private void slaveModuleInitialize()
{
bool getSlave = false;
foreach (var item in SlaveInfos)
{
SlaveInfo slaveInfo = item.Value;
if ((dIOPara.CardNo == slaveInfo.CardNo) && (dIOPara.NodeNo == slaveInfo.NodeID))
{
if (/*slaveInfo.VendorID == 0x1A05 && */ slaveInfo.ProductCode == 0x6002) //R1-EC6002 16-ch Sink/Source Type Digital Input Module with 2ms Filter Function
{
getSlave = true;
break;
}
if (/*slaveInfo.VendorID == 0x1A05 && */ slaveInfo.ProductCode == 0x6022) //R1-EC6022 16-ch Sink/Source Type Digital Input Module with 2ms Filter Function
{
getSlave = true;
break;
}
}
}
if (!getSlave)
{
throw new NotImplementedException(string.Format("EtherCAT can't find slave [{0}] from Card No {1} Node No {2}. There have {3} SlaveInfos.", this.DeviceName, dIOPara.CardNo, dIOPara.NodeNo, SlaveInfos.Count));
}
}
private void HandleOnConnectedToMaster(NetworkClient nc)
{
NetworkServer.Listen(40000);
NetworkServer.RegisterHandler((short)CustomMessageTypes.InstanceInitialize, x => { HandleInstanceInitialization(x); });
NetworkServer.RegisterHandler(MsgType.Disconnect, x =>
{
var p = runningInstances.FirstOrDefault(y => y.Value.connectionId == x.conn.connectionId);
//Since FirstOrDefault doesn't throw, We should make sure if it found the value
if (p.Value.connectionId == x.conn.connectionId)
{
runningInstances.Remove(p.Key);
InitializedInstances.Remove(p.Key);
}
});
//Send slave info to master.
SlaveInfo info = new SlaveInfo();
info.ipAddress = config.IPAddress;
info.gameNames = new string[config.instances.Length];
for (int i = 0; i < info.gameNames.Length; ++i)
{
info.gameNames[i] = config.instances[i].gameName;
}
nc.Send((short)CustomMessageTypes.InstanceSlaveConnectRequest, info);
}
public static SlaveInfo RescanDevices(EcSettings settings, SlaveInfo referenceRootSlave)
{
var referenceSlaves = default(IEnumerable <SlaveInfo>);
if (referenceRootSlave != null)
{
referenceSlaves = referenceRootSlave.Descendants().ToList();
}
var newRootSlave = EcUtilities.ScanDevices(settings.InterfaceName, referenceRootSlave);
newRootSlave.Descendants().ToList().ForEach(slave =>
{
var referenceSlave = slave.Csa == slave.OldCsa
? referenceSlaves?.FirstOrDefault(x => x.Csa == slave.Csa)
: null;
if (referenceSlave != null)
{
slave.Extensions = referenceSlave.Extensions;
}
EcUtilities.CreateDynamicData(settings.EsiDirectoryPath, slave);
});
return(newRootSlave);
}
/// <summary>
/// Initializes EtherCAT and returns found slaves.
/// </summary>
/// <param name="interfaceName">The name of the network adapter.</param>
/// <returns>Returns found slave.</returns>
public static SlaveInfo ScanDevices(IntPtr context, string interfaceName, SlaveInfo referenceSlave = null)
{
ec_slave_info_t[] refSlaveIdentifications = null;
if (referenceSlave != null)
{
refSlaveIdentifications = EcUtilities.ToSlaveIdentifications(referenceSlave);
}
else
{
refSlaveIdentifications = new ec_slave_info_t[] { }
};
// scan devices
var networkInterface = NetworkInterface
.GetAllNetworkInterfaces()
.Where(nic => nic.Name == interfaceName)
.FirstOrDefault();
if (networkInterface == null)
{
throw new Exception($"{ ErrorMessage.SoemWrapper_NetworkInterfaceNotFound } Interface name: '{ interfaceName }'.");
}
if (RuntimeInformation.IsOSPlatform(OSPlatform.Windows))
{
interfaceName = $@"rpcap://\Device\NPF_{networkInterface.Id}";
}
else if (RuntimeInformation.IsOSPlatform(OSPlatform.Linux) ||
RuntimeInformation.IsOSPlatform(OSPlatform.OSX))
{
interfaceName = $"{interfaceName}";
}
else
{
throw new PlatformNotSupportedException();
}
EcUtilities.CheckErrorCode(context, EcHL.ScanDevices(context, interfaceName, out var slaveIdentifications, out var slaveCount));
// create slaveInfo from received data
var offset = 0;
var newSlaveIdentifications = new ec_slave_info_t[slaveCount + 1]; // correct because EC master = slaveIdentifications[0]
for (int i = 0; i <= newSlaveIdentifications.Count() - 1; i++)
{
newSlaveIdentifications[i] = Marshal.PtrToStructure <ec_slave_info_t>(IntPtr.Add(slaveIdentifications, offset));
offset += Marshal.SizeOf(typeof(ec_slave_info_t));
}
// validate CSA
while (EcUtilities.EnsureValidCsa(context, newSlaveIdentifications, refSlaveIdentifications))
{
//
}
return(EcUtilities.ToSlaveInfo(newSlaveIdentifications));
}
private static ec_slave_info_t[] ToSlaveIdentifications(SlaveInfo slave)
{
var slaveIdentifications = slave.Descendants().ToList().Select(x => new ec_slave_info_t(x)).ToList();
slaveIdentifications.Insert(0, new ec_slave_info_t(slave));
return(slaveIdentifications.ToArray());
}
private static ec_slave_info_t[] ToSlaveIdentificationSet(SlaveInfo slaveInfo)
{
List <ec_slave_info_t> slaveIdentificationSet;
slaveIdentificationSet = slaveInfo.Descendants().ToList().Select(x => new ec_slave_info_t(x)).ToList();
slaveIdentificationSet.Insert(0, new ec_slave_info_t(slaveInfo));
return(slaveIdentificationSet.ToArray());
}
internal void ActivateForTappedCard(SlaveInfo Slave)
{
lock (MasterServer.Connections)
try
{
Invoke(new Action(() => CheLisBox_ConnectedMachines.SetItemChecked(CheLisBox_ConnectedMachines.Items.IndexOf(Slave.ToString()), true)));
}
catch { }
}
internal void RemoveFromMachineList(SlaveInfo Slave)
{
lock (MasterServer.Connections)
try
{
Invoke(new Action(() => CheLisBox_ConnectedMachines.Items.Remove(Slave.ToString())));
}
catch { }
}
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);
}
}
public void BeginSort(SlaveInfo slaveInfo)
{
var upDownMessage = new UpDownMessage
{
UpDownCommand = UpDownCommand.BeginSort,
Message = $"开始波次"
};
SendMsg(upDownMessage);
}
public SlaveClient(string IP, int Port = 9999)
{
Client = new JSONSocketClient(IP, Port);
Info = new SlaveInfo {
MachineName = $"{ArcadeGameStartAndStopService.MainConfig.MachineName}:{ArcadeGameStartAndStopService.MainConfig.MachineGUID}", IP = Client.AddressInfo.Address.ToString(), Port = Client.AddressInfo.Port.ToString()
};
Client.OnMessageReceived = OnMessageReceived;
Client.OnDisconnect += Disconnected;
Console.WriteLine("Connected");
}
public static SlaveInfo ScanDevices(string interfaceName, SlaveInfo referenceSlaveInfo = null)
{
IntPtr context;
SlaveInfo slaveInfo;
context = EcHL.CreateContext();
slaveInfo = EcUtilities.ScanDevices(context, interfaceName, referenceSlaveInfo);
EcHL.FreeContext(context);
return(slaveInfo);
}
public void Configure(SlaveInfo rootSlave = null)
{
var networkInterface = NetworkInterface
.GetAllNetworkInterfaces()
.Where(nic => nic.Name == _settings.InterfaceName)
.FirstOrDefault();
if (networkInterface?.OperationalStatus != OperationalStatus.Up)
{
throw new Exception($"Network interface '{_settings.InterfaceName}' is not linked. Aborting action.");
}
#region "PreOp"
var actualSlave = EcUtilities.ScanDevices(this.Context, _settings.InterfaceName, null);
if (rootSlave == null)
{
rootSlave = actualSlave;
rootSlave.Descendants().ToList().ForEach(current =>
{
EcUtilities.CreateDynamicData(_settings.EsiDirectoryPath, current);
});
}
var slaves = rootSlave.Descendants().ToList();
var actualSlaves = actualSlave.Descendants().ToList();
this.ValidateSlaves(slaves, actualSlaves);
this.ConfigureSlaves(slaves);
this.ConfigureIoMap(slaves);
this.ConfigureDc();
this.ConfigureSync01(slaves);
#endregion
#region "SafeOp"
EcUtilities.CheckErrorCode(this.Context, EcHL.CheckSafeOpState(this.Context), nameof(EcHL.CheckSafeOpState));
#endregion
#region "Op"
EcUtilities.CheckErrorCode(this.Context, EcHL.RequestCommonState(this.Context, (UInt16)SlaveState.Operational), nameof(EcHL.RequestCommonState));
#endregion
if (_watchdogTask == null)
{
_watchdogTask = Task.Run(() => this.WatchdogRoutine(), _cts.Token);
}
}
/// <summary>
/// 开始分拣
/// </summary>
public void BeginSort(SlaveInfo slaveInfo)
{
Parallel.ForEach(service, o => o.BeginSort(slaveInfo));
//WaitPut
var latticeInfoWaitPut = slaveInfo.LatticeInfo.Where(o => o.Status == LatticeStatus.WaitPut).ToList();
latticeInfoWaitPut.ForEach(o =>
{
var productCodeWaitPut = o.Product.First(p => p.Status == ProductStatus.WaitPut).BarCode;
WaitPut(latticeInfoWaitPut, productCodeWaitPut);
});
//BlockError
var latticeInfoBlockError = slaveInfo.LatticeInfo.Where(o => o.Status == LatticeStatus.BlockError).ToList();
if (latticeInfoBlockError.Count > 0)
{
BlockError(new UpDownMessage()
{
LatticeByUpDown = latticeInfoBlockError.Select(o => new LatticeByUpDown()
{
LatticeNo = o.LatticeNo
}).ToList()
});
}
//PutError
var latticeInfoPutError = slaveInfo.LatticeInfo.Where(o => o.Status == LatticeStatus.PutError).ToList();
if (latticeInfoPutError.Count > 0)
{
PutError(new UpDownMessage()
{
LatticeByUpDown = latticeInfoPutError.Select(o => new LatticeByUpDown()
{
LatticeNo = o.LatticeNo
}).ToList()
});
}
//LatticeComplete
var latticeInfoComplete = slaveInfo.LatticeInfo.Where(o => o.IsComplete && o.Product.Count > 0).ToList();
if (latticeInfoComplete.Count > 0)
{
LatticeComplete(new UpDownMessage()
{
LatticeByUpDown = latticeInfoComplete.Select(o => new LatticeByUpDown()
{
LatticeNo = o.LatticeNo
}).ToList()
});
}
}
public static SlaveInfo ScanDevices(string interfaceName, SlaveInfo referenceRootSlave = null)
{
if (NetworkInterface.GetAllNetworkInterfaces().Where(x => x.Name == interfaceName).FirstOrDefault()?.OperationalStatus != OperationalStatus.Up)
{
throw new Exception($"The network interface '{interfaceName}' is not linked. Aborting action.");
}
var context = EcHL.CreateContext();
var rootSlave = EcUtilities.ScanDevices(context, interfaceName, referenceRootSlave);
EcHL.FreeContext(context);
return(rootSlave);
}
private void NewConnection(JSONServerSocket e)
{
JSONResponse <SlaveInfo> NewConnectionInfo = e.TransmitJSONCommand <PlayGameModel, SlaveInfo>(new JSONAction <PlayGameModel> {
ActionName = "GetSlaveInfo", ActionData = new PlayGameModel {
GUID = AttendantConsole.GUIDGameSelection
}
});
Thread.Sleep(100);
SlaveInfo Info = NewConnectionInfo.ActionData;
Info.Connection = e;
lock (Connections)
Connections.Add(Info.ToString(), Info);
AttendantConsole.Log($"{Info} Has Connected.");
AttendantConsole.AddToMachineList(Info);
}
/// <summary>
/// 初始化波次
/// </summary>
public void InitSlaveInfo()
{
List <LatticeInfo> latticeInfoList = new List <LatticeInfo>();
Enumerable.Range(1, 50).ToList().ForEach(o => latticeInfoList.Add(
new LatticeInfo
{
LatticeNo = o.ToString(),
Status = LatticeStatus.None,
Product = new List <Product>()
}
));
SlaveInfo = new SlaveInfo
{
LatticeInfo = latticeInfoList
};
}
internal void MarkGameAsStoped(SlaveInfo Slave)
{
lock (MasterServer.Connections)
try
{
Invoke(new Action(() =>
{
RunningMachines.Remove(Slave.ToString());
LisBox_RunningMachines.Items.Remove(Slave.ToString());
if (RunningMachines.Count == 0)
{
Bu_Start.Enabled = true;
Bu_Stop.Enabled = false;
}
}));
}
catch { }
}
/// <summary>
/// 取消波次分拣
/// </summary>
/// <param name="slaveInfo">波次信息</param>
public bool DeleteSlaveInfo(SlaveInfo slaveInfo = null)
{
if (slaveInfo == null)
{
slaveInfo = SlaveInfo;
}
using (var db = new SortingDbContext())
{
db.WaveApi.AddOrUpdate(new WaveApi()
{
WaveNo = slaveInfo.WaveNo,
Status = WaveStatus.Unwork
});
var entity = db.SlaveInfo.Include("LatticeInfo").Include("LatticeInfo.Product").FirstOrDefault(o => o.WaveNo == slaveInfo.WaveNo);
db.SlaveInfo.Remove(entity);
bool isSuccess = db.SaveChanges() > 0;
return(isSuccess);
}
}
public static void UpdateSlaveExtensions(IExtensionFactory extensionFactory, SlaveInfo slaveInfo, SlaveInfo referenceEcSlaveInfo = null)
{
IEnumerable <Type> referenceTypeSet;
IEnumerable <SlaveExtensionSettingsBase> referenceSet;
IEnumerable <SlaveExtensionSettingsBase> newSet;
TargetSlaveAttribute targetSlaveAttribute;
referenceSet = referenceEcSlaveInfo?.SlaveExtensionSet;
if (referenceSet == null)
{
referenceSet = slaveInfo.SlaveExtensionSet;
}
referenceTypeSet = referenceSet.Select(x => x.GetType()).ToList();
newSet = extensionFactory.Get <SlaveExtensionSettingsBase>().Where(type =>
{
if (!referenceTypeSet.Contains(type))
{
if (type == typeof(DistributedClocksSettings))
{
return(slaveInfo.SlaveEsi.Dc != null);
}
else
{
targetSlaveAttribute = type.GetFirstAttribute <TargetSlaveAttribute>();
return(targetSlaveAttribute.Manufacturer == slaveInfo.Manufacturer && targetSlaveAttribute.ProductCode == slaveInfo.ProductCode);
}
}
else
{
return(false);
}
}).Select(type => (SlaveExtensionSettingsBase)Activator.CreateInstance(type, slaveInfo)).ToList();
slaveInfo.SlaveExtensionSet = referenceSet.Concat(newSet).ToList();
// Improve: only required after deserialization, not after construction as the slaveInfo is passed a constructor parameter
slaveInfo.SlaveExtensionSet.ToList().ForEach(slaveExtension => slaveExtension.SlaveInfo = slaveInfo);
}
private static SlaveInfo ToSlaveInfo(IList <ec_slave_info_t> slaveIdentifications)
{
var slaves = new List <SlaveInfo>();
for (int i = 0; i < slaveIdentifications.Count(); i++)
{
SlaveInfo currentSlave;
currentSlave = new SlaveInfo(slaveIdentifications[i]);
if (i > 0)
{
slaves[slaveIdentifications[i].parentIndex].Children.Add(currentSlave);
}
slaves.Add(currentSlave);
}
return(slaves.First());
}
private void slaveModuleInitialize()
{
bool getSlave = false;
foreach (var item in SlaveInfos)
{
SlaveInfo slaveInfo = item.Value;
if ((adcPara.CardNo == slaveInfo.CardNo) && (adcPara.NodeNo == slaveInfo.NodeID))
{
if (/*slaveInfo.VendorID == 0x1A05 && */ slaveInfo.ProductCode == 0x8124) //Analog Input Terminals (R1-EC81xx)
{
getSlave = true;
break;
}
}
}
if (!getSlave)
{
throw new NotImplementedException(string.Format("EtherCAT can't find slave [{0}] from Card No {1} Node No {2}. There have {3} SlaveInfos.", this.DeviceName, adcPara.CardNo, adcPara.NodeNo, SlaveInfos.Count));
}
}
private static SlaveInfo ToSlaveInfo(IList <ec_slave_info_t> slaveIdentificationSet)
{
List <SlaveInfo> slaveInfoSet;
slaveInfoSet = new List <SlaveInfo>();
for (int i = 0; i < slaveIdentificationSet.Count(); i++)
{
SlaveInfo currentSlaveInfo;
currentSlaveInfo = new SlaveInfo(slaveIdentificationSet[i]);
if (i > 0)
{
slaveInfoSet[slaveIdentificationSet[i].parentIndex].ChildSet.Add(currentSlaveInfo);
}
slaveInfoSet.Add(currentSlaveInfo);
}
return(slaveInfoSet.First());
}
private JSONResponse <dynamic> OnMessageReceived(JSONAction <dynamic> Message)
{
switch (Message.ActionName)
{
case "NotifyOfGamesEnd":
{
SlaveInfo Data = Message.DynamicAutoCast <SlaveInfo>().ActionData;
AttendantConsole.MarkGameAsStoped(Data);
AttendantConsole.Log($"{Data} Has stopped its game.");
JSONResponse <dynamic> Return = new JSONResponse <dynamic>()
{
ActionName = Message.ActionName, ActionData = new { }, RequestStatus = JSONResponseStatus.Success
};
return(Return.ToDynamic());
}
case "CardTapped":
{
SlaveInfo Data = Message.DynamicAutoCast <SlaveInfo>().ActionData;
AttendantConsole.ActivateForTappedCard(Message.DynamicAutoCast <SlaveInfo>().ActionData);
AttendantConsole.Log($"{Data} Has detected a card tap. Setting to active start.");
JSONResponse <dynamic> Return = new JSONResponse <dynamic>()
{
ActionName = Message.ActionName, ActionData = new { }, RequestStatus = JSONResponseStatus.Success
};
return(Return.ToDynamic());
}
default:
{
JSONResponse <dynamic> Return = new JSONResponse <dynamic>()
{
ActionName = Message.ActionName, ActionData = Message.ActionData, Message = "The Client has failed to find the requested action.", RequestStatus = JSONResponseStatus.ActionNotFound
};
Console.WriteLine($"Returing with:\n{Return}");
return(Return);
}
}
}
public AnybusXGatewaySettings(SlaveInfo slaveInfo) : base(slaveInfo)
{
this.ModuleSet = new List <OneDasModule>();
}
public SlaveExtensionSettingsBase(SlaveInfo slaveInfo)
{
Contract.Requires(slaveInfo != null);
this.SlaveInfo = slaveInfo;
}
public static List <DistributedClocksOpMode> GetOpModes(this SlaveInfo slaveInfo)
{
return(slaveInfo.SlaveEsi.Dc.OpMode.Select(opMode => new DistributedClocksOpMode(opMode)).ToList());
}
public static SlaveInfo ReloadHardware(string esiDirectoryPath, IExtensionFactory extensionFactory, string interfaceName, SlaveInfo referenceRootSlaveInfo)
{
IntPtr context;
SlaveInfo newRootSlaveInfo;
SlaveInfo referenceSlaveInfo;
IEnumerable <SlaveInfo> referenceSlaveInfoSet;
referenceSlaveInfo = null;
referenceSlaveInfoSet = null;
if (NetworkInterface.GetAllNetworkInterfaces().Where(x => x.GetPhysicalAddress().ToString() == interfaceName).FirstOrDefault()?.OperationalStatus != OperationalStatus.Up)
{
throw new Exception($"The network interface '{interfaceName}' is not linked. Aborting action.");
}
context = EcHL.CreateContext();
newRootSlaveInfo = EcUtilities.ScanDevices(context, interfaceName, referenceRootSlaveInfo);
EcHL.FreeContext(context);
if (referenceRootSlaveInfo != null)
{
referenceSlaveInfoSet = referenceRootSlaveInfo.Descendants().ToList();
}
newRootSlaveInfo.Descendants().ToList().ForEach(slaveInfo =>
{
referenceSlaveInfo = slaveInfo.Csa == slaveInfo.OldCsa ? referenceSlaveInfoSet?.FirstOrDefault(x => x.Csa == slaveInfo.Csa) : null;
ExtensibilityHelper.GetDynamicSlaveInfoData(esiDirectoryPath, extensionFactory, slaveInfo);
ExtensibilityHelper.UpdateSlaveExtensions(extensionFactory, slaveInfo, referenceSlaveInfo);
});
return(newRootSlaveInfo);
}
public static SlaveInfoDynamicData GetDynamicSlaveInfoData(string esiDirectoryPath, IExtensionFactory extensionFactory, SlaveInfo slaveInfo)
{
if (slaveInfo.Csa > 0)
{
ExtensibilityHelper.CreateDynamicData(esiDirectoryPath, extensionFactory, slaveInfo);
return(slaveInfo.DynamicData);
}
else
{
return(new SlaveInfoDynamicData("EtherCAT Master", "EtherCAT Master", new List <SlavePdo>(), new byte[] { }));
}
}
public EL6731_0010Settings(SlaveInfo slaveInfo) : base(slaveInfo)
{
this.SelectedModuleSet = new List <EL6731_0010Module>();
this.StationNumber = 1;
}
