changed el3024

server/src/ethercat/loop.rs

@@ -7,11 +7,14 @@ use crate::{
     ethercat::config::{MAX_FRAMES, MAX_PDU_DATA, MAX_SUBDEVICES, PDI_LEN},
 };
 use bitvec::prelude::*;
+use control_core::actors::analog_input_getter::{AnalogInputDevice, AnalogInputGetter};
 use control_core::actors::Actor;
 use control_core::identification::identify_device_groups;
 use control_core::socketio::event::EventBuilder;
 use control_core::socketio::room::RoomCacheingLogic;
-use ethercat_hal::devices::devices_from_subdevices;
+use ethercat_hal::devices::el3024::{EL3024Port, EL3024};
+use ethercat_hal::devices::{devices_from_subdevices, downcast_device};
+use ethercat_hal::io::analog_input::AnalogInput;
 use ethercrab::std::{ethercat_now, tx_rx_task};
 use ethercrab::{MainDevice, MainDeviceConfig, PduStorage, RetryBehaviour, Timeouts};
 use smol::lock::RwLock;
@@ -133,6 +136,11 @@ pub async fn setup_loop(interface: &str, app_state: Arc<AppState>) -> Result<(),
         }
     }
 
+    let el3024 = downcast_device::<EL3024>(devices.get(1).unwrap().clone()).await.unwrap();
+    let analog_input = AnalogInput::new(el3024, EL3024Port::AI1);
+    let analog_input_getter = AnalogInputGetter::new(analog_input, AnalogInputDevice::EL305x.into());
+    actors.push(Arc::new(RwLock::new(analog_input_getter)));
+
     // Write all this stuff to `app_state`
     {
         let mut ethercat_setup_guard = app_state.ethercat_setup.write().await;

server/src/machines/winder1/new.rs

@@ -16,7 +16,7 @@ use ethercat_hal::devices::el2521::{EL2521Configuration, EL2521Port, EL2521};
 use ethercat_hal::devices::el2522::{
     EL2522ChannelConfiguration, EL2522Configuration, EL2522Port, EL2522,
 };
-use ethercat_hal::devices::el3001::{EL3001PdoPreset, EL3001Port, EL3001};
+use ethercat_hal::devices::el3001::{EL3001Configuration, EL3001PdoPreset, EL3001Port, EL3001};
 use ethercat_hal::devices::{downcast_device, subdevice_identity_to_tuple, Device};
 use ethercat_hal::devices::{
     ek1100::EK1100_IDENTITY_A,
@@ -28,7 +28,6 @@ use ethercat_hal::devices::{
 use ethercat_hal::io::analog_input::AnalogInput;
 use ethercat_hal::io::digital_output::DigitalOutput;
 use ethercat_hal::io::pulse_train_output::PulseTrainOutput;
-use ethercat_hal::shared_config::el30xx::EL30XXConfiguration;
 use ethercat_hal::types::EthercrabSubDevicePreoperational;
 use futures::executor::block_on;
 use smol::lock::RwLock;
@@ -120,7 +119,7 @@ impl MachineNewTrait for WinderV1 {
                 .await
                 .write_config(
                     &subdevice,
-                    &EL30XXConfiguration {
+                    &EL3001Configuration {
                         pdo_assignment: EL3001PdoPreset::Compact,
                         ..Default::default()
                     },