/// <summary>
/// Initializes EtherCAT and returns found slaves.
/// </summary>
/// <param name="interfaceName">The name of the network adapter.</param>
/// <returns>Returns found slave.</returns>
public static SlaveInfo ScanDevices(IntPtr context, string interfaceName, SlaveInfo referenceSlave = null)
{
ec_slave_info_t[] refSlaveIdentifications = null;
if (referenceSlave != null)
{
refSlaveIdentifications = EcUtilities.ToSlaveIdentifications(referenceSlave);
}
else
{
refSlaveIdentifications = new ec_slave_info_t[] { }
};
// scan devices
var networkInterface = NetworkInterface
.GetAllNetworkInterfaces()
.Where(nic => nic.Name == interfaceName)
.FirstOrDefault();
if (networkInterface == null)
{
throw new Exception($"{ ErrorMessage.SoemWrapper_NetworkInterfaceNotFound } Interface name: '{ interfaceName }'.");
}
if (RuntimeInformation.IsOSPlatform(OSPlatform.Windows))
{
interfaceName = $@"rpcap://\Device\NPF_{networkInterface.Id}";
}
else if (RuntimeInformation.IsOSPlatform(OSPlatform.Linux) ||
RuntimeInformation.IsOSPlatform(OSPlatform.OSX))
{
interfaceName = $"{interfaceName}";
}
else
{
throw new PlatformNotSupportedException();
}
EcUtilities.CheckErrorCode(context, EcHL.ScanDevices(context, interfaceName, out var slaveIdentifications, out var slaveCount));
// create slaveInfo from received data
var offset = 0;
var newSlaveIdentifications = new ec_slave_info_t[slaveCount + 1]; // correct because EC master = slaveIdentifications[0]
for (int i = 0; i <= newSlaveIdentifications.Count() - 1; i++)
{
newSlaveIdentifications[i] = Marshal.PtrToStructure <ec_slave_info_t>(IntPtr.Add(slaveIdentifications, offset));
offset += Marshal.SizeOf(typeof(ec_slave_info_t));
}
// validate CSA
while (EcUtilities.EnsureValidCsa(context, newSlaveIdentifications, refSlaveIdentifications))
{
//
}
return(EcUtilities.ToSlaveInfo(newSlaveIdentifications));
}
private static bool EnsureValidCsa(IntPtr context, ec_slave_info_t[] newSlaves, ec_slave_info_t[] referenceSlaves)
{
// UPDATE: first step ('isValid') is skipped as CSA is now generated randomly. This function returns now a boolean to indicate success.
//
//
//
// Idea:
// 1. isValid: select all slaves whose CSA is greater than zero but smaller than the CSA-base
//
// 2. hasUniqueCsa: select all slaves with overall unique CSA (both lists)
//
// 3. toBeProtected: select all slaves of new list that are distinct (comparison of CSA is not sufficient) and have counterpart in reference list
// -> throw out all slaves where reference CSA is not unique
//
// 4. Combination: isValid & (hasUniqueCsa | toBeProtected)
//
// ## EXAMPLE ## * -> indicates that new slave is identical to referenced slave
//
// CSA base : 7
//
// reference slave CSAs: 1 1 2 3
// new slave CSAs: 1*| 2 2*| 3 3* 3* | 4 | 9 | 0
//
//
// hasRef: 1 | 0 1 | 0 1 1 | 0 | 0 | 0
// isDistinct: 1 | 1 1 | 1 0 0 | 1 | 1 | 1
// hasUniqueCsa_ref: 0 | 1 1 | 1 1 1 | 0 | 0 | 0
// ===============================
// toBeProtected: 0 | 0 1 | 0 0 0 | 0 | 0 | 0
//
//
// new slave CSAs: 1*| 2 2*| 3 3* 3* | 4 | 9 | 0
// _______________________________
// isValid: 1 | 1 1 | 1 1 1 | 1 | 0 | 0
// hasUniqueCsa: 0 | 0 1 | 0 0 0 | 1 | 1 | 1
// toBeProtected: 0 | 0 1 | 0 0 0 | 0 | 0 | 0
// ===============================
// result: 0 | 0 1 | 0 0 0 | 1 | 0 | 0
//
// 5. take all slaves whose result is '0' and update their CSA
// result: 7 | 8 2 | 9 10 11 | 4 | 12| 13
//// reference
//var reference1 = new ec_slave_info_t() { csa = 1, manufacturer = 2, productCode = 2, revision = 2 }; // 1
//var reference2 = new ec_slave_info_t() { csa = 1, manufacturer = 3, productCode = 2, revision = 2 }; // 1
//var reference3 = new ec_slave_info_t() { csa = 2, manufacturer = 2, productCode = 2, revision = 2 }; // 2
//var reference4 = new ec_slave_info_t() { csa = 3, manufacturer = 2, productCode = 2, revision = 2 }; // 3
//var reference = new ec_slave_info_t[] { reference1, reference2, reference3, reference4 };
//// new
//var new1 = new ec_slave_info_t() { csa = 1, manufacturer = 2, productCode = 2, revision = 2 }; // 1
//var new2 = new ec_slave_info_t() { csa = 2, manufacturer = 2, productCode = 3, revision = 2 }; // 2
//var new3 = new ec_slave_info_t() { csa = 2, manufacturer = 2, productCode = 2, revision = 2 }; // 2
//var new4 = new ec_slave_info_t() { csa = 3, manufacturer = 7, productCode = 2, revision = 2 }; // 3
//var new5 = new ec_slave_info_t() { csa = 3, manufacturer = 2, productCode = 2, revision = 2 }; // 3
//var new6 = new ec_slave_info_t() { csa = 3, manufacturer = 2, productCode = 2, revision = 2 }; // 3
//var new7 = new ec_slave_info_t() { csa = 4, manufacturer = 2, productCode = 2, revision = 2 }; // 4
//var new8 = new ec_slave_info_t() { csa = 9, manufacturer = 2, productCode = 2, revision = 2 }; // 9
//var new9 = new ec_slave_info_t() { csa = 0, manufacturer = 2, productCode = 2, revision = 2 }; // 0
//var newset = new ec_slave_info_t[] { new1, new2, new3, new4, new5, new6, new7, new8, new9 };
//Settings.Default.CsaBase = 7;
//SoemWrapper.ValidateCsa(newset, reference);
var totalSlaves = newSlaves.Concat(referenceSlaves).ToArray();
var totalSlavesCsaDistinct = totalSlaves.Select(x => x.csa).TrueDistinct().ToArray();
var newSlavesDistinct = newSlaves.TrueDistinct().ToArray();
var referenceSlavesCsaDistinct = referenceSlaves.Select(x => x.csa).TrueDistinct().ToArray();
var hasCsaChanged = false;
for (int i = 0; i < newSlaves.Count(); i++)
{
ec_slave_info_t newSlave = newSlaves[i];
// 1. - isValid
var isValid = true; // isValid = newSlave.csa > 0 && newSlave.csa < originalCsaBase;
// 2. - hasUniqueCsa
var hasUniqueCsa = totalSlavesCsaDistinct.Contains(newSlave.csa);
// 3. - toBeProtected
// => hasRef
var referenceSlave = referenceSlaves.FirstOrDefault(x => x.csa == newSlave.csa);
var hasRef = referenceSlave.csa == newSlave.csa &&
referenceSlave.manufacturer == newSlave.manufacturer &&
referenceSlave.productCode == newSlave.productCode &&
referenceSlave.revision == newSlave.revision;
// => isDistinct
var isDistinct = newSlavesDistinct.Contains(newSlave);
// => hasUniqueCsa_ref
var hasUniqueCsa_ref = referenceSlavesCsaDistinct.Contains(newSlave.csa);
// => toBeProtected
var toBeProtected = hasRef && isDistinct && hasUniqueCsa_ref;
// 4. Combination
if (i > 0 && !(isValid && (hasUniqueCsa || toBeProtected)))
{
var csaValue = (ushort)_random.Next(1, ushort.MaxValue);
EcHL.UpdateCsa(context, newSlaves.ToList().IndexOf(newSlave), csaValue);
newSlave.csa = csaValue;
newSlaves[i] = newSlave;
hasCsaChanged = true;
}
}
return(hasCsaChanged);
}
