capl-延时发送某个信号以及时间函数

/*@!Encoding:936*/

includes
{
  
}


variables
{
  
  message VDPC_0x1A0 msg_1A0; 

  float sigvalue; 
  msTimer timer_1A0;
  message VDPSWS_0x256 msg_256;
  msTimer timer_256;
  msTimer timesleep_100;
  float x;
 long  timeBuffer[10];
  long time[8];
}


on start{
  
  setTimer(timer_1A0,20);
  setTimer(timer_256,20);
      
}
on timer timer_1A0{
  
  //$VDPC_0x1A0::VdpcLoclLoVPwrMod=1;
 //$VDPC_0x1A0::VdpcLowVPwrMod=3;
  
  msg_1A0.VdpcLowVPwrMod=3;
  msg_1A0.VdpcLoclLoVPwrMod=3;//On 
  output(msg_1A0);
  setTimer(timer_1A0,20);
}


on key 'd'{
  //满足进入dragmod的条件
    write("~~~ key D pressed ~~~");
    msg_1A0.VdpcActGear=1; //P
    msg_1A0.VdpcBrkSts=1;
  
  
    
  addTimeToMeasurementStartTime(timeNowNS(), time);
      write("key c event occured on %02d/%02d/%02d %02d:%02d:%02d.%-6d",
      time[5]+1, time[4], time[6]-100, time[3], time[2], time[1], time[0]);



  
}



on signal CdpDrgModReq
{
    if(this == 0x1)
    {
        write("get the  dragmod request");
        msg_1A0.VdpcActGear=3;//N
        msg_1A0.VdpcDrgModSts=1;
        write("time1:%ld",timeNow());
      /*
      write("time1:%ld",timeNow());   
      x= timeNow();      
      while(1){
        write("time1:%ld",timeNow());
        if (timeNow()-x>200000){
          break;
        }
      }*/         
        setTimer(timesleep_100,1000);                   
    }
}
on timer timesleep_100{
  write("time1:%ld",timeNow());
  write("delay 100ms");
  //延时100ms
  msg_1A0.VdpcActGear=4;//D
  msg_1A0.VdpcDrgModSts=0;//off
}


on timer timer_256{
  

  output(msg_256);
  setTimer(timer_256,50);
  
}















on key 'p'{
    write("~~~ key p pressed ");
    msg_256.VdpcSwsLeRollrSwtPsdSts =1;
    msg_256.VdpcSwsRiRollrSwtPsdSts =1;
  
}



on key 'c'{
  //cancelTimer(timer_256);
    msg_256.VdpcSwsLeRollrSwtPsdSts =0;
    msg_256.VdpcSwsRiRollrSwtPsdSts =0;
    write("cancel timer_256");
}

on busOff
{
  resetCanEx(1); 
  resetCanEx(2);
  resetCanEx(3);
}



/*

 //getLocalTimeString(timeBuffer);
    
  
  
      //获取按下键盘c的时间
      addTimeToMeasurementStartTime(timeNowNS(), time);
      write("key c event occured on %02d/%02d/%02d %02d:%02d:%02d.%-6d",
      time[5]+1, time[4], time[6]-100, time[3], time[2], time[1], time[0]);
  //Program / Model    key c event occured on 02/28/24 14:15:46.816
    while(1){
      int i =1;
      if(i>35000){break;}
      i+=1;
    }
    addTimeToMeasurementStartTime(timeNowNS(), time);
      write("key c event occured on %02d/%02d/%02d %02d:%02d:%02d.%-3d",
      time[5]+1, time[4], time[6]-100, time[3], time[2], time[1], time[0]);
*/