;
}
ODentry targetod = eds.ods[pdoindex];
if (pdosub != 0)
{
//FIXME direct sub array access, unprotected and will fault with holes in range
targetod = targetod.subobjects[pdosub];
}
target = String.Format("0x{0:x4}/{1:x2}/", targetod.Index, pdosub) + targetod.parameter_name;
PDOdatasize = targetod.Sizeofdatatype();
}
listView_TXCOBmap.AddComboBoxCell(row, byteoff + 3, TXchoices);
listView_TXCOBmap.Items[row].SubItems[byteoff + 3].Text = target;
int oldPDOdatasize = PDOdatasize;
while (oldPDOdatasize != 1)
{
listView_TXCOBmap.Items[row].SubItems[byteoff + oldPDOdatasize + 2].Text = " - "; //?
oldPDOdatasize--;
}
byteoff += PDOdatasize;
}
}
