public DistributedClocksOpMode(DeviceTypeDCOpMode opMode)
{
var assignActivate = EsiUtilities.ParseHexDecString(opMode.AssignActivate);
this.Name = opMode.Name;
this.Description = opMode.Desc;
// Cyclic mode
this.CycleTimeSyncUnit_IsEnabled = (assignActivate & 0x100) > 0;
this.CycleTimeSyncUnit = (int)(Math.Pow(10, 9) / 100); // improve! remove magic number
// SYNC 0
this.CycleTimeSync0_IsEnabled = (assignActivate & 0x200) > 0;
this.CycleTimeSync0 = Convert.ToInt32(opMode.CycleTimeSync0?.Value);
this.CycleTimeSync0_Factor = Convert.ToInt32(opMode.CycleTimeSync0?.Factor);
this.ShiftTimeSync0 = Convert.ToInt32(opMode.ShiftTimeSync0?.Value);
this.ShiftTimeSync0_Factor = Convert.ToInt32(opMode.ShiftTimeSync0?.Factor);
this.ShiftTimeSync0_Input = Convert.ToBoolean(opMode.ShiftTimeSync0?.Input);
// SYNC 1
this.CycleTimeSync1_IsEnabled = (assignActivate & 0x400) > 0;
this.CycleTimeSync1 = Convert.ToInt32(opMode.CycleTimeSync1?.Value);
this.CycleTimeSync1_Factor = Convert.ToInt32(opMode.CycleTimeSync1?.Factor);
this.ShiftTimeSync1 = Convert.ToInt32(opMode.ShiftTimeSync1?.Value);
this.ShiftTimeSync1_Factor = Convert.ToInt32(opMode.ShiftTimeSync1?.Factor);
this.ShiftTimeSync1_Input = Convert.ToBoolean(opMode.ShiftTimeSync1?.Input);
}
public override void EvaluateSettings()
{
var dcOpMode = _slaveInfo.Esi.Dc.OpMode.Where(x => x.Name == SelectedOpModeId).First();
var syncManagerPdosSet = dcOpMode.Sm ?? new DeviceTypeDCOpModeSM[] { };
if (syncManagerPdosSet.Count() > 0)
{
_slaveInfo.DynamicData.Pdos.ToList().ForEach(x => x.SyncManager = -1);
foreach (var syncManagerPdos in syncManagerPdosSet)
{
int syncManager = syncManagerPdos.No;
foreach (var smPdo in syncManagerPdos.Pdo)
{
var index = (ushort)EsiUtilities.ParseHexDecString(smPdo.Value);
var currentOsFactor = (ushort)(smPdo.OSFacSpecified ? smPdo.OSFac : 1);
for (ushort osFactorIndex = 1; osFactorIndex <= currentOsFactor; osFactorIndex++)
{
var indexOffset = (ushort)(osFactorIndex - 1);
_slaveInfo.DynamicData.Pdos.Where(x => x.Index == index + indexOffset).First().SyncManager = syncManager;
}
}
}
}
}
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();
});
}
public DistributedClocksParameters CalculateDcParameters(ref byte[] assignActivate, uint cycleFrequency)
{
var cycleTime0 = 0U;
var cycleTime1 = 0U;
var shiftTime0 = 0;
var dcOpMode = _slaveInfo.Esi.Dc.OpMode.Where(x => x.Name == SelectedOpModeId).First();
assignActivate = null;
if (dcOpMode != null)
{
var assignActivate_Tmp = (int)EsiUtilities.ParseHexDecString(dcOpMode.AssignActivate);
if (assignActivate_Tmp == 0)
{
assignActivate = new byte[] { 0 };
}
else
{
assignActivate = new byte[]
{
Convert.ToByte(assignActivate_Tmp & 0xff),
Convert.ToByte((assignActivate_Tmp & 0xff00) >> 8)
};
}
var cycleTimeSyncUnit = Convert.ToInt32(Math.Pow(10, 9) / cycleFrequency);
cycleTime0 = Convert.ToUInt32(dcOpMode.CycleTimeSync0?.Value);
if (dcOpMode.CycleTimeSync0 != null && cycleTime0 == 0)
{
if (dcOpMode.CycleTimeSync0.Factor >= 0)
{
cycleTime0 = Convert.ToUInt32(cycleTimeSyncUnit * Math.Abs(dcOpMode.CycleTimeSync0.Factor));
}
else
{
cycleTime0 = Convert.ToUInt32(cycleTimeSyncUnit / Math.Abs(dcOpMode.CycleTimeSync0.Factor));
}
}
// shiftTime0
shiftTime0 = Convert.ToInt32(dcOpMode.ShiftTimeSync0?.Value);
if (dcOpMode.ShiftTimeSync0 != null && dcOpMode.ShiftTimeSync0.FactorSpecified)
{
if (dcOpMode.ShiftTimeSync0.Factor >= 0)
{
shiftTime0 += Convert.ToInt32(cycleTime0 * Math.Abs(dcOpMode.ShiftTimeSync0.Factor));
}
else
{
shiftTime0 += Convert.ToInt32(cycleTime0 / Math.Abs(dcOpMode.ShiftTimeSync0.Factor));
}
}
// shiftTime1
int shiftTime1 = Convert.ToInt32(dcOpMode.ShiftTimeSync1?.Value);
if (dcOpMode.ShiftTimeSync1 != null && dcOpMode.ShiftTimeSync1.FactorSpecified)
{
// for future use
}
// cycleTime1
cycleTime1 = Convert.ToUInt32(dcOpMode.CycleTimeSync1?.Value);
if (dcOpMode.CycleTimeSync1 != null && cycleTime1 == 0)
{
if (dcOpMode.CycleTimeSync1.Factor >= 0)
{
cycleTime1 = Convert.ToUInt32(cycleTime0 * Math.Abs(dcOpMode.CycleTimeSync1.Factor));
}
else
{
cycleTime1 = Convert.ToUInt32(cycleTimeSyncUnit / Math.Abs(dcOpMode.CycleTimeSync1.Factor));
}
cycleTime1 = Convert.ToUInt32(cycleTime1 - cycleTime0 + shiftTime1);
}
}
return(new DistributedClocksParameters(cycleTime0, cycleTime1, shiftTime0));
}
