/// <summary>
/// waitForMessage waits for a specific CAN message give by a CAN id.
/// </summary>
/// <param name="a_canID">The CAN id to listen for</param>
/// <param name="timeout">Listen timeout</param>
/// <param name="r_canMsg">The CAN message with a_canID that we where listening for.</param>
/// <returns>The CAN id for the message we where listening for, otherwise 0.</returns>
public override uint waitForMessage(uint a_canID, uint timeout, out CANMessage canMsg)
{
r_canMsg = new Lawicel.CANUSB.CANMsg();
canMsg = new CANMessage();
string line = string.Empty;
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
m_serialPort.Write("\r");
m_serialPort.Write("P\r");
bool endofFrames = false;
while (!endofFrames)
{
Console.WriteLine("reading line");
line = m_serialPort.ReadLine();
Console.WriteLine("line: " + line + " len: " + line.Length.ToString());
if (line[0] == '\x07' || line[0] == '\r' || line[0] == 'A')
{
endofFrames = true;
}
else
{
if (line.Length == 14)
{
// three bytes identifier
r_canMsg = new Lawicel.CANUSB.CANMsg();
r_canMsg.id = (uint)Convert.ToInt32(line.Substring(1, 3), 16);
r_canMsg.len = (byte)Convert.ToInt32(line.Substring(4, 1), 16);
ulong data = 0;
// add all the bytes
data |= (ulong)(byte)Convert.ToInt32(line.Substring(5, 2), 16) << 7 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(7, 2), 16) << 6 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(9, 2), 16) << 5 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(11, 2), 16) << 4 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(13, 2), 16) << 3 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(15, 2), 16) << 2 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(17, 2), 16) << 1 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(19, 2), 16);
r_canMsg.data = data;
canMsg.setID(r_canMsg.id);
canMsg.setLength(r_canMsg.len);
canMsg.setFlags(0);
canMsg.setData(r_canMsg.data);
if (r_canMsg.id != a_canID)
{
continue;
}
return((uint)r_canMsg.id);
}
}
}
//Thread.Sleep(0);
nrOfWait++;
}
return(0);
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
byte[] msg = new byte[8];
int dlc;
int flag, id;
long time;
Canlib.canStatus status;
CANMessage canMessage = new CANMessage();
logger.Debug("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
logger.Debug("readMessages thread ended");
return;
}
}
status = Canlib.canReadWait(handleRead, out id, msg, out dlc, out flag, out time, 250);
if ((flag & Canlib.canMSG_ERROR_FRAME) == 0)
{
if (status == Canlib.canStatus.canOK)
{
if (acceptMessageId((uint)id))
{
canMessage.setID((uint)id);
canMessage.setTimeStamp((uint)time);
canMessage.setFlags((byte)flag);
canMessage.setCanData(msg, (byte)dlc);
receivedMessage(canMessage);
}
}
else if (status == Canlib.canStatus.canERR_NOMSG)
{
Thread.Sleep(1);
}
else
{
logger.Debug("error" + status);
}
}
else
{
logger.Debug("error frame");
}
}
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
int readResult = 0;
Lawicel.CANUSB.CANMsg r_canMsg = new Lawicel.CANUSB.CANMsg();
CANMessage canMessage = new CANMessage();
Console.WriteLine("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
Console.WriteLine("readMessages ended");
return;
}
}
readResult = Lawicel.CANUSB.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
if (acceptMessageId(r_canMsg.id))
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
lock (m_listeners)
{
AddToCanTrace(string.Format("RX: {0} {1}", canMessage.getID().ToString("X3"), canMessage.getData().ToString("X16")));
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
}
else if (readResult == Lawicel.CANUSB.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
int readResult = 0;
Lawicel.CANUSB.CANMsg r_canMsg = new Lawicel.CANUSB.CANMsg();
CANMessage canMessage = new CANMessage();
logger.Debug("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
logger.Debug("readMessages thread ended");
return;
}
}
readResult = Lawicel.CANUSB.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
if (acceptMessageId(r_canMsg.id))
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
receivedMessage(canMessage);
}
}
else if (readResult == Lawicel.CANUSB.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
int readResult = 0;
EASYSYNC.CANMsg r_canMsg = new EASYSYNC.CANMsg();
CANMessage canMessage = new CANMessage();
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
return;
}
}
readResult = EASYSYNC.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == EASYSYNC.ERROR_CANUSB_OK)
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
lock (m_listeners)
{
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
else if (readResult == EASYSYNC.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
int readResult = 0;
Lawicel.CANUSB.CANMsg r_canMsg = new Lawicel.CANUSB.CANMsg();
CANMessage canMessage = new CANMessage();
Console.WriteLine("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
Console.WriteLine("readMessages ended");
return;
}
}
readResult = Lawicel.CANUSB.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
if (acceptMessageId(r_canMsg.id))
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
lock (m_listeners)
{
AddToCanTrace(string.Format("RX: {0} {1}", canMessage.getID().ToString("X3"), canMessage.getData().ToString("X16")));
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
}
else if (readResult == Lawicel.CANUSB.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}
}
// int thrdcnt = 0;
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
m_endThread = false;
return;
}
}
if (m_serialPort.IsOpen)
{
// read the status?
string line = string.Empty;
try
{
line = m_serialPort.ReadLine();
if (line.Length > 0)
{
if (line.Length == 25)
{
Lawicel.CANUSB.CANMsg r_canMsg = new Lawicel.CANUSB.CANMsg();
canMessage = new CANMessage();
// three bytes identifier
r_canMsg.id = (uint)Convert.ToInt32(line.Substring(1, 3), 16);
r_canMsg.len = (byte)Convert.ToInt32(line.Substring(4, 1), 16);
ulong data = 0;
// add all the bytes
data |= (ulong)(byte)Convert.ToInt32(line.Substring(5, 2), 16);
data |= (ulong)(byte)Convert.ToInt32(line.Substring(7, 2), 16) << 1 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(9, 2), 16) << 2 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(11, 2), 16) << 3 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(13, 2), 16) << 4 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(15, 2), 16) << 5 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(17, 2), 16) << 6 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(19, 2), 16) << 7 * 8;
r_canMsg.data = data;
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
lock (m_listeners)
{
AddToCanTrace(string.Format("RX: {0} {1} {2}", canMessage.getID().ToString("X3"), line.Substring(5, 16), line));
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
else if (line.Contains("z"))
{
interfaceBusy = false;
//Console.WriteLine("clear");
}
else if (line.Length == 2 && Convert.ToInt32(line.Substring(1, 2), 16) != 0x07)
{
//Console.WriteLine("Send error");
}
else
{
//Console.WriteLine("Unknown message: " + line);
}
}
}
catch (Exception E)
{
Console.WriteLine("Failed to read frames from CANbus: " + E.Message);
}
}
//Thread.Sleep(2);
Thread.Sleep(delayTimespan); // give others some air
}
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
int readResult = 0;
Lawicel.CANUSB.CANMsg r_canMsg = new Lawicel.CANUSB.CANMsg();
CANMessage canMessage = new CANMessage();
logger.Debug("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
logger.Debug("readMessages thread ended");
return;
}
}
readResult = Lawicel.CANUSB.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
if (acceptMessageId(r_canMsg.id))
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
receivedMessage(canMessage);
}
}
else if (readResult == Lawicel.CANUSB.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}
}
/// <summary>
/// waitAnyMessage waits for any message to be received.
/// </summary>
/// <param name="timeout">Listen timeout</param>
/// <param name="r_canMsg">The CAN message that was first received</param>
/// <returns>The CAN id for the message received, otherwise 0.</returns>
private uint waitAnyMessage(uint timeout, out Lawicel.CANUSB.CANMsg r_canMsg)
{
CANMessage canMessage = new CANMessage();
string line = string.Empty;
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
m_serialPort.Write("\r");
m_serialPort.Write("P\r");
bool endofFrames = false;
while (!endofFrames)
{
Console.WriteLine("reading line");
line = m_serialPort.ReadLine();
Console.WriteLine("line: " + line + " len: " + line.Length.ToString());
if (line[0] == '\x07' || line[0] == '\r' || line[0] == 'A')
{
endofFrames = true;
}
else
{
if (line.Length == 14)
{
// three bytes identifier
r_canMsg = new Lawicel.CANUSB.CANMsg();
r_canMsg.id = (uint)Convert.ToInt32(line.Substring(1, 3), 16);
r_canMsg.len = (byte)Convert.ToInt32(line.Substring(4, 1), 16);
ulong data = 0;
// add all the bytes
data |= (ulong)(byte)Convert.ToInt32(line.Substring(5, 2), 16) << 7 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(7, 2), 16) << 6 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(9, 2), 16) << 5 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(11, 2), 16) << 4 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(13, 2), 16) << 3 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(15, 2), 16) << 2 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(17, 2), 16) << 1 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(19, 2), 16);
r_canMsg.data = data;
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setFlags(0);
canMessage.setData(r_canMsg.data);
return (uint)r_canMsg.id;
}
}
}
//Thread.Sleep(0);
nrOfWait++;
}
r_canMsg = new Lawicel.CANUSB.CANMsg();
return 0;
}
// int thrdcnt = 0;
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
m_endThread = false;
return;
}
}
if (m_serialPort.IsOpen)
{
// read the status?
string line = string.Empty;
try
{
line = m_serialPort.ReadLine();
if (line.Length > 0)
{
if (line.Length == 25)
{
Lawicel.CANUSB.CANMsg r_canMsg = new Lawicel.CANUSB.CANMsg();
canMessage = new CANMessage();
// three bytes identifier
r_canMsg.id = (uint)Convert.ToInt32(line.Substring(1, 3), 16);
r_canMsg.len = (byte)Convert.ToInt32(line.Substring(4, 1), 16);
ulong data = 0;
// add all the bytes
data |= (ulong)(byte)Convert.ToInt32(line.Substring(5, 2), 16);
data |= (ulong)(byte)Convert.ToInt32(line.Substring(7, 2), 16) << 1 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(9, 2), 16) << 2 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(11, 2), 16) << 3 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(13, 2), 16) << 4 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(15, 2), 16) << 5 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(17, 2), 16) << 6 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(19, 2), 16) << 7 * 8;
r_canMsg.data = data;
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
lock (m_listeners)
{
AddToCanTrace(string.Format("RX: {0} {1} {2}", canMessage.getID().ToString("X3"), line.Substring(5, 16), line));
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
else if(line.Contains("z"))
{
interfaceBusy = false;
//Console.WriteLine("clear");
}
else if (line.Length == 2 && Convert.ToInt32(line.Substring(1, 2), 16) != 0x07)
{
//Console.WriteLine("Send error");
}
else
{
//Console.WriteLine("Unknown message: " + line);
}
}
}
catch (Exception E)
{
Console.WriteLine("Failed to read frames from CANbus: " + E.Message);
}
}
//Thread.Sleep(2);
Thread.Sleep(delayTimespan); // give others some air
}
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
int readResult = 0;
EASYSYNC.CANMsg r_canMsg = new EASYSYNC.CANMsg();
CANMessage canMessage = new CANMessage();
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
return;
}
readResult = EASYSYNC.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == EASYSYNC.ERROR_CANUSB_OK)
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
lock (m_listeners)
{
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
else if (readResult == EASYSYNC.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}
}
