public void WriteFrame()
{
uint handle = 0;
uint canId = 0xFF;
/*** Config ***/
uint[] AttrIdList = { NiCan.NC_ATTR_BAUD_RATE, NiCan.NC_ATTR_START_ON_OPEN };
uint[] AttrValueList = { Baudrate, NiCan.NC_FALSE };
uint NumAttrs = 2;
int status = NiCan.ncConfig(new StringBuilder(Interface), NumAttrs, AttrIdList, AttrValueList);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Open Object ***/
status = NiCan.ncOpenObject(new StringBuilder(Interface), ref handle);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Start ***/
status = NiCan.ncAction(handle, NiCan.NC_OP_START, 0);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Frame ***/
var frame = new NiCan.NCTYPE_CAN_FRAME();
frame.ArbitrationId = canId | NiCan.NC_FL_CAN_ARBID_XTD;
frame.IsRemote = NiCan.NC_FALSE;
frame.DataLength = 8;
frame.Data0 = 0;
frame.Data1 = 1;
frame.Data2 = 2;
frame.Data3 = 3;
frame.Data4 = 4;
frame.Data5 = 5;
frame.Data6 = 6;
frame.Data7 = 7;
/*** Write ***/
status = NiCan.ncWrite(handle, NiCan.CanFrameSize, ref frame);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Stop ***/
status = NiCan.ncAction(handle, NiCan.NC_OP_STOP, 0);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
/*** Close ***/
status = NiCan.ncCloseObject(handle);
Assert.AreEqual(0, status, NiCanTools.StatusToString(status));
}
/// <summary>
/// Ütemesen nézzük mi a helyzet a CAN-el
/// </summary>
private void DoWork()
{
uint attrValue = 0;
_isRunning = true;
Exception loopExp = null;
#region Thread Started Publishing
Action doMehtod = () => OnStarted();
if (App.SyncContext != null)
{
App.SyncContext.Post((e1) => { doMehtod(); }, null);
}
else
{
doMehtod();
}
#endregion
try
{
_handle = NiCanOpen(CanInterface);
}
catch (Exception ex)
{
loopExp = ex;
}
GetWaitForParseFrames = 0;
GetDroppedFrames = 0;
GetParsedFrames = 0;
GetRxFrames = 0;
GetTxFrames = 0;
GetWaitForTxFrames = 0;
do
{
if (loopExp != null)
{
break;
}
var rx = new NiCan.NCTYPE_CAN_STRUCT();
/*** Get NC_ATTR_READ_PENDING ***/
loopExp = NiCanStatusCheck(NiCan.ncGetAttribute(_handle, NiCan.NC_ATTR_READ_PENDING, 4, ref attrValue));
if (loopExp != null)
{
break;
}
GetWaitForParseFrames = (int)attrValue;
if (GetWaitForParseFrames != 0)
{
/*** Read ***/
loopExp = NiCanStatusCheck(NiCan.ncRead(_handle, NiCan.CanStructSize, ref rx));
if (loopExp != null)
{
break;
}
GetRxFrames++;
if ((rx.ArbitrationId & 0x20000000) == 0x20000000)
{ /*Message is Extended */
/*Mask*/
UInt32 arbId = rx.ArbitrationId & 0x1FFFFFFF;
byte[] datatemp = new byte[]
{ rx.Data0,
rx.Data1,
rx.Data2,
rx.Data3,
rx.Data4,
rx.Data5,
rx.Data6,
rx.Data7, };
byte[] data = new byte[rx.DataLength];
Buffer.BlockCopy(datatemp, 0, data, 0, rx.DataLength);
IoLog.Instance.WirteLine("RX " + arbId.ToString("X8") + " " + Tools.ByteArrayLogString(data));
doMehtod = () =>
{
if (_explorer.UpdateTask(new CanMsg(arbId, data)))
{
GetParsedFrames++;
}
else
{
GetDroppedFrames++;
}
};
if (App.SyncContext != null)
{
App.SyncContext.Post((e1) => { doMehtod(); }, null);
}
else
{
doMehtod();
}
/*** Write ***/
GetWaitForTxFrames = TxQueue.Count;
if ((GetWaitForTxFrames = TxQueue.Count) != 0)
{
var tx = TxQueue.Dequeue();
var niTx = new NiCan.NCTYPE_CAN_FRAME();
tx.ArbId |= 0x20000000;
niTx.ArbitrationId = tx.ArbId;
niTx.DataLength = 8;
niTx.IsRemote = NiCan.NC_FALSE;
niTx.Data0 = tx.Data[0];
niTx.Data1 = tx.Data[1];
niTx.Data2 = tx.Data[2];
niTx.Data3 = tx.Data[3];
niTx.Data4 = tx.Data[4];
niTx.Data5 = tx.Data[5];
niTx.Data6 = tx.Data[6];
niTx.Data7 = tx.Data[7];
IoLog.Instance.WirteLine("TX " + tx.ArbId.ToString("X8") + " " + Tools.ByteArrayLogString(tx.Data));
loopExp = NiCanStatusCheck(NiCan.ncWrite(_handle, NiCan.CanFrameSize, ref niTx));
if (loopExp != null)
{
break;
}
GetTxFrames++;
}
}
else
{
GetDroppedFrames++;
}
}
if (_shutdownEvent.WaitOne(0))
{
Debug.WriteLine(GetType().Namespace + "." +
GetType().Name + "." +
MethodBase.GetCurrentMethod().Name +
"(): DoWork is now shutdown!");
break;
}
} while (true);
/*Probléma megjelnítése*/
if (loopExp != null)
{
AppLog.Instance.WriteLine("DoWork()");
}
#region Resource Freeing
if (_handle != 0)
{
NiCanClose(_handle);
_handle = 0;
}
_readyToDisposeEvent.Set();
_isRunning = false;
#endregion
#region Thread Terminate Publishing
doMehtod = () =>
{
try
{
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
finally
{
/*Minden áron jelezni kell! hogy megállt.*/
OnStopped();
Debug.WriteLine(GetType().Namespace + "." + GetType().Name + "." + MethodBase.GetCurrentMethod().Name + "(): Loop is colsed...");
}
};
if (App.SyncContext != null)
{
App.SyncContext.Post((e1) => { doMehtod(); }, null);
}
else
{
doMehtod();
}
#endregion
}
