public static EtherCATInitializationForm GetInstance()
{
if (_splashScreenForm.IsDisposed)
{
_splashScreenForm = new EtherCATInitializationForm();
}
return(_splashScreenForm);
}
private void InitialCard()
{
try
{
g_uRet = CEtherCAT_DLL.CS_ECAT_Master_Open(ref g_nESCExistCards);
}
catch (Exception ex)
{
throw new Exception("No EtherCat dll can be found!");
}
g_bInitialFlag = false;
if (g_nESCExistCards == 0)
{
throw new Exception("No EtherCat can be found!");
}
else
{
for (ushort uCount = 0; uCount < g_nESCExistCards; uCount++)
{
ushort uCardNo = 0;
g_uRet = CEtherCAT_DLL.CS_ECAT_Master_Get_CardSeq(uCount, ref uCardNo);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
throw new Exception("CS_ECAT_Master_Get_CardSeq, " + GetEtherCATErrorCode(g_uRet));
}
else
{
g_uESCCardNoList.Add(uCount, new CardInfo()
{
CardNo = uCardNo
});
}
}
EtherCATInitializationForm.GetInstance().SetCardList(g_uESCCardNoList);
foreach (var item in g_uESCCardNoList)
{
g_uRet = CEtherCAT_DLL.CS_ECAT_Master_Initial(item.Value.CardNo);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
throw new Exception("CS_ECAT_Master_Initial, " + GetEtherCATErrorCode(g_uRet));
}
}
g_bInitialFlag = true;
}
}
protected CEtherCAT(ModulesType modulesType, string parameterFolderPath, string deviceName)
: base(modulesType, parameterFolderPath, deviceName)
{
if (!g_bInitialFlag)
{
PrepareErrorCodes();
FlowControl flowControl = ModulesFactory.FlowControlHelper.GetFlowControl("SYNTEKMotion");
CEtherCAT_CheckStatus etherCAT_CheckStatus = new CEtherCAT_CheckStatus();
flowControl.AddFlowBase(etherCAT_CheckStatus);
etherCAT_CheckStatus.Start();
EtherCATInitializationForm.GetInstance().ShowForm();
EtherCATInitializationForm.GetInstance().SetStatus("Wait Initial");
masterCardInitialize();
EtherCATInitializationForm.GetInstance().CloseForm();
etherCAT_CheckStatus.Stop();
}
}
public override void Flow()
{
if (CEtherCAT.g_nESCExistCards > 0)
{
for (ushort uCount = 0; uCount < CEtherCAT.g_nESCExistCards; uCount++)
{
ushort uConnectStatus = 0, uInitialDone = 0, uRet = 0, uAbnormal_Flag = 0, uWorking_Slave_Cnt = 0;
uRet = CEtherCAT_DLL.CS_ECAT_Master_Get_Connect_Status(CEtherCAT.g_uESCCardNoList[uCount].CardNo, ref uConnectStatus);
if (uRet == 0)
{
if (uConnectStatus == 0)
{
CEtherCAT.g_uESCCardNoList[uCount].ConnectStatus = "Initial Mode";
}
else if (uConnectStatus == 1)
{
CEtherCAT.g_uESCCardNoList[uCount].ConnectStatus = "Pre-OP Mode";
}
else if (uConnectStatus == 4)
{
CEtherCAT.g_uESCCardNoList[uCount].ConnectStatus = "Safe-OP Mode";
}
else if (uConnectStatus == 8)
{
CEtherCAT.g_uESCCardNoList[uCount].ConnectStatus = "OP Mode";
}
}
uRet = CEtherCAT_DLL.CS_ECAT_Master_Check_Initial_Done(CEtherCAT.g_uESCCardNoList[uCount].CardNo, ref uInitialDone);
if (uRet == 0)
{
if (uInitialDone == 0)
{
CEtherCAT.g_uESCCardNoList[uCount].InitialStatus = "Initial Done";
}
else if (uInitialDone == 1)
{
CEtherCAT.g_uESCCardNoList[uCount].InitialStatus = "Pre Initial";
}
else if (uInitialDone == 99)
{
CEtherCAT.g_uESCCardNoList[uCount].InitialStatus = "Initial Error";
}
}
uRet = CEtherCAT_DLL.CS_ECAT_Master_Check_Working_Counter(CEtherCAT.g_uESCCardNoList[uCount].CardNo, ref uAbnormal_Flag, ref uWorking_Slave_Cnt);
if (CEtherCAT.IsInitialized)
{
if (uAbnormal_Flag == 0)
{
CEtherCAT.g_uESCCardNoList[uCount].ConnectStatus = "Normal";
}
else
{
CEtherCAT.g_uESCCardNoList[uCount].ConnectStatus = "Abnormal";
}
CEtherCAT.g_uESCCardNoList[uCount].ConnectStatus = string.Format("{0} {1} / {2}", CEtherCAT.g_uESCCardNoList[uCount].ConnectStatus, uWorking_Slave_Cnt, CEtherCAT.SlaveInfos.Count);
}
else
{
string nowStatus = string.Format("{0}, {1}", CEtherCAT.g_uESCCardNoList[uCount].ConnectStatus, CEtherCAT.g_uESCCardNoList[uCount].InitialStatus);
if (nowStatus != _status)
{
_status = nowStatus;
EtherCATInitializationForm.GetInstance().SetStatus(uCount, nowStatus);
}
}
}
}
}
