public CanOpenStatus startupNode(byte nodeId)
{
CanOpenStatus ret = CanOpenStatus.CANOPEN_ERROR;
this.node_id = nodeId;
ret = client_sdo.connect(nodeId);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
nmt_mlaster.nodeGuardPollStart(nodeId, 3000);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = receive_pdo.setCobid((uint)0x180 + this.node_id);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = transmit_pdo.setup((uint)0x200 + this.node_id, this.output_mirror_values, 1);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = transmit_pdo.periodicTransmission(true);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = nmt_mlaster.nodeReset(node_id);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
Thread.Sleep(4000);
ret = configureIoInputs();
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = configureIoOutputs();
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
uint canopenErrorCode;
ret = client_sdo.objectWrite(0x100c, 0, (ushort)1000, out canopenErrorCode);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = client_sdo.objectWrite(0x100d, 0, (byte)3, out canopenErrorCode);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
return(ret);
}
static void Main(string[] args)
{
Console.WriteLine("******************************************************");
Console.WriteLine("* CONNECT TWO CAN-ADAPTERS TO A SILENT CANBUS *");
Console.WriteLine("* AND THE TWO ADAPTERS WILL DO CANOPEN COMMUNICATION *");
Console.WriteLine("* HIT RETURN 1 TIME WHEN DONE! *");
Console.WriteLine("******************************************************");
Console.ReadLine();
CANopenLibraryConfiguration.SetAdapter(0); // qqq can't make CanAdapter enum visible here :(
byte[] test;
uint uint_test;
uint uint_temp_val;
ushort ushort_temp_val;
SyncProducer_NET sync_producer = new SyncProducer_NET();
if (sync_producer.canHardwareConnect(0, 500000) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("Could not connect to CAN-adapter 0");
Console.ReadLine();
}
if (sync_producer.setSyncCOBID(0x80) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("Could not setSyncCOBID");
Console.ReadLine();
}
if (sync_producer.setTransmissionPeriodTime(1000) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("Could not setTransmissionPeriodTime");
Console.ReadLine();
}
if (sync_producer.startPeriodicTransmission(true) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("Could not setTransmissionPeriodTime");
Console.ReadLine();
}
Thread.Sleep(10000);
if (sync_producer.canHardwareDisconnect() != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("Could not setTransmissionPeriodTime");
Console.ReadLine();
}
sync_producer.Dispose();
sync_producer = null;
LSS_Slave_NET lss_slave = new LSS_Slave_NET();
LSS_Master_NET lss_master = new LSS_Master_NET();
if (lss_slave.canHardwareConnect(0, 250000) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("Could not connect to CAN-adapter 1");
Console.ReadLine();
}
if (lss_master.canHardwareConnect(1, 250000) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("Could not connect to CAN-adapter 2");
Console.ReadLine();
}
lss_slave.setDeviceParameters(0x1234, 0x2345, 0x3456, 0x4567);
if (lss_master.switchModeGlobal(0) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("switchModeGlobal failed");
Console.ReadLine();
}
if (lss_master.switchModeSelectiveVendorId(0x1234) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("switchModeGlobal failed");
Console.ReadLine();
}
if (lss_master.switchModeSelectiveProductCode(0x2345) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("switchModeSelectiveProductCode failed");
Console.ReadLine();
}
if (lss_master.switchModeSelectiveRevisionNumber(0x3456) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("switchModeSelectiveRevisionNumber failed");
Console.ReadLine();
}
if (lss_master.switchModeSelectiveSerialNumber(0x4567) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("switchModeSelectiveSerialNumber failed");
Console.ReadLine();
}
byte errorCode = 0xff;
byte specError = 0xff;
if (lss_master.configureNodeId(5, out errorCode, out specError) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("switchModeSelectiveSerialNumber failed");
Console.ReadLine();
}
if (lss_master.configureBitTimingParamteres(5, 7, out errorCode, out specError) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("configureBitTimingParamteres failed");
Console.ReadLine();
}
if (lss_master.activateBitTimingParameters(25) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("activateBitTimingParameters failed");
Console.ReadLine();
}
Thread.Sleep(25 + 25); // The activate call does not wait, leaving devices 25ms to stop and 25ms time to start with new rate
if (lss_master.storeConfiguration(out errorCode, out specError) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("storeConfiguration failed");
Console.ReadLine();
}
CanOpenStatus stat;
test = new byte[10];
CanMonitor_NET can_Monitor;
can_Monitor = new CanMonitor_NET();
Console.WriteLine("**************************************************");
Console.WriteLine("* Press RETURN to see some NMT protocol commands *");
Console.WriteLine("**************************************************");
Console.ReadLine();
ServerSDO_NET server_SDO;
server_SDO = new ServerSDO_NET();
ClientSDO_NET client_SDO;
client_SDO = new ClientSDO_NET();
NMT_Master_NET nmt_Master;
nmt_Master = new NMT_Master_NET();
NMT_Slave_NET nmt_Slave1;
nmt_Slave1 = new NMT_Slave_NET();
NMT_Slave_NET nmt_Slave2;
nmt_Slave2 = new NMT_Slave_NET();
NMT_Slave_NET nmt_Slave3;
nmt_Slave3 = new NMT_Slave_NET();
can_Monitor.registerCanReceiveCallback((Object)can_Monitor, canMonitorCallback);
if (can_Monitor.canHardwareConnect(1, 250000) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("Could not connect to CAN-adapter 1");
Console.ReadLine();
}
nmt_Slave1.nodeSetId(3);
nmt_Slave1.canHardwareConnect(1, 250000);
nmt_Slave2.nodeSetId(5);
nmt_Slave2.canHardwareConnect(1, 250000);
nmt_Slave3.nodeSetId(66);
nmt_Slave3.canHardwareConnect(1, 250000);
if (nmt_Master.canHardwareConnect(0, 250000) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("Could not connect to CAN-adapter 0");
Console.ReadLine();
}
nmt_Master.registerNodeStateCallback(new NMTOperationalStateDelegate(node_state_callback), (Object)nmt_Master);
nmt_Master.nodeGuardPollStart(3, 3000);
nmt_Master.nodeGuardPollStart(5, 3000);
nmt_Master.nodeGuardPollStart(66, 3000);
Thread.Sleep(2000);
nmt_Master.nodeGuardPollStop(3); // Stopping the nodeguarding service to avoid too much Console-prints.
nmt_Master.nodeGuardPollStop(5);
nmt_Master.nodeGuardPollStop(66);
Thread.Sleep(2000);
Console.WriteLine("************************************************");
Console.WriteLine("* Press return do EMERGENCY RX/TX *");
Console.WriteLine("************************************************");
Console.ReadLine();
EmcyClient_NET emcyClient = new EmcyClient_NET();
emcyClient.canHardwareConnect(0, 250000);
EmcyServer_NET emcyServer = new EmcyServer_NET();
emcyServer.canHardwareConnect(1, 250000);
/*
* public delegate CanOpenStatus EmcyServerDelegate(
* object obj, byte nodeId, ushort emcyErrorCode, byte errorRegister,
* byte[] manufacturerSpecificErrorField)
*/
emcyServer.registerEmcyServerMessageCallBack((object)emcyServer, emcy_server_callback);
emcyClient.nodeSetId(5);
emcyClient.sendEmcyMessage(0x1234, 0x10, new byte[] { 1, 2, 3, 4, 5 });
Thread.Sleep(1000);
/*
* public delegate CanOpenStatus ReceivePdoDelegate(object obj, uint id, byte[] data, byte len)
*/
Thread.Sleep(2000);
Console.WriteLine("************************************************");
Console.WriteLine("* Press return do PDO RX/TX *");
Console.WriteLine("************************************************");
Console.ReadLine();
ReceivePDO_NET rPdo = new ReceivePDO_NET();
rPdo.canHardwareConnect(1, 250000);
rPdo.setCobid(0x123);
rPdo.registerReceivePdoMessageCallBack((object)rPdo, receive_pdo_callback);
TransmitPDO_NET tPdo = new TransmitPDO_NET();
tPdo.canHardwareConnect(1, 250000);
tPdo.setup(0x123, new byte[] { 1, 2, 3, 4, 5 }, 5);
tPdo.periodicTransmission(true);
Thread.Sleep(5000);
tPdo.periodicTransmission(false);
client_SDO.setReadObjectTimeout(10000);
client_SDO.setWriteObjectTimeout(40000);
client_SDO.setNodeResponseTimeout(10000);
stat = client_SDO.canHardwareConnect(0, 250000);
stat = client_SDO.connect(3);
stat = server_SDO.canHardwareConnect(1, 250000);
stat = server_SDO.nodeSetId(3);
/***
* Configure the callbacks.
***/
server_SDO.registerObjectReadCallback(new SrvReadDelegate(canopenReadCallback), (Object)server_SDO);
server_SDO.registerObjectWriteCallback(new SrvWriteDelegate(canopenWriteCallback), (Object)server_SDO);
server_SDO.registerObjectGetAttributesCallback(new SrvGetAttrDelegate(getAttributesCallback), (Object)server_SDO);
Thread.Sleep(2000);
Console.WriteLine("************************************************");
Console.WriteLine("* Press return do EXPEITED READ (test 1/2)! *");
Console.WriteLine("************************************************");
Console.ReadLine();
client_SDO.setReadObjectTimeout(500000);
client_SDO.setNodeResponseTimeout(10000);
uint bytesWrittenByRemoteNode;
stat = client_SDO.objectRead(0x0A, 0x0A, out uint_temp_val, out bytesWrittenByRemoteNode);
if (stat == CanOpenStatus.CANOPEN_OK)
{
if (uint_temp_val != 0x40302010 && bytesWrittenByRemoteNode != 4)
{
Console.WriteLine("ERROR!");
Console.ReadLine();
return;
}
}
Thread.Sleep(2000);
Console.WriteLine("************************************************");
Console.WriteLine("* Press return do EXPEITED READ (test 2/2)! *");
Console.WriteLine("************************************************");
Console.ReadLine();
client_SDO.setReadObjectTimeout(2000); // 2 seconds.
stat = client_SDO.objectRead(0xB0, 0xB0, out ushort_temp_val, out uint_test);
if (stat != CanOpenStatus.CANOPEN_BUFFER_TOO_SMALL)
{
Console.WriteLine("ERROR!");
Console.ReadLine();
}
else
{
Console.WriteLine("Yes, this is correct, we try to read 40 bytes into 4 bytes!");
Console.WriteLine("Let's try with a bigger receive-buffer!");
}
Console.WriteLine("Waiting for SDO server to time out...");
Thread.Sleep(7000);
Console.WriteLine("************************************************");
Console.WriteLine("* Press return do SEGEMNETED READ (40 bytes)! *");
Console.WriteLine("************************************************");
Console.ReadLine();
uint responseErrorCode;
byte[] rx_buffer = new byte[2000];
stat = client_SDO.objectRead(0xb0, 0xb0, rx_buffer, out bytesWrittenByRemoteNode, out responseErrorCode);
if (stat != CanOpenStatus.CANOPEN_OK && bytesWrittenByRemoteNode != 40)
{
Console.WriteLine("ERROR!");
Console.ReadLine();
return;
}
else
{
string received_data = string.Empty;
Console.WriteLine(String.Format("Just received {0} bytes of data from remote node!", bytesWrittenByRemoteNode));
for (int i = 0; i < bytesWrittenByRemoteNode; i++)
{
received_data += String.Format("{0:X2} ", rx_buffer[i]);
}
Console.WriteLine(received_data);
}
Thread.Sleep(2000);
Console.WriteLine("************************************************");
Console.WriteLine("* Press return do SEGEMNETED READ (1024 bytes)! *");
Console.WriteLine("************************************************");
Console.ReadLine();
stat = client_SDO.objectRead(0xc0, 0xc0, rx_buffer, out bytesWrittenByRemoteNode, out responseErrorCode);
if (stat != CanOpenStatus.CANOPEN_OK && bytesWrittenByRemoteNode != 1024)
{
Console.WriteLine("ERROR!");
Console.ReadLine();
return;
}
else
{
string received_data = string.Empty;
Console.WriteLine(String.Format("Just received {0} bytes of data from remote node!", bytesWrittenByRemoteNode));
for (int i = 0; i < bytesWrittenByRemoteNode; i++)
{
received_data += String.Format("{0:X2} ", rx_buffer[i]);
}
Console.WriteLine(received_data);
}
Console.WriteLine("**********************************************************************");
Console.WriteLine("* Press return do EXPEDITED WRITE TEST WITH EXPECTED ERROR RECEIVED! *");
Console.WriteLine("**********************************************************************");
Console.ReadLine();
responseErrorCode = 0;
if ((client_SDO.objectWrite(0xD0, 0xD0, (byte)0x55, out responseErrorCode)) == CanOpenStatus.CANOPEN_REMOTE_NODE_ABORT)
{
Console.WriteLine(String.Format("Expected remote errorcode received, no write access to that object! {0:X4}", responseErrorCode));
}
Console.WriteLine("***************************************************");
Console.WriteLine("* Press return do EXPEDITED WRITE TEST (1 bytes)! *");
Console.WriteLine("***************************************************");
Console.ReadLine();
if ((client_SDO.objectWrite(0xE0, 0x00, (byte)0x55, out responseErrorCode)) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("ERROR!");
Console.ReadLine();
return;
}
Console.WriteLine("***************************************************");
Console.WriteLine("* Press return do EXPEDITED WRITE TEST (2 bytes)! *");
Console.WriteLine("***************************************************");
Console.ReadLine();
if ((client_SDO.objectWrite(0xE0, 0x00, (ushort)0x1234, out responseErrorCode)) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("ERROR!");
Console.ReadLine();
return;
}
Console.WriteLine("***************************************************");
Console.WriteLine("* Press return do EXPEDITED WRITE TEST (4 bytes)! *");
Console.WriteLine("***************************************************");
Console.ReadLine();
if ((client_SDO.objectWrite(0xE0, 0x00, (uint)0x12345678, out responseErrorCode)) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("ERROR!");
Console.ReadLine();
return;
}
Console.WriteLine("*****************************************************");
Console.WriteLine("* Press return do SEGMENTED WRITE TEST (100 bytes)! *");
Console.WriteLine("*****************************************************");
Console.ReadLine();
byte[] tx_buffer = new byte[2000];
for (int i = 0; i < tx_buffer.Length; i++)
{
tx_buffer[i] = (byte)i;
}
if ((stat = client_SDO.objectWrite(0xE0, 0x00, tx_buffer, (ushort)100, out responseErrorCode)) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("ERROR!");
Console.ReadLine();
return;
}
Console.WriteLine("******************************************************");
Console.WriteLine("* Press return do SEGMENTED WRITE TEST (10000 bytes)! *");
Console.WriteLine("******************************************************");
Console.ReadLine();
tx_buffer = new byte[10000];
for (int i = 0; i < tx_buffer.Length; i++)
{
tx_buffer[i] = (byte)i;
}
if ((stat = client_SDO.objectWrite(0xE0, 0x00, tx_buffer, (ushort)10000, out responseErrorCode)) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("ERROR!");
Console.ReadLine();
return;
}
Console.WriteLine("******************************************************");
Console.WriteLine("* Press return do BLOCK WRITE TEST (10000 bytes)! *");
Console.WriteLine("******************************************************");
Console.ReadLine();
tx_buffer = new byte[10000];
for (int i = 0; i < tx_buffer.Length; i++)
{
tx_buffer[i] = (byte)i;
}
if ((stat = client_SDO.objectWriteBlock(0xE0, 0x00, 0, tx_buffer, (ushort)10000, out responseErrorCode)) != CanOpenStatus.CANOPEN_OK)
{
Console.WriteLine("ERROR!");
Console.ReadLine();
return;
}
}