private void listView_TXCOBmap_MouseClick(object sender, MouseEventArgs e)
{
if (listView_TXCOBmap.SelectedItems.Count != 1)
{
return;
}
UInt16 index = Convert.ToUInt16(listView_TXCOBmap.SelectedItems[0].SubItems[1].Text, 16);
UInt32 COB = Convert.ToUInt32(listView_TXCOBmap.SelectedItems[0].SubItems[0].Text, 16);
ODentry od = eds.ods[index];
textBox_slot.Text = string.Format("0x{0:x4}", od.index);
if (od.containssubindex(1) == true)
{
textBox_cob.Text = od.getsubobject(1).defaultvalue;
}
if (od.containssubindex(2) == true)
{
textBox_type.Text = od.getsubobject(2).defaultvalue;
}
if (od.containssubindex(3) == true)
{
textBox_inhibit.Text = od.getsubobject(3).defaultvalue;
}
if (od.containssubindex(5) == true)
{
textBox_eventtimer.Text = od.getsubobject(5).defaultvalue;
}
if (od.containssubindex(6) == true)
{
textBox_syncstart.Text = od.getsubobject(6).defaultvalue;
}
if (isTXPDO)
{
textBox_eventtimer.Enabled = true;
textBox_inhibit.Enabled = true;
textBox_syncstart.Enabled = true;
}
textBox_type.Enabled = true;
textBox_cob.Enabled = true;
button_deletePDO.Enabled = true;
button_savepdochanges.Enabled = true;
//Is invalid bit set
checkBox_invalidpdo.Checked = ((COB & 0x80000000) != 0);
}
public void gennetpdodoc(string filepath, List <EDSsharp> network)
{
file = new StreamWriter(filepath, false);
file.Write("<!DOCTYPE html><html><head><link rel=\"stylesheet\" type=\"text/css\" href=\"style.css\" /> <title>Network PDO report</title></head><body>");
file.Write(string.Format("<h1>PDO Network Documementation </h1>"));
file.Write("<table id=\"nodelist\">");
write2linetableheader("Node ID", "Name");
foreach (EDSsharp eds in network)
{
write2linetablerow(eds.di.concreteNodeId.ToString(), eds.di.ProductName);
}
file.Write("</table>");
file.Write(string.Format("<h1>PDO Map</h1>"));
//now for each node find each TX PDO
foreach (EDSsharp eds in network)
{
foreach (KeyValuePair <UInt16, ODentry> kvp in eds.ods)
{
//find the com params for each TX pdo
if (kvp.Key >= 0x1800 && kvp.Key < 0x1a00)
{
//check the mapping also exists
if (eds.ods.ContainsKey((UInt16)(kvp.Key + 0x200)))
{
ODentry map = eds.ods[(UInt16)(kvp.Key + 0x200)];
ODentry compar = eds.ods[(UInt16)(kvp.Key)];
//Fix me we need some generic PDO access functions
UInt32 TXCOB = 0;
byte syncstart = 0;
UInt16 timer = 0;
UInt16 inhibit = 0;
byte type = 0;
bool nodeidpresent;
if (kvp.Value.containssubindex(1))
{
TXCOB = eds.GetNodeID(kvp.Value.getsubobject(1).defaultvalue, out nodeidpresent);
}
if (kvp.Value.containssubindex(2))
{
type = EDSsharp.ConvertToByte(kvp.Value.getsubobject(2).defaultvalue);
}
if (kvp.Value.containssubindex(3))
{
inhibit = EDSsharp.ConvertToUInt16(kvp.Value.getsubobject(3).defaultvalue);
}
if (kvp.Value.containssubindex(5))
{
timer = EDSsharp.ConvertToUInt16(kvp.Value.getsubobject(5).defaultvalue);
}
if (kvp.Value.containssubindex(6))
{
syncstart = EDSsharp.ConvertToByte(kvp.Value.getsubobject(6).defaultvalue);
}
byte totalsize = 0;
for (UInt16 sub = 1; sub <= map.getmaxsubindex(); sub++)
{
if (!map.containssubindex(sub))
{
continue;
}
UInt32 mapping = EDSsharp.ConvertToUInt32(map.getsubobject(sub).defaultvalue);
if (mapping == 0)
{
continue;
}
Byte size = (byte)mapping;
totalsize += size;
}
if (totalsize != 0)
{
file.Write(string.Format("<h2> PDO 0x{0:x3} <h2>", TXCOB));
file.Write("<table><tr> <th>Parameter</th> <th>value</th> </tr>");
file.Write(string.Format("<tr><td>{0}</td><td>0x{1:x3}</td></tr>", "COB", TXCOB));
file.Write(string.Format("<tr><td>{0}</td><td>0x{1:x}</td></tr>", "Type", type));
file.Write(string.Format("<tr><td>{0}</td><td>0x{1:x} ({2})</td></tr>", "Inhibit", inhibit, inhibit));
file.Write(string.Format("<tr><td>{0}</td><td>0x{1:x} ({2})</td></tr>", "Event timer", timer, timer));
file.Write(string.Format("<tr><td>{0}</td><td>0x{1:x} ({2})</td></tr>", "Sync start", syncstart, syncstart));
file.Write(string.Format("<tr><td>{0}</td><td>0x{1:x}</td></tr>", "PDO Size (Bytes)", totalsize / 8));
file.Write("<table class=\"pdomap\">");
file.Write(string.Format("<tr><th>{0}</th><th>{1}</th><th>{2}</th><th>{3}</th><th>{4}</th><th>{5}</th></tr>", "Node", "Dev name", "OD Index", "Name", "Size", "Receivers"));
}
byte offsetend = 0;
byte offsetstart = 0;
for (UInt16 sub = 1; sub <= map.getmaxsubindex(); sub++)
{
if (!map.containssubindex(sub))
{
continue;
}
if (map.getsubobjectdefaultvalue(sub) == "")
{
continue;
}
UInt32 mapping = EDSsharp.ConvertToUInt32(map.getsubobjectdefaultvalue(sub));
if (mapping == 0)
{
continue;
}
//its real extract the OD and sub index
UInt16 index = (UInt16)(mapping >> 16);
UInt16 subindex = (UInt16)(0x00FF & (mapping >> 8));
Byte size = (byte)mapping;
String name;
if (!eds.ods.ContainsKey(index))
{
break;
}
if (subindex == 0)
{
name = eds.ods[index].parameter_name;
}
else
{
name = eds.ods[index].getsubobject(subindex).parameter_name;
}
file.Write(string.Format("<tr> <td>0x{0:x2}</td> <td>{1}</td> <td>0x{2:x4}/0x{3:x2}</td><td>{4}</td> <td>{5}</td><td>", eds.di.concreteNodeId, eds.di.ProductName, index, subindex, name, size));
//find all recievers here
file.Write("<table class=\"receivers\">");
file.Write(string.Format("<tr> <th>Node</th> <th>Dev Name</th> <th>OD Index</th> <th>Name</th> <th>Size</td></tr>"));
offsetend += (byte)(size / 8);
foreach (EDSsharp eds2 in network)
{
if (eds == eds2)
{
continue;
}
else
{
foreach (KeyValuePair <UInt16, ODentry> kvp2 in eds2.ods)
{
if (kvp2.Key >= 0x1400 && kvp2.Key < 0x1600)
{
if (eds2.ods.ContainsKey((UInt16)(kvp2.Key + 0x200)))
{
bool nodeidpresent2;
UInt32 RXCOB = eds2.GetNodeID(kvp2.Value.getsubobjectdefaultvalue(1), out nodeidpresent2);
if (RXCOB == TXCOB)
{
ODentry map2 = eds2.ods[(UInt16)(kvp2.Key + 0x200)];
//Get the actual subindex to use
byte offsetstart2 = 0;
byte offsetend2 = 0;
Byte size2 = 0;
UInt32 mapping2 = 0;
UInt16 index2 = 0;
UInt16 subindex2 = 0;
byte totalsize2 = 0;
//Sanity check the total size
for (byte sub2 = 1; sub2 <= map2.getmaxsubindex(); sub2++)
{
mapping2 = EDSsharp.ConvertToUInt32(map2.getsubobjectdefaultvalue(sub2));
size2 = (byte)(mapping2);
totalsize2 += size2;
}
if (totalsize2 != totalsize)
{
file.WriteLine("<B> Critical error with network RX PDO size != TX PDO SIZE");
}
for (byte sub2 = 1; sub2 <= map2.getmaxsubindex(); sub2++)
{
mapping2 = EDSsharp.ConvertToUInt32(map2.getsubobjectdefaultvalue(sub2));
index2 = (UInt16)(mapping2 >> 16);
subindex2 = (UInt16)(0x00FF & (mapping2 >> 8));
size2 = (byte)mapping2;
if (mapping2 == 0)
{
continue;
}
offsetend2 += (byte)(size2 / 8);
// if(offsetstart == offsetstart2 && offsetend == offsetend2)
//we are all good equal data 1:1 mapping
if (offsetstart2 < offsetstart)
{
//more data needed to reach start
offsetstart2 += (byte)(size2 / 8);
continue;
}
if (offsetend2 > offsetend && offsetstart2 > offsetstart)
{
break; //we are done
}
offsetstart2 += (byte)(size2 / 8);
if (offsetend2 > offsetend)
{
//merge cell required on parent table
//meh difficult to do from here
}
String name2;
if (subindex2 == 0)
{
//fixme getobject could return null
name2 = eds2.getobject(index2).parameter_name;
}
else
{
//fixme getobject could return null
name2 = eds2.getobject(index2).getsubobject(subindex2).parameter_name;
}
string sizemsg = "";
if (size != size2)
{
sizemsg = " <b>WARNING</b>";
}
file.Write(string.Format("<tr> <td>0x{0:x2}</td> <td>{1}</td> <td>0x{2:x4}/0x{3:x2}</td> <td>{4}</td><td>{5}{6}</td></tr>", eds2.di.concreteNodeId, eds2.di.ProductName, index2, subindex2, name2, size2, sizemsg));
}
}
}
}
}
}
}
offsetstart += (byte)(size / 8);
file.Write("</table>");
file.Write("</td>");
file.Write(string.Format("</tr>"));
}
}
file.Write("</table>");
}
}
}
file.Close();
}
public Device convert(EDSsharp eds)
{
eds.updatePDOcount();
Device dev = new Device();
dev.CANopenObjectList = new CANopenObjectList();
dev.CANopenObjectList.CANopenObject = new List <CANopenObject>();
/* OBJECT DICTIONARY */
foreach (KeyValuePair <UInt16, ODentry> kvp in eds.ods)
{
ODentry od = kvp.Value;
// if(od.subindex==-1)
{
CANopenObject coo = new CANopenObject();
coo.Index = string.Format("{0:x4}", od.index);
coo.Name = od.parameter_name;
coo.ObjectType = od.objecttype.ToString();
coo.Disabled = od.Disabled.ToString().ToLower();
coo.MemoryType = od.location.ToString();
coo.AccessType = od.accesstype.ToString();
coo.DataType = string.Format("0x{0:x2}", (int)od.datatype);
coo.DefaultValue = od.defaultvalue;
coo.PDOmapping = od.PDOtype.ToString();
coo.TPDOdetectCOS = od.TPDODetectCos.ToString().ToLower();
coo.AccessFunctionPreCode = od.AccessFunctionPreCode;
coo.AccessFunctionName = od.AccessFunctionName;
coo.Description = new Description();
coo.Description.Text = od.Description;
//if (od.objecttype == ObjectType.ARRAY || od.objecttype == ObjectType.REC)
{
coo.SubNumber = od.nosubindexes.ToString(); //-1?? //check me
coo.CANopenSubObject = new List <CANopenSubObject>();
foreach (KeyValuePair <UInt16, ODentry> kvp2 in od.subobjects)
{
ODentry subod = kvp2.Value;
CANopenSubObject sub = new CANopenSubObject();
sub.Name = subod.parameter_name;
sub.ObjectType = subod.objecttype.ToString();
sub.AccessType = subod.accesstype.ToString();
sub.DataType = string.Format("0x{0:x2}", (int)subod.datatype);
sub.DefaultValue = subod.defaultvalue;
sub.PDOmapping = subod.PDOtype.ToString();
sub.SubIndex = String.Format("{0:x2}", subod.subindex);
sub.TPDOdetectCOS = subod.TPDODetectCos.ToString().ToLower();
coo.CANopenSubObject.Add(sub);
}
}
if (od.objecttype == ObjectType.ARRAY && od.datatype == DataType.UNKNOWN)
{
//add the datatype field to parent objects if they don't have it already
//if the 2nd subobject does not exist then we do nothing.
ODentry sub = od.getsubobject(1);
if (sub != null)
{
od.datatype = sub.datatype;
}
}
dev.CANopenObjectList.CANopenObject.Add(coo);
}
}
/* DUMMY USAGE */
dev.Other = new Other();
dev.Other.DummyUsage = new DummyUsage();
dev.Other.DummyUsage.Dummy = new List <Dummy>();
Dummy d;
d = new Dummy();
d.Entry = eds.du.Dummy0001.ToString();
dev.Other.DummyUsage.Dummy.Add(d);
d = new Dummy();
d.Entry = eds.du.Dummy0002.ToString();
dev.Other.DummyUsage.Dummy.Add(d);
d = new Dummy();
d.Entry = eds.du.Dummy0003.ToString();
dev.Other.DummyUsage.Dummy.Add(d);
d = new Dummy();
d.Entry = eds.du.Dummy0004.ToString();
dev.Other.DummyUsage.Dummy.Add(d);
d = new Dummy();
d.Entry = eds.du.Dummy0005.ToString();
dev.Other.DummyUsage.Dummy.Add(d);
d = new Dummy();
d.Entry = eds.du.Dummy0006.ToString();
dev.Other.DummyUsage.Dummy.Add(d);
d = new Dummy();
d.Entry = eds.du.Dummy0007.ToString();
dev.Other.DummyUsage.Dummy.Add(d);
SupportedBaudRate baud = new SupportedBaudRate();
dev.Other.BaudRate = new BaudRate();
dev.Other.BaudRate.SupportedBaudRate = new List <SupportedBaudRate>();
baud.Value = "10 Kbps";
if (eds.di.BaudRate_10 == true)
{
dev.Other.BaudRate.SupportedBaudRate.Add(baud);
}
baud = new SupportedBaudRate();
baud.Value = "20 Kbps";
if (eds.di.BaudRate_20 == true)
{
dev.Other.BaudRate.SupportedBaudRate.Add(baud);
}
baud = new SupportedBaudRate();
baud.Value = "50 Kbps";
if (eds.di.BaudRate_50 == true)
{
dev.Other.BaudRate.SupportedBaudRate.Add(baud);
}
baud = new SupportedBaudRate();
baud.Value = "125 Kbps";
if (eds.di.BaudRate_125 == true)
{
dev.Other.BaudRate.SupportedBaudRate.Add(baud);
}
baud = new SupportedBaudRate();
baud.Value = "250 Kbps";
if (eds.di.BaudRate_250 == true)
{
dev.Other.BaudRate.SupportedBaudRate.Add(baud);
}
baud = new SupportedBaudRate();
baud.Value = "500 Kbps";
if (eds.di.BaudRate_500 == true)
{
dev.Other.BaudRate.SupportedBaudRate.Add(baud);
}
baud = new SupportedBaudRate();
baud.Value = "800 Kbps";
if (eds.di.BaudRate_800 == true)
{
dev.Other.BaudRate.SupportedBaudRate.Add(baud);
}
baud = new SupportedBaudRate();
baud.Value = "1000 Kbps";
if (eds.di.BaudRate_1000 == true)
{
dev.Other.BaudRate.SupportedBaudRate.Add(baud);
}
dev.Other.Capabilities = new Capabilities();
dev.Other.Capabilities.CharacteristicsList = new CharacteristicsList();
dev.Other.Capabilities.CharacteristicsList.Characteristic = new List <Characteristic>();
dev.Other.Capabilities.CharacteristicsList.Characteristic.Add(makecharcteristic("SimpleBootUpSlave", eds.di.SimpleBootUpSlave.ToString()));
dev.Other.Capabilities.CharacteristicsList.Characteristic.Add(makecharcteristic("SimpleBootUpMaster", eds.di.SimpleBootUpMaster.ToString()));
dev.Other.Capabilities.CharacteristicsList.Characteristic.Add(makecharcteristic("DynamicChannelsSupported", eds.di.DynamicChannelsSupported.ToString()));
dev.Other.Capabilities.CharacteristicsList.Characteristic.Add(makecharcteristic("CompactPDO", eds.di.CompactPDO.ToString()));
dev.Other.Capabilities.CharacteristicsList.Characteristic.Add(makecharcteristic("GroupMessaging", eds.di.GroupMessaging.ToString()));
dev.Other.Capabilities.CharacteristicsList.Characteristic.Add(makecharcteristic("LSS_Supported", eds.di.LSS_Supported.ToString()));
dev.Other.Capabilities.CharacteristicsList.Characteristic.Add(makecharcteristic("LSS_Type", eds.di.LSS_Type));
dev.Other.Capabilities.CharacteristicsList.Characteristic.Add(makecharcteristic("Granularity", eds.di.Granularity.ToString()));
dev.Other.DeviceIdentity = new DeviceIdentity();
dev.Other.DeviceIdentity.ProductName = eds.di.ProductName;
dev.Other.DeviceIdentity.ProductNumber = eds.di.ProductNumber;
dev.Other.DeviceIdentity.ProductText = new ProductText();
dev.Other.DeviceIdentity.ProductText.Description = new Description();
dev.Other.DeviceIdentity.ProductText.Description.Text = eds.fi.Description;
if (eds.di.concreteNodeId != -1)
{
dev.Other.DeviceIdentity.ConcreteNoideId = eds.di.concreteNodeId.ToString();
}
dev.Other.DeviceIdentity.VendorName = eds.di.VendorName;
dev.Other.DeviceIdentity.VendorNumber = eds.di.VendorNumber;
dev.Other.File = new File();
dev.Other.File.FileName = System.IO.Path.GetFileName(eds.xmlfilename);
dev.Other.File.FileCreationDate = eds.fi.CreationDateTime.ToString("MM-dd-yyyy");
dev.Other.File.FileCreationTime = eds.fi.CreationDateTime.ToString("h:mmtt");
dev.Other.File.FileCreator = eds.fi.CreatedBy;
dev.Other.File.FileModificationDate = eds.fi.ModificationDateTime.ToString("MM-dd-yyyy");
dev.Other.File.FileModificationTime = eds.fi.ModificationDateTime.ToString("h:mmtt");
dev.Other.File.FileModifedBy = eds.fi.ModifiedBy;
dev.Other.File.FileVersion = eds.fi.FileVersion.ToString();
dev.Other.File.FileRevision = eds.fi.FileRevision;
dev.Other.File.ExportFolder = eds.fi.exportFolder;
dev.Other.File.EdsFile = eds.edsfilename;
return(dev);
}