public NativeCAN()
{
handle = FRC_CAN_Reader_Native_Create();
readThread = new Thread(() =>
{
var eventHandle = FRC_CAN_Reader_Native_GetEventHandle(handle);
while (true)
{
int dataLen = 0;
if (WPI_WaitForObjectTimeout(eventHandle, 1, &dataLen) != 0)
{
dataLen = 0;
CANData *messages = FRC_CAN_Reader_Native_ReadMessages(handle, &dataLen);
if (messages == null)
{
continue;
}
for (int i = 0; i < dataLen; i++)
{
CANData data = messages[i];
ulong ulongData = Unsafe.ReadUnaligned <ulong>(data.data);
CANMessageReceived?.Invoke((uint)data.id, ulongData, data.length, (uint)data.timestamp);
}
}
}
});
readThread.IsBackground = true;
readThread.Name = "CAN Managed Reader";
readThread.Start();
}
private static extern unsafe CANData *FRC_CAN_Reader_Native_FreeMessages(CANData *data, int dataLen);
