public static bool TryReadFrame(this CanRaw can, out CanFrame frame)
{
var buffer = new byte[8];
var success = can.TryReadFrame(buffer, out int frameLength, out CanId id);
frame = new CanFrame()
{
Data = new Span <byte>(buffer, 0, frameLength).ToArray(),
Address = id.Value,
ErrorFrame = id.Error,
FrameFormat = id.ExtendedFrameFormat ? FrameFormat.Extended : FrameFormat.Standard,
RemoteRequest = id.RemoteTransmissionRequest,
DLC = (byte)frameLength
};
return(success);
}
public static void WriteFrame(this CanRaw can, CanFrame frame)
{
var canId = new CanId();
canId.RemoteTransmissionRequest = frame.RemoteRequest;
if (frame.FrameFormat == FrameFormat.Extended)
{
canId.ExtendedFrameFormat = true;
canId.Extended = frame.Address;
}
else
{
canId.ExtendedFrameFormat = false;
canId.Standard = frame.Address;
}
byte[] data = new byte[frame.DLC];
Array.Copy(frame.Data, data, frame.DLC);
can.WriteFrame(data, canId);
}