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ln.ethercat
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0.1.0 ... master

Author SHA1 Message Date
haraldwolff 7d67cbd405 Changed default values to reflect real application used by GalaTech 2022-05-26 16:51:03 +02:00
haraldwolff cfd40b86e5 First implementation of 3 mode switch ( INDEPENDENT, SCREW, PRESS ) 2022-03-02 19:28:00 +01:00
Harald Wolff-Thobaben 1c2a3d6daa Add IsSafeToEnable 2021-04-30 11:34:46 +02:00
Harald Wolff-Thobaben 809ed925b1 Added FeedRatio / TorqueRatio to StupidSerialRemote 2021-04-14 10:09:03 +02:00
Harald Wolff-Thobaben 6febe8ccd5 Rider Project Files 2021-04-14 10:08:31 +02:00
Harald Wolff 15b6cbe418 WIP 2021-04-14 10:02:35 +02:00
Harald Wolff 2dbdf5fbb9 Added class ControllerLogic, Hardcoded Beta for GalaTech "Bohrautomat"
ln.build - build0.waldrennach.l--n.de build job pending Details
2020-12-28 08:26:13 +01:00
33 changed files with 1062 additions and 106 deletions
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13
.idea/.idea.ln.ethercat/.idea/.gitignore vendored 100644
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@ -0,0 +1,13 @@
# Default ignored files
/shelf/
/workspace.xml
# Rider ignored files
/modules.xml
/contentModel.xml
/projectSettingsUpdater.xml
/.idea.ln.ethercat.iml
# Datasource local storage ignored files
/dataSources/
/dataSources.local.xml
# Editor-based HTTP Client requests
/httpRequests/

4
.idea/.idea.ln.ethercat/.idea/encodings.xml 100644
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@ -0,0 +1,4 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="Encoding" addBOMForNewFiles="with BOM under Windows, with no BOM otherwise" />
</project>

8
.idea/.idea.ln.ethercat/.idea/indexLayout.xml 100644
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@ -0,0 +1,8 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="UserContentModel">
<attachedFolders />
<explicitIncludes />
<explicitExcludes />
</component>
</project>

6
.idea/.idea.ln.ethercat/.idea/vcs.xml 100644
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@ -0,0 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$" vcs="Git" />
</component>
</project>

154
ln.ethercat.service/EthercatProcessDataRecorder.cs 100644
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@ -0,0 +1,154 @@
using System;
using System.Collections.Generic;
using System.Threading;
using ln.http.api;
namespace ln.ethercat.service
{
public delegate void RecordingWindowCompleted(EthercatProcessDataRecorder dataRecorder, EthercatProcessDataRecorder.RecordingWindow recordingWindow);
public delegate void ProcessDataRecordingStartStopDelegate(EthercatProcessDataRecorder dataRecorder);
public class EthercatProcessDataRecorder : IDisposable
{
public ECMaster ECMaster { get; }
public event RecordingWindowCompleted OnRecordingWindowCompleted;
public event ProcessDataRecordingStartStopDelegate OnStartRecording;
public event ProcessDataRecordingStartStopDelegate OnStopRecording;
public int RecordingWindowSize { get; set; } = 256;
public int RecordingWindowCount { get; set; } = 10;
PDO[] pdoMap;
public PDO[] CurrentPDOMap => pdoMap;
RecordingWindow[] recordingWindows;
int currentWindow;
public EthercatProcessDataRecorder(ECMaster ecMaster)
{
ECMaster = ecMaster;
}
[ESMethod]
public void Start()
{
lock (this)
{
pdoMap = ECMaster.GetPDOMap();
SetupRamStorage();
}
OnStartRecording?.Invoke(this);
ECMaster.OnStateChange += MasterStateChanged;
ECMaster.OnProcessDataExchanged += ProcessDataExchanged;
}
[ESMethod]
public void Stop()
{
lock (this)
{
if (pdoMap != null)
{
ECMaster.OnProcessDataExchanged -= ProcessDataExchanged;
ECMaster.OnStateChange -= MasterStateChanged;
OnStopRecording?.Invoke(this);
pdoMap = null;
recordingWindows = null;
}
}
}
void SetupRamStorage()
{
currentWindow = 0;
recordingWindows = new RecordingWindow[RecordingWindowCount];
for (int window=0; window < RecordingWindowCount; window++)
recordingWindows[window] = new RecordingWindow(RecordingWindowSize, pdoMap.Length);
}
void ProcessDataExchanged(ECMaster ecMaster)
{
lock (this)
{
if (pdoMap != null)
{
RecordingWindow recordingWindow = recordingWindows[currentWindow];
if (recordingWindow.GetNextRecordBuffer(out object[] currentRecord))
{
for (int n = 0; n < pdoMap.Length; n++)
currentRecord[n] = pdoMap[n].SDOValue.GetValue();
}
if (recordingWindow.Completed)
{
currentWindow++;
if (currentWindow >= recordingWindows.Length)
currentWindow = 0;
ThreadPool.QueueUserWorkItem((s)=>{
OnRecordingWindowCompleted?.Invoke(this, recordingWindow);
});
}
}
}
}
void MasterStateChanged(ECMaster ecMaster, ECSlaveState newState)
{
if (newState != ECSlaveState.OPERATIONAL)
Stop();
}
public void Dispose()
{
Stop();
}
public class RecordingWindow
{
object[][] recordedData;
int nextRecord;
public bool Completed => nextRecord >= recordedData.Length;
public RecordingWindow(int windowSize,int pdomapSize)
{
recordedData = new object[windowSize][];
for (int pos=0 ; pos < windowSize ; pos++)
{
recordedData[pos] = new object[pdomapSize];
}
Reset();
}
public void Reset()
{
nextRecord = 0;
}
public object[][] GetRecords() => recordedData;
public object[] GetRecords(int record) => recordedData[record];
public bool GetNextRecordBuffer(out object[] recordBuffer)
{
if (nextRecord < recordedData.Length)
{
recordBuffer = recordedData[nextRecord++];
return true;
}
recordBuffer = null;
return false;
}
}
}
}

19
ln.ethercat.service/EthercatService.cs
View File

@ -1,12 +1,10 @@
using System;
using System.IO;
using System.Threading;
using System.Timers;
using ln.application;
using ln.ethercat.controller;
using ln.ethercat.controller.drives;
using ln.ethercat.service.api.v1;
using ln.http;
using ln.http.api;
using ln.http.router;
using ln.logging;
using ln.type;
@ -15,7 +13,6 @@ namespace ln.ethercat.service
{
public class EthercatService
{
public ECMaster ECMaster { get; private set; }
[StaticArgument(Option = 'i', LongOption = "interface")]
@ -37,11 +34,18 @@ namespace ln.ethercat.service
System.Timers.Timer timerWebsockets;
public EthercatService(string interfaceName)
{
EthercatProcessDataRecorder processDataRecorder;
public EthercatProcessDataRecorder ProcessDataRecorder {
get {
if (processDataRecorder == null)
processDataRecorder = new EthercatProcessDataRecorder(ECMaster);
return processDataRecorder;
}
}
public EthercatService(){}
public void Initialize()
{
if (EthercatInterfaceName == null)
@ -92,6 +96,7 @@ namespace ln.ethercat.service
try{
EthercatWebSocket.SendProcessData(ECMaster);
ControllerWebSocket.SendUpdates(ECMaster.Controller);
JSONEventWebSocketResponse.SendUpdates();
} catch (Exception ex)
{
Logging.Log(ex);

192
ln.ethercat.service/GalaTechControllerLogic.cs 100644
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@ -0,0 +1,192 @@
using System;
using System.IO;
using System.Linq;
using ln.ethercat.controller;
using ln.ethercat.controller.drives;
using ln.ethercat.controller.remote;
using ln.json;
using ln.json.mapping;
using ln.logging;
namespace ln.ethercat.service
{
public enum GTOperationMode { NONE, INDEPENDENT, SCREW, PRESS }
public class GalaTechControllerLogic : ControllerLogic
{
public MyParameters Parameters { get; set; }
SDOValue svRelais;
SDOValue svEnable;
private SDOValue svMode0, svMode1, svMode2;
public GalaTechControllerLogic()
{
Parameters = new MyParameters();
if (File.Exists("gtcl.json"))
{
JSONValue configValue = JSONParser.ParseFile("gtcl.json");
JSONMapper.DefaultMapper.Apply(configValue as JSONObject, Parameters);
}
}
public void Save()
{
if (JSONMapper.DefaultMapper.Serialize(Parameters, out JSONValue configObject))
{
using (StreamWriter sw = new StreamWriter("gtcl.json"))
{
sw.Write(configObject.ToString());
sw.Flush();
}
}
}
public override void Initialize(Controller controller)
{
if (!(
controller.ECMaster.GetSDOValue(1, 0x2012, 31, out svRelais) &&
controller.ECMaster.GetSDOValue(1, 0x2012, 32, out svEnable) &&
controller.ECMaster.GetSDOValue(2, 0x2008, 1, out svMode0) &&
controller.ECMaster.GetSDOValue(2, 0x2008, 2, out svMode1) &&
controller.ECMaster.GetSDOValue(2, 0x2008, 3, out svMode2)
))
throw new Exception("could not retrieve needed SDOValues");
}
public override void Cycle(Controller controller)
{
GTOperationMode operationMode = GTOperationMode.NONE;
object mm0 = svMode0.GetValue();
Logging.Log(LogLevel.DEBUG,"MT: {0}", mm0);
sbyte m0 = svMode0.GetValue<sbyte>();
sbyte m1 = svMode1.GetValue<sbyte>();
sbyte m2 = svMode2.GetValue<sbyte>();
Logging.Log(LogLevel.DEBUG, "Mode Bytes: {0} {1} {2}", m0,m1,m2);
if ((m0 == 1) && (m1 == 0) && (m2 == 0))
operationMode = GTOperationMode.INDEPENDENT;
else if ((m0 == 0) && (m1 == 1) && (m2 == 0))
operationMode = GTOperationMode.SCREW;
else if ((m0 == 0) && (m1 == 0) && (m2 == 1))
operationMode = GTOperationMode.PRESS;
else
operationMode = GTOperationMode.NONE;
switch (controller.ControllerState)
{
case ControllerStates.FAULT:
svEnable.SetValue((byte)0x00);
controller.ECMaster.DriveControllers[0].TargetTorque = 0;
controller.ECMaster.DriveControllers[0].TargetSpeed = 0;
controller.ECMaster.DriveControllers[1].TargetTorque = 0;
controller.ECMaster.DriveControllers[1].TargetSpeed = 0;
break;
case ControllerStates.NOTREADY:
svEnable.SetValue((byte)0x01);
break;
}
if (controller.ControllerState == ControllerStates.OPERATIONAL)
{
svRelais.SetValue((byte)0x01);
switch (operationMode)
{
case GTOperationMode.NONE:
controller.ECMaster.DriveControllers[0].TargetTorque = 0;
controller.ECMaster.DriveControllers[0].TargetSpeed = 0;
controller.ECMaster.DriveControllers[1].TargetTorque = 0;
controller.ECMaster.DriveControllers[1].TargetSpeed = 0;
break;
case GTOperationMode.INDEPENDENT:
controller.ECMaster.DriveControllers[0].DriveMode = DriveMode.SPEED;
controller.ECMaster.DriveControllers[0].TargetTorque = 0;
controller.ECMaster.DriveControllers[0].TargetSpeed = controller.Remotes.FirstOrDefault()?.Targets[0] ?? 0.0;
controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
controller.ECMaster.DriveControllers[1].TargetTorque = 0;
switch (controller.Remotes.FirstOrDefault()?.FeederOperation)
{
case FeederOperation.LEFT:
controller.ECMaster.DriveControllers[1].TargetSpeed = Parameters.FeedSpeedRatio * controller.Remotes.FirstOrDefault()?.Targets[1] ?? 0.0;
break;
case FeederOperation.RIGHT:
controller.ECMaster.DriveControllers[1].TargetSpeed = Parameters.FeedSpeedRatio * -controller.Remotes.FirstOrDefault()?.Targets[1] ?? 0.0;
break;
default:
controller.ECMaster.DriveControllers[1].TargetSpeed = 0.0;
break;
}
break;
case GTOperationMode.SCREW:
controller.ECMaster.DriveControllers[0].DriveMode = DriveMode.SPEED;
controller.ECMaster.DriveControllers[0].TargetTorque = 0;
controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
controller.ECMaster.DriveControllers[1].TargetTorque = 0;
switch (controller.Remotes.FirstOrDefault()?.FeederOperation)
{
case FeederOperation.LEFT:
controller.ECMaster.DriveControllers[0].TargetSpeed = controller.Remotes.FirstOrDefault()?.Targets[0] ?? 0.0;
controller.ECMaster.DriveControllers[1].TargetSpeed = Parameters.FeedScrewGearRatio * controller.Remotes.FirstOrDefault()?.Targets[0] ?? 0.0;
break;
case FeederOperation.RIGHT:
controller.ECMaster.DriveControllers[0].TargetSpeed = -controller.Remotes.FirstOrDefault()?.Targets[0] ?? 0.0;
controller.ECMaster.DriveControllers[1].TargetSpeed = -Parameters.FeedScrewGearRatio * controller.Remotes.FirstOrDefault()?.Targets[0] ?? 0.0;
break;
default:
controller.ECMaster.DriveControllers[0].TargetSpeed = 0.0;
controller.ECMaster.DriveControllers[1].TargetSpeed = 0.0;
break;
}
break;
case GTOperationMode.PRESS:
controller.ECMaster.DriveControllers[0].DriveMode = DriveMode.SPEED;
controller.ECMaster.DriveControllers[0].TargetTorque = 0;
controller.ECMaster.DriveControllers[0].TargetSpeed = controller.Remotes.FirstOrDefault()?.Targets[0] ?? 0.0;
controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.TORQUE;
controller.ECMaster.DriveControllers[1].TargetSpeed = 0;
switch (controller.Remotes.FirstOrDefault()?.FeederOperation)
{
case FeederOperation.LEFT:
controller.ECMaster.DriveControllers[1].TargetTorque = Parameters.FeedTorqueRatio * controller.Remotes.FirstOrDefault()?.Targets[1] ?? 0.0;
break;
case FeederOperation.RIGHT:
controller.ECMaster.DriveControllers[1].TargetTorque = -Parameters.FeedTorqueRatio * controller.Remotes.FirstOrDefault()?.Targets[1] ?? 0.0;
break;
default:
controller.ECMaster.DriveControllers[1].TargetTorque = 0.0;
break;
}
break;
}
} else {
svRelais.SetValue((byte)0x00);
}
}
public class MyParameters
{
public double FeedSpeedRatio = -1.0;
public double FeedTorqueRatio = 0.5;
public double FeedScrewGearRatio = -0.015;
}
}
}

34
ln.ethercat.service/MainAxFeederControllerLogic.cs
View File

@ -8,19 +8,15 @@ using ln.json.mapping;
namespace ln.ethercat.service
{
public class MainAxFeederControllerLogic
public class CLGalaTechBohrautomat : ControllerLogic
{
public MyParameters Parameters { get; set; }
ECMaster ECMaster;
SDOValue svRelais;
SDOValue svEnable;
public MainAxFeederControllerLogic(ECMaster ecMaster)
public CLGalaTechBohrautomat()
{
ECMaster = ecMaster;
Parameters = new MyParameters();
if (File.Exists("mafcl.json"))
{
@ -41,22 +37,38 @@ namespace ln.ethercat.service
}
}
public void Initialize()
public override void Initialize(Controller controller)
{
if (!(
ECMaster.GetSDOValue(1, 0x2012, 31, out svRelais) &&
ECMaster.GetSDOValue(1, 0x2012, 32, out svEnable)
controller.ECMaster.GetSDOValue(1, 0x2012, 31, out svRelais) &&
controller.ECMaster.GetSDOValue(1, 0x2012, 32, out svEnable)
))
throw new Exception("could not retrieve needed SDOValues");
}
public void ControllerLogic(Controller contreller)
public override void Cycle(Controller controller)
{
switch (controller.ControllerState)
{
case ControllerStates.FAULT:
svEnable.SetValue((byte)0x00);
break;
case ControllerStates.NOTREADY:
svEnable.SetValue((byte)0x01);
break;
}
if (controller.ControllerState == ControllerStates.OPERATIONAL)
{
svRelais.SetValue((byte)0x01);
} else {
svRelais.SetValue((byte)0x00);
}
}
public class MyParameters {
}
}

36
ln.ethercat.service/Program.cs
View File

@ -1,13 +1,7 @@
using System;
using System.Data;
using System.Text;
using System.Threading;
using System.Text;
using ln.application;
using ln.ethercat.controller;
using ln.ethercat.controller.drives;
using ln.ethercat.controller.remote;
using ln.logging;
using ln.type;
namespace ln.ethercat.service
{
@ -25,7 +19,7 @@ namespace ln.ethercat.service
Logging.Log(LogLevel.INFO, "ECMBind version: {0}", versionString.ToString());
EthercatService ethercatService = new EthercatService(args[0]);
EthercatService ethercatService = new EthercatService();
ArgumentContainer argumentContainer = new ArgumentContainer();
argumentContainer.AddStaticOptions<Program>();
@ -34,7 +28,7 @@ namespace ln.ethercat.service
ethercatService.Initialize();
ethercatService.ECMaster.OnStateChange += (ECMaster ECMaster, ECSlaveState newState) => {
if (newState == ECSlaveState.OPERATIONAL)
if (newState == ECSlaveState.SAFE_OP)
{
if (ECMaster.GetSDOValue(1, 0x2012, 32, out SDOValue svEnableDrives))
{
@ -45,28 +39,24 @@ namespace ln.ethercat.service
{
ECMaster.RequestPDOMapping(1, 0x2012, 31, true);
ECMaster.RequestPDOMapping(1, 0x2012, 32, true);
ECMaster.RequestPDOMapping(2, 0x2008, 1, false);
ECMaster.RequestPDOMapping(2, 0x2008, 2, false);
ECMaster.RequestPDOMapping(2, 0x2008, 3, false);
}
};
ethercatService.ECMaster.Controller.OnStateChanged += (controller, state) => {
Logging.Log(LogLevel.DEBUG, "ControllerState=={0}", state);
if (state == ControllerStates.NOTREADY)
{
if (controller.ECMaster.GetSDOValue(1, 0x2012, 32, out SDOValue svEnableDrives))
{
Logging.Log(LogLevel.DEBUG, "ControllerState=={0} powering up enable signals", state);
svEnableDrives.SetValue((byte)0x01);
}
}
};
//ethercatService.ECMaster.Controller.Add(new CLGalaTechBohrautomat());
ethercatService.ECMaster.Controller.Add(new GalaTechControllerLogic());
ethercatService.Start();
if (SerialRemotePort != null)
{
StupidSerialRemote stupidSerialRemote = new StupidSerialRemote(ethercatService.ECMaster.Controller, SerialRemotePort);
stupidSerialRemote.Start();
// StupidSerialRemote stupidSerialRemote = new StupidSerialRemote(ethercatService.ECMaster.Controller, SerialRemotePort);
// stupidSerialRemote.Start();
NewSerialRemote serialRemote =
new NewSerialRemote(ethercatService.ECMaster.Controller, SerialRemotePort);
serialRemote.Start();
}
}
}

11
ln.ethercat.service/api/v1/ControllerApiController.cs
View File

@ -1,6 +1,7 @@
using System;
using System.Globalization;
using System.Linq;
using System.Linq.Expressions;
using System.Net.Mail;
using System.Reflection;
using System.Timers;
@ -28,7 +29,15 @@ namespace ln.ethercat.service.api.v1
[GET("/sockets/controller")]
public HttpResponse GetControllerSocket() => new ControllerWebSocket(Controller);
public HttpResponse GetControllerSocket(){
JSONEventWebSocketResponse webSocket = new JSONEventWebSocketResponse(Controller);
for (int drive = 0; drive < Controller.ECMaster.DriveControllers.Length; drive++)
{
DriveController driveController = Controller.ECMaster.DriveControllers[drive];
webSocket.AddTarget(String.Format("drives/{0}", drive), driveController, false);
}
return webSocket;
}
// [GET("/sockets/controller/drives/:drive")]
// public HttpResponse GetDriveControllerSocket(int drive)

2
ln.ethercat.service/api/v1/ControllerWebSocket.cs
View File

@ -1,5 +1,4 @@
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Reflection;
using ln.ethercat.controller;
@ -27,7 +26,6 @@ namespace ln.ethercat.service.api.v1
try
{
JSONArray jsonDriveControllers = new JSONArray();
foreach (DriveController driveController in controller.ECMaster.DriveControllers)

6
ln.ethercat.service/api/v1/EthercatApiController.cs
View File

@ -88,6 +88,12 @@ namespace ln.ethercat.service.api.v1
[GET("/socket")]
HttpResponse OpenWebSocket(HttpRequest httpRequest) => new EthercatWebSocket(EthercatService);
[GET("")]
HttpResponse OpenRecorderSocket(HttpRequest httpRequest) => new RecorderWebSocket(EthercatService.ProcessDataRecorder);
}
}

3
ln.ethercat.service/api/v1/EthercatWebSocket.cs
View File

@ -2,10 +2,7 @@
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Runtime.InteropServices;
using ln.http.websocket;
using ln.json;
using ln.json.mapping;

64
ln.ethercat.service/api/v1/RecorderWebSocket.cs 100644
View File

@ -0,0 +1,64 @@
using System.Net.Http;
using ln.http.api;
using ln.http.websocket;
using ln.json;
using ln.json.mapping;
namespace ln.ethercat.service.api.v1
{
public class RecorderWebSocket : JSONEventWebSocketResponse
{
EthercatProcessDataRecorder DataRecorder;
public RecorderWebSocket(EthercatProcessDataRecorder dataRecorder)
{
OnWebSocketStateChanged += (s,state)=>{
switch (state)
{
case WebSocketState.OPEN:
dataRecorder.OnRecordingWindowCompleted += RecordingWindowCompleted;
dataRecorder.OnStartRecording += RecordingStarted;
dataRecorder.OnStopRecording += RecordingStopped;
break;
case WebSocketState.CLOSED:
dataRecorder.OnStartRecording -= RecordingStarted;
dataRecorder.OnStopRecording -= RecordingStopped;
dataRecorder.OnRecordingWindowCompleted -= RecordingWindowCompleted;
break;
}
};
}
void RecordingStarted(EthercatProcessDataRecorder recorder)
{
JSONObject jsonMessage = new JSONObject();
jsonMessage.Add("event","start");
if (JSONMapper.DefaultMapper.Serialize(recorder.CurrentPDOMap, out JSONValue jsonValue))
jsonMessage.Add("value", jsonValue);
Send(jsonMessage);
}
void RecordingStopped(EthercatProcessDataRecorder recorder)
{
JSONObject jsonMessage = new JSONObject();
jsonMessage.Add("event","stop");
jsonMessage.Add("value", JSONNull.Instance);
Send(jsonMessage);
}
void RecordingWindowCompleted(EthercatProcessDataRecorder recorder, EthercatProcessDataRecorder.RecordingWindow recordingWindow)
{
JSONObject jsonMessage = new JSONObject();
jsonMessage.Add("event","window");
if (JSONMapper.DefaultMapper.Serialize(recordingWindow.GetRecords(), out JSONValue jsonRecords))
jsonMessage.Add("value", jsonRecords);
Send(jsonMessage);
}
}
}

12
ln.ethercat.service/ln.ethercat.service.csproj
View File

@ -2,16 +2,18 @@
<PropertyGroup>
<OutputType>Exe</OutputType>
<GeneratePackageOnBuild>true</GeneratePackageOnBuild>
<TargetFramework>netcoreapp3.1</TargetFramework>
<Version>0.1.0</Version>
<Version>0.1.2</Version>
</PropertyGroup>
<ItemGroup>
<PackageReference Include="ln.type" Version="0.1.7-ci" />
<PackageReference Include="ln.type" Version="0.1.7" />
<PackageReference Include="ln.logging" Version="1.0.2" />
<PackageReference Include="ln.json" Version="1.0.6" />
<PackageReference Include="ln.http" Version="0.4.0-ci" />
<PackageReference Include="ln.http.api" Version="0.0.6-ci" />
<PackageReference Include="ln.json" Version="1.0.7" />
<PackageReference Include="ln.http" Version="0.4.1" />
<PackageReference Include="ln.http.api" Version="0.0.6" />
<!--ProjectReference Include="../../ln.http.api/ln.http.api/ln.http.api.csproj" /-->
<ProjectReference Include="../ln.ethercat/ln.ethercat.csproj" />
</ItemGroup>

13
ln.ethercat.service/www/html/spa.html
View File

@ -94,11 +94,16 @@ LN
component: {
template: src,
data: function(){
let d = { controller: {}, drive_controller: null };
let d = { controller: false, drive_controller: null };
d.socket = $ECAPP.connectWebSocket("/api/v1/sockets/controller");
d.socket.onmessage = (evt)=>{
let json = JSON.parse(evt.data);
d.controller = json.value;
console.log(json);
d.controller = json.value.Controller;
let drives = []
for (let n=0;n<d.controller.DriveCount;n++)
drives.push(json.value["drives/" + n]);
d.drive_controller = drives;
};
return d;
},
@ -106,8 +111,8 @@ LN
drive_set: function(drive, propName, propValue){
let jsonMessage = {
event: "set",
target: `drives/${drive}`,
value: {
drive: drive,
name: propName,
value: propValue
}
@ -117,6 +122,7 @@ LN
ctrl_set: function(propName, propValue){
let jsonMessage = {
event: "set",
target: "Controller",
value: {
name: propName,
value: propValue
@ -128,6 +134,7 @@ LN
arguments = arguments || [];
let jsonMessage = {
event: "action",
target: "Controller",
value: {
method: methodName,
arguments: arguments

30
ln.ethercat.service/www/static/css/spa.css
View File

@ -19,17 +19,24 @@ header > .wrapper {
main, .flex {
display: flex;
flex-wrap: wrap;
}
main {
flex-wrap: nowrap;
}
main > *, .flex > * {
flex-basis: 100%;
flex-grow: 1;
margin: 0px 8px;
flex-shrink: 1;
}
main > aside, .flex > .aside{
flex-basis: 25%;
flex-grow: 0;
flex-shrink: 0;
min-width: 25%;
}
@ -67,9 +74,25 @@ fieldset {
display: flex;
}
fieldset > * {
flex-grow: 1;
flex-shrink: 1;
flex-basis: 10%;
}
fieldset > label, fieldset > .label {
flex-grow: 1;
flex-shrink: 1;
flex-basis: 5%;
text-align: right;
padding-right: 12px;
padding-left: 12px;
}
/*
fieldset > :first-child {
flex-grow: 1;
flex-basis: 50%;
flex-basis: 25%;
}
fieldset > :nth-child(2) {
flex-grow: 1;
@ -80,9 +103,11 @@ fieldset > :last-child {
flex-basis: 25%;
}
fieldset.equal > * {
flex-basis: 50%;
flex-basis: 25%;
margin: 4px;
flex-shrink: 1;
}
*/
.flex {
display: flex;
@ -117,6 +142,7 @@ fieldset.equal > * {
margin: 2px 8px;
border-radius: 8px;;
background-color: #808080;
text-align: center;
}
.state.large {
width: 240px;

10
ln.ethercat.service/www/static/pages/controller.html
View File

@ -1,10 +1,10 @@
<div>
<h1>Controller</h1>
<div class="panel flex">
<div v-if="controller" class="panel flex">
<column>
<fieldset>
<label>Status</label>
<span class="state" :class="controller.State">{{ controller.State }}</span>
<span class="state" :class="controller.ControllerState">{{ controller.ControllerState }}</span>
</fieldset>
<fieldset class="equal">
<button @click="ctrl_action('DisableDrives');">DISABLE</button>
@ -18,20 +18,20 @@
</column>
<column>
<div class="group"
v-for="drive,key in controller.Drives"
v-for="drive,key in drive_controller"
>
<fieldset>
<label>Drive {{ key }}</label>
<span class="state" :class="drive.DriveState">{{ drive.DriveState }}</span>
<span class="state large" :class="drive.OEMState">{{ drive.OEMState }}</span>
</fieldset>
<fieldset class="equal">
<fieldset class="">
<label>Drive Mode</label>
<span class="value">{{ drive.DriveMode }}</span>
<label>Velocity</label>
<meter :value="Math.abs(drive.ActualSpeed)" min="0.0" max="1.5" low="0.8" high="1.0" optimum="0.7"></meter>
</fieldset>
<fieldset class="equal">
<fieldset class="">
<label>TargetValue</label>
<input type="range" step="0.05" min="-1.0" max="1.0" v-model="drive.TargetValue" @input="drive_set(key, 'TargetValue', drive.TargetValue);">
<label>Torque</label>

4
ln.ethercat/ECMaster.cs
View File

@ -39,6 +39,7 @@ namespace ln.ethercat
}
public delegate void ECStateChange(ECMaster sender,ECSlaveState newState);
public delegate void ProcessDataExchanged(ECMaster ecMaster);
public class ECMaster
{
@ -50,6 +51,7 @@ namespace ln.ethercat
public event ECStateChange OnStateChange;
public event ProcessDataExchanged OnProcessDataExchanged;
public string InterfaceName { get; }
@ -270,6 +272,8 @@ namespace ln.ethercat
ScheduleRestart();
stopProcessData = true;
}
} else {
OnProcessDataExchanged?.Invoke(this);
}
}
Thread.Sleep(INTERVALL_PROCESSDATA);

67
ln.ethercat/controller/Controller.cs
View File

@ -3,6 +3,7 @@ using System;
using System.Collections.Generic;
using System.Threading;
using ln.ethercat.controller.drives;
using ln.http.api;
using ln.logging;
namespace ln.ethercat.controller
@ -10,6 +11,8 @@ namespace ln.ethercat.controller
public delegate void ControllerLogicDelegate(Controller controller);
public delegate void ControllerStateChangeDelegate(Controller controller, ControllerStates newState);
public delegate bool ControllerIsSafeToEnable(Controller controller);
public enum ControllerStates {
NONE,
NOTREADY,
@ -26,28 +29,46 @@ namespace ln.ethercat.controller
public event ControllerStateChangeDelegate OnStateChanging;
public event ControllerStateChangeDelegate OnStateChanged;
public event ControllerIsSafeToEnable OnIsSafeToEnable;
public ECMaster ECMaster { get; }
[ESProperty]
public bool IgnoreRemoteInterface { get; set; }
private ISet<ControllerRemote> _remotes = new HashSet<ControllerRemote>();
public IEnumerable<ControllerRemote> Remotes => _remotes;
List<ControlLoop> controlLoops = new List<ControlLoop>();
public ControlLoop[] ControlLoops => controlLoops.ToArray();
[ESProperty]
public ControllerStates ControllerState { get; private set; }
[ESProperty]
public double ControllerLoopInterval { get; set; } = 0.1;
[ESProperty]
public double ControllerLoopFrequency {
get => 1.0 / ControllerLoopInterval;
set => ControllerLoopInterval = 1.0 / value;
}
[ESProperty]
public long CycleCounter { get; private set; }
Thread threadWatchdog;
int wdogCounter;
[ESProperty]
public bool DisableRemoteWatchdog { get; set; }
int remoteWatchdogCounter;
public int WatchdogReset { get; set; } = 5;
[ESProperty]
public int DriveCount => ECMaster.DriveControllers.Length;
HashSet<ControllerLogic> controllerLogics = new HashSet<ControllerLogic>();
public Controller(ECMaster ecMaster)
{
ECMaster = ecMaster;
@ -56,6 +77,12 @@ namespace ln.ethercat.controller
public void Add(ControlLoop controlLoop) => controlLoops.Add(controlLoop);
public void Remove(ControlLoop controlLoop) => controlLoops.Remove(controlLoop);
public void Add(ControllerLogic controllerLogic) => controllerLogics.Add(controllerLogic);
public void Remove(ControllerLogic controllerLogic) => controllerLogics.Remove(controllerLogic);
public void Add(ControllerRemote remote) => _remotes.Add(remote);
public void Remove(ControllerRemote remote) => _remotes.Remove(remote);
public void Initialize()
{
CycleCounter = 0;
@ -68,6 +95,9 @@ namespace ln.ethercat.controller
foreach (DriveController driveController in ECMaster.DriveControllers)
driveController.Initialize();
foreach (ControllerLogic controllerLogic in controllerLogics)
controllerLogic.Initialize(this);
}
void UpdateControllerState()
@ -98,6 +128,12 @@ namespace ln.ethercat.controller
if (driveState < nextState)
nextState = driveState;
}
if ((ControllerState == ControllerStates.FAULT) && (nextState == ControllerStates.OPERATIONAL))
{
DisableDrives();
nextState = ControllerStates.FAULT;
}
}
ChangeState(nextState);
}
@ -107,6 +143,9 @@ namespace ln.ethercat.controller
if (newState == ControllerState)
return;
if (ControllerState == ControllerStates.FAULT)
return;
OnStateChanging?.Invoke(this, newState);
switch (newState)
@ -129,23 +168,46 @@ namespace ln.ethercat.controller
OnStateChanged?.Invoke(this, newState);
}
[ESMethod]
public void DisableDrives()
{
ChangeState(ControllerStates.DISABLING);
}
[ESMethod]
public void EnableDrives()
{
if (ControllerState == ControllerStates.READY)
{
ChangeState(ControllerStates.ENABLING);
if (!IsSafeToEnable())
ChangeState(ControllerStates.FAULT);
else
ChangeState(ControllerStates.ENABLING);
} else {
Logging.Log(LogLevel.INFO, "Controller: EnableDrives(): Current ControllerState={0}. Refusing to enable drives", ControllerState.ToString());
}
}
public bool IsSafeToEnable()
{
if (!(OnIsSafeToEnable is null))
{
foreach (ControllerIsSafeToEnable ciste in OnIsSafeToEnable.GetInvocationList())
{
if (!ciste(this))
return false;
}
}
return true;
}
[ESMethod]
public void ClearFaults()
{
if (ControllerState == ControllerStates.FAULT)
ControllerState = ControllerStates.NONE;
foreach (DriveController driveController in ECMaster.DriveControllers)
{
if (driveController.DriveState == DriveStates.ERROR)
@ -206,6 +268,9 @@ namespace ln.ethercat.controller
foreach (ControlLoop controlLoop in controlLoops)
controlLoop.Loop();
foreach (ControllerLogic controllerLogic in controllerLogics)
controllerLogic.Cycle(this);
ControllerLogic?.Invoke(this);
foreach (DriveController driveController in ECMaster.DriveControllers)

10
ln.ethercat/controller/ControllerLogic.cs 100644
View File

@ -0,0 +1,10 @@
using System.Transactions;
namespace ln.ethercat.controller
{
public abstract class ControllerLogic
{
public abstract void Initialize(Controller controller);
public abstract void Cycle(Controller contreller);
}
}

13
ln.ethercat/controller/ControllerRemote.cs
View File

@ -3,6 +3,7 @@
using System;
using System.Threading;
using ln.ethercat.controller.drives;
using ln.ethercat.controller.remote;
using ln.logging;
namespace ln.ethercat.controller
@ -14,7 +15,7 @@ namespace ln.ethercat.controller
CLEARFAULT, // Clear fault state
}
public abstract class ControllerRemote
public abstract class ControllerRemote : IDisposable
{
protected Controller Controller;
@ -34,7 +35,11 @@ namespace ln.ethercat.controller
public ControllerRemote(Controller controller)
{
Controller = controller;
Controller?.Add(this);
}
public abstract double[] Targets { get; set; }
public abstract FeederOperation FeederOperation { get; }
public void Start()
{
@ -70,6 +75,8 @@ namespace ln.ethercat.controller
protected abstract void Cycle();
protected abstract void Shutdown();
public abstract bool IsSafeToEnable();
private void CycleThread()
{
CycleCounter = 0;
@ -101,5 +108,9 @@ namespace ln.ethercat.controller
Shutdown();
}
public void Dispose()
{
Controller?.Remove(this);
}
}
}

8
ln.ethercat/controller/drives/CIA402Controller.cs
View File

@ -250,14 +250,14 @@ namespace ln.ethercat.controller.drives
public override double ActualLoad => (double)(svActualCurrent?.GetValue<short>() ?? 0) / 1000.0;
public override double TargetPosition {
get => svTargetPosition.GetValue<int>();
get => svTargetPosition?.GetValue<int>() ?? 0;
set => svTargetPosition.SetValue((int)value);
}
public override double TargetSpeed {
get {
if (ModeOfOperation == CIA402ModesOfOperation.CYCLIC_SYNC_VELOCITY)
return (double)svTargetSpeed.GetValue<int>() / (1000.0 * MotorMaxSpeed);
return (double)(svTargetSpeed?.GetValue<int>() ?? 0) / (1000.0 * MotorMaxSpeed);
return (double)(svVLTargetVelocity?.GetValue<short>() ?? 0) / MotorMaxSpeed;
}
set {
@ -267,11 +267,11 @@ namespace ln.ethercat.controller.drives
}
}
public override double TargetTorque {
get => (double)svTargetTorque.GetValue<short>() / 1000.0;
get => (double)(svTargetTorque?.GetValue<short>() ?? 0) / 1000.0;
set => svTargetTorque.SetValue((short)(1000 * value));
}
public override int ErrorCode => svErrorCode.GetValue<int>();
public override int ErrorCode => svErrorCode?.GetValue<ushort>() ?? 0;
public override string ErrorText => ErrorCode.ToString();

30
ln.ethercat/controller/drives/DriveController.cs
View File

@ -1,8 +1,5 @@
using System;
using System.Net.Http.Headers;
using System.Runtime;
using ln.http.api;
namespace ln.ethercat.controller.drives
{
@ -26,8 +23,11 @@ namespace ln.ethercat.controller.drives
public abstract class DriveController
{
protected ECMaster ECMaster { get; }
[ESProperty]
public UInt16 Slave { get; }
[ESProperty]
public bool IgnoredByController { get; set; }
@ -44,33 +44,53 @@ namespace ln.ethercat.controller.drives
/* called by controller after user logic */
public abstract void UpdateDrive();
[ESProperty]
public abstract DriveStates DriveState { get; }
[ESProperty]
public abstract string OEMDriveState { get; }
[ESProperty]
public abstract Int32 ErrorCode { get; }
[ESProperty]
public abstract string ErrorText { get; }
[ESMethod]
public abstract void ClearFault();
[ESProperty]
public abstract DriveMode DriveMode { get; set; }
[ESProperty]
public abstract string OEMDriveMode { get; }
[ESMethod]
public void PowerOn() => Power(true);
[ESMethod]
public void PowerOff() => Power(false);
[ESMethod]
public abstract void Power(bool poweron);
[ESMethod]
public void EnableDrive() => Enable(true);
[ESMethod]
public void DisableDrive() => Enable(false);
[ESMethod]
public abstract void Enable(bool enabled);
[ESProperty]
public abstract double ActualPosition { get; }
[ESProperty]
public abstract double ActualSpeed { get; }
[ESProperty]
public abstract double ActualTorque { get; }
[ESProperty]
public abstract double TargetPosition { get; set; }
[ESProperty]
public abstract double TargetSpeed { get; set; }
[ESProperty]
public abstract double TargetTorque { get; set; }
[ESProperty]
public abstract double ActualLoad { get; }
[ESProperty]
public virtual double TargetValue {
get {
switch (DriveMode)

10
ln.ethercat/controller/remote/FeederOperation.cs 100644
View File

@ -0,0 +1,10 @@
namespace ln.ethercat.controller.remote
{
public enum FeederOperation
{
NONE,
LEFT,
RIGHT,
TORQUE
}
}

236
ln.ethercat/controller/remote/NewSerialRemote.cs 100644
View File

@ -0,0 +1,236 @@
using System;
using System.IO.Ports;
using System.Threading;
using ln.ethercat.controller.drives;
namespace ln.ethercat.controller.remote
{
/*
#define LED_ERROR 0x00
#define LED_RUN 0x01
#define LED_LOAD25 0x02
#define LED_LOAD50 0x03
#define LED_LOAD75 0x04
#define LED_LOAD100 0x05
#define LED_SERVICE 0x06
#define LED_AUX 0x07
*/
public class NewSerialRemote : ControllerRemote
{
public string SerialPortName { get; }
private FeederOperation _feederOperation;
public override FeederOperation FeederOperation { get => _feederOperation; }
SerialPort serialPort;
bool stopReceiverThread;
Thread threadReceiver;
public double MainTarget { get; set; }
public double FeedTarget { get; set; }
public override double[] Targets
{
get => new[] {MainTarget, FeedTarget};
set => throw new NotImplementedException();
}
public double FeedRatio { get; set; } = 0.5;
public double TorqueRatio { get; set; } = 1.0;
public NewSerialRemote(Controller controller)
:this(controller, SerialPort.GetPortNames()[0]){}
public NewSerialRemote(Controller controller, string serialDevice)
:base(controller)
{
SerialPortName = serialDevice;
CycleFrequency = 10.0;
}
protected override void Cycle()
{
byte cycleDisplayStep = (byte)(CycleCounter & 0x0F);
switch (Controller.ControllerState)
{
case ControllerStates.NOTREADY:
SetLEDs(((cycleDisplayStep & 0x07) < 0x04) ? StupidLEDs.ALL : StupidLEDs.NONE);
break;
case ControllerStates.FAULT:
SetLEDs(((cycleDisplayStep & 0x07) < 0x04) ? StupidLEDs.ERROR : StupidLEDs.NONE);
break;
case ControllerStates.READY:
SetLEDs((cycleDisplayStep < 0x08) ? StupidLEDs.RUN : StupidLEDs.NONE);
break;
case ControllerStates.OPERATIONAL:
StupidLEDs leds = StupidLEDs.RUN;
if (Controller.ECMaster.DriveControllers[0].ActualLoad >= 0.25)
leds |= StupidLEDs.LOAD25;
if (Controller.ECMaster.DriveControllers[0].ActualLoad >= 0.5)
leds |= StupidLEDs.LOAD50;
if (Controller.ECMaster.DriveControllers[0].ActualLoad >= 0.75)
leds |= StupidLEDs.LOAD75;
if (Controller.ECMaster.DriveControllers[0].ActualLoad >= 1)
leds |= StupidLEDs.LOAD100;
SetLEDs(leds);
//Controller.RemoteUpdateTarget(0, MainTarget);
// switch (FeederOperation)
// {
// case FeederOperation.NONE:
// Controller.RemoteUpdateTarget(1, 0);
// break;
// case FeederOperation.LEFT:
// if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.SPEED)
// {
// Controller.RemoteUpdateTarget(1, FeedTarget * FeedRatio);
// } else {
// Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
// Controller.RemoteUpdateTarget(1, 0);
// }
// break;
// case FeederOperation.RIGHT:
// if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.SPEED)
// {
// Controller.RemoteUpdateTarget(1, -(FeedTarget * FeedRatio));
// } else {
// Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
// Controller.RemoteUpdateTarget(1, 0);
// }
// break;
// case FeederOperation.TORQUE:
// if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.TORQUE)
// {
// Controller.RemoteUpdateTarget(1, FeedTarget * TorqueRatio);
// } else {
// Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.TORQUE;
// Controller.RemoteUpdateTarget(1, 0);
// }
// break;
// }
break;
case ControllerStates.ENABLING:
break;
case ControllerStates.DISABLING:
break;
}
}
void Receiver()
{
while (!stopReceiverThread)
{
string rxLine = serialPort.ReadLine();
//Logging.Log(LogLevel.DEBUGDETAIL, rxLine);
if (rxLine.Length >= 6)
{
ushort av = 0;
ushort.TryParse(rxLine.Substring(2,4), System.Globalization.NumberStyles.HexNumber, null, out av);
switch (rxLine[0])
{
case 'A':
int drive = rxLine[1] - '0';
double rel = (double)av / 65535;
switch (drive)
{
case 0:
FeedTarget = rel;
break;
case 2:
MainTarget = rel;
break;
}
Controller.RemoteTriggerWatchdog();
break;
case 'B':
switch (rxLine[1])
{
case 'P':
switch (av)
{
case 0:
if (Controller.ControllerState == ControllerStates.FAULT)
Controller.RemoteAction(CRActions.CLEARFAULT);
else if (Controller.ControllerState == ControllerStates.READY)
{
Controller.ECMaster.DriveControllers[0].DriveMode = DriveMode.SPEED;
Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
Controller.RemoteAction(CRActions.ENABLE);
}
break;
case 1:
Controller.RemoteAction(CRActions.DISABLE);
break;
}
break;
case 'D':
switch (av)
{
case 3:
_feederOperation = FeederOperation.LEFT;
break;
case 4:
_feederOperation = FeederOperation.RIGHT;
break;
case 14:
_feederOperation = FeederOperation.TORQUE;
break; }
break;
case 'U':
switch (av)
{
case 3:
case 4:
case 14:
_feederOperation = FeederOperation.NONE;
break;
}
break;
}
break;
}
}
}
}
void SetLEDs(StupidLEDs leds)
{
serialPort.Write(string.Format("LS{0:X4}\r\n", (ushort)leds));
}
protected override void Initialize()
{
stopReceiverThread = false;
serialPort = new SerialPort(SerialPortName);
serialPort.BaudRate = 57600;
serialPort.Parity = Parity.None;
serialPort.DataBits = 8;
serialPort.StopBits = StopBits.One;
serialPort.Open();
if (!(threadReceiver?.IsAlive ?? false))
{
threadReceiver = new Thread(Receiver);
threadReceiver.Start();
}
}
protected override void Shutdown()
{
stopReceiverThread = true;
serialPort.Close();
}
public override bool IsSafeToEnable()
{
return (MainTarget==0) && (FeedTarget == 0);
}
}
}

17
ln.ethercat/controller/remote/StupidLEDs.cs 100644
View File

@ -0,0 +1,17 @@
using System;
namespace ln.ethercat.controller.remote
{
[Flags]
public enum StupidLEDs : int
{
NONE = 0,
ERROR = (1<<15),
RUN = (1<<1),
LOAD25 = (1<<2),
LOAD50 = (1<<3),
LOAD75 = (1<<4),
LOAD100 = (1<<15),
ALL = -1
}
}

48
ln.ethercat/controller/remote/StupidSerialRemote.cs
View File

@ -16,32 +16,12 @@ namespace ln.ethercat.controller.remote
#define LED_AUX 0x07
*/
[Flags]
public enum StupidLEDs : int
{
NONE = 0,
ERROR = (1<<15),
RUN = (1<<1),
LOAD25 = (1<<2),
LOAD50 = (1<<3),
LOAD75 = (1<<4),
LOAD100 = (1<<15),
ALL = -1
}
public enum FeederOperation
{
NONE,
LEFT,
RIGHT,
TORQUE
}
public class StupidSerialRemote : ControllerRemote
{
public string SerialPortName { get; }
public FeederOperation FeederOperation { get; set; }
private FeederOperation _feederOperation;
public override FeederOperation FeederOperation { get => _feederOperation; }
SerialPort serialPort;
@ -51,6 +31,9 @@ namespace ln.ethercat.controller.remote
public double MainTarget { get; set; }
public double FeedTarget { get; set; }
public double FeedRatio { get; set; } = 0.5;
public double TorqueRatio { get; set; } = 1.0;
public StupidSerialRemote(Controller controller)
:this(controller, SerialPort.GetPortNames()[0]){}
public StupidSerialRemote(Controller controller, string serialDevice)
@ -97,7 +80,7 @@ namespace ln.ethercat.controller.remote
case FeederOperation.LEFT:
if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.SPEED)
{
Controller.RemoteUpdateTarget(1, FeedTarget);
Controller.RemoteUpdateTarget(1, FeedTarget * FeedRatio);
} else {
Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
Controller.RemoteUpdateTarget(1, 0);
@ -106,7 +89,7 @@ namespace ln.ethercat.controller.remote
case FeederOperation.RIGHT:
if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.SPEED)
{
Controller.RemoteUpdateTarget(1, -FeedTarget);
Controller.RemoteUpdateTarget(1, -(FeedTarget * FeedRatio));
} else {
Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
Controller.RemoteUpdateTarget(1, 0);
@ -115,7 +98,7 @@ namespace ln.ethercat.controller.remote
case FeederOperation.TORQUE:
if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.TORQUE)
{
Controller.RemoteUpdateTarget(1, FeedTarget);
Controller.RemoteUpdateTarget(1, FeedTarget * TorqueRatio);
} else {
Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.TORQUE;
Controller.RemoteUpdateTarget(1, 0);
@ -183,13 +166,13 @@ namespace ln.ethercat.controller.remote
switch (av)
{
case 3:
FeederOperation = FeederOperation.LEFT;
_feederOperation = FeederOperation.LEFT;
break;
case 4:
FeederOperation = FeederOperation.RIGHT;
_feederOperation = FeederOperation.RIGHT;
break;
case 14:
FeederOperation = FeederOperation.TORQUE;
_feederOperation = FeederOperation.TORQUE;
break; }
break;
case 'U':
@ -198,7 +181,7 @@ namespace ln.ethercat.controller.remote
case 3:
case 4:
case 14:
FeederOperation = FeederOperation.NONE;
_feederOperation = FeederOperation.NONE;
break;
}
break;
@ -215,6 +198,8 @@ namespace ln.ethercat.controller.remote
}
public override double[] Targets { get => new []{ MainTarget, FeedTarget }; set => throw new NotSupportedException(); }
protected override void Initialize()
{
stopReceiverThread = false;
@ -238,5 +223,10 @@ namespace ln.ethercat.controller.remote
stopReceiverThread = true;
serialPort.Close();
}
public override bool IsSafeToEnable()
{
return (MainTarget==0) && (FeedTarget == 0);
}
}
}

22
ln.ethercat/kinematics/Joint.cs 100644
View File

@ -0,0 +1,22 @@
using System.Numerics;
namespace ln.ethercat.kinematics
{
public abstract class Joint
{
public Joint()
{
ForwardMatrix = Matrix4x4.Identity;
}
public Joint(Matrix4x4 forwardMatrix)
{
ForwardMatrix = forwardMatrix;
}
public Matrix4x4 ForwardMatrix { get; protected set; }
}
}

20
ln.ethercat/kinematics/Position.cs 100644
View File

@ -0,0 +1,20 @@
using System.Numerics;
namespace ln.ethercat.kinematics
{
public struct Position
{
public readonly Vector3 Base;
public readonly Vector3 X;
public readonly Vector3 Y;
public readonly Vector3 Z;
public Position(Vector3 b, Vector3 x, Vector3 y, Vector3 z)
{
Base = b;
X = x;
Y = y;
Z = z;
}
}
}

34
ln.ethercat/kinematics/RotationalJoint.cs 100644
View File

@ -0,0 +1,34 @@
using System.Numerics;
namespace ln.ethercat.kinematics
{
public class RotationalJoint : Joint
{
private Vector3 axis;
private float angle;
public RotationalJoint()
{
}
public Vector3 Axis
{
get => axis;
set
{
ForwardMatrix = Matrix4x4.CreateFromAxisAngle(value, angle);
axis = value;
}
}
public float Angle
{
get => angle;
set
{
ForwardMatrix = Matrix4x4.CreateFromAxisAngle(axis, value);
angle = value;
}
}
}
}

22
ln.ethercat/kinematics/TranslatingJoint.cs 100644
View File

@ -0,0 +1,22 @@
using System.Numerics;
namespace ln.ethercat.kinematics
{
public class TranslatingJoint : Joint
{
public TranslatingJoint() :base(Matrix4x4.Identity)
{
}
public Vector3 Translation
{
get => ForwardMatrix.Translation;
set
{
Matrix4x4 m = ForwardMatrix;
m.Translation = value;
ForwardMatrix = m;
}
}
}
}

10
ln.ethercat/ln.ethercat.csproj
View File

@ -3,7 +3,7 @@
<PropertyGroup>
<TargetFramework>netcoreapp3.1</TargetFramework>
<GeneratePackageOnBuild>true</GeneratePackageOnBuild>
<Version>0.1.0-ci</Version>
<Version>0.1.2</Version>
<Authors>Harald Wolff-Thobaben</Authors>
<Company>l--n.de</Company>
<Description>A simple ethercat master based on SOEM (https://openethercatsociety.github.io/) </Description>
@ -17,10 +17,12 @@
<ItemGroup>
<PackageReference Include="System.IO.Ports" Version="5.0.0" />
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