/// <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>
private uint waitForMessage(uint a_canID, uint timeout, out EASYSYNC.CANMsg r_canMsg)
{
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
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;
}
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>
/// 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 EASYSYNC.CANMsg r_canMsg)
{
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
readResult = EASYSYNC.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == EASYSYNC.ERROR_CANUSB_OK)
{
return((uint)r_canMsg.id);
}
else if (readResult == EASYSYNC.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1); // changed to 0 to see performance impact
nrOfWait++;
}
}
r_canMsg = new EASYSYNC.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;
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);
}
}
}
/// <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();
/* Stopwatch
* while (true)
* {
* lock (m_synchObject)
* {
* if (m_endThread)
* return;
* }
* readResult = EASYSYNC.canusb_Read(m_deviceHandle, out r_canMsg);
* if (readResult > 0)
* {
* 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);
* if (m_DoLogging)
* {
* DumpCanMsg(r_canMsg, false);
* }
* lock (m_listeners)
* {
* foreach (ICANListener listener in m_listeners)
* {
* listener.handleMessage(canMessage);
* }
* }
* }
* else if (readResult == EASYSYNC.ERROR_CANUSB_NO_MESSAGE)
* {
* Thread.Sleep(1);
* }
* }*/
while (true)
{
/*if ((thrdcnt++ % 1000) == 0)
* {
* Console.WriteLine("Reading messages");
* }*/
lock (m_synchObject)
{
if (m_endThread)
{
m_endThread = false;
return;
}
}
readResult = EASYSYNC.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult > 0)
{
canMessage.setID((uint)r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp((uint)r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
//TODO: data hier nog vullen canMessage.setData(r_canMsg.data);
if (m_DoLogging)
{
DumpCanMsg(r_canMsg, false);
}
lock (m_listeners)
{
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
else if (readResult == EASYSYNC.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1); // changed to 0 to see performance impact
}
}
}