/// <summary>
/// 选择网卡，调用底层C++函数，这一步会导致其中变量ifbuf赋值为网卡名。
/// </summary>
/// <param name="id">此ID与网卡扫描顺序有关</param>
/// <returns>成功返回100，失败返回-1</returns>
public OperationResult SetAdapter(string id)
{
StringBuilder sb = new StringBuilder("\\Device\\NPF_" + id);
HtEcConnector.SetAdapter(sb); //返回-1表示赋值失败
return(new OperationResult());
}
/// <summary>
/// 获取本机网卡列表，调用底层C++函数。
/// 由于无法实现传递string数组，因此基本原理是首先获取网络适配器数量adapterNum；
/// 然后获取每一个adapter的Name，用StringBuilder来传递。
/// </summary>
public Adapter[] GetAdapter()
{
int adapterNum = HtEcConnector.getAdapterNum(); //Get adapter number first.
Adapter[] adapters = new Adapter[adapterNum];
StringBuilder tmpAdapterName = new StringBuilder();
StringBuilder tmpAdapterDesc = new StringBuilder();
tmpAdapterName.Capacity = 128;
tmpAdapterDesc.Capacity = 128;
for (int i = 0; i < adapterNum; i++) //Get adapter name one-by-one.
{
int err = HtEcConnector.getAdapterName(tmpAdapterName, tmpAdapterDesc, i);
if (err <= 0) //有错误
{
throw new Exception(); //一般来讲是这个错误
}
adapters[i] = new Adapter();
adapters[i].Name = tmpAdapterName.ToString();
adapters[i].Desc = tmpAdapterDesc.ToString();
tmpAdapterName.Clear();
tmpAdapterDesc.Clear();
}
ConnectionContext.adapters = adapters;
return(adapters);
}
public void InitAutoReadConfig()
{
callback = (slave, channel, value) =>
{
AutoDataChanged(null, new DataChangedEventArgs(slave, channel, value));
};
//binding callback.
HtEcConnector.doWork(callback);
}
public void HighFreqRead(int deviceId, int channel, int freq, HighCallback call)
{
HighFreqReadCallback callback = (ans) =>
{
call(ans);
};
highCallbacks.Add(callback);
HtEcConnector.HighFreqRead(deviceId, channel, freq, callback);
}
public bool ReadBoolean(int deviceId, int channel)
{
int tmpValue = HtEcConnector.getDigitalValue(deviceId, channel);
if (tmpValue == 0)
{
return(false);
}
else if (tmpValue == 1)
{
return(true);
}
else
{
//throw new Exception("读取bool值错误，请检查:"+typeof(EtherCAT));
return(false);
}
}
// 建立连接状态，包括：初始化网卡，选择网卡，初始化从站
private void BuildConnection()
{
if (isLoadedDriver)
{
return;
}
try
{
SetAdapter(ConnectionContext.adapterId);
//this.GetDevice();
ConnectionContext.deviceNum = HtEcConnector.initSlaveConfig();
isLoadedDriver = true;
}
catch (Exception ex)
{
//log.Error(ex.Message + "\n" + ex.StackTrace);
}
}
/// <summary>
/// 主要作用是停止硬件运行，对于EtherCAT来说是恢复Init状态。
/// </summary>
/// <returns>应该返回操作结果</returns>
public OperationResult Disconnect()
{
HtEcConnector.stopRunning();
return(new OperationResult());
}
public int WriteBoolean(int deviceId, int channel, byte value)
{
return(HtEcConnector.setDigitalValue(deviceId, channel, value));
}
public int WriteAnalog(int deviceId, int channel, int value)
{
return(HtEcConnector.setAnalogValue(deviceId, channel, value));
}
public void StartAutoRead()
{
HtEcConnector.readStart();
}
public void HighFreqReadStop(int deviceId, int channelId)
{
HtEcConnector.HighFreqReadStop(deviceId, channelId);
Thread.Sleep(1000); //等待回传最后一组数据
//highCallbacks.Remove(XXX);highcallbacks应该作一个dictionary，以便通过键值获取并释放委托内存
}
/* 这里的两个函数表示我们的原生读函数，由于功能需要我们依旧保留这个方法，但是在更新数据缓冲池、
* 控件显示等方面我们还是采用redis读取的方式。
* Redis读取的好处也是明显的，无需依赖C#中极其不准确的Timer来触发读取，可以保证缓冲池中数据时
* 钟保持最新；不足之处在于，由于控制逻辑依旧是在C#中实现，一些周期循环控制可能还是不尽如人意。
* 值得一提的是，我们在编写控制逻辑的时候，可以绑定OnDataRefresh等事件，事件触发之时我们再执行
* 对应的控制算法。
*/
public int ReadAnalog(int deviceId, int channel)
{
int tmpValue = HtEcConnector.getAnalogValue(deviceId, channel);
return(tmpValue);
}
/// <summary>
/// 获取设备列表
/// </summary>
public List <List <IOdevice> > GetDevice()
{
BuildConnection();
int slaveNum = ConnectionContext.deviceNum;
List <List <IOdevice> > deviceContiner = new List <List <IOdevice> >(); //全部device
List <IOdevice> devGroup = null; //一个device组
IOdevice tmpDevice = null;
for (int i = 1; i < slaveNum + 2; i++)
{
HtEcEntity tmpSlave = new HtEcEntity();
StringBuilder tmpSlaveName = new StringBuilder();
tmpSlaveName.Capacity = 128;
int err = HtEcConnector.getSlaveInfo(tmpSlaveName, ref tmpSlave, i);
if (tmpSlave.type == 10 || tmpSlave.type == 20) //耦合器或驱动器
{
if (devGroup != null)
{
deviceContiner.Add(devGroup);
}
devGroup = new List <IOdevice>();
}
tmpDevice = new IOdevice(tmpSlave.id, DeviceType.NULL, tmpSlaveName.ToString(), tmpSlave.channelNum);
//type
switch (tmpSlave.type)
{
case 1:
tmpDevice.type = DeviceType.DI;
break;
case 2:
tmpDevice.type = DeviceType.DO;
break;
case 3:
tmpDevice.type = DeviceType.AI;
break;
case 4:
tmpDevice.type = DeviceType.AO;
break;
case 10:
tmpDevice.type = DeviceType.COUPLER;
break;
case 20:
tmpDevice.type = DeviceType.SOLVER;
break;
default:
break;
}
devGroup.Add(tmpDevice);
tmpSlaveName.Clear();
}
deviceContiner.Add(devGroup);
return(deviceContiner);
}
public int InitDevice()
{
return(HtEcConnector.initSlaveConfig());
}