127 lines
4.7 KiB
C#
127 lines
4.7 KiB
C#
using System;
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using System.Runtime.InteropServices;
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using System.Text;
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namespace ln.ethercat
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{
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[StructLayout(LayoutKind.Sequential)]
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public struct PDOEntry
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{
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public int slave;
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public short index;
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public byte subindex;
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public int addr_offset;
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public int addr_bit;
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public int bitlength;
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public int type;
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[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 64)]
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public StringBuilder name;
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public override string ToString()
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{
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return string.Format("PDOEntry(slave={0},index={1},subindex={2},addr_offset={3},addr_bit={4},bitlength={5},type={6})", slave,index,subindex,addr_offset,addr_bit,bitlength,type);
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}
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct dto_servicedescriptor
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{
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public int slave;
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public UInt16 index;
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public UInt16 datatype;
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public UInt16 objectcode;
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public byte maxsub;
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[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 128)]
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public StringBuilder name;
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}
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public delegate void cb_enum_indeces(int slave, int index);
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public delegate void cb_enum_sdo_descriptors(int slave, int index, ECDataTypes dataType, ECObjectCodes objectCode, int maxsub, String name);
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public delegate void cb_enum_pdo(UInt16 slave, UInt16 index, byte subindex, int addr_offset, int addr_bit, int bitlength);
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public static class ECMBind
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{
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[DllImport("lib/libecmbind.so")]
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public static extern int ecmbind_version(StringBuilder versionString);
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[DllImport("lib/libecmbind.so")]
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public static extern Int32 ecmbind_initialize(String ifname);
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[DllImport("lib/libecmbind.so")]
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public static extern Int32 ecmbind_config_init();
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[DllImport("lib/libecmbind.so")]
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public static extern IntPtr ecmbind_get_iomap();
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[DllImport("lib/libecmbind.so")]
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public static extern Int32 ecmbind_get_expected_wkc_size();
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[DllImport("lib/libecmbind.so")]
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public static extern Int32 ecmbind_config_map();
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[DllImport("lib/libecmbind.so")]
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public static extern ECSlaveState ecmbind_read_state();
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[DllImport("lib/libecmbind.so")]
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public static extern ECSlaveState ecmbind_get_slave_state(int slave);
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[DllImport("lib/libecmbind.so")]
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public static extern Int32 ecmbind_write_slave_state(int slave, ECSlaveState state);
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[DllImport("lib/libecmbind.so")]
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public static extern ECSlaveState ecmbind_request_state(int slave, ECSlaveState reqState, int timeout);
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[DllImport("lib/libecmbind.so")]
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public static extern Int32 ecmbind_processdata();
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[DllImport("lib/libecmbind.so")]
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public static extern Int32 ecmbind_recover();
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[DllImport("lib/libecmbind.so")]
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public static extern Int32 ecd_read_pdo_map(Int32 slave);
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[DllImport("lib/libecmbind.so")]
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public static extern Int32 ecmbind_get_pdo_entries_length();
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[DllImport("lib/libecmbind.so")]
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public static extern Int32 ecmbind_get_pdo_entries(ref PDOEntry[] table, int length);
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[DllImport("lib/libecmbind.so")]
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public static extern int ecmbind_pdo_read(int slave, int index, int subindex, byte[] buffer, int size);
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[DllImport("lib/libecmbind.so")]
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public static extern int ecmbind_pdo_write(int slave, int index, int subindex, byte[] buffer, int size);
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[DllImport("lib/libecmbind.so")]
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public static extern int ecmbind_sdo_read(int slave, int index, int subindex, byte[] buffer, int size);
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[DllImport("lib/libecmbind.so")]
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public static extern int ecmbind_sdo_write(int slave, int index, int subindex, byte[] buffer, int size);
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[DllImport("lib/libecmbind.so")]
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public static extern int ecmbind_enumerate_servicedescriptors(int Slave, cb_enum_indeces cb);
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[DllImport("lib/libecmbind.so")]
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public static extern int ecmbind_read_objectdescription(int slave, int index, cb_enum_sdo_descriptors cb);
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[DllImport("lib/libecmbind.so")]
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public static extern int ecmbind_read_objectdescription_entry(UInt16 slave, UInt16 index, UInt16 sub, cb_enum_sdo_descriptors cb);
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[DllImport("lib/libecmbind.so")]
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public static extern int ecmbind_pdo_enumerate(cb_enum_pdo cb);
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[DllImport("lib/libecmbind.so")]
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public static extern int ecmbind_iomap_get(int offset, byte[] buffer, int length);
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[DllImport("lib/libecmbind.so")]
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public static extern int ecmbind_iomap_set(int offset, byte[] buffer, int length);
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}
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}
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