private void thread()
{
UdpClient ucl = new UdpClient(6000);
IAsyncResult iar = ucl.BeginReceive(null, null);
while (!exit)
{
if (!iar.AsyncWaitHandle.WaitOne(1000))
{
continue;
}
IPEndPoint ep = new IPEndPoint(0, 0);
byte[] data = ucl.EndReceive(iar, ref ep);
iar = ucl.BeginReceive(null, 0);
using (MemoryStream ms = new MemoryStream(data))
{
BinaryReader br = new BinaryReader(ms);
while (ms.Position < ms.Length)
{
CanMessage m = CanMessage.DeserializeFrom(br);
if (MessageReceived != null)
{
MessageReceived(this, m);
}
}
}
}
ucl.Close();
}
public static CanMessage DeserializeFrom(BinaryReader br)
{
CanMessage msg = new CanMessage();
msg.COB = br.ReadUInt32();
msg.Time = br.ReadUInt16();
msg.Source = br.ReadByte();
br.ReadByte(); /* zero */
byte[] by = br.ReadBytes(8);
msg.Data = new byte[br.ReadByte()];
Array.Copy(by, msg.Data, msg.Data.Length);
br.ReadBytes(7); /* PAD */
UInt64 ticks = br.ReadUInt64();
msg.Sec = (UInt32)(long)(ticks / (1000 * 1000));
msg.Usec = (UInt32)((long)(ticks % (1000 * 1000)));
return msg;
}
public static CanMessage DeserializeFrom(BinaryReader br)
{
CanMessage msg = new CanMessage();
msg.COB = br.ReadUInt32();
msg.Time = br.ReadUInt16();
msg.Source = br.ReadByte();
br.ReadByte(); /* zero */
byte[] by = br.ReadBytes(8);
msg.Data = new byte[br.ReadByte()];
Array.Copy(by, msg.Data, msg.Data.Length);
br.ReadBytes(7); /* PAD */
UInt64 ticks = br.ReadUInt64();
msg.Sec = (UInt32)(long)(ticks / (1000 * 1000));
msg.Usec = (UInt32)((long)(ticks % (1000 * 1000)));
return(msg);
}