public static void Initialize(CANBusBBB CANBus)
{
GetCSVData CSVobj = new GetCSVData();
CSVobj.Initialize();
// Send Model Request to each Motor Board
for (int i = 0; i < 7; i++)
{
UtilCan.ModelReq(CANBus, true, 2, Convert.ToByte(16 + i));
}
int count = 100; // How many reads to do before giving up
for (int j = 0; j < count; j++)
{
Task <Tuple <uint, byte[]> > CanRead = CANBus.ReadAsync();
int msec = 0;
while (!CanRead.IsCompleted || (msec > 10))
{
CanRead.Wait(100);
}
if (CanRead.IsCompleted)
{
Tuple <uint, byte[]> temp = CanRead.Result;
uint sender = ((temp.Item1) >> 0x1F) & 0x1F;
byte receiver = Convert.ToByte((temp.Item1) & 0x1F);
byte[] data = temp.Item2;
if (data[0] == 0x12 && receiver == 0x2)
{
MotorBoardData MBD;
switch (receiver)
{
case 0x10:
MBD = CSVobj.getMB1(data[1]);
break;
case 0x11:
MBD = CSVobj.getMB2(data[1]);
break;
case 0x12:
MBD = CSVobj.getMB3(data[1]);
break;
case 0x13:
MBD = CSVobj.getMB4(data[1]);
break;
case 0x14:
MBD = CSVobj.getMB5(data[1]);
break;
case 0x15:
MBD = CSVobj.getMB6(data[1]);
break;
case 0x16:
MBD = CSVobj.getMB7(data[1]);
break;
default:
MBD = null;
Console.WriteLine("CAN response receiver not known");
break;
}
sendPIDT(CANBus, receiver, MBD);
}
}
else
{
CanRead.Dispose();
count = 100;
}
}
}
public static void Initialize(CANBusBBB CANBus)
{
GetCSVData CSVobj = new GetCSVData();
CSVobj.Initialize();
// Send Model Request to each Motor Board
for (int i = 0; i < 7; i++)
{
UtilCan.ModelReq(CANBus, true, 2, Convert.ToByte(16 + i));
}
// Send Model Request to each Motor Board
for (int i = 0; i < 7; i++)
{
UtilCan.ModeSelect(CANBus, true, 2, Convert.ToByte(16 + i), 0);
}
/*
* int count = 10; // How many reads to do before giving up
* for (int j = 0; j < count; j++)
* {
* Task<Tuple<uint, byte[]>> CanRead = CANBus.ReadAsync();
* int msec = 0;
* while (!CanRead.IsCompleted || (msec > 10))
* CanRead.Wait(100);
*
* if (CanRead.IsCompleted)
* {
* Tuple<uint, byte[]> temp = CanRead.Result;
* byte sender = Convert.ToByte(((temp.Item1) >> 0x1F) & 0x1F);
* byte receiver = Convert.ToByte((temp.Item1) & 0x1F);
* byte[] data = temp.Item2;
*
*
* if (data[0] == 0x12 && receiver == 0x2)
* {
* MotorBoardData MBD;
* switch (sender)
* {
* case 0x10:
* MBD = CSVobj.getMB1(data[1]);
* break;
* case 0x11:
* MBD = CSVobj.getMB2(data[1]);
* break;
* case 0x12:
* MBD = CSVobj.getMB3(data[1]);
* break;
* case 0x13:
* MBD = CSVobj.getMB4(data[1]);
* break;
* case 0x14:
* MBD = CSVobj.getMB5(data[1]);
* break;
* case 0x15:
* MBD = CSVobj.getMB6(data[1]);
* break;
* case 0x16:
* MBD = CSVobj.getMB7(data[1]);
* break;
* default:
* MBD = null;
* Log.Output(Log.Severity.WARNING, Log.Source.HARDWAREIO, "CAN ID " + sender + " is not a known Motorboard ID");
* break;
* }
* sendPIDT(CANBus, sender, MBD);
* }
* }
* else
* {
* CanRead.Dispose();
* count = 0;
* }
* }*/
}
