private void initLoop()
{
//ActiveCanDriver = Static_Utils.ActiveCANDriver;
//if (ActiveCanDriver==Common.Consts.CAN_DRIVER_KVASER) {
// if (runningKvaser) return;
// runningKvaser = true;
int faultedPackage = 0;
int serialPortReadBytes = 0;
Task.Factory.StartNew(
action: () => {
while (true)
{
if (ActiveCanDriver == Common.Consts.CAN_DRIVER_KVASER)
{
if (hasChangeInNodesList)
{
lock (LockCanIdsDic) {
dic_Loop_CanChanels = dic_CanChanels.ToDictionary(x => x.Key, x => x.Value);
hasChangeInNodesList = false;
}
}
if (_writePackage.Count != 0 && sw.ElapsedMilliseconds >= Globals.sleepForRefresh)
{
lock (SyncRoot) {
if (_writePackage[0] == null)
{
Canlib.canFlushReceiveQueue(CANHandle);
}
else if /*_writepackage[0] reference a nodeid that does't exist*/ (
!dic_Loop_CanChanels.ContainsKey(_writePackage[0].getInt(8)))
{
if (faultedPackage > 5)
{
_writePackage.RemoveAt(0);
faultedPackage = 0;
continue;
}
else
{
faultedPackage++;
Thread.Sleep(5);
continue;
}
}
else
{
var pckt = _writePackage[0].Where((s, i) => i < 8).ToArray();
Canlib.canWrite(
handle: dic_Loop_CanChanels[_writePackage[0].getInt(8)],
id: FrequencyManager.MAGIC_NUMBER,
msg: pckt,
dlc: 8,
/*size of array*/
flag: 2);
}
sw = Stopwatch.StartNew();
_writePackage.RemoveAt(0);
}
}
foreach (var nodeId_x_handle in dic_Loop_CanChanels)
{
byte[] msgReceive = new byte[16];
int msgReceiveSize = 8;
int flag = 2;
int _id = 0; //(idArr[0] << 8) + (idArr[1]);
long time = 100;
Canlib.canStatus err;
//err = Canlib.canRead(CANHandle, out _id, msgReceive, out msgReceiveSize, out flag, out time);
err = Canlib.canRead(
nodeId_x_handle.Value,
out _id,
msgReceive,
out msgReceiveSize,
out flag,
out time);
if (err != Canlib.canStatus.canOK)
{
if (_writePackage.Count == 0)
{
Thread.Sleep(10);
}
continue;
}
/*let everyone know wich nodeId sent this message*/
msgReceive.putInt(12, nodeId_x_handle.Key);
innerTranmit(msgReceive);
//Debug.WriteLine(msgReceive.ToArray());
}
}
else if (ActiveCanDriver == Common.Consts.INTERFACE_RS232)
{
if (_writePackage.Count != 0 && sw.ElapsedMilliseconds >= Globals.sleepForRefresh)
{
lock (SyncRoot) {
}
}
}
}
});
//} else if (ActiveCanDriver == Common.Consts.INTERFACE_RS232) { }
}
public void CANmsgSend(string datastr)
{
int collection = 0;
byte[] sendmsg = strToToHexByte(datastr);
if (datastr.Length == 0)
{
return;
}
decimal a = sendmsg.Length;
decimal b = 7;
decimal c = (a - 6) / b;
if (a > 6)
{
collection = (int)Math.Ceiling(c);
}
else
{
collection = 1;
}
Canlib.canFlushReceiveQueue(handle);
// Create an event collection with 2 messages (events)
if (collection == 1)
{
byte[] Send = new byte[8];
for (int i = 0; i < 7; i++)
{
if (i + 1 > sendmsg.Length)
{
Send[i + 1] = 0xFF;
}
else
{
Send[i + 1] = sendmsg[i];
}
}
Send[0] = (byte)sendmsg.Length;
// event 1
send(DigSendID, 8, Send, 0);
}
else if (collection > 1)
{
int length = sendmsg.Length;
byte[] Send1 = new byte[8];
Send1[0] = 0x10;
Send1[1] = (byte)sendmsg.Length;
for (int i = 0; i < 6; i++)
{
Send1[i + 2] = sendmsg[i];
}
send(DigSendID, 8, Send1, 0);
Thread.Sleep(20);
length = length - 6;
for (int i = 1; i < collection + 1; i++)
{
byte[] Send = new byte[8];
length = length - 7;
Send[0] = (byte)(0x20 + i);
if (length >= 7)
{
for (int j = 0; j < 7; j++)
{
Send[j + 1] = sendmsg[(i - 1) * 7 + j + 6];
}
}
else
{
for (int j = 0; j < 7; j++)
{
if (((i - 1) * 7 + j + 6) < sendmsg.Length)
{
Send[j + 1] = sendmsg[(i - 1) * 7 + j + 6];
}
else
{
Send[j + 1] = 0xFF;
}
}
}
// event 1
send(DigSendID, 8, Send, 0);
Thread.Sleep(10);
}
// Transmit events
}
}
protected void initForKvaser()
{
CmdClearBuffer = new RelayCommand(e => Canlib.canFlushReceiveQueue(CANHandle));
}
public static void ClearBuffer()
{
//todo which buffer?
Canlib.canFlushReceiveQueue(Instance.CANHandle);
Instance._writePackage.Add(null);
}