private void ProcessMessage(TCLightMsg MyMsg, TCLightTimestamp MyTimeStamp)
{
bool bFound = false;
MessageStatus CurrMessage;
// Initialization
//
CurrMessage = new MessageStatus();
// We search if a message (Smae ID and Type) is
// already received or if this is a new message
//
for(int i=0; i< LastMsgsList.Count; i++)
{
CurrMessage = (MessageStatus)LastMsgsList[i];
if(CurrMessage.CANMessage.ID == MyMsg.ID)
if(CurrMessage.CANMessage.MsgType == MyMsg.MsgType)
{
bFound = true;
break;
}
}
if(bFound)
// Messages of this kind are already received; we make an update
//
ModifyMsgEntry(CurrMessage,MyMsg, MyTimeStamp);
else
// Messages of this kind are not received; we make a new entry
//
InsertMsgEntry(MyMsg, MyTimeStamp);
}
private void InsertMsgEntry(TCLightMsg NewMsg, TCLightTimestamp MyTimeStamp)
{
string strNewData,strTemp;
ListViewItem CurrItem;
MessageStatus CurrMsg;
strTemp = strNewData = "";
// Add the new ListView Item with the Type of the message
//
if((NewMsg.MsgType & MsgTypes.MSGTYPE_EXTENDED) != 0)
strTemp = "EXTENDED";
else
strTemp = "STANDARD";
if((NewMsg.MsgType & MsgTypes.MSGTYPE_RTR) == MsgTypes.MSGTYPE_RTR)
strTemp += "/RTR";
CurrItem = lstMessages.Items.Add(strTemp);
// We format the ID of the message and show it
//
if((NewMsg.MsgType & MsgTypes.MSGTYPE_EXTENDED) != 0)
CurrItem.SubItems.Add(string.Format("{0:X8}h",NewMsg.ID));
else
CurrItem.SubItems.Add(string.Format("{0:X3}h",NewMsg.ID));
// We set the length of the Message
//
CurrItem.SubItems.Add(NewMsg.Len.ToString());
// We format the data of the message. Each data is one
// byte of Hexadecimal data
//
if((NewMsg.MsgType & MsgTypes.MSGTYPE_RTR) == MsgTypes.MSGTYPE_RTR)
strNewData = "Remote Request";
else
for(int i=0; i< NewMsg.Len; i++)
strNewData += string.Format("{0:X2} ",NewMsg.Data[i]);
CurrItem.SubItems.Add(strNewData);
// The message is the First, so count is 1 and there
// is not any time difference between messages.
//
CurrItem.SubItems.Add("1");
// Add time stamp information if need be
//
if (MyTimeStamp != null)
CurrItem.SubItems.Add(MyTimeStamp.millis.ToString() + "." + MyTimeStamp.micros.ToString());
// We add this status in the last message list
//
CurrMsg = new MessageStatus(NewMsg,CurrItem.Index);
LastMsgsList.Add(CurrMsg);
}
private void ModifyMsgEntry(MessageStatus LastMsg, TCLightMsg NewMsg, TCLightTimestamp MyTimeStamp)
{
string strLastData, strNewData;
MessageStatus NewStatus;
ListViewItem CurrItem;
uint iLen;
int iCount;
strNewData = strLastData = "";
// Values from the last messages
//
CurrItem = lstMessages.Items[LastMsg.Position];
iCount = Convert.ToInt32(CurrItem.SubItems[4].Text);
strLastData = CurrItem.SubItems[3].Text;
iLen = LastMsg.CANMessage.Len;
// New values
//
if((NewMsg.MsgType & MsgTypes.MSGTYPE_RTR) != 0)
strNewData = "Remote Request";
else
for(int i=0; i< NewMsg.Len; i++)
strNewData += string.Format("{0:X2} ",NewMsg.Data[i]);
// Count is updated
//
iCount += 1;
// Set the changes
//
if(iLen != NewMsg.Len)
{
iLen = NewMsg.Len;
CurrItem.SubItems[2].Text = iLen.ToString();
}
if(strLastData != strNewData)
CurrItem.SubItems[3].Text = strNewData;
CurrItem.SubItems[4].Text = iCount.ToString();
// Update time stamp information if need be
//
if (MyTimeStamp != null)
{
String timeStamp = MyTimeStamp.millis.ToString() + "." + MyTimeStamp.micros.ToString();
// Add new SubItem if it doesn't exists
//
if (CurrItem.SubItems.Count == 5)
CurrItem.SubItems.Add(timeStamp);
// Else update existing SubItem
//
else
CurrItem.SubItems[5].Text = timeStamp;
}
// Save the new Status of the message
// NOTE: The objects are saved in the same index position which
// they use in the Listview
//
NewStatus = new MessageStatus(NewMsg,LastMsg.Position);
LastMsgsList.RemoveAt(LastMsg.Position);
LastMsgsList.Insert(LastMsg.Position,NewStatus);
}
private void btnWrite_Click(object sender, System.EventArgs e)
{
TCLightMsg MsgToSend;
TextBox CurrentTextBox;
CANResult Res;
// We create a TCLightMsg message structure
//
MsgToSend = new TCLightMsg();
// We configurate the Message. The ID (max 0x1FF),
// Length of the Data, Message Type (Standard in
// this example) and die data
//
MsgToSend.ID = Convert.ToUInt32(txtID.Text,16);
MsgToSend.Len = Convert.ToByte(nudLength.Value);
MsgToSend.MsgType = (chbExtended.Checked) ? MsgTypes.MSGTYPE_EXTENDED : MsgTypes.MSGTYPE_STANDARD;
// If a remote frame will be sent, the data bytes are not important.
//
if(chbRemote.Checked)
MsgToSend.MsgType |= MsgTypes.MSGTYPE_RTR;
else
{
// We get so much data as the Len of the message
//
CurrentTextBox = txtData0;
for(int i=0; i < MsgToSend.Len; i++)
{
MsgToSend.Data[i] = Convert.ToByte(CurrentTextBox.Text,16);
if(i < 7)
CurrentTextBox = (TextBox)this.GetNextControl(CurrentTextBox,true);
}
}
// The message is sent to the configured hardware
//
Res = PCANLight.Write(ActiveHardware, MsgToSend);
// The Hardware was successfully sent
//
if(Res == CANResult.ERR_OK)
txtInfo.Text = "Message was successfully SENT.\r\n";
// An error occurred. We show the error.
//
else
txtInfo.Text = "Error: " + Res.ToString();
}
public MessageStatus(TCLightMsg CanMsg,int Index)
{
Msg = CanMsg;
iIndex = Index;
}
/// <summary>
/// PCANLight ReadEx function
/// This function get the next message or the next error from the Receive Queue of
/// the CAN Hardware and the time when the message arrived.
/// REMARK:
/// - Check always the type of the received Message (MSGTYPE_STANDARD,MSGTYPE_RTR,
/// MSGTYPE_EXTENDED,MSGTYPE_STATUS)
/// - The function will return ERR_OK always that you receive a CAN message successfully
/// although if the messages is a MSGTYPE_STATUS message.
/// - When a MSGTYPE_STATUS mesasge is got, the ID and Length information of the message
/// will be treated as indefined values. Actually information of the received message
/// should be interpreted using the first 4 data bytes as follow:
/// * Data0 Data1 Data2 Data3 Kind of Error
/// 0x00 0x00 0x00 0x02 CAN_ERR_OVERRUN 0x0002 CAN Controller was read to late
/// 0x00 0x00 0x00 0x04 CAN_ERR_BUSLIGHT 0x0004 Bus Error: An error counter limit reached (96)
/// 0x00 0x00 0x00 0x08 CAN_ERR_BUSHEAVY 0x0008 Bus Error: An error counter limit reached (128)
/// 0x00 0x00 0x00 0x10 CAN_ERR_BUSOFF 0x0010 Bus Error: Can Controller went "Bus-Off"
/// - If a CAN_ERR_BUSOFF status message is received, the CAN Controller must to be
/// initialized again using the Init() function. Otherwise, will be not possible
/// to send/receive more messages.
/// </summary>
/// <param name="HWType">From which hardware should be read a CAN Message</param>
/// <param name="Msg">The TCLightMsg structure to store the CAN message</param>
/// <param name="RcvTime">The TCLightTimestamp structure to store the timestamp of the CAN message</param>
/// <returns>A CANResult value - Error/status of the hardware after execute the function</returns>
public static CANResult ReadEx(HardwareType HWType, out TCLightMsg Msg, out TCLightTimestamp RcvTime)
{
PCAN_ISA.TPCANMsg MsgIsa;
PCAN_2ISA.TPCANMsg MsgIsa2;
PCAN_PCI.TPCANMsg MsgPci;
PCAN_2PCI.TPCANMsg MsgPci2;
PCAN_PCC.TPCANMsg MsgPcc;
PCAN_2PCC.TPCANMsg MsgPcc2;
PCAN_USB.TPCANMsg MsgUsb;
PCAN_2USB.TPCANMsg MsgUsb2;
PCAN_DNP.TPCANMsg MsgDnp;
PCAN_DNG.TPCANMsg MsgDng;
PCAN_ISA.TPCANTimestamp RcvTimeIsa;
PCAN_2ISA.TPCANTimestamp RcvTimeIsa2;
PCAN_PCI.TPCANTimestamp RcvTimePci;
PCAN_2PCI.TPCANTimestamp RcvTimePci2;
PCAN_PCC.TPCANTimestamp RcvTimePcc;
PCAN_2PCC.TPCANTimestamp RcvTimePcc2;
PCAN_USB.TPCANTimestamp RcvTimeUsb;
PCAN_2USB.TPCANTimestamp RcvTimeUsb2;
PCAN_DNP.TPCANTimestamp RcvTimeDnp;
PCAN_DNG.TPCANTimestamp RcvTimeDng;
CANResult resTemp;
Msg = null;
RcvTime = null;
try
{
switch (HWType)
{
case HardwareType.ISA_1CH:
resTemp = (CANResult)PCAN_ISA.ReadEx(out MsgIsa, out RcvTimeIsa);
Msg = new TCLightMsg(MsgIsa);
RcvTime = new TCLightTimestamp(RcvTimeIsa);
return resTemp;
case HardwareType.ISA_2CH:
resTemp = (CANResult)PCAN_2ISA.ReadEx(out MsgIsa2, out RcvTimeIsa2);
Msg = new TCLightMsg(MsgIsa2);
RcvTime = new TCLightTimestamp(RcvTimeIsa2);
return resTemp;
case HardwareType.PCI_1CH:
resTemp = (CANResult)PCAN_PCI.ReadEx(out MsgPci, out RcvTimePci);
Msg = new TCLightMsg(MsgPci);
RcvTime = new TCLightTimestamp(RcvTimePci);
return resTemp;
case HardwareType.PCI_2CH:
resTemp = (CANResult)PCAN_2PCI.ReadEx(out MsgPci2, out RcvTimePci2);
Msg = new TCLightMsg(MsgPci2);
RcvTime = new TCLightTimestamp(RcvTimePci2);
return resTemp;
case HardwareType.PCC_1CH:
resTemp = (CANResult)PCAN_PCC.ReadEx(out MsgPcc, out RcvTimePcc);
Msg = new TCLightMsg(MsgPcc);
RcvTime = new TCLightTimestamp(RcvTimePcc);
return resTemp;
case HardwareType.PCC_2CH:
resTemp = (CANResult)PCAN_2PCC.ReadEx(out MsgPcc2, out RcvTimePcc2);
Msg = new TCLightMsg(MsgPcc2);
RcvTime = new TCLightTimestamp(RcvTimePcc2);
return resTemp;
case HardwareType.USB_1CH:
resTemp = (CANResult)PCAN_USB.ReadEx(out MsgUsb, out RcvTimeUsb);
Msg = new TCLightMsg(MsgUsb);
RcvTime = new TCLightTimestamp(RcvTimeUsb);
return resTemp;
case HardwareType.USB_2CH:
resTemp = (CANResult)PCAN_2USB.ReadEx(out MsgUsb2, out RcvTimeUsb2);
Msg = new TCLightMsg(MsgUsb2);
RcvTime = new TCLightTimestamp(RcvTimeUsb2);
return resTemp;
case HardwareType.DNP:
resTemp = (CANResult)PCAN_DNP.ReadEx(out MsgDnp, out RcvTimeDnp);
Msg = new TCLightMsg(MsgDnp);
RcvTime = new TCLightTimestamp(RcvTimeDnp);
return resTemp;
case HardwareType.DNG:
resTemp = (CANResult)PCAN_DNG.ReadEx(out MsgDng, out RcvTimeDng);
Msg = new TCLightMsg(MsgDng);
RcvTime = new TCLightTimestamp(RcvTimeDng);
return resTemp;
// Hardware is not valid for this function
//
default:
return CANResult.ERR_ILLHW;
}
}
catch (EntryPointNotFoundException Ex)
{
// Function is not available in the loaded Dll
//
System.Windows.Forms.MessageBox.Show("Error: Wrong Version. \"" + Ex.Message + "\"");
return CANResult.ERR_NO_DLL;
}
catch (Exception Ex)
{
// Error: Dll does not exists or the function is not available
//
System.Windows.Forms.MessageBox.Show("Error: \"" + Ex.Message + "\"");
return CANResult.ERR_NO_DLL;
}
}
/// <summary>
/// PCANLight Read function
/// This function get the next message or the next error from the Receive Queue of
/// the CAN Hardware.
/// REMARK:
/// - Check always the type of the received Message (MSGTYPE_STANDARD,MSGTYPE_RTR,
/// MSGTYPE_EXTENDED,MSGTYPE_STATUS)
/// - The function will return ERR_OK always that you receive a CAN message successfully
/// although if the messages is a MSGTYPE_STATUS message.
/// - When a MSGTYPE_STATUS mesasge is got, the ID and Length information of the message
/// will be treated as indefined values. Actually information of the received message
/// should be interpreted using the first 4 data bytes as follow:
/// * Data0 Data1 Data2 Data3 Kind of Error
/// 0x00 0x00 0x00 0x02 CAN_ERR_OVERRUN 0x0002 CAN Controller was read to late
/// 0x00 0x00 0x00 0x04 CAN_ERR_BUSLIGHT 0x0004 Bus Error: An error counter limit reached (96)
/// 0x00 0x00 0x00 0x08 CAN_ERR_BUSHEAVY 0x0008 Bus Error: An error counter limit reached (128)
/// 0x00 0x00 0x00 0x10 CAN_ERR_BUSOFF 0x0010 Bus Error: Can Controller went "Bus-Off"
/// - If a CAN_ERR_BUSOFF status message is received, the CAN Controller must to be
/// initialized again using the Init() function. Otherwise, will be not possible
/// to send/receive more messages.
/// </summary>
/// <param name="HWType">From which hardware should be read a CAN Message</param>
/// <param name="Msg">The TCLightMsg structure to store the CAN message</param>
/// <returns>A CANResult value - Error/status of the hardware after execute the function</returns>
public static CANResult Read(HardwareType HWType, out TCLightMsg Msg)
{
PCAN_ISA.TPCANMsg MsgIsa;
PCAN_2ISA.TPCANMsg MsgIsa2;
PCAN_PCI.TPCANMsg MsgPci;
PCAN_2PCI.TPCANMsg MsgPci2;
PCAN_PCC.TPCANMsg MsgPcc;
PCAN_2PCC.TPCANMsg MsgPcc2;
PCAN_USB.TPCANMsg MsgUsb;
PCAN_2USB.TPCANMsg MsgUsb2;
PCAN_DNP.TPCANMsg MsgDnp;
PCAN_DNG.TPCANMsg MsgDng;
CANResult resTemp;
Msg = null;
try
{
switch (HWType)
{
case HardwareType.ISA_1CH:
resTemp = (CANResult)PCAN_ISA.Read(out MsgIsa);
Msg = new TCLightMsg(MsgIsa);
return resTemp;
case HardwareType.ISA_2CH:
resTemp = (CANResult)PCAN_2ISA.Read(out MsgIsa2);
Msg = new TCLightMsg(MsgIsa2);
return resTemp;
case HardwareType.PCI_1CH:
MsgPci = new PCAN_PCI.TPCANMsg();
MsgPci.DATA = new byte[8];
resTemp = (CANResult)PCAN_PCI.Read(out MsgPci);
Msg = new TCLightMsg(MsgPci);
return resTemp;
case HardwareType.PCI_2CH:
resTemp = (CANResult)PCAN_2PCI.Read(out MsgPci2);
Msg = new TCLightMsg(MsgPci2);
return resTemp;
case HardwareType.PCC_1CH:
resTemp = (CANResult)PCAN_PCC.Read(out MsgPcc);
Msg = new TCLightMsg(MsgPcc);
return resTemp;
case HardwareType.PCC_2CH:
resTemp = (CANResult)PCAN_2PCC.Read(out MsgPcc2);
Msg = new TCLightMsg(MsgPcc2);
return resTemp;
case HardwareType.USB_1CH:
resTemp = (CANResult)PCAN_USB.Read(out MsgUsb);
Msg = new TCLightMsg(MsgUsb);
return resTemp;
case HardwareType.USB_2CH:
resTemp = (CANResult)PCAN_2USB.Read(out MsgUsb2);
Msg = new TCLightMsg(MsgUsb2);
return resTemp;
case HardwareType.DNP:
resTemp = (CANResult)PCAN_DNP.Read(out MsgDnp);
Msg = new TCLightMsg(MsgDnp);
return resTemp;
case HardwareType.DNG:
resTemp = (CANResult)PCAN_DNG.Read(out MsgDng);
Msg = new TCLightMsg(MsgDng);
return resTemp;
// Hardware is not valid for this function
//
default:
return CANResult.ERR_ILLHW;
}
}
catch (Exception Ex)
{
// Error: Dll does not exists or the function is not available
//
System.Windows.Forms.MessageBox.Show("Error: \"" + Ex.Message + "\"");
return CANResult.ERR_NO_DLL;
}
}
/// <summary>
/// PCANLight Write function
/// This function Place a CAN message into the Transmit Queue of the CAN Hardware
/// </summary>
/// <param name="HWType">In which hardware should be written the CAN Message</param>3
/// <param name="MsgToSend">The TCLightMsg message to be written</param>
/// <returns>A CANResult value - Error/status of the hardware after execute the function</returns>
public static CANResult Write(HardwareType HWType, TCLightMsg MsgToSend)
{
PCAN_ISA.TPCANMsg MsgIsa;
PCAN_2ISA.TPCANMsg MsgIsa2;
PCAN_PCI.TPCANMsg MsgPci;
PCAN_2PCI.TPCANMsg MsgPci2;
PCAN_PCC.TPCANMsg MsgPcc;
PCAN_2PCC.TPCANMsg MsgPcc2;
PCAN_USB.TPCANMsg MsgUsb;
PCAN_2USB.TPCANMsg MsgUsb2;
PCAN_DNP.TPCANMsg MsgDnp;
PCAN_DNG.TPCANMsg MsgDng;
try
{
switch (HWType)
{
case HardwareType.ISA_1CH:
MsgIsa = MsgToSend;
return (CANResult)PCAN_ISA.Write(ref MsgIsa);
case HardwareType.ISA_2CH:
MsgIsa2 = MsgToSend;
return (CANResult)PCAN_2ISA.Write(ref MsgIsa2);
case HardwareType.PCI_1CH:
MsgPci = MsgToSend;
return (CANResult)PCAN_PCI.Write(ref MsgPci);
case HardwareType.PCI_2CH:
MsgPci2 = MsgToSend;
return (CANResult)PCAN_2PCI.Write(ref MsgPci2);
case HardwareType.PCC_1CH:
MsgPcc = MsgToSend;
return (CANResult)PCAN_PCC.Write(ref MsgPcc);
case HardwareType.PCC_2CH:
MsgPcc2 = MsgToSend;
return (CANResult)PCAN_2PCC.Write(ref MsgPcc2);
case HardwareType.USB_1CH:
MsgUsb = MsgToSend;
return (CANResult)PCAN_USB.Write(ref MsgUsb);
case HardwareType.USB_2CH:
MsgUsb2 = MsgToSend;
return (CANResult)PCAN_2USB.Write(ref MsgUsb2);
case HardwareType.DNP:
MsgDnp = MsgToSend;
return (CANResult)PCAN_DNP.Write(ref MsgDnp);
case HardwareType.DNG:
MsgDng = MsgToSend;
return (CANResult)PCAN_DNG.Write(ref MsgDng);
// Hardware is not valid for this function
//
default:
return CANResult.ERR_ILLHW;
}
}
catch (Exception Ex)
{
// Error: Dll does not exists or the function is not available
//
System.Windows.Forms.MessageBox.Show("Error: \"" + Ex.Message + "\"");
return CANResult.ERR_NO_DLL;
}
}
