//scan DIO slave status
private void systemScan(FlowVar fv)
{
//while (true)
//{
if (keyOfIOScan)
{
ushort uValue = 0, uRet = 0;
uRet = CEtherCAT_DLL.CS_ECAT_Slave_DIO_Get_Input_Value(dIOPara.CardNo, dIOPara.NodeNo, g_uESCSlotID, ref uValue);
if (uRet == CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
for (int nBit = 0; nBit < 16; nBit++)
{
Status1[nBit] = BitConverterEx.TestB(uValue, (byte)nBit);
Status2[nBit / 8, nBit % 8] = BitConverterEx.TestB(uValue, (byte)nBit);
}
}
else
{
throw new Exception("CS_ECAT_Slave_DIO_Get_Input_Value, " + GetEtherCATErrorCode(uRet));
}
//Thread.Sleep(15);
//if (Environment.ProcessorCount == 1 || (++_loops % 100) == 0)
//{
// Thread.Sleep(1);
//}
//else
//{
// Thread.SpinWait(_iterations);
//}
}
//}
}
//scan DIO slave status
private void systemScan(FlowVar fv)
{
//while (true)
//{
if (keyOfIOScan)
{
I16 status;
for (byte portNo = 0; portNo < 4; portNo++)
{
status = CCMNet.CS_mnet_io_input(RingNoOfMNet, dIOPara.SlaveIP, portNo);
for (int i = 0; i < 8; i++)
{
Status1[portNo * 8 + i] = BitConverterEx.TestB(status, (byte)i);
Status2[portNo, i] = BitConverterEx.TestB(status, (byte)i);
}
}
//Thread.Sleep(15);
//if (Environment.ProcessorCount == 1 || (++_loops % 100) == 0)
//{
// Thread.Sleep(1);
//}
//else
//{
// Thread.SpinWait(_iterations);
//}
}
//}
}
//scan DIO slave status
private void systemScan(FlowVar fv)
{
//while (true)
//{
if (keyOfIOScan)
{
ushort uValue = BitConverterEx.ConvertToUInt16(Status1);
if (uValue != _lastOutputValue)
{
_lastOutputValue = uValue;
ushort uRet = CEtherCAT_DLL.CS_ECAT_Slave_DIO_Set_Output_Value(dIOPara.CardNo, dIOPara.NodeNo, g_uESCSlotID, uValue);
if (uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
throw new Exception("CS_ECAT_Slave_DIO_Set_Output_Value, " + GetEtherCATErrorCode(uRet));
}
//Thread.Sleep(15);
//if (Environment.ProcessorCount == 1 || (++_loops % 100) == 0)
//{
// Thread.Sleep(1);
//}
//else
//{
// Thread.SpinWait(_iterations);
//}
}
}
//}
}
//scan DAC slave status
private void systemScan(FlowVar fv)
{
if (keyOfIOScan)
{
for (int ch = 0; ch < 4; ch++)
{
Value[ch] = GetOutputValue((DACChannel)ch);
int nIndexMode = 0;
if (ch == 0)
{
nIndexMode = (int)dacPara.RangeModeCH0;
}
else if (ch == 1)
{
nIndexMode = (int)dacPara.RangeModeCH1;
}
else if (ch == 2)
{
nIndexMode = (int)dacPara.RangeModeCH2;
}
else
{
nIndexMode = (int)dacPara.RangeModeCH3;
}
double dTempData = Value[ch];
dTempData = g_nModeValue[nIndexMode] + (dTempData * g_nModeLength[nIndexMode] / 0xFFFF);
Voltage[ch] = dTempData;
}
}
}
//scan M2X4 slave IO _axis
private void systemScan(FlowVar fv)
{
//while (true)
//{
if (keyOfIOStatus)
{
U16 status = 0;
I16 rt = CCMNet.CS_mnet_m204_get_io_status(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, ref status);
this.status.RDY = BitConverterEx.TestB(status, 0);
this.status.ALM = BitConverterEx.TestB(status, 1);
this.status.LimitP = BitConverterEx.TestB(status, 2);
this.status.LimitN = BitConverterEx.TestB(status, 3);
this.status.ORG = BitConverterEx.TestB(status, 4);
this.status.DIR = BitConverterEx.TestB(status, 5);
this.status.EMG = BitConverterEx.TestB(status, 6);
this.status.PCS = BitConverterEx.TestB(status, 7);
this.status.ERC = BitConverterEx.TestB(status, 8);
this.status.ZPhase = BitConverterEx.TestB(status, 9);
this.status.CLR = BitConverterEx.TestB(status, 10);
this.status.Latch = BitConverterEx.TestB(status, 11);
this.status.SD = BitConverterEx.TestB(status, 12);
this.status.INP = BitConverterEx.TestB(status, 13);
this.status.SVON = BitConverterEx.TestB(status, 14);
this.status.RALM = BitConverterEx.TestB(status, 15);
if (this.status.ALM || this.status.EMG)
{
this.IsHome = false;
}
//Thread.Sleep(50);
}
//}
}
public static IFlowSource <T> FilterChanges <T>(this IFlowSource <T> source, IDisposer?disposer = null)
{
var filtered = new FlowVar <T>(source.Value, disposer);
// FlowVar ignores assignments when new value is equal to old one (so - we filter the changes)
source.AddSubscription(filtered, () => { filtered.Value = source.Value; });
return(filtered);
}
//scan ADC slave status
private void systemScan(FlowVar fv)
{
if (keyOfIOScan)
{
for (int ch = 0; ch < 4; ch++)
{
Value[ch] = GetInputValue((ADCChannel)ch);
int nIndexMode = 0;
if (ch == 0)
{
nIndexMode = (int)adcPara.ADCRangeModeCH0;
}
else if (ch == 1)
{
nIndexMode = (int)adcPara.ADCRangeModeCH1;
}
else if (ch == 2)
{
nIndexMode = (int)adcPara.ADCRangeModeCH2;
}
else
{
nIndexMode = (int)adcPara.ADCRangeModeCH3;
}
//double dTempData = Value[ch] + 0x8000;
//if (dTempData >= 0x10000)
// dTempData -= 0x10000;
double dTempData = Value[ch];
dTempData = g_nModeValue[nIndexMode] + (dTempData * g_nModeLength[nIndexMode] / 0xFFFF);
Voltage[ch] = dTempData;
}
}
}
private void FlowAction(FlowVar flowVar)
{
Blinding();
}
