/* void m_busCan_MessagesReceived(CANDW sender, CANDW.MessagesReceivedEventArgs e) // bus Can va receptionner le message
* {
* int count = e.MessageCount;
*
* for(int i=0;i<count;i++)
* m_msgRecu[i] = e.Messages[i];
*
* Debug.Print("CanId reçu" + m_msgRecu[0].ArbitrationId.ToString());
*
* AutoResetEvent evtDONE = (AutoResetEvent)m_tabWaitDONE[0];
* AutoResetEvent evtSTOP = (AutoResetEvent)m_tabWaitDONE[1];
* AutoResetEvent evtBLOCKED = (AutoResetEvent)m_tabWaitDONE[2];
* AutoResetEvent evtACK = (AutoResetEvent)m_waitACK[0];
* AutoResetEvent evtACKSTOP = (AutoResetEvent)m_waitACK[1];
*
* // Etude de la commande reçus.
* for (int i = 0; i < count; i++)
* {
* if ((m_msgRecu[i].ArbitrationId != (uint)IDcommande.WStopACK) && (m_msgRecu[i].ArbitrationId != (uint)IDcommande.WStopDONE))
* if (m_msgRecu[i].ArbitrationId == m_id + 1)
* evtACK.Set();
* else if (m_msgRecu[i].ArbitrationId == m_id + 2)
* evtDONE.Set();
*
* switch (m_msgRecu[i].ArbitrationId)
* {
* case (uint)IDcommande.WStopACK:
* evtACKSTOP.Set();
* break;
* case (uint)IDcommande.WStopDONE:
* evtSTOP.Set();
* break;
* case (uint)IDcommande.WBeBlocked:
* evtBLOCKED.Set();
* break;
* }
* }
*
* }*/
public idErreur isDone(int timeOutDONE, byte[] data = null, int nbData = 0)
{
idErreur retour = idErreur.OK;
// Attente DONE - DONE = 0; Stop = 1; Timer
returnWaitAny = WaitHandle.WaitAny(m_tabWaitDONE, timeOutDONE, false);
switch (returnWaitAny)
{
case 0:
retour = idErreur.OK;
if (m_msgRecu[0].Length != 0)
{
for (int i = 0; i < m_msgRecu[0].Length; i++)
{
data[i] = m_msgRecu[0].Data[i];
}
nbData = m_msgRecu[0].Length;
}
break;
case 1:
retour = idErreur.STOPPED;
break;
case 2:
retour = idErreur.BLOCKED;
break;
default:
retour = idErreur.timoutDONE;
break;
}
return(retour);
}
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);
}
