public void readMessages()
{
CANMessage canMessage = new CANMessage();
byte[] receiveBuffer = new byte[1024]; // circular buffer for reception of data
string receiveString = string.Empty;
Console.WriteLine("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
Console.WriteLine("readMessages ended");
return;
}
}
if (m_serialPort != null)
{
if (m_serialPort.IsOpen)
{
if (m_serialPort.BytesToRead > 0)
{
string rxString = m_serialPort.ReadExisting();
if (rxString.Length > 0) AddToSerialTrace("SERRX: " + rxString);
receiveString += rxString;
//Console.WriteLine("BUF1: " + receiveString);
receiveString = receiveString.Replace(">", ""); // remove prompt characters... we don't need that stuff
receiveString = receiveString.Replace("NO DATA", ""); // remove prompt characters... we don't need that stuff
while (receiveString.StartsWith("\n") || receiveString.StartsWith("\r"))
{
receiveString = receiveString.Substring(1, receiveString.Length - 1);
}
while (receiveString.Contains('\r'))
{
// process the line
int idx = receiveString.IndexOf('\r');
string rxMessage = receiveString.Substring(0, idx);
receiveString = receiveString.Substring(idx + 1, receiveString.Length - idx - 1);
while (receiveString.StartsWith("\n") || receiveString.StartsWith("\r"))
{
receiveString = receiveString.Substring(1, receiveString.Length - 1);
}
//Console.WriteLine("BUF2: " + receiveString);
// is it a valid line
if (rxMessage.Length >= 6)
{
try
{
uint id = Convert.ToUInt32(rxMessage.Substring(0, 3), 16);
if (MessageContainsInformationForRealtime(id))
{
canMessage.setID(id);
canMessage.setLength(8); // TODO: alter to match data
canMessage.setData(0x0000000000000000); // reset message content
byte b1 = Convert.ToByte(rxMessage.Substring(4, 2), 16);
if (b1 < 7)
{
canMessage.setCanData(b1, 0);
//Console.WriteLine("Byte 1: " + Convert.ToByte(rxMessage.Substring(4, 2), 16).ToString("X2"));
if (b1 >= 1) canMessage.setCanData(Convert.ToByte(rxMessage.Substring(7, 2), 16), 1);
if (b1 >= 2) canMessage.setCanData(Convert.ToByte(rxMessage.Substring(10, 2), 16), 2);
if (b1 >= 3) canMessage.setCanData(Convert.ToByte(rxMessage.Substring(13, 2), 16), 3);
if (b1 >= 4) canMessage.setCanData(Convert.ToByte(rxMessage.Substring(16, 2), 16), 4);
if (b1 >= 5) canMessage.setCanData(Convert.ToByte(rxMessage.Substring(19, 2), 16), 5);
if (b1 >= 6) canMessage.setCanData(Convert.ToByte(rxMessage.Substring(22, 2), 16), 6);
if (b1 >= 7) canMessage.setCanData(Convert.ToByte(rxMessage.Substring(25, 2), 16), 7);
}
else
{
canMessage.setCanData(b1, 0);
//Console.WriteLine("Byte 1: " + Convert.ToByte(rxMessage.Substring(4, 2), 16).ToString("X2"));
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(7, 2), 16), 1);
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(10, 2), 16), 2);
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(13, 2), 16), 3);
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(16, 2), 16), 4);
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(19, 2), 16), 5);
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(22, 2), 16), 6);
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(25, 2), 16), 7);
}
lock (m_listeners)
{
AddToCanTrace("RX: " + canMessage.getData().ToString("X16"));
//Console.WriteLine("MSG: " + rxMessage);
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
}
catch (Exception)
{
Console.WriteLine("MSG: " + rxMessage);
}
}
}
}
else
{
Thread.Sleep(1); // give others some air
}
}
}
}
// parse the receive string
/*int readResult = 0;
LAWICEL.CANMsg r_canMsg = new LAWICEL.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_Read(m_deviceHandle, out r_canMsg);
if (readResult == LAWICEL.ERROR_CANUSB_OK)
{
//Console.WriteLine(r_canMsg.id.ToString("X3") + " " + r_canMsg.data.ToString("X8"));
if (MessageContainsInformationForRealtime(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("RX: " + r_canMsg.data.ToString("X16"));
foreach (ICANListener listener in m_listeners)
{
//while (listener.messagePending()) ; // dirty, make this better
listener.handleMessage(canMessage);
}
//CastInformationEvent(canMessage); // <GS-05042011> re-activated this function
}
//Thread.Sleep(1);
}
// cast event to application to process message
//if (MessageContainsInformationForRealtime(r_canMsg.id))
//{
//TODO: process all other known msg id's into the realtime view
// CastInformationEvent(canMessage); // <GS-05042011> re-activated this function
//}
}
else if (readResult == LAWICEL.ERROR_CANUSB_NO_MESSAGE)
{
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)
{
/*
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
LAWICEL.CANMsg r_canMsg = new LAWICEL.CANMsg();
canMsg = new CANMessage();
readResult = LAWICEL.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == LAWICEL.ERROR_CANUSB_OK)
{
//Console.WriteLine("rx id: 0x" + r_canMsg.id.ToString("X4"));
if (r_canMsg.id != a_canID)
{
nrOfWait++;
continue;
}
else
{
canMsg.setID(r_canMsg.id);
canMsg.setData(r_canMsg.data);
canMsg.setFlags(r_canMsg.flags);
return (uint)r_canMsg.id;
}
}
else if (readResult == LAWICEL.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
nrOfWait++;
}
}
canMsg = new CANMessage();
return 0;*/
LAWICEL.CANMsg r_canMsg;
canMsg = new CANMessage();
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
r_canMsg = new LAWICEL.CANMsg();
readResult = LAWICEL.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == LAWICEL.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.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
nrOfWait++;
}
}
r_canMsg = new LAWICEL.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.CANMsg r_canMsg = new LAWICEL.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_Read(m_deviceHandle, out r_canMsg);
if (readResult == LAWICEL.ERROR_CANUSB_OK)
{
// Console.WriteLine(r_canMsg.id.ToString("X3") + " " + r_canMsg.data.ToString("X8"));
if (MessageContainsInformationForRealtime(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("RX: " + r_canMsg.id.ToString("X4") + " " + r_canMsg.data.ToString("X16"));
foreach (ICANListener listener in m_listeners)
{
//while (listener.messagePending()) ; // dirty, make this better
listener.handleMessage(canMessage);
}
//CastInformationEvent(canMessage); // <GS-05042011> re-activated this function
}
//Thread.Sleep(1);
}
// cast event to application to process message
//if (MessageContainsInformationForRealtime(r_canMsg.id))
//{
//TODO: process all other known msg id's into the realtime view
// CastInformationEvent(canMessage); // <GS-05042011> re-activated this function
//}
}
else if (readResult == LAWICEL.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}
}
//---------------------------------------------------------------------------------------------
/**
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;
}
private void SendMessage(uint id, ulong data)
{
if(canUsbDevice is CANELM327Device) return;
CANMessage msg = new CANMessage();
msg.setID(id);
msg.setLength(8);
msg.setData(data);
if (!canUsbDevice.sendMessage(msg))
{
Console.WriteLine("Failed to send message");
}
}
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 (MessageContainsInformationForRealtime(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);
}
//CastInformationEvent(canMessage); // <GS-05042011> re-activated this function
}
//Thread.Sleep(1);
}
//else
{
// Thread.Sleep(1); // give others some air
}
}
}
catch (Exception)
{
Console.WriteLine("MSG: " + rxMessage);
}
}
}