void SendCAN(uint ID, byte[] Data)
{
CANMessage message = new CANMessage(ID, false, Data);
CANMessage[] messages = { message };
CANDevice.Send(CANPortIndex, messages);
lastSendTime = DateTime.Now;
if (IsShowSendRecive)
{
WriteLine("Send:" + message.ToString());
}
}
//Executor Process Message
public void Executor(CANMessage CANMessage)
{
lock (this)
{
if (!IsRunning)
{
return;
}
if (CANMessage.ExternFlag)
{
return;
}
Job j = JobRunning;
//ACK
if (j.Type == Job.JobType.ACK)
{
if (_StepRunning == 1)
{
if (CheckCANMessage(CANMessage, ID_ACK, DA_ACK))
{
RunningNext();
}
else if (CheckCANMessage(CANMessage, ID_ACK, DA_NACK))
{
RunningNext();
}
else
{
ErrorWriteLine("Unknow Message:" + CANMessage.ToString());
}
}
}
//READ
else if (j.Type == Job.JobType.Read)
{
if (CheckCANMessage(CANMessage, ID_READ, DA_NACK))
{
RunningNext(JobEventType.NACK, "NACK");
}
int m = (int)Math.Ceiling(j.DataNum / 8f);
if (_StepRunning == 1)//ACK
{
if (CheckCANMessage(CANMessage, ID_READ, DA_ACK))
{
_StepRunning++;
}
else
{
ErrorWriteLine("Unknow Message:" + CANMessage.ToString());
}
}
else if (_StepRunning >= 2 && _StepRunning <= m + 1)//DATA
{
if (CheckCANMessage(CANMessage, ID_READ) && CANMessage.DataLen > 0)
{
if (_StepRunning == 2)
{
j.DataReceive = new byte[j.DataNum];
}
Array.Copy(CANMessage.Data, 0, j.DataReceive, (_StepRunning - 2) * CANMessage.DataLenMax, CANMessage.DataLen);
_StepRunning++;
}
else
{
ErrorWriteLine("Unknow Message:" + CANMessage.ToString());
}
}
else if (_StepRunning == m + 2)//ACK
{
if (CheckCANMessage(CANMessage, ID_READ, DA_ACK))
{
RunningNext();
}
else
{
ErrorWriteLine("Unknow Message:" + CANMessage.ToString());
}
}
else
{
TimeoutCheck();
}
}
//WRITE
else if (j.Type == Job.JobType.Write)
{
if (CheckCANMessage(CANMessage, ID_WRITE, DA_NACK))
{
RunningNext(JobEventType.NACK, "NACK");
}
int m = (int)Math.Ceiling(j.DataSend.Length / 8f);
if (_StepRunning == 2 * m + 2)
{
if (CheckCANMessage(CANMessage, ID_WRITE, DA_ACK))
{
RunningNext();
}
else
{
ErrorWriteLine("Unknow Message:" + CANMessage.ToString());
}
}
else if (_StepRunning % 2 == 1 && _StepRunning <= 2 * m + 1)
{
if (CheckCANMessage(CANMessage, ID_WRITE, DA_ACK))
{
_StepRunning++;
}
else
{
ErrorWriteLine("Unknow Message:" + CANMessage.ToString());
}
}
}
//ERASE
else if (j.Type == Job.JobType.Erase)
{
if (CheckCANMessage(CANMessage, ID_ERASE, DA_NACK))
{
RunningNext(JobEventType.NACK, "NACK");
}
if (_StepRunning == 1 || _StepRunning == 3)
{
if (CheckCANMessage(CANMessage, ID_ERASE, DA_ACK))
{
_StepRunning++;
}
else
{
ErrorWriteLine("Unknow Message:" + CANMessage.ToString());
}
}
else if (_StepRunning == 4)
{
if (CheckCANMessage(CANMessage, ID_ERASE, DA_ACK))
{
RunningNext();
}
else
{
ErrorWriteLine("Unknow Message:" + CANMessage.ToString());
}
}
}
//GV
else if (j.Type == Job.JobType.GetState)
{
if (CheckCANMessage(CANMessage, ID_GV, DA_NACK))
{
RunningNext(JobEventType.NACK, "NACK");
}
if (_StepRunning == 1)
{
if (CheckCANMessage(CANMessage, ID_GV, DA_ACK))
{
_StepRunning++;
}
else
{
ErrorWriteLine("Unknow Message:" + CANMessage.ToString());
}
}
else if (_StepRunning == 2)
{
if (CheckCANMessage(CANMessage, ID_GV, 1))
{
j.DataReceive = new byte[3];
j.DataReceive[0] = CANMessage.Data[0];
_StepRunning++;
}
else
{
ErrorWriteLine("Unknow Message:" + CANMessage.ToString());
}
}
else if (_StepRunning == 3)
{
if (CheckCANMessage(CANMessage, ID_GV, 2))
{
j.DataReceive[1] = CANMessage.Data[0];
j.DataReceive[2] = CANMessage.Data[1];
_StepRunning++;
}
else
{
ErrorWriteLine("Unknow Message:" + CANMessage.ToString());
}
}
else if (_StepRunning == 4)
{
if (CheckCANMessage(CANMessage, ID_GV, DA_ACK))
{
RunningNext();
}
else
{
ErrorWriteLine("Unknow Message:" + CANMessage.ToString());
}
}
}
//GO
else if (j.Type == Job.JobType.Go)
{
if (CheckCANMessage(CANMessage, ID_GO, DA_NACK))
{
RunningNext(JobEventType.NACK, "NACK");
}
if (_StepRunning == 1)
{
if (CheckCANMessage(CANMessage, ID_GO, DA_ACK))
{
RunningNext();
}
else
{
ErrorWriteLine("Unknow Message:" + CANMessage.ToString());
}
}
}
else
{
ErrorWriteLine("Unsupport Job:" + j.Type.ToString());
}
}
}
