static void Main(string[] args)
{
//Change these to load correct driver and connect it to correct bus
string driver = "can_usb_win32";
string bus = "COM4";
BUSSPEED bitrate = BUSSPEED.BUS_500Kbit;
try
{
DriverLoader loader = new DriverLoader();
DriverInstance instance = loader.loaddriver(driver);
Console.WriteLine("Opening CAN device ");
instance.open(bus, bitrate);
instance.rxmessage += Instance_rxmessage;
Console.WriteLine("listening for any traffic, press any key to exit ..");
while (!Console.KeyAvailable)
{
}
instance.close();
}
catch (Exception e)
{
Console.WriteLine("That did not work out, exception message was \n" + e.ToString());
}
Console.WriteLine("Press any key to exit");
while (!Console.KeyAvailable)
{
}
}
/// <summary>
/// Open the CAN hardware device via the CanFestival driver, NB this is currently a simple version that will
/// not work with drivers that have more complex bus ids so only supports com port (inc usb serial) devices for the moment
/// </summary>
/// <param name="comport">COM PORT number</param>
/// <param name="speed">CAN Bit rate</param>
/// <param name="drivername">Driver to use</param>
public void open(int comport, BUSSPEED speed, string drivername)
{
driver = loader.loaddriver(drivername);
driver.open(string.Format("COM{0}", comport), speed);
driver.rxmessage += Driver_rxmessage;
threadrun = true;
Thread thread = new Thread(new ThreadStart(asyncprocess));
thread.Name = "CAN Open worker";
thread.Start();
}
/// <summary>
/// Open the CAN hardware device via the CanFestival driver, NB this is currently a simple version that will
/// not work with drivers that have more complex bus ids so only supports com port (inc usb serial) devices for the moment
/// </summary>
/// <param name="comport">COM PORT number</param>
/// <param name="speed">CAN Bit rate</param>
/// <param name="drivername">Driver to use</param>
public void open(string comport, BUSSPEED speed, string drivername)
{
driver = loader.loaddriver(drivername);
driver.open(string.Format("{0}", comport), speed);
driver.rxmessage += Driver_rxmessage;
threadrun = true;
Thread thread = new Thread(new ThreadStart(asyncprocess));
thread.Name = "CAN Open worker";
thread.Start();
if (connectionevent != null)
{
connectionevent(this, new ConnectionChangedEventArgs(true));
}
}
/// <summary>
/// A simple test that uses libcanopensimple to open a can device, set up some COB specific callbacks
/// then send a bus reset all nodes NMT command after 5 seconds
/// </summary>
/// <param name="args"></param>
static void Main(string[] args)
{
//Change these to load correct driver and connect it to correct bus
string driver = "can_usb_win32";
string bus = "COM4";
BUSSPEED bitrate = BUSSPEED.BUS_500Kbit;
try
{
libCanopenSimple.libCanopenSimple lco = new libCanopenSimple.libCanopenSimple();
lco.nmtevent += Lco_nmtevent;
lco.nmtecevent += Lco_nmtecevent;
lco.pdoevent += Lco_pdoevent;
lco.sdoevent += Lco_sdoevent;
lco.open(4, bitrate, driver);
Console.WriteLine("listening for any traffic");
Console.WriteLine("Sending NMT reset all nodes in 5 seconds");
System.Threading.Thread.Sleep(5000);
lco.NMT_ResetNode(); //reset all
Console.WriteLine("Press any key to exit test..");
while (!Console.KeyAvailable)
{
}
lco.close();
}
catch (Exception e)
{
Console.WriteLine("That did not work out, exception message was \n" + e.ToString());
}
}
/// <summary>
/// Open the CAN device, the bus ID and bit rate are passed to driver. For Serial/USb Seral pass COMx etc.
/// </summary>
/// <param name="bus">The requested bus ID are provided here.</param>
/// <param name="speed">The requested CAN bit rate</param>
/// <returns>True on succesful opening of device</returns>
public bool open(string bus, BUSSPEED speed)
{
try
{
brd.busname = bus;
// Map BUSSPEED to CanFestival speed options
switch (speed)
{
case BUSSPEED.BUS_10Kbit:
brd.baudrate = "10K";
break;
case BUSSPEED.BUS_20Kbit:
brd.baudrate = "20K";
break;
case BUSSPEED.BUS_50Kbit:
brd.baudrate = "50K";
break;
case BUSSPEED.BUS_100Kbit:
brd.baudrate = "100K";
break;
case BUSSPEED.BUS_125Kbit:
brd.baudrate = "125K";
break;
case BUSSPEED.BUS_250Kbit:
brd.baudrate = "250K";
break;
case BUSSPEED.BUS_500Kbit:
brd.baudrate = "500K";
break;
case BUSSPEED.BUS_1Mbit:
brd.baudrate = "1M";
break;
}
brdptr = Marshal.AllocHGlobal(Marshal.SizeOf(brd));
Marshal.StructureToPtr(brd, brdptr, false);
handle = canOpen(brdptr);
if (handle != IntPtr.Zero)
{
rxthread = new System.Threading.Thread(rxthreadworker);
rxthread.Start();
return(true);
}
else
{
return(false);
}
}
catch (Exception)
{
return(false);
}
}