public void SendCAN(CANMessage canMessage)
{
if (Verbose)
{
Console.WriteLine("<-- {0}", canMessage.ToString());
}
StringBuilder serialCanMessage = new StringBuilder();
if (canMessage.IsExtended)
{
serialCanMessage.Append(canMessage.IsRTR ? "R" : "T");
serialCanMessage.Append(canMessage.Id.ToString("X08"));
}
else
{
serialCanMessage.Append(canMessage.IsRTR ? "r" : "t");
serialCanMessage.Append(canMessage.Id.ToString("X03"));
}
if (canMessage.Data != null && canMessage.Data.Length > 0)
{
serialCanMessage.Append(canMessage.Data.Length.ToString("X"));
}
else
{
serialCanMessage.Append("0");
}
if (!canMessage.IsRTR)
{
serialCanMessage.Append(canMessage.Data.ByteArrayToHexString());
}
SendData(serialCanMessage.ToString());
Thread.Sleep(DelayAfterWriteMilliseconds);
}
private void ParseCANMessage(string dataLine)
{
if (string.IsNullOrEmpty(dataLine))
{
throw new ArgumentException();
}
switch (dataLine[0])
{
case 'T':
case 'R':
//Extended frame
CANMessage msg = new CANMessage();
if (dataLine.Length >= 10)
{
//parse address (8 HEX characters)
msg.IsExtended = true;
msg.IsRTR = dataLine[0] == 'R';
msg.Id = UInt32.Parse(dataLine.Substring(1, 8), System.Globalization.NumberStyles.HexNumber);
int dataLength = UInt16.Parse(dataLine.Substring(9, 1), System.Globalization.NumberStyles.HexNumber);
if (!msg.IsRTR && dataLength > 0)
{
//parse data
if (dataLine.Length == 10 + dataLength * 2)
{
msg.Data = dataLine.Substring(10, dataLength * 2).HexStringToByteArray();
}
else
{
//expected more or less data than present
throw new FormatException();
}
}
else
{
msg.Data = new byte[0];
}
if (Verbose)
{
Console.WriteLine("--> {0}", msg.ToString());
}
CANMessageReceived?.Invoke(this, new CANMessageReceivedEventArgs()
{
CANMessage = msg
});
}
else
{
//Ignore illegal format
}
break;
case 't':
case 'r':
//Basic frame
msg = new CANMessage();
if (dataLine.Length >= 5)
{
//parse address (3 HEX characters)
msg.IsExtended = false;
msg.IsRTR = dataLine[0] == 'r';
msg.Id = UInt32.Parse(dataLine.Substring(1, 3), System.Globalization.NumberStyles.HexNumber);
int dataLength = UInt16.Parse(dataLine.Substring(4, 1), System.Globalization.NumberStyles.HexNumber);
if (!msg.IsRTR && dataLength > 0)
{
//parse data
if (dataLine.Length == 5 + dataLength * 2)
{
msg.Data = dataLine.Substring(5, dataLength * 2).HexStringToByteArray();
}
else
{
//expected more or less data than present
throw new FormatException();
}
}
else
{
msg.Data = new byte[0];
}
}
else
{
throw new FormatException();
}
CANMessageReceived?.Invoke(this, new CANMessageReceivedEventArgs()
{
CANMessage = msg
});
break;
default:
throw new ArgumentException();
}
}