/// <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>
/// 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>
/// 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);
}
/// <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)
{
r_canMsg = new Lawicel.CANUSB.CANMsg();
canMsg = 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;
canMsg.setID(r_canMsg.id);
canMsg.setLength(r_canMsg.len);
canMsg.setFlags(0);
canMsg.setData(r_canMsg.data);
if (r_canMsg.id != a_canID)
{
continue;
}
return((uint)r_canMsg.id);
}
}
}
//Thread.Sleep(0);
nrOfWait++;
}
return(0);
}
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);
}
}
}
//---------------------------------------------------------------------------------------------
/**
* 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>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
byte[] msg = new byte[8];
int dlc;
int flag, id;
long time;
Canlib.canStatus status;
CANMessage canMessage = new CANMessage();
logger.Debug("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
logger.Debug("readMessages thread ended");
return;
}
}
status = Canlib.canReadWait(handleRead, out id, msg, out dlc, out flag, out time, 250);
if ((flag & Canlib.canMSG_ERROR_FRAME) == 0)
{
if (status == Canlib.canStatus.canOK)
{
if (acceptMessageId((uint)id))
{
canMessage.setID((uint)id);
canMessage.setTimeStamp((uint)time);
canMessage.setFlags((byte)flag);
canMessage.setCanData(msg, (byte)dlc);
receivedMessage(canMessage);
}
}
else if (status == Canlib.canStatus.canERR_NOMSG)
{
Thread.Sleep(1);
}
else
{
logger.Debug("error" + status);
}
}
else
{
logger.Debug("error frame");
}
}
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
uint id;
int numMsgs = 1;
const int timeout = 1000;
CANMessage canMessage = new CANMessage();
logger.Debug("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
logger.Debug("readMessages thread ended");
return;
}
}
IntPtr rxMsgs = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(PassThruMsg)));
m_status = passThru.PassThruReadMsgs(m_channelId, rxMsgs, ref numMsgs, timeout);
if (m_status == J2534Err.STATUS_NOERROR)
{
if (numMsgs > 0)
{
PassThruMsg msg = rxMsgs.AsMsgList(numMsgs)[0];
byte[] all = msg.GetBytes();
id = (uint)(all[2] * 0x100 + all[3]);
uint length = msg.DataSize - 4;
byte[] data = new byte[length];
Array.Copy(all, 4, data, 0, length);
if (acceptMessageId(id))
{
canMessage.setID(id);
canMessage.setTimeStamp(msg.Timestamp);
canMessage.setCanData(data, (byte)(length));
receivedMessage(canMessage);
}
}
}
else
{
logger.Debug(String.Format("PassThruReadMsgs, status:{0}", m_status));
}
Marshal.FreeHGlobal(rxMsgs);
}
}
//-------------------------------------------------------------------------
/**
* 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);
}
}
}
/// <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>
/// 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 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);
}
}
}
// 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
}
}
//---------------------------------------------------------------------------------------------
/**
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();
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>
/// 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 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>
/// 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;
}
}
}
}
}
}
//-------------------------------------------------------------------------
/**
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);
}
}
/// <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;
}
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;
}
}
}
/// <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;
}
// 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>
/// 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);
}
}
}
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 void SendMessage(uint id, ulong data)
{
CANMessage msg = new CANMessage();
msg.setID(id);
msg.setLength(8);
msg.setData(data);
if (!canUsbDevice.sendMessage(msg))
{
Console.WriteLine("Failed to send message");
}
}
