public static void sendInstruction(byte[] trame) { TPCANMsg CANMsg = new TPCANMsg(); CANMsg.DATA = trame; //new byte[8]; CANMsg.ID = CANDevice.HARDWARE_FILTER_TAC; // physical filtering address PCANCom.Instance.send(CANMsg); }
public void Update(TPCANMsg canMsg, TPCANTimestamp canTimestamp) { m_Msg = canMsg; m_oldTimeStamp = m_TimeStamp; m_TimeStamp = canTimestamp; m_bWasChanged = true; m_Count += 1; }
public static void addGetMotorType(byte treatingFunction, byte id) { TPCANMsg CANMsg = new TPCANMsg(); CANMsg.DATA = new byte[8]; CANMsg.DATA[0] = DynamixelCANInstruction.GET_MOTOR_TYPE; CANMsg.DATA[1] = id; CANMsg.DATA[2] = treatingFunction; CANMsg.ID = CANDeviceConstant.HARDWARE_FILTER_GRIPPER; CANQueue.Instance.add(CANMsg); }
public MessageStatus(TPCANMsg canMsg, TPCANTimestamp canTimestamp, int listIndex) { m_Msg = canMsg; m_TimeStamp = canTimestamp; m_oldTimeStamp = canTimestamp; m_iIndex = listIndex; m_Count = 1; m_bShowPeriod = true; m_bWasChanged = false; }
public static void homeTool() { TPCANMsg CANMsg = new TPCANMsg(); CANMsg.DATA = new byte[8]; CANMsg.DATA[INSTRUCTION_BYTE] = (byte)InstructionSet.Home; CANMsg.ID = CANDevice.HARDWARE_FILTER_MUTLI_CHANNEL_PIPETTE; PCANCom.Instance.send(CANMsg); }
public static void printTransmittedPacket(TPCANMsg msg) { Console.WriteLine(" "); Console.WriteLine("---------------------------------------"); Console.Write("T: "); for (int n = 0; n < 8; n++) { Console.Write("[{0:X}] ", msg.DATA[n]); } }
public static void addGetInstruction(byte treatingFunction, byte id, byte adress, byte nbOfByte) { TPCANMsg CANMsg = new TPCANMsg(); CANMsg.DATA = new byte[8]; CANMsg.DATA[0] = DynamixelCANInstruction.GET_DATA; CANMsg.DATA[1] = id; CANMsg.DATA[2] = adress; CANMsg.DATA[3] = (byte)(nbOfByte % 5); CANMsg.ID = CANDeviceConstant.HARDWARE_FILTER_GRIPPER; CANQueue.Instance.add(CANMsg); }
public static void sendPositionToMoveTo(Int16 position) { TPCANMsg CANMsg = new TPCANMsg(); CANMsg.DATA = new byte[8]; CANMsg.DATA[INSTRUCTION_BYTE] = (byte)InstructionSet.GoTo; CANMsg.DATA[6] = (byte)(position >> 8); CANMsg.DATA[7] = (byte)(position); CANMsg.ID = CANDevice.HARDWARE_FILTER_MUTLI_CHANNEL_PIPETTE; PCANCom.Instance.send(CANMsg); }
/// <summary>Converts a TPCANMsg into a CAN.Frame</summary> public static Frame Frame(TPCANMsg msg) { var f = new Frame(); f.ID = (int)msg.ID; f.Extended = (msg.MSGTYPE & TPCANMessageType.PCAN_MESSAGE_EXTENDED) == TPCANMessageType.PCAN_MESSAGE_EXTENDED; f.Remote = (msg.MSGTYPE & TPCANMessageType.PCAN_MESSAGE_RTR) == TPCANMessageType.PCAN_MESSAGE_RTR; f.Length = msg.LEN; if (msg.DATA != null) for (int i = 0; i < f.Length; i++) f[i] = msg.DATA[i]; return f; }
public static void pipette(Int16 volume) { TPCANMsg CANMsg = new TPCANMsg(); CANMsg.DATA = new byte[8]; CANMsg.DATA[INSTRUCTION_BYTE] = (byte)InstructionSet.Pipette; CANMsg.DATA[6] = (byte)(volume >> 8); CANMsg.DATA[7] = (byte)(volume); CANMsg.ID = CANDevice.HARDWARE_FILTER_MUTLI_CHANNEL_PIPETTE; PCANCom.Instance.send(CANMsg); }
public static void addSetInstruction(byte id, byte adress, byte nbOfByte, UInt16 data) { TPCANMsg CANMsg = new TPCANMsg(); CANMsg.DATA = new byte[8]; CANMsg.DATA[0] = DynamixelCANInstruction.SET_DATA; CANMsg.DATA[1] = id; CANMsg.DATA[2] = adress; CANMsg.DATA[3] = (byte)(nbOfByte % 3); CANMsg.DATA[4] = (byte)data; CANMsg.DATA[5] = (byte)(data >> 8); CANMsg.ID = CANDeviceConstant.HARDWARE_FILTER_GRIPPER; CANQueue.Instance.add(CANMsg); }
public static void sendInstruction(byte direction, String volume) { TPCANMsg CANMsg = new TPCANMsg(); CANMsg.DATA = new byte[8]; Int16 aaa; Int16.TryParse(volume, out aaa); CANMsg.DATA[4] = (byte)(aaa >> 8); CANMsg.DATA[5] = (byte)(aaa); CANMsg.DATA[6] = direction; CANMsg.ID = CANDevice.HARDWARE_FILTER_MUTLI_CHANNEL_PIPETTE; PCANCom.Instance.send(CANMsg); }
/// <summary>Converts a Frame into a TPCANMsg</summary> public static TPCANMsg Frame(Frame f) { var m = new TPCANMsg(); m.ID = (uint)f.ID; m.DATA = new byte[8]; // needs to be the full 8 bytes for (int i = 0; i < f.Length; i++) m.DATA[i] = f[i]; m.LEN = f.Length; m.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_STANDARD; m.MSGTYPE |= f.Extended ? TPCANMessageType.PCAN_MESSAGE_EXTENDED : 0; m.MSGTYPE |= f.Remote ? TPCANMessageType.PCAN_MESSAGE_RTR : 0; return m; }
public static void sendInstruction(byte direction, Int16 volume) { TPCANMsg CANMsg = new TPCANMsg(); CANMsg.DATA = new byte[8]; CANMsg.DATA[4] = (byte)(volume >> 8); CANMsg.DATA[5] = (byte)(volume); CANMsg.DATA[6] = direction; CANMsg.ID = CANDevice.HARDWARE_FILTER_SINGLE_CHANNEL_PIPETTE; PCANCom.Instance.send(CANMsg); Console.WriteLine(" "); Console.WriteLine("---------------------------------------"); Console.Write("T: "); printPacket(CANMsg.DATA); }
public static void sendInstruction(byte direction, char volume) { TPCANMsg CANMsg = new TPCANMsg(); CANMsg.DATA = new byte[8]; CANMsg.DATA[4] = BitConverter.GetBytes(volume)[0]; CANMsg.DATA[5] = BitConverter.GetBytes(volume)[1]; CANMsg.DATA[6] = direction; CANMsg.ID = CANDevice.HARDWARE_FILTER_MUTLI_CHANNEL_PIPETTE; PCANCom.Instance.send(CANMsg); Console.WriteLine(" "); Console.WriteLine("---------------------------------------"); Console.Write("T: "); printPacket(CANMsg.DATA); }
/// <summary> /// Reads a CAN message from the receive queue of a PCAN Channel /// </summary> /// <param name="Channel">The handle of a PCAN Channel</param> /// <param name="MessageBuffer">A TPCANMsg structure buffer to store the CAN message</param> /// <returns>A TPCANStatus error code</returns> public static TPCANStatus Read( TPCANHandle Channel, out TPCANMsg MessageBuffer) { return Read(Channel, out MessageBuffer, IntPtr.Zero); }
public static extern TPCANStatus Write( [MarshalAs(UnmanagedType.U1)] TPCANHandle Channel, ref TPCANMsg MessageBuffer);
public static extern TPCANStatus Read( [MarshalAs(UnmanagedType.U1)] TPCANHandle Channel, out TPCANMsg MessageBuffer, out TPCANTimestamp TimestampBuffer);
private static extern TPCANStatus Read( [MarshalAs(UnmanagedType.U1)] TPCANHandle Channel, out TPCANMsg MessageBuffer, IntPtr bufferPointer);
public static void sendMessage(byte instruction, byte byte1, byte byte2, byte byte3, byte byte4, byte byte5, byte byte6, byte byte7) { TPCANMsg CANMsg = new TPCANMsg(); CANMsg.DATA = new byte[8]; CANMsg.DATA[0] = instruction; CANMsg.DATA[1] = byte1; CANMsg.DATA[2] = byte2; CANMsg.DATA[3] = byte3; CANMsg.DATA[4] = byte4; CANMsg.DATA[5] = byte5; CANMsg.DATA[6] = byte6; CANMsg.DATA[7] = byte7; CANMsg.ID = CANDeviceConstant.HARDWARE_FILTER_GRIPPER; PCANCom.Instance.send(CANMsg); }
public PCANComEventArgs(TPCANMsg CanMsg) { this.CanMsg = CanMsg; }
public void recieveCANMessagePEAK(TPCANMsg msg, TPCANTimestamp time) { string id = msg.ID.ToString(); //can_msg[2].Remove(0, 3); // string time = time; //Convert.ToInt32(can_msg[1]).ToString(); string lengt = msg.LEN.ToString(); //can_msg[3].Remove(0, 2); string bytes = ""; for (int i = 0; i < msg.LEN; i++) { bytes += Convert.ToString(msg.DATA[i], 16); if (i != msg.LEN - 1) bytes += ","; } update_can_log(id, lengt, bytes, time.millis.ToString()); update_vscp_mon(Convert.ToInt32(msg.ID), lengt, bytes, time.millis.ToString()); }
/// <summary> /// Reads a CAN message from the receive queue of a PCAN Channel /// </summary> /// <param name="Channel">The handle of a PCAN Channel</param> /// <param name="MessageBuffer">A TPCANMsg structure buffer to store the CAN message</param> /// <returns>A TPCANStatus error code</returns> public static TPCANStatus Read( TPCANHandle Channel, out TPCANMsg MessageBuffer) { return(Read(Channel, out MessageBuffer, IntPtr.Zero)); }
private void sendPacket(byte[] packet) { if (packet.Length > 2) { try { TPCANMsg CANMsg = new TPCANMsg(); CANMsg.DATA = new byte[8]; Array.Copy(packet, 2, CANMsg.DATA, 1, packet.Length-2); CANMsg.ID = CANDeviceConstant.HARDWARE_FILTER_GRIPPER; PCANCom.Instance.send(CANMsg); } catch(Exception e){ Console.WriteLine("Can not transmit the command"); } } }
void send_message_PEAK(vscp_message msg) { UInt32 id = (UInt32)((msg.priority << 26) | (msg.vclass << 16) | (msg.type << 8) | (msg.nickname)); if (System.Convert.ToBoolean(msg.hard_mask)) id |= (1 << 25); TPCANMsg CANMsg; TPCANStatus stsResult; // We create a TPCANMsg message structure // CANMsg = new TPCANMsg(); CANMsg.DATA = new byte[8]; // We configurate the Message. The ID (max 0x1FF), // Length of the Data, Message Type (Standard in // this example) and die data // CANMsg.ID = id; CANMsg.LEN = (byte) msg.lenght; CANMsg.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_EXTENDED; // We get so much data as the Len of the message // for (int i = 0; i < CANMsg.LEN; i++) CANMsg.DATA[i] = Convert.ToByte(msg.data.Substring(i * 2, 1) + msg.data.Substring(i * 2 + 1, 1), 16); // The message is sent to the configured hardware // stsResult = PCANBasic.Write(m_PcanHandle, ref CANMsg); // The message was successfully sent // if (stsResult != TPCANStatus.PCAN_ERROR_OK) MessageBox.Show(GetFormatedError(stsResult)); }
public TPCANStatus send(TPCANMsg CANMsg) { isBusy = true; //System.Threading.Thread.Sleep(1000); //while (InterOperationFlag.isSerialBusy != false) //{ // System.Threading.Thread.Sleep(100); //} //InterOperationFlag.isCanBusy = true; CANMsg.LEN = 8; CANMsg.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_STANDARD; Logger.Instance.logPacket(CANMsg.DATA, true, (int)CANMsg.ID); TPCANStatus temp = PCANBasic.Write(m_PcanHandle, ref CANMsg); //InterOperationFlag.isCanBusy = false; return temp; }
private void postMessage(TPCANMsg CANMsg) { //CANQueue.printReceivedPacket(CANMsg); OnMessageReceivedEvent(new PCANComEventArgs(CANMsg)); }
public static void sendInstruction(byte instruction, byte id, UInt16 data) { TPCANMsg CANMsg = new TPCANMsg(); CANMsg.DATA = new byte[8]; CANMsg.DATA[0] = instruction; CANMsg.DATA[1] = id; CANMsg.DATA[2] = (byte)data; CANMsg.DATA[3] = (byte)(data >> 8); CANMsg.ID = CANDeviceConstant.HARDWARE_FILTER_GRIPPER; CANQueue.Instance.add(CANMsg); }
public TPCANStatus send(TPCANMsg CANMsg) { CANMsg.LEN = 8; CANMsg.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_STANDARD; return PCANBasic.Write(m_PcanHandle, ref CANMsg); }
private void postMessage(TPCANMsg CANMsg) { OnMessageReceivedEvent(new PCANComEventArgs(CANMsg)); }
public void add(TPCANMsg msg) { canQueue.Add(msg); }