/// <summary> Reads a CAN frame asynchronously, returning the payload and the ID of the received CAN frame. </summary>
/// <returns> A task that will return a tuple, with the first element being the ID of the received CAN frame and the second being the payload </returns>
public Task <Tuple <uint, byte[]> > ReadAsync()
{
return(Task.Run(() =>
{
if (CANFD)
{
CANFDFrame Frame = new CANFDFrame();
read(Socket, ref Frame, Marshal.SizeOf(Frame));
byte[] Payload = new byte[Frame.DataLength];
unsafe
{
for (int i = 0; i < Frame.DataLength; i++)
{
Payload[i] = Frame.Data[i];
}
}
return new Tuple <uint, byte[]>(Frame.CANID, Payload);
}
else
{
CANFrame Frame = new CANFrame();
read(Socket, ref Frame, Marshal.SizeOf(Frame));
byte[] Payload = new byte[Frame.DataLength];
unsafe
{
for (int i = 0; i < Frame.DataLength; i++)
{
Payload[i] = Frame.Data[i];
}
}
return new Tuple <uint, byte[]>(Frame.CANID, Payload);
}
}));
}
/// <summary> Write a payload with specified ID </summary>
/// <param name="ID"> ID of CAN Frame </param>
/// <param name="Data"> Payload of CAN Frame. Must be at most 8 bytes. </param>
public void Write(uint ID, byte[] Data)
{
if (!CANFD && Data.Length > 8)
{
throw new Exception("CAN Data Length must be no more than 8 bytes for non-Extended frames");
}
else if (Data.Length > 64)
{
throw new Exception("CAN Data Length must be no more than 64 bytes for Extended frames.");
}
int BytesWritten;
unsafe
{
if (CANFD)
{
CANFDFrame Frame = new CANFDFrame();
Frame.CANID = ID | CAN_EFF_FLAG;
Frame.DataLength = DLCToLength(LengthToDLC((byte)Data.Length));
for (int i = 0; i < Data.Length; i++)
{
Frame.Data[i] = Data[i];
}
BytesWritten = write(Socket, ref Frame, Marshal.SizeOf(Frame));
}
else
{
CANFrame Frame = new CANFrame();
Frame.CANID = ID;
Frame.DataLength = DLCToLength(LengthToDLC((byte)Data.Length));
for (int i = 0; i < Data.Length; i++)
{
Frame.Data[i] = Data[i];
}
BytesWritten = write(Socket, ref Frame, Marshal.SizeOf(Frame));
}
}
if (BytesWritten < 0)
{
throw new Exception("Failed to write CAN frame. Error code: " + Marshal.GetLastWin32Error());
}
}
private static extern int write(int FileDescriptor, ref CANFDFrame Frame, int Size);
