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 SlaveVariable(SlavePdo parent, string name, ushort index, byte subIndex, DataDirection dataDirection, EthercatDataType dataType, byte bitLength = 0)
{
this.Parent = parent;
this.Name = name;
this.Index = index;
this.SubIndex = subIndex;
this.DataDirection = dataDirection;
this.DataType = dataType;
if (bitLength == 0)
{
this.BitLength = EcUtilities.GetBitLength(dataType);
}
else
{
this.BitLength = bitLength;
}
}
static async Task Main(string[] args)
{
/* Set interface name. Edit this to suit your needs. */
var interfaceName = "eth0";
/* Set ESI location. Make sure it contains ESI files! The default path is /home/{user}/.local/share/ESI */
var localAppDataPath = Environment.GetFolderPath(Environment.SpecialFolder.LocalApplicationData);
var esiDirectoryPath = Path.Combine(localAppDataPath, "ESI");
Directory.CreateDirectory(esiDirectoryPath);
/* Copy native file. NOT required in end user scenarios, where EtherCAT.NET package is installed via NuGet! */
var codeBase = Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location);
Directory.EnumerateFiles(Path.Combine(codeBase, "runtimes"), "*soem_wrapper.*", SearchOption.AllDirectories).ToList().ForEach(filePath =>
{
if (filePath.Contains(RuntimeEnvironment.RuntimeArchitecture))
{
File.Copy(filePath, Path.Combine(codeBase, Path.GetFileName(filePath)), true);
}
});
/* prepare dependency injection */
var services = new ServiceCollection();
ConfigureServices(services);
/* create types */
var provider = services.BuildServiceProvider();
var extensionFactory = provider.GetRequiredService <IExtensionFactory>();
var loggerFactory = provider.GetRequiredService <ILoggerFactory>();
var logger = loggerFactory.CreateLogger("EtherCAT Master");
/* create EtherCAT master settings (with 10 Hz cycle frequency) */
var cycleFrequency = 10U;
var settings = new EcSettings(cycleFrequency, esiDirectoryPath, interfaceName);
/* create root slave info by scanning available slaves */
var rootSlaveInfo = EcUtilities.ScanDevices(settings.InterfaceName);
rootSlaveInfo.Descendants().ToList().ForEach(current =>
{
ExtensibilityHelper.CreateDynamicData(settings.EsiDirectoryPath, extensionFactory, current);
});
/* print list of slaves */
var message = new StringBuilder();
var slaves = rootSlaveInfo.Descendants().ToList();
message.AppendLine($"Found {slaves.Count()} slaves:");
slaves.ForEach(current =>
{
message.AppendLine($"{current.DynamicData.Name} (PDOs: {current.DynamicData.PdoSet.Count} - CSA: { current.Csa })");
});
logger.LogInformation(message.ToString().TrimEnd());
/* create variable references for later use */
var variables = slaves.SelectMany(child => child.GetVariableSet()).ToList();
/* create EC Master */
using (var master = new EcMaster(settings, extensionFactory, logger))
{
try
{
master.Configure(rootSlaveInfo);
}
catch (Exception ex)
{
logger.LogError(ex.Message);
throw;
}
/* start master */
var random = new Random();
var cts = new CancellationTokenSource();
var task = Task.Run(() =>
{
var sleepTime = 1000 / (int)cycleFrequency;
while (!cts.IsCancellationRequested)
{
master.UpdateIO(DateTime.UtcNow);
unsafe
{
if (variables.Any())
{
var myVariableSpan = new Span <int>(variables.First().DataPtr.ToPointer(), 1);
myVariableSpan[0] = random.Next(0, 100);
}
}
Thread.Sleep(sleepTime);
}
}, cts.Token);
/* wait for stop signal */
Console.ReadKey(true);
cts.Cancel();
await task;
}
}
public static void CreateDynamicData(string esiDirectoryPath, IExtensionFactory extensionFactory, SlaveInfo slaveInfo)
{
string name;
string description;
List <SlavePdo> pdoSet;
byte[] base64ImageData;
// find ESI
if (slaveInfo.Csa != 0)
{
(slaveInfo.SlaveEsi, slaveInfo.SlaveEsi_Group) = EsiUtilities.FindEsi(esiDirectoryPath, slaveInfo.Manufacturer, slaveInfo.ProductCode, slaveInfo.Revision);
}
//
pdoSet = new List <SlavePdo>();
base64ImageData = new byte[] { };
name = slaveInfo.SlaveEsi.Type.Value;
description = slaveInfo.SlaveEsi.Name.FirstOrDefault()?.Value;
if (description.StartsWith(name))
{
description = description.Substring(name.Length);
}
else if (string.IsNullOrWhiteSpace(description))
{
description = "no description available";
}
// PDOs
foreach (DataDirection dataDirection in Enum.GetValues(typeof(DataDirection)))
{
IEnumerable <PdoType> pdoTypeSet = null;
switch (dataDirection)
{
case DataDirection.Output:
pdoTypeSet = slaveInfo.SlaveEsi.RxPdo;
break;
case DataDirection.Input:
pdoTypeSet = slaveInfo.SlaveEsi.TxPdo;
break;
}
foreach (PdoType pdoType in pdoTypeSet)
{
int syncManager;
ushort pdoIndex;
string pdoName;
SlavePdo slavePdo;
var osMax = Convert.ToUInt16(pdoType.OSMax);
if (osMax == 0)
{
pdoName = pdoType.Name.First().Value;
pdoIndex = (ushort)EsiUtilities.ParseHexDecString(pdoType.Index.Value);
syncManager = pdoType.SmSpecified ? pdoType.Sm : -1;
slavePdo = new SlavePdo(slaveInfo, pdoName, pdoIndex, osMax, pdoType.Fixed, pdoType.Mandatory, syncManager);
pdoSet.Add(slavePdo);
IList <SlaveVariable> slaveVariableSet = pdoType.Entry.Select(x =>
{
var variableIndex = (ushort)EsiUtilities.ParseHexDecString(x.Index.Value);
var subIndex = Convert.ToByte(x.SubIndex);
//// Improve. What about -1 if SubIndex does not exist?
return(new SlaveVariable(slavePdo, x.Name?.FirstOrDefault()?.Value, variableIndex, subIndex, dataDirection, EcUtilities.GetOneDasDataTypeFromEthercatDataType(x.DataType?.Value), (byte)x.BitLen));
}).ToList();
slavePdo.SetVariableSet(slaveVariableSet);
}
else
{
for (ushort indexOffset = 0; indexOffset <= osMax - 1; indexOffset++)
{
pdoName = $"{pdoType.Name.First().Value} [{indexOffset}]";
pdoIndex = (ushort)((ushort)EsiUtilities.ParseHexDecString(pdoType.Index.Value) + indexOffset);
syncManager = pdoType.SmSpecified ? pdoType.Sm : -1;
var indexOffset_Tmp = indexOffset;
slavePdo = new SlavePdo(slaveInfo, pdoName, pdoIndex, osMax, pdoType.Fixed, pdoType.Mandatory, syncManager);
pdoSet.Add(slavePdo);
IList <SlaveVariable> slaveVariableSet = pdoType.Entry.Select(x =>
{
var variableIndex = (ushort)EsiUtilities.ParseHexDecString(x.Index.Value);
var subIndex = (byte)(byte.Parse(x.SubIndex) + indexOffset_Tmp);
//// Improve. What about -1 if SubIndex does not exist?
return(new SlaveVariable(slavePdo, x.Name.FirstOrDefault()?.Value, variableIndex, subIndex, dataDirection, EcUtilities.GetOneDasDataTypeFromEthercatDataType(x.DataType?.Value), (byte)x.BitLen));
}).ToList();
slavePdo.SetVariableSet(slaveVariableSet);
}
}
}
}
// image data
if (slaveInfo.SlaveEsi_Group.ItemElementName == ItemChoiceType1.ImageData16x14)
{
base64ImageData = (byte[])slaveInfo.SlaveEsi_Group.Item;
}
if (slaveInfo.SlaveEsi.ItemElementName.ToString() == nameof(ItemChoiceType1.ImageData16x14))
{
base64ImageData = (byte[])slaveInfo.SlaveEsi.Item;
}
// attach dynamic data
slaveInfo.DynamicData = new SlaveInfoDynamicData(name, description, pdoSet, base64ImageData);
// execute extension logic
ExtensibilityHelper.UpdateSlaveExtensions(extensionFactory, slaveInfo);
slaveInfo.SlaveExtensionSet.ToList().ForEach(slaveExtension =>
{
slaveExtension.EvaluateSettings();
});
}
static async Task Main(string[] args)
{
/* Set interface name. Edit this to suit your needs. */
var interfaceName = "eth0";
/* Set ESI location. Make sure it contains ESI files! The default path is /home/{user}/.local/share/ESI */
var localAppDataPath = Environment.GetFolderPath(Environment.SpecialFolder.LocalApplicationData);
var esiDirectoryPath = Path.Combine(localAppDataPath, "ESI");
Directory.CreateDirectory(esiDirectoryPath);
/* Copy native file. NOT required in end user scenarios, where EtherCAT.NET package is installed via NuGet! */
var codeBase = Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location);
Directory.EnumerateFiles(Path.Combine(codeBase, "runtimes"), "*soem_wrapper.*", SearchOption.AllDirectories).ToList().ForEach(filePath =>
{
if (filePath.Contains(RuntimeEnvironment.RuntimeArchitecture))
{
File.Copy(filePath, Path.Combine(codeBase, Path.GetFileName(filePath)), true);
}
});
/* create logger */
var loggerFactory = LoggerFactory.Create(loggingBuilder =>
{
loggingBuilder.SetMinimumLevel(LogLevel.Debug);
loggingBuilder.AddConsole();
});
var logger = loggerFactory.CreateLogger("EtherCAT Master");
/* create EtherCAT master settings (with 10 Hz cycle frequency) */
var settings = new EcSettings(cycleFrequency: 10U, esiDirectoryPath, interfaceName);
/* scan available slaves */
var rootSlave = EcUtilities.ScanDevices(settings.InterfaceName);
rootSlave.Descendants().ToList().ForEach(slave =>
{
// If you have special extensions for this slave, add it here:
// slave.Extensions.Add(new MyFancyExtension());
/*################ Sample code START ##################
*
* // Example code to add SDO write request during initialization
* // to Beckhoff "EL3021"
* if (slave.ProductCode == 0xBCD3052)
* {
* var dataset = new List<object>();
* dataset.Add((byte)0x01);
*
* var requests = new List<SdoWriteRequest>()
* {
* // Index 0x8000 sub index 6: Filter on
* new SdoWriteRequest(0x8000, 0x6, dataset)
* };
*
* slave.Extensions.Add(new InitialSettingsExtension(requests));
* }
*
################## Sample code END #################*/
EcUtilities.CreateDynamicData(settings.EsiDirectoryPath, slave);
});
/* print list of slaves */
var message = new StringBuilder();
var slaves = rootSlave.Descendants().ToList();
message.AppendLine($"Found {slaves.Count()} slaves:");
foreach (var slave in slaves)
{
message.AppendLine($"{slave.DynamicData.Name} (PDOs: {slave.DynamicData.Pdos.Count} - CSA: {slave.Csa})");
}
logger.LogInformation(message.ToString().TrimEnd());
/* create variable references for later use */
var variables = slaves.SelectMany(child => child.GetVariables()).ToList();
/* create EC Master (short sample) */
using (var master = new EcMaster(settings, logger))
{
try
{
master.Configure(rootSlave);
}
catch (Exception ex)
{
logger.LogError(ex.Message);
throw;
}
/* start master */
var random = new Random();
var cts = new CancellationTokenSource();
var task = Task.Run(() =>
{
var sleepTime = 1000 / (int)settings.CycleFrequency;
while (!cts.IsCancellationRequested)
{
master.UpdateIO(DateTime.UtcNow);
unsafe
{
if (variables.Any())
{
var myVariableSpan = new Span <int>(variables.First().DataPtr.ToPointer(), 1);
myVariableSpan[0] = random.Next(0, 100);
}
}
Thread.Sleep(sleepTime);
}
}, cts.Token);
/* wait for stop signal */
Console.ReadKey(true);
cts.Cancel();
await task;
}
return; /* remove this to run real world sample*/
/* create EC Master (real world sample) */
using (var master = new EcMaster(settings, logger))
{
try
{
master.Configure(rootSlave);
}
catch (Exception ex)
{
logger.LogError(ex.Message);
throw;
}
/*################ Sample code START ##################
*
* // Beckhoff EL2004 (4 channel digital output)
* var eL2004 = new DigitalOut(slaves[1]);
*
* eL2004.SetChannel(1, false);
* eL2004.SetChannel(2, true);
* eL2004.SetChannel(3, false);
* eL2004.SetChannel(4, true);
*
* // Beckhoff EL1014 (4 channel digital input)
* var eL1014 = new DigitalIn(slaves[2]);
*
* // Beckhoff EL3021 (1 channel analog input - 16bit)
* var pdoAnalogIn = slaves[3].DynamicData.Pdos;
* var varAnalogIn = pdoAnalogIn[0].Variables.Where(x => x.Name == "Value").First();
* var varUnderrange = pdoAnalogIn[0].Variables.Where(x => x.Name == "Status__Underrange").First();
* var varOverrange = pdoAnalogIn[0].Variables.Where(x => x.Name == "Status__Overrange").First();
*
* // Beckhoff EL3021 SDO read (index: 0x8000 sub index: 0x6)
* var datasetFilter = new byte[2];
* EcUtilities.SdoRead(master.Context, 4, 0x8000, 6, ref datasetFilter);
* var filterOn = BitConverter.ToBoolean(datasetFilter, 0);
* logger.LogInformation($"EL3021 filter on: {filterOn}");
*
################## Sample code END #################*/
/* start master */
var random = new Random();
var cts = new CancellationTokenSource();
var task = Task.Run(() =>
{
var sleepTime = 1000 / (int)settings.CycleFrequency;
while (!cts.IsCancellationRequested)
{
master.UpdateIO(DateTime.UtcNow);
/*################ Sample code START ##################
*
* // Beckhoff EL2004 toggle digital output for ch1 and ch3
* eL2004.ToggleChannel(2);
* eL2004.ToggleChannel(4);
*
* // Beckhoff EL1014 read digital input state
* logger.LogInformation($"EL1014 channel 1 input: {eL1014.GetChannel(1)}");
* logger.LogInformation($"EL1014 channel 2 input: {eL1014.GetChannel(2)}");
* logger.LogInformation($"EL1014 channel 3 input: {eL1014.GetChannel(3)}");
* logger.LogInformation($"EL1014 channel 4 input: {eL1014.GetChannel(4)}");
*
* // Beckhoff EL2004 read digital output state
* logger.LogInformation($"EL1014 channel 1 output: {eL2004.GetChannel(1)}");
* logger.LogInformation($"EL1014 channel 2 output: {eL2004.GetChannel(2)}");
* logger.LogInformation($"EL1014 channel 3 output: {eL2004.GetChannel(3)}");
* logger.LogInformation($"EL1014 channel 4 output: {eL2004.GetChannel(4)}");
*
* // Beckhoff EL3021 SDO read (index: 0x6000 sub index: 0x2)
* // overrange of 12 bit analog input.
* var slaveIndex = (ushort)(Convert.ToUInt16(slaves.ToList().IndexOf(slaves[3])) + 1);
* var dataset1 = new byte[2];
* EcUtilities.SdoRead(master.Context, slaveIndex, 0x6000, 2, ref dataset1);
* bool overrange = BitConverter.ToBoolean(dataset1, 0);
* logger.LogInformation($"EL3021 overrange: {overrange}");
*
* // Beckhoff EL3021 SDO read (index: 0x6000 sub index: 0x1)
* // underrange of 12 bit analog input.
* var dataset2 = new byte[2];
* EcUtilities.SdoRead(master.Context, slaveIndex, 0x6000, 1, ref dataset2);
* bool underrange = BitConverter.ToBoolean(dataset2, 0);
* logger.LogInformation($"EL3021 underrange: {underrange}");
*
################## Sample code END #################*/
unsafe
{
if (variables.Any())
{
/*################ Sample code START ##################
*
* // Read analog current from EL3021 (16 bit - PDO)
* void* data = varAnalogIn.DataPtr.ToPointer();
* int bitmask = (1 << varAnalogIn.BitLength) - 1;
* int shift = (*(int*)data >> varAnalogIn.BitOffset) & bitmask;
* short analogIn = (short)shift;
* logger.LogInformation($"EL3021 analog current in: {analogIn}");
*
* // Read analog current underrange status (1 bit - PDO)
* void* dataUnder = varUnderrange.DataPtr.ToPointer();
* bitmask = (1 << varUnderrange.BitLength) - 1;
* int under = (*(int*)dataUnder >> varUnderrange.BitOffset) & bitmask;
* logger.LogInformation($"EL3021 underrange: {under}");
*
* // Read analog current overrange status (1 bit - PDO)
* void* dataOver = varOverrange.DataPtr.ToPointer();
* bitmask = (1 << varOverrange.BitLength) - 1;
* int over = (*(int*)dataOver >> varOverrange.BitOffset) & bitmask;
* logger.LogInformation($"EL3021 overrange: {over}");
*
################## Sample code END #################*/
}
}
Thread.Sleep(sleepTime);
}
}, cts.Token);
/* wait for stop signal */
Console.ReadKey(true);
cts.Cancel();
await task;
}
}
static async Task Main(string[] args)
{
/* Set interface name. Edit this to suit your needs. */
var interfaceName = "Lokal";
/* Set ESI location. Make sure it contains ESI files! The default path is /home/{user}/.local/share/ESI */
var localAppDataPath = Environment.GetFolderPath(Environment.SpecialFolder.LocalApplicationData);
var esiDirectoryPath = Path.Combine(localAppDataPath, "ESI");
Directory.CreateDirectory(esiDirectoryPath);
/* Copy native file. NOT required in end user scenarios, where EtherCAT.NET package is installed via NuGet! */
var codeBase = Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location);
Directory.EnumerateFiles(Path.Combine(codeBase, "runtimes"), "*soem_wrapper.*", SearchOption.AllDirectories).ToList().ForEach(filePath =>
{
if (filePath.Contains(RuntimeEnvironment.RuntimeArchitecture))
{
File.Copy(filePath, Path.Combine(codeBase, Path.GetFileName(filePath)), true);
}
});
/* create logger */
var loggerFactory = LoggerFactory.Create(loggingBuilder =>
{
loggingBuilder.SetMinimumLevel(LogLevel.Debug);
loggingBuilder.AddConsole();
});
var logger = loggerFactory.CreateLogger("EtherCAT Master");
/* create EtherCAT master settings (with 10 Hz cycle frequency) */
var settings = new EcSettings(cycleFrequency: 10U, esiDirectoryPath, interfaceName);
/* scan available slaves */
var rootSlave = EcUtilities.ScanDevices(settings.InterfaceName);
rootSlave.Descendants().ToList().ForEach(slave =>
{
// If you have special extensions for this slave, add it here:
// slave.Extensions.Add(new MyFancyExtension());
EcUtilities.CreateDynamicData(settings.EsiDirectoryPath, slave);
});
/* print list of slaves */
var message = new StringBuilder();
var slaves = rootSlave.Descendants().ToList();
message.AppendLine($"Found {slaves.Count()} slaves:");
foreach (var slave in slaves)
{
message.AppendLine($"{slave.DynamicData.Name} (PDOs: {slave.DynamicData.Pdos.Count} - CSA: {slave.Csa})");
}
logger.LogInformation(message.ToString().TrimEnd());
/* create variable references for later use */
var variables = slaves.SelectMany(child => child.GetVariables()).ToList();
/* create EC Master */
using (var master = new EcMaster(settings, logger))
{
// If you want to change SDO values of a certain slave, register a callback:
//
// EcHL.RegisterCallback(master.Context, slaveIndex /* 1-based indexing */, slaveIndex =>
// {
// var returnValue = EcUtilities.SdoWrite(master.Context, slaveIndex, ...);
// EcUtilities.CheckErrorCode(master.Context, returnValue);
// return 0;
// });
try
{
master.Configure(rootSlave);
}
catch (Exception ex)
{
logger.LogError(ex.Message);
throw;
}
/* start master */
var random = new Random();
var cts = new CancellationTokenSource();
var task = Task.Run(() =>
{
var sleepTime = 1000 / (int)settings.CycleFrequency;
while (!cts.IsCancellationRequested)
{
master.UpdateIO(DateTime.UtcNow);
unsafe
{
if (variables.Any())
{
var myVariableSpan = new Span <int>(variables.First().DataPtr.ToPointer(), 1);
myVariableSpan[0] = random.Next(0, 100);
}
}
Thread.Sleep(sleepTime);
}
}, cts.Token);
/* wait for stop signal */
Console.ReadKey(true);
cts.Cancel();
await task;
}
}