protected override void EvaluateAction(CommAction action)
{
base.EvaluateAction(action);
}
public virtual byte[] SDOUpLoad(UInt16 index, byte subIndex)
{
byte[] result = null;
SDOUpload upload = new SDOUpload(index, subIndex);
this.pendingAction = upload;
this.ScheduleAction(this.pendingAction);
this.commEvent.Reset();
bool actionResult = this.commEvent.WaitOne(500);
if (false != actionResult)
{
result = upload.Data;
}
return (result);
}
public virtual void Update()
{
CommStates processedState;
do
{
processedState = this.commState;
switch (this.commState)
{
case CommStates.idle:
{
lock (this)
{
if (this.actionQueue.Count != 0)
{
this.action = (CommAction)this.actionQueue.Dequeue();
}
}
if (null != this.action)
{
this.commAttemptCount = 0;
this.commState = CommStates.tx;
//Tracer.WriteHigh(TraceGroup.CANBUS, "", "action start");
}
break;
}
case CommStates.tx:
{
this.commAttemptCount++;
if (this.commAttemptCount <= this.action.RetryAttemptLimit)
{
int cobId = 0;
byte[] frameData = this.action.GetTransmitFrame(ref cobId, this.NodeId);
if (null != frameData)
{
bool txResult = this.Transmit(cobId, frameData);
if (false != txResult)
{
this.action.TransmitComplete();
bool responseNeeded = this.action.ResponseNeeded();
if (false != responseNeeded)
{
//Tracer.WriteHigh(TraceGroup.CANBUS, "", "tx pending");
this.commTimeLimit = DateTime.Now.AddMilliseconds(this.action.RetryTime);
this.commState = CommStates.rxWait;
}
else
{
this.EvaluateAction(this.action);
this.action = null;
this.commState = CommStates.idle;
}
}
else
{
Tracer.WriteHigh(TraceGroup.CANBUS, "", "tx fail");
this.commTimeLimit = DateTime.Now.AddMilliseconds(this.TransmitFailureHoldoffTime);
this.commState = CommStates.txWait;
}
}
else
{
this.action = null;
this.commState = CommStates.idle;
}
}
else
{
this.Fault("comm failure");
this.action = null;
}
break;
}
case CommStates.txWait:
{
if (DateTime.Now > this.commTimeLimit)
{
this.commState = CommStates.tx;
}
break;
}
case CommStates.rxWait:
{
if (false != this.action.Done)
{
this.EvaluateAction(this.action);
if (false != this.action.Aborted)
{
this.Fault("comm abort");
}
this.action = null;
this.commState = CommStates.idle;
}
else if (false != this.action.Transmit)
{
this.commAttemptCount = 0;
this.commState = CommStates.tx;
}
else if (DateTime.Now > this.commTimeLimit)
{
this.commState = CommStates.tx;
Tracer.WriteHigh(TraceGroup.CANBUS, "", "response timeout");
}
break;
}
case CommStates.error:
{
break;
}
}
}
while (processedState != this.commState);
if (null == this.FaultReason)
{
if ((false != this.consumerHeartbeatActive) &&
(DateTime.Now > this.consumerHeartbeatTimeLimit))
{
this.Fault("heartbeat missing");
}
}
#region Download Process
if (false != this.downloadActive)
{
string downloadResult = null;
bool downloadComplete = false;
if (null != this.FaultReason)
{
downloadComplete = true;
downloadResult = "Device faulted: " + this.FaultReason;
}
else if (false != this.downloadCancel)
{
downloadComplete = true;
downloadResult = "Cancelled";
}
else if (DownloadSteps.start == this.downloadStep)
{
if (File.Exists(this.downloadFile) != false)
{
FileStream fs = File.Open(this.downloadFile, FileMode.Open);
BinaryReader br = new BinaryReader(fs);
this.downloadImagePosition = 0;
this.downloadImageSize = (UInt32)fs.Length;
this.downloadData = br.ReadBytes((int)this.downloadImageSize);
br.Close();
br.Dispose();
fs.Close();
fs.Dispose();
this.receiveBootupHeartbeart = false;
this.downloadAction = new NetworkRequest(0x80, this.NodeId);
bool result = this.ScheduleAction(this.downloadAction);
if (false != result)
{
this.downloadTimeLimit = DateTime.Now.AddMilliseconds(700);
this.downloadStep = DownloadSteps.waitReset;
}
else
{
downloadResult = "Unable to schedule reset.";
downloadComplete = true;
}
}
else
{
downloadResult = "Unable to open file.";
downloadComplete = true;
}
}
else if (DownloadSteps.waitReset == this.downloadStep)
{
if ((null == this.downloadAction) && (false != this.receiveBootupHeartbeart))
{
this.downloadTimeLimit = DateTime.Now.AddMilliseconds(500);
this.downloadStep = DownloadSteps.waitBootStart;
}
else if (DateTime.Now > this.downloadTimeLimit)
{
this.downloadTimeLimit = DateTime.Now.AddMilliseconds(500);
this.downloadStep = DownloadSteps.waitBootStart;
}
}
else if (DownloadSteps.waitBootStart == this.downloadStep)
{
if (DateTime.Now > this.downloadTimeLimit)
{
this.downloadAction = new SDODownload(0x1F50, 1, this.downloadData, 0, this.downloadData.Length);
bool result = this.ScheduleAction(this.downloadAction, 5000, 1);
if (false != result)
{
this.downloadStep = DownloadSteps.waitFirmwareDownload;
}
else
{
downloadResult = "Unable to schedule download.";
downloadComplete = true;
}
}
}
else if (DownloadSteps.waitFirmwareDownload == this.downloadStep)
{
if (null != this.downloadAction)
{
this.downloadImagePosition = ((SDODownload)this.downloadAction).SentCount;
}
else
{
this.downloadImagePosition = this.downloadImageSize;
this.downloadAction = new SDODownload(0x1F51, 1, 1, 1);
bool result = this.ScheduleAction(this.downloadAction);
if (false != result)
{
this.downloadTimeLimit = DateTime.Now.AddSeconds(2);
this.downloadStep = DownloadSteps.waitStartRequest;
}
else
{
downloadResult = "Unable to schedule start.";
downloadComplete = true;
}
}
}
else if (DownloadSteps.waitStartRequest == this.downloadStep)
{
if (null == this.downloadAction)
{
downloadResult = null;
downloadComplete = true;
}
}
else
{
downloadResult = "Unknown step.";
downloadComplete = true;
}
if (false != downloadComplete)
{
this.downloadData = null;
this.downloadActive = false;
this.downloadCompleteHandler(downloadResult);
}
}
#endregion
}
protected virtual void EvaluateAction(CommAction action)
{
if (this.pendingAction == action)
{
this.pendingAction = null;
this.commEvent.Set();
}
else if (this.downloadAction == action)
{
this.downloadAction = null;
}
}
public virtual bool SDODownload(UInt16 index, byte subIndex, byte[] data)
{
SDODownload download = new SDODownload(index, subIndex, data, 0, data.Length);
this.pendingAction = download;
this.ScheduleAction(this.pendingAction);
this.commEvent.Reset();
bool actionResult = this.commEvent.WaitOne(500);
return (actionResult);
}
/// <summary>
/// Sets RPDO eanble. Functional while in device pre-operational state.
/// </summary>
/// <param name="pdo">RPDO to set, 1..4</param>
/// <param name="enabled">boolean, true to enable, false to disable</param>
/// <returns>true when successful</returns>
protected bool SetRPDOEnable(byte pdo, bool enabled)
{
bool result = false;
if ((pdo >= 1) && (pdo <= 4))
{
UInt32 cobId = (UInt32)((pdo * 0x100) + 0x100 + this.NodeId);
if (false == enabled)
{
cobId += 0x80000000;
}
UInt16 index = this.GetRPDOParameterAddress(pdo);
this.pendingAction = new SDODownload(index, 1, 4, cobId);
result = this.ExchangeCommAction(this.pendingAction);
}
return (result);
}
/// <summary>
/// Sets RPDO transmission type. Functional while in device pre-operational state.
/// </summary>
/// <param name="pdo">TPDO to set, 1..4</param>
/// <param name="typeValue">value to program into transmission type object</param>
/// <returns>true when successful</returns>
protected bool SetRPDOType(byte pdo, byte typeValue)
{
UInt16 index = this.GetRPDOParameterAddress(pdo);
this.pendingAction = new SDODownload(index, 2, 1, typeValue);
bool result = this.ExchangeCommAction(this.pendingAction);
return (result);
}
/// <summary>
/// Sets RPDO mapping. Functional while in device pre-operational state.
/// </summary>
/// <param name="pdo">RPDO to set, 1..4</param>
/// <param name="map">map to set, 1..8</param>
/// <param name="index">index to map</param>
/// <param name="subIndex">sub index to to map</param>
/// <param name="octetCount">number of bytes to map</param>
/// <returns>true when successful</returns>
protected bool SetRPDOMap(byte pdo, byte map, UInt16 index, byte subIndex, byte octetCount)
{
UInt16 mapIndex = this.GetRPDOMapAddress(pdo);
UInt32 mapDefinition = (UInt32)((index << 16) | (subIndex << 8) | (octetCount * 8));
this.pendingAction = new SDODownload(mapIndex, map, 4, mapDefinition);
bool result = this.ExchangeCommAction(this.pendingAction);
return (result);
}
/// <summary>
/// Sets RPDO connection object id. Functional while in device pre-operational state.
/// </summary>
/// <param name="pdo">TPDO to set, 1..4</param>
/// <param name="typeValue">value to program into transmission type object</param>
/// <returns>true when successful</returns>
protected bool SetRPDOCobId(byte pdo, UInt32 cobId)
{
UInt16 index = this.GetRPDOParameterAddress(pdo);
this.pendingAction = new SDODownload(index, 1, 4, cobId);
bool result = this.ExchangeCommAction(this.pendingAction);
return (result);
}
/// <summary>
/// Sets RPDO mapping count. Functional while in device pre-operational state.
/// </summary>
/// <param name="pdo">RPDO to set, 1..4</param>
/// <param name="count">number of mappings</param>
/// <returns>true when successful</returns>
protected bool SetRPDOMapCount(byte pdo, UInt32 count)
{
UInt16 mapIndex = this.GetRPDOMapAddress(pdo);
this.pendingAction = new SDODownload(mapIndex, 0, 1, count);
bool result = this.ExchangeCommAction(this.pendingAction);
return (result);
}
/// <summary>
/// Sets TPDO event time. Functional while in device pre-operational state.
/// </summary>
/// <param name="pdo">TPDO to set, 1..4</param>
/// <param name="mS">number of milliseconds required for time event</param>
/// <returns>true when successful</returns>
protected bool SetTPDOEventTime(byte pdo, UInt32 mS)
{
UInt16 index = this.GetTPDOParameterAddress(pdo);
this.pendingAction = new SDODownload(index, 5, 2, mS);
bool result = this.ExchangeCommAction(this.pendingAction);
return (result);
}
protected bool ExchangeCommAction(CommAction action, int timeout = 200, int attemptLimit = 2)
{
bool result = false;
if (null == this.FaultReason)
{
this.pendingAction = action;
this.ScheduleAction(action, timeout, attemptLimit);
int exchangeLimit = (timeout * attemptLimit) + 50;
result = this.commEvent.WaitOne(exchangeLimit);
if (false != result)
{
if (false != action.Aborted)
{
result = false;
}
}
else
{
Tracer.WriteHigh(TraceGroup.CANBUS, "", "exchange failure");
}
}
return (result);
}
protected bool ScheduleAction(CommAction action, int timeout, int attemptLimit)
{
bool result = false;
if (CommStates.error != this.commState)
{
lock (this)
{
action.RetryTime = timeout;
action.RetryAttemptLimit = attemptLimit;
this.actionQueue.Enqueue(action);
result = true;
}
// this.Update(); todo how to determine calling context?
}
return (result);
}
protected bool ScheduleAction(CommAction action)
{
bool result = false;
if (CommStates.error != this.commState)
{
lock (this)
{
this.actionQueue.Enqueue(action);
result = true;
}
// this.Update(); todo how to determine calling context?
}
return (result);
}
