public GetVelocityRegulatorGainCommand(EltraDevice device)
: base(device)
{
Name = "GetVelocityRegulatorGain";
}
public RelayVcs(AgentConnector connector, EltraDevice device)
: base(connector, device)
{
}
private async Task <bool> ExecuteCommand(EltraDevice device, ExecuteCommand executeCommand)
{
bool result = false;
try
{
if (executeCommand != null && _executeCommandCache.CanExecute(executeCommand))
{
var s = MsgLogger.BeginTimeMeasure();
var sourceChannelId = executeCommand.SourceChannelId;
var commandName = executeCommand.Command?.Name;
var deviceCommand = device.FindCommand(commandName);
if (deviceCommand != null)
{
if (await DeviceControllerAdapter.SetCommandStatus(executeCommand, ExecCommandStatus.Executing))
{
try
{
MsgLogger.WriteDebug($"{GetType().Name} - ExecuteCommand", $"Clone Command '{commandName}'");
var clonedDeviceCommand = deviceCommand.Clone();
if (clonedDeviceCommand != null)
{
MsgLogger.WriteDebug($"{GetType().Name} - ExecuteCommand", $"Sync Command '{commandName}'");
clonedDeviceCommand.Sync(executeCommand.Command);
MsgLogger.WriteDebug($"{GetType().Name} - ExecuteCommand", $"Execute Command '{commandName}', channel '{executeCommand.SourceChannelId}'");
try
{
var start = MsgLogger.BeginTimeMeasure();
result = clonedDeviceCommand.Execute(executeCommand.SourceChannelId, executeCommand.SourceLoginName);
MsgLogger.EndTimeMeasure($"{GetType().Name} - ExecuteCommand", start, $"command '{executeCommand.Command.Name}' executed, result = {result}");
}
catch (Exception e)
{
MsgLogger.Exception($"{GetType().Name} - ExecuteCommand", e);
}
if (result)
{
var start = MsgLogger.BeginTimeMeasure();
MsgLogger.WriteDebug($"{GetType().Name} - ExecuteCommand", $"Sync Response Command '{commandName}'");
executeCommand.Command?.Sync(clonedDeviceCommand);
MsgLogger.WriteDebug($"{GetType().Name} - ExecuteCommand", $"Push Response for Command '{commandName}'");
executeCommand.SourceChannelId = Channel.Id;
executeCommand.TargetChannelId = sourceChannelId;
result = await DeviceControllerAdapter.PushCommand(executeCommand, ExecCommandStatus.Executed);
if (result)
{
MsgLogger.WriteDebug($"{GetType().Name} - ExecuteCommand", $"Command '{commandName}' successfully processed!");
}
else
{
MsgLogger.WriteError($"{GetType().Name} - ExecuteCommand", $"Set command '{commandName}' status to exectuted failed!");
}
MsgLogger.EndTimeMeasure($"{GetType().Name} - ExecuteCommand", start, $"command '{executeCommand.Command.Name}' state synchronized, result = {result}");
}
else
{
var command = executeCommand.Command;
MsgLogger.WriteError($"{GetType().Name} - ExecuteCommand",
command != null
? $"Command '{command.Name}' uuid '{executeCommand.CommandId}' execution failed!"
: $"Command '?' uuid '{executeCommand.CommandId}' execution failed!");
executeCommand.SourceChannelId = Channel.Id;
executeCommand.TargetChannelId = sourceChannelId;
await DeviceControllerAdapter.SetCommandStatus(executeCommand,
ExecCommandStatus.Failed);
}
}
else
{
await DeviceControllerAdapter.SetCommandStatus(executeCommand, ExecCommandStatus.Failed);
MsgLogger.WriteError($"{GetType().Name} - ExecuteCommand", $"Command '{commandName}' cloning failed!");
}
}
catch (Exception e)
{
await DeviceControllerAdapter.SetCommandStatus(executeCommand,
ExecCommandStatus.Failed);
MsgLogger.Exception($"{GetType().Name} - ExecuteCommand", e);
}
}
else
{
MsgLogger.WriteError($"{GetType().Name} - ExecuteCommand", $"Set Command '{commandName}' status to executing failed!");
}
}
else
{
MsgLogger.WriteError($"{GetType().Name} - ExecuteCommand", $"Command '{commandName}' not found!");
}
MsgLogger.EndTimeMeasure($"{GetType().Name} - ExecuteCommand", s, $"command '{executeCommand.Command?.Name}' executed, result = {result}");
}
}
catch (Exception e)
{
result = false;
MsgLogger.Exception($"{GetType().Name} - ExecuteCommand", e);
}
return(result);
}
public XddParameterBase(EltraDevice device, XmlNode source)
: base(device, source)
{
}
public StructuredParameter(EltraDevice device, XmlNode source)
: base(device, source)
{
}
public SetSensorTypeCommand(EltraDevice device)
: base(device)
{
Name = "SetSensorType";
}
public XddDeviceVersion(EltraDevice device)
{
_device = device;
}
public GetPositionMarkerParameterCommand(EltraDevice device)
: base(device)
{
Name = "GetPositionMarkerParameter";
}
public ActivatePositionCompareCommand(EltraDevice device)
: base(device)
{
Name = "ActivatePositionCompare";
}
/// <summary>
/// MasterVcs
/// </summary>
/// <param name="masterAgent"></param>
/// <param name="device"></param>
/// <param name="updateInterval"></param>
/// <param name="timeout"></param>
public MasterVcs(SyncCloudAgent masterAgent, EltraDevice device, uint updateInterval, uint timeout)
: base(masterAgent.Url, device.ChannelId, masterAgent.Identity, updateInterval, timeout)
{
Device = device;
}
public XddProfileBody(EltraDevice device)
{
_device = device;
}
public GetPositionRegulatorFeedForwardCommand(EltraDevice device)
: base(device)
{
Name = "GetPositionRegulatorFeedForward";
}
public Epos4ObjectDictionary(EltraDevice device)
: base(device)
{
}
public SetPositionRegulatorGainCommand(EltraDevice device)
: base(device)
{
Name = "SetPositionRegulatorGain";
}
public ShowChannelDataDlgCommand(EltraDevice device)
: base(device)
{
Name = "ShowChannelDataDlg";
}
public GetStepDirectionParameterCommand(EltraDevice device)
: base(device)
{
Name = "GetStepDirectionParameter";
}
public XddApplicationProcess(EltraDevice device, XddDeviceManager deviceManager)
{
_device = device;
_deviceManager = deviceManager;
}
public VirtualCommandSet CreateVcs(AgentConnector agent, EltraDevice device)
{
return(new RelayVcs(agent, device));
}
public SetEcMotorParameterCommand(EltraDevice device)
: base(device)
{
Name = "SetEcMotorParameter";
}
public EnableAnalogCurrentSetpointCommand(EltraDevice device)
: base(device)
{
Name = "EnableAnalogCurrentSetpoint";
}
public GetIpmBufferParameterCommand(EltraDevice device)
: base(device)
{
Name = "GetIpmBufferParameter";
}
public ReadDataBufferCommand(EltraDevice device)
: base(device)
{
Name = "ReadDataBuffer";
}
public StopIpmTrajectoryCommand(EltraDevice device)
: base(device)
{
Name = "StopIpmTrajectory";
}
public GetVersionCommand(EltraDevice device)
: base(device)
{
Name = "GetVersion";
}
public GetFreeIpmBufferSizeCommand(EltraDevice device)
: base(device)
{
Name = "GetFreeIpmBufferSize";
}
public DisableAnalogPositionSetpointCommand(EltraDevice device)
: base(device)
{
Name = "DisableAnalogPositionSetpoint";
}
public GetHomingStateCommand(EltraDevice device)
: base(device)
{
Name = "GetHomingState";
}
public async Task <bool> PlayWithDevice(EltraDevice device)
{
bool result = false;
Console.WriteLine($"device = {device.Name}, node id = {device.NodeId}, version = {device.Version}, serial number = {device.Identification.SerialNumber:X8}");
//0x3000, 0x00 is address of the counter parameter in object dictionary
var counterParameter = device.SearchParameter(0x3000, 0x00) as Parameter;
var controlWordParameter = device.SearchParameter(0x6040, 0x00) as Parameter;
var cp = await device.GetParameter(0x3000, 0x00) as Parameter;
if (counterParameter != null && controlWordParameter != null)
{
const ushort readyFlag = 1;
const ushort sleepingFlag = 0;
//let's get the current value stored in local object dictionary (can be outdated)
controlWordParameter.GetValue(out ushort controlWord);
// force parameter update, ok, now we are sure that the value is synchronized with master object dictionary
await controlWordParameter.ReadValue();
//control word is defined as UINT16 - RW, let's modify value of this parameter in local object dictionary
controlWordParameter.SetValue(readyFlag);
//synchronize value with master object dictionary
await controlWordParameter.Write();
// this method is reliable, but to keep the local object dictionary up-to-date not quiete effective
// (object dictionary can contain more than 100 parameters)
// your agent usually, doesn't need the current value information about all parameters
// to limit the read requests, you can specify explicite the parameters you are interested in
Console.WriteLine($"register parameter 0x{counterParameter.Index:X4}:0x{counterParameter.SubIndex:X2} for updates");
//we would like to be informed each time the parameter is changed
counterParameter.ParameterChanged += OnParameterChanged;
// to activate this feature, call RegisterUpdate
// priority is transfered to the master and is up to master to decide what low, high or medium priority is
counterParameter.AutoUpdate(ParameterUpdatePriority.High);
//from now on, our local object dictionary will be actualized each time the {counterParameter} is changed by remote party
// execute command on the remote master device,
// our dummy master has 2 simple methods, start and stop counting
// let's start counting and observe how our counter parameter {counterParameter} is changing ...
// on the end, we will stop counting, to give our master some peace ...
var sampleCommands = new SampleCommands(device);
await sampleCommands.PlayWithDeviceCommands();
//we don't need the notifications at this point
counterParameter?.StopUpdate(ParameterUpdatePriority.High);
//remove events handling
counterParameter.ParameterChanged -= OnParameterChanged;
//in case our parameter is supporting <backup> flag, we can grab some historic data
await PlayWithParameterStatistics(device);
//reset control word parameter value
controlWordParameter.SetValue(sleepingFlag);
result = true;
}
return(result);
}
public async Task <bool> IsDeviceRegistered(EltraDevice device)
{
var status = await DeviceControllerAdapter.GetDeviceStatus(device);
return(status == DeviceStatus.Registered || status == DeviceStatus.Ready);
}
public EnableAnalogVelocitySetpointCommand(EltraDevice device)
: base(device)
{
Name = "EnableAnalogVelocitySetpoint";
}
