private static bool parseInput(string instr)
{
//parse commands entered on std in
if (instr.Equals("reset")) { //reset command, send a reset to current node
if (sNodeid) {
dc.flushData();
CanNMT cpn = new CanNMT();
cpn.doReset(dc, nodeid);
} else {
if (DEBUG_LEVEL>0) { Console.WriteLine("No nodeid has been specified"); }
}
}
else if (instr.Equals("start")) { //start command, send a start to current node
if (sNodeid) {
CanNMT cpn = new CanNMT();
cpn.doStart(dc, nodeid);
} else {
if (DEBUG_LEVEL>0) { Console.WriteLine("No nodeid has been specified"); }
}
}
else if (instr.StartsWith("go")) { //downloading command
bool dlBios = false;
bool error = true;
if (instr.Equals("go bios")) { //if bios should be downloaded
dlBios = true;
error = false;
} else if (instr.Equals("go")) { //is an application should be downloaded
error = false;
}
if (!sNodeid) {
if (DEBUG_LEVEL>0) { Console.WriteLine("No nodeid has been specified"); }
error = true;
}
if (!sHexfile) {
if (DEBUG_LEVEL>0) { Console.WriteLine("No hexfile has been specified"); }
error = true;
}
CanNMT cpn = new CanNMT();
if (!error && aReset) { //commandline arguments specified that a reset should be done before download
//send a reset command (and wait for feedback)
if (!cpn.doReset(dc, nodeid)) {
if (DEBUG_LEVEL>0) { Console.WriteLine("Target node did not respond to reset"); }
error = true;
}
}
if (!error) {
//send application
dc.flushData();
dl = new Downloader(hf, dc, nodeid, dlBios);
if (!dl.go()) {
if (DEBUG_LEVEL>0) { Console.WriteLine("Error occured during download"); }
error = true;
}
}
if (!error && aStart) { //commandline arguments specified that a start should be done after download
//start applikation
cpn.doStart(dc, nodeid);
}
}
else if (instr.StartsWith("load")) { //load hexfile or reload current hexfile
if (instr.Length > 5) {
//second argument is a hexfile, this file should be loaded
hexfile = instr.Substring(5);
if (hf.loadHex(hexfile)) {
sHexfile = true;
if (DEBUG_LEVEL>1) { Console.WriteLine("Hexfile loaded"); }
} else {
if (DEBUG_LEVEL>0) { Console.WriteLine("Hexfile could not be loaded"); }
}
} else {
//reload current hexfile. if a hexfile already has been specified
if (sHexfile) {
if (hf.loadHex(hexfile)) {
if (DEBUG_LEVEL>1) { Console.WriteLine("Hexfile reloaded"); }
} else {
if (DEBUG_LEVEL>0) { Console.WriteLine("Hexfile could not be reloaded"); }
}
} else {
if (DEBUG_LEVEL>0) { Console.WriteLine("No hexfile has been specified"); }
}
}
}
else if (instr.StartsWith("node")) {
//change nodeid
if (instr.Length > 5) {
//second argument is nodeid
string node = instr.Substring(5);
parseNodeId(node);
}
if (DEBUG_LEVEL>1) { Console.WriteLine("NodeId is 0x"+ String.Format("{0:x2}", nodeid)); }
}
else if (instr.Equals("help")) {
printHelp();
}
else if (instr.Equals("exit") || instr.Equals("quit") || instr.Equals("q")) {
return false;
}
else {
Console.WriteLine("Unknown command.");
}
return true;
}
static bool sNodeid = false; //true when a nodeid has been parsed
#endregion Fields
#region Methods
static void Main(string[] args)
{
bool error = false;
if (args.Length < 4) {
//if to few arguments then print info and quit
printSyntax();
error = true;
}
if (!error) {
//parse commandline arguments
CommandLine=new Arguments(args);
//check single arguments
if (CommandLine["b"] == "true") { aBios = true; }
if (CommandLine["r"] == "true") { aReset = true; }
if (CommandLine["s"] == "true") { aStart = true; }
if (CommandLine["t"] == "true") { aTerminal = true; }
//check hexfile argument
hexfile = CommandLine["f"];
if (hexfile != null) {
sHexfile = true;
}
if (!aTerminal && !sHexfile && !aReset && !aStart) {
if (DEBUG_LEVEL>0) { Console.WriteLine("When not in terminal mode a hexfile, a reset or a start parameter must be supplied, I quit"); }
error = true;
}
//check nodeid argument
string node = CommandLine["n"];
if (node != null) {
if (!parseNodeId(node)) {
error = true;
}
}
if (!aTerminal && !sNodeid) {
if (DEBUG_LEVEL>0) { Console.WriteLine("When not in terminal mode a nodeid must be supplied, I quit"); }
error = true;
}
//check host and port arguments
host = CommandLine["h"];
string sPort = CommandLine["p"];
if ((host == null) || (sPort.Length == 0)) {
if (DEBUG_LEVEL>0) { printSyntax(); }
error = true;
} else {
try {
port = int.Parse(sPort);
} catch {
if (DEBUG_LEVEL>0) { Console.WriteLine("Was not able to parse port, I quit"); }
error = true;
}
}
}
if (!error) {
//commandline feedback output
if (DEBUG_LEVEL>2) {
Console.WriteLine("canDude settings:");
if (sNodeid) { Console.WriteLine("Nodeaddress: 0x" + String.Format("{0:x2}", nodeid)); }
Console.WriteLine("Host: {0}:{1}", host, port);
if (hexfile != null) { Console.WriteLine("Hexfile: {0}", hexfile); }
Console.Write("Parameters: ");
if (aBios) { Console.Write("Bios "); }
if (aReset) { Console.Write("Reset "); }
if (aStart) { Console.Write("Start "); }
if (aTerminal) { Console.Write("Terminal"); }
Console.WriteLine("");
}
}
if (!error) {
//connect to candaemon
dc = new DaemonConnection();
if (dc.init(host, port)) {
if (DEBUG_LEVEL>1) { Console.WriteLine("Connected to candaemon"); }
} else {
if (DEBUG_LEVEL>0) { Console.WriteLine("Connection to candaemon could not be established, I quit"); }
error = true;
}
}
if (!error && aTerminal) {
//terminal mode (==interactive mode)
bool success = true;
//load hexfile if one has been specified as commandline argument
hf = new HexFile();
if (sHexfile && success) {
if (hf.loadHex(hexfile)) {
if (DEBUG_LEVEL>1) { Console.WriteLine("Hexfile loaded"); }
} else { success = false; }
}
if (success) {
if (DEBUG_LEVEL>1) {
Console.WriteLine("");
printHelp(); //print available commands
Console.WriteLine("");
}
string instr;
do {
Console.Write("> "); //a command has been executed, print a new console char
instr = Console.ReadLine(); //read std in
} while (parseInput(instr)); //parse a line from std in
//exit command
}
}
if (!error && !aTerminal) {
//not terminal mode
bool success = true;
if (sHexfile) {
//load hexfile (a hexfile must be supplied as commandline argument)
hf = new HexFile();
if (hf.loadHex(hexfile)) {
if (DEBUG_LEVEL>1) { Console.WriteLine("Hexfile loaded"); }
} else {
success = false;
if (DEBUG_LEVEL>0) { Console.WriteLine("Hexfile could not be loaded, I quit"); }
}
}
//if a hexfile is loaded then start autodownloading sequence
if (success) {
bool autosuccess = true;
CanNMT cpn = new CanNMT();
if (aReset) {
//send a reset command (and wait for feedback)
if (!cpn.doReset(dc, nodeid)) {
if (DEBUG_LEVEL>0) { Console.WriteLine("Target node did not respond to reset, I quit"); }
autosuccess = false;
}
}
if (sHexfile && autosuccess) {
//send application
dl = new Downloader(hf, dc, nodeid, aBios);
if (!dl.go()) {
if (DEBUG_LEVEL>0) { Console.WriteLine("Error occured during download"); }
autosuccess = false;
}
}
if (autosuccess && aStart) {
//start application
cpn.doStart(dc, nodeid);
}
}
}
if (dc != null) {
//stop tcp client thread
dc.stop();
}
}
public bool downloader()
{
dState pgs = dState.SEND_START;
int t = 0;
int t2 = 0;
CanPacket outCm = null;
CanPacket cm = null;
byte[] data = new byte[8];
uint byteSent = 0;
ulong currentAddress = 0;
bool done = false;
bool errorOccured = false;
try {
if (isBiosUpdate) {
dlOffset = hf.getAddrLower();
//Console.WriteLine(dlOffset);
//dlOffset = 200;
}
CanNMT cpn = new CanNMT();
cpn.setReceiver(receiveID);
bool hasMessage = false;
while (!done) {
Thread.Sleep(1);
switch (pgs) {
case dState.SEND_START:
// Send boot start packet to target.
// and wait for ack.
currentAddress = hf.getAddrLower();
//data[RID_INDEX] = TARGET_ID;
data[ADDR0_INDEX] = (byte)((currentAddress-dlOffset) & 0x0000FF);
data[ADDR1_INDEX] = (byte)(((currentAddress-dlOffset) & 0x00FF00) >> 8);
data[ADDR2_INDEX] = (byte)(((currentAddress-dlOffset) & 0xFF0000) >> 16);
data[ADDR3_INDEX] = 0;
//outCm = new CanPacket(CAN_NMT, CAN_NMT_PGM_START, MY_ID, receiveID, 4, data);
outCm = cpn.getPgmStartPacket(data);
dc.sendCanPacket(outCm);
t = Environment.TickCount;
t2 = Environment.TickCount;
pgs = dState.WAIT_ACK_PRG;
timeStart = Environment.TickCount;
break;
case dState.WAIT_ACK_PRG:
// Check for timeout, resend start packet in that case..
if ((Environment.TickCount - t) > TIMEOUT_MS) {
Console.WriteLine("Timeout while waiting for start prg ack.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
//Thread.Sleep(1);
// If received ack.
hasMessage = dc.getData(out cm);
if (hasMessage) {
CanNMT cpnin = new CanNMT(cm);
if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
// If no error
if (cpnin.getType() == CAN_NMT_PGM_ACK) {
// Start sending program data..
byteSent = 0;
pgs = dState.SEND_PGM_DATA;
}
else if (cpnin.getType() == CAN_NMT_PGM_NACK ) {
// else ..
Console.WriteLine("Nack on CAN_NMT_PGM_START.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
}
}
break;
case dState.SEND_PGM_DATA:
//Console.WriteLine("byteSent = "+byteSent);
Console.Write(".");
// Send program data.
byte datalength = 2;
for (ulong i = 0; i < 6; i++) {
// Populate data.
data[i+2] = hf.getByte(currentAddress + i + byteSent);
if (currentAddress + i + byteSent > hf.getAddrUpper()) {
break; //then done
}
datalength++;
}
data[0] = (byte)(byteSent & 0x00FF);
data[1] = (byte)((byteSent & 0xFF00) >> 8);
outCm = cpn.getPgmDataPacket(data, datalength);
dc.sendCanPacket(outCm);
t = Environment.TickCount;
t2 = Environment.TickCount;
byteSent += 6;
pgs = dState.WAIT_ACK_DATA;
break;
case dState.WAIT_ACK_DATA:
// Wait for pgm ack.
if ((Environment.TickCount - t) > TIMEOUT_MS) {
// Woops, error.
Console.WriteLine("Timeout while waiting for data ack.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
else if ((Environment.TickCount - t2) > TIMEOUT_SHORT_MS) {
// Woops, error.
Console.Write(":");
byteSent -= 6;
pgs = dState.SEND_PGM_DATA;
break;
}
//Thread.Sleep(1);
// If received ack.
hasMessage = dc.getData(out cm);
if (hasMessage) {
CanNMT cpnin = new CanNMT(cm);
if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
// If no error
if (cpnin.getType() == CAN_NMT_PGM_ACK) {
//currentAddress += 2;
// Check if end.
if (currentAddress + byteSent > hf.getAddrUpper()) {
// Yes, we are done, send done.
pgs = dState.SEND_DONE;
}
else {
// More to write.
//byteSent = 0;
pgs = dState.SEND_PGM_DATA;
}
}
else if (cpnin.getType() == CAN_NMT_PGM_NACK ) {
// else ..
Console.WriteLine("Nack on CAN_NMT_PGM_DATA.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
}
}
break;
case dState.SEND_DONE:
// Send done
outCm = cpn.getPgmEndPacket();
dc.sendCanPacket(outCm);
t = Environment.TickCount;
t2 = Environment.TickCount;
pgs = dState.WAIT_DONE;
break;
case dState.WAIT_DONE:
// Check for timeout, resend done packet in that case..
if ((Environment.TickCount - t) > TIMEOUT_MS) {
Console.WriteLine("Timeout while waiting for end prg ack.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
//Thread.Sleep(1);
hasMessage = dc.getData(out cm);
if (hasMessage) {
CanNMT cpnin = new CanNMT(cm);
if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
// If no error
if (cpnin.getType() == CAN_NMT_PGM_ACK) {
Console.WriteLine("");
//
int crc = calcCRC(hf);
if (cm.getDataLength() == 2) {
byte[] cmdata = cm.getData();
if ((cmdata[0] == (crc & 0xFF)) && (cmdata[1] == (crc>>8))) {
if (!isBiosUpdate) {
Console.WriteLine("Done, successfully programmed application.");
pgs = dState.SEND_RESET;
} else {
Console.WriteLine("Done, successfully programmed bios to application space.");
pgs = dState.SEND_BIOS_UPDATE;
}
} else {
string nodecrc = String.Format("{0:x4}", (int)cmdata[0] + (int)(cmdata[1]<<8));
nodecrc = "0x"+nodecrc;
string realcrc = String.Format("{0:x4}", (int)(crc & 0xFF) + (int)(crc & 0xFF00));
realcrc = "0x"+realcrc;
Console.WriteLine("CRC failed. Node sent CRC "+nodecrc+" but should be "+realcrc+".");
errorOccured = true;
pgs = dState.SEND_RESET;
}
byteSent = 0;
}
//Console.WriteLine("crc: " + crc + " " + (crc>>8) + " " + (crc & 0xFF));
//Console.WriteLine("ACKpkg with CRC: " + cm.ToString());
//
}
else if (cpnin.getType() == CAN_NMT_PGM_NACK) {
// else resend addr..
Console.WriteLine("Nack on CAN_NMT_PGM_END.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
}
}
break;
case dState.SEND_BIOS_UPDATE:
data[0] = (byte)(0 & 0x00FF);
data[1] = (byte)((0 & 0xFF00) >> 8);
data[2] = (byte)(dlOffset & 0x00FF);
data[3] = (byte)((dlOffset & 0xFF00) >> 8);
data[4] = (byte)((hf.getAddrUpper()-hf.getAddrLower()+1) & 0x00FF);
data[5] = (byte)(((hf.getAddrUpper()-hf.getAddrLower()+1) & 0xFF00) >> 8);
outCm = cpn.getPgmCopyPacket(data);
Console.WriteLine("Now say a prayer, moving bios");
dc.sendCanPacket(outCm);
t = Environment.TickCount;
t2 = Environment.TickCount;
pgs = dState.WAIT_BOOT;
//pgs = dState.DONE;
break;
case dState.WAIT_BOOT:
// Wait for node reset answer (boot msg).
if ((Environment.TickCount - t) > 3*TIMEOUT_MS) {
// Woops, error.
Console.WriteLine("Timeout while waiting for node to boot.");
errorOccured = true;
pgs = dState.SEND_DONE;
}
//Thread.Sleep(1);
// If received boot msg.
hasMessage = dc.getData(out cm);
if (hasMessage) {
CanNMT cpnin = new CanNMT(cm);
if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
// If no error
if (cpnin.getType() == CAN_NMT_BIOS_START) {
pgs = dState.SEND_EMPTY_START;
}
else {
// else ..
}
}
}
break;
case dState.SEND_EMPTY_START:
// Send boot start packet to target.
// and wait for ack.
//data[RID_INDEX] = TARGET_ID;
data[ADDR0_INDEX] = (byte)((0) & 0x0000FF);
data[ADDR1_INDEX] = (byte)(((0) & 0x00FF00) >> 8);
data[ADDR2_INDEX] = (byte)(((0) & 0xFF0000) >> 16);
data[ADDR3_INDEX] = 0;
//outCm = new CanPacket(CAN_NMT, CAN_NMT_PGM_START, MY_ID, receiveID, 4, data);
outCm = cpn.getPgmStartPacket(data);
dc.sendCanPacket(outCm);
t = Environment.TickCount;
t2 = Environment.TickCount;
pgs = dState.WAIT_ACK_PRG_EMPTY;
timeStart = Environment.TickCount;
break;
case dState.WAIT_ACK_PRG_EMPTY:
// Check for timeout, resend start packet in that case..
if ((Environment.TickCount - t) > 3*TIMEOUT_MS) {
Console.WriteLine("Timeout while waiting for start prg ack.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
//Thread.Sleep(1);
// If received ack.
hasMessage = dc.getData(out cm);
if (hasMessage) {
CanNMT cpnin = new CanNMT(cm);
if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
// If no error
if (cpnin.getType() == CAN_NMT_PGM_ACK) {
// Start sending program data..
byteSent = 0;
pgs = dState.SEND_EMPTY_DATA;
}
else if (cpnin.getType() == CAN_NMT_PGM_NACK ) {
// else ..
Console.WriteLine("Nack on CAN_NMT_PGM_START.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
}
}
break;
case dState.SEND_EMPTY_DATA:
// Send program data.
data[0] = 0;
data[1] = 0;
data[2] = 0xff;
data[3] = 0xff;
outCm = cpn.getPgmDataPacket(data, 4);
dc.sendCanPacket(outCm);
t = Environment.TickCount;
t2 = Environment.TickCount;
byteSent += 6;
pgs = dState.WAIT_ACK_EMPTY_DATA;
break;
case dState.WAIT_ACK_EMPTY_DATA:
// Wait for pgm ack.
if ((Environment.TickCount - t) > 2*TIMEOUT_MS) {
// Woops, error.
Console.WriteLine("Timeout while waiting for data ack.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
//Thread.Sleep(1);
// If received ack.
hasMessage = dc.getData(out cm);
if (hasMessage) {
CanNMT cpnin = new CanNMT(cm);
if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
// If no error
if (cpnin.getType() == CAN_NMT_PGM_ACK) {
pgs = dState.SEND_DONE_EMPTY;
}
else if (cpnin.getType() == CAN_NMT_PGM_NACK ) {
// else ..
Console.WriteLine("Nack on CAN_NMT_PGM_DATA.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
}
}
break;
case dState.SEND_DONE_EMPTY:
// Send done
outCm = cpn.getPgmEndPacket();
dc.sendCanPacket(outCm);
t = Environment.TickCount;
t2 = Environment.TickCount;
pgs = dState.WAIT_DONE_EMPTY;
break;
case dState.WAIT_DONE_EMPTY:
// Check for timeout, resend done packet in that case..
if ((Environment.TickCount - t) > TIMEOUT_MS) {
Console.WriteLine("Timeout while waiting for end prg ack.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
//Thread.Sleep(1);
hasMessage = dc.getData(out cm);
if (hasMessage) {
CanNMT cpnin = new CanNMT(cm);
if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
// If no error
if (cpnin.getType() == CAN_NMT_PGM_ACK) {
Console.WriteLine("");
//
Console.WriteLine("Done, successfully cleaned application flash.");
pgs = dState.SEND_RESET;
}
else if (cpnin.getType() == CAN_NMT_PGM_NACK) {
// else resend addr..
Console.WriteLine("Nack on CAN_NMT_PGM_END.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
}
}
break;
case dState.SEND_RESET:
// Send reset
cpn.doReset(dc, receiveID);
t = Environment.TickCount;
t2 = Environment.TickCount;
pgs = dState.DONE;
break;
case dState.DONE:
done = true;
//down.Abort();
if (!errorOccured) {
long tsecs = ((Environment.TickCount - timeStart) / 1000);
double bitRate = hf.getLength() / ((double)(Environment.TickCount - timeStart) / 1000.0);
if (tsecs <= 0) tsecs = 1;
long mins = tsecs / 60;
long secs = tsecs % 60;
string pad = "";
if (secs < 10) {
pad = "0";
}
Console.WriteLine("Time spent: " + mins + ":" + pad + secs + ", " + Math.Round(bitRate, 2) + " bytes/s");
}
//Console.Write("> ");
break;
}
}
} catch(Exception) {
Console.WriteLine("Exception occured");
//Console.WriteLine(e);
//skriva ut antal bytes skrivna vore bra här, kanske nån annan form av hjälp för debug, något gick snett liksom
}
return !errorOccured;
}
