public static byte[] CanPacket(CanMessage msg)
{
if (msg.Bus < 1 || msg.Bus > MAX_BUS)
{
throw new Exception("Invalid Bus");
}
if (msg.Id > 0xFFF || msg.Id <= 0)
{
throw new Exception("Invalid can identifier");
}
if (msg.Data.Length > 8)
{
throw new Exception("Invalid packed data");
}
var msgId = BitConverter.GetBytes(msg.Id);
byte[] cmd =
{
CMD_SEND_CAN,
(byte)msg.Bus,
msgId[1],
msgId[0],
0, 0, 0, 0, 0, 0, 0, 0,
(byte)msg.Data.Length
};
Buffer.BlockCopy(msg.Data, 0, cmd, 4, msg.Data.Length);
return(cmd);
}
private void ReadCanMessage()
{
var bytesToRead = _canBuf.Length - _canRead;
var bytesRead = _port.Read(_canBuf, _canRead, Math.Min(bytesToRead, _port.BytesToRead));
if (bytesRead == bytesToRead)
{
// Read completed
_canRead = 0;
_receivingCanMsg = false;
if (CanMessageReceived != null)
{
var msg = new CanMessage {
Bus = _canBuf[0],
Id = (_canBuf[1] << 8) + _canBuf[2],
Status = _canBuf[12],
Data = new byte[_canBuf[11]],
DateTime = _startTime + _stopwatch.Elapsed
};
Buffer.BlockCopy(_canBuf, 3, msg.Data, 0, msg.Data.Length);
CanMessageReceived(msg);
}
}
else
{
// Partial read
_canRead += bytesRead;
_receivingCanMsg = true;
}
if (_port.IsOpen && _port.BytesToRead > 0)
{
OnDataReceived(this, null);
}
}
private async Task ReadCanMessage(DateTime timestamp)
{
int bytesToRead, bytesRead;
do
{
bytesToRead = _canBuf.Length - _canRead;
bytesRead = await _port.BaseStream.ReadAsync(_canBuf, _canRead, bytesToRead, _cancelRead.Token);
if (bytesRead == bytesToRead)
{
// Read completed
_canRead = 0;
if (CanMessageReceived == null)
{
continue;
}
var msg = new CanMessage {
Bus = _canBuf[0],
Id = (_canBuf[1] << 8) + _canBuf[2],
Status = _canBuf[12],
Data = new byte[_canBuf[11]],
DateTime = timestamp
};
Buffer.BlockCopy(_canBuf, 3, msg.Data, 0, msg.Data.Length);
CanMessageReceived(msg);
}
else
{
// Partial read
_canRead += bytesRead;
}
}while (bytesRead < bytesToRead);
}
public CanMessage[] GetLastMessages(int num)
{
WaitSemaphore();
_busy = true;
CanMessage[] msgs;
if (_putIndex == _getIndex) {
// No new messages
msgs = new CanMessage[0];
}
else if (_putIndex > _getIndex || _putIndex >= num) {
// New messages in a single block
var size = (_putIndex > _getIndex) ? Math.Min(_putIndex - _getIndex, num) : num;
msgs = new CanMessage[size];
Array.Copy(_buffer, _putIndex - size, msgs, 0, size);
_getIndex = _putIndex;
}
else {
// New messages in two blocks (putIndex < getIndex)
// Block1: ??? --> last index, Block2: 0 --> (putIndex - 1)
var sizeBlock1 = Math.Min(_buffer.Length - _getIndex, num - _putIndex);
msgs = new CanMessage[sizeBlock1 + _putIndex];
Array.Copy(_buffer, _buffer.Length - sizeBlock1, msgs, 0, sizeBlock1);
Array.Copy(_buffer, 0, msgs, sizeBlock1, _putIndex);
_getIndex = _putIndex;
}
_busy = false;
return msgs;
}
public CanMessage[] GetDistinctMessages()
{
WaitSemaphore();
_busy = true;
CanMessage[] msgs = new CanMessage[_bufferDistinct.Count];
_bufferDistinct.Values.CopyTo(msgs, 0);
_busy = false;
return msgs;
}
public void AddMessage(CanMessage msg)
{
WaitSemaphore();
_busy = true;
_buffer[_putIndex++] = msg;
if (_putIndex == _buffer.Length) _putIndex = 0;
if (_putIndex == _getIndex) {
_getIndex++;
if (_getIndex == _buffer.Length) _getIndex = 0;
}
_busy = false;
}
public FakeCBT(string portName = null)
{
_rnd = new Random();
_timer = new MicroTimer(1000);
_timer.MicroTimerElapsed += (s, args) => {
if (CanMessageReceived == null) return;
// Generate random Can Message
var msg = new CanMessage {
Bus = 1,
Id = _rnd.Next(1, 0xFFF),
Status = _rnd.Next(0, 3),
Data = BitConverter.GetBytes(++_counter),
DateTime = _startTime + _stopwatch.Elapsed
};
CanMessageReceived(msg);
};
}
public FakeCBT(string portName = null)
{
_stopwatch = new Stopwatch();
_rnd = new Random();
_timer = new MicroTimer(1000);
_timer.MicroTimerElapsed += (s, args) =>
{
if (CanMessageReceived == null) return;
// Generate random Can Message
var msg = new CanMessage
{
Bus = _rnd.Next(1, 3),
Id = _rnd.Next(0x294, 0x2A1),
Status = _rnd.Next(0, 3),
Data = new byte[] { (byte)_rnd.Next(0x00, 0xFF), (byte)_rnd.Next(0x00, 0xFF), (byte)_rnd.Next(0x00, 0xFF), (byte)_rnd.Next(0x00, 0xFF), (byte)_rnd.Next(0x00, 0xFF), (byte)_rnd.Next(0x00, 0xFF), (byte)_rnd.Next(0x00, 0xFF), (byte)_rnd.Next(0x00, 0xFF) },
DateTime = _startTime + _stopwatch.Elapsed
};
CanMessageReceived(msg);
};
}
public void AddMessage(CanMessage msg)
{
WaitSemaphore();
_busy = true;
_buffer[_putIndex++] = msg;
if (_putIndex == _buffer.Length) _putIndex = 0;
if (_putIndex == _getIndex) {
_getIndex++;
if (_getIndex == _buffer.Length) _getIndex = 0;
}
if (_bufferDistinct.ContainsKey(msg.Id))
_bufferDistinct[msg.Id] = msg;
else
{
_bufferDistinct.Add(msg.Id, msg);
}
_busy = false;
}
public FakeCBT(string portName = null)
{
_stopwatch = new Stopwatch();
_rnd = new Random();
_timer = new MicroTimer(1000);
_timer.MicroTimerElapsed += (s, args) =>
{
if (CanMessageReceived == null)
{
return;
}
// Generate random Can Message
var msg = new CanMessage
{
Bus = _rnd.Next(1, 3),
Id = _rnd.Next(0x294, 0x2A1),
Status = _rnd.Next(0, 3),
Data = new byte[] { (byte)_rnd.Next(0x00, 0xFF), (byte)_rnd.Next(0x00, 0xFF), (byte)_rnd.Next(0x00, 0xFF), (byte)_rnd.Next(0x00, 0xFF), (byte)_rnd.Next(0x00, 0xFF), (byte)_rnd.Next(0x00, 0xFF), (byte)_rnd.Next(0x00, 0xFF), (byte)_rnd.Next(0x00, 0xFF) },
DateTime = _startTime + _stopwatch.Elapsed
};
CanMessageReceived(msg);
};
}
private void ReadCanMessage()
{
var bytesToRead = _canBuf.Length - _canRead;
var bytesRead = _port.Read(_canBuf, _canRead, Math.Min(bytesToRead, _port.BytesToRead));
if (bytesRead == bytesToRead) {
// Read completed
_canRead = 0;
_receivingCanMsg = false;
if (CanMessageReceived != null) {
var msg = new CanMessage {
Bus = _canBuf[0],
Id = (_canBuf[1] << 8) + _canBuf[2],
Status = _canBuf[12],
Data = new byte[_canBuf[11]],
DateTime = _startTime + _stopwatch.Elapsed
};
Buffer.BlockCopy(_canBuf, 3, msg.Data, 0, msg.Data.Length);
CanMessageReceived(msg);
}
}
else {
// Partial read
_canRead += bytesRead;
_receivingCanMsg = true;
}
if (_port.IsOpen && _port.BytesToRead > 0) OnDataReceived(this, null);
}
void cbt_CanMessageReceived(CanMessage msg)
{
if (msg.Bus != _bus) return;
_sw?.WriteLine("\"" + msg.Time + "\";\"" + $"{msg.Id:X3}" + "\";\"" + msg.HexData + "\";"
+ msg.Status + ";\"\"");
_buffer.AddMessage(msg);
}
public static byte[] CanPacket(CanMessage msg)
{
if (msg.Bus < 1 || msg.Bus > MAX_BUS) throw new Exception("Invalid Bus");
if (msg.Id > 0xFFF || msg.Id <= 0) throw new Exception("Invalid can identifier");
if (msg.Data.Length > 8) throw new Exception("Invalid packed data");
var msgId = BitConverter.GetBytes(msg.Id);
byte[] cmd = {
CMD_SEND_CAN,
(byte)msg.Bus,
msgId[1],
msgId[0],
0, 0, 0, 0, 0, 0, 0, 0,
(byte)msg.Data.Length
};
Buffer.BlockCopy(msg.Data, 0, cmd, 4, msg.Data.Length);
return cmd;
}
public async Task SendCanPacket(CanMessage msg)
{
await Serial.BlindCommand(CBTCommand.CanPacket(msg));
}
private async Task ReadCanMessage(DateTime timestamp)
{
int bytesToRead, bytesRead;
do {
bytesToRead = _canBuf.Length - _canRead;
bytesRead = await _port.BaseStream.ReadAsync(_canBuf, _canRead, bytesToRead, _cancelRead.Token);
if (bytesRead == bytesToRead) {
// Read completed
_canRead = 0;
if (CanMessageReceived == null) continue;
var msg = new CanMessage {
Bus = _canBuf[0],
Id = (_canBuf[1] << 8) + _canBuf[2],
Status = _canBuf[12],
Data = new byte[_canBuf[11]],
DateTime = timestamp
};
Buffer.BlockCopy(_canBuf, 3, msg.Data, 0, msg.Data.Length);
CanMessageReceived(msg);
}
else {
// Partial read
_canRead += bytesRead;
}
}
while (bytesRead < bytesToRead);
}
public async Task SendCanPacket(CanMessage msg)
{
await Serial.BlindCommand(CBTCommand.CanPacket(msg));
}
