99 lines
3.2 KiB
C#
99 lines
3.2 KiB
C#
using System;
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using ln.http;
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using ln.http.api;
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using ln.http.api.attributes;
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using ln.json;
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namespace ln.ethercat.service.api.v1
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{
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public class EthercatApiController : WebApiController
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{
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ECMaster ECMaster => EthercatService.ECMaster;
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EthercatService EthercatService;
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public EthercatApiController(EthercatService ethercatService)
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{
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EthercatService = ethercatService;
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}
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[GET("/slaves")]
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public int GetSlaveCount() => ECMaster.CountSlaves;
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[GET("/slaves/:slave_id/sdo")]
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public HttpResponse GetServiceDescriptors(UInt16 slave_id)
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{
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if (ECMaster.GetSlave(slave_id, out ECSlave slave))
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{
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JSONArray descriptorList = new JSONArray();
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foreach (SDODescriptor sdoDescriptor in slave.GetSDODescriptors())
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{
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descriptorList.Add(new JSONObject()
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.Add("slave", sdoDescriptor.SlaveId)
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.Add("index", sdoDescriptor.Index)
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.Add("datatype", sdoDescriptor.DataType.ToString())
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.Add("objectcode", sdoDescriptor.ObjectCode.ToString())
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.Add("name", sdoDescriptor.Name)
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);
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}
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return HttpResponse.OK().Content(descriptorList);
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}
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return HttpResponse.NoContent();
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}
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[GET("/slaves/:slave/state")]
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public HttpResponse GetEthercatState(int slave) => HttpResponse.OK().Content(ECMaster.ReadSlaveState(slave).ToString());
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[GET("/master/state")]
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public HttpResponse GetFullState()
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{
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JSONArray slaveStates = new JSONArray();
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for (int slave=1; slave <= ECMaster.CountSlaves; slave++)
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{
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slaveStates.Add(new JSONObject()
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.Add("id", new JSONNumber(slave))
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.Add("state", new JSONString(ECMaster.ReadSlaveState(slave).ToString()))
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);
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}
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JSONObject fullState = new JSONObject()
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.Add("bus_state", new JSONString(ECMaster.EthercatState.ToString()))
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.Add("slaves", slaveStates)
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;
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return HttpResponse.OK().Content(fullState);
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}
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[GET("/master/pdomap")]
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public PDO[] GetPDOMap() => ECMaster.GetPDOMap();
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[POST("/master/action")]
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public HttpResponse PostMasterAction(string action)
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{
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switch (action)
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{
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case "stop":
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ECMaster.Stop();
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return HttpResponse.NoContent();
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case "start":
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ECMaster.Start();
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return HttpResponse.NoContent();
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default:
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return HttpResponse.BadRequest().Content(string.Format("{0} is no valid action", action));
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}
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}
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[GET("/socket")]
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HttpResponse OpenWebSocket(HttpRequest httpRequest) => new EthercatWebSocket(EthercatService);
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[GET("")]
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HttpResponse OpenRecorderSocket(HttpRequest httpRequest) => new RecorderWebSocket(EthercatService.ProcessDataRecorder);
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}
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} |