////////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////////////
static void Main(string[] args)
{
// Interfaces list
List <Tuple <String, String, String> > Interfaces = GetAvailableInterfaces();
// Start network activity on the first interface (indice 0)
String PcapInterfaceName = "\\Device\\NPF_" + Interfaces[0].Item3;
int NumberofSlavesDetected = SoemInterrop.StartActivity(PcapInterfaceName, 1);
// Until now if the parameter is missing it's Operational, otherwise slaves are
// in there default mode (SafeOperational is not used).
SoemInterrop.Run(SlaveState.SafeOperational);
byte[] buf = new byte[50]; // must be large enough
int size = buf.Length;
// some Acyclic Read/Write
// Could be also realize in operational, init, .... state
SoemInterrop.ReadPDO(1, 0x6000, -1, ref size, buf);
SoemInterrop.WritePDO(1, 0x7000, 0, 4, buf);
DeviceInfo();
// Change to Operational
SoemInterrop.WriteState(1, SlaveState.Operational);
for (; ;)
{
SoemInterrop.RefreshSlavesState();
DeviceInfo();
Thread.Sleep(2000);
}
}
private void devicesTreeView_AfterSelect(object sender, TreeViewEventArgs e)
{
try
{
if (e.Node.Tag is EthCATDevice)
{
SoemInterrop.RefreshSlavesState();
EthCATDevice slave = (EthCATDevice)e.Node.Tag;
slave.Refresh();
e.Node.SelectedImageIndex = e.Node.ImageIndex = SlaveStatetoIco(slave.State);
propertyGrid.SelectedObject = slave;
propertyGrid.ExpandAllGridItems();
propertyInput.SelectedObjects = new object[] { slave.InputData };
propertyInput.ExpandAllGridItems();
propertyOutput.SelectedObjects = new object[] { slave.OutputData };
propertyOutput.ExpandAllGridItems();
PDOToolStripMenuItem.Enabled = slave.MailboxProtocol.Contains(MailBoxProto.CoE.ToString());
}
else
{
propertyGrid.SelectedObject = null;
}
}
catch { }
}
private void tmrRefreshState_Tick(object sender, EventArgs e)
{
tmrStart.Enabled = false;
SoemInterrop.RefreshSlavesState();
foreach (TreeNode tn in devicesTreeView.Nodes)
{
EthCATDevice slave = tn.Tag as EthCATDevice;
SlaveState s = slave.State;
slave.Refresh();
if (s != slave.State)
{
int img = SlaveStatetoIco(slave.State);
tn.ImageIndex = tn.SelectedImageIndex = img;
devicesTreeView.Refresh();
}
if (tn == devicesTreeView.SelectedNode)
{
propertyGrid.Refresh();
propertyInput.Refresh();
}
}
}