public void Post(CanFrame frame)
{
using (CanRaw can = new CanRaw())
{
can.WriteFrame(frame);
}
}
private static void ReceiveLoop()
{
using (CanRaw can = new CanRaw())
{
CanFrame frame;
while (true)
{
if (can.TryReadFrame(out frame))
{
receivedFrames.Enqueue(frame);
}
}
}
}
private static void ReceiveAllExample()
{
Console.WriteLine("Listening for any id");
using (CanRaw can = new CanRaw())
{
byte[] buffer = new byte[8];
while (true)
{
if (can.TryReadFrame(buffer, out int frameLength, out CanId id))
{
Span <byte> data = new Span <byte>(buffer, 0, frameLength);
string type = id.ExtendedFrameFormat ? "EFF" : "SFF";
string dataAsHex = string.Join(string.Empty, data.ToArray().Select((x) => x.ToString("X2")));
Console.WriteLine($"Id: 0x{id.Value:X2} [{type}]: {dataAsHex}");
}
public static bool TryReadFrame(this CanRaw can, out CanFrame frame)
{
var buffer = new byte[8];
var success = can.TryReadFrame(buffer, out int frameLength, out CanId id);
frame = new CanFrame()
{
Data = new Span <byte>(buffer, 0, frameLength).ToArray(),
Address = id.Value,
ErrorFrame = id.Error,
FrameFormat = id.ExtendedFrameFormat ? FrameFormat.Extended : FrameFormat.Standard,
RemoteRequest = id.RemoteTransmissionRequest,
DLC = (byte)frameLength
};
return(success);
}
public static void WriteFrame(this CanRaw can, CanFrame frame)
{
var canId = new CanId();
canId.RemoteTransmissionRequest = frame.RemoteRequest;
if (frame.FrameFormat == FrameFormat.Extended)
{
canId.ExtendedFrameFormat = true;
canId.Extended = frame.Address;
}
else
{
canId.ExtendedFrameFormat = false;
canId.Standard = frame.Address;
}
byte[] data = new byte[frame.DLC];
Array.Copy(frame.Data, data, frame.DLC);
can.WriteFrame(data, canId);
}
private static void SendExample()
{
Console.WriteLine($"Sending to id = 0x{Id.Value:X2}");
using (CanRaw can = new CanRaw())
{
byte[][] buffers = new byte[][]
{
new byte[8] {
1, 2, 3, 40, 50, 60, 70, 80
},
new byte[7] {
1, 2, 3, 40, 50, 60, 70
},
new byte[0] {
},
new byte[1] {
254
},
};
if (!Id.IsValid)
{
// This is more form of the self-test rather than actual part of the sample
throw new Exception("Id is invalid");
}
while (true)
{
foreach (byte[] buffer in buffers)
{
can.WriteFrame(buffer, Id);
string dataAsHex = string.Join(string.Empty, buffer.Select((x) => x.ToString("X2")));
Console.WriteLine($"Sending: {dataAsHex}");
Thread.Sleep(1000);
}
}
}
}
