public static uint Open(string canInterface, uint baudrate)
{
int status = 0;
uint handle = 0;
/*** Config ***/
uint[] AttrIdList = { NiCan.NC_ATTR_BAUD_RATE, NiCan.NC_ATTR_START_ON_OPEN };
uint[] AttrValueList = { baudrate, NiCan.NC_FALSE };
uint NumAttrs = 2;
status = NiCan.ncConfig(new StringBuilder(canInterface), NumAttrs, AttrIdList, AttrValueList);
if (status != 0)
{
throw new NiCanIoException(status);
}
/*** Open Object ***/
status = NiCan.ncOpenObject(new StringBuilder(canInterface), ref handle);
if (status != 0)
{
throw new NiCanIoException(status);
}
/*** Start ***/
status = NiCan.ncAction(handle, NiCan.NC_OP_START, 0);
if (status != 0)
{
throw new NiCanIoException(status);
}
return(handle);
}
public void GetAttribute()
{
uint handle = 0;
uint attrValue = 0;
/*** Config ***/
uint[] AttrIdList = { NiCan.NC_ATTR_BAUD_RATE, NiCan.NC_ATTR_START_ON_OPEN };
uint[] AttrValueList = { Baudrate, NiCan.NC_FALSE };
uint NumAttrs = 2;
int status = NiCan.ncConfig(new StringBuilder(Interface), NumAttrs, AttrIdList, AttrValueList);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Open Object ***/
status = NiCan.ncOpenObject(new StringBuilder(Interface), ref handle);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Get NC_ATTR_HW_SERIAL_NUM ***/
status = NiCan.ncGetAttribute(handle, NiCan.NC_ATTR_HW_SERIAL_NUM, 4, ref attrValue);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
Assert.AreEqual("018175D0", attrValue.ToString("X8"), "NC_ATTR_HW_SERIAL_NUM");
/*** Get NC_ATTR_READ_PENDING ***/
status = NiCan.ncGetAttribute(handle, NiCan.NC_ATTR_READ_PENDING, 4, ref attrValue);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
Assert.AreEqual(0, attrValue, "NC_ATTR_READ_PENDING");
/*** Close ***/
status = NiCan.ncCloseObject(handle);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
}
public void ConfigOpenStartStopClose()
{
uint handle = 0;
/*** Config ***/
uint NumAttrs = 2;
uint[] AttrIdList = { NiCan.NC_ATTR_BAUD_RATE, NiCan.NC_ATTR_START_ON_OPEN };
uint[] AttrValueList = { Baudrate, NiCan.NC_FALSE };
int status = NiCan.ncConfig(new StringBuilder(Interface), NumAttrs, AttrIdList, AttrValueList);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Open Object ***/
status = NiCan.ncOpenObject(new StringBuilder(Interface), ref handle);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Start ***/
status = NiCan.ncAction(handle, NiCan.NC_OP_START, 0);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Stop ***/
status = NiCan.ncAction(handle, NiCan.NC_OP_STOP, 0);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Close ***/
status = NiCan.ncCloseObject(handle);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
}
public static string StatusToString(int status)
{
const uint msgBufSize = 1024;
StringBuilder statusStr = new StringBuilder((int)msgBufSize);
NiCan.ncStatusToString(status, msgBufSize, statusStr);
return(statusStr.ToString());
}
public void GetSerialNumber()
{
uint result = 0;
int status = NiCan.ncGetHardwareInfo(1, 1, NiCan.NC_ATTR_HW_SERIAL_NUM, 4, ref result);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
Assert.AreEqual("018175D0", result.ToString("X8"), "NC_ATTR_HW_SERIAL_NUM");
}
public void Config()
{
uint NumAttrs = 2;
uint[] AttrIdList = { NiCan.NC_ATTR_BAUD_RATE, NiCan.NC_ATTR_START_ON_OPEN };
uint[] AttrValueList = { Baudrate, NiCan.NC_FALSE };
int status = NiCan.ncConfig(new StringBuilder(Interface), NumAttrs, AttrIdList, AttrValueList);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
}
public static int ReadPending(uint handle)
{
uint attrValue = 0;
var status = NiCanStatusCheck(NiCan.ncGetAttribute(handle, NiCan.NC_ATTR_READ_PENDING, 4, ref attrValue));
if (status != null)
{
throw status;
}
return((int)attrValue);
}
public void WriteFrame()
{
uint handle = 0;
uint canId = 0xFF;
/*** Config ***/
uint[] AttrIdList = { NiCan.NC_ATTR_BAUD_RATE, NiCan.NC_ATTR_START_ON_OPEN };
uint[] AttrValueList = { Baudrate, NiCan.NC_FALSE };
uint NumAttrs = 2;
int status = NiCan.ncConfig(new StringBuilder(Interface), NumAttrs, AttrIdList, AttrValueList);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Open Object ***/
status = NiCan.ncOpenObject(new StringBuilder(Interface), ref handle);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Start ***/
status = NiCan.ncAction(handle, NiCan.NC_OP_START, 0);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Frame ***/
var frame = new NiCan.NCTYPE_CAN_FRAME();
frame.ArbitrationId = canId | NiCan.NC_FL_CAN_ARBID_XTD;
frame.IsRemote = NiCan.NC_FALSE;
frame.DataLength = 8;
frame.Data0 = 0;
frame.Data1 = 1;
frame.Data2 = 2;
frame.Data3 = 3;
frame.Data4 = 4;
frame.Data5 = 5;
frame.Data6 = 6;
frame.Data7 = 7;
/*** Write ***/
status = NiCan.ncWrite(handle, NiCan.CanFrameSize, ref frame);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Stop ***/
status = NiCan.ncAction(handle, NiCan.NC_OP_STOP, 0);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Close ***/
status = NiCan.ncCloseObject(handle);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
}
public void SetAttribute()
{
uint handle = 0;
uint attrValue = 0;
/*** Config ***/
uint[] AttrIdList = { NiCan.NC_ATTR_BAUD_RATE, NiCan.NC_ATTR_START_ON_OPEN };
uint[] AttrValueList = { Baudrate, NiCan.NC_FALSE };
uint NumAttrs = 2;
int status = NiCan.ncConfig(new StringBuilder(Interface), NumAttrs, AttrIdList, AttrValueList);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Open Object ***/
status = NiCan.ncOpenObject(new StringBuilder(Interface), ref handle);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Set NC_ATTR_SINGLE_SHOT_TX ***/
attrValue = NiCan.NC_FALSE;;
status = NiCan.ncSetAttribute(handle, NiCan.NC_ATTR_SINGLE_SHOT_TX, 4, ref attrValue);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Set NC_ATTR_SERIES2_FILTER_MODE ***/
attrValue = NiCan.NC_FILTER_SINGLE_EXTENDED;
status = NiCan.ncSetAttribute(handle, NiCan.NC_ATTR_SERIES2_FILTER_MODE, 4, ref attrValue);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Set NC_ATTR_SERIES2_MASK ***/
attrValue = 0x00000000 << 3;
status = NiCan.ncSetAttribute(handle, NiCan.NC_ATTR_SERIES2_MASK, 4, ref attrValue);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Set NC_ATTR_SERIES2_COMP ***/
uint CanId = 01;
attrValue = CanId << 3;
status = NiCan.ncSetAttribute(handle, NiCan.NC_ATTR_SERIES2_COMP, 4, ref attrValue);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Close ***/
status = NiCan.ncCloseObject(handle);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
}
public static void Close(uint handle)
{
NiCan.ncAction(handle, NiCan.NC_OP_STOP, 0);
NiCan.ncCloseObject(handle);
}
public void ReadFrame()
{
uint handle = 0;
var rxMsg = new NiCan.NCTYPE_CAN_STRUCT();
/*** Config ***/
uint[] AttrIdList = { NiCan.NC_ATTR_BAUD_RATE, NiCan.NC_ATTR_START_ON_OPEN };
uint[] AttrValueList = { Baudrate, NiCan.NC_FALSE };
uint NumAttrs = 2;
int status = NiCan.ncConfig(new StringBuilder(Interface), NumAttrs, AttrIdList, AttrValueList);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Open Object ***/
status = NiCan.ncOpenObject(new StringBuilder(Interface), ref handle);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Start ***/
status = NiCan.ncAction(handle, NiCan.NC_OP_START, 0);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
var timestamp = System.DateTime.Now;
bool flag = false;
int tryCount = 0;
do
{
/*** Get NC_ATTR_READ_PENDING ***/
uint msgspending = 0;
status = NiCan.ncGetAttribute(handle, NiCan.NC_ATTR_READ_PENDING, 4, ref msgspending);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
if (msgspending != 0)
{
/*** Read ***/
status = NiCan.ncRead(handle, NiCan.CanStructSize, ref rxMsg);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Msg Write Console ***/
Debug.WriteLine("Timestamp:" + rxMsg.TimeStamp.ToString("X"));
Debug.WriteLine("ArbitrationId:" + rxMsg.ArbitrationId.ToString("X"));
Debug.WriteLine("FrameType:" + rxMsg.FrameType.ToString());
Debug.WriteLine("DataLength:" + rxMsg.DataLength.ToString());
Debug.WriteLine("Data64:" + rxMsg.Data64.ToString("X"));
Debug.WriteLine("Data7:" + rxMsg.Data7.ToString());
flag = true;
}
tryCount++;
} while ((System.DateTime.Now - timestamp).Seconds < 10);
if (!flag)
{
Debug.WriteLine("I did not received any messages...");
}
Debug.WriteLine("I checked:" + tryCount.ToString() + " times.");
/*** Stop ***/
status = NiCan.ncAction(handle, NiCan.NC_OP_STOP, 0);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Close ***/
status = NiCan.ncCloseObject(handle);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
}