public CANError DecodePacket(byte[] buff, ref CANPacket packet)
{
CANError errorcode = CANError.CAN_ERROR_NONE;
UInt32 extendedID = ((UInt32)buff[0] << 24) + ((UInt32)buff[1] << 16) + ((UInt32)buff[2] << 8) + (UInt32)buff[3];
packet.Packet_type = (CANPacket.Pkt_Type_t)((extendedID >> 24) & 0x03);
packet.Packet_id = ((extendedID >> 16) & 0x0F);
packet.Source_address = (extendedID >> 8) & 0xFF;
packet.Destination_address = extendedID & 0xFF;
int idx = 4;
packet.Length = buff[idx++];
if (packet.Length > CANPacket.BufferSize)
{
return(CANError.CAN_ERROR_LENGTH);
}
for (int i = 0; i < packet.Length; i++)
{
packet.Buffer[i] = buff[idx++];
}
return(errorcode);
}
public static void getDeviceInfor(CANPacket e, GlobalData globalData)
{
string UUID = null;
int short_address;
int packet_idx = 0;
CANPacket.Device_Types_t deviceType = (CANPacket.Device_Types_t)e.Buffer[packet_idx++];
int dev_catogory = e.Buffer[packet_idx++];
for (int i = 0; i < 16; i++)
{
UUID += e.Buffer[packet_idx++].ToString("X2");
}
short_address = e.Buffer[packet_idx++];
if (deviceType == CANPacket.Device_Types_t.Device_Type_Keypad)
{
KeyPad keypad = new KeyPad();
keypad.uuid = UUID;
keypad.shortAddress = short_address;
keypad.numOfKeys = e.Buffer[packet_idx++];
keypad.type = (KEYPAD_TYPE)dev_catogory;
int index = globalData.deviceInfo.keyPads.FindIndex(x => x.uuid == UUID);
if (index == -1)
{
globalData.deviceInfo.keyPads.Add(keypad);
}
else
{
globalData.deviceInfo.keyPads[index] = keypad;
}
Console.WriteLine("key pad found");
}
else if (deviceType == CANPacket.Device_Types_t.Device_Type_Mainboard)
{
ECU ecu = new ECU();
ecu.uuid = UUID;
ecu.shortAddress = short_address;
ecu.numberOFPOsitiveOutputs = e.Buffer[packet_idx++];
ecu.numberOFNEgativeOutputs = e.Buffer[packet_idx++];
ecu.numberOFAnalogInput = e.Buffer[packet_idx++];
ecu.numberOFExternalOutputs = e.Buffer[packet_idx++];
ecu.type = (ECU_TYPE)dev_catogory;
int index = globalData.deviceInfo.ecus.FindIndex(x => x.uuid == UUID);
if (index == -1)
{
globalData.deviceInfo.ecus.Add(ecu);
}
else
{
globalData.deviceInfo.ecus[index] = ecu;
}
Console.WriteLine("mainboard found");
}
Console.Write("done");
}
public void cmdReadPosOutputConfigs(uint seleectedShortAddess, int negativeOutIdx)
{
CANPacket packet = new CANPacket();
packet.Packet_type = CANPacket.Pkt_Type_t.Pkt_Type_Command;
packet.Packet_id = (UInt32)CANPacket.Pkt_ID_t.Cmd_Read_Pos_Output_Configs;
//kasun complete the rest
}
public void cmdReadPosOutCurrent(uint seleectedShortAddess, int analogInputIndx)
{
CANPacket packet = new CANPacket();
packet.Packet_type = CANPacket.Pkt_Type_t.Pkt_Type_Command;
packet.Packet_id = (UInt32)CANPacket.Pkt_ID_t.Cmd_Read_Pos_Out_Current;
//kasun complete the rest
}
public void cmdReadBoardSensors(uint shortAddress)
{
CANPacket packet = new CANPacket();
packet.Packet_type = CANPacket.Pkt_Type_t.Pkt_Type_Command;
packet.Packet_id = (UInt32)CANPacket.Pkt_ID_t.Cmd_Read_Board_Sensors;
packet.Source_address = 0;
packet.Destination_address = shortAddress;
TL_Packet tl_packet = new TL_Packet();
canInterface.EncodePacket(ref packet, ref tl_packet);
transportLayer.SendPacket(ref tl_packet);
logger.Info("Read board sensors", tl_packet);
}
public void cmdRequestDevInfo()
{
CANPacket packet = new CANPacket();
packet.Packet_type = CANPacket.Pkt_Type_t.Pkt_Type_Command;
packet.Packet_id = (UInt32)CANPacket.Pkt_ID_t.Cmd_Request_Dev_Info;
packet.Source_address = 0;
packet.Destination_address = 0xff;
TL_Packet tl_packet = new TL_Packet();
canInterface.EncodePacket(ref packet, ref tl_packet);
serial.sendMessage(transportLayer.SendPacket(ref tl_packet));
logger.Info("Request device Info: ", tl_packet);
}
public void cmdReadAnalogInputs(uint seleectedShortAddess, int analogInputIndx)
{
CANPacket packet = new CANPacket();
packet.Packet_type = CANPacket.Pkt_Type_t.Pkt_Type_Command;
packet.Packet_id = (UInt32)CANPacket.Pkt_ID_t.Cmd_Read_Analog_In_Settings;
packet.Source_address = 0;
packet.Destination_address = seleectedShortAddess;
packet.Length = 1;
packet.Buffer[0] = (byte)analogInputIndx;
TL_Packet tl_packet = new TL_Packet();
canInterface.EncodePacket(ref packet, ref tl_packet);
transportLayer.SendPacket(ref tl_packet);
logger.Info("Read analog inputs", tl_packet);
}
public void cmdReadNegativeOutputConfigs(uint seleectedShortAddess, int negativeOutIdx)
{
CANPacket packet = new CANPacket();
packet.Packet_type = CANPacket.Pkt_Type_t.Pkt_Type_Command;
packet.Packet_id = (UInt32)CANPacket.Pkt_ID_t.Cmd_Read_Neg_Output_Configs;
packet.Source_address = 0;
packet.Destination_address = seleectedShortAddess;
packet.Length = 0;
packet.Buffer[packet.Length++] = (byte)negativeOutIdx;
TL_Packet tl_packet = new TL_Packet();
canInterface.EncodePacket(ref packet, ref tl_packet);
transportLayer.SendPacket(ref tl_packet);
logger.Info("read negative output configs", tl_packet);
}
private void ReadSerialPackets()
{
while (true) // handle this
{
// Read packets form Serial port and put them in to relavant queues
TL_Packet packet = new TL_Packet();
try
{
if (transportLayer.GetPacket(ref packet))
{
// Serial packet is available. Pass it to CAN papcket processor for decording.
CANPacket can_packet = new CANPacket();
if (DecodePacket(packet.Buffer, ref can_packet) == CANError.CAN_ERROR_NONE)
{
switch (can_packet.Packet_type)
{
case CANPacket.Pkt_Type_t.Pkt_Type_Command:
Console.WriteLine("command");
//InsertCommand(ref can_packet);
break;
case CANPacket.Pkt_Type_t.Pkt_Type_Response:
Console.WriteLine("response");
serial.addResponse(ref can_packet);
break;
case CANPacket.Pkt_Type_t.Pkt_Type_Event:
Console.WriteLine("event");
serial.addEvent(ref can_packet);
break;
}
}
}
}
catch (Exception ex)
{
Console.WriteLine(ex);
}
//if (!threadSerialPacketReaderRun) break;
Thread.Sleep(200);
}
}
internal void EncodePacket(ref CANPacket can_packet, ref TL_Packet serialPacket)
{
UInt32 extId = (can_packet.Destination_address & 0xFF) |
((can_packet.Source_address & 0xFF) << 8) |
(((UInt32)can_packet.Packet_id & 0xF) << 16) |
((UInt32)can_packet.Packet_type & 0x03) << 24;
UInt16 buffIdx = 0;
serialPacket.Buffer[buffIdx++] = (byte)(extId >> 24);
serialPacket.Buffer[buffIdx++] = (byte)(extId >> 16);
serialPacket.Buffer[buffIdx++] = (byte)(extId >> 8);
serialPacket.Buffer[buffIdx++] = (byte)extId;
serialPacket.Buffer[buffIdx++] = (byte)can_packet.Length;
for (int i = 0; i < can_packet.Length; i++)
{
serialPacket.Buffer[buffIdx++] = can_packet.Buffer[i];
}
serialPacket.Length = (byte)buffIdx;
}
public void cmdWriteAnalogInputs(uint seleectedShortAddess, int analogInputIndx, int minVoltage, int maxVoltage)
{
CANPacket packet = new CANPacket();
packet.Packet_type = CANPacket.Pkt_Type_t.Pkt_Type_Command;
packet.Packet_id = (UInt32)CANPacket.Pkt_ID_t.Cmd_Write_Analog_In_Settings;
packet.Source_address = 0;
packet.Destination_address = seleectedShortAddess;
packet.Length = 0;
packet.Buffer[packet.Length++] = (byte)analogInputIndx;
packet.Buffer[packet.Length++] = (byte)((minVoltage >> 8) & 0xFF);
packet.Buffer[packet.Length++] = (byte)(minVoltage & 0xFF);
packet.Buffer[packet.Length++] = (byte)((maxVoltage >> 8) & 0xFF);
packet.Buffer[packet.Length++] = (byte)(maxVoltage & 0xFF);
TL_Packet tl_packet = new TL_Packet();
canInterface.EncodePacket(ref packet, ref tl_packet);
transportLayer.SendPacket(ref tl_packet);
logger.Info("write analog inputs", tl_packet);
}
public void addEvent(ref CANPacket obj)
{
eventQueue.Add(obj);
}
public void addResponse(ref CANPacket obj)
{
responseQueue.Add(obj);
}
public void cmdWritePosOutputConfigs(uint seleectedShortAddess, PositiveOutput positive)
{
CANPacket packet = new CANPacket();
packet.Packet_type = CANPacket.Pkt_Type_t.Pkt_Type_Command;
packet.Packet_id = (UInt32)CANPacket.Pkt_ID_t.Cmd_Write_Pos_Output_Configs;
packet.Source_address = 0;
packet.Destination_address = seleectedShortAddess;
packet.Length = 0;
packet.Buffer[packet.Length++] = (byte)positive.Index;
packet.Buffer[packet.Length++] = (byte)positive.Activator;
packet.Buffer[packet.Length++] = (byte)((positive.ActiveTime >> 8) & 0xFF);
packet.Buffer[packet.Length++] = (byte)(positive.ActiveTime & 0xFF);
packet.Buffer[packet.Length++] = (byte)((positive.StartupDelay >> 8) & 0xFF);
packet.Buffer[packet.Length++] = (byte)(positive.StartupDelay & 0xFF);
// Activate conditions
packet.Buffer[packet.Length++] = (byte)positive.ConditionSource;
packet.Buffer[packet.Length++] = (byte)positive.SourceIndex;
packet.Buffer[packet.Length++] = (byte)((positive.TurnOnWhen >> 8) & 0xFF);
packet.Buffer[packet.Length++] = (byte)(positive.TurnOnWhen & 0xFF);
packet.Buffer[packet.Length++] = (byte)((positive.TurnOffWhen >> 8) & 0xFF);
packet.Buffer[packet.Length++] = (byte)(positive.TurnOffWhen & 0xFF);
// TODO:Fix this
packet.Buffer[packet.Length++] = (byte)positive.LEDOutputErrFreq;
packet.Buffer[packet.Length++] = (byte)positive.LEDOutputErrBlink;
packet.Buffer[packet.Length++] = (byte)positive.LEDOutputErrBright;
// Voltage monitoring
packet.Buffer[packet.Length++] = Convert.ToByte(positive.VoltageMonitor);
packet.Buffer[packet.Length++] = (byte)positive.VoltageSource;
UInt16 minVoltage = (UInt16)(positive.MinVoltage * 1000.0);
packet.Buffer[packet.Length++] = (byte)((minVoltage >> 8) & 0xFF);
packet.Buffer[packet.Length++] = (byte)(minVoltage & 0xFF);
UInt16 maxVoltage = (UInt16)(positive.MaxVoltage * 1000.0);
packet.Buffer[packet.Length++] = (byte)((maxVoltage >> 8) & 0xFF);
packet.Buffer[packet.Length++] = (byte)(maxVoltage & 0xFF);
packet.Buffer[packet.Length++] = (byte)positive.LEDUnderVoltageFreq;
packet.Buffer[packet.Length++] = (byte)positive.LEDUnderVoltageBlink;
packet.Buffer[packet.Length++] = (byte)positive.LEDUnderVoltageBright;
packet.Buffer[packet.Length++] = (byte)positive.LEDOverVoltageFreq;
packet.Buffer[packet.Length++] = (byte)positive.LEDOverVoltageBlink;
packet.Buffer[packet.Length++] = (byte)positive.LEDOverVoltageBright;
// Current monitoring
packet.Buffer[packet.Length++] = Convert.ToByte(positive.CurrentMonitor);
packet.Buffer[packet.Length++] = (byte)((positive.MinimumCurrent >> 8) & 0xFF);
packet.Buffer[packet.Length++] = (byte)(positive.MinimumCurrent & 0xFF);
packet.Buffer[packet.Length++] = (byte)((positive.MaxCurrent >> 8) & 0xFF);
packet.Buffer[packet.Length++] = (byte)(positive.MaxCurrent & 0xFF);
packet.Buffer[packet.Length++] = (byte)positive.LEDUnderCurrFreq;
packet.Buffer[packet.Length++] = (byte)positive.LEDUnderCurrBlink;
packet.Buffer[packet.Length++] = (byte)positive.LEDUnderCurrBright;
packet.Buffer[packet.Length++] = (byte)positive.LEDOverCurrFreq;
packet.Buffer[packet.Length++] = (byte)positive.LEDOverCurrBlink;
packet.Buffer[packet.Length++] = (byte)positive.LEDOverCurrBright;
// Load shading
packet.Buffer[packet.Length++] = (byte)positive.LoadShading;
TL_Packet tl_packet = new TL_Packet();
canInterface.EncodePacket(ref packet, ref tl_packet);
//transportLayer.SendPacket(ref tl_packet);
serial.sendMessage(transportLayer.SendPacket(ref tl_packet));
logger.Info("Write positive output configs", tl_packet);
}
