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
}
public bool DownloadImage(string file, ImageDownloadCompleteHandler onComplete)
{
bool result = false;
if ((null == this.FaultReason) && (false == this.downloadActive))
{
this.downloadFile = file;
this.downloadCompleteHandler = onComplete;
this.downloadCancel = false;
this.downloadActive = true;
this.downloadStep = DownloadSteps.start;
result = true;
}
return (result);
}
