public static extern ECANStatus Receive(
UInt32 DeviceType,
UInt32 DeviceInd,
UInt32 CANInd,
out CAN_OBJ Receive,
UInt32 length,
UInt32 WaitTime);
/// <summary>
/// Basicaly function to read a frame.
/// </summary>
/// <returns>return the completed frame from CAN bus </returns>
private CAN_OBJ ReadFrame()
{
CAN_OBJ frame = new CAN_OBJ();
if (false == BufferEmpty())
{
lock (this)
{
//Console.WriteLine("[{0}] - [ReadFrame] - start");
uint uiLen = 1;
try
{
lock (this)
{
if (ECANDLL.Receive(Setting.DeviceType, Setting.DeviceID, Setting.Channel, out frame, uiLen, 1) != ECANStatus.STATUS_OK)
{
string strErrInfo = ReadError();
throw new Exception(string.Format("Failed at CAN receive: {0}", strErrInfo));
}
}
}
catch (Exception ex)
{
if (true == ex.Message.StartsWith("Failed at can receive:"))
{
throw new Exception(ex.Message);
}
throw new Exception(string.Format("Failure happeded at receive method: {0}", ex.Message));
}
}
}
return(frame);
}
public bool ReceiveSingleMessage(out CAN_OBJ canObj, int timeOut)
{
canObj = new CAN_OBJ();
try
{
DateTime dtStart = DateTime.Now;
while ((DateTime.Now - dtStart).TotalMilliseconds < timeOut)
{
if (false == BufferEmpty())
{
{
canObj = ReadFrame();
if (canObj.DataLen > 0)
{
return(true);
}
}
}
Thread.Sleep(5);
} //unread frame in instrument
}
catch (Exception ex)
{
if (true == ex.Message.StartsWith("Failed at CAN receive: "))
{
throw new Exception(ex.Message);
}
else
{
throw new Exception(string.Format("Failed at receive single message method with message: {0}", ex.Message));
}
}
return(true);
}
/// <summary>
/// Get a frame from specified CAN ID and the frame from other ID will be ignored.
/// </summary>
/// <param name="canObj">return the completed frame</param>
/// <param name="canID">the desired CAN ID</param>
/// <param name="timeOut">The time out of receiving frames</param>
/// <returns>read frame successfully or not</returns>
public bool ReceiveSingleMessageByID(out CAN_OBJ canObj, uint canID, int timeOut)
{
canObj = new CAN_OBJ();
try
{
DateTime dtStart = DateTime.Now;
while ((DateTime.Now - dtStart).TotalMilliseconds < timeOut)
{
if (false == BufferEmpty())
{
Thread.Sleep(5); //wait for 5ms
canObj = ReadFrame();
if (canObj.data != null && canObj.ID == canID)
{
return(true);
}
}
} //check again if unread frame from bus
}
catch (Exception ex)
{
if (true == ex.Message.StartsWith("Failed at CAN receive: "))
{
throw new Exception(ex.Message);
}
else
{
throw new Exception(string.Format("Failed at receive message method with message: {0}", ex.Message));
}
}
return(false);
}
public bool SendMessage(CAN_OBJ canObj)
{
byte[] byteData = new byte[canObj.DataLen];
canObj.data.CopyTo(byteData, 0);
Console.WriteLine();
return(SendFrame(canObj, byteData));
}
public ulong GetBitsFromFrame(CAN_OBJ canOBJ, uint startBit, uint length)
{
byte[] byteData = new byte[canOBJ.DataLen];
//get all data from frame
canOBJ.data.CopyTo(byteData, 0);
return(GetBitsFromFrame(byteData, startBit, length));
}
//Send data to BUS
/// <summary>
/// Send command (data) with specified ID
/// </summary>
/// <param name="ID">ID string in hex format without space</param>
/// <param name="command">Hex string of command/data, space between bytes</param>
/// <returns>sent successfully or not</returns>
public bool SendMessage(string ID, string command)
{
int iLen = 0;
string[] strBytes = null;
byte[] data = null;
CAN_OBJ canObj = new CAN_OBJ();
//convert hex string to byte[]
if (command.IndexOf(@" ") > 0)
{
iLen = (command.Length + 1) / 3; //space between bytes. e.g. "FE 00"
strBytes = command.Split(' ');
data = new byte[iLen];
}
else
{
iLen = command.Length / 2; //no space in hex string. e.g."FE00"
strBytes = new string[iLen];
for (int i = 0, index = 0; i + 1 < command.Length; i += 2, index++)
{
strBytes[index] = command.Substring(i, 2);
}
data = new byte[iLen];
}
for (int index = 0; index < iLen; index++)
{
data[index] = Convert.ToByte(Int32.Parse(strBytes[index], System.Globalization.NumberStyles.HexNumber)); //convert the HEX number string to a character and then to ASIC
}
UInt32 uiID = Convert.ToUInt32(ID, 16);
if (uiID > 0x7FF)
{
canObj.ExternFlag = 0x1;
}
else
{
canObj.ExternFlag = 0x0;
}
canObj.ID = uiID;
canObj.RemoteFlag = 0;
canObj.Reserved = null;
canObj.SendType = 0;
canObj.TimeFlag = 0x0;
canObj.TimeStamp = 0;
canObj.data = new byte[data.Length];
data.CopyTo(canObj.data, 0);
canObj.DataLen = (byte)data.Length;
return(SendFrame(canObj, data));
}
//Send 8-byte to CAN BUS
private bool SendFrame(CAN_OBJ canOBJ, byte[] message)
{
CAN_OBJ[] objMessage = new CAN_OBJ[2];
UInt16 uLen = 0;
int iSizeOfObj = 0;
try
{
byte[] byteData = new byte[8];
for (int i = 0; i < byteData.Length; i++)
{
if (i < message.Length)
{
byteData[i] = message[i];
}
else
{
byteData[i] = 0x0;
}
}
objMessage[0] = canOBJ;
//objMessage[0].data = message;
objMessage[0].data = byteData;
objMessage[1] = objMessage[0];
uLen = 1;
iSizeOfObj = System.Runtime.InteropServices.Marshal.SizeOf(objMessage[0]);
lock (this)
{
string strData = BitConverter.ToString(canOBJ.data).Replace("-", string.Empty);
//Console.WriteLine("SendFrame: {0:X} : {1:X}", canOBJ.ID, strData);
if (ECANDLL.Transmit(Setting.DeviceType, Setting.DeviceID, Setting.Channel, objMessage, (ushort)uLen) != ECANStatus.STATUS_OK)
{
string strErrInfo = ReadError();
throw new Exception(string.Format("Failed at CAN transmit: {0}", strErrInfo));
}
}
}
catch (Exception ex)
{
if (true == ex.Message.StartsWith("Failed at CAN transmit:"))
{
throw new Exception(ex.Message);
}
throw new Exception(string.Format("Failure happeded at send method: {0}", message));
}
return(true);
}
/// <summary>
/// Get data from specified CAN ID and the frames from other ID will be ignored.
/// </summary>
/// <param name="DataList">return the completed frames</param>
/// <param name="canID">the desired CAN ID</param>
/// <param name="duration">read data within specified duration, unit in ms</param>
/// <param name="timeOut">The time out of receiving frames</param>
/// <param name="clearBufferBeforeRead">whether clear buffer of CAN receiver and received global variable</param>
/// <returns>read frames successfully or not</returns>
public bool ReceiveMessagesByID(out List <CAN_OBJ> DataList, uint canID, int timeOut, bool clearBufferBeforeRead)
{
DataList = new List <CAN_OBJ>();
CAN_OBJ objFrame = new CAN_OBJ();
try
{
ClearBuffer(clearBufferBeforeRead);
DateTime dtStart = DateTime.Now;
while (true)
{
if (false == BufferEmpty()) //unread frame in instrument
{
objFrame = ReadFrame();
if (objFrame.DataLen > 0 && objFrame.ID == canID)
{
DataList.Add(objFrame);
}
}
else if ((DateTime.Now - dtStart).TotalMilliseconds > timeOut)
{
break;
}
else
{
Thread.Sleep(Setting.MaxInterval);
if (true == BufferEmpty()) //unread frame in instrument
{
break; //time exceeds the max interval, don't wait.
}
}
}
}
catch (Exception ex)
{
if (true == ex.Message.StartsWith("Failed at CAN receive: "))
{
throw new Exception(ex.Message);
}
else
{
throw new Exception(string.Format("Failed at receive message method with message: {0}", ex.Message));
}
}
return(true);
}
public void ThreadFunc_Receive(object obj)
{
string str = obj as string;
Console.WriteLine("[{0}] - [ThreadFunc_Receive] - Start", DateTime.Now.ToString("HH:mm:ss.ffff"));
if (listReceivedFrame == null)
{
Console.WriteLine("[{0}] - [ThreadFunc_Receive] - init listReceivedFrame", DateTime.Now.ToString("HH:mm:ss.ffff"));
listReceivedFrame = new List <CAN_OBJ>();
}
int iThreadFunc_ReceiveCount = 0;
while (EnableReceiveThread)
{
try
{
lock (listReceivedFrame)
{
if (false == BufferEmpty())
{
CAN_OBJ canObj = ReadFrame();
if (canObj.DataLen > 0)
{
listReceivedFrame.Add(canObj);
}
}
}
}
catch (Exception ex)
{
Console.WriteLine("[Err][ThreadFunc_Receive]:{0}", ex.Message);
}
iThreadFunc_ReceiveCount++;
}
}
public bool SendMessages(List <byte[]> DataList,
uint ID = 1,
uint TimeStamp = 0,
byte TimeFlag = 0x0,
byte SendType = 0x0,
byte RemoteFlag = 0x0, //not remote frame
byte ExternFlag = 0x0) //standard frame
{
byte[] byteData = new byte[8];
CAN_OBJ canOBJ = new CAN_OBJ();
bool bSendStatus = false;
try
{
canOBJ.ExternFlag = ExternFlag;
canOBJ.ID = ID;
canOBJ.RemoteFlag = RemoteFlag;
canOBJ.Reserved = null;
canOBJ.SendType = SendType;
canOBJ.TimeFlag = TimeFlag;
canOBJ.TimeStamp = TimeStamp;
foreach (byte[] byteCommand in DataList)
{
uint uLength = (uint)byteCommand.Length;
if (uLength > 8)
{
throw new Exception("The command length is large than 8.");
}
else
{
//do nothing
}
for (int i = 0; i < 8; i++)
{
if (i < uLength)
{
byteData[i] = byteCommand[i];
}
else
{
byteData[i] = 0x0;
}
}
canOBJ.DataLen = (byte)uLength;
bSendStatus = SendFrame(canOBJ, byteData);
if (bSendStatus == false)
{
return(false);
}
}
}
catch (Exception ex)
{
if (true == ex.Message.StartsWith("Failed at CAN transmit with data:"))
{
throw new Exception(string.Format("{0}", ex.Message));
}
else
{
throw new Exception(string.Format("Failed at SendMessage with message: {0}", ex.Message));
}
}
return(true);
}
public static string FrameToString(CAN_OBJ canObj)
{
return(string.Format("{0:X},{1:X}", canObj.ID, BitConverter.ToString(canObj.data).Replace("-", string.Empty)));
}