static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletCANV2 can = new BrickletCANV2(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Configure transceiver for loopback mode
can.SetTransceiverConfiguration(1000000, 625,
BrickletCANV2.TRANSCEIVER_MODE_LOOPBACK);
// Register frame read callback to function FrameReadCB
can.FrameReadCallback += FrameReadCB;
// Enable frame read callback
can.SetFrameReadCallbackConfiguration(true);
// Write standard data frame with identifier 1742 and 3 bytes of data
can.WriteFrame(BrickletCANV2.FRAME_TYPE_STANDARD_DATA, 1742,
new byte[] { 42, 23, 17 });
Console.WriteLine("Press enter to exit");
Console.ReadLine();
can.SetFrameReadCallbackConfiguration(false);
ipcon.Disconnect();
}
private void CanBricklet_FrameReadCallback(BrickletCANV2 sender, byte frameType, long identifier, byte[] data)
{
var can = new CanPackage((CanFrameType)frameType, identifier, data);
CurrentInput = can;
InputUpdated?.Invoke(this, new SensorUpdatedEventArgs <CanPackage>(can));
}
private static string UID = "XYZ"; // Change XYZ to the UID of your CAN Bricklet 2.0
// Callback function for frame read callback
static void FrameReadCB(BrickletCANV2 sender, byte frameType, long identifier,
byte[] data)
{
if (frameType == BrickletCANV2.FRAME_TYPE_STANDARD_DATA)
{
Console.WriteLine("Frame Type: Standard Data");
}
else if (frameType == BrickletCANV2.FRAME_TYPE_STANDARD_REMOTE)
{
Console.WriteLine("Frame Type: Standard Remote");
}
else if (frameType == BrickletCANV2.FRAME_TYPE_EXTENDED_DATA)
{
Console.WriteLine("Frame Type: Extended Data");
}
else if (frameType == BrickletCANV2.FRAME_TYPE_EXTENDED_REMOTE)
{
Console.WriteLine("Frame Type: Extended Remote");
}
Console.WriteLine("Identifier: " + identifier);
Console.Write("Data (Length: " + data.Length + "):");
for (int i = 0; i < data.Length && i < 8; ++i)
{
Console.Write(" " + data[i]);
}
Console.WriteLine("");
Console.WriteLine("");
}
internal override void UpdateUnderlyingDevice(Device device)
{
if (device is BrickletCANV2 bricklet)
{
_canBricklet.FrameReadCallback -= CanBricklet_FrameReadCallback;
_canBricklet = bricklet;
_canBricklet.FrameReadCallback += CanBricklet_FrameReadCallback;
}
else
{
//Todo: Add Exception message
throw new ArgumentException();
}
base.UpdateUnderlyingDevice(device);
}
