public bool CAN_GetMessage(ref caCANFrame frame, uint timeout)
{
if (timeout > 0 && !frame_event.WaitOne((int)timeout))
{
// timeout expired
return(false);
}
frame_lock.WaitOne();
bool ret = false;
if (frame_queue.Count > 0)
{
// get oldest frame
frame = (caCANFrame)frame_queue.Dequeue();
ret = true;
}
// reset the event if no more messages
if (frame_queue.Count < 1)
{
frame_event.Reset();
}
frame_lock.ReleaseMutex();
return(ret);
}
public void CAN_SendMessage(ref caCANFrame frame)
{
try
{
byte[] cmd_data = new byte[15];
Debug.Assert(cmd_data != null);
// format command data
BitConverter.GetBytes(frame.id).CopyTo(cmd_data, 0);
BitConverter.GetBytes(frame.data).CopyTo(cmd_data, 4);
cmd_data[12] = frame.length;
cmd_data[13] = frame.is_extended;
cmd_data[14] = frame.is_remote;
// send message; NB; adapter won't answer!
send_command(cmd_can_txframe, cmd_data, 0, packet_timeout);
}
// handle exceptions
catch (Exception e) {
throw new Exception("Failed to send CAN message:" + e.Message);
}
}
protected override void process_usb()
{
int byte_i;
while (usb_queue.Count >= caPacket.min_size)
{
if (!pack_incomplete)
{
// read packet header
in_pack.cmd_code = (byte)usb_queue.Dequeue();
in_pack.data_len =
(ushort)(((byte)usb_queue.Dequeue() << 8) | (byte)usb_queue.Dequeue());
}
if (usb_queue.Count <= in_pack.data_len)
{
// incomplete packet
pack_incomplete = true;
return;
}
if (in_pack.data_len > 0)
{
// read data block
in_pack.data = new byte[in_pack.data_len];
Debug.Assert(in_pack.data != null);
for (byte_i = 0; byte_i < in_pack.data_len; ++byte_i)
{
in_pack.data[byte_i] = (byte)usb_queue.Dequeue();
}
}
// teminator
in_pack.term = (byte)usb_queue.Dequeue();
pack_incomplete = false;
// got CAN frame
if (in_pack.cmd_code == cmd_can_frame)
{
if (in_pack.data_len == 15)
{
// fill frame structure
caCANFrame can_frame = new caCANFrame();
can_frame.id = (uint)BitConverter.ToInt32(in_pack.data, 0);
can_frame.data = (ulong)BitConverter.ToInt64(in_pack.data, 4);
can_frame.length = in_pack.data[12];
can_frame.is_extended = in_pack.data[13];
can_frame.is_remote = in_pack.data[14];
frame_lock.WaitOne();
// store frame in queue and notify waiting threads
frame_queue.Enqueue(can_frame);
frame_event.Set();
frame_lock.ReleaseMutex();
}
}
// got command response
else
{
response_lock.WaitOne();
// save response packet and notify waiting threads
caPacket new_pack = new caPacket();
new_pack.cmd_code = in_pack.cmd_code;
new_pack.data = in_pack.data_len != 0 ? (byte[])in_pack.data.Clone() : null;
new_pack.data_len = in_pack.data_len;
new_pack.term = in_pack.term;
response_queue.Enqueue(new_pack);
response_event.Set();
response_lock.ReleaseMutex();
}
}
}
protected override void process_usb()
{
int byte_i;
while (usb_queue.Count >= caPacket.min_size) {
if (!pack_incomplete)
{
// read packet header
in_pack.cmd_code = (byte)usb_queue.Dequeue();
in_pack.data_len =
(ushort)(((byte)usb_queue.Dequeue() << 8) | (byte)usb_queue.Dequeue());
}
if (usb_queue.Count <= in_pack.data_len)
{
// incomplete packet
pack_incomplete = true;
return;
}
if (in_pack.data_len > 0)
{
// read data block
in_pack.data = new byte[in_pack.data_len];
Debug.Assert(in_pack.data != null);
for (byte_i = 0; byte_i < in_pack.data_len; ++byte_i)
{
in_pack.data[byte_i] = (byte)usb_queue.Dequeue();
}
}
// teminator
in_pack.term = (byte)usb_queue.Dequeue();
pack_incomplete = false;
// got CAN frame
if(in_pack.cmd_code == cmd_can_frame)
{
if(in_pack.data_len == 15)
{
// fill frame structure
caCANFrame can_frame = new caCANFrame();
can_frame.id = (uint)BitConverter.ToInt32(in_pack.data, 0);
can_frame.data = (ulong)BitConverter.ToInt64(in_pack.data, 4);
can_frame.length = in_pack.data[12];
can_frame.is_extended = in_pack.data[13];
can_frame.is_remote = in_pack.data[14];
frame_lock.WaitOne();
// store frame in queue and notify waiting threads
frame_queue.Enqueue(can_frame);
frame_event.Set();
frame_lock.ReleaseMutex();
}
}
// got command response
else
{
response_lock.WaitOne();
// save response packet and notify waiting threads
caPacket new_pack = new caPacket();
new_pack.cmd_code = in_pack.cmd_code;
new_pack.data = in_pack.data_len != 0 ? (byte[])in_pack.data.Clone() : null;
new_pack.data_len = in_pack.data_len;
new_pack.term = in_pack.term;
response_queue.Enqueue(new_pack);
response_event.Set();
response_lock.ReleaseMutex();
}
}
}
public void CAN_SendMessage(ref caCANFrame frame)
{
try
{
byte[] cmd_data = new byte[15];
Debug.Assert (cmd_data != null);
// format command data
BitConverter.GetBytes(frame.id).CopyTo(cmd_data,0);
BitConverter.GetBytes(frame.data).CopyTo(cmd_data,4);
cmd_data[12] = frame.length;
cmd_data[13] = frame.is_extended;
cmd_data[14] = frame.is_remote;
// send message; NB; adapter won't answer!
send_command (cmd_can_txframe, cmd_data, 0, packet_timeout);
}
// handle exceptions
catch (Exception e) {
throw new Exception("Failed to send CAN message:" + e.Message);
}
}
public bool CAN_GetMessage(ref caCANFrame frame, uint timeout)
{
if (timeout > 0 && !frame_event.WaitOne ((int)timeout)) {
// timeout expired
return false;
}
frame_lock.WaitOne ();
bool ret = false;
if (frame_queue.Count > 0) {
// get oldest frame
frame = (caCANFrame)frame_queue.Dequeue();
ret = true;
}
// reset the event if no more messages
if (frame_queue.Count < 1)
{
frame_event.Reset();
}
frame_lock.ReleaseMutex();
return ret;
}
