private void ConfigureSync01(IList <SlaveInfo> slaveInfoSet)
{
// SYNC0 / SYNC1
foreach (SlaveInfo slaveInfo in slaveInfoSet)
{
ushort slaveIndex;
DistributedClocksSettings distributedClocksSettings;
slaveIndex = (ushort)(Convert.ToUInt16(slaveInfoSet.ToList().IndexOf(slaveInfo)) + 1);
distributedClocksSettings = slaveInfo.SlaveExtensionSet.OfType <DistributedClocksSettings>().ToList().FirstOrDefault();
if (distributedClocksSettings != null)
{
DistributedClocksParameters parameters;
byte[] assignActivate;
if (!slaveInfo.SlaveEsi.Dc.TimeLoopControlOnly)
{
assignActivate = null;
parameters = distributedClocksSettings.CalculateDcParameters(ref assignActivate, _settings.CycleFrequency);
EcUtilities.CheckErrorCode(this.Context, EcHL.ConfigureSync01(this.Context, slaveIndex, ref assignActivate, assignActivate.Count(), parameters.CycleTime0, parameters.CycleTime1, parameters.ShiftTime0));
}
}
}
}
private void ConfigureSlaves(IList <SlaveInfo> slaves)
{
var callbacks = new List <EcHL.PO2SOCallback>();
foreach (var slave in slaves)
{
// SDO / PDO config / PDO assign
var currentSlaveIndex = (ushort)(Convert.ToUInt16(slaves.ToList().IndexOf(slave)) + 1);
var extensions = slave.Extensions;
var sdoWriteRequests = slave.GetConfiguration(extensions).ToList();
EcHL.PO2SOCallback callback = slaveIndex =>
{
sdoWriteRequests.ToList().ForEach(sdoWriteRequest =>
{
EcUtilities.CheckErrorCode(this.Context, EcUtilities.SdoWrite(this.Context, slaveIndex, sdoWriteRequest.Index, sdoWriteRequest.SubIndex, sdoWriteRequest.Dataset), nameof(EcHL.SdoWrite));
});
return(0);
};
EcHL.RegisterCallback(this.Context, currentSlaveIndex, callback);
callbacks.Add(callback);
}
callbacks.ForEach(callback =>
{
GC.KeepAlive(callback);
});
}
/// <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 = $"{interfaceName}";
}
else
{
throw new PlatformNotSupportedException();
}
EcUtilities.CheckErrorCode(context, EcHL.ScanDevices(context, interfaceName, out var slaveIdentifications, out var slaveCount));
// create slaveInfo from received data
var offset = 0;
var newSlaveIdentifications = new ec_slave_info_t[slaveCount + 1]; // correct because EC master = slaveIdentifications[0]
for (int i = 0; i <= newSlaveIdentifications.Count() - 1; i++)
{
newSlaveIdentifications[i] = Marshal.PtrToStructure <ec_slave_info_t>(IntPtr.Add(slaveIdentifications, offset));
offset += Marshal.SizeOf(typeof(ec_slave_info_t));
}
// validate CSA
while (EcUtilities.EnsureValidCsa(context, newSlaveIdentifications, refSlaveIdentifications))
{
//
}
return(EcUtilities.ToSlaveInfo(newSlaveIdentifications));
}
private void ConfigureDc()
{
uint systemTimeDifference;
EcUtilities.CheckErrorCode(this.Context, EcHL.ConfigureDc(this.Context, _settings.FrameCount, _settings.TargetTimeDifference, out systemTimeDifference), nameof(EcHL.ConfigureDc));
_logger.LogInformation($"DC system time diff. is <= { systemTimeDifference & 0x7FFF } ns");
}
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($"Network interface '{_settings.InterfaceName}' is not linked. Aborting action.");
}
#region "PreOp"
actualSlaveInfo = EcUtilities.ScanDevices(this.Context, _settings.InterfaceName, null);
if (rootSlaveInfo == null)
{
rootSlaveInfo = actualSlaveInfo;
rootSlaveInfo.Descendants().ToList().ForEach(current =>
{
ExtensibilityHelper.CreateDynamicData(_settings.EsiDirectoryPath, _extensionFactory, current);
});
}
slaveInfoSet = rootSlaveInfo.Descendants().ToList();
actualSlaveInfoSet = actualSlaveInfo.Descendants().ToList();
this.ValidateSlaves(slaveInfoSet, actualSlaveInfoSet);
this.ConfigureSlaves(slaveInfoSet);
this.ConfigureIoMap(slaveInfoSet);
this.ConfigureDc();
this.ConfigureSync01(slaveInfoSet);
#endregion
#region "SafeOp"
EcUtilities.CheckErrorCode(this.Context, EcHL.CheckSafeOpState(this.Context), nameof(EcHL.CheckSafeOpState));
#endregion
#region "Op"
EcUtilities.CheckErrorCode(this.Context, EcHL.RequestOpState(this.Context), nameof(EcHL.RequestOpState));
#endregion
if (_watchdogTask == null)
{
_watchdogTask = Task.Run(() => this.WatchdogRoutine(), _cts.Token);
}
}
public void Configure(SlaveInfo rootSlave = null)
{
var networkInterface = NetworkInterface
.GetAllNetworkInterfaces()
.Where(nic => nic.Name == _settings.InterfaceName)
.FirstOrDefault();
if (networkInterface?.OperationalStatus != OperationalStatus.Up)
{
throw new Exception($"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);
}
}
private void ConfigureSlaves(IList <SlaveInfo> slaveInfoSet)
{
List <EcHL.PO2SOCallback> callbackSet;
callbackSet = new List <EcHL.PO2SOCallback>();
foreach (SlaveInfo slaveInfo in slaveInfoSet)
{
ushort currentSlaveIndex;
IEnumerable <SlaveExtensionLogic> extensionSet;
IEnumerable <SdoWriteRequest> sdoWriteRequestSet;
EcHL.PO2SOCallback callback;
// SDO / PDO config / PDO assign
currentSlaveIndex = (ushort)(Convert.ToUInt16(slaveInfoSet.ToList().IndexOf(slaveInfo)) + 1);
extensionSet = slaveInfo.SlaveExtensionSet.Select(slaveExtension => _extensionFactory.BuildLogic <SlaveExtensionLogic>(slaveExtension)).ToList();
sdoWriteRequestSet = slaveInfo.GetConfiguration(extensionSet).ToList();
callback = slaveIndex =>
{
sdoWriteRequestSet.ToList().ForEach(sdoWriteRequest =>
{
EcUtilities.CheckErrorCode(this.Context, EcUtilities.SdoWrite(this.Context, slaveIndex, sdoWriteRequest.Index, sdoWriteRequest.SubIndex, sdoWriteRequest.Dataset), nameof(EcHL.SdoWrite));
});
return(0);
};
EcHL.RegisterCallback(this.Context, currentSlaveIndex, callback);
callbackSet.Add(callback);
}
callbackSet.ForEach(callback =>
{
GC.KeepAlive(callback);
});
}
private void ConfigureSync01(IList <SlaveInfo> slaves)
{
// SYNC0 / SYNC1
foreach (var slave in slaves)
{
var slaveIndex = (ushort)(Convert.ToUInt16(slaves.ToList().IndexOf(slave)) + 1);
var distributedClocksSettings = slave
.Extensions
.OfType <DistributedClocksExtension>()
.ToList()
.FirstOrDefault();
if (distributedClocksSettings != null)
{
if (!slave.Esi.Dc.TimeLoopControlOnly)
{
byte[] assignActivate = null;
var parameters = distributedClocksSettings.CalculateDcParameters(ref assignActivate, _settings.CycleFrequency);
EcUtilities.CheckErrorCode(this.Context, EcHL.ConfigureSync01(this.Context, slaveIndex, ref assignActivate, assignActivate.Count(), parameters.CycleTime0, parameters.CycleTime1, parameters.ShiftTime0));
}
}
}
}
