static void sendMovementFrame(IntPtr device, byte channel, int position)
{
var frame = new NativeFunctions.candle_frame_t();
{
frame.can_id = (deviceID << 19) | (UInt32)NativeFunctions.candle_id_flags.CANDLE_ID_EXTENDED;
frame.can_dlc = 7;
frame.flags = 0;
frame.data = new byte[8];
var binaryWriter = new BinaryWriter(new MemoryStream(frame.data));
// Write to TargetPosition register (for Muscle Memory test)
binaryWriter.Write((byte)1);
binaryWriter.Write((UInt16)12);
binaryWriter.Write((Int32)position * 1000);
}
if (!NativeFunctions.candle_frame_send(device, channel, ref frame))
{
Console.Write("Failed to send CAN frame");
}
if (NativeFunctions.candle_frame_read(device, out frame, 0))
{
Console.Write('R');
}
}
static void sendFrames(IntPtr device, byte channel)
{
var frame = new NativeFunctions.candle_frame_t();
{
frame.can_id = (deviceID << 19) | (UInt32)NativeFunctions.candle_id_flags.CANDLE_ID_EXTENDED;
frame.can_dlc = 7;
frame.flags = 0;
frame.data = new byte[] {
1,
1,
0,
1,
0,
0,
0,
0,
};
}
Console.WriteLine("Sending init frame : ");
if (!NativeFunctions.candle_frame_send(device, channel, ref frame))
{
Console.WriteLine("Failed to send CAN frame");
}
Console.WriteLine("Sending moves : ");
for (int i = 0; i < 100; i++)
{
sendMovementFrame(device, channel, i);
Console.Write(".");
Thread.Sleep(1);
}
for (int i = 100; i >= 0; i--)
{
sendMovementFrame(device, channel, i);
Console.Write(".");
Thread.Sleep(1);
}
// Send a registry request
{
frame.data = new byte[]
{
0,
1,
0,
0,
0,
0,
0,
0,
};
frame.can_dlc = 3;
if (!NativeFunctions.candle_frame_send(device, channel, ref frame))
{
Console.Write("Failed to send CAN frame");
}
}
Console.WriteLine("Receiving all : ");
int count = 0;
while (NativeFunctions.candle_frame_read(device, out frame, 100))
{
var id = frame.can_id;
if ((id & (UInt32)NativeFunctions.candle_id_flags.CANDLE_ID_EXTENDED) > 0)
{
Console.Write("E, ");
}
if ((id & (UInt32)NativeFunctions.candle_id_flags.CANDLE_ID_RTR) > 0)
{
Console.Write("R, ");
}
if ((id & (UInt32)NativeFunctions.candle_id_flags.CANDLE_ID_ERR) > 0)
{
Console.Write("ERR, ");
}
Console.WriteLine("ID : {0}, DLC : {1}, Data : {2:X},{3:X},{4:X},{5:X},{6:X},{7:X},{8:X},{9:X}, Time : {10}"
, id
, frame.can_dlc
, frame.data[0]
, frame.data[1]
, frame.data[2]
, frame.data[3]
, frame.data[4]
, frame.data[5]
, frame.data[6]
, frame.data[7]
, frame.timestamp_us / 1000
);
if (count++ > 100)
{
break;
}
}
}
