private void ReceiveThreadHandler()
{
TPCANMsg msg;
TPCANTimestamp timestamp;
TPCANStatus result;
try
{
while (m_open)
{
var status = PCANBasic.GetStatus(m_handle);
if ((status & TPCANStatus.PCAN_ERROR_QRCVEMPTY) == 0) // If NOT empty
{
result = PCANBasic.Read(m_handle, out msg, out timestamp);
if (this.UpdateStatusFromOperation(result) == TPCANStatus.PCAN_ERROR_OK)
{
System.Diagnostics.Debug.WriteLine("CAN In: " + msg.ID.ToString());
this.PutReceivedInQueue(new PCANMessage(msg, timestamp));
}
}
else
{
Thread.Sleep(5);
}
}
}
finally
{
m_receiverThread = null;
}
}
private byte[] SSPC_Ctrl(byte[] msg, bool msginProg)
{
TPCANStatus stsResult;
CANMsgWrite = new TPCANMsg();
CANMsgWrite.LEN = 8;
CANMsgWrite.DATA = new byte[8];
CANMsgWrite.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_EXTENDED;
CANMsgWrite.ID = ID1;
CANMsgWrite.DATA = msg;
TPCANTimestamp.micros = 185;
TPCANTimestamp.millis = 158903185;
TPCANTimestamp.millis_overflow = 0;
byte[] inComingData = new byte[8];
stsResult = PCANBasic.GetStatus(m_PcanHandle);
stsResult = PCANBasic.Write(m_PcanHandle, ref CANMsgWrite);
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
MessageBox.Show(Convert.ToString(stsResult));
}
else
{
System.Threading.Thread.Sleep(10);
stsResult = PCANBasic.Read(m_PcanHandle, out CANMsgRead, out TPCANTimestamp);
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
MessageBox.Show(Convert.ToString(stsResult));
}
else
{
stsResult = PCANBasic.Read(m_PcanHandle, out CANMsgRead, out TPCANTimestamp);
for (int i = 0; i < CANMsgRead.LEN; i++)
{
inComingData[i] = CANMsgRead.DATA[i];
}
}
}
return(inComingData);
}
public PeakCan(int p_peak_id, TPCANBaudrate p_baud_rate = TPCANBaudrate.PCAN_BAUD_1M)
{
TPCANStatus status;
uint condition;
uint device_id;
foreach (TPCANHandle channel in USB_CHANNELS)
{
status = PCANBasic.GetValue(channel, TPCANParameter.PCAN_CHANNEL_CONDITION, out condition, sizeof(UInt32));
if (status == TPCANStatus.PCAN_ERROR_OK && (condition & PCANBasic.PCAN_CHANNEL_AVAILABLE) == PCANBasic.PCAN_CHANNEL_AVAILABLE)
{
status = PCANBasic.Initialize(channel, p_baud_rate);
if (status == TPCANStatus.PCAN_ERROR_OK)
{
status = PCANBasic.GetValue(channel, TPCANParameter.PCAN_DEVICE_NUMBER, out device_id, sizeof(UInt32));
if (status == TPCANStatus.PCAN_ERROR_OK && device_id == p_peak_id)
{
m_sock = channel;
}
PCANBasic.Uninitialize(channel);
}
}
}
if (m_sock == 0)
{
throw new Exception($"PEAK CAN USB adapt with id 0x{p_peak_id:X} not found");
}
else
{
status = PCANBasic.Initialize(m_sock, p_baud_rate);
if (status != TPCANStatus.PCAN_ERROR_OK)
{
throw new Exception($"Error initializing CAN with id 0x{p_peak_id:X}");
}
status = PCANBasic.Reset(m_sock);
if (status != TPCANStatus.PCAN_ERROR_OK)
{
throw new Exception(GetFormatedError(status));
}
uint numeric_buffer = PCANBasic.PCAN_PARAMETER_ON;
status = PCANBasic.SetValue(m_sock, TPCANParameter.PCAN_RECEIVE_EVENT, ref numeric_buffer, sizeof(UInt32));
if (status != TPCANStatus.PCAN_ERROR_OK)
{
throw new Exception(GetFormatedError(status));
}
status = PCANBasic.GetStatus(m_sock);
if (status != TPCANStatus.PCAN_ERROR_OK)
{
throw new Exception(GetFormatedError(status));
}
}
m_queue_rx = new BlockingCollection <TPCANMsg>();
m_queue_tx = new BlockingCollection <TPCANMsg>();
m_thread_stop = false;
m_thread_rx = new Thread(new ThreadStart(ReadRawFrame));
m_thread_rx.IsBackground = true;
m_thread_rx.Start();
m_thread_tx = new Thread(new ThreadStart(WriteRawFrame));
m_thread_tx.IsBackground = true;
m_thread_tx.Start();
}
