public static SlavePdo[] UploadPdoConfig(IntPtr context, UInt16 slave, UInt16 smIndex)
{
int pdoCount;
IntPtr ecPdoInfoPtrSet;
SlavePdo[] slavePdoSet;
SyncManagerType syncManagerType;
DataDirection dataDirection;
//
EcHL.GetSyncManagerType(context, slave, smIndex, out syncManagerType);
switch (syncManagerType)
{
case SyncManagerType.Inputs:
dataDirection = DataDirection.Input;
break;
case SyncManagerType.Outputs:
dataDirection = DataDirection.Output;
break;
default:
throw new ArgumentException();
}
EcHL.UploadPdoConfig(context, slave, smIndex, out ecPdoInfoPtrSet, out pdoCount);
slavePdoSet = Enumerable.Range(0, pdoCount).Select(index =>
{
ec_pdo_info_t ecPdoInfo;
SlavePdo slavePdo;
IntPtr ecPdoInfoPtr;
ecPdoInfoPtr = IntPtr.Add(ecPdoInfoPtrSet, index * Marshal.SizeOf(typeof(ec_pdo_info_t)));
ecPdoInfo = Marshal.PtrToStructure <ec_pdo_info_t>(ecPdoInfoPtr);
slavePdo = new SlavePdo(null, ecPdoInfo.name, ecPdoInfo.index, 0, true, true, smIndex - 0x1C10);
slavePdo.SetVariableSet(Enumerable.Range(0, ecPdoInfo.variableCount).Select(index2 =>
{
ec_variable_info_t ecVariableInfo;
SlaveVariable slaveVariable;
IntPtr ecVariableInfoPtr;
ecVariableInfoPtr = IntPtr.Add(ecPdoInfo.variableInfoSet, index2 * Marshal.SizeOf(typeof(ec_variable_info_t)));
ecVariableInfo = Marshal.PtrToStructure <ec_variable_info_t>(ecVariableInfoPtr);
slaveVariable = new SlaveVariable(slavePdo, ecVariableInfo.name, ecVariableInfo.index, ecVariableInfo.subIndex, dataDirection, EcUtilities.GetOneDasDataTypeFromEthercatDataType(ecVariableInfo.dataType));
return(slaveVariable);
}).ToList());
EcHL.Free(ecPdoInfo.variableInfoSet);
return(slavePdo);
}).ToArray();
EcHL.Free(ecPdoInfoPtrSet);
return(slavePdoSet);
}
public static SlavePdo[] UploadPdoConfig(IntPtr context, UInt16 slave, UInt16 smIndex)
{
EcHL.GetSyncManagerType(context, slave, smIndex, out var syncManagerType);
DataDirection dataDirection;
switch (syncManagerType)
{
case SyncManagerType.Inputs:
dataDirection = DataDirection.Input;
break;
case SyncManagerType.Outputs:
dataDirection = DataDirection.Output;
break;
default:
throw new ArgumentException();
}
EcHL.UploadPdoConfig(context, slave, smIndex, out var ecPdoInfoPtrs, out var pdoCount);
var slavePdos = Enumerable.Range(0, pdoCount).Select(index =>
{
var ecPdoInfoPtr = IntPtr.Add(ecPdoInfoPtrs, index * Marshal.SizeOf(typeof(ec_pdo_info_t)));
var ecPdoInfo = Marshal.PtrToStructure <ec_pdo_info_t>(ecPdoInfoPtr);
var slavePdo = new SlavePdo(null, ecPdoInfo.name, ecPdoInfo.index, 0, true, true, smIndex - 0x1C10);
slavePdo.SetVariables(Enumerable.Range(0, ecPdoInfo.variableCount).Select(index2 =>
{
var ecVariableInfoPtr = IntPtr.Add(ecPdoInfo.variableInfos, index2 * Marshal.SizeOf(typeof(ec_variable_info_t)));
var ecVariableInfo = Marshal.PtrToStructure <ec_variable_info_t>(ecVariableInfoPtr);
var slaveVariable = new SlaveVariable(slavePdo, ecVariableInfo.name, ecVariableInfo.index, ecVariableInfo.subIndex, dataDirection, ecVariableInfo.dataType);
return(slaveVariable);
}).ToList());
EcHL.Free(ecPdoInfo.variableInfos);
return(slavePdo);
}).ToArray();
EcHL.Free(ecPdoInfoPtrs);
return(slavePdos);
}
