private void Driver_MessageTransmitted(object sender, CanMessageEventArgs e)
{
var items = _items;
if (items?.Contains((e.Message, sender as ICanInterface)) == true)
{
_counter++;
if (_counter == items.Count)
{
Dispose();
}
}
}
void CanDriver_MessageReceived(object sender, CanMessageEventArgs e)
{
var nowUs = (ulong)_stopwatch.ElapsedMilliseconds * 1000;
UavcanRxTransfer transfer;
try
{
transfer = _framesProcessor.HandleRxFrame(e.Message, nowUs).Transfer;
}
catch (CanFramesProcessingException ex)
{
ErrorOccurred?.Invoke(this, new UnhandledExceptionEventArgs(ex, false));
return;
}
if (transfer == null)
{
return;
}
switch (transfer.TransferType)
{
case UavcanTransferType.Broadcast:
ProcessReceivedMessage(transfer);
break;
case UavcanTransferType.Request:
ProcessReceivedRequest(transfer);
break;
case UavcanTransferType.Response:
ProcessReceivedResponse(transfer);
break;
default:
throw new InvalidOperationException();
}
}
