mil1553_rt.cs

/*****************************************************************************
//
##    File:
##       mil1553_rt.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 basic usage of MIL-STD-1553 remote terminal.
//      Can be run with mil1553_bc and mil1553_bm at the same time.
//
//       Hardware requirements:
//          - MAXT Flex1553-PCIe or FlexMulti or 500 series carrier with IPM-1553-MRT
//
*****************************************************************************/

#define LOCAL

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

using static MAXT.MXFoundation.mxf;



namespace mil1553_example
{
   public class mil1553_rt
   {
      const UInt32 CMD_TX = 0;
      const UInt32 CMD_RX = 1;
      const UInt32 CMD_MC = 2;

      static void Main(string[] args)
      {
         UInt64 server;
         var device = new UInt64[1];
         var module = new UInt64[1];
         var rt = new UInt64();
         var tx = new UInt64[3]; //buffer
         var rx = new UInt64(); //buffer

         UInt64 deviceCount = 0;
         UInt64 moduleCount = 0;

         UInt32 txBufferSize = 1024;
         IntPtr txBuffer = IntPtr.Zero;
         var txRec1553 = new MXF_MIL1553_DATAREC();
         txRec1553.data = new UInt16[36];

         UInt32 rxBufferSize = 64 * 4096;
         IntPtr rxBuffer = IntPtr.Zero;
         var rxRec1553 = new MXF_MIL1553_DATAREC[1];

         UInt64 bus = 0;
         UInt64 rxAcqStatus;
         UInt64 msgCount;
         UInt64 byteCount;
         UInt64 rxRec;
         UInt32 loop = 0;
         UInt64 wordCount;
         UInt64 card, mod, port, indexBuffer;
         UInt32 data;

         var msgInfo = new MXF_MIL1553_MSGINFO[1];

         var errorString = new StringBuilder(200);
         UInt32 rc;

         // Connect to MX Foundation library
#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)
         {
            rc = mxfSystemInit(server);
            if (rc == MAXT_ERROR_ANOTHER_PROCESS_RUNNING)
            {
               // if another MX Foundation application is running, only load MX-Foundation library, otherwise reset cards first
               rc = mxfSystemResourcesInit(server, 0);
            }
         }

         // Get handle of first MIL-STD-1553 RT5 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 = mxfDeviceModuleAllGet(device[0], MXF_MODULE_MIL1553MRT, 1, out moduleCount, module);
         }

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

         if (rc == MAXT_SUCCESS)
            rc = mxfModuleChannelGet(module[0], 7, out rt);

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

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

            // RT 5: address=0, subaddress 3 TX
            rc = mxfTxPeriodicUpdateMsgBufferAlloc(rt, CMD_TX, txBufferSize, out tx[CMD_TX], IntPtr.Zero);

            // RT 5: address=0, subaddress 3 RX
            if (rc == MAXT_SUCCESS)
               rc = mxfTxPeriodicUpdateMsgBufferAlloc(rt, CMD_RX, txBufferSize, out tx[CMD_RX], IntPtr.Zero);

            // RT 5: Mode Command 16
            if (rc == MAXT_SUCCESS)
               rc = mxfTxPeriodicUpdateMsgBufferAlloc(rt, CMD_MC, txBufferSize, out tx[CMD_MC], IntPtr.Zero);

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

         // Allocate buffer for Rx data
         if (rc == MAXT_SUCCESS)
         {
            rxBufferSize = 64 * 4096;

            // Device allocation
            rc = mxfRxAcqBufferAlloc(rt, rxBufferSize, out rx, 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);

         // Enable the BUS A and B of RT 5 subaddress 3
         if (rc == MAXT_SUCCESS)
         {
            bus = MXF_MIL1553_BUS_A | MXF_MIL1553_BUS_B;

            // TX
            rc = mxfMIL1553RtSubsystemEnableSet(rt, MXF_MIL1553_MSGTYPE_TX, 3, bus, tx[CMD_TX]);

            // RX
            if (rc == MAXT_SUCCESS)
               rc = mxfMIL1553RtSubsystemEnableSet(rt, MXF_MIL1553_MSGTYPE_RX, 3, bus, tx[CMD_RX]);
         }

         // Enable the BUS A and B of RT 5 mode command 16
         if (rc == MAXT_SUCCESS)
            rc = mxfMIL1553RtSubsystemEnableSet(rt, MXF_MIL1553_MSGTYPE_MODECODE, 16, bus, tx[CMD_MC]);


         // Set default data for address 5, subaddress 3
         if (rc == MAXT_SUCCESS)
         {
            txRec1553.repeatCount = 1;
            txRec1553.dataSize = 34; //34 bytes (command + 16 words)
            txRec1553.data[0] = 0x0000; //Not used
            txRec1553.data[1] = 0xFFFF;
            txRec1553.data[2] = 0xEEEE;
            txRec1553.data[3] = 0xDDDD;
            txRec1553.data[4] = 0xCCCC;
            txRec1553.data[5] = 0xBBBB;
            txRec1553.data[6] = 0xAAAA;
            txRec1553.data[7] = 0x9999;
            txRec1553.data[8] = 0x8888;
            txRec1553.data[9] = 0x7777;
            txRec1553.data[10] = 0x6666;
            txRec1553.data[11] = 0x5555;
            txRec1553.data[12] = 0x4444;
            txRec1553.data[13] = 0x3333;
            txRec1553.data[14] = 0x2222;
            txRec1553.data[15] = 0x1111;
            txRec1553.data[16] = 0x0000;

            Marshal.StructureToPtr(txRec1553, txBuffer, false);

            rc = mxfMIL1553TxPeriodicUpdateMsgWrite(tx[CMD_TX], 1, txBuffer);
         }

         // Start messages queues
         if (rc == MAXT_SUCCESS)
         {
            Console.Write("Starting RT\n\r");
            rc = mxfMIL1553RtEnableSet(rt, VMXF_ENABLE);
         }

         // Start RT acquisition
         if (rc == MAXT_SUCCESS)
            rc = mxfRxAcqStart(rx, MXF_RXACQ_FLAG_DEFAULT, 0, 0);

         // Read and display received messages
         if (rc == MAXT_SUCCESS)
         {
            UInt64 addr, subAddr, dir;
            IntPtr recPtr = IntPtr.Zero;
            do
            {
               rc = mxfMIL1553RxAcqRead(rx, 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(rt, 1, rxRec1553, msgInfo);
                  if (rc == MAXT_SUCCESS)
                  {
                     rc = mxfMIL1553CommandDecompose(rxRec1553[0].data[0], out addr, out subAddr, 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", addr, subAddr, 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");
                              break;

                           case MXF_MIL1553_MSGINFO_TYPE_RTBC:
                              Console.Write("RT{0}SA{1}WC{2}to BC (0x{3:x4})\n\r", addr, subAddr, wordCount, rxRec1553[0].data[0]);
                              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, addr, subAddr, rxRec1553[0].data[0]);
                              break;
                        }
                     }
                  }
                  // Get next msg
                  if (rc == MAXT_SUCCESS)
                     rc = mxfMIL1553NextDataRecordPtrGet(recPtr, out recPtr);
               }
               mxfSleep(500);
               loop++;
            } while (loop < 200 && rc == MAXT_SUCCESS);
         }

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

         if (rc == MAXT_SUCCESS)
            rc = mxfRxAcqClear(rx);

         // Stop RT
         if (rc == MAXT_SUCCESS)
            rc = mxfMIL1553RtEnableSet(rt, VMXF_DISABLE);

         Console.Write("\nStopping RT\n\r");

         // Disable the BUS A and B of RT 5 subaddress 3
         if (rc == MAXT_SUCCESS)
         {
            bus = 0;

            // TX
            rc = mxfMIL1553RtSubsystemEnableSet(rt, MXF_MIL1553_MSGTYPE_TX, 3, bus, tx[CMD_TX]);

            // RX
            if (rc == MAXT_SUCCESS)
               rc = mxfMIL1553RtSubsystemEnableSet(rt, MXF_MIL1553_MSGTYPE_RX, 3, bus, tx[CMD_RX]);
         }

         // Disable the BUS A and B of RT 5 mode command 16
         if (rc == MAXT_SUCCESS)
            rc = mxfMIL1553RtSubsystemEnableSet(rt, MXF_MIL1553_MSGTYPE_MODECODE, 16, bus, tx[CMD_MC]);

         // 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 < 3; indexBuffer++)
        {
            if (tx[indexBuffer] != 0)
            {
                rc = mxfTxPeriodicUpdateMsgBufferFree(tx[indexBuffer]);
                if (rc != MAXT_SUCCESS)
                    Console.Write("Free buffer failed !\n\r");
            }
        }

        if (rc != MAXT_SUCCESS)
        {
            rc = mxfRxAcqBufferFree(rx);
            if (rc != MAXT_SUCCESS)
                Console.Write("Free buffer failed !\n\r");
        }

         // Unload MX Foundation library
         rc = mxfSystemTerminate(server);
         if (rc == MAXT_ERROR_ANOTHER_PROCESS_RUNNING)
         {
            // if other MX Foundation application running, only unload MX-Foundation library, otherwise reset cards first
            mxfSystemResourcesRelease(server, 0);
         }

         mxfServerDisconnect(server);

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

         return;
      }
   }
}