//Get the calibration structure from the master unit
public SlaveConfig getCalibration(UInt32 CanID)
{
SlaveConfig sc = new SlaveConfig();
UInt32 retval;
CAN.VCI_CAN_OBJ[] send = new CAN.VCI_CAN_OBJ[1];
CAN.VCI_CAN_OBJ[] receive;
send[0].ID = CanID;
send[0].TimeFlag = 0;
send[0].SendType = 0;
send[0].RemoteFlag = 0;
send[0].ExternFlag = 1;
send[0].DataLen = 1;
send[0].Data = new byte[8];
send[0].Data[0] = (byte)CANCMD.CAN_CMD_READ_CAL;
retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, send, 1);
if (retval != CAN.STATUS_OK)
{
return(sc);
}
ctl.getCanFrames(out receive, 3);
byte[] buffer = new byte[Marshal.SizeOf(typeof(SlaveConfig))];
for (int i = 0; i < buffer.Length; i++)
{
buffer[i] = receive[i / 8].Data[i % 8];
}
return(StructTools.byteArray2Struct <SlaveConfig>(buffer));
}
//Get the calibration structure from the master unit
public bool setCalibration(UInt32 CanID, SlaveConfig sc)
{
UInt32 retval;
CAN.VCI_CAN_OBJ[] send = ctl.allocateCanFrameBuffer(1 + Marshal.SizeOf(typeof(SlaveConfig)) / 8);
CAN.VCI_CAN_OBJ[] receive;
send[0].ID = CanID;
send[0].TimeFlag = 0;
send[0].SendType = 0;
send[0].RemoteFlag = 0;
send[0].ExternFlag = 1;
send[0].DataLen = 1;
send[0].Data[0] = (byte)CANCMD.CAN_CMD_WRITE_CAL;
retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, send, 1);
if (retval != CAN.STATUS_OK)
{
return(false);
}
ctl.sendData(StructTools.struct2byteArray <SlaveConfig>(sc), CanID, false, true);
ctl.getCanFrames(out receive, 1);
if (receive[0].Data[0] == (byte)CANCMD.CAN_CMD_WRITE_CAL)
{
return(true);
}
else
{
return(false);
}
}
static void Main(string[] args)
{
EndpointAddress endpoint = new EndpointAddress("http://localhost:8000/RoutingAi/Slave");
IRoutingAiSlaveService proxy = ChannelFactory <IRoutingAiSlaveService> .CreateChannel(new BasicHttpBinding(), endpoint);
String message = proxy.Ping();
Console.WriteLine(message);
OptimizationRequest req = new OptimizationRequest()
{
Id = Guid.NewGuid(),
ClientId = Guid.NewGuid(),
Tasks = new RoutingAI.DataContracts.Task[] { },
Workers = new Resource[] { }
};
SlaveConfig config = new SlaveConfig()
{
OptimizationRequest = req,
OSRMServers = new IPEndPoint[] { new IPEndPoint(IPAddress.Parse("192.168.2.31"), 5000) },
RandomSeed = 11235813,
RedisServers = new IPEndPoint[] { new IPEndPoint(IPAddress.Parse("192.168.2.13"), 6379) }
};
Guid id = proxy.ConfigureComputationThread(config);
Console.WriteLine(id);
Console.WriteLine("Press <ENTER> to terminate...");
Console.ReadLine();
}
public PlanetColonizerRoutingAlgorithm(SlaveConfig config, ICostFunction costfunc)
{
this.configuration = config;
this.CostFunction = costfunc;
}
public TCPPortService(Modbussetting modbus, SlaveConfig slaveConfig, bool isMaster)
{
this.modbus = modbus;
this.slaveConfig = slaveConfig;
this.isMaster = isMaster;
}
