} /* InitSocket() */
#endregion
#region CAN send/receive definition
protected void TransmitData<T>(T obj)
where T : struct
{
// get factory & instanciate en emplty shell message
Ixxat.Vci4.IMessageFactory factory
= Ixxat.Vci4.VciServer.Instance().MsgFactory;
Ixxat.Vci4.Bal.Can.ICanMessage canMsg
= (Ixxat.Vci4.Bal.Can.ICanMessage)factory.CreateMsg(typeof(Ixxat.Vci4.Bal.Can.ICanMessage));
// build up the data from object serializing
byte[] data = AbstractCANHandle.Serialize<T>(obj);
// configure the empty shell
canMsg.TimeStamp = 0;
canMsg.Identifier = 0x100;
canMsg.FrameType = Ixxat.Vci4.Bal.Can.CanMsgFrameType.Data;
canMsg.DataLength = (byte)data.Length;
canMsg.SelfReceptionRequest = true; // show this message in the console window
// fill up the data
for (int idx = 0; idx < data.Length; ++idx)
{
canMsg[idx] = data[idx];
}
// Write the CAN message into the transmit FIFO
this.m_CANMessageWriter.SendMessage(canMsg);
} /* TransmitData() */
static void Main(string[] args)
{
// simple test
AbstractCANHandle handle = null;
// init
handle = new handle.ActiveSeatHandle();
handle.SelectDevice();
handle.InitSocket(0);
(handle as handle.ActiveSeatHandle).BeginSession();
for (uint i = 0; i < 10; ++i)
{
(handle as handle.ActiveSeatHandle).BeginTrial();
(handle as handle.ActiveSeatHandle).Start(
AngularAcceleration:
/* rad/s^2 (SI) */ 6.8 + i,
AngularSpeedSaturation:
/* rad/s (SI) */ -2.5 + i,
MaxStimDuration:
/* ms (SI) */ 2.70 + i
);
(handle as handle.ActiveSeatHandle).Stop();
(handle as handle.ActiveSeatHandle).Reset();
(handle as handle.ActiveSeatHandle).EndTrial();
}
(handle as handle.ActiveSeatHandle).EndSession();
//handle.onHandleDeactivationRequested();
}
} /* Dispose() */
protected void Dispose(bool bDisposing = true)
{
//
// Dispose all hold VCI objects.
//
// v1.0
// Dispose message reader
//ApollonAbstractCANHandle.DisposeVciObject(this.m_CANMessageReader);
// Dispose message writer
AbstractCANHandle.DisposeVciObject(this.m_CANMessageWriter);
// Dispose CAN channel
AbstractCANHandle.DisposeVciObject(this.m_CANChannel);
// Dispose CAN controller
AbstractCANHandle.DisposeVciObject(this.m_CANController);
// Dispose VCI device
AbstractCANHandle.DisposeVciObject(this.m_VCIDevice);
} /* Dispose(bool) */
// v1.0
// Event that's set if at least one message was received.
//private System.Threading.AutoResetEvent m_RxEvent;
#endregion
#region CAN device selection
// Select the first CAN adapter.
public void SelectDevice()
{
// temporary
Ixxat.Vci4.IVciDeviceManager deviceManager = null;
Ixxat.Vci4.IVciDeviceList deviceList = null;
System.Collections.IEnumerator deviceEnum = null;
// encapsulate
try
{
// Get device manager from VCI server
deviceManager = Ixxat.Vci4.VciServer.Instance().DeviceManager;
// Get the list of installed VCI devices
deviceList = deviceManager.GetDeviceList();
// Get enumerator for the list of devices
deviceEnum = deviceList.GetEnumerator();
// Get first CAN device
// #TODO be more specific to select the apropriate device in list
deviceEnum.MoveNext();
this.m_VCIDevice = deviceEnum.Current as Ixxat.Vci4.IVciDevice;
// print the bus type, controller type, device name and serial number of first found controller
Ixxat.Vci4.IVciCtrlInfo info = this.m_VCIDevice.Equipment[0];
object serialNumberGuid = this.m_VCIDevice.UniqueHardwareId;
string serialNumberText = AbstractCANHandle.GetSerialNumberText(ref serialNumberGuid);
//UnityEngine.Debug.Log(
// "<color=Blue>Info: </color> ApollonAbstractCANHandle.SelectDevice() : found CAN device [{ BusType: "
// + info.BusType
// + " },{ ControllerType: "
// + info.ControllerType
// + " },{ Interface: "
// + this.m_VCIDevice.Description
// + " },{ Serial_Number: "
// + serialNumberText
// + " }]"
//);
}
catch (System.Exception ex)
{
// log
//UnityEngine.Debug.LogError(
// "<color=Red>Error: </color> ApollonAbstractCANHandle.SelectDevice() : failed with error ["
// + ex.Message
// + "] => "
// + ex.StackTrace
//);
}
finally
{
// Dispose device manager ; it's no longer needed.
AbstractCANHandle.DisposeVciObject(deviceManager);
// Dispose device list ; it's no longer needed.
AbstractCANHandle.DisposeVciObject(deviceList);
// Dispose device list ; it's no longer needed.
AbstractCANHandle.DisposeVciObject(deviceEnum);
} /* try */
} /* SelectDevice() */
} /* SelectDevice() */
#endregion
#region CAN socket init & setup
// Opens the specified socket, creates a message channel, initializes
// and starts the CAN controller.
public bool InitSocket(System.Byte canNo)
{
// temp
Ixxat.Vci4.Bal.IBalObject bal = null;
bool bRslt = false;
// encapsulate
try
{
// Open bus access layer
bal = this.m_VCIDevice.OpenBusAccessLayer();
// Open a message channel for the CAN controller
this.m_CANChannel = bal.OpenSocket(canNo, typeof(Ixxat.Vci4.Bal.Can.ICanChannel)) as Ixxat.Vci4.Bal.Can.ICanChannel;
// Open the scheduler of the CAN controller
this.m_CANScheduler = bal.OpenSocket(canNo, typeof(Ixxat.Vci4.Bal.Can.ICanScheduler)) as Ixxat.Vci4.Bal.Can.ICanScheduler;
// Initialize the message channel
// v1.0
//this.m_CANChannel.Initialize(
// receiveFifoSize:
// 1024,
// transmitFifoSize:
// 128,
// exclusive:
// false
//);
// v2.0
// dont need buffer as there isnt on ADwin side
this.m_CANChannel.Initialize(
receiveFifoSize:
1,
transmitFifoSize:
1,
exclusive:
true
);
// v1.0
//// Get a message reader object
//this.m_CANMessageReader = this.m_CANChannel.GetMessageReader();
// v1.0
//// Initialize message reader
//this.m_CANMessageReader.Threshold = 1;
// v1.0
//// Create and assign the event that's set if at least one message was received.
//this.m_RxEvent = new System.Threading.AutoResetEvent(false);
//this.m_CANMessageReader.AssignEvent(this.m_RxEvent);
// Get a message wrtier object
this.m_CANMessageWriter = this.m_CANChannel.GetMessageWriter();
// v1.0
//// Initialize message writer
//this.m_CANMessageWriter.Threshold = 1;
// Activate the message channel
this.m_CANChannel.Activate();
// Open the CAN controller
this.m_CANController = bal.OpenSocket(canNo, typeof(Ixxat.Vci4.Bal.Can.ICanControl)) as Ixxat.Vci4.Bal.Can.ICanControl;
// Initialize the CAN controller
// v1.0
//this.m_CANController.InitLine(
// operatingMode:
// Ixxat.Vci4.Bal.Can.CanOperatingModes.Standard
// | Ixxat.Vci4.Bal.Can.CanOperatingModes.Extended
// | Ixxat.Vci4.Bal.Can.CanOperatingModes.ErrFrame,
// bitrate:
// Ixxat.Vci4.Bal.Can.CanBitrate.Cia125KBit
//);
// v2.0
// Dont need extended mode (11 bits is enought)
this.m_CANController.InitLine(
operatingMode:
Ixxat.Vci4.Bal.Can.CanOperatingModes.Standard,
bitrate:
Ixxat.Vci4.Bal.Can.CanBitrate.Cia125KBit
);
// log
//UnityEngine.Debug.Log(
// "<color=Blue>Info: </color> ApollonAbstractCANHandle.InitSocket() : setup CAN socket [{ LineStatus: "
// + this.m_CANController.LineStatus
// + " }]"
//);
// v1.0
//// Set the acceptance filter for std identifiers
//this.m_CANController.SetAccFilter(
// select:
// Ixxat.Vci4.Bal.Can.CanFilter.Std,
// code:
// (uint)Ixxat.Vci4.Bal.Can.CanAccCode.All,
// mask:
// (uint)Ixxat.Vci4.Bal.Can.CanAccMask.All
//);
// v1.0
//// Set the acceptance filter for ext identifiers
//this.m_CANController.SetAccFilter(
// select:
// Ixxat.Vci4.Bal.Can.CanFilter.Ext,
// code:
// (uint)Ixxat.Vci4.Bal.Can.CanAccCode.All,
// mask:
// (uint)Ixxat.Vci4.Bal.Can.CanAccMask.All
//);
// Start the CAN controller
this.m_CANController.StartLine();
// success
bRslt = true;
}
catch (System.Exception ex)
{
// log
//UnityEngine.Debug.LogError(
// "<color=Red>Error: </color> ApollonAbstractCANHandle.InitSocket() : failed with error ["
// + ex.Message
// + "] => "
// + ex.StackTrace
//);
// fail
bRslt = false;
}
finally
{
// Dispose bus access layer
AbstractCANHandle.DisposeVciObject(bal);
} /* try */
// return
return bRslt;
} /* InitSocket() */
