int usrAppStartProc(void)
{
struct CAN_RPACKET rcvePacket;
while
{
CanRcvMsg(0,rcvePacket);
CanRcvMsg(1,rcvePacket);
CanRcvMsg(2,rcvePacket);
CanRcvMsg(3,rcvePacket);
}
}
hlcanopen::CanMsg Pci7841Card::read()
{
CAN_PACKET canPacket;
memset(&canPacket, 0, sizeof(canPacket));
if (CanRcvMsg(handle, &canPacket) == 0) {
if(getCanId(canPacket.CAN_ID) == 0) {
} else {
LOG(DEBUG) << "receiving data: " <<
" -- COB-ID: " << canPacket.CAN_ID <<
" can-id: " << getCanId(canPacket.CAN_ID) << " -- data: " <<
packetDataToStr(canPacket);
}
} else {
LOG(DEBUG) << "no data received ";
memset(&canPacket, 0, sizeof(canPacket));
}
hlcanopen::CanMsg canMsg;
canMsg.cobId = hlcanopen::COBId(getCanId(canPacket.CAN_ID), getCOBType(canPacket.CAN_ID));
for(BYTE i =0; i < 8; i++) {
canMsg[i] = canPacket.data[i];
}
return canMsg;
}