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QUYVN
2026-07-13 09:25:40 +07:00
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srcs/RobotNet10/RobotApp/Communication/RobotNet10.CANOpen/Enums/SdoAbortCode.cs Normal file
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namespace RobotNet10.CANOpen.Enums;
/// <summary>
/// SDO Abort Codes theo CANOpen DS301
/// </summary>
public enum SdoAbortCode : uint
{
// Protocol Errors
ToggleBitNotAlternated = 0x05030000,
SdoProtocolTimedOut = 0x05040000,
CommandSpecifierNotValidOrUnknown = 0x05040001,
InvalidBlockSize = 0x05040002,
InvalidSequenceNumber = 0x05040003,
CrcError = 0x05040004,
OutOfMemory = 0x05040005,
UnsupportedAccessToAnObject = 0x06010000,
AttemptToReadAWriteOnlyObject = 0x06010001,
AttemptToWriteAReadOnlyObject = 0x06010002,
// Object Dictionary Errors
ObjectDoesNotExist = 0x06020000,
ObjectCannotBeMappedToThePdo = 0x06040041,
NumberAndLengthOfObjectsToBeExceed = 0x06040042,
GeneralParameterIncompatibility = 0x06040043,
GeneralInternalIncompatibility = 0x06040047,
ObjectAccessFailedDueToHardwareError = 0x06060000,
DataTypeMismatchLengthOfService = 0x06070010,
DataTypeMismatchLengthOfServiceTooHigh = 0x06070012,
DataTypeMismatchLengthOfServiceTooLow = 0x06070013,
SubIndexDoesNotExist = 0x06090011,
InvalidValueForParameter = 0x06090030,
ValueOfParameterWrittenTooHigh = 0x06090031,
ValueOfParameterWrittenTooLow = 0x06090032,
MaximumLessMinimum = 0x06090036,
ResourceNotAvailable = 0x060A0023,
// General Errors
GeneralError = 0x08000000,
DataCannotBeTransferredOrStoredToApplication = 0x08000020,
DataCannotBeTransferredLocalControl = 0x08000021,
DataCannotBeTransferredDeviceState = 0x08000022,
ObjectDictionaryDynamicGenerationFails = 0x08000023,
NoDataAvailable = 0x08000024,
// Manufacturer Specific (0x0000 0000 - 0x0000 FFFF không được sử dụng)
// User Defined (0x2000 0000 - 0xFFFF FFFF)
// Custom/Unknown
Unknown = 0xFFFFFFFF
}
/// <summary>
/// Extension methods cho SdoAbortCode
/// </summary>
public static class SdoAbortCodeExtensions
{
/// <summary>
/// Get human readable description của abort code
/// </summary>
public static string GetDescription(this SdoAbortCode code)
{
return code switch
{
SdoAbortCode.ToggleBitNotAlternated => "Toggle bit not alternated",
SdoAbortCode.SdoProtocolTimedOut => "SDO protocol timed out",
SdoAbortCode.CommandSpecifierNotValidOrUnknown => "Command specifier not valid or unknown",
SdoAbortCode.InvalidBlockSize => "Invalid block size",
SdoAbortCode.InvalidSequenceNumber => "Invalid sequence number",
SdoAbortCode.CrcError => "CRC error",
SdoAbortCode.OutOfMemory => "Out of memory",
SdoAbortCode.UnsupportedAccessToAnObject => "Unsupported access to an object",
SdoAbortCode.AttemptToReadAWriteOnlyObject => "Attempt to read a write-only object",
SdoAbortCode.AttemptToWriteAReadOnlyObject => "Attempt to write a read-only object",
SdoAbortCode.ObjectDoesNotExist => "Object does not exist in the object dictionary",
SdoAbortCode.ObjectCannotBeMappedToThePdo => "Object cannot be mapped to the PDO",
SdoAbortCode.NumberAndLengthOfObjectsToBeExceed => "Number and length of the objects to be mapped would exceed PDO length",
SdoAbortCode.GeneralParameterIncompatibility => "General parameter incompatibility reason",
SdoAbortCode.GeneralInternalIncompatibility => "General internal incompatibility in the device",
SdoAbortCode.ObjectAccessFailedDueToHardwareError => "Access failed due to hardware error",
SdoAbortCode.DataTypeMismatchLengthOfService => "Data type does not match, length of service parameter does not match",
SdoAbortCode.DataTypeMismatchLengthOfServiceTooHigh => "Data type does not match, length of service parameter too high",
SdoAbortCode.DataTypeMismatchLengthOfServiceTooLow => "Data type does not match, length of service parameter too low",
SdoAbortCode.SubIndexDoesNotExist => "Sub-index does not exist",
SdoAbortCode.InvalidValueForParameter => "Invalid value for parameter (download only)",
SdoAbortCode.ValueOfParameterWrittenTooHigh => "Value of parameter written too high (download only)",
SdoAbortCode.ValueOfParameterWrittenTooLow => "Value of parameter written too low (download only)",
SdoAbortCode.MaximumLessMinimum => "Maximum value is less than minimum value",
SdoAbortCode.ResourceNotAvailable => "Resource not available: SDO connection",
SdoAbortCode.GeneralError => "General error",
SdoAbortCode.DataCannotBeTransferredOrStoredToApplication => "Data cannot be transferred or stored to the application",
SdoAbortCode.DataCannotBeTransferredLocalControl => "Data cannot be transferred or stored to the application because of local control",
SdoAbortCode.DataCannotBeTransferredDeviceState => "Data cannot be transferred or stored to the application because of the present device state",
SdoAbortCode.ObjectDictionaryDynamicGenerationFails => "Object dictionary dynamic generation fails or no object dictionary is present",
SdoAbortCode.NoDataAvailable => "No data available",
SdoAbortCode.Unknown => "Unknown error",
_ => $"SDO Abort Code: 0x{(uint)code:X8}"
};
}
/// <summary>
/// Check if abort code is manufacturer specific
/// </summary>
public static bool IsManufacturerSpecific(this SdoAbortCode code)
{
uint value = (uint)code;
return value >= 0x20000000 && value <= 0xFFFFFFFF;
}
/// <summary>
/// Check if abort code is protocol error
/// </summary>
public static bool IsProtocolError(this SdoAbortCode code)
{
uint value = (uint)code;
return value >= 0x05030000 && value <= 0x05040005;
}
/// <summary>
/// Check if abort code is object dictionary error
/// </summary>
public static bool IsObjectDictionaryError(this SdoAbortCode code)
{
uint value = (uint)code;
return (value >= 0x06010000 && value <= 0x06010002) ||
(value >= 0x06020000 && value <= 0x060A0023);
}
}