public void ControlResponse(Guid activity, uint sequence_no, ProfinetIO.BlockTypes block_type, ProfinetIO.ControlCommands control)
{
//Create RPC packet
long body_length_position;
long NDRDataHeader_position;
MemoryStream mem = new MemoryStream();
RPC.Encodings encoding = RPC.Encodings.ASCII | RPC.Encodings.LittleEndian | RPC.Encodings.IEEE_float;
Guid destination_instance = RPC.GenerateObjectInstanceUUID(1, 0, m_device_id.DeviceId, m_device_id.VendorId);
RPC.EncodeHeader(mem, RPC.PacketTypes.Response, RPC.Flags1.LastFragment | RPC.Flags1.NoFragmentAckRequested, 0, encoding, 0, destination_instance, RPC.UUID_IO_DeviceInterface, activity, 0, sequence_no, RPC.Operations.Control, 0, 0, out body_length_position);
RPC.EncodeNDRDataHeader(mem, encoding, 0, 0, 0, 0, 0, out NDRDataHeader_position);
//Create IO Packet
ProfinetIO.ControlBlockConnect ctrl = new ProfinetIO.ControlBlockConnect();
ctrl.BlockType = block_type;
ctrl.ARUUID = m_aruuid;
ctrl.SessionKey = 1;
ctrl.ControlCommand = control;
ProfinetIO.EncodeControlResponse(mem, ctrl);
//re-encode rpc lengths
RPC.ReEncodeHeaderLength(mem, encoding, body_length_position);
RPC.ReEncodeNDRDataHeaderLength(mem, encoding, NDRDataHeader_position, false);
//send
Trace.TraceInformation("Sending Control response");
SendResponse(mem);
}
public IAsyncResult BeginControlRequest(ProfinetIO.BlockTypes block_type, ProfinetIO.ControlCommands control)
{
//Create RPC packet
long body_length_position;
long NDRDataHeader_position;
MemoryStream mem = new MemoryStream();
RPC.Encodings encoding = RPC.Encodings.ASCII | RPC.Encodings.LittleEndian | RPC.Encodings.IEEE_float;
Guid destination_instance = RPC.GenerateObjectInstanceUUID(1, 0, m_device_id.DeviceId, m_device_id.VendorId);
RPC.EncodeHeader(mem, RPC.PacketTypes.Request, RPC.Flags1.Idempotent, 0, encoding, 0, destination_instance, RPC.UUID_IO_DeviceInterface, m_activity, 0, m_sequence_no++, RPC.Operations.Control, 0, 0, out body_length_position);
RPC.EncodeNDRDataHeader(mem, encoding, 0, 0, 0, 0, 0, out NDRDataHeader_position);
//Create IO Packet
ProfinetIO.ControlBlockConnect ctrl = new ProfinetIO.ControlBlockConnect();
ctrl.BlockType = block_type;
ctrl.ARUUID = m_aruuid;
ctrl.SessionKey = 1;
ctrl.ControlCommand = control;
ProfinetIO.EncodeControlRequest(mem, ctrl);
//re-encode rpc lengths
RPC.ReEncodeHeaderLength(mem, encoding, body_length_position);
RPC.ReEncodeNDRDataHeaderLength(mem, encoding, NDRDataHeader_position, true);
//send
Trace.TraceInformation("Sending Control message");
return(new ProfinetAsyncRPCResult(this, mem));
}
public IAsyncResult BeginReleaseRequest()
{
//Create RPC packet
long body_length_position;
long NDRDataHeader_position;
MemoryStream mem = new MemoryStream();
RPC.Encodings encoding = RPC.Encodings.ASCII | RPC.Encodings.LittleEndian | RPC.Encodings.IEEE_float;
Guid destination_instance = RPC.GenerateObjectInstanceUUID(1, 0, m_device_id.DeviceId, m_device_id.VendorId);
RPC.EncodeHeader(mem, RPC.PacketTypes.Request, RPC.Flags1.Idempotent, 0, encoding, 0, destination_instance, RPC.UUID_IO_DeviceInterface, m_activity, 0, m_sequence_no++, RPC.Operations.Release, 0, 0, out body_length_position);
RPC.EncodeNDRDataHeader(mem, encoding, 0, 0, 0, 0, 0, out NDRDataHeader_position);
//Create IO Packet
ProfinetIO.EncodeReleaseRequest(mem, m_aruuid, 1);
//re-encode rpc lengths
RPC.ReEncodeHeaderLength(mem, encoding, body_length_position);
RPC.ReEncodeNDRDataHeaderLength(mem, encoding, NDRDataHeader_position, true);
//send
Trace.TraceInformation("Sending Release message");
return(new ProfinetAsyncRPCResult(this, mem));
}
public IAsyncResult BeginConnectRequest()
{
//create new activity id
m_activity = Guid.NewGuid();
m_aruuid = Guid.NewGuid();
//Create RPC packet
long body_length_position;
long NDRDataHeader_position;
MemoryStream mem = new MemoryStream();
RPC.Encodings encoding = RPC.Encodings.ASCII | RPC.Encodings.LittleEndian | RPC.Encodings.IEEE_float;
Guid destination_instance = RPC.GenerateObjectInstanceUUID(1, 0, m_device_id.DeviceId, m_device_id.VendorId);
RPC.EncodeHeader(mem, RPC.PacketTypes.Request, RPC.Flags1.Idempotent, 0, encoding, 0, destination_instance, RPC.UUID_IO_DeviceInterface, m_activity, 0, m_sequence_no++, RPC.Operations.Connect, 0, 0, out body_length_position);
RPC.EncodeNDRDataHeader(mem, encoding, 0, 0, 0, 0, 0, out NDRDataHeader_position);
//Create IO Packet (I have no idea what most of this is)
ProfinetIO.ARBlockRequest ar_block_req = new ProfinetIO.ARBlockRequest();
ar_block_req.Type = ProfinetIO.ARTypes.IOCARSingle;
ar_block_req.UUID = m_aruuid;
ar_block_req.SessionKey = 1;
ar_block_req.CMInitiatorMac = m_source_mac;
ar_block_req.CMInitiatorObjectUUID = m_object_instance;
ar_block_req.Properties = ProfinetIO.ARProperties.State_Active | ProfinetIO.ARProperties.ParameterizationServer_CMInitiator;
ar_block_req.CMInitiatorActivityTimeoutFactor = 600;
ar_block_req.CMInitiatorUDPRTPort = 0x8892;
ar_block_req.CMInitiatorStationName = "ProfinetExplorer";
ProfinetIO.IOCRBlockRequest[] iocr_block_req = new ProfinetIO.IOCRBlockRequest[2] {
new ProfinetIO.IOCRBlockRequest(), new ProfinetIO.IOCRBlockRequest()
};
iocr_block_req[0].Type = ProfinetIO.IOCRTypes.Input;
iocr_block_req[0].Reference = 1;
iocr_block_req[0].Properties = ProfinetIO.IOCRProperties.RT_CLASS1;
iocr_block_req[0].DataLength = 216;
iocr_block_req[0].FrameID = 0xc000;
iocr_block_req[0].SendClockFactor = 32; //clock cycle is 1 ms
iocr_block_req[0].ReductionRatio = m_input_cycle_time_ms;
iocr_block_req[0].Phase = 1;
iocr_block_req[0].Sequence = 0;
iocr_block_req[0].FrameSendOffset = 0xFFFFFFFF;
iocr_block_req[0].DataHoldFactorA = 3;
iocr_block_req[0].DataHoldFactorB = 3;
iocr_block_req[0].TagHeader = ProfinetIO.IOCRTagHeaders.IOUserPriority_CR;
iocr_block_req[0].MulticastMAC = new System.Net.NetworkInformation.PhysicalAddress(new byte[] { 0, 0, 0, 0, 0, 0 });
iocr_block_req[0].APIs = new ProfinetIO.IOC_API[1];
iocr_block_req[0].APIs[0] = new ProfinetIO.IOC_API();
iocr_block_req[0].APIs[0].No = 0;
iocr_block_req[0].APIs[0].DataObjects = new ProfinetIO.IOC_DataObject[5];
iocr_block_req[0].APIs[0].DataObjects[0] = new ProfinetIO.IOC_DataObject(0, 0x8000, 0);
iocr_block_req[0].APIs[0].DataObjects[1] = new ProfinetIO.IOC_DataObject(0, 0x8001, 1);
iocr_block_req[0].APIs[0].DataObjects[2] = new ProfinetIO.IOC_DataObject(0, 0x8002, 2);
iocr_block_req[0].APIs[0].DataObjects[3] = new ProfinetIO.IOC_DataObject(0, 1, 3);
iocr_block_req[0].APIs[0].DataObjects[4] = new ProfinetIO.IOC_DataObject(1, 1, 5);
iocr_block_req[0].APIs[0].IOCS = new ProfinetIO.IOC_DataObject[1];
iocr_block_req[0].APIs[0].IOCS[0] = new ProfinetIO.IOC_DataObject(1, 1, 4);
iocr_block_req[1].Type = ProfinetIO.IOCRTypes.Output;
iocr_block_req[1].Reference = 2;
iocr_block_req[1].Properties = ProfinetIO.IOCRProperties.RT_CLASS1;
iocr_block_req[1].DataLength = 40;
iocr_block_req[1].FrameID = 0xc001;
iocr_block_req[1].SendClockFactor = 32; //clock cycle is 1 ms
iocr_block_req[1].ReductionRatio = m_output_cycle_time_ms;
iocr_block_req[1].Phase = 1;
iocr_block_req[1].Sequence = 0;
iocr_block_req[1].FrameSendOffset = 0xFFFFFFFF;
iocr_block_req[1].DataHoldFactorA = 3;
iocr_block_req[1].DataHoldFactorB = 3;
iocr_block_req[1].TagHeader = ProfinetIO.IOCRTagHeaders.IOUserPriority_CR;
iocr_block_req[1].MulticastMAC = new System.Net.NetworkInformation.PhysicalAddress(new byte[] { 0, 0, 0, 0, 0, 0 });
iocr_block_req[1].APIs = new ProfinetIO.IOC_API[1];
iocr_block_req[1].APIs[0] = new ProfinetIO.IOC_API();
iocr_block_req[1].APIs[0].No = 0;
iocr_block_req[1].APIs[0].DataObjects = new ProfinetIO.IOC_DataObject[1];
iocr_block_req[1].APIs[0].DataObjects[0] = new ProfinetIO.IOC_DataObject(1, 1, 5);
iocr_block_req[1].APIs[0].IOCS = new ProfinetIO.IOC_DataObject[5];
iocr_block_req[1].APIs[0].IOCS[0] = new ProfinetIO.IOC_DataObject(0, 0x8000, 0);
iocr_block_req[1].APIs[0].IOCS[1] = new ProfinetIO.IOC_DataObject(0, 0x8001, 1);
iocr_block_req[1].APIs[0].IOCS[2] = new ProfinetIO.IOC_DataObject(0, 0x8002, 2);
iocr_block_req[1].APIs[0].IOCS[3] = new ProfinetIO.IOC_DataObject(0, 0x1, 3);
iocr_block_req[1].APIs[0].IOCS[4] = new ProfinetIO.IOC_DataObject(1, 0x1, 4);
ProfinetIO.AlarmCRBlockRequest alarm_cr_block_req = new ProfinetIO.AlarmCRBlockRequest();
alarm_cr_block_req.Properties = ProfinetIO.AlarmCRProperties.RTA_CLASS_1 | ProfinetIO.AlarmCRProperties.UserPriority;
alarm_cr_block_req.RTATimeoutFactor = 1;
alarm_cr_block_req.RTARetries = 3;
alarm_cr_block_req.LocalAlarmReference = 1;
alarm_cr_block_req.MaxAlarmDataLength = 256;
alarm_cr_block_req.AlarmCRTagHeaderHigh = 0xC000;
alarm_cr_block_req.AlarmCRTagHeaderLow = 0xA000;
ProfinetIO.ExpectedSubmoduleBlockRequest[] expected_submodule_block_req = new ProfinetIO.ExpectedSubmoduleBlockRequest[2] {
new ProfinetIO.ExpectedSubmoduleBlockRequest(), new ProfinetIO.ExpectedSubmoduleBlockRequest()
};
expected_submodule_block_req[0].APIs = new ProfinetIO.Submodule_API[1];
expected_submodule_block_req[0].APIs[0] = new ProfinetIO.Submodule_API();
expected_submodule_block_req[0].APIs[0].No = 0;
expected_submodule_block_req[0].APIs[0].SlotNumber = 0;
expected_submodule_block_req[0].APIs[0].ModuleIdentNumber = 1;
expected_submodule_block_req[0].APIs[0].SubModules = new ProfinetIO.Submodule[4];
expected_submodule_block_req[0].APIs[0].SubModules[0] = new ProfinetIO.Submodule();
expected_submodule_block_req[0].APIs[0].SubModules[0].SubslotNumber = 0x8000;
expected_submodule_block_req[0].APIs[0].SubModules[0].SubmoduleIdentNumber = 0xA;
expected_submodule_block_req[0].APIs[0].SubModules[0].SubmoduleProperties = ProfinetIO.SubmoduleProperties.Type_NO_IO | ProfinetIO.SubmoduleProperties.SharedInput_IOControllerOnly | ProfinetIO.SubmoduleProperties.ReduceInputSubmoduleDataLength_Expected | ProfinetIO.SubmoduleProperties.ReduceOutputSubmoduleDataLength_Expected | ProfinetIO.SubmoduleProperties.DiscardIOXS_Expected;
expected_submodule_block_req[0].APIs[0].SubModules[0].DataDescription = new ProfinetIO.DataDescription[1];
expected_submodule_block_req[0].APIs[0].SubModules[0].DataDescription[0] = new ProfinetIO.DataDescription(ProfinetIO.DataDescription.Types.Input, 0, 1, 1);
expected_submodule_block_req[0].APIs[0].SubModules[1] = new ProfinetIO.Submodule();
expected_submodule_block_req[0].APIs[0].SubModules[1].SubslotNumber = 0x8001;
expected_submodule_block_req[0].APIs[0].SubModules[1].SubmoduleIdentNumber = 0xB;
expected_submodule_block_req[0].APIs[0].SubModules[1].SubmoduleProperties = ProfinetIO.SubmoduleProperties.Type_NO_IO | ProfinetIO.SubmoduleProperties.SharedInput_IOControllerOnly | ProfinetIO.SubmoduleProperties.ReduceInputSubmoduleDataLength_Expected | ProfinetIO.SubmoduleProperties.ReduceOutputSubmoduleDataLength_Expected | ProfinetIO.SubmoduleProperties.DiscardIOXS_Expected;
expected_submodule_block_req[0].APIs[0].SubModules[1].DataDescription = new ProfinetIO.DataDescription[1];
expected_submodule_block_req[0].APIs[0].SubModules[1].DataDescription[0] = new ProfinetIO.DataDescription(ProfinetIO.DataDescription.Types.Input, 0, 1, 1);
expected_submodule_block_req[0].APIs[0].SubModules[2] = new ProfinetIO.Submodule();
expected_submodule_block_req[0].APIs[0].SubModules[2].SubslotNumber = 0x8002;
expected_submodule_block_req[0].APIs[0].SubModules[2].SubmoduleIdentNumber = 0xC;
expected_submodule_block_req[0].APIs[0].SubModules[2].SubmoduleProperties = ProfinetIO.SubmoduleProperties.Type_NO_IO | ProfinetIO.SubmoduleProperties.SharedInput_IOControllerOnly | ProfinetIO.SubmoduleProperties.ReduceInputSubmoduleDataLength_Expected | ProfinetIO.SubmoduleProperties.ReduceOutputSubmoduleDataLength_Expected | ProfinetIO.SubmoduleProperties.DiscardIOXS_Expected;
expected_submodule_block_req[0].APIs[0].SubModules[2].DataDescription = new ProfinetIO.DataDescription[1];
expected_submodule_block_req[0].APIs[0].SubModules[2].DataDescription[0] = new ProfinetIO.DataDescription(ProfinetIO.DataDescription.Types.Input, 0, 1, 1);
expected_submodule_block_req[0].APIs[0].SubModules[3] = new ProfinetIO.Submodule();
expected_submodule_block_req[0].APIs[0].SubModules[3].SubslotNumber = 1;
expected_submodule_block_req[0].APIs[0].SubModules[3].SubmoduleIdentNumber = 1;
expected_submodule_block_req[0].APIs[0].SubModules[3].SubmoduleProperties = ProfinetIO.SubmoduleProperties.Type_NO_IO | ProfinetIO.SubmoduleProperties.SharedInput_IOControllerOnly | ProfinetIO.SubmoduleProperties.ReduceInputSubmoduleDataLength_Expected | ProfinetIO.SubmoduleProperties.ReduceOutputSubmoduleDataLength_Expected | ProfinetIO.SubmoduleProperties.DiscardIOXS_Expected;
expected_submodule_block_req[0].APIs[0].SubModules[3].DataDescription = new ProfinetIO.DataDescription[1];
expected_submodule_block_req[0].APIs[0].SubModules[3].DataDescription[0] = new ProfinetIO.DataDescription(ProfinetIO.DataDescription.Types.Input, 0, 1, 1);
expected_submodule_block_req[1].APIs = new ProfinetIO.Submodule_API[1];
expected_submodule_block_req[1].APIs[0] = new ProfinetIO.Submodule_API();
expected_submodule_block_req[1].APIs[0].No = 0;
expected_submodule_block_req[1].APIs[0].SlotNumber = 1;
expected_submodule_block_req[1].APIs[0].ModuleIdentNumber = 2;
expected_submodule_block_req[1].APIs[0].SubModules = new ProfinetIO.Submodule[1];
expected_submodule_block_req[1].APIs[0].SubModules[0] = new ProfinetIO.Submodule();
expected_submodule_block_req[1].APIs[0].SubModules[0].SubslotNumber = 1;
expected_submodule_block_req[1].APIs[0].SubModules[0].SubmoduleIdentNumber = 2;
expected_submodule_block_req[1].APIs[0].SubModules[0].SubmoduleProperties = ProfinetIO.SubmoduleProperties.Type_INPUT_OUTPUT | ProfinetIO.SubmoduleProperties.SharedInput_IOControllerOnly | ProfinetIO.SubmoduleProperties.ReduceInputSubmoduleDataLength_Expected | ProfinetIO.SubmoduleProperties.ReduceOutputSubmoduleDataLength_Expected | ProfinetIO.SubmoduleProperties.DiscardIOXS_Expected;
expected_submodule_block_req[1].APIs[0].SubModules[0].DataDescription = new ProfinetIO.DataDescription[2];
expected_submodule_block_req[1].APIs[0].SubModules[0].DataDescription[0] = new ProfinetIO.DataDescription(ProfinetIO.DataDescription.Types.Input, 210, 1, 1);
expected_submodule_block_req[1].APIs[0].SubModules[0].DataDescription[1] = new ProfinetIO.DataDescription(ProfinetIO.DataDescription.Types.Output, 4, 1, 1);
ProfinetIO.EncodeConnectRequest(mem, ar_block_req, iocr_block_req, alarm_cr_block_req, expected_submodule_block_req, null, null, null, null, null, null, null);
//re-encode rpc lengths
RPC.ReEncodeHeaderLength(mem, encoding, body_length_position);
RPC.ReEncodeNDRDataHeaderLength(mem, encoding, NDRDataHeader_position, true);
//send
Trace.TraceInformation("Sending Connect message");
HasConnected = true;
return(new ProfinetAsyncRPCResult(this, mem));
}
