protected override bool sendMessageDevice(CANMessage a_message)
{
lock (lockObj)
{
interfaceBusy = true;
if (a_message.getID() != _ECUAddress)
{
_ECUAddress = a_message.getID();
string command = String.Format("ATSH{0:X3}\r", a_message.getID());
SendControlMessage(command, false);
}
lastSentCanMessage = a_message.Clone();
string sendString = GetELMRequest(a_message);
//add expected responses, but this has to be one char only :(
if (a_message.elmExpectedResponses != -1 && a_message.elmExpectedResponses < 16)
{
sendString += " " + a_message.elmExpectedResponses.ToString("X1");
}
sendString += "\r";
lastSentTimestamp = Environment.TickCount;
rawString = WriteToTelnetAndWait(sendString);
return(true); // remove after implementation
}
}
public override bool sendMessage(CANMessage a_message)
{
string sendString = "t";
sendString += a_message.getID().ToString("X3");
sendString += a_message.getLength().ToString("X1");
for (uint i = 0; i < a_message.getLength(); i++) // leave out the length field, the ELM chip assigns that for us
{
sendString += a_message.getCanData(i).ToString("X2");
}
sendString += "\r";
if (m_serialPort.IsOpen)
{
AddToCanTrace("TX: " + a_message.getID().ToString("X3") + " " + a_message.getLength().ToString("X1") + " " + a_message.getData().ToString("X16"));
m_serialPort.Write(sendString);
//Console.WriteLine("TX: " + sendString);
}
// bitrate = 38400bps -> 3840 bytes per second
// sending each byte will take 0.2 ms approx
//Thread.Sleep(a_message.getLength()); // sleep length ms
// Thread.Sleep(10);
Thread.Sleep(1);
return(true); // remove after implementation
}
/// <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);
}
//---------------------------------------------------------------------------------------------
/**
* Sends a 11 bit CAN data frame.
*
* @param msg CAN message
*
* @return success (true/false)
*/
public override bool sendMessage(CANMessage msg)
{
this.AddToCanTrace("Sending message: " + msg.getID().ToString("X4") + " " + msg.getData().ToString("X16") + " " + msg.getLength().ToString("X2"));
try
{
Combi.caCombiAdapter.caCANFrame frame;
frame.id = msg.getID();
frame.length = msg.getLength();
frame.data = msg.getData();
frame.is_extended = 0;
frame.is_remote = 0;
this.combi.CAN_SendMessage(ref frame);
this.AddToCanTrace("Message sent successfully");
return(true);
}
catch (Exception e)
{
this.AddToCanTrace("Message failed to send: " + e.Message);
return(false);
}
}
public override bool sendMessage(CANMessage a_message)
{
lock (lockObj)
{
sendDataSempahore.WaitOne(timeoutWithoutReadyChar);
interfaceBusy = true;
if (a_message.getID() != _ECUAddress)
{
_ECUAddress = a_message.getID();
string command = "ATSH" + a_message.getID().ToString("X3") + "\r";
SendControlMessage(command, false);
}
//check if it is beneficial to send ATR0 and ATR1 for ELM clones
if (!supports8ByteResponse)
{
if ((a_message.elmExpectedResponses == 0) != request0Responses)
{
if (a_message.elmExpectedResponses == 0)
{
SendControlMessage("ATR0\r", false);
request0Responses = true;
}
else
{
SendControlMessage("ATR1\r", false);
request0Responses = false;
}
}
}
lastSentCanMessage = a_message.Clone();
string sendString = GetELMRequest(a_message);
if (a_message.getLength() < 8 || supports8ByteResponse) //ELM 2.0 supports 8 bytes + response count, previous versions dont
{
//add expected responses, but this has to be one char only :(
if (a_message.elmExpectedResponses != -1 && a_message.elmExpectedResponses < 16)
{
sendString += " " + a_message.elmExpectedResponses.ToString("X1");
}
}
sendString += "\r";
if (m_serialPort.IsOpen)
{
lastSentTimestamp = Environment.TickCount;
WriteToSerialWithTrace(sendString);
AddToCanTrace(string.Format("TX: {0} {1}", a_message.getID().ToString("X3"), sendString));
}
return(true); // remove after implementation
}
}
override public void handleMessage(CANMessage a_message)
{
if (_queue == null)
{
_queue = new CANMessage[32];
_receiveMessageIndex = 0;
_readMessageIndex = 0;
}
// add the message to a queue for later processing ...
// the queue is a ringbuffer for CANMessage objects.
// X objects are supported
// we need a receive and a read pointer for this to work properly
messageReceived = false;
//_queue[_receiveMessageIndex] = a_message;
_queue[_receiveMessageIndex] = new CANMessage();
_queue[_receiveMessageIndex].setData(a_message.getData());
_queue[_receiveMessageIndex].setID(a_message.getID());
_queue[_receiveMessageIndex].setLength(a_message.getLength());
_receiveMessageIndex++;
if (_receiveMessageIndex > _queue.Length - 1)
{
_receiveMessageIndex = 0; // make it circular
}
DetermineSize();
}
protected override bool sendMessageDevice(CANMessage a_message)
{
if (!m_serialPort.IsOpen)
{
return(false);
}
string sendString = "t";
sendString += a_message.getID().ToString("X3");
sendString += a_message.getLength().ToString("X1");
for (uint i = 0; i < a_message.getLength(); i++) // leave out the length field, the ELM chip assigns that for us
{
sendString += a_message.getCanData(i).ToString("X2");
}
sendString += "\r";
m_serialPort.Write(sendString);
//logger.Debug("TX: " + sendString);
// bitrate = 38400bps -> 3840 bytes per second
// sending each byte will take 0.2 ms approx
//Thread.Sleep(a_message.getLength()); // sleep length ms
// Thread.Sleep(10);
Thread.Sleep(1);
return(true); // remove after implementation
}
public override void handleMessage(CANMessage a_message)
{
lock (m_canMessage)
{
if (a_message.getID() == m_waitMsgID)
{
m_canMessage.setData(a_message.getData());
m_canMessage.setFlags(a_message.getFlags());
m_canMessage.setID(a_message.getID());
m_canMessage.setLength(a_message.getLength());
m_canMessage.setTimeStamp(a_message.getTimeStamp());
messageReceived = true;
m_resetEvent.Set();
}
}
}
//---------------------------------------------------------------------------------------------
/**
* Sends a 11 bit CAN data frame.
*
* @param msg CAN message
*
* @return success (true/false)
*/
protected override bool sendMessageDevice(CANMessage msg)
{
try
{
caCombiAdapter.caCANFrame frame;
frame.id = msg.getID();
frame.length = msg.getLength();
frame.data = msg.getData();
frame.is_extended = 0;
frame.is_remote = 0;
if (!UseOnlyPBus)
{
Thread.Sleep(4);
}
combi.CAN_SendMessage(ref frame);
return(true);
}
catch (Exception e)
{
logger.Debug("tx failed with Exception.Message: " + e.Message);
return(false);
}
}
/// <summary>
/// This method sends a CANMessage to the CAN device.
/// The open method must have been called and returned possitive result
/// before this method is called.
/// </summary>
/// <param name="a_message">The CANMessage</param>
/// <returns>true on success, otherwise false.</returns>
public bool sendMessage(CANMessage a_message)
{
bool result = sendMessageDevice(a_message);
string prefix = result == true ? "tx:" : "tx failed:";
logger.Trace(String.Format("{0} {1:X3} {2:X16}", prefix, a_message.getID(), BitTools.ReverseOrder(a_message.getData())));
return(result);
}
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);
}
}
}
/// <summary>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
override public bool sendMessage(CANMessage a_message)
{
lock (lockObj)
{
while (interfaceBusy)
{
if (lastSentTimestamp < Environment.TickCount - timeoutWithoutReadyChar)
{
//Console.WriteLine("released");
break;
}
}
lastSentTimestamp = Environment.TickCount;
interfaceBusy = true;
//Console.WriteLine("set");
Lawicel.CANUSB.CANMsg msg = new Lawicel.CANUSB.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
if (m_serialPort.IsOpen)
{
//m_serialPort.Write("\r");
string txstring = "t";
txstring += msg.id.ToString("X3");
txstring += "8"; // always 8 bytes to transmit
for (int t = 0; t < 8; t++)
{
byte b = (byte)(((msg.data >> t * 8) & 0x0000000000000000FF));
txstring += b.ToString("X2");
}
txstring += "\r";
AddToCanTrace(string.Format("TX: {0} {1} {2}", a_message.getID().ToString("X3"), a_message.getData().ToString("X16"), txstring));
m_serialPort.Write(txstring);
return(true);
}
}
return(false);
}
public void receivedMessage(CANMessage a_message)
{
lock (m_listeners)
{
logger.Trace(String.Format("rx: {0:X3} {1:X16}", a_message.getID(), BitTools.ReverseOrder(a_message.getData())));
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(a_message);
}
}
}
/*private void AddToCanTrace(string line)
* {
* if (m_EnableCanLog)
* {
* DateTime dtnow = DateTime.Now;
* using (StreamWriter sw = new StreamWriter(System.Windows.Forms.Application.StartupPath + "\\CanTraceCANUSBDevice.txt", true))
* {
* sw.WriteLine(dtnow.ToString("dd/MM/yyyy HH:mm:ss") + " - " + line);
* }
* }
* }*/
/// <summary>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
override public bool sendMessage(CANMessage a_message)
{
EASYSYNC.CANMsg msg = new EASYSYNC.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
//Console.WriteLine("Data to send: " + msg.data.ToString("X16"));
//Console.WriteLine("Data (original) to send: " + a_message.getData().ToString("X16"));
int writeResult;
AddToCanTrace("Sending message");
writeResult = EASYSYNC.canusb_Write(m_deviceHandle, ref msg);
if (writeResult == EASYSYNC.ERROR_CANUSB_OK)
{
AddToCanTrace("Message sent successfully");
return(true);
}
else
{
switch (writeResult)
{
case EASYSYNC.ERROR_CANUSB_COMMAND_SUBSYSTEM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_COMMAND_SUBSYSTEM");
break;
case EASYSYNC.ERROR_CANUSB_INVALID_PARAM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_INVALID_PARAM");
break;
case EASYSYNC.ERROR_CANUSB_NO_MESSAGE:
AddToCanTrace("Message failed to send: ERROR_CANUSB_NO_MESSAGE");
break;
case EASYSYNC.ERROR_CANUSB_NOT_OPEN:
AddToCanTrace("Message failed to send: ERROR_CANUSB_NOT_OPEN");
break;
case EASYSYNC.ERROR_CANUSB_OPEN_SUBSYSTEM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_OPEN_SUBSYSTEM");
break;
case EASYSYNC.ERROR_CANUSB_TX_FIFO_FULL:
AddToCanTrace("Message failed to send: ERROR_CANUSB_TX_FIFO_FULL");
break;
default:
AddToCanTrace("Message failed to send: " + writeResult.ToString());
break;
}
return(false);
}
}
/// <summary>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
override protected bool sendMessageDevice(CANMessage a_message)
{
byte[] msg = a_message.getDataAsByteArray();
writeStatus = Canlib.canWrite(handleWrite, (int)a_message.getID(), msg, a_message.getLength(), 0);
if (writeStatus == Canlib.canStatus.canOK)
{
return(true);
}
else
{
logger.Debug(String.Format("tx failed with status {0}", writeStatus));
return(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;
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);
}
}
}
override public void handleMessage(CANMessage a_message)
{
if (_queue == null)
{
_queue = new CANMessage[16];
_receiveMessageIndex = 0;
_readMessageIndex = 0;
}
// add the message to a queue for later processing ...
// the queue is a ringbuffer for CANMessage objects.
// X objects are supported
// we need a receive and a read pointer for this to work properly
messageReceived = false;
//_queue[_receiveMessageIndex] = a_message;
_queue[_receiveMessageIndex] = new CANMessage();
_queue[_receiveMessageIndex].setData(a_message.getData());
_queue[_receiveMessageIndex].setID(a_message.getID());
_queue[_receiveMessageIndex].setLength(a_message.getLength());
_receiveMessageIndex++;
if (_receiveMessageIndex > _queue.Length - 1)
{
_receiveMessageIndex = 0; // make it circular
}
//DetermineSize();
/*
* lock (m_canMessage)
* {
* if (a_message.getID() == m_waitMsgID)
* {
* m_canMessage = a_message;
* messageReceived = true;
* }
* }
* if (messageReceived)
* {
* m_resetEvent.Set();
* }*/
}
/// <summary>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
override protected bool sendMessageDevice(CANMessage a_message)
{
Lawicel.CANUSB.CANMsg msg = new Lawicel.CANUSB.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
int writeResult;
writeResult = Lawicel.CANUSB.canusb_Write(m_deviceHandle, ref msg);
if (writeResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
return(true);
}
else
{
logger.Debug("tx failed writeResult: " + writeResult);
return(false);
}
}
/// <summary>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
public override bool sendMessage(CANMessage a_message)
{
lock (lockObj)
{
while (interfaceBusy)
{
if (lastSentTimestamp < Environment.TickCount - timeoutWithoutReadyChar)
{
//Console.WriteLine("released");
break;
}
}
lastSentTimestamp = Environment.TickCount;
interfaceBusy = true;
//Console.WriteLine("set");
Lawicel.CANUSB.CANMsg msg = new Lawicel.CANUSB.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
if (m_serialPort.IsOpen)
{
//m_serialPort.Write("\r");
string txstring = "t";
txstring += msg.id.ToString("X3");
txstring += "8"; // always 8 bytes to transmit
for (int t = 0; t < 8; t++)
{
byte b = (byte)(((msg.data >> t * 8) & 0x0000000000000000FF));
txstring += b.ToString("X2");
}
txstring += "\r";
AddToCanTrace(string.Format("TX: {0} {1} {2}", a_message.getID().ToString("X3"), a_message.getData().ToString("X16"), txstring));
m_serialPort.Write(txstring);
return true;
}
}
return false;
}
// 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
}
}
//---------------------------------------------------------------------------------------------
/**
Sends a 11 bit CAN data frame.
@param msg CAN message
@return success (true/false)
*/
protected override bool sendMessageDevice(CANMessage msg)
{
try
{
caCombiAdapter.caCANFrame frame;
frame.id = msg.getID();
frame.length = msg.getLength();
frame.data = msg.getData();
frame.is_extended = 0;
frame.is_remote = 0;
combi.CAN_SendMessage(ref frame);
return true;
}
catch (Exception e)
{
logger.Debug("tx failed with Exception.Message: " + e.Message);
return false;
}
}
// 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
}
}
/// <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>
/// Send a KWP request.
/// </summary>
/// <param name="a_request">A KWP request.</param>
/// <param name="r_reply">A KWP reply.</param>
/// <returns>The status of the request.</returns>
public RequestResult sendRequest(KWPRequest a_request, out KWPReply r_reply)
{
CANMessage msg = new CANMessage(0x240, 0, 8);
uint row = nrOfRowsToSend(a_request.getData());
m_kwpCanListener.setupWaitMessage(0x258);
// Send one or several request messages.
for (; row > 0; row--)
{
msg.setData(createCanMessage(a_request.getData(), row - 1));
if (!m_canDevice.sendMessage(msg))
{
r_reply = new KWPReply();
return RequestResult.ErrorSending;
}
}
msg = m_kwpCanListener.waitMessage(timeoutPeriod);
// msg = m_kwpCanListener.waitForMessage(0x258, timeoutPeriod);
// Receive one or several replys and send an ack for each reply.
if (msg.getID() == 0x258)
{
uint nrOfRows = (uint)(msg.getCanData(0) & 0x3F)+ 1;
row = 0;
if (nrOfRows == 0)
throw new Exception("Wrong nr of rows");
//Assume that no KWP reply contains more than 0x200 bytes
byte[] reply = new byte[0x200];
reply = collectReply(reply, msg.getData(), row);
sendAck(nrOfRows - 1);
nrOfRows--;
m_kwpCanListener.setupWaitMessage(0x258);
while (nrOfRows > 0)
{
// msg = m_kwpCanListener.waitForMessage(0x258, timeoutPeriod);
msg = m_kwpCanListener.waitMessage(timeoutPeriod);
if (msg.getID() == 0x258)
{
row++;
reply = collectReply(reply, msg.getData(), row);
sendAck(nrOfRows - 1);
nrOfRows--;
}
else
{
r_reply = new KWPReply();
return RequestResult.Timeout;
}
}
r_reply = new KWPReply(reply, a_request.getNrOfPID());
return RequestResult.NoError;
}
else
{
r_reply = new KWPReply();
return RequestResult.Timeout;
}
}
//-------------------------------------------------------------------------
/**
* Sends a 11 bit CAN data frame.
*
* @param message CAN message
*
* @return success (true/false)
*/
public override bool sendMessage(CANMessage message)
{
return(MctAdapter_SendMessage(message.getID(), message.getLength(),
message.getData()));
}
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;
}
}
}
}
}
}
public override bool sendMessage(CANMessage a_message)
{
lock (lockObj)
{
sendDataSempahore.WaitOne(timeoutWithoutReadyChar);
interfaceBusy = true;
if (a_message.getID() != _ECUAddress)
{
_ECUAddress = a_message.getID();
string command = "ATSH" + a_message.getID().ToString("X3") + "\r";
SendControlMessage(command, false);
}
//check if it is beneficial to send ATR0 and ATR1 for ELM clones
if (!supports8ByteResponse)
{
if ((a_message.elmExpectedResponses == 0) != request0Responses)
{
if (a_message.elmExpectedResponses == 0)
{
SendControlMessage("ATR0\r", false);
request0Responses = true;
}
else
{
SendControlMessage("ATR1\r", false);
request0Responses = false;
}
}
}
lastSentCanMessage = a_message.Clone();
string sendString = GetELMRequest(a_message);
if (a_message.getLength() < 8 || supports8ByteResponse) //ELM 2.0 supports 8 bytes + response count, previous versions dont
{
//add expected responses, but this has to be one char only :(
if (a_message.elmExpectedResponses != -1 && a_message.elmExpectedResponses < 16)
sendString += " " + a_message.elmExpectedResponses.ToString("X1");
}
sendString += "\r";
if (m_serialPort.IsOpen)
{
lastSentTimestamp = Environment.TickCount;
WriteToSerialWithTrace(sendString);
AddToCanTrace(string.Format("TX: {0} {1}", a_message.getID().ToString("X3"), sendString));
}
return true; // remove after implementation
}
}
/// <summary>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
protected override bool sendMessageDevice(CANMessage a_message)
{
Lawicel.CANUSB.CANMsg msg = new Lawicel.CANUSB.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
int writeResult;
writeResult = Lawicel.CANUSB.canusb_Write(m_deviceHandle, ref msg);
if (writeResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
return true;
}
else
{
logger.Debug("tx failed writeResult: " + writeResult);
return false;
}
}
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);
}
}
}
public override void handleMessage(CANMessage a_message)
{
if (_queue == null)
{
_queue = new CANMessage[16];
_receiveMessageIndex = 0;
_readMessageIndex = 0;
}
// add the message to a queue for later processing ...
// the queue is a ringbuffer for CANMessage objects.
// X objects are supported
// we need a receive and a read pointer for this to work properly
messageReceived = false;
//_queue[_receiveMessageIndex] = a_message;
_queue[_receiveMessageIndex] = new CANMessage();
_queue[_receiveMessageIndex].setData(a_message.getData());
_queue[_receiveMessageIndex].setID(a_message.getID());
_queue[_receiveMessageIndex].setLength(a_message.getLength());
_receiveMessageIndex++;
if(_receiveMessageIndex > _queue.Length - 1) _receiveMessageIndex = 0; // make it circular
//DetermineSize();
/*
lock (m_canMessage)
{
if (a_message.getID() == m_waitMsgID)
{
m_canMessage = a_message;
messageReceived = true;
}
}
if (messageReceived)
{
m_resetEvent.Set();
}*/
}
//---------------------------------------------------------------------------------------------
/**
Sends a 11 bit CAN data frame.
@param msg CAN message
@return success (true/false)
*/
public override bool sendMessage(CANMessage msg)
{
this.AddToCanTrace("Sending message: " + msg.getID().ToString("X4") + " " + msg.getData().ToString("X16") + " " + msg.getLength().ToString("X2"));
try
{
Combi.caCombiAdapter.caCANFrame frame;
frame.id = msg.getID();
frame.length = msg.getLength();
frame.data = msg.getData();
frame.is_extended = 0;
frame.is_remote = 0;
this.combi.CAN_SendMessage(ref frame);
this.AddToCanTrace("Message sent successfully");
return true;
}
catch (Exception e)
{
this.AddToCanTrace("Message failed to send: " + e.Message);
return false;
}
}
public override bool sendMessage(CANMessage a_message)
{
string sendString = "t";
sendString += a_message.getID().ToString("X3");
sendString += a_message.getLength().ToString("X1");
for (uint i = 0; i < a_message.getLength(); i++) // leave out the length field, the ELM chip assigns that for us
{
sendString += a_message.getCanData(i).ToString("X2");
}
sendString += "\r";
if (m_serialPort.IsOpen)
{
AddToCanTrace("TX: " + a_message.getID().ToString("X3") + " " + a_message.getLength().ToString("X1") + " " + a_message.getData().ToString("X16"));
m_serialPort.Write(sendString);
//Console.WriteLine("TX: " + sendString);
}
// bitrate = 38400bps -> 3840 bytes per second
// sending each byte will take 0.2 ms approx
//Thread.Sleep(a_message.getLength()); // sleep length ms
// Thread.Sleep(10);
Thread.Sleep(1);
return true; // remove after implementation
}
public bool ClearDTCCodes()
{
bool retval = false;
// ClearDiagnosticInformation ($04) Service
ulong cmd = 0x0000000000000401; // 7DF 01 04 00 00 00 00 00 00
CANMessage msg = new CANMessage(0x7DF, 0, 2);
msg.setData(cmd);
msg.elmExpectedResponses = 15;
m_canListener.setupWaitMessage(0x7E8);
canUsbDevice.SetupCANFilter("7E8", "000");
if (!canUsbDevice.sendMessage(msg))
{
CastInfoEvent("Couldn't send message", ActivityType.ConvertingFile);
return false;
}
CANMessage response = new CANMessage();
ulong data = 0;
// Wait for response
// 7E8 01 44 00 00 00 00 00 00
response = m_canListener.waitMessage(timeoutP2ct);
data = response.getData();
// Positive Response
if (response.getID() == 0x7E8 && response.getCanData(1) == 0x44)
{
retval = true;
}
// RequestCorrectlyReceived-ResponsePending ($78, RC_RCR-RP)
else if (response.getCanData(1) == 0x7F && response.getCanData(2) == 0x04 && response.getCanData(3) == 0x78)
{
// Wait one more second
m_canListener.setupWaitMessage(0x7E8);
m_canListener.waitMessage(timeoutP2ct);
if (response.getID() == 0x7E8 && response.getCanData(1) == 0x44)
{
retval = true;
}
}
// Other errors
else if (response.getCanData(1) == 0x7F && response.getCanData(2) == 0x04)
{
string info = TranslateErrorCode(response.getCanData(3));
CastInfoEvent("Error: " + info, ActivityType.ConvertingFile);
}
Send0120();
return retval;
}
/// <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>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
public override bool sendMessage(CANMessage a_message)
{
Lawicel.CANUSB.CANMsg msg = new Lawicel.CANUSB.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
int writeResult;
AddToCanTrace("TX: " + msg.id.ToString("X4") + " " + msg.data.ToString("X16"));
writeResult = Lawicel.CANUSB.canusb_Write(m_deviceHandle, ref msg);
if (writeResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
AddToCanTrace("Message sent successfully");
return true;
}
else
{
switch (writeResult)
{
case Lawicel.CANUSB.ERROR_CANUSB_COMMAND_SUBSYSTEM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_COMMAND_SUBSYSTEM");
break;
case Lawicel.CANUSB.ERROR_CANUSB_INVALID_PARAM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_INVALID_PARAM");
break;
case Lawicel.CANUSB.ERROR_CANUSB_NO_MESSAGE:
AddToCanTrace("Message failed to send: ERROR_CANUSB_NO_MESSAGE");
break;
case Lawicel.CANUSB.ERROR_CANUSB_NOT_OPEN:
AddToCanTrace("Message failed to send: ERROR_CANUSB_NOT_OPEN");
break;
case Lawicel.CANUSB.ERROR_CANUSB_OPEN_SUBSYSTEM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_OPEN_SUBSYSTEM");
break;
case Lawicel.CANUSB.ERROR_CANUSB_TX_FIFO_FULL:
AddToCanTrace("Message failed to send: ERROR_CANUSB_TX_FIFO_FULL");
break;
default:
AddToCanTrace("Message failed to send: " + writeResult.ToString());
break;
}
return false;
}
}
//-------------------------------------------------------------------------
/**
Sends a 11 bit CAN data frame.
@param message CAN message
@return success (true/false)
*/
public override bool sendMessage(CANMessage message)
{
return MctAdapter_SendMessage(message.getID(), message.getLength(),
message.getData());
}
public override void handleMessage(CANMessage a_message)
{
if (_queue == null)
{
_queue = new CANMessage[32];
_receiveMessageIndex = 0;
_readMessageIndex = 0;
}
// add the message to a queue for later processing ...
// the queue is a ringbuffer for CANMessage objects.
// X objects are supported
// we need a receive and a read pointer for this to work properly
messageReceived = false;
//_queue[_receiveMessageIndex] = a_message;
_queue[_receiveMessageIndex] = new CANMessage();
_queue[_receiveMessageIndex].setData(a_message.getData());
_queue[_receiveMessageIndex].setID(a_message.getID());
_queue[_receiveMessageIndex].setLength(a_message.getLength());
_receiveMessageIndex++;
if(_receiveMessageIndex > _queue.Length - 1) _receiveMessageIndex = 0; // make it circular
DetermineSize();
}
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;
}
}
}
}
}
}
protected override bool sendMessageDevice(CANMessage a_message)
{
lock (lockObj)
{
interfaceBusy = true;
if (a_message.getID() != _ECUAddress)
{
_ECUAddress = a_message.getID();
string command = String.Format("ATSH{0:X3}\r", a_message.getID());
SendControlMessage(command, false);
}
lastSentCanMessage = a_message.Clone();
string sendString = GetELMRequest(a_message);
//add expected responses, but this has to be one char only :(
if (a_message.elmExpectedResponses != -1 && a_message.elmExpectedResponses < 16)
sendString += " " + a_message.elmExpectedResponses.ToString("X1");
sendString += "\r";
lastSentTimestamp = Environment.TickCount;
rawString = WriteToTelnetAndWait(sendString);
return true; // remove after implementation
}
}
public string[] ReadDTC()
{
// test code
//ulong c = 0x0000006F00070181;//81 01 07 00 6F 00 00 00
//ulong c = 0x000000FD00220181; //81 01 22 00 FD 00 00 00
//CANMessage test = new CANMessage();
//test.setData(c);
//AddToCanTrace(GetDtcDescription(test));
// send message to read DTC
StartSession10();
listDTC = new List<string>();
// ReadDiagnosticInformation $A9 Service
// readStatusOfDTCByStatusMask $81 Request
// DTCStatusMask $12= 0001 0010
// 0 Bit 7 warningIndicatorRequestedState
// 0 Bit 6 currentDTCSincePowerUp
// 0 Bit 5 testNotPassedSinceCurrentPowerUp
// 1 Bit 4 historyDTC
// 0 Bit 3 testFailedSinceDTCCleared
// 0 Bit 2 testNotPassedSinceDTCCleared
// 1 Bit 1 currentDTC
// 0 Bit 0 DTCSupportedByCalibration
ulong cmd = 0x000000001281A903; // 7E0 03 A9 81 12 00 00 00 00
CANMessage msg = new CANMessage(0x7E0, 0, 4);
msg.setData(cmd);
msg.elmExpectedResponses = 15;
m_canListener.setupWaitMessage(0x7E8,0x5e8);
canUsbDevice.SetupCANFilter("7E8", "DFF"); // Mask will allow 7E8 and 5E8
if (!canUsbDevice.sendMessage(msg))
{
CastInfoEvent("Couldn't send message", ActivityType.ConvertingFile);
return listDTC.ToArray();
}
CANMessage response = new CANMessage();
ulong data = 0;
// Wait for response
// 7E8 03 7F A9 78 00 00 00 00
// or the first DTC
// 5E8 81 07 03 00 7F 00 00 00
response = m_canListener.waitMessage(timeoutP2ct);
data = response.getData();
if (response.getID() == 0x5E8 && response.getCanData(0) == 0x81)
{
// Now wait for all DTCs
m_canListener.setupWaitMessage(0x5E8);
bool more_errors = addDTC(response);
while (more_errors)
{
CANMessage responseDTC = new CANMessage();
responseDTC = m_canListener.waitMessage(timeoutP2ct);
more_errors = addDTC(responseDTC);
}
}
// RequestCorrectlyReceived-ResponsePending ($78, RC_RCR-RP)
else if (response.getCanData(1) == 0x7F && response.getCanData(2) == 0xA9 && response.getCanData(3) == 0x78)
{
// Now wait for all DTCs
m_canListener.setupWaitMessage(0x5E8);
bool more_errors = true;
while (more_errors)
{
CANMessage responseDTC = new CANMessage();
responseDTC = m_canListener.waitMessage(timeoutP2ct);
more_errors = addDTC(responseDTC);
}
}
else if (response.getCanData(1) == 0x7F && response.getCanData(2) == 0xA9)
{
string info = TranslateErrorCode(response.getCanData(3));
CastInfoEvent("Error: " + info, ActivityType.ConvertingFile);
}
Send0120();
return listDTC.ToArray();
}
