protected override bool BlockCompleted()
{
bool result = false;
try
{
if (base.BlockCompleted())
{
mBlockData = new byte[mSize];
if (mSize > 0)
{
Array.Copy(mMemStream.ToArray(), mBlockData, mSize);
}
else
{
OnRaiseBlockStatusEvent(new BlockStatusEventArgs(mBlockId, BlockState.COMPLETE));
}
CNXLog.InfoFormat("TransientBlockReciever {0} Completed:\n\r{1}", (Block)mBlockId, HexDump.Dump(mBlockData));
result = true;
}
}
catch (Exception e)
{
CNXLog.Error("TransientBlockReciever.BlockCompleted:", e);
}
return(result);
}
///// <summary>
///// Event firing method.
///// </summary>
///// <param name="frame">The CAN frame just received.</param>
//protected virtual void OnRaiseFrameReceivedEvent(FrameReceivedEventArgs frameEvent)
//{
// // copy the event handler to avoid mid process subscribe/un-subscribe
// EventHandler<FrameReceivedEventArgs> handler = RaiseFrameReceivedEvent;
// // Check if there are any Subscribers
// if (handler != null)
// {
// // Call the Event
// handler(this, frameEvent);
// }
//}
private void ReceiveFrame()
{
byte[] buffer = new byte[8];
CANFrame frame = new CANFrame();
int rxLen = 0;
byte length = 0;
uint canId = 0;
while (mKeepReceiving)
{
try
{
rxLen = can_recieve(mCanFd, ref canId, ref length, buffer);
if (rxLen > 0)
{
// populate a CAN frame
frame.MailboxId = canId;
frame.DataFromArray(buffer, 0, length);
base.OnRaiseFrameReceivedEvent(new FrameReceivedEventArgs(frame));
}
}
catch (Exception e)
{
// stuffed.
mKeepReceiving = false;
CNXLog.Error("CANNative.ReceiveFrame", e);
break;
}
}
Console.WriteLine("CAN native end recieve loop");
}
private void ReceiveFrames()
{
const int length = 16;
byte[] buffer = new byte[length];
CANFrame frame = new CANFrame();
int rxLen = 0;
while (mKeepReceiving)
{
try
{
rxLen = can_read(mCanFd, buffer, length);
if (rxLen > 0)
{
frame.WireFormatArray = buffer;
base.OnRaiseFrameReceivedEvent(new FrameReceivedEventArgs(frame));
}
}
catch (Exception e)
{
// stuffed.
mKeepReceiving = false;
CNXLog.Error("CANNative.ReceiveFrames", e);
break;
}
}
Console.WriteLine("CAN native end recieve loop");
}
/// <summary>
/// Sends the frame on the CAN bus.
/// </summary>
/// <param name="frame">The frame to send.</param>
/// <returns>Total number of bytes put onto the CAN bus.</returns>
public override int Send(CANFrame frame)
{
// synchronise sends
//int sent = 0;
//lock (sendLock)
//{
// int retries = 3;
// for (sent = can_send(mCanFd, frame.MailboxId, (byte)frame.DataLength, frame.Data); sent < 4 && --retries > 0; sent = can_send(mCanFd, frame.MailboxId, (byte)frame.DataLength, frame.Data))
// Thread.Sleep(1);
//}
//return sent;
// synchronise sends
int sent = -1;
uint canId = frame.MailboxId;
// test 11 or 29 bit addressing
if (canId > 0x7ff)
{
canId |= (uint)CANFrame.IDFlags.CAN_EFF_FLAG;
}
lock (sendLock)
{
try
{
sent = can_send(mCanFd, canId, (byte)frame.DataLength, frame.Data);
}
catch (Exception e)
{
CNXLog.Error("CANNative.Send", e);
}
}
return(sent);
}
private void ProcessNewSentence(string sentence)
{
if (sentence.Length < 6)
{
OnRaiseGPSStatusChangedEvent(new GPSStatusEvent(GPS_STATUS.OFFLINE));
CNXLog.ErrorFormat("NMEAClient short sentence {0}", sentence);
return;
}
try
{
//CNXLog.InfoFormat("NMEAClient ProcessNewSentence {0}", sentence);
bool updateAvailable = false;
string sentenceType = "";
if (sentence.Contains("RMC"))
{
sentenceType = "RMC";
}
else if (sentence.Contains("GGA"))
{
sentenceType = "GGA";
}
else if (sentence.Contains("GSA"))
{
sentenceType = "GSA";
}
// Determine the type of sentence.
// The NMEA specification states that the first two letters of a sentence may change.
// For example, for "$GPGSV" there may be variations such as "$__GSV" where the first two letters change.
// As a result, we need only test the last three characters.
// Is this a GPRMC sentence?
if (sentenceType.Equals("RMC", StringComparison.Ordinal))
{
updateAvailable = mGPSPosition.ParseRMC(sentence);
if (!updateAvailable)
{
OnRaiseGPSPositionChangedEvent(new GPSPositionEvent(mGPSPosition));
}
}
else if (sentenceType.Equals("GGA", StringComparison.Ordinal))
{
// dont update on GGA, only augment error estimates.
updateAvailable = mGPSPosition.ParseGGA(sentence);
}
else if (sentenceType.Equals("GSA", StringComparison.Ordinal))
{
updateAvailable = mGPSPosition.ParseGSA(sentence);
}
if (updateAvailable)
{
mLastNMEASentenceType = sentenceType;
// report any status changes
GPS_STATUS status = GPS_STATUS.OFFLINE;
switch (mGPSPosition.NMEAMode)
{
case GPSPosition.NMEAMODE.NO_FIX:
status = GPS_STATUS.Connected;
mTravellingState = MovingState.Unknown;
break;
case GPSPosition.NMEAMODE.NO_MODE:
status = GPS_STATUS.Connected | GPS_STATUS.GPSResponding;
mTravellingState = MovingState.Unknown;
break;
case GPSPosition.NMEAMODE.TWO_DIMENSION:
case GPSPosition.NMEAMODE.THREE_DIMENSION:
status = GPS_STATUS.Connected | GPS_STATUS.GPSResponding | GPS_STATUS.Fix;
// set the travelling state
mAverageVelocity.Value = mGPSPosition.SpeedOverGround;
//lat = mG
mTravellingState = (mAverageVelocity.Value > mMovingThreshold) ? MovingState.Moving : MovingState.Stationary;
break;
}
if (status != mStatus)
{
mStatus = status;
OnRaiseGPSStatusChangedEvent(new GPSStatusEvent(mStatus));
//Console.WriteLine("Fired Status Changed.");
}
// only update from RMC sentences as other sentences dont have date & time.
if (sentenceType.Equals("RMC", StringComparison.Ordinal))
{
//Console.WriteLine("Firing Position Changed.");
//CNXLog.InfoFormat("GPS State {0}, {1}", mStatus, mGPSPosition.CurrentPosition.ToString());
//if (mGPSPosition.Tag.EndsWith("RMC", StringComparison.Ordinal))
if ((mStatus & GPS_STATUS.Fix) == GPS_STATUS.Fix)
{
//CNXLog.InfoFormat(mGPSPosition.CurrentPosition.ToString());
OnRaiseGPSPositionChangedEvent(new GPSPositionEvent(mGPSPosition));
//CNXLog.InfoFormat("OnRaiseGPSPositionChangedEvent completed.");
//CNXLog.InfoFormat(mGPSPosition.CurrentPosition.ToString());
//Console.WriteLine("Fired Position Changed.");
}
}
}
//CNXLog.InfoFormat("GPS State {0}, {1}", mStatus, mGPSPosition.CurrentPosition.ToString());
}
catch (Exception e)
{
CNXLog.Error(String.Format("NMEAClient ProcessNewSentence {0}", sentence), e);
}
}