public override void Send(Candle.Frame frame, bool blocking = false)
{
var nativeFrame = new NativeFunctions.CAN_OBJ();
nativeFrame.ID = frame.Identifier;
if (frame.Extended)
{
nativeFrame.ExternFlag = 1;
}
else
{
nativeFrame.ExternFlag = 0;
}
if (frame.RTR)
{
nativeFrame.RemoteFlag = 1;
}
else
{
nativeFrame.RemoteFlag = 0;
}
nativeFrame.data = new byte[8];
nativeFrame.DataLen = (byte)frame.Data.Length;
Buffer.BlockCopy(frame.Data, 0, nativeFrame.data, 0, frame.Data.Length);
// Note : this shoud actually increment after we've actully sent (e.g. on thread). But since it's a heuristic this is kind of fine for now
var lengthOnBus = frame.LengthOnBus;
this.IncrementTx(lengthOnBus);
if (blocking)
{
// Send this one frame
this.FDevice.PerformInRightThread(() =>
{
NativeFunctions.Transmit(
this.FDevice.DeviceType
, this.FDevice.DeviceIndex
, this.FChannelIndex
, new NativeFunctions.CAN_OBJ[] { nativeFrame }
, 1);
this.ThreadedUpdate();
}, true);
}
else
{
this.FTxQueue.Add(nativeFrame);
}
}
public void ThreadedUpdate()
{
// Send frames
{
var framesToSend = new List <NativeFunctions.CAN_OBJ>();
// Pull them from the queue
{
NativeFunctions.CAN_OBJ frame;
while (this.FTxQueue.TryTake(out frame))
{
framesToSend.Add(frame);
}
}
// Send them out
if (framesToSend.Count > 0)
{
var framesSent = NativeFunctions.Transmit(
this.FDevice.DeviceType
, this.FDevice.DeviceIndex
, this.FChannelIndex
, framesToSend.ToArray()
, (UInt16)framesToSend.Count);
// Queue again anything that didn't send
for (int i = (int)framesSent; i < framesToSend.Count; i++)
{
this.FTxQueue.Add(framesToSend[i]);
}
}
// Alternative method : force send everything
//int txOffset = 0;
//while(txOffset != framesToSend.Count)
//{
// var framesSent = NativeFunctions.Transmit(
// this.FDevice.DeviceType
// , this.FDevice.DeviceIndex
// , this.FChannelIndex
// , framesToSend.GetRange(txOffset, framesToSend.Count - txOffset).ToArray()
// , (UInt16)framesToSend.Count);
// txOffset += (int) framesSent;
//}
}
// Receive frames
{
var rxCountOnDevice = NativeFunctions.GetReceiveNum(this.FDevice.DeviceType
, this.FDevice.DeviceIndex
, this.FChannelIndex);
if (rxCountOnDevice > 0)
{
var rxBuffer = new NativeFunctions.CAN_OBJ[rxCountOnDevice];
var rxCount = NativeFunctions.ReceiveArray(this.FDevice.DeviceType
, this.FDevice.DeviceIndex
, this.FChannelIndex
, rxBuffer
, (UInt32)rxBuffer.Length
, 0);
for (int i = 0; i < rxCount; i++)
{
var nativeFrame = rxBuffer[i];
var frame = new Candle.Frame();
{
frame.Identifier = nativeFrame.ID;
frame.Extended = nativeFrame.ExternFlag == 1;
frame.RTR = nativeFrame.RemoteFlag == 1;
frame.Error = false; // Not sure how we get error frames with GCAN
frame.Data = new byte[nativeFrame.DataLen];
Buffer.BlockCopy(nativeFrame.data, 0, frame.Data, 0, nativeFrame.DataLen);
frame.Timestamp = nativeFrame.TimeStamp;
}
this.IncrementRx(frame.LengthOnBus);
this.FRxQueue.Add(frame);
}
}
}
}
