//-------------------------------------------------------------------------
/**
* 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 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);
}
/* public CANMessage waitForMessage(uint a_canID, int a_timeout)
* {
* CANMessage retMsg;
* m_canMessage.setID(0); // init so we cannot receive the same frame twice <GS-10022010>
* lock (m_canMessage)
* {
* m_waitMsgID = a_canID;
* }
* m_resetEvent.WaitOne(a_timeout, true);
* lock (m_canMessage)
* {
* retMsg = m_canMessage;
* }
*
* return retMsg;
* }
*/
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>
/// 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>
/// 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("X6") + " " + r_canMsg.data.ToString("X16"));
//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)
{
bitsPerSecond += 109;
AddToCanTrace("RX: " + r_canMsg.id.ToString("X6") + " " + r_canMsg.data.ToString("X16"));
rxCount++;
foreach (ICANListener listener in m_listeners)
{
//while (listener.messagePending()) ; // dirty, make this better
listener.handleMessage(canMessage);
}
CastInformationEvent("", rxCount, txCount, errCount); // <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)
{
// Console.WriteLine("No message");
Thread.Sleep(1);
}
else
{
Console.WriteLine("Result: " + readResult.ToString("X8"));
}
/*int stat = LAWICEL.canusb_Status(m_deviceHandle);
* if (stat != 0)
* {
* Console.WriteLine("status: " + stat.ToString("X4"));
* }*/
}
}
