public CCanAppli(Font font) //J'ai modifié le code en supprimant le Bitmap LCD du paramètre
{
//m_busCan=new GTM.GHIElectronics.CANDW(6);
m_busCan = new ControllerAreaNetwork(ControllerAreaNetwork.Channel.One, ControllerAreaNetwork.Speed.Kbps250);
m_font = font;
// m_LCD = LCD;
//
m_tabWaitDONE = new WaitHandle[]
{
new AutoResetEvent(false), //DONE
new AutoResetEvent(false), //STOPPED
new AutoResetEvent(false) //BLOCKED
};
m_waitACK = new WaitHandle[]
{
new AutoResetEvent(false),
new AutoResetEvent(false),
};
m_msgRecu = new ControllerAreaNetwork.Message[10];
for (int i = 0; i < 10; i++)
{
m_msgRecu[i] = new ControllerAreaNetwork.Message();
}
// m_busCan.Initialize(GHI.IO.ControllerAreaNetwork.Speed.Kbps125, GHI.IO.ControllerAreaNetwork.Channel.One);
//m_busCan.ErrorReceived += m_busCan_ErrorReceived;
// m_busCan.MessagesReceived += m_busCan_MessagesReceived;
m_busCan.ErrorReceived += m_busCan_ErrorReceived;
m_busCan.MessageAvailable += m_busCan_MessageAvailable;
m_busCan.Enabled = true;
// mutex = new Object();
}
/// <summary>Sends the given message over the CAN bus.</summary>
/// <param name="message">The message to send.</param>
public void SendMessage(ControllerAreaNetwork.Message message)
{
if (message == null)
{
throw new ArgumentNullException("message");
}
this.SendMessages(new ControllerAreaNetwork.Message[] { message });
}
public idErreur envoyer(uint id, byte[] data = null, int nbData = 0)
{
idErreur retour = idErreur.FatalErreurCAN;
m_id = id;
// Tableau d'envoie de commande.
ControllerAreaNetwork.Message[] commande;
commande = new ControllerAreaNetwork.Message[1];
commande[0] = new ControllerAreaNetwork.Message();
//construction de la trame
commande[0].ArbitrationId = id;
commande[0].Length = nbData;
commande[0].IsExtendedId = false;
commande[0].IsRemoteTransmissionRequest = false;
if (nbData != 0)
{
for (int i = 0; i < nbData; i++)
{
commande[0].Data[i] = data[i];
}
}
// --- lock de la commande à envoyer
//System.Threading.Monitor.Enter(mutex);
m_busCan.SendMessages(commande);
Debug.Print("CanId Envoye" + commande[0].ArbitrationId.ToString());
// ### Commande envoyé ###
returnWaitAny = WaitHandle.WaitAny(m_waitACK, 500, false);
switch (returnWaitAny)
{
case 0:
retour = idErreur.OK;
break;
case 1:
retour = idErreur.ACKSTOP;
break;
default:
retour = idErreur.timoutACK;
break;
}
// --- unlock de la commande
//System.Threading.Monitor.Exit(mutex);
return(retour);
}
public CanMessage(ControllerAreaNetwork.Message message)
{
this.message = message;
}