private void FrameReceived(object sender, CanFrame frame)
{
Debug.WriteLine(frame);
//if(_parsers.ContainsKey(frame.Id))
try
{
_parsers[frame.Id].Update(frame);
}
catch (KeyNotFoundException ex)
{
logger.Info("Exciter frame received failed: ", ex);
}
catch (Exception ex)
{
logger.Info("Exciter frame received failed: ", ex);
}
if (Updated == null)
{
return;
}
Updated(this, frame);
}
static async Task RunCanLoopAsync(CancellationToken cancellationToken)
{
var factory = new SocketCanFactory();
var incomingBuffer = new byte[16];
var incomingFrame = new CanFrame();
using (var socket = factory.CreateSocket("can0"))
{
while (true)
{
await socket.ReceiveAsync(incomingBuffer, SocketFlags.None, CancellationToken.None).ConfigureAwait(false);
incomingFrame.Reinitialize(incomingBuffer);
try
{
await socket.SendAsync(new CanFrame { IsExtendedFrame = true, Id = incomingFrame.Id - 1, DataLength = 4 }.FrameBytes, SocketFlags.None).ConfigureAwait(false);
}
catch (SocketException se) when(se.SocketErrorCode == SocketError.NoBufferSpaceAvailable)
{
Console.WriteLine("No buffer space available waiting a few ms");
await Task.Delay(TimeSpan.FromMilliseconds(10), cancellationToken).ConfigureAwait(false);
}
}
}
}
private void ModulatorStep(CanFrame frame)
{
_stepFreq0 = frame[0];
_stepFreq1 = frame[1];
_stepFreq2 = frame[2];
_stepFreq3 = frame[3];
}
public void Post(CanFrame frame)
{
using (CanRaw can = new CanRaw())
{
can.WriteFrame(frame);
}
}
private void ModulatorStatus(CanFrame frame)
{
_warningFlag = frame[0];
_errorFlag = frame[1];
_vforEq = frame[2];
_vrefEq = frame[3];
}
public void SendTest()
{
const int dataLength = 4000;
UInt16 descriptorA = CanFrame.GetDescriptorFor(r.Next(0, CanFrame.IdMaxValue), 8);
UInt16 descriptorB;
do
{
descriptorB = CanFrame.GetDescriptorFor(r.Next(0, CanFrame.IdMaxValue), 8);
}while (descriptorB == descriptorA);
Byte[] data = new byte[dataLength];
r.NextBytes(data);
var flows = ChainedCanFlow.Take(2, descriptorA, descriptorB);
var recieveAction =
Task <TpReceiveTransaction> .Factory.StartNew(() => IsoTp.Receive(flows[0], descriptorA, descriptorB));
IsoTp.Send(flows[1], descriptorA, descriptorB, data);
recieveAction.Wait(1000);
CollectionAssert.AreEqual(data, recieveAction.Result.Data, "Данные были повреждены в ходе передачи");
}
/// <summary>Отправляет Can-сообщение в поток</summary>
public void Send(CanFrame Frame, bool ClearBeforeSend = false)
{
foreach (var brother in Brothers)
{
brother.Enqueue(Frame);
}
}
public override void Write(CanFrame Frame, Stream DataStream)
{
string str = string.Format(OutFormat, Frame.Descriptor, string.Join(" ", Frame.Data.Select(b => b.ToString("X2"))), Frame.Time.ToString(System.Globalization.CultureInfo.InvariantCulture));
var sBuff = Encoding.Default.GetBytes(str + Environment.NewLine);
DataStream.Write(sBuff, 0, sBuff.Length);
}
/// <summary>
/// Get string representation of CAN message.
/// </summary>
/// <returns>CAN message as string representation</returns>
public static string ToString(CanFrame frame)
{
var flags = frame.Id.Flags;
var rtr = (flags & CanIdFlags.RTR) != 0;
var id = frame.Id.Value & CanId.CanExtendedIdMask;
var extended = id > 0x7ff;
var prefix = (extended, rtr) switch
{
(true, true) => "R",
(true, false) => "T",
(false, true) => "r",
(false, false) => "t"
};
var idString = id.ToString(extended ? "X8" : "X3");
var result = $"{prefix}{idString}{frame.DataLength:X1}";
if (!rtr)
{
var sb = new StringBuilder(result, result.Length + frame.DataLength * 2);
for (int i = 0; i < frame.DataLength; i++)
{
sb.Append(frame.Data[frame.DataOffset + i].ToString("X2"));
}
result = sb.ToString();
}
return(result);
}
public void Update(CanFrame frame)
{
switch (frame.Id)
{
case ID_MODULATOR_SOURCE:
ModulatorSource(frame);
break;
case ID_MODULATOR_FREQUENCY:
ModulatorFrequency(frame);
break;
case ID_MODULATOR_SWEEP:
ModulatorSweep(frame);
break;
case ID_MODULATOR_STATUS:
ModulatorStatus(frame);
break;
case ID_MODULATOR_STEP:
ModulatorStep(frame);
break;
}
}
/// <summary>
/// Отправляет одно сообщение в канал
/// </summary>
/// <param name="Frame">CAN-Сообщение</param>
/// <param name="Line">Канал связи</param>
internal void SendFrame(CanFrame Frame, AppiLine Line)
{
SendFrames(new List <CanFrame>()
{
Frame
}, Line);
}
public void Send(CanFrame frame)
{
Debug.WriteLine("Sent: {0}", frame);
logger.Info(string.Format("Sent: {0}", frame));
_device.Send((ushort)frame.Id, frame.Rtr, frame.Data());
Thread.Sleep(50);
}
public CanFrame Translate(CanFrame rawData, bool noUnit)
{
//Check if format is correct
if (string.IsNullOrEmpty(rawData.PayloadCanData) || rawData.PayloadCanData.Length != 14)
{
Console.WriteLine("Data is not lenght of 14: {0}", rawData.PayloadCanData);
return(rawData);
}
//0 000 - direkt
//3 180 - Kessel
// 280 - atez
//6 300, 301 ... - Control Unit / Bedienmodule(bei mir 301, 302 und 303)
// 400 - Raumfernfühler
//9 480 - Manager
//A 500 - Heizmodul
// 580 - Buskoppler
//C 600, 601 ... - Mischermodule(bei mir 601, 602, 603) (wpwm controller)
//D 680 - PC(ComfortSoft) (6A1, 6A2)
// 700 - Fremdgerät
// 780 - DCF-Modul
//- ModulType auf der Basis des ComfortSoft-Protokolls, 2. Byte (siehe robots, haustechnikdialog):
//0 - write
//1 - read
//2 - response
//3 - ack
//4 - write ack
//5 - write respond
//6 - system
//7 - system respond
//20/21 (hex.) - write/read large telegram
var payloadIndex = Convert.ToInt32(rawData.PayloadCanData.Substring(6, 4), 16);
var payloadData = rawData.PayloadCanData.Substring(10);
//Get IndexData
var indexData = ElsterIndex.ElsterTable.FirstOrDefault(x => x.Index == payloadIndex);
//Index not available
if (indexData == null)
{
return(rawData);
}
rawData.MqttTopicExtention = indexData.MqttTopic;
if (!noUnit)
{
rawData.MqttValue = indexData.Converter.ConvertValue(payloadData) + indexData.Unit;
}
else
{
rawData.MqttValue = indexData.Converter.ConvertValue(payloadData);
}
return(rawData);
}
private void HandleDlc1Frame(CanFrame frame, Message message)
{
switch (frame.Data[0])
{
case 0xFF:
break;
}
}
protected override void InfoGeneralStatus(CanFrame frame)
{
_powerLsb = frame[0];
_powerMsb = frame[1];
_vswrLsb = frame[2];
_vswrMsb = frame[3];
_status = frame[4];
}
public override CanFrame GetCanFrame(int WithDescriptor)
{
Byte[] buff = new Byte[8];
buff[0] = (byte)(((byte)FrameType & 0x0f) << 4 | Data.Length & 0x0f);
Buffer.BlockCopy(Data, 0, buff, 1, Data.Length);
return(CanFrame.NewWithDescriptor(WithDescriptor, buff));
}
public void Send(CanFrame canmsg)
{
MessageTransmitted?.Invoke(
this,
new CanMessageEventArgs
{
Message = canmsg
});
}
private void RfcuTemp(CanFrame frame)
{
Module1Temp = frame[0];
Module2Temp = frame[1];
Module3Temp = frame[2];
Module4Temp = frame[3];
PreDrive1Temp = frame[4];
CombinerTemp = frame[5];
}
/// <summary>
/// Собирает байты для буфера АППИ
/// </summary>
/// <returns>10 байт: 2 байта дескриптор + 8 байт данных</returns>
public static Byte[] ToBufferBytes(this CanFrame Frame)
{
Byte[] buff = new Byte[10];
BitConverter.GetBytes((UInt16)Frame.Descriptor).Reverse().ToArray().CopyTo(buff, 0);
Frame.Data.CopyTo(buff, 2);
return(buff);
}
public CanFrameInfo(CanFrame frame)
{
var tailByte = frame.Data[frame.DataOffset + frame.DataLength - 1];
TransferId = (byte)(tailByte & 0x1F);
IsStartOfTransfer = ((tailByte >> 7) & 1) == 1;
IsEndOfTransfer = ((tailByte >> 6) & 1) == 1;
ToggleBit = ((tailByte >> 5) & 1) == 1;
}
protected override void InfoWarning(CanFrame frame)
{
_tempWarning = frame[0];
_ovRefWarning = frame[1];
_vswrWarning = frame[2];
_overCurrentWarning = frame[3];
_fuseWarning = frame[4];
_globalWarning = frame[5];
}
protected void OnRecieved(CanFrame frame)
{
if (Received == null)
{
return;
}
Received(this, frame);
}
public async Task I2cScanAsync(CanDevice device)
{
var frame = new CanFrame();
frame.Address = device.CanId;
frame.DLC = (byte)(1);
frame.RemoteRequest = true;
await SendFrameAsync(frame);
}
private void ModulatorFrequency(CanFrame frame)
{
_freq0 = frame[0];
_freq1 = frame[1];
_freq2 = frame[2];
_freq3 = frame[3];
_modulation = frame[4];
_vfLsb = frame[5];
_vfMsb = frame[6];
}
public override void Write(CanFrame Frame, Stream DataStream)
{
int length = Frame.Data.Length + 2 + 8;
var buff = new Byte[length];
Buffer.BlockCopy(BitConverter.GetBytes(Frame.Time.ToBinary()), 0, buff, 0, 8);
Buffer.BlockCopy(BitConverter.GetBytes((UInt16)Frame.Descriptor), 0, buff, 8, 2);
Buffer.BlockCopy(Frame.Data, 0, buff, 8 + 2, Frame.Data.Length);
DataStream.Write(buff, 0, buff.Length);
}
public override CanFrame GetCanFrame(int WithDescriptor)
{
var buff = new Byte[8];
buff[0] = (byte)(((byte)FrameType & 0x0f) << 4 | (byte)Flag & 0x0f);
buff[1] = BlockSize;
buff[2] = SeparationCodeFromTime(SeparationTime);
return(CanFrame.NewWithDescriptor(WithDescriptor, buff));
}
protected void OnFrameReceived(CanFrame frame)
{
EventHandler<FrameReceivedEventArgs> handler = FrameReceived;
if (handler != null)
{
FrameReceivedEventArgs e = new FrameReceivedEventArgs();
e.Frame = frame;
handler(this, e);
}
}
/// <summary>
/// Восстанавливает CAN-сообщение из буфера АППИ
/// </summary>
/// <param name="Buff">10 байт буфера</param>
public static CanFrame FromBufferBytes(Byte[] Buff)
{
int id = (int)BitConverter.ToUInt16(Buff.Take(2).Reverse().ToArray(), 0) >> 4;
int len = Buff[1] & 0x0f;
if (len > 8)
{
throw new AppiBufferDecodeException("Расшифрована неправильная длина CAN-сообщения ({0} байт)", len);
}
return(CanFrame.NewWithId(id, Buff, 2, len));
}
private void RfcuAnalog0_7(CanFrame frame)
{
A0Reserve = frame[0];
A1VforMod2 = frame[1];
A2VrefMod2 = frame[2];
A3RfSamMod2 = frame[3];
A4CurMod2 = frame[4];
A5VrefEq = frame[5];
A6RfSamMod3 = frame[6];
A7VforMod4 = frame[7];
}
private void RfcuAnalog8_15(CanFrame frame)
{
A8VrefMod1 = frame[0];
A9VforEq = frame[1];
A10Reserve = frame[2];
A11CurMod4 = frame[3];
A12CurPrD = frame[4];
A13VforMod1 = frame[5];
A14VrefMod4 = frame[6];
A15RfSamMod1 = frame[7];
}
private void RfcuAnalog16_23(CanFrame frame)
{
A16Reserve = frame[0];
A17RfSamPrD = frame[1];
A18Reserve = frame[2];
A19VforMod3 = frame[3];
A20VrefMod3 = frame[4];
A21RfSameMod4 = frame[5];
A22CurMod3 = frame[6];
A23CurMod1 = frame[7];
}
public override void Write(CanFrame Frame, Stream DataStream)
{
int length = Frame.Data.Length + 2 + 8;
var buff = new Byte[length];
Buffer.BlockCopy(BitConverter.GetBytes(Frame.Time.ToBinary()), 0, buff, 0, 8);
Buffer.BlockCopy(BitConverter.GetBytes((UInt16)Frame.Descriptor), 0, buff, 8, 2);
Buffer.BlockCopy(Frame.Data, 0, buff, 8 + 2, Frame.Data.Length);
DataStream.Write(buff, 0, buff.Length);
}
public abstract void Write(CanFrame Frame, Stream DataStream);
public override void Write(CanFrame Frame, Stream DataStream)
{
string str = string.Format(OutFormat, Frame.Descriptor, string.Join(" ", Frame.Data.Select(b => b.ToString("X2"))), Frame.Time.ToString(System.Globalization.CultureInfo.InvariantCulture));
var sBuff = Encoding.Default.GetBytes(str + Environment.NewLine);
DataStream.Write(sBuff, 0, sBuff.Length);
}
