/* 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;
}
*/
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();
}
}
}
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();
}*/
}
public override bool sendMessage(CANMessage a_message)
{
string sendString = " ";
/*if (a_message.getID() == 0x11)
{
// try to insert length ourselves
sendString = " ";
sendString += a_message.getLength().ToString("X2");
}*/
Console.WriteLine("send: " + a_message.getID().ToString("X3") + " " + a_message.getData().ToString("X16"));
if (a_message.getID() != _ECUAddress)
{
_ECUAddress = a_message.getID();
string command = "ATSH" + a_message.getID().ToString("X3");
/*if (_ECUAddress == 0x11)
{
command = "ATSH 0000" + a_message.getID().ToString("X3");
}*/
m_serialPort.Write(command + "\r"); //Set header to 7E0 = ECU
AddToSerialTrace("SERTX: " + command);
CastInformationEvent("Switching to ID: " + a_message.getID().ToString("X3"));
string answer = m_serialPort.ReadTo(">");
CastInformationEvent(command + " response: " + answer);
}
for (uint i = 0; i < a_message.getLength(); i++) // leave out the length field, the ELM chip assigns that for us
{
//if (i <= 7)
{
sendString += a_message.getCanData(i).ToString("X2");
}
/*else
{
sendString += "00"; // fill with zeros
}*/
}
//sendString = sendString.Trim();
sendString += "\r";
if (m_serialPort.IsOpen)
{
m_serialPort.Write(sendString);
AddToSerialTrace("SERTX: " + sendString);
//Console.WriteLine("TX: " + sendString);
AddToCanTrace("TX: " + a_message.getID().ToString("X3") + " " + sendString);
}
// bitrate = 38400bps -> 4800 bytes per second
// sending each byte will take 0.2 ms approx
// bitrate = 115200bps -> 14400 bytes per second
// sending each byte will take 0,07 ms approx
Thread.Sleep(2); // sleep length ms
//07E0 0000000000003E01
if (a_message.getID() == 0x7E0 && a_message.getCanData(0) == 0x01 && a_message.getCanData(1) == 0x3E)
{
//m_serialPort.Write("ATMA\r");
//AddToSerialTrace("SERTX: ATMA");
}
// Thread.Sleep(10);
//receiveString = "49 01 01 00 00 00 31 \n\r49 02 02 44 34 47 50 \n\r49 02 03 30 30 52 35 \n\r49 02 04 25 42";// m_serialPort.ReadTo(">");
/*receiveString = m_serialPort.ReadTo(">");
char[] chrArray = receiveString.ToCharArray();
byte[] reply = new byte[0xFF];
int insertPos = 1;
int index = 0;
string subString = "";
while (receiveString.Length > 4)
{
//Remove first three bytes
//TODO. Remove Mode and PIDs
for (int i = 0; i < 3; i++)
{
index = receiveString.IndexOf(" ");
receiveString = receiveString.Remove(0, index + 1);
}
//Read data for the rest of the row.
for (int i = 0; i < 4; i++)
{
index = receiveString.IndexOf(" ");
if (index == 0) //Last row not 4 bytes of data.
{
continue;
}
subString = receiveString.Substring(0, index);
reply[insertPos] = (byte)Convert.ToInt16("0x" + subString, 16);
insertPos++;
receiveString = receiveString.Remove(0, index + 1);
}
}
reply[0] = (byte)insertPos; //Length
r_reply = new KWPReply(reply, a_request.getNrOfPID());
return RequestResult.NoError;*/
return true; // remove after implementation
}
/// <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(0x7E0, 0, 8);
uint row = nrOfRowsToSend(a_request.getData());
m_kwpCanListener.setupWaitMessage(0x7E8);
// 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(0x7E8, timeoutPeriod);
// Receive one or several replys and send an ack for each reply.
if (msg.getID() == 0x7E8)
{
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(0x7E8);
while (nrOfRows > 0)
{
// msg = m_kwpCanListener.waitForMessage(0x7E8, timeoutPeriod);
msg = m_kwpCanListener.waitMessage(timeoutPeriod);
if (msg.getID() == 0x7E8)
{
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;
}
}
/*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>
public override bool sendMessage(CANMessage a_message)
{
LAWICEL.CANMsg msg = new LAWICEL.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
int writeResult;
//AddToCanTrace("Sending message");
AddToCanTrace("TX: " + msg.id.ToString("X4") + " " + msg.data.ToString("X16"));
writeResult = LAWICEL.canusb_Write(m_deviceHandle, ref msg);
if (writeResult == LAWICEL.ERROR_CANUSB_OK)
{
//AddToCanTrace("Message sent successfully");
return true;
}
else
{
switch (writeResult)
{
case LAWICEL.ERROR_CANUSB_COMMAND_SUBSYSTEM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_COMMAND_SUBSYSTEM");
break;
case LAWICEL.ERROR_CANUSB_INVALID_PARAM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_INVALID_PARAM");
break;
case LAWICEL.ERROR_CANUSB_NO_MESSAGE:
AddToCanTrace("Message failed to send: ERROR_CANUSB_NO_MESSAGE");
break;
case LAWICEL.ERROR_CANUSB_NOT_OPEN:
AddToCanTrace("Message failed to send: ERROR_CANUSB_NOT_OPEN");
break;
case LAWICEL.ERROR_CANUSB_OPEN_SUBSYSTEM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_OPEN_SUBSYSTEM");
break;
case LAWICEL.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 msg CAN message
@return success (true/false)
*/
public override bool sendMessage(CANMessage msg)
{
//Console.WriteLine("TX: " + msg.getID().ToString("X4") + " " + msg.getData().ToString("X16"));
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;
}
}
/// <summary>
/// Send a message that starts a session. This is used to test if there is
/// a connection.
/// </summary>
/// <returns></returns>
public bool sendSessionRequest(byte unit)
{
AddToCanTrace("Sending session request to unit 0x" + unit.ToString("X2"));
for (int i = 0; i < 5; i++)
{
CANMessage msg1 = new CANMessage(0x7E0, 0, 8);
msg1.setData(0x000040021100813f);
//msg1.setData(0x000040021100813f);
msg1.setCanData(unit, 5); // overwrite the 0x11 with UNIT
AddToCanTrace("Sending: " + msg1.getData().ToString("X16") + " id: 0x" + msg1.getID().ToString("X4") + " " + i.ToString());
if (!sendMessage(msg1))
{
AddToCanTrace("Unable to send session request");
return false;
}
uint reponseID = GetIDforUnit(unit);
AddToCanTrace("Waiting for ID: 0x" + reponseID.ToString("X4"));
if (waitForMessage(reponseID, 500, out msg1) == reponseID)
{
AddToCanTrace("ResponseID seen");
Console.WriteLine("ResponseID seen");
return true;
}
AddToCanTrace("no reponse seen from unit 0x" + unit.ToString("X2"));
Console.WriteLine("no reponse seen from unit 0x" + unit.ToString("X2"));
}
return false;
}
public int query_data(byte unit, byte data_id, out byte[] answer)
{
byte[] data = new byte[8];
byte length= 0;
byte i = 0;
answer = new byte[8]; // test <GS-11012011>
int rcv_length;
byte[] query = new byte[8] { 0x40, 0x00, 0x02, 0x21, 0x00, 0x00, 0x00, 0x00 };
byte[] ack = new byte[8] { 0x40, 0x00, 0x3F, 0x00, 0x00, 0x00, 0x00, 0x00 };
//ulong query_long = 0x0000000021020040;
//ulong ack_long = 0x00000000003F0040;
query[1] = unit;
ack[1] = unit;
// If data_id is zero, decrease length field
if (data_id != 0x00) query[4] = data_id;
else query[2] = 0x01;
data[0] = 0x00;
rcv_length = 0;
//for (int i = 0; i < 5; i++)
{
CANMessage msg = new CANMessage(0x240, 0, 8);
//msg.setData(query_long);
msg.setCanData(query[0], 0);
msg.setCanData(query[1], 1);
msg.setCanData(query[2], 2);
msg.setCanData(query[3], 3);
msg.setCanData(query[4], 4);
msg.setCanData(query[5], 5);
msg.setCanData(query[6], 6);
msg.setCanData(query[7], 7);
msg.setID(0x240);
AddToCanTrace("Sending: 0x" + msg.getData().ToString("X16") + " id: 0x" + msg.getID().ToString("X4"));
if (!sendMessage(msg))
{
return -1;
}
uint reply_unit = GetReplyforUnit(unit);
reply_unit = 0x258; // for testing purposes
while (data[0] != 0x80 && data[0] != 0xC0)
{
CANMessage replyMessage = new CANMessage();
AddToCanTrace("Waiting for ID: 0x" + reply_unit.ToString("X4"));
if (waitForMessage(reply_unit, 1000, out replyMessage) == reply_unit)
{
AddToCanTrace("Rx data: " + replyMessage.getData().ToString("X16"));
data[0] = replyMessage.getCanData(0);
data[1] = replyMessage.getCanData(1);
data[2] = replyMessage.getCanData(2);
data[3] = replyMessage.getCanData(3);
data[4] = replyMessage.getCanData(4);
data[5] = replyMessage.getCanData(5);
data[6] = replyMessage.getCanData(6);
data[7] = replyMessage.getCanData(7);
int idx = 0;
if ((data[0] & 0x40) > 0)
{
if (data[2] > 0x02)
{
length = data[2]; // subtract two non-payload bytes
length -= 2;
answer = new byte[length];
}
else length = 0;
if (--length > 0)
{
answer[idx++] = data[5];
rcv_length++;
}
if (--length > 0)
{
answer[idx++] = data[6];
rcv_length++;
}
if (--length > 0)
{
answer[idx++] = data[7];
rcv_length++;
}
}
else
{
for (i = 0; i < 6; i++)
{
answer[idx++] = data[2 + i];
length--;
rcv_length++;
if (length == 0) i = 6;
}
}
// Send acknowledgement
ack[3] = Convert.ToByte(data[0] & 0xBF);
CANMessage ackMessage = new CANMessage();
//ackMessage.setData(ack_long);
ackMessage.setCanData(ack[0], 0);
ackMessage.setCanData(ack[1], 1);
ackMessage.setCanData(ack[2], 2);
ackMessage.setCanData(ack[3], 3);
ackMessage.setCanData(ack[4], 4);
ackMessage.setCanData(ack[5], 5);
ackMessage.setCanData(ack[6], 6);
ackMessage.setCanData(ack[7], 7);
ackMessage.setID(0x266);
sendMessage(ackMessage);
}
else
{
// Timeout
AddToCanTrace("Timeout waiting for 0x" + reply_unit.ToString("X3"));
return -1;
}
}
}
return rcv_length;
}
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 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);
}
}
}
