public CCanAppli(Font font) //J'ai modifié le code en supprimant le Bitmap LCD du paramètre
{
//m_busCan=new GTM.GHIElectronics.CANDW(6);
m_busCan = new ControllerAreaNetwork(ControllerAreaNetwork.Channel.One, ControllerAreaNetwork.Speed.Kbps250);
m_font = font;
// m_LCD = LCD;
//
m_tabWaitDONE = new WaitHandle[]
{
new AutoResetEvent(false), //DONE
new AutoResetEvent(false), //STOPPED
new AutoResetEvent(false) //BLOCKED
};
m_waitACK = new WaitHandle[]
{
new AutoResetEvent(false),
new AutoResetEvent(false),
};
m_msgRecu = new ControllerAreaNetwork.Message[10];
for (int i = 0; i < 10; i++)
{
m_msgRecu[i] = new ControllerAreaNetwork.Message();
}
// m_busCan.Initialize(GHI.IO.ControllerAreaNetwork.Speed.Kbps125, GHI.IO.ControllerAreaNetwork.Channel.One);
//m_busCan.ErrorReceived += m_busCan_ErrorReceived;
// m_busCan.MessagesReceived += m_busCan_MessagesReceived;
m_busCan.ErrorReceived += m_busCan_ErrorReceived;
m_busCan.MessageAvailable += m_busCan_MessageAvailable;
m_busCan.Enabled = true;
// mutex = new Object();
}
private void Can_ErrorReceived(ControllerAreaNetwork sender, ControllerAreaNetwork.ErrorReceivedEventArgs e)
{
if (true) //(e.Error == ControllerAreaNetwork.Error.BusOff)
{
can.Reset();
}
switch (e.Error)
{
case ControllerAreaNetwork.Error.BusOff:
OnError("BusOff");
break;
case ControllerAreaNetwork.Error.ErrorPassive:
OnError("ErrorPassive");
break;
case ControllerAreaNetwork.Error.Overrun:
OnError("Overrun");
break;
case ControllerAreaNetwork.Error.RXOver:
OnError("RXOver");
break;
default:
OnError("Unknown");
break;
}
}
protected CanNativeAdapter(CanNativeAdapterSettings settings, ControllerAreaNetwork.Timings timings = null)
: base(settings)
{
switch (settings.Speed)
{
case CanAdapterSettings.CanSpeed.Kbps1000:
can = new ControllerAreaNetwork(settings.CanPort, ControllerAreaNetwork.Speed.Kbps1000);
break;
case CanAdapterSettings.CanSpeed.Kbps500:
can = new ControllerAreaNetwork(settings.CanPort, ControllerAreaNetwork.Speed.Kbps500);
break;
case CanAdapterSettings.CanSpeed.Kbps250:
can = new ControllerAreaNetwork(settings.CanPort, ControllerAreaNetwork.Speed.Kbps250);
break;
case CanAdapterSettings.CanSpeed.Kbps125:
can = new ControllerAreaNetwork(settings.CanPort, ControllerAreaNetwork.Speed.Kbps125);
break;
default:
can = new ControllerAreaNetwork(settings.CanPort, timings ?? GetTimings(settings));
break;
}
can.ErrorReceived += Can_ErrorReceived;
can.MessageAvailable += Can_MessageAvailable;
}
/// <summary>Initializes the CAN bus.</summary>
/// <param name="timings">The desired bus timings.</param>
/// <param name="channel">The CAN channel to use.</param>
public void Initialize(ControllerAreaNetwork.Timings timings, ControllerAreaNetwork.Channel channel)
{
this.can = new ControllerAreaNetwork(channel, timings);
this.can.MessageAvailable += this.OnCanMessagesAvailable;
this.can.ErrorReceived += this.OnCanErrorReceived;
this.can.Enabled = true;
}
private void Can_MessageAvailable(ControllerAreaNetwork sender, ControllerAreaNetwork.MessageAvailableEventArgs e)
{
var messages = sender.ReadMessages();
foreach (var message in messages)
{
OnMessageReceived(new CanMessage(message));
}
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public CANDW(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('C', this);
this.syncRoot = new object();
this.running = false;
this.sent = 0;
this.can = null;
this.workerThread = null;
}
void m_busCan_MessageAvailable(ControllerAreaNetwork sender, ControllerAreaNetwork.MessageAvailableEventArgs e)
{
m_msgRecu[0] = sender.ReadMessage();
Debug.Print("CanId reçu" + m_msgRecu[0].ArbitrationId.ToString());
AutoResetEvent evtDONE = (AutoResetEvent)m_tabWaitDONE[0];
AutoResetEvent evtSTOP = (AutoResetEvent)m_tabWaitDONE[1];
AutoResetEvent evtBLOCKED = (AutoResetEvent)m_tabWaitDONE[2];
AutoResetEvent evtACK = (AutoResetEvent)m_waitACK[0];
AutoResetEvent evtACKSTOP = (AutoResetEvent)m_waitACK[1];
// Etude de la commande reçue.
if ((m_msgRecu[0].ArbitrationId != (uint)IDcommande.WStopACK) && (m_msgRecu[0].ArbitrationId != (uint)IDcommande.WStopDONE))
{
if (m_msgRecu[0].ArbitrationId == m_id + 1)
{
evtACK.Set();
}
else if (m_msgRecu[0].ArbitrationId == m_id + 2)
{
evtDONE.Set();
}
}
switch (m_msgRecu[0].ArbitrationId)
{
case (uint)IDcommande.WStopACK:
evtACKSTOP.Set();
break;
case (uint)IDcommande.WStopDONE:
evtSTOP.Set();
break;
case (uint)IDcommande.WBeBlocked:
evtBLOCKED.Set();
break;
}
}
void m_busCan_ErrorReceived(ControllerAreaNetwork sender, ControllerAreaNetwork.ErrorReceivedEventArgs e)
{
throw new NotImplementedException();
}
private void OnCanErrorReceived(ControllerAreaNetwork sender, ControllerAreaNetwork.ErrorReceivedEventArgs e)
{
this.OnErrorReceived(this, new ErrorReceivedEventArgs(e.Error));
}
private void OnCanMessagesAvailable(ControllerAreaNetwork sender, ControllerAreaNetwork.MessageAvailableEventArgs e)
{
this.OnMessagesReceived(this, new MessagesReceivedEventArgs(this.can.ReadMessages()));
}
