/// <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()); // 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.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--; while (nrOfRows > 0) { msg = m_kwpCanListener.waitForMessage(0x258, 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); } }
override public 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()); m_resetEvent.Set(); } } }
/// <summary> /// Send an acknowledgement message. /// </summary> /// <param name="a_rowNr">The row number that should be acknowledged.</param> private void sendAck(uint a_rowNr) { CANMessage msg = new CANMessage(0x266, 0, 8); uint i = 0; ulong data = 0; data = setCanData(data, (byte)0x40, i++); data = setCanData(data, (byte)0xA1, i++); data = setCanData(data, (byte)0x3F, i++); data = setCanData(data, (byte)(0x80 | (int)(a_rowNr)), i++); msg.setData(data); if (!m_canDevice.sendMessage(msg)) { throw new Exception("Error sending ack"); } }
/// <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(); while (true) { lock (m_synchObject) { if (m_endThread) { return; } } readResult = LAWICEL.canusb_Read(m_deviceHandle, out r_canMsg); if (readResult == LAWICEL.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 == LAWICEL.ERROR_CANUSB_NO_MESSAGE) { Thread.Sleep(1); } } }
/// <summary> /// Start a KWP session. /// </summary> /// <remarks> /// A KWP session must be started before any requests can be sent. /// </remarks> /// <returns>True if the session was started, otherwise false.</returns> public bool startSession() { CANMessage msg = new CANMessage(0x220, 0, 8); msg.setData(0x000040021100813F); AddToCanTrace("Sending 0x000040021100813F message"); if (!m_canDevice.sendMessage(msg)) { AddToCanTrace("Unable to send 0x000040021100813F message"); return(false); } if (m_kwpCanListener.waitForMessage(0x238, timeoutPeriod).getID() == 0x238) { AddToCanTrace("Successfully sent 0x000040021100813F message and received reply 0x238"); return(true); } else { AddToCanTrace("Didn't receive 0x238 message as reply on 0x000040021100813F message"); return(false); } }
/// <summary> /// Send an acknowledgement message. /// </summary> /// <param name="a_rowNr">The row number that should be acknowledged.</param> private void sendAck(uint a_rowNr) { CANMessage msg = new CANMessage(0x266,0,8); uint i = 0; ulong data = 0; data = setCanData(data, (byte)0x40, i++); data = setCanData(data, (byte)0xA1, i++); data = setCanData(data, (byte)0x3F, i++); data = setCanData(data, (byte)(0x80 | (int)(a_rowNr)), i++); msg.setData(data); if (!m_canDevice.sendMessage(msg)) throw new Exception("Error sending ack"); }
/// <summary> /// Start a KWP session. /// </summary> /// <remarks> /// A KWP session must be started before any requests can be sent. /// </remarks> /// <returns>True if the session was started, otherwise false.</returns> public bool startSession() { CANMessage msg = new CANMessage(0x220, 0, 8); msg.setData(0x000040021100813F); AddToCanTrace("Sending 0x000040021100813F message"); if (!m_canDevice.sendMessage(msg)) { AddToCanTrace("Unable to send 0x000040021100813F message"); return false; } if (m_kwpCanListener.waitForMessage(0x238, timeoutPeriod).getID() == 0x238) { AddToCanTrace("Successfully sent 0x000040021100813F message and received reply 0x238"); return true; } else { AddToCanTrace("Didn't receive 0x238 message as reply on 0x000040021100813F message"); return false; } }
/// <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()); // 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.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--; while (nrOfRows > 0) { msg = m_kwpCanListener.waitForMessage(0x258, 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; } }
/// <summary> /// Send a message that starts a session. This is used to test if there is /// a connection. /// </summary> /// <returns></returns> private bool sendSessionRequest() { Console.WriteLine("Sending session request"); CANMessage msg1 = new CANMessage(0x220, 0, 8); LAWICEL.CANMsg msg = new LAWICEL.CANMsg(); msg1.setData(0x000040021100813f); if (!sendMessage(msg1)) { Console.WriteLine("Unable to send session request"); return false; } if (waitForMessage(0x238, 1000, out msg) == 0x238) { Console.WriteLine("Message 0x238 seen"); //Ok, there seems to be a ECU somewhere out there. //Now, sleep for 10 seconds to get a session timeout. This is needed for //applications on higher level. Otherwise there will be no reply when the //higher level application tries to start a session. Thread.Sleep(10000); Console.WriteLine("sendSessionRequest: TRUE"); return true; } Console.WriteLine("sendSessionRequest: FALSE"); 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.CANMsg r_canMsg = new LAWICEL.CANMsg(); CANMessage canMessage = new CANMessage(); while (true) { lock (m_synchObject) { if (m_endThread) return; } readResult = LAWICEL.canusb_Read(m_deviceHandle, out r_canMsg); if (readResult == LAWICEL.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 == LAWICEL.ERROR_CANUSB_NO_MESSAGE) { Thread.Sleep(1); } } }