public void Dispose()
{
this.Close();
NativeFunctions.candle_dev_free(this.FDeviceHandle);
}
void ThreadedUpdate()
{
while (!this.FIsClosing)
{
try
{
// Rx frames
{
NativeFunctions.candle_frame_t nativeFrame;
if (NativeFunctions.candle_frame_read(this.FDeviceHandle
, out nativeFrame
, 0))
{
// Find the channel
if (this.FChannels.ContainsKey(nativeFrame.channel))
{
var frame = new Frame();
var flags = (NativeFunctions.candle_id_flags)(nativeFrame.can_id);
frame.Identifier = nativeFrame.can_id & ((1 << 29) - 1);
frame.Extended = flags.HasFlag(NativeFunctions.candle_id_flags.CANDLE_ID_EXTENDED);
frame.RTR = flags.HasFlag(NativeFunctions.candle_id_flags.CANDLE_ID_RTR);
frame.Error = flags.HasFlag(NativeFunctions.candle_id_flags.CANDLE_ID_ERR);
frame.Data = new byte[nativeFrame.can_dlc];
Buffer.BlockCopy(nativeFrame.data, 0, frame.Data, 0, nativeFrame.can_dlc);
frame.Timestamp = nativeFrame.timestamp_us;
this.FChannels[nativeFrame.channel].NotifyReceive(frame);
}
else
{
throw (new Exception(String.Format("Cannot find channel {0}", nativeFrame.channel)));
}
}
}
// Perform actions
{
int count = 0;
Action action;
while (this.FActionQueue.TryTake(out action))
{
action();
if (count++ > 64)
{
// We have trouble when sending more than 92 message in a row
break;
}
}
}
}
catch (Exception e)
{
Console.Write(e);
}
}
}
