public void Configure(SlaveInfo rootSlaveInfo = null)
{
SlaveInfo actualSlaveInfo;
IList <SlaveInfo> slaveInfoSet;
IList <SlaveInfo> actualSlaveInfoSet;
NetworkInterface networkInterface;
networkInterface = NetworkInterface.GetAllNetworkInterfaces().Where(nic => nic.Name == _settings.InterfaceName).FirstOrDefault();
if (networkInterface?.OperationalStatus != OperationalStatus.Up)
{
throw new Exception($"Network interface '{_settings.InterfaceName}' is not linked. Aborting action.");
}
#region "PreOp"
actualSlaveInfo = EcUtilities.ScanDevices(this.Context, _settings.InterfaceName, null);
if (rootSlaveInfo == null)
{
rootSlaveInfo = actualSlaveInfo;
rootSlaveInfo.Descendants().ToList().ForEach(current =>
{
ExtensibilityHelper.CreateDynamicData(_settings.EsiDirectoryPath, _extensionFactory, current);
});
}
slaveInfoSet = rootSlaveInfo.Descendants().ToList();
actualSlaveInfoSet = actualSlaveInfo.Descendants().ToList();
this.ValidateSlaves(slaveInfoSet, actualSlaveInfoSet);
this.ConfigureSlaves(slaveInfoSet);
this.ConfigureIoMap(slaveInfoSet);
this.ConfigureDc();
this.ConfigureSync01(slaveInfoSet);
#endregion
#region "SafeOp"
EcUtilities.CheckErrorCode(this.Context, EcHL.CheckSafeOpState(this.Context), nameof(EcHL.CheckSafeOpState));
#endregion
#region "Op"
EcUtilities.CheckErrorCode(this.Context, EcHL.RequestOpState(this.Context), nameof(EcHL.RequestOpState));
#endregion
if (_watchdogTask == null)
{
_watchdogTask = Task.Run(() => this.WatchdogRoutine(), _cts.Token);
}
}
static async Task Main(string[] args)
{
/* Set interface name. Edit this to suit your needs. */
var interfaceName = "eth0";
/* Set ESI location. Make sure it contains ESI files! The default path is /home/{user}/.local/share/ESI */
var localAppDataPath = Environment.GetFolderPath(Environment.SpecialFolder.LocalApplicationData);
var esiDirectoryPath = Path.Combine(localAppDataPath, "ESI");
Directory.CreateDirectory(esiDirectoryPath);
/* Copy native file. NOT required in end user scenarios, where EtherCAT.NET package is installed via NuGet! */
var codeBase = Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location);
Directory.EnumerateFiles(Path.Combine(codeBase, "runtimes"), "*soem_wrapper.*", SearchOption.AllDirectories).ToList().ForEach(filePath =>
{
if (filePath.Contains(RuntimeEnvironment.RuntimeArchitecture))
{
File.Copy(filePath, Path.Combine(codeBase, Path.GetFileName(filePath)), true);
}
});
/* prepare dependency injection */
var services = new ServiceCollection();
ConfigureServices(services);
/* create types */
var provider = services.BuildServiceProvider();
var extensionFactory = provider.GetRequiredService <IExtensionFactory>();
var loggerFactory = provider.GetRequiredService <ILoggerFactory>();
var logger = loggerFactory.CreateLogger("EtherCAT Master");
/* create EtherCAT master settings (with 10 Hz cycle frequency) */
var cycleFrequency = 10U;
var settings = new EcSettings(cycleFrequency, esiDirectoryPath, interfaceName);
/* create root slave info by scanning available slaves */
var rootSlaveInfo = EcUtilities.ScanDevices(settings.InterfaceName);
rootSlaveInfo.Descendants().ToList().ForEach(current =>
{
ExtensibilityHelper.CreateDynamicData(settings.EsiDirectoryPath, extensionFactory, current);
});
/* print list of slaves */
var message = new StringBuilder();
var slaves = rootSlaveInfo.Descendants().ToList();
message.AppendLine($"Found {slaves.Count()} slaves:");
slaves.ForEach(current =>
{
message.AppendLine($"{current.DynamicData.Name} (PDOs: {current.DynamicData.PdoSet.Count} - CSA: { current.Csa })");
});
logger.LogInformation(message.ToString().TrimEnd());
/* create variable references for later use */
var variables = slaves.SelectMany(child => child.GetVariableSet()).ToList();
/* create EC Master */
using (var master = new EcMaster(settings, extensionFactory, logger))
{
try
{
master.Configure(rootSlaveInfo);
}
catch (Exception ex)
{
logger.LogError(ex.Message);
throw;
}
/* start master */
var random = new Random();
var cts = new CancellationTokenSource();
var task = Task.Run(() =>
{
var sleepTime = 1000 / (int)cycleFrequency;
while (!cts.IsCancellationRequested)
{
master.UpdateIO(DateTime.UtcNow);
unsafe
{
if (variables.Any())
{
var myVariableSpan = new Span <int>(variables.First().DataPtr.ToPointer(), 1);
myVariableSpan[0] = random.Next(0, 100);
}
}
Thread.Sleep(sleepTime);
}
}, cts.Token);
/* wait for stop signal */
Console.ReadKey(true);
cts.Cancel();
await task;
}
}
