Example #1
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()
 {
     int readResult = 0;
     LAWICEL.CANMsg r_canMsg = new LAWICEL.CANMsg();
     CANMessage canMessage = new CANMessage();
     while (true)
     {
         lock (m_synchObject)
         {
             if (m_endThread)
                 return;
         }
         readResult = LAWICEL.canusb_Read(m_deviceHandle, out r_canMsg);
         if (readResult == LAWICEL.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 == LAWICEL.ERROR_CANUSB_NO_MESSAGE)
         {
             Thread.Sleep(1);
         }
     }
 }
Example #2
0
        //-------------------------------------------------------------------------
        /**
        Waits for arrival of a specific CAN message or any message if ID = 0.

        @param      a_canID     message ID
        @param      timeout     timeout, ms
        @param      canMsg      message

        @return                 message ID
        */
        public uint waitForMessage(uint a_canID, uint timeout,
        out CANMessage canMsg)
        {
            canMsg = new CANMessage();
            Debug.Assert(canMsg != null);
            canMsg.setID(0);

            caCombiAdapter.caCANFrame frame = new caCombiAdapter.caCANFrame();
            if (this.combi.CAN_GetMessage(ref frame, timeout) &&
            (frame.id == a_canID || a_canID == 0))
            {
            // message received
            canMsg.setID(frame.id);
            canMsg.setLength(frame.length);
            canMsg.setData(frame.data);

            return frame.id;
            }

            // timed out
            return 0;
        }