protected virtual void Dispose(bool disposing)
{
if (_disposed)
{
return;
}
if (disposing)
{
NiCanTools.Close(_handle);
}
_disposed = true;
}
public void Read(out byte[] data, int tiemoutMs)
{
int items = 0;
long startTick = DateTime.Now.Ticks;
data = null;
var rx = new NiCan.NCTYPE_CAN_STRUCT();
bool isFound = false;
do
{
if (DateTime.Now.Ticks - startTick > tiemoutMs * 10000)
{
throw new Iso15765TimeoutException("P2 Max Expired,Read Timeout.");
}
items = NiCanTools.ReadPending(_handle);
if (items != 0)
{
for (int i = 0; i < items; i++)
{
NiCanTools.NiCanStatusCheck(NiCan.ncRead(_handle, NiCan.CanStructSize, ref rx));
UInt32 arbId = rx.ArbitrationId & 0x1FFFFFFF;
byte[] datatemp = new byte[]
{ rx.Data0,
rx.Data1,
rx.Data2,
rx.Data3,
rx.Data4,
rx.Data5,
rx.Data6,
rx.Data7, };
data = new byte[rx.DataLength];
Buffer.BlockCopy(datatemp, 0, data, 0, rx.DataLength);
IoLog.Instance.WirteLine("Rx: 0x" + arbId.ToString("X4") + " " + "Data:" + Tools.ByteArrayToCStyleString(data));
if (arbId == ReceiveId)
{
isFound = true;
}
}
}
} while (!isFound);
}
public void Close()
{
NiCanTools.Close(_handle);
IoLog.Instance.WirteLine("Close");
}
public void Open()
{
_handle = NiCanTools.Open(Interface, BaudRate);
IoLog.Instance.WirteLine("Open");
}
