基于C#实现的Ethercat 主站框架程序

界面功能
程序界面包含以下主要功能：

1. 工具栏 ：初始化、扫描网络、启动、停止、保存配置、加载配置等按钮
2. 网络状态标签页 ：显示网络连接状态和从站信息
3. 从站管理标签页 ：管理和监控从站设备
4. PDO配置标签页 ：配置和管理PDO映射
5. 实时数据标签页 ：显示和监控实时数据
6. 配置管理标签页 ：管理配置文件的导入和导出
使用方法
1. 在"网络状态"标签页配置IP地址和端口
2. 点击"初始化"按钮初始化主站
3. 点击"扫描网络"按钮扫描从站
4. 在"从站管理"标签页选择从站并设置状态
5. 在"PDO配置"标签页配置PDO映射
6. 点击"启动"按钮开始数据交换

项目架构

主窗口程序：

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
using EthercatMaster.Core;
using EthercatMaster.Configuration;

namespace EthercatMaster.UI;

/// <summary>
/// Interaction logic for MainWindow.xaml
/// </summary>
public partial class MainWindow : Window
{
    private EthercatMaster.Core.EthercatMaster ethercatMaster;
    private ConfigurationManager configurationManager;
    private List<EthercatSlave> slaves;
    private NetworkStatus networkStatus;

    public MainWindow()
    {
        InitializeComponent();
        InitializeUI();
        InitializeEthercatMaster();
        UpdateStatus("就绪");
    }

    private void InitializeUI()
    {
        // 初始化状态下拉框
        cbSlaveState.ItemsSource = Enum.GetValues(typeof(SlaveState));
        cbSlaveState.SelectedIndex = 0;

        // 初始化更新频率下拉框
        cbUpdateRate.SelectedIndex = 2; // 默认100ms

        // 初始化网络状态数据
        networkStatus = new NetworkStatus();
        dgNetworkStatus.Items.Add(networkStatus);

        // 初始化从站列表
        slaves = new List<EthercatSlave>();
        dgSlaves.ItemsSource = slaves;
    }

    private void InitializeEthercatMaster()
    {
        try
        {
            configurationManager = new ConfigurationManager();
            string ipAddress = configurationManager.Configuration.Network.IpAddress;
            int port = configurationManager.Configuration.Network.Port;

            txtIpAddress.Text = ipAddress;
            txtPort.Text = port.ToString();

            ethercatMaster = new EthercatMaster.Core.EthercatMaster(ipAddress, port);
            ethercatMaster.NetworkStatusChanged += OnNetworkStatusChanged;
            ethercatMaster.SlaveStateChanged += OnSlaveStateChanged;
            ethercatMaster.DataUpdated += OnDataUpdated;
        }
        catch (Exception ex)
        {
            UpdateStatus($"初始化失败: {ex.Message}");
        }
    }

    private void btnInitialize_Click(object sender, RoutedEventArgs e)
    {
        try
        {
            string ipAddress = txtIpAddress.Text;
            int port = int.Parse(txtPort.Text);

            ethercatMaster = new EthercatMaster.Core.EthercatMaster(ipAddress, port);
            ethercatMaster.NetworkStatusChanged += OnNetworkStatusChanged;
            ethercatMaster.SlaveStateChanged += OnSlaveStateChanged;
            ethercatMaster.DataUpdated += OnDataUpdated;

            bool initialized = ethercatMaster.Initialize();
            if (initialized)
            {
                UpdateStatus("初始化成功");
            }
            else
            {
                UpdateStatus("初始化失败");
            }
        }
        catch (Exception ex)
        {
            UpdateStatus($"初始化失败: {ex.Message}");
        }
    }

    private void btnScanNetwork_Click(object sender, RoutedEventArgs e)
    {
        try
        {
            UpdateStatus("正在扫描网络...");
            bool scanned = ethercatMaster.ScanNetwork();
            if (scanned)
            {
                UpdateSlaveList();
                UpdateStatus("网络扫描完成");
            }
            else
            {
                UpdateStatus("网络扫描失败");
            }
        }
        catch (Exception ex)
        {
            UpdateStatus($"扫描失败: {ex.Message}");
        }
    }

    private void btnStart_Click(object sender, RoutedEventArgs e)
    {
        try
        {
            Task.Run(() => ethercatMaster.RunMainTask());
            UpdateStatus("Ethercat主站已启动");
        }
        catch (Exception ex)
        {
            UpdateStatus($"启动失败: {ex.Message}");
        }
    }

    private void btnStop_Click(object sender, RoutedEventArgs e)
    {
        try
        {
            ethercatMaster.Shutdown();
            UpdateStatus("Ethercat主站已停止");
        }
        catch (Exception ex)
        {
            UpdateStatus($"停止失败: {ex.Message}");
        }
    }

    private void btnSaveConfig_Click(object sender, RoutedEventArgs e)
    {
        try
        {
            configurationManager.SaveConfiguration();
            UpdateStatus("配置已保存");
        }
        catch (Exception ex)
        {
            UpdateStatus($"保存配置失败: {ex.Message}");
        }
    }

    private void btnLoadConfig_Click(object sender, RoutedEventArgs e)
    {
        try
        {
            configurationManager.LoadConfiguration();
            UpdateStatus("配置已加载");
        }
        catch (Exception ex)
        {
            UpdateStatus($"加载配置失败: {ex.Message}");
        }
    }

    private void btnConnect_Click(object sender, RoutedEventArgs e)
    {
        try
        {
            string ipAddress = txtIpAddress.Text;
            int port = int.Parse(txtPort.Text);

            ethercatMaster = new EthercatMaster.Core.EthercatMaster(ipAddress, port);
            ethercatMaster.NetworkStatusChanged += OnNetworkStatusChanged;
            ethercatMaster.SlaveStateChanged += OnSlaveStateChanged;
            ethercatMaster.DataUpdated += OnDataUpdated;

            bool connected = ethercatMaster.Initialize();
            if (connected)
            {
                UpdateStatus("连接成功");
            }
            else
            {
                UpdateStatus("连接失败");
            }
        }
        catch (Exception ex)
        {
            UpdateStatus($"连接失败: {ex.Message}");
        }
    }

    private void btnSetState_Click(object sender, RoutedEventArgs e)
    {
        try
        {
            if (dgSlaves.SelectedItem is EthercatSlave selectedSlave)
            {
                SlaveState state = (SlaveState)cbSlaveState.SelectedItem;
                bool success = ethercatMaster.SetSlaveState(selectedSlave.Address, state);
                if (success)
                {
                    UpdateStatus($"从站 {selectedSlave.Address} 状态已设置为 {state}");
                }
                else
                {
                    UpdateStatus($"设置从站状态失败");
                }
            }
        }
        catch (Exception ex)
        {
            UpdateStatus($"设置状态失败: {ex.Message}");
        }
    }

    private void btnAddPdo_Click(object sender, RoutedEventArgs e)
    {
        // 实现添加PDO功能
        UpdateStatus("添加PDO功能待实现");
    }

    private void btnRemovePdo_Click(object sender, RoutedEventArgs e)
    {
        // 实现删除PDO功能
        UpdateStatus("删除PDO功能待实现");
    }

    private void btnExportConfig_Click(object sender, RoutedEventArgs e)
    {
        try
        {
            string configFile = txtConfigFile.Text;
            configurationManager = new ConfigurationManager(configFile);
            configurationManager.SaveConfiguration();
            UpdateStatus("配置已导出");
        }
        catch (Exception ex)
        {
            UpdateStatus($"导出配置失败: {ex.Message}");
        }
    }

    private void btnImportConfig_Click(object sender, RoutedEventArgs e)
    {
        try
        {
            string configFile = txtConfigFile.Text;
            configurationManager = new ConfigurationManager(configFile);
            configurationManager.LoadConfiguration();
            UpdateStatus("配置已导入");
        }
        catch (Exception ex)
        {
            UpdateStatus($"导入配置失败: {ex.Message}");
        }
    }

    private void btnApplyConfig_Click(object sender, RoutedEventArgs e)
    {
        try
        {
            configurationManager.ApplyConfiguration(ethercatMaster);
            UpdateStatus("配置已应用");
        }
        catch (Exception ex)
        {
            UpdateStatus($"应用配置失败: {ex.Message}");
        }
    }

    private void dgSlaves_SelectionChanged(object sender, SelectionChangedEventArgs e)
    {
        if (dgSlaves.SelectedItem is EthercatSlave selectedSlave)
        {
            txtSlaveAddress.Text = selectedSlave.Address.ToString();
            txtSlaveVendorId.Text = selectedSlave.VendorId.ToString();
            txtSlaveProductCode.Text = selectedSlave.ProductCode.ToString();
            txtSlaveRevision.Text = selectedSlave.RevisionNumber.ToString();
            txtSlaveName.Text = selectedSlave.Name;
            cbSlaveState.SelectedItem = selectedSlave.State;
        }
    }

    private void UpdateSlaveList()
    {
        slaves = ethercatMaster.SlaveManager.GetAllSlaves();
        dgSlaves.ItemsSource = slaves;
        dgSlaves.Items.Refresh();

        // 更新从站下拉框
        cbPdoSlave.Items.Clear();
        cbDataSlave.Items.Clear();
        foreach (var slave in slaves)
        {
            cbPdoSlave.Items.Add(slave.Address);
            cbDataSlave.Items.Add(slave.Address);
        }
        if (slaves.Count > 0)
        {
            cbPdoSlave.SelectedIndex = 0;
            cbDataSlave.SelectedIndex = 0;
        }
    }

    private void OnNetworkStatusChanged(object sender, NetworkStatus status)
    {
        Dispatcher.Invoke(() =>
        {
            networkStatus = status;
            dgNetworkStatus.Items.Refresh();
            UpdateStatus($"网络状态: {(status.IsOnline ? "在线" : "离线")}, 从站数: {status.SlaveCount}");
        });
    }

    private void OnSlaveStateChanged(object sender, EthercatSlave slave)
    {
        Dispatcher.Invoke(() =>
        {
            dgSlaves.Items.Refresh();
            if (dgSlaves.SelectedItem is EthercatSlave selectedSlave && selectedSlave.Address == slave.Address)
            {
                cbSlaveState.SelectedItem = slave.State;
            }
        });
    }

    private void OnDataUpdated(object sender, DataUpdateEventArgs e)
    {
        Dispatcher.Invoke(() =>
        {
            // 更新实时数据显示
            UpdateRealTimeData(e);
        });
    }

    private void UpdateRealTimeData(DataUpdateEventArgs e)
    {
        // 实现实时数据更新逻辑
    }

    private void UpdateStatus(string message)
    {
        txtStatus.Text = $"状态: {message}";
    }

    protected override void OnClosing(System.ComponentModel.CancelEventArgs e)
    {
        base.OnClosing(e);
        if (ethercatMaster != null)
        {
            ethercatMaster.Shutdown();
        }
    }
}