//-------------------------------------------------------------------------
/**
* Handles incoming messages.
*/
private void read_messages()
{
uint id;
byte length;
ulong data;
CANMessage msg = new CANMessage();
Debug.Assert(msg != null);
// main loop
while (true)
{
// check for thread termination request
Debug.Assert(this.term_mutex != null);
lock (this.term_mutex)
{
if (this.term_requested)
{
return;
}
}
// receive messages
while (MctAdapter_ReceiveMessage(out id, out length, out data))
{
if (acceptMessageId(id))
{
// convert message
msg.setID(id);
msg.setLength(length);
msg.setData(data);
// pass message to listeners
lock (this.m_listeners)
{
AddToCanTrace("RX: " + id.ToString("X4") + " " + data.ToString("X16"));
foreach (ICANListener listener in this.m_listeners)
{
listener.handleMessage(msg);
}
}
}
}
// give up CPU for a moment
Thread.Sleep(1);
}
}
public void readMessages()
{
CANMessage canMessage = new CANMessage();
string rxMessage = string.Empty;
logger.Debug("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
logger.Debug("readMessages ended");
return;
}
}
try
{
if (m_serialPort.IsOpen)
{
do
{
rxMessage = m_serialPort.ReadLine();
rxMessage = rxMessage.Replace("\r", ""); // remove prompt characters... we don't need that stuff
rxMessage = rxMessage.Replace("\n", ""); // remove prompt characters... we don't need that stuff
} while (rxMessage.StartsWith("w") == false);
uint id = Convert.ToUInt32(rxMessage.Substring(1, 3), 16);
if (acceptMessageId(id))
{
canMessage.setID(id);
canMessage.setLength(8);
canMessage.setData(0x0000000000000000);
for (uint i = 0; i < 8; i++)
{
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(5 + (2 * (int)i), 2), 16), i);
}
receivedMessage(canMessage);
}
}
}
catch (Exception)
{
logger.Debug("MSG: " + rxMessage);
}
}
}
/// <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);
}
}
}
//---------------------------------------------------------------------------------------------
/**
* 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 override 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 (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);
}
/// <summary>
/// Send a message that starts a session. This is used to test if there is
/// a connection.
/// </summary>
/// <returns></returns>
private bool sendSessionRequest()
{
CANMessage msg1 = new CANMessage(0x220, 0, 8);
EASYSYNC.CANMsg msg = new EASYSYNC.CANMsg();
msg1.setData(0x000040021100813f);
if (!sendMessage(msg1))
{
return(false);
}
if (waitForMessage(0x238, 1000, out msg) == 0x238)
{
//Ok, there seems to be a ECU somewhere out there.
//Now, sleep for 10 seconds to get a session timeout. This is needed for
//applications on higher level. Otherwise there will be no reply when the
//higher level application tries to start a session.
Thread.Sleep(10000);
return(true);
}
return(false);
}
/// <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);
}
}
}
//---------------------------------------------------------------------------------------------
/**
* Handles incoming messages.
*/
private void read_messages()
{
caCombiAdapter.caCANFrame frame = new caCombiAdapter.caCANFrame();
// main loop
while (true)
{
// check for thread termination request
Debug.Assert(term_mutex != null);
lock (term_mutex)
{
if (term_requested)
{
// exit
logger.Debug("Reader thread ended");
return;
}
}
// receive messages
if (combi.CAN_GetMessage(ref frame, 1000))
{
if (acceptMessageId(frame.id))
{
// convert message
in_msg.setID(frame.id);
in_msg.setLength(frame.length);
in_msg.setData(frame.data);
receivedMessage(in_msg);
}
}
else
{
Thread.Sleep(1);
}
}
}
/// <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)
{
Lawicel.CANUSB.CANMsg r_canMsg;
canMsg = new CANMessage();
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
r_canMsg = new Lawicel.CANUSB.CANMsg();
readResult = Lawicel.CANUSB.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
Thread.Sleep(1);
logger.Trace("rx: 0x" + r_canMsg.id.ToString("X3") + r_canMsg.data.ToString("X16"));
if (r_canMsg.id == 0x00)
{
nrOfWait++;
}
else if (r_canMsg.id != a_canID)
{
continue;
}
canMsg.setData(r_canMsg.data);
canMsg.setID(r_canMsg.id);
canMsg.setLength(r_canMsg.len);
return((uint)r_canMsg.id);
}
else if (readResult == Lawicel.CANUSB.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
nrOfWait++;
}
}
r_canMsg = new Lawicel.CANUSB.CANMsg();
return(0);
}
/// <summary>
/// Send a message that starts a session. This is used to test if there is
/// a connection.
/// </summary>
/// <returns></returns>
private bool sendSessionRequest()
{
Console.WriteLine("Sending session request");
// 0x220 is for T7
// 0x7E0 is for T8
CANMessage msg1 = new CANMessage(0x220, 0, 8);
Lawicel.CANUSB.CANMsg msg = new Lawicel.CANUSB.CANMsg();
msg1.setData(0x000040021100813f);
if (!sendMessage(msg1))
{
Console.WriteLine("Unable to send session request");
return false;
}
if (waitForMessage(0x238, 1000, out msg) == 0x238)
{
//Ok, there seems to be a ECU somewhere out there.
//Now, sleep for 10 seconds to get a session timeout. This is needed for
//applications on higher level. Otherwise there will be no reply when the
//higher level application tries to start a session.
Thread.Sleep(10000);
Console.WriteLine("sendSessionRequest: TRUE");
return true;
}
Console.WriteLine("sendSessionRequest: FALSE");
return false;
}
public void InitializeSession()
{
CANMessage response = new CANMessage();
//101 8 FE 01 3E 00 00 00 00 00
CANMessage msg = new CANMessage(0x11, 0, 2);
ulong cmd = 0x0000000000003E01;
msg.setData(cmd);
if (!canUsbDevice.sendMessage(msg))
{
logger.Debug("Couldn't send message");
}
}
//---------------------------------------------------------------------------------------------
/**
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 override 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;
}
/// <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);
}
}
}
public bool ProgramVIN(string VINNumber)
{
CANMessage msg = new CANMessage(0x7E0, 0, 8);
ulong cmd = 0x00000000903B1310;
if (VINNumber.Length > 17) VINNumber = VINNumber.Substring(0, 17);// lose more than 17 digits
if (VINNumber.Length < 17) VINNumber = VINNumber.PadRight(17, '0');
if (VINNumber.Length != 17) return false;
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[0]), 4);
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[1]), 5);
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[2]), 6);
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[3]), 7);
msg.setData(cmd);
m_canListener.setupWaitMessage(0x7E8);
if (!canUsbDevice.sendMessage(msg))
{
CastInfoEvent("Couldn't send message", ActivityType.ConvertingFile);
return false;
}
ulong rxdata = m_canListener.waitMessage(timeoutP2ct).getData();
if (rxdata == 0x0000000000000030)
{
//2020202020202021
//0020202020202022
cmd = 0x0000000000000021;
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[4]), 1);
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[5]), 2);
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[6]), 3);
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[7]), 4);
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[8]), 5);
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[9]), 6);
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[10]), 7);
msg.setData(cmd);
m_canListener.setupWaitMessage(0x7E8);
canUsbDevice.sendMessage(msg);
cmd = 0x0000000000000022;
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[11]), 1);
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[12]), 2);
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[13]), 3);
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[14]), 4);
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[15]), 5);
cmd = AddByteToCommand(cmd, Convert.ToByte(VINNumber[16]), 6);
//msg.setLength(7); // only 7 bytes for the last message
msg.setData(cmd);
m_canListener.setupWaitMessage(0x7E8);
canUsbDevice.sendMessage(msg);
// wait for ack
//0000000000907B02
rxdata = m_canListener.waitMessage(timeoutP2ct).getData();
if (getCanData(rxdata, 1) == 0x7B && getCanData(rxdata, 2) == 0x90)
{
return true;
}
}
return false;
}
/// <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;
}
/// <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 canMessage)
{
canMessage = new CANMessage();
Debug.Assert(canMessage != null);
int wait_cnt = 0;
uint id;
byte length;
ulong data;
while (wait_cnt < timeout)
{
if (MctAdapter_ReceiveMessage(out id, out length, out data))
{
// message received
canMessage.setID(id);
canMessage.setLength(length);
canMessage.setData(data);
if (canMessage.getID() != a_canID)
continue;
return (uint)canMessage.getID();
}
// wait a bit
Thread.Sleep(1);
++wait_cnt;
}
// nothing was received
return 0;
}
/// <summary>
/// Start a KWP session.
/// </summary>
/// <remarks>
/// A KWP session must be started before any requests can be sent.
/// </remarks>
/// <returns>True if the session was started, otherwise false.</returns>
public bool startSession()
{
CANMessage msg = new CANMessage(0x220, 0, 7);
msg.setData(0x000040021100813F);
AddToCanTrace("Sending 0x000040021100813F message");
m_kwpCanListener.setupWaitMessage(0x238);
if (!m_canDevice.sendMessage(msg))
{
AddToCanTrace("Unable to send 0x000040021100813F message");
return false;
}
Console.WriteLine("Init msg sent");
if (m_kwpCanListener.waitMessage(timeoutPeriod).getID() == 0x238)
{
AddToCanTrace("Successfully sent 0x000040021100813F message and received reply 0x238");
return true;
}
else
{
AddToCanTrace("Didn't receive 0x238 message as reply on 0x000040021100813F message");
return false;
}
}
/// <summary>
/// Send an acknowledgement message.
/// </summary>
/// <param name="a_rowNr">The row number that should be acknowledged.</param>
private void sendAck(uint a_rowNr)
{
CANMessage msg = new CANMessage(0x266,0,5);
msg.elmExpectedResponses =(a_rowNr==0)?0:1;
uint i = 0;
ulong data = 0;
data = setCanData(data, (byte)0x40, i++);
data = setCanData(data, (byte)0xA1, i++);
data = setCanData(data, (byte)0x3F, i++);
data = setCanData(data, (byte)(0x80 | (int)(a_rowNr)), i++);
msg.setData(data);
if (!m_canDevice.sendMessage(msg))
throw new Exception("Error sending ack");
}
public void readMessages()
{
CANMessage canMessage = new CANMessage();
string rxMessage = string.Empty;
Console.WriteLine("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
Console.WriteLine("readMessages ended");
return;
}
}
try
{
if (m_serialPort.IsOpen)
{
do
{
rxMessage = m_serialPort.ReadLine();
rxMessage = rxMessage.Replace("\r", ""); // remove prompt characters... we don't need that stuff
rxMessage = rxMessage.Replace("\n", ""); // remove prompt characters... we don't need that stuff
} while (rxMessage.StartsWith("w") == false);
uint id = Convert.ToUInt32(rxMessage.Substring(1, 3), 16);
if (acceptMessageId(id))
{
canMessage.setID(id);
canMessage.setLength(8);
canMessage.setData(0x0000000000000000);
for (uint i = 0; i < 8; i++)
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(5 + (2 * (int)i), 2), 16), i);
lock (m_listeners)
{
AddToCanTrace("RX: " + canMessage.getID().ToString("X3") + " " + canMessage.getLength().ToString("X1") + " " + canMessage.getData().ToString("X16"));
//Console.WriteLine("MSG: " + rxMessage);
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
}
}
catch (Exception)
{
Console.WriteLine("MSG: " + rxMessage);
}
}
}
/// <summary>
/// Start a KWP session.
/// </summary>
/// <remarks>
/// A KWP session must be started before any requests can be sent.
/// </remarks>
/// <returns>True if the session was started, otherwise false.</returns>
public override bool startSession()
{
CANMessage msg = new CANMessage(0x220, 0, 7);
msg.setData(0x000040021100813F);
logger.Debug("Sending 0x000040021100813F message");
m_kwpCanListener.setupWaitMessage(0x238);
if (!m_canDevice.sendMessage(msg))
{
logger.Debug("Unable to send 0x000040021100813F message");
return false;
}
logger.Debug("Init msg sent");
if (m_kwpCanListener.waitMessage(getTimeout()).getID() == 0x238)
{
logger.Debug("Successfully sent 0x000040021100813F message and received reply 0x238");
return true;
}
else
{
logger.Debug("Didn't receive 0x238 message as reply on 0x000040021100813F message");
return false;
}
}
/// <summary>
/// Send a KWP request.
/// </summary>
/// <param name="a_request">A KWP request.</param>
/// <param name="r_reply">A KWP reply.</param>
/// <returns>The status of the request.</returns>
public override RequestResult sendRequest(KWPRequest a_request, out KWPReply r_reply)
{
uint row;
uint all_rows = row = nrOfRowsToSend(a_request.getData());
m_kwpCanListener.setupWaitMessage(0x258);
// Send one or several request messages.
for (; row > 0; row--)
{
CANMessage msg = new CANMessage(0x240, 0, 8);
msg.elmExpectedResponses = a_request.ElmExpectedResponses;
msg.setData(createCanMessage(a_request.getData(), row - 1));
if ((msg.getData() & 0xFFFFUL) == 0xA141UL)
msg.elmExpectedResponses = 0;
if (all_rows == 22)
{
msg.elmExpectedResponses = row == 1 ? 1 : 0; // on last message (expect 1 reply)
}
if (!m_canDevice.sendMessage(msg))
{
r_reply = new KWPReply();
return RequestResult.ErrorSending;
}
}
var response = m_kwpCanListener.waitMessage(getTimeout());
// Receive one or several replys and send an ack for each reply.
if (response.getID() == 0x258)
{
uint nrOfRows = (uint)(response.getCanData(0) & 0x3F) + 1;
row = 0;
if (nrOfRows == 0)
throw new Exception("Wrong nr of rows");
//Assume that no KWP reply contains more than 0x200 bytes
byte[] reply = new byte[0x200];
reply = collectReply(reply, response.getData(), row);
sendAck(nrOfRows - 1);
nrOfRows--;
m_kwpCanListener.setupWaitMessage(0x258);
while (nrOfRows > 0)
{
response = m_kwpCanListener.waitMessage(getTimeout());
if (response.getID() == 0x258)
{
row++;
reply = collectReply(reply, response.getData(), row);
sendAck(nrOfRows - 1);
nrOfRows--;
}
else
{
logger.Debug("1response.getID == " + response.getID());
r_reply = new KWPReply();
return RequestResult.Timeout;
}
}
r_reply = new KWPReply(reply, a_request.getNrOfPID());
return RequestResult.NoError;
}
else
{
logger.Debug("2response.getID == " + response.getID());
r_reply = new KWPReply();
return RequestResult.Timeout;
}
}
public void readMessages()
{
CANMessage canMessage = new CANMessage();
Console.WriteLine("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
Console.WriteLine("readMessages ended");
return;
}
}
if (rawString != null)
{
logger.Trace(String.Format("Raw Data: {0}", rawString));
//AddToSerialTrace("RAW RX: " + rawString.Replace("\r",m_cr_sequence));
string rxString = rawString.Replace("\r", m_cr_sequence); //replace , because stringbuilder cannot handle \r
bool isStopped = false;
if (rxString.Length > 0)
{
//AddToSerialTrace("RECEIVE TEXT: " + rxString);
//System.Diagnostics.Debug.WriteLine("SERMSG: " + rxString);
var lines = ExtractLines(rxString);
foreach (var rxMessage in lines)
{
if (rxMessage.StartsWith("STOPPED"))
{
isStopped = true;
}
else if (rxMessage.StartsWith("NO (MORE?) DATA"))
{
} //skip it
else if (rxMessage.StartsWith("CAN ERROR"))
{
} //handle error?
else if (rxMessage.StartsWith("ELM"))
{
isStopped = false;
} //skip it, this is a trick to stop ELM from listening to more messages and send ready char
else if (rxMessage.StartsWith("?"))
{
isStopped = false;
}
else if (rxMessage.Length == 19) // is it a valid line
{
try
{
rxMessage.Replace(" ", "");//remove all whitespaces
uint id = Convert.ToUInt32(rxMessage.Substring(0, 3), 16);
if (acceptMessageId(id))
{
canMessage.setID(id);
canMessage.setLength(8); // TODO: alter to match data
//canMessage.setData(0x0000000000000000); // reset message content
canMessage.setData(ExtractDataFromString(rxMessage));
receivedMessage(canMessage);
}
}
catch (Exception)
{
//Console.WriteLine("MSG: " + rxMessage);
}
}
//disable whitespace logging
if (rxMessage.Length > 0)
{
logger.Debug("TELNET: " + rxMessage);
}
}
}
if (!isStopped)
{
logger.Debug("TELNET READY");
interfaceBusy = false;
}
rawString = null;
}
}
}
private bool StartBootloader011()
{
CANMessage msg = new CANMessage(0x11, 0, 7);
ulong cmd = 0x0060241000803606;
msg.setData(cmd);
m_canListener.setupWaitMessage(0x311);
if (!canUsbDevice.sendMessage(msg))
{
CastInfoEvent("Couldn't send message", ActivityType.ConvertingFile);
return false;
}
CANMessage response = new CANMessage();
response = new CANMessage();
response = m_canListener.waitMessage(timeoutP2ct);
ulong data = response.getData();
if (getCanData(data, 0) != 0x01 || getCanData(data, 1) != 0x76)
{
return false;
}
return true;
}
/// <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 CANMessage canMessage)
{
canMessage = new CANMessage();
Debug.Assert(canMessage != null);
int wait_cnt = 0;
uint id;
byte length;
ulong data;
while (wait_cnt < timeout)
{
if (MctAdapter_ReceiveMessage(out id, out length, out data))
{
// message received
canMessage.setID(id);
canMessage.setLength(length);
canMessage.setData(data);
return id;
}
// wait a bit
Thread.Sleep(1);
++wait_cnt;
}
// nothing was received
return 0;
}
public void readMessages()
{
CANMessage canMessage = new CANMessage();
StringBuilder receiveText = new StringBuilder();
Console.WriteLine("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
Console.WriteLine("readMessages ended");
return;
}
}
receiveDataSemaphore.WaitOne();
if (m_serialPort != null)
{
if (m_serialPort.IsOpen)
{
if (m_serialPort.BytesToRead > 0)
{
string rawString = m_serialPort.ReadExisting();
//AddToSerialTrace("RAW RX: " + rawString.Replace("\r",m_cr_sequence));
string rxString = rawString.Replace("\n", "").Replace(">", "");// remove prompt characters... we don't need that stuff
bool isStopped = false;
if (rxString.Length > 0)
{
rxString = rxString.Replace("\r", m_cr_sequence); //replace , because stringbuilder cannot handle \r
receiveText.Append(rxString);
//AddToSerialTrace("RECEIVE TEXT: " + receiveText.ToString());
//System.Diagnostics.Debug.WriteLine("SERMSG: " + receiveText);
var lines = ExtractLines(ref receiveText);
foreach (var rxMessage in lines)
{
if (rxMessage.StartsWith("STOPPED")) { isStopped = true; }
else if (rxMessage.StartsWith("NO DATA")) { } //skip it
else if (rxMessage.StartsWith("CAN ERROR"))
{
//handle error?
}
else if (rxMessage.StartsWith("ELM")) { isStopped = false; } //skip it, this is a trick to stop ELM from listening to more messages and send ready char
else if (rxMessage.StartsWith("?")) { isStopped = false; }
else if (rxMessage.StartsWith("NO DATA"))
{
AddToSerialTrace("NO DATA");
Console.WriteLine("NO DATA");
}
else if (rxMessage.Length == 19) // is it a valid line
{
try
{
rxMessage.Replace(" ", "");//remove all whitespaces
uint id = Convert.ToUInt32(rxMessage.Substring(0, 3), 16);
if (acceptMessageId(id))
{
canMessage.setID(id);
canMessage.setLength(8); // TODO: alter to match data
//canMessage.setData(0x0000000000000000); // reset message content
canMessage.setData(ExtractDataFromString(rxMessage));
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);
}
}
}
}
catch (Exception)
{
//Console.WriteLine("MSG: " + rxMessage);
}
}
//disable whitespace logging
if (rxMessage.Length > 0)
{
AddToSerialTrace("SERRX: " + rxMessage);
}
}
}
if (rawString.Contains(">") && !isStopped)
{
AddToSerialTrace("SERIAL READY");
sendDataSempahore.WaitOne(0);
sendDataSempahore.Release();
interfaceBusy = false;
}
}
}
}
}
}
/// <summary>
/// Send a KWP request.
/// </summary>
/// <param name="a_request">A KWP request.</param>
/// <param name="r_reply">A KWP reply.</param>
/// <returns>The status of the request.</returns>
public RequestResult sendRequest(KWPRequest a_request, out KWPReply r_reply)
{
CANMessage msg = new CANMessage(0x240, 0, 8);
uint row = nrOfRowsToSend(a_request.getData());
m_kwpCanListener.setupWaitMessage(0x258);
// Send one or several request messages.
for (; row > 0; row--)
{
msg.setData(createCanMessage(a_request.getData(), row - 1));
if (!m_canDevice.sendMessage(msg))
{
r_reply = new KWPReply();
return RequestResult.ErrorSending;
}
}
msg = m_kwpCanListener.waitMessage(timeoutPeriod);
// msg = m_kwpCanListener.waitForMessage(0x258, timeoutPeriod);
// Receive one or several replys and send an ack for each reply.
if (msg.getID() == 0x258)
{
uint nrOfRows = (uint)(msg.getCanData(0) & 0x3F)+ 1;
row = 0;
if (nrOfRows == 0)
throw new Exception("Wrong nr of rows");
//Assume that no KWP reply contains more than 0x200 bytes
byte[] reply = new byte[0x200];
reply = collectReply(reply, msg.getData(), row);
sendAck(nrOfRows - 1);
nrOfRows--;
m_kwpCanListener.setupWaitMessage(0x258);
while (nrOfRows > 0)
{
// msg = m_kwpCanListener.waitForMessage(0x258, timeoutPeriod);
msg = m_kwpCanListener.waitMessage(timeoutPeriod);
if (msg.getID() == 0x258)
{
row++;
reply = collectReply(reply, msg.getData(), row);
sendAck(nrOfRows - 1);
nrOfRows--;
}
else
{
r_reply = new KWPReply();
return RequestResult.Timeout;
}
}
r_reply = new KWPReply(reply, a_request.getNrOfPID());
return RequestResult.NoError;
}
else
{
r_reply = new KWPReply();
return RequestResult.Timeout;
}
}
//-------------------------------------------------------------------------
/**
Handles incoming messages.
*/
private void read_messages()
{
uint id;
byte length;
ulong data;
CANMessage msg = new CANMessage();
Debug.Assert(msg != null);
// main loop
while (true)
{
// check for thread termination request
Debug.Assert(this.term_mutex != null);
lock (this.term_mutex)
{
if (this.term_requested)
{
return;
}
}
// receive messages
while (MctAdapter_ReceiveMessage(out id, out length, out data))
{
if (acceptMessageId(id))
{
// convert message
msg.setID(id);
msg.setLength(length);
msg.setData(data);
// pass message to listeners
lock (this.m_listeners)
{
AddToCanTrace("RX: " + id.ToString("X4") + " " + data.ToString("X16"));
foreach (ICANListener listener in this.m_listeners)
{
listener.handleMessage(msg);
}
}
}
}
// give up CPU for a moment
Thread.Sleep(1);
}
}
private bool UploadBootloaderWrite()
{
int startAddress = 0x102400;
#if (DEBUG)
BootloaderFromFile btloaderdata = new BootloaderFromFile();
#else
Bootloader btloaderdata = new Bootloader();
#endif
int txpnt = 0;
byte iFrameNumber = 0x21;
int saved_progress = 0;
if (requestDownload())
{
for (int i = 0; i < 0x46; i++)
{
iFrameNumber = 0x21;
//10 F0 36 00 00 10 24 00
//Console.WriteLine("Sending bootloader: " + startAddress.ToString("X8"));
// cast event
int percentage = (int)(((float)i * 100) / 70F);
if (percentage > saved_progress)
{
CastProgressWriteEvent(percentage);
saved_progress = percentage;
}
if (SendTransferData(0xF0, startAddress, 0x7E8))
{
canUsbDevice.RequestDeviceReady();
// send 0x22 (34) frames with data from bootloader
CANMessage msg = new CANMessage(0x7E0, 0, 8);
for (int j = 0; j < 0x22; j++)
{
var cmd = BitTools.GetFrameBytes(iFrameNumber, btloaderdata.BootloaderProgBytes, txpnt);
msg.setData(cmd);
txpnt += 7;
iFrameNumber++;
if (iFrameNumber > 0x2F) iFrameNumber = 0x20;
msg.elmExpectedResponses = j == 0x21 ? 1 : 0;//on last command (iFrameNumber 22 expect 1 message)
if (j == 0x21)
m_canListener.ClearQueue();
if (!canUsbDevice.sendMessage(msg))
{
logger.Debug("Couldn't send message");
}
Thread.Sleep(m_sleepTime);
}
// now wait for 01 76 00 00 00 00 00 00
ulong data = m_canListener.waitMessage(timeoutP2ct, 0x7E8).getData();
if (getCanData(data, 0) != 0x01 || getCanData(data, 1) != 0x76)
{
return false;
}
canUsbDevice.RequestDeviceReady();
SendKeepAlive();
startAddress += 0xEA;
}
else
{
Console.WriteLine("Did not receive correct response from SendTransferData");
}
}
iFrameNumber = 0x21;
if (SendTransferData(0x0A, startAddress, 0x7E8))
{
// send 0x22 (34) frames with data from bootloader
CANMessage msg = new CANMessage(0x7E0, 0, 8);
var cmd = BitTools.GetFrameBytes(iFrameNumber, btloaderdata.BootloaderBytes, txpnt);
msg.setData(cmd);
txpnt += 7;
iFrameNumber++;
if (iFrameNumber > 0x2F) iFrameNumber = 0x20;
if (!canUsbDevice.sendMessage(msg))
{
logger.Debug("Couldn't send message");
}
if (m_sleepTime > 0)
Thread.Sleep(m_sleepTime);
ulong data = m_canListener.waitMessage(timeoutP2ct, 0x7E8).getData();
if (getCanData(data, 0) != 0x01 || getCanData(data, 1) != 0x76)
{
return false;
}
SendKeepAlive();
startAddress += 0x06;
}
else
{
Console.WriteLine("Did not receive correct response from SendTransferData");
}
CastProgressWriteEvent(100);
}
else
{
Console.WriteLine("requestDownload() failed");
return false;
}
return true;
}
private bool SendTransferDataME96(int length, int address, uint waitforResponseID, byte firstByteToSend )
{
CANMessage msg = new CANMessage(0x7E0, 0, 8); // <GS-24052011> test for ELM327, set length to 16 (0x10)
ulong cmd = 0x0000000000360010; // 0x36 = transferData
ulong addressHigh = (uint)address & 0x0000000000FF0000;
addressHigh /= 0x10000;
ulong addressMiddle = (uint)address & 0x000000000000FF00;
addressMiddle /= 0x100;
ulong addressLow = (uint)address & 0x00000000000000FF;
ulong len = (ulong)length + 5; // The extra 5 comes from the Service ID plus the sub-function parameter byte plus the 3 byte startingAddress.
ulong payload = (ulong)firstByteToSend;
cmd |= (payload * 0x100000000000000);
cmd |= (addressLow * 0x1000000000000);
cmd |= (addressMiddle * 0x10000000000);
cmd |= (addressHigh * 0x100000000);
cmd |= (len * 0x100);
Console.WriteLine("send: " + cmd.ToString("X16"));
msg.setData(cmd);
msg.elmExpectedResponses = 1;
m_canListener.setupWaitMessage(waitforResponseID);
if (!canUsbDevice.sendMessage(msg))
{
logger.Debug("Couldn't send message");
}
CANMessage response = new CANMessage();
response = new CANMessage();
response = m_canListener.waitMessage(timeoutP2ct);
ulong data = response.getData();
Console.WriteLine("Received in SendTransferData: " + data.ToString("X16"));
if (getCanData(data, 0) != 0x30 || getCanData(data, 1) != 0x00)
{
return false;
}
return true;
}
/// <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);
}
}
}
// 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>
/// 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)
{
EASYSYNC.CANMsg r_canMsg;
canMsg = new CANMessage();
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
r_canMsg = new EASYSYNC.CANMsg();
readResult = EASYSYNC.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == EASYSYNC.ERROR_CANUSB_OK)
{
if (r_canMsg.id == 0x00)
{
nrOfWait++;
}
else if (r_canMsg.id != a_canID)
continue;
canMsg.setData(r_canMsg.data);
canMsg.setID(r_canMsg.id);
canMsg.setLength(r_canMsg.len);
return (uint)r_canMsg.id;
}
else if (readResult == EASYSYNC.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
nrOfWait++;
}
}
r_canMsg = new EASYSYNC.CANMsg();
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()
{
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);
}
}
}
private bool SendTransferData011(int length, int address, uint waitforResponseID)
{
CANMessage msg = new CANMessage(0x11, 0, 8); // <GS-24052011> test for ELM327, set length to 16 (0x10)
ulong cmd = 0x0000000000360010; // 0x36 = transferData
ulong addressHigh = (uint)address & 0x0000000000FF0000;
addressHigh /= 0x10000;
ulong addressMiddle = (uint)address & 0x000000000000FF00;
addressMiddle /= 0x100;
ulong addressLow = (uint)address & 0x00000000000000FF;
ulong len = (ulong)length;
cmd |= (addressLow * 0x100000000000000);
cmd |= (addressMiddle * 0x1000000000000);
cmd |= (addressHigh * 0x10000000000);
cmd |= (len * 0x100);
//Console.WriteLine("send: " + cmd.ToString("X16"));
msg.elmExpectedResponses = 1;
msg.setData(cmd);
m_canListener.setupWaitMessage(waitforResponseID);
if (!canUsbDevice.sendMessage(msg))
{
logger.Debug("Couldn't send message");
}
CANMessage response = new CANMessage();
response = new CANMessage();
response = m_canListener.waitMessage(timeoutP2ct);
ulong data = response.getData();
//Console.WriteLine("Received in SendTransferData: " + data.ToString("X16"));
if (getCanData(data, 0) != 0x30 || getCanData(data, 1) != 0x00)
{
return false;
}
return true;
}
// 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
}
}
public void readMessages()
{
CANMessage canMessage = new CANMessage();
StringBuilder receiveText = new StringBuilder();
logger.Debug("readMessages started");
while (true)
{
receiveDataSemaphore.WaitOne();
lock (m_synchObject)
{
if (m_endThread)
{
logger.Debug("readMessages ended");
return;
}
}
if (m_serialPort != null)
{
if (m_serialPort.IsOpen && m_serialPort.BytesToRead > 0)
{
string rawString = string.Empty;
try
{
rawString = m_serialPort.ReadExisting();
}
catch (Exception e)
{
logger.Debug("CANELM372Device ReadExisting()" + e.Message);
}
//AddToSerialTrace("RAW RX: " + rawString.Replace("\r",m_cr_sequence));
string rxString = rawString.Replace("\n", "").Replace(">", "");// remove prompt characters... we don't need that stuff
bool isStopped = false;
if (rxString.Length > 0)
{
rxString = rxString.Replace("\r", m_cr_sequence); //replace , because stringbuilder cannot handle \r
receiveText.Append(rxString);
//AddToSerialTrace("RECEIVE TEXT: " + receiveText.ToString());
//System.Diagnostics.Debug.WriteLine("SERMSG: " + receiveText);
var lines = ExtractLines(ref receiveText);
foreach (var rxMessage in lines)
{
if (rxMessage.StartsWith("STOPPED"))
{
isStopped = true;
}
else if (rxMessage.StartsWith("NO DATA"))
{
} //skip it
else if (rxMessage.StartsWith("CAN ERROR"))
{
//handle error?
}
else if (rxMessage.StartsWith("ELM"))
{
isStopped = false;
} //skip it, this is a trick to stop ELM from listening to more messages and send ready char
else if (rxMessage.StartsWith("?"))
{
isStopped = false;
}
else if (rxMessage.StartsWith("NO DATA"))
{
logger.Debug("NO DATA");
}
else if (rxMessage.Length == 19) // is it a valid line
{
try
{
rxMessage.Replace(" ", "");//remove all whitespaces
uint id = Convert.ToUInt32(rxMessage.Substring(0, 3), 16);
if (acceptMessageId(id))
{
canMessage.setID(id);
canMessage.setLength(8); // TODO: alter to match data
//canMessage.setData(0x0000000000000000); // reset message content
canMessage.setData(ExtractDataFromString(rxMessage));
receivedMessage(canMessage);
}
}
catch (Exception e)
{
logger.Debug(e, rxMessage);
}
}
// Catch weird message-lengths from Z22SE
else if (rxMessage.StartsWith("7E8") && rxMessage.Length > 6)
{
try
{
rxMessage.Replace(" ", "");//remove all whitespaces
uint id = Convert.ToUInt32(rxMessage.Substring(0, 3), 16);
byte len = (byte)(rxMessage.Length - 3);
len = (byte)(((len & 1) == 1 ? len + 1 : len) / 2);
if (acceptMessageId(id) && len <= 8)
{
canMessage.setID(id);
canMessage.setLength(len);
canMessage.setData(ExtractDataFromString2(len, rxMessage));
receivedMessage(canMessage);
}
}
catch (Exception e)
{
logger.Debug(e, rxMessage);
}
}
//disable whitespace logging
if (rxMessage.Length > 0)
{
logger.Debug("SERRX: " + rxMessage + " Len:" + rxMessage.Length);
}
}
}
if (rawString.Contains(">") && !isStopped)
{
logger.Debug("SERIAL READY");
sendDataSempahore.WaitOne(0);
sendDataSempahore.Release();
interfaceBusy = false;
}
}
}
}
}
/// <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)
{
Lawicel.CANUSB.CANMsg r_canMsg;
canMsg = new CANMessage();
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
r_canMsg = new Lawicel.CANUSB.CANMsg();
readResult = Lawicel.CANUSB.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
Thread.Sleep(1);
AddToCanTrace("rx: 0x" + r_canMsg.id.ToString("X4") + r_canMsg.data.ToString("X16"));
if (r_canMsg.id == 0x00)
{
nrOfWait++;
}
else if (r_canMsg.id != a_canID)
continue;
canMsg.setData(r_canMsg.data);
canMsg.setID(r_canMsg.id);
canMsg.setLength(r_canMsg.len);
return (uint)r_canMsg.id;
}
else if (readResult == Lawicel.CANUSB.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
nrOfWait++;
}
}
r_canMsg = new Lawicel.CANUSB.CANMsg();
return 0;
}
private bool StartSession20()
{
CANMessage msg = new CANMessage(0x7E0, 0, 2);
ulong cmd = 0x0000000000002001; // 0x02 0x10 0x02
msg.setData(cmd);
m_canListener.setupWaitMessage(0x7E8);
if (!canUsbDevice.sendMessage(msg))
{
CastInfoEvent("Couldn't send message", ActivityType.ConvertingFile);
return false;
}
CANMessage response = new CANMessage();
response = new CANMessage();
response = m_canListener.waitMessage(timeoutP2ct);
ulong data = response.getData();
if (getCanData(data, 0) != 0x01 || getCanData(data, 1) != 0x60)
{
return false;
}
return true;
}
/// <summary>
/// Send a message that starts a session. This is used to test if there is
/// a connection.
/// </summary>
/// <returns></returns>
private bool sendSessionRequest()
{
CANMessage msg1 = new CANMessage(0x220, 0, 8);
EASYSYNC.CANMsg msg = new EASYSYNC.CANMsg();
msg1.setData(0x000040021100813f);
if (!sendMessage(msg1))
return false;
if (waitForMessage(0x238, 1000, out msg) == 0x238)
{
//Ok, there seems to be a ECU somewhere out there.
//Now, sleep for 10 seconds to get a session timeout. This is needed for
//applications on higher level. Otherwise there will be no reply when the
//higher level application tries to start a session.
Thread.Sleep(10000);
return true;
}
return false;
}
private bool WriteFlashRecover(BlockManager bm)
{
int startAddress = 0x020000;
int saved_progress = 0;
for (int blockNumber = 0; blockNumber <= 0xF50; blockNumber++)
{
int percentage = (int)(((float)blockNumber * 100) / 3920F);
if (percentage > saved_progress)
{
CastProgressWriteEvent(percentage);
saved_progress = percentage;
}
byte[] data2Send = bm.GetNextBlock();
int length = 0xF0;
if (blockNumber == 0xF50) length = 0xE6;
if (SendTransferData(length, startAddress + (blockNumber * 0xEA), 0x311))
{
//canUsbDevice.RequestDeviceReady();
// send the data from the block
// calculate number of frames
int numberOfFrames = (int)data2Send.Length / 7; // remnants?
if (((int)data2Send.Length % 7) > 0) numberOfFrames++;
byte iFrameNumber = 0x21;
int txpnt = 0;
CANMessage msg = new CANMessage(0x7E0, 0, 8);
for (int frame = 0; frame < numberOfFrames; frame++)
{
var cmd = BitTools.GetFrameBytes(iFrameNumber, data2Send, txpnt);
msg.setData(cmd);
txpnt += 7;
iFrameNumber++;
if (iFrameNumber > 0x2F) iFrameNumber = 0x20;
msg.elmExpectedResponses = frame == numberOfFrames - 1 ? 1 : 0;
if (frame == numberOfFrames - 1)
m_canListener.ClearQueue();
if (!canUsbDevice.sendMessage(msg))
{
logger.Debug("Couldn't send message");
}
if (m_sleepTime > 0)
Thread.Sleep(m_sleepTime);
}
// now wait for 01 76 00 00 00 00 00 00
ulong data = m_canListener.waitMessage(timeoutP2ct, 0x7E8).getData();
if (getCanData(data, 0) != 0x01 || getCanData(data, 1) != 0x76)
{
_stallKeepAlive = false;
return false;
}
//canUsbDevice.RequestDeviceReady();
BroadcastKeepAlive();
}
}
return true;
}
public void readMessages()
{
CANMessage canMessage = new CANMessage();
Console.WriteLine("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
Console.WriteLine("readMessages ended");
return;
}
}
if (rawString != null)
{
logger.Trace(String.Format("Raw Data: {0}", rawString));
//AddToSerialTrace("RAW RX: " + rawString.Replace("\r",m_cr_sequence));
string rxString = rawString.Replace("\r", m_cr_sequence); //replace , because stringbuilder cannot handle \r
bool isStopped = false;
if (rxString.Length > 0)
{
//AddToSerialTrace("RECEIVE TEXT: " + rxString);
//System.Diagnostics.Debug.WriteLine("SERMSG: " + rxString);
var lines = ExtractLines(rxString);
foreach (var rxMessage in lines)
{
if (rxMessage.StartsWith("STOPPED")) { isStopped = true; }
else if (rxMessage.StartsWith("NO (MORE?) DATA")) { } //skip it
else if (rxMessage.StartsWith("CAN ERROR")) { } //handle error?
else if (rxMessage.StartsWith("ELM")) { isStopped = false; } //skip it, this is a trick to stop ELM from listening to more messages and send ready char
else if (rxMessage.StartsWith("?")) { isStopped = false; }
else if (rxMessage.Length == 19) // is it a valid line
{
try
{
rxMessage.Replace(" ", "");//remove all whitespaces
uint id = Convert.ToUInt32(rxMessage.Substring(0, 3), 16);
if (acceptMessageId(id))
{
canMessage.setID(id);
canMessage.setLength(8); // TODO: alter to match data
//canMessage.setData(0x0000000000000000); // reset message content
canMessage.setData(ExtractDataFromString(rxMessage));
receivedMessage(canMessage);
}
}
catch (Exception)
{
//Console.WriteLine("MSG: " + rxMessage);
}
}
//disable whitespace logging
if (rxMessage.Length > 0)
{
logger.Debug("TELNET: " + rxMessage);
}
}
}
if (!isStopped)
{
logger.Debug("TELNET READY");
interfaceBusy = false;
}
rawString = null;
}
}
}
private bool SendSecretCodetoCIM()
{
//0044585349603B06
CANMessage msg = new CANMessage(0x245, 0, 8);
ulong cmd = 0x0044585349603B06;
msg.setData(cmd);
m_canListener.setupWaitMessage(0x645);
if (!canUsbDevice.sendMessage(msg))
{
CastInfoEvent("Couldn't send message", ActivityType.ConvertingFile);
return false;
}
CANMessage ECMresponse = new CANMessage();
ECMresponse = m_canListener.waitMessage(timeoutP2ct);
ulong rxdata = ECMresponse.getData();
if (getCanData(rxdata, 1) == 0x7B && getCanData(rxdata, 2) == 0x60)
{
return true;
}
return false;
}
