mil1553_aperiodic_event.cs

/*****************************************************************************
//
##    File:
##       mil1553_aperiodic_event.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 aperiodic transmission asynchronous
//      event to transmit a major frame with MIL-STD-1553 BC channel and record using
//      BM string mode.
//
//       Hardware requirements:
//          - MAXT Flex1553-PCIe or FlexMulti.
//
*****************************************************************************/

#define LOCAL
#define LOOPBACK

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

using static MAXT.MXFoundation.mxf;



namespace mil1553_example
{
   public class mil1553_aperiodic_event
   {
      const UInt64 FRAME_RATE = 20000000; //20 msec
      const UInt32 ALMOST_FULL = 20;
      const UInt32 ALMOST_EMPTY = 10;

      private static UInt64 startTime = 0;

      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 bm = 0;
         var bcBufferTx = new UInt64[1];
         var bmBufferRx = new UInt64[1];
         UInt64 asyncEvent = 0;
         var condition = new MXF_ASYNCEVENT_CONDITION[1];
         MXF_ASYNCEVENT_HANDLER txHandler = TxHandler;

         IntPtr recPtr = IntPtr.Zero;

         UInt32 txBufferSize;
         IntPtr txBuffer = IntPtr.Zero;

         UInt32 rxBufferSize = 0;
         IntPtr rxBuffer = IntPtr.Zero;
         var rxRec1553 = new MXF_MIL1553_DATAREC();


         UInt64 card, mod, port;

         UInt64 rxAcqStatus;
         UInt64 msgCount;
         UInt64 byteCount;
         UInt64 rxRec;
         UInt32 loop = 0;
         UInt32 data;

         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\r");
            rc = mxfSystemInit(server);
         }

         // Get handle of first Flex 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 && channelCount == 0)
            rc = MAXT_ERROR_NOT_FOUND;

         // Get handle of first Flex MIL - STD - 1553 bus monitor channel
         if (rc == MAXT_SUCCESS)
            rc = mxfModuleChannelGet(module[0], 0, out bm);

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

         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);

#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 ALMOST_FULL tx data
         if (rc == MAXT_SUCCESS)
         {
            txBufferSize = ALMOST_FULL * (UInt32)Marshal.SizeOf(typeof(MXF_MIL1553_DATAREC));

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

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


         // Configure to BM to string mode
         if (rc == MAXT_SUCCESS)
            rc = mxfAttributeUint64Set(bm, KMXF_MIL1553_BM_MODE, VMXF_MIL1553_BM_MODE_STRING);

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

         // Get current time and add 100 msec to it
         if (rc == MAXT_SUCCESS)
            rc = mxfDeviceTimerGet(device[0], out startTime);

         startTime += 100000000;

         // Configure aperiodic asynchronous event condition
         if (rc == MAXT_SUCCESS)
            rc = mxfAsyncEventHandlerInit(server, txHandler, txBuffer, out asyncEvent);

         if (rc == MAXT_SUCCESS)
         {
            condition[0].reserved = 0;
            condition[0].condID = MXF_ASYNCEVENT_COND_TXAPERIODIC_BUFFER_THRESHOLD;
            condition[0].condition.txAperiodicBufferThreshold.almostEmpty = ALMOST_EMPTY;
            condition[0].condition.txAperiodicBufferThreshold.almostFull = ALMOST_FULL;
            condition[0].condition.txAperiodicBufferThreshold.buffer = bcBufferTx[0];
            rc = mxfAsyncEventConditionsSet(asyncEvent, VMXF_ENABLE, 1, condition);
         }

         mxfSleep(10000);

         // Start BM acquisition
         if (rc == MAXT_SUCCESS)
            rc = mxfRxAcqStart(bmBufferRx[0], MXF_RXACQ_FLAG_DEFAULT,0, 0);


         // Read and display received messages for 5 seconds
         if (rc == MAXT_SUCCESS)
         {
            do
            {
               rc = mxfMIL1553RxAcqRead(bmBufferRx[0], 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);
               }
               mxfSleep(500);
               loop++;
            } while (loop < 10);
         }



         // disable asynchronous event condition
         if (rc == MAXT_SUCCESS)
            rc = mxfAsyncEventConditionsSet(asyncEvent, VMXF_DISABLE, 1, condition);

         if (rc == MAXT_SUCCESS)
            rc = mxfAsyncEventHandlerTerminate(asyncEvent);

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

         // Stop acquisition
         if (rc == MAXT_SUCCESS)
            rc = mxfRxAcqStop(bmBufferRx[0]);

         // Clear acquisition
         if (rc == MAXT_SUCCESS)
            rc = mxfRxAcqClear(bmBufferRx[0]);

         // 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 (bcBufferTx[0] > 0)
         {
            rc = mxfTxAperiodicBufferFree(bcBufferTx[0]);
            if (rc != MAXT_SUCCESS)
               Console.Write("Free buffer failed !\n\r");
         }
         if (bmBufferRx[0] > 0)
         {
            rc = mxfRxAcqBufferFree(bmBufferRx[0]);
            if (rc != MAXT_SUCCESS)
               Console.Write("Free buffer failed !\n\r");
         }

         // Unload MX Foundation library
         mxfSystemTerminate(server);

         mxfServerDisconnect(server);

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

         return;
      }


      private static UInt32 TxHandler(UInt64 asyncEvent, IntPtr pParam)
      {
         UInt32 rc = 0;
         UInt64 count = 0;
         var pendingInfo = new MXF_ASYNCEVENT_PENDING_INFO[1];
         var txRec1553 = new MXF_MIL1553_DATAREC();
         txRec1553.data = new UInt16[36];

         IntPtr recPtr = pParam;

         // get asynchronous event information
         rc = mxfAsyncEventPendingGet(asyncEvent, 1, out count, pendingInfo);
         if (rc == MAXT_SUCCESS && count > 0)
         {
            if (pendingInfo[0].condID == MXF_ASYNCEVENT_COND_TXAPERIODIC_BUFFER_THRESHOLD)
            {
               UInt64 cmd = 0;

               // Send commands until it reaches almost full threshold
               for (cmd = 0; cmd < pendingInfo[0].condition.txAperiodicBufferThreshold.almostFull - 1; cmd++)
               {
                  // send two commands in simulated major frame
                  if (cmd % 2 > 0)
                  {
                     txRec1553.timeTag = startTime + 1000000; // 1 msec after other command
                     txRec1553.repeatCount = 1;
                     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
                  {
                     startTime += FRAME_RATE; // one FRAME_RATE after the first command
                     txRec1553.timeTag = startTime;
                     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
               rc = mxfMIL1553TxAperiodicWrite(pendingInfo[0].condition.txAperiodicBufferThreshold.buffer, MXF_TXAPERIODIC_FLAG_USE_RECORD_ABSOLUTE_TIME, 0, cmd, pParam);
            }
         }
         return rc;
      }
   }
}