void nextsdoplease(SDO sdo)
{
if (ih.pages.ContainsKey(currentpage))
{
byte[] sdodata = new byte[3 * 1024 + 3]; //pagesize + header;
UInt32 pageaddr = currentpage * 2 * 1024; //awesome
byte[] pagebits = BitConverter.GetBytes(pageaddr);
//24 bit page address
sdodata[0] = pagebits[0]; //LSB
sdodata[1] = pagebits[1];
sdodata[2] = pagebits[2]; //c# MSB
for (int x = 0; x < (3 * 1024); x++)
{
sdodata[x + 3] = ih.pages[currentpage][x];
}
textBox1.Invoke(new MethodInvoker(delegate()
{
progressBar1.Value = (int)currentpage;
label2.Text = (String.Format("writing page {0}/{1}\r\n", currentpage, ih.maxpageno));
}));
currentpage++;
//nextsdoplease(null);
lco.SDOwrite((byte)numericUpDown_node.Value, 0x1f50, 0x01, sdodata, nextsdoplease);
}
else
{
textBox1.Invoke(new MethodInvoker(delegate()
{
textBox1.AppendText(String.Format("Skipping page {0}\r\n", currentpage));
}));
currentpage++;
if (currentpage <= ih.maxpageno)
{
nextsdoplease(null);
}
else
{
textBox1.Invoke(new MethodInvoker(delegate()
{
label2.Text = "DONE";
textBox1.AppendText("DONE ALL PAGES\r\n");
busy = false;
button1.Enabled = true;
button_flash.Enabled = true;
textBox1.AppendText("** booting main program **\r\n");
lco.NMT_start(node);
}));
}
}
}
private void button_read_Click(object sender, EventArgs e)
{
if (!lco.isopen())
{
MessageBox.Show("CAN not open");
return;
}
if (numericUpDown_node.Value == 0)
{
MessageBox.Show("You cannot read from Node 0, please select a node");
return;
}
listView1.Invoke(new MethodInvoker(delegate
{
button_read.Enabled = false;
foreach (ListViewItem lvi in listView1.Items)
{
lvi.BackColor = Color.White;
sdocallbackhelper help = (sdocallbackhelper)lvi.Tag;
SDO sdo = lco.SDOread((byte)numericUpDown_node.Value, (UInt16)help.od.Index, (byte)help.od.Subindex, gotit);
help.sdo = sdo;
lvi.Tag = help;
}
}));
}
void upsucc(SDO sdo)
{
//button_read_Click(null, null);
listView1.Invoke(new MethodInvoker(delegate
{
foreach (ListViewItem lvi in listView1.Items)
{
sdocallbackhelper help = (sdocallbackhelper)lvi.Tag;
if (help.sdo != sdo)
{
continue;
}
sdo = lco.SDOread((byte)numericUpDown_node.Value, (UInt16)help.od.Index, (byte)help.od.Subindex, gotit);
help.sdo = sdo;
lvi.Tag = help;
break;
}
}));
}
private void listView1_DoubleClick(object sender, EventArgs e)
{
if (listView1.SelectedItems.Count == 0)
{
return;
}
if (!lco.isopen())
{
MessageBox.Show("CAN not open");
return;
}
sdocallbackhelper h = (sdocallbackhelper)listView1.SelectedItems[0].Tag;
ValueEditor ve = new ValueEditor(h.od, listView1.SelectedItems[0].SubItems[5].Text);
if (h.od.StorageLocation == "ROM")
{
MessageBox.Show("Should not edit ROM objects");
}
ve.UpdateValue += delegate(string s)
{
DataType dt = h.od.datatype;
if (dt == DataType.UNKNOWN && h.od.parent != null)
{
dt = h.od.parent.datatype;
}
SDO sdo = null;
switch (dt)
{
case DataType.REAL32:
{
float val = (float)new SingleConverter().ConvertFromString(ve.newvalue);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, val, upsucc);
break;
}
case DataType.REAL64:
{
double val = (double)new DoubleConverter().ConvertFromString(ve.newvalue);
byte[] payload = BitConverter.GetBytes(val);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, payload, upsucc);
break;
}
case DataType.INTEGER8:
{
sbyte val = (sbyte)new SByteConverter().ConvertFromString(ve.newvalue);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, val, upsucc);
break;
}
case DataType.INTEGER16:
{
Int16 val = (Int16) new Int16Converter().ConvertFromString(ve.newvalue);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, val, upsucc);
break;
}
case DataType.INTEGER32:
{
Int32 val = (Int32) new Int32Converter().ConvertFromString(ve.newvalue);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, val, upsucc);
break;
}
case DataType.UNSIGNED8:
{
byte val = (byte)new ByteConverter().ConvertFromString(ve.newvalue);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, val, upsucc);
break;
}
case DataType.UNSIGNED16:
{
UInt16 val = (UInt16) new UInt16Converter().ConvertFromString(ve.newvalue);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, val, upsucc);
break;
}
case DataType.UNSIGNED32:
{
UInt32 val = (UInt32) new UInt32Converter().ConvertFromString(ve.newvalue);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, val, upsucc);
break;
}
case DataType.INTEGER64:
{
Int64 val = (Int64) new Int64Converter().ConvertFromString(ve.newvalue);
byte[] payload = BitConverter.GetBytes(val);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, payload, upsucc);
break;
}
case DataType.UNSIGNED64:
{
UInt64 val = (UInt64) new UInt64Converter().ConvertFromString(ve.newvalue);
byte[] payload = BitConverter.GetBytes(val);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, payload, upsucc);
break;
}
case DataType.VISIBLE_STRING:
{
byte[] payload = Encoding.ASCII.GetBytes(ve.newvalue);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, payload, upsucc);
break;
}
default:
break;
}
h.sdo = sdo;
listView1.SelectedItems[0].Tag = h;
};
//SDO sdo = null;
if (ve.ShowDialog() == DialogResult.OK)
{
/*
* DataType dt = h.od.datatype;
*
* if (dt == DataType.UNKNOWN && h.od.parent != null)
* dt = h.od.parent.datatype;
*
* switch (dt)
* {
* case DataType.REAL32:
* {
*
* float val = (float)new SingleConverter().ConvertFromString(ve.newvalue);
* sdo=lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.index, (byte)h.od.subindex, val, upsucc);
* break;
* }
*
* case DataType.REAL64:
* {
*
* double val = (double)new DoubleConverter().ConvertFromString(ve.newvalue);
* byte[] payload = BitConverter.GetBytes(val);
* sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.index, (byte)h.od.subindex, payload, upsucc);
* break;
* }
*
* case DataType.INTEGER8:
* {
* sbyte val = (sbyte)new SByteConverter().ConvertFromString(ve.newvalue);
* sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.index, (byte)h.od.subindex, val, upsucc);
* break;
* }
*
* case DataType.INTEGER16:
* {
* Int16 val = (Int16)new Int16Converter().ConvertFromString(ve.newvalue);
* sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.index, (byte)h.od.subindex, val, upsucc);
* break;
* }
*
*
* case DataType.INTEGER32:
* {
* Int32 val = (Int32)new Int32Converter().ConvertFromString(ve.newvalue);
* sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.index, (byte)h.od.subindex, val, upsucc);
* break;
* }
* case DataType.UNSIGNED8:
* {
* byte val = (byte)new ByteConverter().ConvertFromString(ve.newvalue);
* sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.index, (byte)h.od.subindex, val, upsucc);
* break;
* }
* case DataType.UNSIGNED16:
* {
* UInt16 val = (UInt16)new UInt16Converter().ConvertFromString(ve.newvalue);
* sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.index, (byte)h.od.subindex, val, upsucc);
* break;
* }
*
* case DataType.UNSIGNED32:
* {
* UInt32 val = (UInt32)new UInt32Converter().ConvertFromString(ve.newvalue);
* sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.index, (byte)h.od.subindex, val, upsucc);
* break;
* }
*
* case DataType.INTEGER64:
* {
*
* Int64 val = (Int64)new Int64Converter().ConvertFromString(ve.newvalue);
* byte[] payload = BitConverter.GetBytes(val);
* sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.index, (byte)h.od.subindex, payload, upsucc);
* break;
* }
*
* case DataType.UNSIGNED64: {
*
* UInt64 val = (UInt64)new UInt64Converter().ConvertFromString(ve.newvalue);
* byte[] payload = BitConverter.GetBytes(val);
* sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.index, (byte)h.od.subindex, payload, upsucc);
* break;
* }
*
* case DataType.VISIBLE_STRING:
* {
*
* byte [] payload = Encoding.ASCII.GetBytes(ve.newvalue);
* sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.index, (byte)h.od.subindex, payload, upsucc);
* break;
* }
*
*
*
* default:
*
* break;
* }
*/
// h.sdo = sdo;
// listView1.SelectedItems[0].Tag = h;
}
}
void gotit(SDO sdo)
{
try
{
listView1.Invoke(new MethodInvoker(delegate
{
if (lco.getSDOQueueSize() == 0)
{
button_read.Enabled = true;
}
label_sdo_queue_size.Text = string.Format("SDO Queue Size: {0}", lco.getSDOQueueSize());
foreach (ListViewItem lvi in listView1.Items)
{
sdocallbackhelper h = (sdocallbackhelper)lvi.Tag;
if (h.sdo == sdo)
{
if (sdo.state == SDO.SDO_STATE.SDO_ERROR)
{
lvi.SubItems[5].Text = " **ERROR **";
return;
}
//if (sdo.exp == true)
{
DataType meh = h.od.datatype;
if (meh == DataType.UNKNOWN && h.od.parent != null)
{
meh = h.od.parent.datatype;
}
//item 5 is the read value item 4 is the actual value
switch (meh)
{
case DataType.REAL32:
float myFloat = System.BitConverter.ToSingle(BitConverter.GetBytes(h.sdo.expitideddata), 0);
lvi.SubItems[5].Text = myFloat.ToString();
float fout;
if (float.TryParse(lvi.SubItems[4].Text, out fout))
{
if (fout != myFloat)
{
lvi.BackColor = Color.Red;
}
}
break;
case DataType.REAL64:
double myDouble = System.BitConverter.ToDouble(h.sdo.databuffer, 0);
lvi.SubItems[5].Text = myDouble.ToString();
break;
case DataType.INTEGER8:
case DataType.INTEGER16:
case DataType.INTEGER32:
case DataType.UNSIGNED8:
case DataType.UNSIGNED16:
case DataType.UNSIGNED32:
int i1, i2;
lvi.SubItems[5].Text = String.Format("{0}", h.sdo.expitideddata);
if (int.TryParse(lvi.SubItems[5].Text, out i1) && int.TryParse(lvi.SubItems[4].Text, out i2))
{
if (i1 != i2)
{
lvi.BackColor = Color.Red;
}
}
break;
case DataType.VISIBLE_STRING:
lvi.SubItems[5].Text = System.Text.Encoding.UTF8.GetString(h.sdo.databuffer);
break;
case DataType.OCTET_STRING:
StringBuilder sb = new StringBuilder();
foreach (byte b in h.sdo.databuffer)
{
sb.Append(string.Format("{0:x} ", b));
}
lvi.SubItems[5].Text = sb.ToString();
break;
case DataType.UNSIGNED64:
{
UInt64 data = (UInt64)System.BitConverter.ToUInt64(h.sdo.databuffer, 0);
lvi.SubItems[5].Text = String.Format("{0:x}", data);
}
break;
case DataType.INTEGER64:
{
Int64 data = (Int64)System.BitConverter.ToInt64(h.sdo.databuffer, 0);
lvi.SubItems[5].Text = String.Format("{0:x}", data);
}
break;
default:
lvi.SubItems[5].Text = " **UNSUPPORTED **";
break;
}
}
break;
}
h.od.actualvalue = lvi.SubItems[5].Text;
}
}));
}
catch (Exception e)
{
}
return;
}
public SDOAdapter(SDO target)
{
_target = target;
}
private SDO dovalueupdate(sdocallbackhelper h, string sval)
{
DataType dt = h.od.datatype;
if (dt == DataType.UNKNOWN && h.od.parent != null)
{
dt = h.od.parent.datatype;
}
SDO sdo = null;
switch (dt)
{
case DataType.REAL32:
{
float val = (float)new SingleConverter().ConvertFromString(sval);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, val, upsucc);
break;
}
case DataType.REAL64:
{
double val = (double)new DoubleConverter().ConvertFromString(sval);
byte[] payload = BitConverter.GetBytes(val);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, payload, upsucc);
break;
}
case DataType.INTEGER8:
{
sbyte val = (sbyte)new SByteConverter().ConvertFromString(sval);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, val, upsucc);
break;
}
case DataType.INTEGER16:
{
Int16 val = (Int16) new Int16Converter().ConvertFromString(sval);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, val, upsucc);
break;
}
case DataType.INTEGER32:
{
Int32 val = (Int32) new Int32Converter().ConvertFromString(sval);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, val, upsucc);
break;
}
case DataType.UNSIGNED8:
{
byte val = (byte)new ByteConverter().ConvertFromString(sval);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, val, upsucc);
break;
}
case DataType.UNSIGNED16:
{
UInt16 val = (UInt16) new UInt16Converter().ConvertFromString(sval);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, val, upsucc);
break;
}
case DataType.UNSIGNED32:
{
UInt32 val = (UInt32) new UInt32Converter().ConvertFromString(sval);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, val, upsucc);
break;
}
case DataType.INTEGER64:
{
Int64 val = (Int64) new Int64Converter().ConvertFromString(sval);
byte[] payload = BitConverter.GetBytes(val);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, payload, upsucc);
break;
}
case DataType.UNSIGNED64:
{
UInt64 val = (UInt64) new UInt64Converter().ConvertFromString(sval);
byte[] payload = BitConverter.GetBytes(val);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, payload, upsucc);
break;
}
case DataType.VISIBLE_STRING:
{
byte[] payload = Encoding.ASCII.GetBytes(sval);
sdo = lco.SDOwrite((byte)numericUpDown_node.Value, (UInt16)h.od.Index, (byte)h.od.Subindex, payload, upsucc);
break;
}
default:
break;
}
return(sdo);
}
