public void CanTp_ReceptionInd()
{
// Create new object containing received data
XLClass.xl_event receivedEvent = new XLClass.xl_event();
// Result of XL Driver function calls
XLDefine.XL_Status xlStatus = XLDefine.XL_Status.XL_SUCCESS;
// Result values of WaitForSingleObject
XLDefine.WaitResults waitResult = new XLDefine.WaitResults();
byte diagFrameType;
byte[] diagPDU = new byte[1024];
int diagPDULength = 0, diagPDUoffset = 0;
byte diagSequenceNum = 0;
byte diagFlowState;
// Note: this thread will be destroyed by MAIN
while (true)
{
// Wait for hardware events
waitResult = (XLDefine.WaitResults)WaitForSingleObject(eventHandle, 1000);
if (waitFrameType == 0)
{
continue;
}
// If event occurred...
if (waitResult != XLDefine.WaitResults.WAIT_TIMEOUT)
{
// ...init xlStatus first
xlStatus = XLDefine.XL_Status.XL_SUCCESS;
// afterwards: while hw queue is not empty...
while (xlStatus != XLDefine.XL_Status.XL_ERR_QUEUE_IS_EMPTY)
{
// ...block RX thread to generate RX-Queue overflows
while (blockRxThread)
{
Thread.Sleep(1000);
}
// ...receive data from hardware.
xlStatus = CANTPDriver.XL_Receive(portHandle, ref receivedEvent);
// If receiving succeed....
if (xlStatus == XLDefine.XL_Status.XL_SUCCESS)
{
Console.WriteLine(receivedEvent.tagData.can_Msg.id);
if ((receivedEvent.flags & XLDefine.XL_MessageFlags.XL_EVENT_FLAG_OVERRUN) != 0)
{
Console.WriteLine("-- XL_EVENT_FLAG_OVERRUN --");
}
// ...and data is a Rx msg...
if (receivedEvent.tag == XLDefine.XL_EventTags.XL_RECEIVE_MSG)
{
if (receivedEvent.tagData.can_Msg.id == this.RxID)
{
Console.WriteLine(CANTPDriver.XL_GetEventString(receivedEvent));
diagFrameType = (byte)(receivedEvent.tagData.can_Msg.data[0] >> 4);
switch (diagFrameType)
{
//Single Frame
case 0:
if (waitFrameType == 1)
{
diagPDULength = receivedEvent.tagData.can_Msg.data[0] & 0x0F;
for (int i = 0; i < diagPDULength; i++)
{
diagPDU[i] = receivedEvent.tagData.can_Msg.data[i + 1];
}
OnDiagPduReceived(diagPDU, diagPDULength);
Console.WriteLine("PDU Length:" + diagPDULength);
}
break;
//FirstFrame
case 1:
if (waitFrameType == 1)
{
diagPDULength = (receivedEvent.tagData.can_Msg.data[0] & 0x0F) * 256 + (receivedEvent.tagData.can_Msg.data[1]);
for (int i = 0; i < 6; i++)
{
diagPDU[i] = receivedEvent.tagData.can_Msg.data[i + 2];
}
diagPDUoffset = 6;
diagSequenceNum = 0;
CanTpSendFlowControlFrame();
waitFrameType = 2;
Console.WriteLine("PDU Length:" + diagPDULength);
}
break;
//ConsecutiveFrame
case 2:
if (waitFrameType == 2)
{
if (diagSequenceNum + 1 == (byte)(receivedEvent.tagData.can_Msg.data[0] & 0x0F))
{
diagSequenceNum = (byte)(receivedEvent.tagData.can_Msg.data[0] & 0x0F);
for (int i = diagPDUoffset; i < diagPDUoffset + 7; i++)
{
diagPDU[i] = receivedEvent.tagData.can_Msg.data[i + 1];
}
if (diagPDUoffset == diagPDULength)
{
OnDiagPduReceived(diagPDU, diagPDULength);
}
}
}
break;
//FlowControl
case 3:
if (waitFrameType == 3)
{
diagFlowState = (byte)(receivedEvent.tagData.can_Msg.data[0] & 0x0F);
this.TxdiagBlockSize = receivedEvent.tagData.can_Msg.data[1];
this.TxdiagSTmin = receivedEvent.tagData.can_Msg.data[2];
waitforFlowControlEvent.Set();
}
break;
}
}
//if ((receivedEvent.tagData.can_Msg.flags & XLDefine.XL_MessageFlags.XL_CAN_MSG_FLAG_OVERRUN) != 0)
//{
// Console.WriteLine("-- XL_CAN_MSG_FLAG_OVERRUN --");
//}
//// ...check various flags
//if ((receivedEvent.tagData.can_Msg.flags & XLDefine.XL_MessageFlags.XL_CAN_MSG_FLAG_ERROR_FRAME)
// == XLDefine.XL_MessageFlags.XL_CAN_MSG_FLAG_ERROR_FRAME)
//{
// Console.WriteLine("ERROR FRAME");
//}
//else if ((receivedEvent.tagData.can_Msg.flags & XLDefine.XL_MessageFlags.XL_CAN_MSG_FLAG_REMOTE_FRAME)
// == XLDefine.XL_MessageFlags.XL_CAN_MSG_FLAG_REMOTE_FRAME)
//{
// Console.WriteLine("REMOTE FRAME");
//}
//else
//{
// Console.WriteLine(CANTPDriver.XL_GetEventString(receivedEvent));
//}
}
}
}
}
// No event occurred
}
}
// -----------------------------------------------------------------------------------------------
/// <summary>
/// EVENT THREAD (RX)
///
/// RX thread waits for Vector interface events and displays filtered CAN messages.
/// </summary>
// -----------------------------------------------------------------------------------------------
public void RXThread()
{
// Create new object containing received data
XLClass.xl_event receivedEvent = new XLClass.xl_event();
// Result of XL Driver function calls
XLDefine.XL_Status xlStatus = XLDefine.XL_Status.XL_SUCCESS;
// Result values of WaitForSingleObject
XLDefine.WaitResults waitResult = new XLDefine.WaitResults();
// Note: this thread will be destroyed by MAIN
while (true)
{
// Wait for hardware events
//waitResult = (XLDefine.WaitResults)WaitForSingleObject(eventHandle, 1000);
// If event occurred...
if (waitResult != XLDefine.WaitResults.WAIT_TIMEOUT)
{
// ...init xlStatus first
xlStatus = XLDefine.XL_Status.XL_SUCCESS;
// afterwards: while hw queue is not empty...
while (xlStatus != XLDefine.XL_Status.XL_ERR_QUEUE_IS_EMPTY)
{
// ...block RX thread to generate RX-Queue overflows
while (blockRxThread)
{
Thread.Sleep(1000);
}
// ...receive data from hardware.
xlStatus = CANDemo.XL_Receive(portHandle, ref receivedEvent);
// If receiving succeed....
if (xlStatus == XLDefine.XL_Status.XL_SUCCESS)
{
if ((receivedEvent.flags & XLDefine.XL_MessageFlags.XL_EVENT_FLAG_OVERRUN) != 0)
{
Console.WriteLine("-- XL_EVENT_FLAG_OVERRUN --");
}
// ...and data is a Rx msg...
if (receivedEvent.tag == XLDefine.XL_EventTags.XL_RECEIVE_MSG)
{
if ((receivedEvent.tagData.can_Msg.flags & XLDefine.XL_MessageFlags.XL_CAN_MSG_FLAG_OVERRUN) != 0)
{
Console.WriteLine("-- XL_CAN_MSG_FLAG_OVERRUN --");
}
// ...check various flags
if ((receivedEvent.tagData.can_Msg.flags & XLDefine.XL_MessageFlags.XL_CAN_MSG_FLAG_ERROR_FRAME)
== XLDefine.XL_MessageFlags.XL_CAN_MSG_FLAG_ERROR_FRAME)
{
Console.WriteLine("ERROR FRAME");
}
else if ((receivedEvent.tagData.can_Msg.flags & XLDefine.XL_MessageFlags.XL_CAN_MSG_FLAG_REMOTE_FRAME)
== XLDefine.XL_MessageFlags.XL_CAN_MSG_FLAG_REMOTE_FRAME)
{
Console.WriteLine("REMOTE FRAME");
}
else
{
Console.WriteLine(CANDemo.XL_GetEventString(receivedEvent));
}
}
}
}
}
// No event occurred
}
}