/// <summary>
/// Construct C# Canpacket from a CanFestival message
/// </summary>
/// <param name="msg">A CanFestival message struct</param>
public canpacket(DriverInstance.Message msg)
{
cob = msg.cob_id;
len = msg.len;
data = new byte[len];
byte[] temp = BitConverter.GetBytes(msg.data);
Array.Copy(temp, data, msg.len);
}
/// <summary>
/// Send a Can packet on the bus
/// </summary>
/// <param name="p"></param>
public void SendPacket(canpacket p)
{
DriverInstance.Message msg = p.ToMsg();
driver.cansend(msg);
if (echo == true)
{
Driver_rxmessage(msg);
}
}
/// <summary>
/// Convert to a CanFestival message
/// </summary>
/// <returns>CanFestival message</returns>
public DriverInstance.Message ToMsg()
{
DriverInstance.Message msg = new DriverInstance.Message();
msg.cob_id = cob;
msg.len = len;
msg.rtr = 0;
byte[] temp = new byte[8];
Array.Copy(data, temp, len);
msg.data = BitConverter.ToUInt64(temp, 0);
return(msg);
}
/// <summary>
/// Private worker thread to keep the rxmessage() function pumped
/// </summary>
private void rxthreadworker()
{
while (threadrun)
{
DriverInstance.Message rxmsg = canreceive();
if (rxmsg.len != 0)
{
if (rxmessage != null)
{
rxmessage(rxmsg);
}
}
System.Threading.Thread.Sleep(1);
}
}
/// <summary>
/// Recieved message callback handler
/// </summary>
/// <param name="msg">CanOpen message recieved from the bus</param>
private void Driver_rxmessage(DriverInstance.Message msg)
{
packetqueue.Enqueue(new canpacket(msg));
}
/// <summary>
/// Recieved message callback handler
/// </summary>
/// <param name="msg">CanOpen message recieved from the bus</param>
private void Driver_rxmessage(DriverInstance.Message msg, bool bridge = false)
{
packetqueue.Enqueue(new canpacket(msg, bridge));
}
