internal CanMessage UnpackCanMessage(BinaryReader br)
{
UInt32 cob = br.ReadUInt32();
UInt16 tim = br.ReadUInt16();
byte src = br.ReadByte();
byte rs1 = br.ReadByte(); /* zero */
byte[] d = br.ReadBytes(8);
byte dlen = br.ReadByte();
byte[] p = br.ReadBytes(7); /* PAD */
UInt64 t = br.ReadUInt64();
Array.Resize(ref d, dlen);
return(new CanMessage(
CanSourceId.Source(_BoardID, (byte)((src & 7) - 1)),
CanMailboxId.Mailbox((src & 0x08) != 0, (byte)(src >> 4)),
cob, d)
{
Time = tim,
Sec = (UInt32)(long)(t / (1000 * 1000)),
Usec = (UInt32)((long)(t % (1000 * 1000)))
});
}
public CanMessage(CanSourceId src, CanMailboxId mbox, CanObjectId cob, byte[] data)
{
Source = src;
Mailbox = mbox;
COB = cob;
Data = data;
}
public CanMessage(CanSourceId src, CanMailboxId mbox, CanObjectId cob, byte[] data)
{
Source = src;
Mailbox = mbox;
COB = cob;
Data = data;
}
private void button3_Click(object sender, EventArgs e)
{
Random r = new Random();
CanSharkCore.InputQueue.Enqueue(
new CanMessage(
CanSourceId.Source(0, 0),
CanMailboxId.Mailbox(true, 0x00),
CanObjectId.Std(0x80))
{
Time = 0,
Usec = 0
});
CanSharkCore.InputQueue.Enqueue(
new CanMessage(
CanSourceId.Source(0, 1),
CanMailboxId.Mailbox(true, 0x00),
CanObjectId.Std(0x80))
{
Time = 0,
Usec = 0
});
for (int i = 0; i < 10000; i++)
{
uint id = (uint)r.Next(0x800);
while (id == 0x80)
{
id = (uint)r.Next(0x800);
}
CanSharkCore.InputQueue.Enqueue(
new CanMessage(
CanSourceId.Source(0, (byte)(i % 2)),
CanMailboxId.Mailbox(false, 0x00),
CanObjectId.Std(id))
{
Time = (ushort)(i * 44),
Usec = (ushort)((i * 44) % 1000000),
Sec = (ushort)((i * 44) / 1000000)
});
}
}
public CanMessage(CanSourceId src, CanMailboxId mbox, CanObjectId cob)
{
Source = src;
Mailbox = mbox;
COB = cob;
}
public CanMessage(CanSourceId src, CanMailboxId mbox, CanObjectId cob)
{
Source = src;
Mailbox = mbox;
COB = cob;
}