/// <summary>
/// Definition of the AsyncRead funcion for the SOEM functionality.
/// It takes the slave number to communicate to, the index, and subindex of an object
/// and it will call the respective needed low level SDO function to read the value of the object.
/// The return value will be set on the value of the object dictionary
/// </summary>
/// <param name="slave_number">number of position of the slave to address</param>
/// <param name="index">index of the object to read</param>
/// <param name="subindex">subindex of the object to read</param>
public override void AsyncRead(int slave_number, ushort index, byte subindex)
{
try
{
DictItem item = MW.ObjectDictionary.GetItem(index, subindex);
switch (item.Type)
{
case "SINT":
lock (comm_locker)
item.Value = SdoReadInt8(slave_number, index, subindex);
break;
case "BOOL":
case "USINT":
lock (comm_locker)
item.Value = SdoReadUInt8(slave_number, index, subindex);
break;
case "INT":
lock (comm_locker)
item.Value = SdoReadInt16(slave_number, index, subindex);
break;
case "UINT":
lock (comm_locker)
item.Value = SdoReadUInt16(slave_number, index, subindex);
break;
case "DINT":
lock (comm_locker)
item.Value = SdoReadInt32(slave_number, index, subindex);
break;
case "UDINT":
lock (comm_locker)
item.Value = SdoReadUInt32(slave_number, index, subindex);
break;
case "STRING":
byte[] buf = new byte[item.Length];
lock (comm_locker)
SdoReadString(slave_number, index, subindex, buf, item.Length);
item.Value = buf;
break;
default:
throw new NotImplementedException();
}
DictionaryBuilder.FormatDisplayString(item); /* formats the display string of the value (dec, bin, hex) */
item.TimeStamp = Convert.ToUInt32(stopwatch.ElapsedMilliseconds);
}
catch (Exception err)
{
MessageBox.Show(err.ToString());
}
}
private void GetObjectsFromBuffer(byte[] rcv_client_msg)
{
byte cmd, subindex;
ushort index;
ushort num_obj = BitConverter.ToUInt16(rcv_client_msg, 0);
uint timestamp = BitConverter.ToUInt32(rcv_client_msg, 2);
DictItem item;
try
{
PCS device = Devices[0] as PCS;
int pointer = 6; //+ _num_pdos * 8;
for (int i = 1; i <= num_obj; i++)
{
cmd = rcv_client_msg[pointer];
pointer += 1;
index = BitConverter.ToUInt16(rcv_client_msg, pointer);
pointer += 2;
subindex = rcv_client_msg[pointer];
pointer += 1;
try
{
item = MW.ObjectDictionary.GetItem(index, subindex);
}
catch (Exception err)
{
MessageBox.Show(err.ToString());
continue;
}
switch (cmd) /* For the meaning of the commands see the definition of the static class CMD */
{
case CMD.sdo_R: //0x00:
switch (item.Type)
{
case "SINT":
item.Value = unchecked ((sbyte)rcv_client_msg[pointer]);
break;
case "BOOL":
case "USINT":
item.Value = rcv_client_msg[pointer];
break;
case "INT":
item.Value = BitConverter.ToInt16(rcv_client_msg, pointer);
break;
case "UINT":
item.Value = BitConverter.ToUInt16(rcv_client_msg, pointer);
break;
case "DINT":
item.Value = BitConverter.ToInt32(rcv_client_msg, pointer);
break;
case "UDINT":
item.Value = BitConverter.ToUInt32(rcv_client_msg, pointer);
break;
case "STRING":
item.Value = rcv_client_msg.SubArray(pointer, item.Length);
break;
default:
throw new NotImplementedException();
}
DictionaryBuilder.FormatDisplayString(item);
item.TimeStamp = timestamp;
break;
case CMD.sdo_W: //0x01:
uint abort_ret = BitConverter.ToUInt32(rcv_client_msg, pointer);
if (abort_ret == 0)
{
item.Access = "RWG";
}
else
{
item.Access = "RWR";
MW.Dispatcher.Invoke(() =>
{
MW.ErrorNoti.Items.Insert(0, new ErrorNotifications
{
TimeStamp = DateTime.Now.ToLongTimeString(),
Notification = string.Format("SDO Abort Transfer: {0} (0x{1:X8})",
MW.ErrorNoti.AbortCodes[abort_ret], abort_ret)
});
});
}
break;
case CMD.pdo_R: //0x10:
if (item.Index == 0x6041)
{
device.stateMachineDsp402.StateWord = BitConverter.ToUInt16(rcv_client_msg, pointer);
}
else if (item.Index == 0x6064)
{
device.ActualPosition = BitConverter.ToInt32(rcv_client_msg, pointer);
}
else if (item.Index == 0x606C)
{
device.ActualVelocity = BitConverter.ToInt32(rcv_client_msg, pointer);
}
else if (item.Index == 0x6061)
{
device.CurrentMode = unchecked ((sbyte)rcv_client_msg[pointer]);
}
break;
case CMD.pdo_W: //0x11:
break;
default:
break;
}
pointer += Math.Max(item.Length, 4);
}
}
catch (Exception err)
{
MessageBox.Show(err.ToString());
}
}
