mil1553_aperiodic.cs

/*****************************************************************************
//
##    File:
##       mil1553_aperiodic.cs
//
//       Copyright (c) MAX Technologies Inc. 1988-2019, All Rights Reserved.
//             CONFIDENTIAL AND PROPRIETARY INFORMATION WHICH IS THE 
//                         PROPERTY OF MAX TECHNOLOGIES INC. 
//
//      This example demonstrates the usage of simple aperiodic transmission 
//      to transmit commands with MIL-STD-1553 BC channel and record using BC.
//      To record the messages with the BC, you need to connect RT0 to your hardware.
//      Use hybrid mode if available.
//
//       Hardware requirements:
//          - MAXT Flex1553-PCIe or FlexMulti or 500 series carrier with IPM-1553-MRT
//
*****************************************************************************/

#define LOOPBACK
#define LOCAL

using System;
using System.Text;
using System.Runtime.InteropServices;

using static MAXT.MXFoundation.mxf;



namespace mil1553_example
{
   public class mil1553_aperiodic
   {
      const UInt32 NUM_REC_TX = 10;

      static void Main(string[] args)
      {
         UInt32 rc;
         UInt64 deviceCount;
         UInt64 moduleCount = 0;
         UInt64 channelCount = 0;
         UInt64 server;
         var device = new UInt64[1];
         var module = new UInt64[1];
         var bc = new UInt64[1];
         UInt64 bcBufferTx = 0;
         UInt64 bcBufferRx = 0;

         IntPtr recPtr = IntPtr.Zero;

         UInt32 txBufferSize;
         IntPtr txBuffer = IntPtr.Zero;
         MXF_MIL1553_DATAREC txRec1553 = new MXF_MIL1553_DATAREC();
         txRec1553.data = new UInt16[36];

         UInt32 rxBufferSize = 0;
         IntPtr rxBuffer = IntPtr.Zero;
         MXF_MIL1553_DATAREC rxRec1553;
         UInt64 card, mod, port;
         UInt64 cmd;
         UInt64 rxAcqStatus;
         UInt64 msgCount = 0;
         UInt64 byteCount;
         UInt64 rxRec;
         UInt32 data;
         UInt64 options;

         var errorString = new StringBuilder(200);

         // Connect to services and initialize environment
#if (LOCAL)
            rc = mxfServerConnect("0.0.0.0", "", "", Convert.ToUInt64(false), out server);
#else
         rc = mxfServerConnect("192.168.0.1", "admin", "admin", Convert.ToUInt64(false), out server);
#endif


         // Initialize MX Foundation library
         if (rc == MAXT_SUCCESS)
         {
            Console.Write("Starting ...\n");
            rc = mxfSystemInit(server);
         }

         // Get handle of first MIL-STD-1553 Bus controller channel
         if (rc == MAXT_SUCCESS)
            rc = mxfSystemDeviceAllGet(server, MXF_DEVICE_ALL, 1, out deviceCount, device);

         if (rc == MAXT_SUCCESS)
         {
             rc = mxfDeviceModuleAllGet(device[0], MXF_MODULE_MIL1553MRT_EH, 1, out moduleCount, module);
             if (rc == MAXT_SUCCESS && moduleCount == 0)
                rc = mxfDeviceModuleAllGet(device[0], MXF_MODULE_MIL1553MRT, 1, out moduleCount, module);
         }

         if (rc == MAXT_SUCCESS && moduleCount > 0)
            rc = mxfModuleChannelAllGet(module[0], MXF_CLASS_MIL1553, MXF_SCLASS_BC_CHANNEL, 1, out channelCount, bc);

         // If module or channel not found, return an error
         if (rc == MAXT_SUCCESS && moduleCount > 0)
            rc = MAXT_ERROR_NOT_FOUND;

         // Show channel locations for BC
         rc = mxfChannelLocationGet(bc[0], out card, out mod, out port);
         if (rc == MAXT_SUCCESS)
            Console.Write("BC location is Device:{0} Module:{1} Port:{2}\n", card, mod, port);

         // Use Hybrid Mode with RT0 set to 1553A if available
         if (rc == MAXT_SUCCESS)
         {
            rc = mxfAttributeUint64Get(module[0], KMXF_MIL1553_MODULE_OPTIONS, out options);
            if ((rc == MAXT_SUCCESS) && ((options & VMXF_MIL1553_MODULE_OPTIONS_HYBRID_MODE) == VMXF_MIL1553_MODULE_OPTIONS_HYBRID_MODE))
            {
                rc = mxfAttributeUint64Set(bc[0], KMXF_MIL1553_MILSTD1553_REV, VMXF_MIL1553_MILSTD1553_REVHYBRID);
                if (rc == MAXT_SUCCESS)
                    rc = mxfMIL1553RtsHybridRevSet(bc[0], 0x00000001);
            }
        }

#if (LOOPBACK)
        if (rc == MAXT_SUCCESS)
            rc = mxfAttributeUint64Set(bc[0], KMXF_MIL1553_TX_RX_TEST_LB, VMXF_ENABLE);
#endif

         // Allocate enough buffer for at least NUM_REC_TX tx data
         if (rc == MAXT_SUCCESS)
         {
            txBufferSize = NUM_REC_TX * (UInt32)Marshal.SizeOf(typeof(MXF_MIL1553_DATAREC));

            // Device allocation
            rc = mxfTxAperiodicBufferAlloc(bc[0], MXF_TXAPERIODIC_PRIORITY_LOW, txBufferSize, out bcBufferTx, IntPtr.Zero);

            // Host allocation
            if (rc == MAXT_SUCCESS)
            {
               try
               {
                  txBuffer = Marshal.AllocHGlobal((int)txBufferSize);
               }
               catch (OutOfMemoryException)
               {
                  rc = MAXT_ERROR_MEM;
               }
            }
         }

         // Allocate 10KB buffer for rx data
         if (rc == MAXT_SUCCESS)
         {
            rxBufferSize = 10 * 1024;

            // Device allocation
            rc = mxfRxAcqBufferAlloc(bc[0], rxBufferSize, out bcBufferRx, IntPtr.Zero);

            // Host allocation
            if (rc == MAXT_SUCCESS)
            {
               try
               {
                  rxBuffer = Marshal.AllocHGlobal((int)rxBufferSize);
               }
               catch (OutOfMemoryException)
               {
                  rc = MAXT_ERROR_MEM;
               }
            }
         }


         // Set timebase to RTC nsec
         if (rc == MAXT_SUCCESS)
            rc = mxfSystemTimeBaseSet(server, MXF_TIMEBASE_DEVICE_NSEC);

         // Start BC acquisition
         if (rc == MAXT_SUCCESS)
            rc = mxfRxAcqStart(bcBufferRx, MXF_RXACQ_FLAG_DEFAULT, 0, 0);

         // Send NUM_REC_TX commands
         if (rc == MAXT_SUCCESS)
         {
            recPtr = txBuffer;

            for (cmd = 0; cmd < NUM_REC_TX && rc == MAXT_SUCCESS; cmd++)
            {
               // send two commands in alternance
               if (cmd % 2 > 0)
               {
                  txRec1553.timeTag = 0;
                  txRec1553.repeatCount = 1;
                  txRec1553.control = 0;
                  txRec1553.dataSize = 10; //10 bytes (command + 4 words)
                  mxfMIL1553CommandCompose(0, 3, MXF_MIL1553_MSGTYPE_RX, 4, out txRec1553.data[0]);

                  txRec1553.data[1] = 0x0000;
                  txRec1553.data[2] = 0x1111;
                  txRec1553.data[3] = 0x2222;
                  txRec1553.data[4] = 0x3333;
               }
               else
               {
                  txRec1553.timeTag = 0;
                  txRec1553.repeatCount = 1;
                  txRec1553.dataSize = 10; //10 bytes (command + 4 words)
                  mxfMIL1553CommandCompose(0, 5, MXF_MIL1553_MSGTYPE_RX, 4, out txRec1553.data[0]);

                  txRec1553.data[1] = 0x3333;
                  txRec1553.data[2] = 0x2222;
                  txRec1553.data[3] = 0x1111;
                  txRec1553.data[4] = 0x0000;
               }

               Marshal.StructureToPtr(txRec1553, recPtr, false);

               rc = mxfMIL1553NextDataRecordPtrGet(recPtr, out recPtr);
            }

            // Send commands
            if (rc == MAXT_SUCCESS)
               rc = mxfMIL1553TxAperiodicWrite(bcBufferTx, MXF_TXAPERIODIC_FLAG_DEFAULT, 0, cmd, txBuffer);
         }

         // Read and display received messages for 5 seconds
         if (rc == MAXT_SUCCESS)
         {
            // Wait a little for commands to be transmitted
            mxfSleep(1000);

            rc = mxfMIL1553RxAcqRead(bcBufferRx, 0, rxBufferSize, out rxAcqStatus, out msgCount, out byteCount, rxBuffer);

            recPtr = rxBuffer;
            for (rxRec = 0; rxRec < msgCount && rc == MAXT_SUCCESS; rxRec++)
            {
               rxRec1553 = (MXF_MIL1553_DATAREC)Marshal.PtrToStructure(recPtr, typeof(MXF_MIL1553_DATAREC));

               Console.Write("\n\r{0}\t", rxRec1553.timeTag);
               Console.Write("Control: 0x{0:x8}", rxRec1553.control);
               for (data = 0; data < rxRec1553.dataSize / 2; data++)
               {
                  if (data > 0 && ((data % 5) == 0))
                     Console.Write("\n\r\t\t\t");

                  Console.Write(" 0x{0:x4}", rxRec1553.data[data]);
               }
               Console.Write("\n\r");

               // Get next msg
               rc = mxfMIL1553NextDataRecordPtrGet(recPtr, out recPtr);

            }
         }

         // Clear aperiodic buffer
         if (rc == MAXT_SUCCESS)
            rc = mxfTxAperiodicClear(bcBufferTx, 0);

         // Stop acquisition
         if (rc == MAXT_SUCCESS)
            rc = mxfRxAcqStop(bcBufferRx);

         // Clear acquisition
         if (rc == MAXT_SUCCESS)
            rc = mxfRxAcqClear(bcBufferRx);

         // free buffers
         if (txBuffer != IntPtr.Zero)
            Marshal.FreeHGlobal(txBuffer);

         if (rxBuffer != IntPtr.Zero)
            Marshal.FreeHGlobal(rxBuffer);

         if (rc != MAXT_SUCCESS)
         {
            if (mxfSystemErrorStringGet(server, rc, (UInt32)errorString.Capacity, errorString) != MAXT_SUCCESS)
            {
               errorString.Clear();
               errorString.Append(string.Format("ERROR # 0x{0:x8}", rc));
            }
            Console.Write(errorString + "\n\r");
         }

         // Free all buffers and terminate
         if (device[0] != 0)
            mxfDeviceBuffersFree(device[0]);

         // Unload MX Foundation library
         mxfSystemTerminate(server);

         mxfServerDisconnect(server);

         Console.Write("\n\rPress enter to terminate\n\r");
         Console.ReadKey();

         return;
      }
   }
}