private static void SetupTask(ITcSysManager sysManager, IReadOnlyCollection <ITcSmTreeItem> autds)
{
var tasks = sysManager.LookupTreeItem("TIRT");
var task1 = tasks.CreateChild("Task 1", 0, null);
var doc = new XmlDocument();
var xml = task1.ProduceXml(false);
doc.LoadXml(xml);
doc.SelectSingleNode("TreeItem/TaskDef/CycleTime").InnerText = _cycleTicks == "manual" ? _taskCycleTime : (TaskCycleTimeBase * int.Parse(_cycleTicks)).ToString();
task1.ConsumeXml(doc.OuterXml);
var task1Out = sysManager.LookupTreeItem("TIRT^Task 1^Outputs");
// make global header
for (var i = 0; i < HeadSize; i++)
{
var name = $"header[{i}]";
task1Out.CreateChild(name, -1, null, "WORD");
}
// make gain body
for (var id = 0; id < autds.Count; id++)
{
for (var i = 0; i < BodySize; i++)
{
var name = $"gbody[{id}][{i}]";
task1Out.CreateChild(name, -1, null, "WORD");
}
}
var task1In = sysManager.LookupTreeItem("TIRT^Task 1^Inputs");
for (var id = 0; id < autds.Count; id++)
{
var name = $"input[{id}]";
task1In.CreateChild(name, -1, null, "WORD");
}
// connect links
for (var id = 0; id < autds.Count; id++)
{
for (var i = 0; i < HeadSize; i++)
{
var source = $"TIRT^Task 1^Outputs^header[{i}]";
var destination = $"TIID^EtherCAT Master^Box {id + 1} (AUTD)^RxPdo1^data[{i}]";
sysManager.LinkVariables(source, destination);
}
for (var i = 0; i < BodySize; i++)
{
var source = $"TIRT^Task 1^Outputs^gbody[{id}][{i}]";
var destination = $"TIID^EtherCAT Master^Box {id + 1} (AUTD)^RxPdo0^data[{i}]";
sysManager.LinkVariables(source, destination);
}
{
var source = $"TIRT^Task 1^Inputs^input[{id}]";
var destination = $"TIID^EtherCAT Master^Box {id + 1} (AUTD)^TxPdo^dummy";
sysManager.LinkVariables(source, destination);
}
}
}
public static bool SearchForItem(string itemPath, ref ITcSysManager sysManager, ref ITcSmTreeItem item)
{
try
{
item = sysManager.LookupTreeItem(itemPath);
Console.WriteLine(itemPath + " item found.");
}
catch (Exception e)
{
Console.WriteLine(itemPath + " item not found. Exiting on Enter.");
Console.Read();
Environment.Exit(-1);
}
return(true);
}
private static void AddRoute(ITcSysManager sysManager, IPAddress ipAddr)
{
var routeConfiguration = sysManager.LookupTreeItem("TIRR");
var addProjectRouteIp = @"<TreeItem>
<RoutePrj>
<AddProjectRoute>
<Name>" + ipAddr + @"</Name>
<NetId>" + ipAddr + @".1.1" + @"</NetId>
<IpAddr>" + ipAddr + @"</IpAddr>
</AddProjectRoute>
</RoutePrj>
</TreeItem>";
routeConfiguration.ConsumeXml(addProjectRouteIp);
}
public static void AssignCpuCores(ITcSysManager sysManager)
{
var realtimeSettings = sysManager.LookupTreeItem("TIRS");
var stringWriter = new StringWriter();
using (var writer = XmlWriter.Create(stringWriter))
{
writer.WriteStartElement("TreeItem");
writer.WriteStartElement("RTimeSetDef");
writer.WriteElementString("MaxCPUs", "1");
writer.WriteStartElement("CPUs");
WriteCpuProperties(writer, 0);
writer.WriteEndElement(); // CPUs
writer.WriteEndElement(); // RTimeSetDef
writer.WriteEndElement(); // TreeItem
}
var xml = stringWriter.ToString();
realtimeSettings.ConsumeXml(xml);
}
private static List <ITcSmTreeItem> ScanAutDs(ITcSysManager sysManager)
{
var devices = (ITcSmTreeItem3)sysManager.LookupTreeItem("TIID");
var doc = new XmlDocument();
var xml = devices.ProduceXml(false);
doc.LoadXml(xml);
var nodes = doc.SelectNodes("TreeItem/DeviceGrpDef/FoundDevices/Device");
var ethernetNodes = (from XmlNode node in nodes let typeNode = node.SelectSingleNode("ItemSubType") let subType = int.Parse(typeNode.InnerText) where subType == (int)DeviceType.EtherCAT_AutomationProtocol || subType == (int)DeviceType.EtherCAT_DirectMode || subType == (int)DeviceType.EtherCAT_DirectModeV210 select node).ToList();
if (ethernetNodes.Count == 0)
{
throw new Exception("No devices were found. Check if TwinCAT3 is in Config Mode");
}
Console.WriteLine("Scan found a RT-compatible Ethernet device.");
var device = (ITcSmTreeItem3)devices.CreateChild("EtherCAT Master", (int)DeviceType.EtherCAT_DirectMode, null);
// Taking only the first found Ethernet Adapter
var ethernetNode = ethernetNodes[0];
var addressInfoNode = ethernetNode.SelectSingleNode("AddressInfo");
addressInfoNode.SelectSingleNode("Pnp/DeviceDesc").InnerText = "TwincatEthernetDevice";
// Set the Address Info
var xml2 = $"<TreeItem><DeviceDef>{addressInfoNode.OuterXml}</DeviceDef></TreeItem>";
device.ConsumeXml(xml2);
const string scanXml = "<TreeItem><DeviceDef><ScanBoxes>1</ScanBoxes></DeviceDef></TreeItem>";
device.ConsumeXml(scanXml);
var autds = new List <ITcSmTreeItem>();
foreach (ITcSmTreeItem box in device)
{
if (box.ItemSubTypeName != "AUTD")
{
continue;
}
var bdoc = new XmlDocument();
var bxml = box.ProduceXml(false);
bdoc.LoadXml(bxml);
// set DC
var dcOpmodes = bdoc.SelectNodes("TreeItem/EtherCAT/Slave/DC/OpMode");
foreach (XmlNode item in dcOpmodes)
{
if (item.SelectSingleNode("Name")?.InnerText == "DC")
{
var attr = bdoc.CreateAttribute("Selected");
attr.Value = "true";
item.Attributes?.SetNamedItem(attr);
item.SelectSingleNode("CycleTimeSync0").InnerText = _cycleTicks == "manual" ? _sync0CycleTime : (Sync0CycleTimeBase * int.Parse(_cycleTicks)).ToString();
attr = bdoc.CreateAttribute("Factor");
attr.Value = "0";
item.Attributes?.SetNamedItem(attr);
item.SelectSingleNode("CycleTimeSync0").Attributes?.SetNamedItem(attr);
}
else
{
item.Attributes?.RemoveAll();
}
}
box.ConsumeXml(bdoc.OuterXml);
autds.Add(box);
}
Console.WriteLine($"{autds.Count} AUTDs are found and added.");
return(autds);
}
