public void SetRegisterValueBlind(int ID, Messages.RegisterType registerType, int value, bool blocking)
{
var message = new Messages.WriteRequest(ID, registerType, value);
foreach (var bus in this.FBuses)
{
bus.Send(message, blocking);
}
}
static void ForceSendToAll(BusGroup busGroup, Messages.RegisterType registerType, int value, bool blocking)
{
var writeRequest = new Messages.WriteRequest(1, registerType, value);
for (int i = 1; i <= maxMotorID; i++)
{
writeRequest.ID = i;
Parallel.ForEach(busGroup.Buses, (bus) =>
{
bus.Send(writeRequest, blocking);
Program.txCountTotal++;
});
}
}
static void Main(string[] args)
{
UInt64 txCountTotal = 0;
UInt64 rxCountTotal = 0;
// Also get GCAN devices
GCAN.Initializer.RegisterDevices();
var busGroup = new BusGroup();
Console.WriteLine("Opening bus...");
busGroup.Open(500000);
if (busGroup.Buses.Count < 1)
{
throw (new Exception("No buses found"));
}
var bus = busGroup.Buses[0];
Console.WriteLine("Timestamp : {0}", bus.Channel.Device.Timestamp);
// Disable Torque and enable screen (watch the screen to notice messaging)
Console.WriteLine("Setting up for run");
busGroup.SetRegisterValueBlind(1, Messages.RegisterType.ControlMode, 0, true);
busGroup.SetRegisterValueBlind(1, Messages.RegisterType.InterfaceEnabled, 1, true);
var writeRequest = new Messages.WriteRequest(1, Messages.RegisterType.TargetPosition, 0);
Console.WriteLine("Sending...");
while (true)
{
for (int i = 0; i < 100; i++)
{
// Send to device 1
writeRequest.ID = 1;
writeRequest.Value = i << 14;
bus.Send(writeRequest, false);
txCountTotal += 1;
// Send to absent devices
for (int j = 0; j < 256; j++)
{
writeRequest.ID = 2;
bus.Send(writeRequest, false);
txCountTotal += 1;
}
}
busGroup.BlockUntilActionsComplete(new TimeSpan(0, 0, 10));
busGroup.Update();
rxCountTotal += (UInt64)bus.RxCountThisFrame;
Console.WriteLine("Sent {0} frames. Received {1} frames", txCountTotal, rxCountTotal);
}
Console.WriteLine("Closing bus...");
busGroup.Close();
}
public void SetRegister(Messages.RegisterType registerType, int value, bool blocking)
{
var writeRequest = new Messages.WriteRequest(this.ID, registerType, value);
this.FBus.Send(writeRequest, blocking);
}
