/// <summary>
/// Write to a node via SDO
/// </summary>
/// <param name="node">Node ID</param>
/// <param name="index">Object Dictionary Index</param>
/// <param name="subindex">Object Dictionary sub index</param>
/// <param name="udata">byte[] of data (1-8 bytes) to send</param>
/// <param name="completedcallback">Call back on finished/error event</param>
/// <returns>SDO class that is used to perform the packet handshake, contains error/status codes</returns>
public SDO SDOwrite(byte node, UInt16 index, byte subindex, byte[] data, Action <SDO> completedcallback)
{
SDO sdo = new SDO(this, node, index, subindex, SDO.direction.SDO_WRITE, completedcallback, data);
sdo_queue.Enqueue(sdo);
return(sdo);
}
/// <summary>
/// Read from a remote node via SDO
/// </summary>
/// <param name="node">Node ID to read from</param>
/// <param name="index">Object Dictionary Index</param>
/// <param name="subindex">Object Dictionary sub index</param>
/// <param name="completedcallback">Call back on finished/error event</param>
/// <returns>SDO class that is used to perform the packet handshake, contains returned data and error/status codes</returns>
public SDO SDOread(byte node, UInt16 index, byte subindex, Action <SDO> completedcallback)
{
SDO sdo = new SDO(this, node, index, subindex, SDO.direction.SDO_READ, completedcallback, null);
sdo_queue.Enqueue(sdo);
return(sdo);
}
/// <summary>
/// Main process loop, used to get latest packets from buffer and also keep the SDO events pumped
/// When packets are recieved they will be matched to any approprate callback handlers for this specific COB type
/// and that handler invoked.
/// </summary>
void asyncprocess()
{
while (threadrun)
{
canpacket cp;
List <canpacket> pdos = new List <canpacket>();
while (threadrun && packetqueue.IsEmpty && pdos.Count == 0 && sdo_queue.Count == 0 && SDO.isEmpty())
{
System.Threading.Thread.Sleep(1);
}
while (packetqueue.TryDequeue(out cp))
{
//PDO 0x180 -- 0x57F
if (cp.cob >= 0x180 && cp.cob <= 0x57F)
{
if (PDOcallbacks.ContainsKey(cp.cob))
{
PDOcallbacks[cp.cob](cp.data);
}
pdos.Add(cp);
}
//SDO replies 0x601-0x67F
if (cp.cob >= 0x580 && cp.cob < 0x600)
{
if (cp.len != 8)
{
return;
}
if (SDOcallbacks.ContainsKey(cp.cob))
{
if (SDOcallbacks[cp.cob].SDOProcess(cp))
{
SDOcallbacks.Remove(cp.cob);
}
}
if (sdoevent != null)
{
sdoevent(cp);
}
}
if (cp.cob >= 0x600 && cp.cob < 0x680)
{
if (sdoevent != null)
{
sdoevent(cp);
}
}
//NMT
if (cp.cob > 0x700 && cp.cob <= 0x77f)
{
byte node = (byte)(cp.cob & 0x07F);
nmtstate[node].changestate((NMTState.e_NMTState)cp.data[0]);
nmtstate[node].lastping = DateTime.Now;
if (nmtecevent != null)
{
nmtecevent(cp);
}
}
if (cp.cob == 000)
{
if (nmtevent != null)
{
nmtevent(cp);
}
}
if (cp.cob == 0x80)
{
if (syncevent != null)
{
syncevent(cp);
}
}
if (cp.cob > 0x080 && cp.cob <= 0xFF)
{
if (emcyevent != null)
{
emcyevent(cp);
}
}
if (cp.cob == 0x100)
{
if (timeevent != null)
{
timeevent(cp);
}
}
if (cp.cob > 0x7E4 && cp.cob <= 0x7E5)
{
if (lssevent != null)
{
lssevent(cp);
}
}
}
if (pdos.Count > 0)
{
if (pdoevent != null)
{
pdoevent(pdos.ToArray());
}
}
SDO.kick_SDO();
if (sdo_queue.Count > 0)
{
SDO front = sdo_queue.Peek();
if (front != null)
{
if (!SDOcallbacks.ContainsKey((UInt16)(front.node + 0x580)))
{
if (sdo_queue.Count > 0)
{
front = sdo_queue.Dequeue();
//Listen for the reply on 0x580+node id
SDOcallbacks.Add((UInt16)(front.node + 0x580), front);
front.sendSDO();
}
}
}
}
//System.Threading.Thread.Sleep(1);
}
}
