Hi,
I'm trying to read a CoE object from SAFEX-C.15 via Golang application. When using the Datalayer UI directly I can read successfuly:
The schema used for the flatbuffers is as per below:
include "addresstype.fbs";
namespace schema;
enum SDOFlags: uint32 (bit_flags)
{
noFlags = 0,
completeAccess = 1,
}
table SDORequest
{
addressType: Addresstype;
address: uint16;
objectIndex: uint16;
subIndex: uint8;
flags: SDOFlags;
data: [uint8];
maxLength: uint32;
}
table SDOResponse
{
data: [uint8];
}
table SDO
{
request: SDORequest;
response: SDOResponse;
}
root_type SDO;
The Golang code that implements the CoE request is as follows:
func (c *CallDatalayerClient) RequestCoE(node string) (w string){
var atype schema.Addresstype = schema.Addresstypefixedphysical
var sFlag schema.SDOFlags = schema.SDOFlagsnoFlags
builder := flatbuffers.NewBuilder(1)
schema.SDORequestStartDataVector(builder, 2)
for i := 1; i >= 0; i-- {
builder.PrependUint8(0)
}
dataRequest := builder.EndVector(0)
schema.SDOResponseStartDataVector(builder, 2)
for i := 1; i >= 0; i-- {
builder.PrependUint8(0)
}
dataResponse := builder.EndVector(0)
schema.SDORequestStart(builder)
schema.SDORequestAddAddressType(builder, atype)
schema.SDORequestAddAddress(builder, 1001)
schema.SDORequestAddObjectIndex(builder, 4104)
schema.SDORequestAddSubIndex(builder, 0)
schema.SDORequestAddFlags(builder, sFlag)
schema.SDORequestAddData(builder, dataRequest)
schema.SDORequestAddMaxLength(builder, 1024)
request := schema.SDORequestEnd(builder)
builder.Finish(request)
schema.SDOResponseStart(builder)
schema.SDOResponseAddData(builder, dataResponse)
response := schema.SDOResponseEnd(builder)
builder.Finish(response)
schema.SDOStart(builder)
schema.SDOAddRequest(builder, request)
schema.SDOAddResponse(builder, response)
requestObject := schema.SDOEnd(builder)
builder.Finish(requestObject)
v := datalayer.NewVariant()
v.SetFlatbuffers(builder.FinishedBytes())
//defer datalayer.DeleteVariant(v)
res := c.client.ReadSyncArgs(node, v)
fmt.Println("CoE request: %s", res)
if res != datalayer.ResultOk {
w = "Error!"
return
}
w = fmt.Sprintf("CoE request OK: %s", res)
return
}
The node is "fieldbuses/ethercat/master/instances/ethercatmaster/device_access/coe/sdo"
After the ReadSyncArgs function call the result reports DL_TYPE_MISMATCH.
Can you please help in understanding what is the problem? I believe the flatbuffer implementation is correct and there is no reason for the type mismatch error.
Thanks in advance.
