public VectorCan()
{
CANDriver = new XLDriver();
driverConfig = new XLClass.xl_driver_config();
hwType = XLDefine.XL_HardwareType.XL_HWTYPE_NONE;
xlEvWaitHandle = new EventWaitHandle(false, EventResetMode.AutoReset, null);
info = "vxlapi_NET : " + typeof(XLDriver).Assembly.GetName().Version + "\n";
}
public VectorHardware(XLDriver driver, XLClass.xl_driver_config driverConfig, String applicationName, int numberOfChannels)
{
this.driver = driver;
this.driverConfig = driverConfig;
this.applicationName = applicationName;
this.numberOfChannels = numberOfChannels;
this.accessMaskMaster = new ulong[numberOfChannels];
this.channelIndex = new int[numberOfChannels];
}
public XLInterface()
{
MessageTypes = new Dictionary <int, string>();
MessageTypes.Add(FULL_THROTTLE_ON, "Throttle On");
MessageTypes.Add(FULL_THROTTLE_OFF, "Throttle Off");
MessageTypes.Add(FULL_BRAKE_ON, "Brake On");
MessageTypes.Add(FULL_BRAKE_OFF, "Brake Off");
XLDefine.XL_Status status;
driver = new XLDriver();
driverConfig = new XLClass.xl_driver_config();
driver.XL_GetDriverConfig(ref driverConfig);
// If the application name cannot be found in VCANCONF...
if ((driver.XL_GetApplConfig(appName, 0, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN) != XLDefine.XL_Status.XL_SUCCESS))
{
//...create the item with two CAN channels
status = driver.XL_SetApplConfig(appName, 0, XLDefine.XL_HardwareType.XL_HWTYPE_CANCASEXL, 0, 0, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
Console.WriteLine(status);
}
// Read setting of CAN1
driver.XL_GetApplConfig(appName, 0, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
// Notify user if no channel is assigned to this application
if (hwType == XLDefine.XL_HardwareType.XL_HWTYPE_NONE)
{
PrintAssignError();
}
accessMask = driver.XL_GetChannelMask(hwType, (int)hwIndex, (int)hwChannel);
txMask = accessMask; // this channel is used for Tx
PrintConfig();
permissionMask = accessMask;
// Open port
status = driver.XL_OpenPort(ref portHandle, appName, accessMask, ref permissionMask, 1024, XLDefine.XL_InterfaceVersion.XL_INTERFACE_VERSION, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
Console.WriteLine("\n\nOpen Port : " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
// Check port
status = driver.XL_CanRequestChipState(portHandle, accessMask);
Console.WriteLine("Can Request Chip State: " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
// Activate channel
status = driver.XL_ActivateChannel(portHandle, accessMask, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN, XLDefine.XL_AC_Flags.XL_ACTIVATE_NONE);
Console.WriteLine("Activate Channel : " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
// Reset time stamp clock
status = driver.XL_ResetClock(portHandle);
Console.WriteLine("Reset Clock : " + status + "\n\n");
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
}
