private void ReadRaw()
{
try
{
TPCANStatus result;
do
{
TpcanMsg readCanMsg;
result = PcanBasicDllWrapper.Read(this.MPcanHandle, out readCanMsg, out _);
if (result == TPCANStatus.PCAN_ERROR_OK)
{
this.ReadCanMessageEvent.OnReached(new ReadCanMessageEventArgs(readCanMsg.Id, readCanMsg.Data));
}
else
{
Thread.Sleep(1);
}
}while (true);
}
catch (Exception ex)
{
this.Logger.LogError(ex);
throw;
}
}
/// <summary>
/// Does this instance.
/// </summary>
/// <returns>Return the handle.</returns>
/// <exception cref="System.Exception">Throw an exception.</exception>
public ushort Do()
{
try
{
lock (LockInit)
{
var resInit = PcanBasicDllWrapper.Initialize(this.MPcanHandle, this.Baudrate, TPCANType.PCAN_TYPE_ISA, Convert.ToUInt32("0100", 16), Convert.ToUInt16("3"));
// this.Logger.LogDebug($"Init tes {resInit}");
if (resInit == TPCANStatus.PCAN_ERROR_INITIALIZE)
{
return(this.MPcanHandle);
}
if (resInit != TPCANStatus.PCAN_ERROR_OK)
{
// Ein Fehler ist aufgetreten. Die Rückgabewert wird in Text umgewandelt und angezeigt.
var strMsg = new StringBuilder(256);
PcanBasicDllWrapper.GetErrorText(resInit, 0, strMsg);
// this.Logger.LogDebug("In init :" + strMsg.ToString());
throw new Exception($"CAN-init not successfull handle {this.MPcanHandle}");
}
// this.Logger.LogTrace("CAN is already initaized.");
return(this.MPcanHandle);
}
}
catch (Exception e)
{
this.Logger.LogError(e);
throw;
}
}
/// <summary>
/// Remotes the request for channel value.
/// </summary>
/// <param name="node">The node value.</param>
public void RemoteRequestForChannelValue(uint node)
{
try
{
this.OpenCanDongle();
// ClearMessageBuffer(node);
var canMsg = new TpcanMsg
{
Id = node,
Msgtype = TpcanMessageType.PCAN_MESSAGE_RTR,
Data = new byte[8],
Len = 2 // todo mb: die längenangabe ist aufgrund eines Fehlverhaltens im alten Knoten notwendig
};
// Console.WriteLine("canMsg.ID: RemoteRequest" + canMsg.ID);
var result = PcanBasicDllWrapper.Write(this.MPcanHandle, ref canMsg);
if (result != TPCANStatus.PCAN_ERROR_OK)
{
throw new Exception("TpCanStatus");
}
}
catch (Exception e)
{
this.Logger.LogError(e);
}
}
/// <summary>
/// Resets this instance.
/// </summary>
public void Reset()
{
try
{
PcanBasicDllWrapper.Uninitialize(this.MPcanHandle);
this.Do(); // handle neu schreiben??!! todo mb. evtl das reset impliziert?
}
catch (Exception e)
{
this.Logger.LogError(e);
throw;
}
}
/// <summary>
/// Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources.
/// </summary>
public void Dispose()
{
try
{
lock (LockDispose)
{
PcanBasicDllWrapper.Uninitialize(PcanBasicDllWrapper.PCAN_NONEBUS);
}
}
catch (Exception e)
{
this.Logger.LogError(e);
throw;
}
}
///// <summary>
///// Clears the message buffer.
///// </summary>
///// <param name="type">The type of message.</param>
// public void ClearMessageBuffer(uint id, TpcanMessageType type = TpcanMessageType.PCAN_MESSAGE_STANDARD)
// {
// TpcanMsg readCanMsg;
// readCanMsg.Id = 0x1B;
// readCanMsg.Len = 8;
// readCanMsg.Msgtype = type;
// while (TPCANStatus.PCAN_ERROR_QRCVEMPTY
// != PcanBasicDllWrapper.Read(this.MPcanHandle, out readCanMsg, out _))
// {
// // Console.WriteLine($"clear {readCanMsg.Id}");
// this.Logger.LogTrace("read empty" + readCanMsg.Id);
// }
// }
/// <summary>
/// Writes the can.
/// </summary>
/// <param name="id">The identifier.</param>
/// <param name="data">The data info.</param>
/// <exception cref="Exception">TPCANSTATUS not ok.</exception>
public void WriteCan(uint id, IReadOnlyList <byte> data, TpcanMessageType tpcanMessageType = TpcanMessageType.PCAN_MESSAGE_STANDARD)
{
try
{
lock (LockWrite)
{
this.Logger.LogBegin(this.GetType());
this.OpenCanDongle();
if (data.Count > 8)
{
throw new Exception("Could not write more then 8 bytes.");
}
var canMsg = new TpcanMsg();
canMsg.Id = id;
canMsg.Data = new byte[8];
canMsg.Len = (byte)data.Count;
for (var i = 0; i < canMsg.Len; i++)
{
canMsg.Data[i] = data[i];
}
canMsg.Msgtype = tpcanMessageType;//TpcanMessageType.PCAN_MESSAGE_STANDARD;
var result = PcanBasicDllWrapper.Write(this.MPcanHandle, ref canMsg);
if (result == TPCANStatus.PCAN_ERROR_BUSOFF)
{
this.PreparePeakCan.Reset();
}
if (result != TPCANStatus.PCAN_ERROR_OK)
{
throw new Exception("TpCanStatus.");
}
}
}
catch (Exception ex)
{
this.Logger.LogError(ex);
throw;
}
}