mil1553_cond_branch_2.cs

/*****************************************************************************
//
##    File:
##       mil1553_cond_branch_2.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 message conditional branch
//      option with discrete input with MIL-STD-1553 BC channel.
//
//       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_cond_branch_2
   {
      const UInt64 BUF_SA3_RX = 0;
      const UInt64 BUF_SA3_TX = 1;
      const UInt64 BUF_SA5_RX = 2;
      const UInt64 BUF_SA5_TX = 3;

      const UInt16 RT_ADRS = 5;


      static void Main(string[] args)
      {
         UInt32 rc;
         UInt64 deviceCount = 0;
         UInt64 moduleCount = 0;
         UInt64 channelCount = 0;
         UInt64 server = 0;
         var device = new UInt64[1];
         var module = new UInt64[1];
         var bc = new UInt64[1];
         var bm = new UInt64[1];
         var discIn = new UInt64[1];
         var discOut = new UInt64[1];
         var bcBufferTx = new UInt64[4];
         var bcBufferNoOp = new UInt64();
         var bmBufferRx = new UInt64();

         var bcMsgID = new MXF_MSGID_MIL1553[]
            {
               new MXF_MSGID_MIL1553{ type = MXF_MIL1553_MSGTYPE_RX, address = RT_ADRS, subAddress = 3, reserved = 0 },
               new MXF_MSGID_MIL1553{ type = MXF_MIL1553_MSGTYPE_TX, address = RT_ADRS, subAddress = 3, reserved = 0 },
               new MXF_MSGID_MIL1553{ type = MXF_MIL1553_MSGTYPE_RX, address = RT_ADRS, subAddress = 5, reserved = 0 },
               new MXF_MSGID_MIL1553{ type = MXF_MIL1553_MSGTYPE_TX, address = RT_ADRS, subAddress = 5, reserved = 0 }
            };
         UInt32 txBufferSize = 1024;
         IntPtr txBuffer = IntPtr.Zero;
         var txRec1553 = new MXF_MIL1553_DATAREC();
         txRec1553.data = new UInt16[36];

         UInt32 rxBufferSize = 10 * 1024;
         IntPtr rxBuffer = IntPtr.Zero;
         var rxRec1553 = new MXF_MIL1553_DATAREC[1];

         var minorFrame = new MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG[2];
         var mfProp = new MXF_MIL1553_TXPERIODIC_MJRFRAME_MINOR_PROPERTIES();

         UInt64 rxAcqStatus = 0;
         UInt64 msgCount = 0;
         UInt64 byteCount = 0;
         UInt64 rxRec;
         UInt32 loop = 0;
         UInt64 address, subAddress, dir, wordCount, indexBuffer;
         UInt32 data;
         UInt32 msg;
         var msgInfo = new MXF_MIL1553_MSGINFO[1];
         var errorString = new StringBuilder(200);

#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 && deviceCount > 0)
            rc = mxfDeviceModuleAllGet(device[0], MXF_MODULE_MIL1553MRT_EH, 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 (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[0]);

         // Get handle for discrete channels
         if (rc == MAXT_SUCCESS)
            rc = mxfDeviceModuleAllGet(device[0], MXF_MODULE_DIOFIFO_EH, 1, out moduleCount, module);

         if (rc == MAXT_SUCCESS && moduleCount > 0)
            rc = mxfModuleChannelAllGet(module[0], MXF_CLASS_DISCRETE, MXF_SCLASS_RX_CHANNEL, 1, out channelCount, discIn);

         if (rc == MAXT_SUCCESS && channelCount > 0)
            rc = mxfModuleChannelAllGet(module[0], MXF_CLASS_DISCRETE, MXF_SCLASS_TX_CHANNEL, 1, out channelCount, discOut);

         if (rc == MAXT_SUCCESS && channelCount == 0)
            rc = MAXT_ERROR_NOT_FOUND;

         // Set first two pins to 0
         if (rc == MAXT_SUCCESS)
            rc = mxfDiscreteChannelWrite(discOut[0], 0x3, 0);

         // Enable internal loopback
#if (LOOPBACK)
         if (rc == MAXT_SUCCESS)
            rc = mxfAttributeUint64Set(discIn[0], KMXF_DISCRETE_TX_RX_TEST_LB, VMXF_ENABLE);

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

         // Allocate 1KB buffer for tx data
         if (rc == MAXT_SUCCESS)
         {
            txBufferSize = 1024;

            // Flex allocation
            for (msg = 0; msg < 4 && rc == MAXT_SUCCESS; msg++)
            {
               rc = mxfTxPeriodicUpdateMsgBufferAlloc(bc[0], msg, txBufferSize, out bcBufferTx[msg], IntPtr.Zero);
            }

            if (rc == MAXT_SUCCESS)
               rc = mxfTxPeriodicUpdateMsgBufferAlloc(bc[0], 1234, 0, out bcBufferNoOp, 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;

            // Flex allocation
            rc = mxfRxAcqBufferAlloc(bm[0], rxBufferSize, out bmBufferRx, 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);

         // Set the minor frame #0 using 1 Commands
         if (rc == MAXT_SUCCESS)
         {
            // Command #0 : Wait for first pin is 1 then branch immediately to minor frame #1
            minorFrame[0].buffer = bcBufferNoOp;
            minorFrame[0].modulo = 1;
            minorFrame[0].options = MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG_OPT_NOOP_AND_WAITONCOND | MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG_OPT_NEXTFRAME_NOW;
            minorFrame[0].condMask = 0x0001;
            minorFrame[0].condData = 0x0001;
            minorFrame[0].branchMinorIndex = 1;
            minorFrame[0].branchMsgIndex = 0xFFFF;
            rc = mxfMIL1553ConditionalBranchOnDiscreteCompose(MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG_CONDBRANCH_OPT_AND, out minorFrame[0].condBranch);
            if (rc == MAXT_SUCCESS)
               rc = mxfMIL1553TxPeriodicMajorFrameSet(bc[0], 0, 0, 1, minorFrame, IntPtr.Zero);
         }

         // Set the minor frame #1 using 2 Commands
         if (rc == MAXT_SUCCESS)
         {
            minorFrame = new MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG[2];

            // Command #0 : Address 5, Subaddress 3, RX, 2 words, Modulo 1
            rc = mxfMIL1553CommandCompose(bcMsgID[BUF_SA3_RX].address, bcMsgID[BUF_SA3_RX].subAddress, bcMsgID[BUF_SA3_RX].type, 2, out minorFrame[0].command);
            minorFrame[0].modulo = 1;
            minorFrame[0].buffer = bcBufferTx[BUF_SA3_RX];

            // Command #1 : Address 5, Subaddress 3, TX, 2 words, delay of 1 msec from preceding command or start of minor frame
            if (rc == MAXT_SUCCESS)
            {
               rc = mxfMIL1553CommandCompose(bcMsgID[BUF_SA3_TX].address, bcMsgID[BUF_SA3_TX].subAddress, bcMsgID[BUF_SA3_TX].type, 2, out minorFrame[1].command);
               if (rc == MAXT_SUCCESS)
               {
                  minorFrame[1].options = MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG_OPT_DELAY;
                  minorFrame[1].modulo = 1;
                  minorFrame[1].buffer = bcBufferTx[BUF_SA3_TX];
                  minorFrame[1].delay = 8000;
                  rc = mxfMIL1553TxPeriodicMajorFrameSet(bc[0], 0, 1, 2, minorFrame, IntPtr.Zero);
               }
            }
         }

         // Set the minor frame #3 using 2 Commands
         if (rc == MAXT_SUCCESS)
         {
            minorFrame = new MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG[2];
            mfProp = new MXF_MIL1553_TXPERIODIC_MJRFRAME_MINOR_PROPERTIES();

            mfProp.options = MXF_MIL1553_TXPERIODIC_MJRFRAME_MINOR_PROPERTIES_OPT_BRANCH_GOTO;
            mfProp.modulo = 1;
            mfProp.repeatCount = 1;
            mfProp.branchIndex = 1;

            // Command #0 : Address 5, Subaddress 5, RX, 3 words
            rc = mxfMIL1553CommandCompose(bcMsgID[BUF_SA5_RX].address, bcMsgID[BUF_SA5_RX].subAddress, bcMsgID[BUF_SA5_RX].type, 3, out minorFrame[0].command);
            minorFrame[0].modulo = 1;
            minorFrame[0].buffer = bcBufferTx[BUF_SA5_RX];

            // Command #1 : Address 5, Subaddress 5, TX, 3 words, delay of 1 msec after end of preceding command, loop to minor frame #1
            if (rc == MAXT_SUCCESS)
            {
               rc = mxfMIL1553CommandCompose(bcMsgID[BUF_SA5_TX].address, bcMsgID[BUF_SA5_TX].subAddress, bcMsgID[BUF_SA5_TX].type, 3, out minorFrame[1].command);
               if (rc == MAXT_SUCCESS)
               {
                  minorFrame[1].options = MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG_OPT_GAP;
                  minorFrame[1].buffer = bcBufferTx[BUF_SA5_TX];
                  minorFrame[1].modulo = 1;
                  minorFrame[1].delay = 8000;
               }
            }

            if (rc == MAXT_SUCCESS)
               rc = mxfMIL1553TxPeriodicMajorFrameSet(bc[0], 0, 2, 2, minorFrame, ref mfProp);
         }


         // Set BC data for address 5, subaddress 3, RX
         if (rc == MAXT_SUCCESS)
         {
            txRec1553.repeatCount = 10; // repeat count of 10
            txRec1553.dataSize = 6; //6 bytes (command + 2 words)
            txRec1553.data[0] = 0x0000; //Not used
            txRec1553.data[1] = 0x0000;
            txRec1553.data[2] = 0x1111;

            Marshal.StructureToPtr(txRec1553, txBuffer, true);

            rc = mxfMIL1553TxPeriodicUpdateMsgWrite(bcBufferTx[BUF_SA3_RX], 1, txBuffer);
         }

         // Set BC data for address 5, subaddress 5, RX
         if (rc == MAXT_SUCCESS)
         {
            txRec1553.repeatCount = 1;
            txRec1553.dataSize = 8; //8 bytes (command + 3 words)
            txRec1553.data[0] = 0x0000; //Not used
            txRec1553.data[1] = 0xFFFF;
            txRec1553.data[2] = 0xEEEE;
            txRec1553.data[3] = 0xDDDD;

            Marshal.StructureToPtr(txRec1553, txBuffer, true);

            rc = mxfMIL1553TxPeriodicUpdateMsgWrite(bcBufferTx[BUF_SA5_RX], 1, txBuffer);
         }

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

         // Start the major frame with 250 msec rate
         if (rc == MAXT_SUCCESS)
            rc = mxfMIL1553TxPeriodicMajorFrameStart(bc[0], 0, 250000000, IntPtr.Zero);

         // Read and display received messages
         if (rc == MAXT_SUCCESS)
         {
            IntPtr recPtr = IntPtr.Zero;
            do
            {
               rc = mxfMIL1553RxAcqRead(bmBufferRx, 0, rxBufferSize, out rxAcqStatus, out msgCount, out byteCount, rxBuffer);

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

                  rc = mxfMIL1553DataRecordDecompose(bc[0], 1, rxRec1553, msgInfo);
                  if (rc == MAXT_SUCCESS)
                  {
                     rc = mxfMIL1553CommandDecompose(rxRec1553[0].data[0], out address, out subAddress, out dir, out wordCount);
                     if (rc == MAXT_SUCCESS)
                     {
                        Console.Write("\n\r{0}:\t", rxRec1553[0].timeTag);
                        switch (msgInfo[0].msgType)
                        {
                           case MXF_MIL1553_MSGINFO_TYPE_BCRT:
                              Console.Write("BC to RT{0} SA{1} WC{2} (0x{3:x4})\n\r", address, subAddress, wordCount, rxRec1553[0].data[0]);
                              Console.Write("\t\tBC data:");
                              for (data = 0; data < msgInfo[0].dataWordCount; data++)
                              {
                                 if (data > 0 && (data % 4) == 0)
                                    Console.Write("\n\r\t\t\t");

                                 Console.Write(" 0x{0:x4}", rxRec1553[0].data[msgInfo[0].dataIndex + data]);
                              }
                              Console.Write("\n\r");
                              if (msgInfo[0].statusIndex[0] != 0xffff)
                                 Console.Write("\t\tRT status: 0x{0:x4}\n\r", rxRec1553[0].data[msgInfo[0].statusIndex[0]]);
                              break;

                           case MXF_MIL1553_MSGINFO_TYPE_RTBC:
                              Console.Write("RT{0} SA{1} WC{2} to BC (0x{3:x4})\n\r", address, subAddress, wordCount, rxRec1553[0].data[0]);
                              if (msgInfo[0].statusIndex[0] != 0xffff)
                              {
                                 Console.Write("\t\tRT status: 0x{0:x4}\n\r", rxRec1553[0].data[msgInfo[0].statusIndex[0]]);
                                 Console.Write("\t\tRT data:");
                                 for (data = 0; data < msgInfo[0].dataWordCount; data++)
                                 {
                                    if (data > 0 && (data % 4) == 0)
                                       Console.Write("\n\r\t\t\t");

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

                           case MXF_MIL1553_MSGINFO_TYPE_MODECODE_TXDATA:
                              Console.Write("BC Mode Command {0} to RT{1} SA{2} (0x{3:x4})\n\r", wordCount, address, subAddress, rxRec1553[0].data[0]);
                              if (msgInfo[0].statusIndex[0] != 0xffff)
                              {
                                 Console.Write("\t\tRT status: 0x{0:x4}\n\r", rxRec1553[0].data[msgInfo[0].statusIndex[0]]);
                                 Console.Write("\t\tRT data: 0x{0:x4}\n\r", rxRec1553[0].data[msgInfo[0].dataIndex]);
                              }
                              break;
                        }
                     }
                  }
                  // Get next msg
                  rc = mxfMIL1553NextDataRecordPtrGet(recPtr, out recPtr);
               }
               mxfSleep(500);
               loop++;
               if (rc == MAXT_SUCCESS && loop == 1)
               {
                  // switch to minor frame 1
                  rc = mxfDiscreteChannelWrite(discOut[0], 0x1, 0x1);
               }
            } while (loop < 10);
         }

         // Stop acquisition
         if (rc == MAXT_SUCCESS)
         {
            rc = mxfRxAcqStop(bmBufferRx);
            if (rc == MAXT_SUCCESS)
               rc = mxfRxAcqClear(bmBufferRx);
         }

         // Stop the major frame
         if (rc == MAXT_SUCCESS)
            rc = mxfTxPeriodicMajorFrameStop(bc[0], 0, 0);

         Console.Write("Terminating\n\r");

         // 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 
         for (indexBuffer = 0; indexBuffer < 4 && bcBufferTx[indexBuffer] > 0; indexBuffer++)
         {
            if (bcBufferTx[indexBuffer] != 0)
            {
                rc = mxfTxPeriodicUpdateMsgBufferFree(bcBufferTx[indexBuffer]);
                if (rc != MAXT_SUCCESS)
                    Console.Write("Free buffer failed !\n\r");
            }
        }

         if (bcBufferNoOp > 0)
         {
            rc = mxfTxPeriodicUpdateMsgBufferFree(bcBufferNoOp);
            if (rc != MAXT_SUCCESS)
               Console.Write("Free buffer failed !\n\r");
         }
         if (bmBufferRx > 0)
         {
            rc = mxfRxAcqBufferFree(bmBufferRx);
            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;
      }
   }
}