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use std::error::Error;
use libc::c_void;
use autd_link::Link;
use crate::ads_error::ADSError;
use crate::consts::*;
use crate::native_methods::*;
pub struct RemoteTwinCATLink {
port: i32,
send_addr: AmsAddr,
ams_net_id: String,
ipv4_addr: String,
}
impl RemoteTwinCATLink {
pub fn new(ams_net_id: &str) -> Self {
Self::new_with_ipaddr("", ams_net_id)
}
pub fn new_with_ipaddr(ipv4_addr: &str, ams_net_id: &str) -> Self {
unsafe {
let ams_addr: AmsAddr = std::mem::zeroed();
Self {
port: 0,
send_addr: AmsAddr {
net_id: ams_addr.net_id,
port: PORT,
},
ams_net_id: ams_net_id.to_string(),
ipv4_addr: ipv4_addr.to_string(),
}
}
}
}
impl Link for RemoteTwinCATLink {
fn open(&mut self) -> Result<(), Box<dyn Error>> {
unsafe {
let ams_net_id = &self.ams_net_id;
let ipv4addr = &self.ipv4_addr;
let octets: Vec<&str> = ams_net_id.split('.').collect();
if octets.len() != 6 {
return Err(From::from(ADSError::AmsNetIdParseError));
}
let addr = if ipv4addr == "" {
octets[0..4].join(".")
} else {
ipv4addr.to_string()
};
let net_id = AmsNetId {
b: [
octets[0].parse().unwrap(),
octets[1].parse().unwrap(),
octets[2].parse().unwrap(),
octets[3].parse().unwrap(),
octets[4].parse().unwrap(),
octets[5].parse().unwrap(),
],
};
let c_addr = std::ffi::CString::new(addr).unwrap();
if AdsAddRoute(net_id, c_addr.as_ptr()) != 0 {
return Err(From::from(ADSError::FailedConnectRemote));
}
let port = AdsPortOpenEx();
if port == 0 {
return Err(From::from(ADSError::FailedOpenPort));
}
Ok(())
}
}
fn close(&mut self) -> Result<(), Box<dyn Error>> {
self.port = 0;
unsafe {
AdsPortCloseEx(0);
}
Ok(())
}
fn send(&mut self, data: Vec<u8>) -> Result<(), Box<dyn Error>> {
unsafe {
let n_err = AdsSyncWriteReqEx(
self.port,
&self.send_addr as *const _,
INDEX_GROUP,
INDEX_OFFSET_BASE,
data.len() as u32,
data.as_ptr() as *const c_void,
);
if n_err > 0 {
if n_err == ADSERR_DEVICE_INVALIDSIZE {
Err(From::from(ADSError::ErrorDeviceInvalidSize))
} else {
Err(From::from(ADSError::FailedSendData(n_err)))
}
} else {
Ok(())
}
}
}
fn read(&mut self, buffer_len: u32) -> Result<Vec<u8>, Box<dyn Error>> {
let mut data = Vec::with_capacity(buffer_len as usize);
let mut read_bytes: u32 = 0;
unsafe {
data.set_len(buffer_len as usize);
let n_err = AdsSyncReadReqEx2(
self.port,
&self.send_addr as *const _,
INDEX_GROUP,
INDEX_OFFSET_BASE_READ,
buffer_len,
data.as_mut_ptr() as *mut c_void,
&mut read_bytes as *mut u32,
);
if n_err > 0 {
Err(From::from(ADSError::FailedReadData(n_err)))
} else {
Ok(data)
}
}
}
fn is_open(&self) -> bool {
self.port > 0
}
fn calibrate(&mut self) -> Result<bool, Box<dyn Error>> {
Ok(true)
}
}