/// <summary>
///
/// </summary>
/// <param name="slaveMacId"></param>
/// <param name="classCode"></param>
/// <param name="instanceId"></param>
public void ObjectResetService(int slaveMacId, byte classCode, byte instanceId)
{
byte[] request = new byte[]
{
(byte)MasterMacId, /*Source MAC Id: 0..64 */
Services.SRVS_RESET, /*Get Attribute Single*/
classCode, /*Class Code*/
instanceId, /*Instance Id*/
};
Adapter.Write(new CanMessage[]
{
new CanMessage(DeviceNetAddressing.GetExplicitRequestCanId(slaveMacId), request)
});
int retrty = 3;
long timestamp = DateTime.Now.Ticks;
bool isTimeout = false;
CanMessage[] rxMsgBuffer = new CanMessage[1];
do
{
do
{
if (Adapter.Attributes.PendingRxMessages > 0)
{
isTimeout = false;
Adapter.Read(rxMsgBuffer, 0, 1);
break;
}
isTimeout = DateTime.Now.Ticks - timestamp > 1000 * 10000;
} while (!isTimeout);
if (isTimeout && retrty != 0)
{
timestamp = DateTime.Now.Ticks;
}
} while (--retrty != 0 && isTimeout);
if (isTimeout)
{
throw new DeviceNetException("DeviceNet: Response Timeout.");
}
byte[] response = rxMsgBuffer[0].Data;
if (response[1] == 0x94)
{
throw new DeviceNetException("DeviceNet:" + DeviceNetException.ErrorMessageToString(response[2], response[3]));
}
if ((response[1] & 0x80) != 0x80)
{
throw new ApplicationException("DeviceNet:" + "Response Invalid.");
}
}
/// <summary>
///
/// </summary>
public void AllocateExplicitConnection(int slaveMacId)
{
Adapter.Write(new CanMessage[]
{
new CanMessage(DeviceNetAddressing.GetUnconnctedExplicitRequestCanId(slaveMacId), new byte[] { 0x00, 0x4B, 0x03, 0x01, 0x01, 0x00 })
});
int retrty = 3;
long timestamp = DateTime.Now.Ticks;
bool isTimeout = false;
CanMessage[] rxMsgBuffer = new CanMessage[1];
do
{
do
{
if (Adapter.Attributes.PendingRxMessages > 0)
{
isTimeout = false;
Adapter.Read(rxMsgBuffer, 0, 1);
break;
}
isTimeout = DateTime.Now.Ticks - timestamp > 1000 * 10000;
} while (!isTimeout);
if (isTimeout && retrty != 0)
{
timestamp = DateTime.Now.Ticks;
}
} while (--retrty != 0 && isTimeout);
CanMessage response = rxMsgBuffer[0];
if (isTimeout)
{
throw new DeviceNetException("DeviceNet: Response Timeout.");
}
if (response.Data[1] == 0x94)
{
throw new DeviceNetException("DeviceNet:" + DeviceNetException.ErrorMessageToString(response.Data[2], response.Data[3]));
}
if ((response.Data[1] & 0x80) != 0x80)
{
throw new ApplicationException("DeviceNet:" + "Response Invalid.");
}
}
public void _0009_Loopback_MessageStdA4()
{
if (_adapter.IsOpen)
{
_adapter.Close();
}
if (_adapter.Attributes.State != CanState.SDEV_IDLE)
{
_adapter.Services.Reset();
}
CanMessage[] buffer = new CanMessage[1];
_adapter.Attributes.Loopback = true;
_adapter.Open(_targetBaudrate);
_adapter.Write(new CanMessage[] { CanMessage.MessageStdA4 });
do
{
} while (_adapter.Attributes.PendingRxMessages != 1);
_adapter.Read(buffer, 0, 1);
Assert.IsTrue(buffer.Contains(CanMessage.MessageStdA4));
}
/********************************************************************************/
public void Read(out byte[] data, int tiemoutMs, ref string log)
{
int items = 0;
CanMessage[] rxFrames = new CanMessage[1];
long startTick = DateTime.Now.Ticks;
data = new byte[0];
bool isFound = false;
do
{
if (DateTime.Now.Ticks - startTick > tiemoutMs * 10000)
{
throw new Iso15765TimeoutException("P2 Max Expired,Read Timeout.");
}
items = _adapter.Attributes.PendingRxMessages;
if (items != 0)
{
for (int i = 0; i < items; i++)
{
_adapter.Read(rxFrames, 0, 1);
CanMessage msg = rxFrames[0];
string templog = Tools.TimestampFormat(msg.TimestampTick) + ";" + "Rx:;" + Tools.MsgFormat(msg);
Console.WriteLine(templog);
if (log != null)
{
log += templog + "\r\n";
}
if (msg.ArbitrationId == ReceiveId)
{
isFound = true;
data = msg.Data;
}
}
}
} while (!isFound);
}
static void Main(string[] args)
{
/*Adapter példányosítása*/
CanAdapterDevice adapter = new CanAdapterDevice();
/*Kapcsolódás egy létező adapterhez.*/
adapter.Connect();
/*Busz lezárás engedélyezése. */
adapter.Attributes.Termination = true;
/*Megnyitás az átviteli sebesség paraméterrel.*/
adapter.Open(CanBaudRateCollection.Speed500kBaud);
/*10 elemü üzenet tömb létrehozása.*/
var rxMsgArray = new CanMessage[10];
/*Bérkezett üzenet beolvasása a tömbe */
adapter.Read(rxMsgArray, 0, adapter.Attributes.PendingRxMessages);
/*Kapcsolat zárása*/
adapter.Close();
/*Kapcsolat bontása*/
adapter.Disconnect();
Console.Read();
}
/// <summary>
///
/// </summary>
/// <param name="address"></param>
/// <param name="data"></param>
/// <returns></returns>
byte[] RequestResponse(byte sMacId, byte dMacId, byte[] request, bool isUnconnected)
{
bool rxComplete = false;
byte fragCounter = 0;
byte[] response = new byte[8];
int responseLength = 0;
string log = string.Empty;
CanMessage txmsg;
if (isUnconnected)
{
txmsg = new CanMessage(GetMasterUnconnctedExplicitRequestAddress(dMacId), request);
}
else
{
txmsg = new CanMessage(GetMasterExplicitRequestAddress(dMacId), request);
}
Adapter.Write(new CanMessage[] { txmsg });
do
{
var rxMsgBuffer = new CanMessage[1];
bool isTimeout = false;
long timestamp = DateTime.Now.Ticks;
do
{
if (Adapter.Attributes.PendingRxMessages >= 1)
{
Adapter.Read(rxMsgBuffer, 0, 1);
break;
}
isTimeout = DateTime.Now.Ticks - timestamp > 1000 * 10000;
} while (!isTimeout);
if (isTimeout)
{
throw new ApplicationException("Timoeut");
}
//Console.WriteLine(string.Format("Frag: 0x{0:X2}", rxMsgBuffer[0].Data[SOURCE_ADDR_POS_IN_FRAME]));
if ((rxMsgBuffer[0].Data[SOURCE_ADDR_POS_IN_FRAME] & FRAG_BIT_POS_IN_BYTE) == FRAG_BIT_POS_IN_BYTE)
{
//Console.WriteLine(string.Format("Frag Counter: 0x{0:X2}", rxMsgBuffer[0].Data[FRAG_COUNTER_POS_IN_FRAME]));
switch ((rxMsgBuffer[0].Data[FRAG_COUNTER_POS_IN_FRAME] & 0xC0) >> 6)
{
case 0x00: { /*Console.WriteLine("First Fragment");*/ break; }
case 0x01: { /*Console.WriteLine("Middle Fragment");*/ break; }
case 0x02:
{
rxComplete = true;
/*Console.WriteLine("Last Fragment");*/
break;
}
default:
{
throw new ApplicationException("Invlaid Response");
}
}
//-------
byte[] ack = new byte[]
{
(byte)(0x80 | sMacId),
(byte)((3 << 6) | fragCounter),
0x00
};
txmsg = new CanMessage(GetMasterExplicitRequestAddress(dMacId), ack);
Adapter.Write(new CanMessage[] { txmsg });
//-------
if (responseLength == 0)
{//Beszurja a SourceMacId-t az fragmentált üzenet elejére
responseLength = 1;
Array.Resize(ref response, responseLength);
response[0] = rxMsgBuffer[0].Data[0];
}
Array.Resize(ref response, responseLength + rxMsgBuffer[0].Data.Length - 2);
Buffer.BlockCopy(rxMsgBuffer[0].Data, 2, response, responseLength, rxMsgBuffer[0].Data.Length - 2);
responseLength += rxMsgBuffer[0].Data.Length - 2;
fragCounter++;
}
else
{
Buffer.BlockCopy(rxMsgBuffer[0].Data, 0, response, 0, rxMsgBuffer[0].Data.Length);
rxComplete = true;
}
} while (!rxComplete);
return(response);
}
public void _0001_WriteRead_SingleMessage()
{
if (_adapterWriter.IsOpen)
{
_adapterWriter.Close();
}
if (_adapterReader.IsOpen)
{
_adapterReader.Close();
}
if (_adapterWriter.Attributes.State != CanState.SDEV_IDLE)
{
_adapterWriter.Services.Reset();
}
if (_adapterReader.Attributes.State != CanState.SDEV_IDLE)
{
_adapterReader.Services.Reset();
}
_adapterWriter.Attributes.Termination = true;
_adapterReader.Attributes.Termination = true;
_adapterWriter.Open(_targetBaudrate);
Thread.Sleep(50);
_adapterReader.Open(_targetBaudrate);
_adapterWriter.Write(new CanMessage[] { CanMessage.MessageStdC8 });
CanMessage[] rxFrames = new CanMessage[128];
int offset = 0, length = 0;
long startTick = DateTime.Now.Ticks;
do
{
length = _adapterReader.Attributes.PendingRxMessages;
_adapterReader.Read(rxFrames, offset, length);
offset += length;
if (DateTime.Now.Ticks - startTick > 1000 * 10000)
{
throw new Exception("Timeout");
}
} while (offset == 0);
Assert.AreEqual(0, _adapterReader.Attributes.RxDrop, "Reader RxDrop nem nulla: " + _adapterReader.Attributes.RxDrop.ToString());
Assert.AreEqual(1, _adapterReader.Attributes.RxTotal, "");
Assert.AreEqual(0, _adapterWriter.Attributes.TxDrop, "Writer TxDrop nem nulla: " + _adapterWriter.Attributes.TxDrop.ToString());
Assert.AreEqual(1, _adapterWriter.Attributes.TxTotal, "Writer TxDrop nem nulla: " + _adapterWriter.Attributes.TxTotal.ToString());
Assert.AreEqual(0, _adapterWriter.Attributes.TxDrop, "Writer TxDrop nem nulla: " + _adapterWriter.Attributes.TxDrop.ToString());
Assert.AreEqual(1, _adapterReader.Attributes.RxTotal, "Az adapter FIFO-jába nem jött meg minden:" + _adapterReader.Attributes.RxTotal.ToString());
Assert.AreEqual(1, offset, "A Host FIFO-jaba nem jött meg minden.");
}
void AsyncTest(int msgCount, uint baudrate)
{
CanAdapterDevice adapterWriter = new CanAdapterDevice();
var selectedAdapterWriter = CanAdapterDevice.GetAdapters()[0]; //{CAN Bus Adpater - MCAN120803 3873366E3133 }
adapterWriter.ConnectTo(selectedAdapterWriter);
CanAdapterDevice adapterReader = new CanAdapterDevice();
var selectedAdapterReader = CanAdapterDevice.GetAdapters()[1]; //{CAN Bus Adpater - MCAN120803 387536633133 }
adapterReader.ConnectTo(selectedAdapterReader);
Stopwatch watch = new Stopwatch();
if (adapterWriter.Attributes.State != CanState.SDEV_IDLE)
{
adapterWriter.Services.Reset();
}
if (adapterReader.Attributes.State != CanState.SDEV_IDLE)
{
adapterReader.Services.Reset();
}
adapterWriter.Attributes.Termination = true;
adapterReader.Attributes.Termination = true;
try
{
CanMessage[] txFrames = new CanMessage[msgCount];
Action writer = () =>
{
try
{
for (int i = 0; i < msgCount; i++)
{
txFrames[i] = CanMessage.MessageStdC8;
byte[] valuebytes = BitConverter.GetBytes((uint)i + 1);
Buffer.BlockCopy(valuebytes, 0, txFrames[i].Data, 0, valuebytes.Length);
}
adapterWriter.Write(txFrames);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
};
CanMessage[] rxFrames = new CanMessage[msgCount];
int offset = 0;
watch.Start();
long startTick = DateTime.Now.Ticks;
AutoResetEvent doneEv = new AutoResetEvent(false);
Action reader = () =>
{
try
{
do
{
if (DateTime.Now.Ticks - startTick > 15000 * 10000)
{
throw new Exception("Timeout");
}
int length = adapterReader.Attributes.PendingRxMessages;
adapterReader.Read(rxFrames, offset, length);
//Console.WriteLine("Pending: " + length + "Length: " + offset );
offset += length;
} while (offset != msgCount);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
Console.WriteLine("RxTotal:" + adapterReader.Attributes.RxTotal.ToString());
Console.WriteLine("RxDrop:" + adapterReader.Attributes.RxDrop.ToString());
}
doneEv.Set();
};
adapterWriter.Open(baudrate);
adapterReader.Open(baudrate);
reader.BeginInvoke(null, null);
Thread.Sleep(50);
writer.BeginInvoke(null, null);
doneEv.WaitOne();
watch.Stop();
double calcBps1 = ((msgCount * 8E+0) / (watch.ElapsedMilliseconds / 1000E+0));
double calcBps2 = ((msgCount * 8E+0) / (((DateTime.Now.Ticks - startTick) / 10000E+0) / 1000E+0));
uint rxTotal = adapterReader.Attributes.RxTotal;
Console.WriteLine("Reader RxDrop: " + adapterReader.Attributes.RxDrop);
Console.WriteLine("Writer TxDrop: " + adapterWriter.Attributes.TxDrop);
Console.WriteLine("Átjött Host FIFO-jába: " + offset);
Console.WriteLine("Számított Baudrate 1: " + calcBps1.ToString());
Console.WriteLine("Számított Baudrate 2: " + calcBps2.ToString());
adapterReader.Close();
adapterWriter.Close();
Assert.AreEqual(msgCount, rxTotal, "Az adapter FIFO-jába nem jött meg minden.");
Assert.AreEqual(msgCount, offset, "A Host FIFO-jaba nem jött meg minden.");
}
catch
{
throw;
}
finally
{
adapterWriter.Disconnect();
adapterReader.Disconnect();
}
}
/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void BackgroundWorker_DoWork(object sender, DoWorkEventArgs e)
{
Stopwatch watch = new Stopwatch();
watch.Start();
Adapter.Write(new CanMessage[] { new CanMessage(0x0000, new byte[0]) });
Thread.Sleep(2000);
for (int slaveMacId = 0; slaveMacId < 64; slaveMacId++)
{
try
{
if (BackgroundWorker.CancellationPending)
{
e.Cancel = true;
break;
}
long timestamp = DateTime.Now.Ticks;
bool isTimeout = false;
CanMessage[] rxMsgBuffer = new CanMessage[1];
Adapter.Write(new CanMessage[] { new CanMessage(DeviceNetAddressing.GetCheckMacId(slaveMacId), new byte[0]) });
do
{
if (Adapter.Attributes.PendingRxMessages >= 1)
{
Adapter.Read(rxMsgBuffer, 0, 1);
break;
}
isTimeout = DateTime.Now.Ticks - timestamp > 10 * 10000;
} while (!isTimeout);
CanMessage responseBuffer = rxMsgBuffer[0];
BackgroundWorker.ReportProgress((int)((slaveMacId / 63.0) * 100.0), "STATUS: " + slaveMacId.ToString() + ".");
if (!isTimeout)
{
if (DeviceNetAddressing.IsMacIdCheckCanId(responseBuffer.ArbitrationId))
{
ushort vendorId = BitConverter.ToUInt16(responseBuffer.Data, 1);
uint serialNumber = BitConverter.ToUInt32(responseBuffer.Data, 2);
var unconnected = new UnconnectedSalveDevice(Adapter);
var connected = new ConnectedSalveDevice(Adapter, 0);
unconnected.AllocateExplicitConnection(slaveMacId);
ushort productCode = 0;
try
{
productCode = BitConverter.ToUInt16(connected.GetAttribute(slaveMacId, 1, 1, 3), 0);
Devices.Add(Devices.CreateDevice(slaveMacId, vendorId, productCode, serialNumber));
}
catch (Exception ex)
{
throw ex;
}
finally
{
unconnected.ReleaseExplicitConnection(slaveMacId);
}
}
}
}
catch (Exception ex)
{
e.Result = ex;
}
}
watch.Stop();
if (!BackgroundWorker.CancellationPending)
{
BackgroundWorker.ReportProgress(0, "COMPLETE Elapsed:" + (watch.ElapsedMilliseconds / 1000.0).ToString() + "s");
//e.Result = data;
}
else
{
BackgroundWorker.ReportProgress(0, "ABORTED Elapsed:" + (watch.ElapsedMilliseconds / 1000.0).ToString() + "s");
}
}
static void Main(string[] args)
{
/*Adapter példányosítása*/
CanAdapterDevice adapter = new CanAdapterDevice();
/*Kapcsolódás egy létező adapterhez.*/
adapter.Connect();
/*Busz lezárás engedélyezése. */
adapter.Attributes.Termination = true;
/*Loopback moód engedélyezése*/
adapter.Attributes.Loopback = true;
/*Megnyitás az átviteli sebesség paraméterrel.*/
adapter.Open(CanBaudRateCollection.Speed125000Baud);
/*2 CAN üzenet tartalmazó tömb létrehozása a kimenő üzenetknek.*/
CanMessage[] txMsgArray = new CanMessage[]
{
/* ArbId Data */
new CanMessage(0x000001, new byte[] { 0x01, 0x02, 0x03 }),
new CanMessage(0x000002, new byte[] { 0x04, 0x05, 0x06 }),
};
/*Üzenetek küldése*/
adapter.Write(txMsgArray);
/*2 elemü üzenet tömb létrehozása a bejövő üzeneteknek.*/
var rxMsgArray = new CanMessage[2];
/*Timeout figyeléshez megjegyezzük az beolvasás indításának időpontját.*/
long timestampTicks = DateTime.Now.Ticks;
bool isTimeout = false;
do
{
/*Ha 2db CAN üzenet várakozik a Bufferben, akkor kiolvassuk.*/
if (adapter.Attributes.PendingRxMessages == 2)
{
/*Bérkezett üzenet beolvasása a tömbe */
adapter.Read(rxMsgArray, 0, adapter.Attributes.PendingRxMessages);
/*Kilépés a do-while-ból*/
break;
}
/*Inditás óta eltelt már 5000ms?*/
isTimeout = (DateTime.Now.Ticks - timestampTicks) > (5000 * 10000);
/*Timeout-ig ismétli a ciklust...*/
} while (!isTimeout);
if (isTimeout)
{
Console.WriteLine("Timeout...");
}
else
{
foreach (CanMessage msg in rxMsgArray)
{
Console.WriteLine("Incoming Msg:" + msg.ToString());
}
Console.WriteLine("Complete.");
}
/*Kapcsolat zárása*/
adapter.Close();
/*Kapcsolat bontása*/
adapter.Disconnect();
Console.Read();
}
