//Reads message data from user input and writes a message to the channel
private void sendButton_Click(object sender, RoutedEventArgs e)
{
int id = Convert.ToInt32(idBox.Text);
TextBox[] textBoxes = { dataBox0, dataBox1, dataBox2, dataBox3, dataBox4,
dataBox5, dataBox6, dataBox7 };
byte[] data = new byte[8];
for (int i = 0; i < 8; i++)
{
data[i] = textBoxes[i].Text == "" ? (byte)0 : Convert.ToByte(textBoxes[i].Text);
}
CheckBox[] boxes = { RTRBox, STDBox, EXTBox, WakeUpBox, NERRBox, errorBox,
TXACKBox, TXRQBox, delayBox, BRSBox, ESIBox };
int flags = 0;
foreach (CheckBox box in boxes)
{
if (box.IsChecked.Value)
{
flags += Convert.ToInt32(box.Tag);
}
}
int dlc = Convert.ToInt32(DLCBox.Text);
string msg = String.Format("{0} {1} {2:x2} {3:x2} {4:x2} {5:x2} {6:x2} {7:x2} {8:x2} {9:x2} to handle {10}",
id, dlc, data[0], data[1], data[2], data[3], data[4],
data[5], data[6], data[7], handle);
Canlib.canStatus status = Canlib.canWrite(handle, id, data, dlc, flags);
CheckStatus("Writing message " + msg, status);
}
// private CAN_Common(){
//#if DEBUG
// //Task.Factory.StartNew(
// // action: () =>{
// // Thread.Sleep(2000);
// // float f = 0;
// // Stopwatch sw = Stopwatch.StartNew();
// // Random rand = new Random();
// // FrequencyManager.SendCCComand(1, Globals.Vm_scis[0]);
// // while (true){
// // short sin = (short)((Math.Sin(f) * Math.Pow(2, 15)));
// // byte[] data = new byte[12];
// // Buffer.BlockCopy(Utils.makePacket("FT", 1, false, true, (Math.Sin(f) * 100).ToString()),0,data,0,8);
// // data[5] = (byte)(sin >> 8);
// // data[4] = (byte)sin;
// // data[6] = 0;
// // data[7] = 0;
// // innerTranmit(data);
// // //SaveToDisk.Write(data);
// // while (sw.ElapsedMilliseconds < f *5) ;
// // f+=0.01f;
// // }
// // });
//#endif
// }
//private CAN_Common(){
// //ActiveCANDriver = Tbl_CanDriver.ActiveCANDriver;
// Task.Factory.StartNew(
// action: () =>{
// ActiveCANDriver = Static_Utils.ActiveCANDriver;
// if (ActiveCANDriver.Equals(Consts.CAN_DRIVER_KVASER)){
// initForKvaser();
// } else if (ActiveCANDriver.Equals(Consts.CAN_DRIVER_GINKGO)){
// initForGinkgo();
// }
// initLoop();
// });
// //Active = true;
//}
#endregion
#region METHODS
public static void CloseConnection(int NodeId)
{
if (!Instance.dic_CanChanels.ContainsKey(NodeId))
{
return;
}
byte[] packet = Utils.makePacket(NodeId, "CC", 0, false, false, "0");
for (int i = 0; i < 3; i++)
{
Canlib.canWrite(Instance.dic_CanChanels[NodeId], 0x37f, packet, packet.Length, 2);
Write(packet);
Thread.Sleep(50);
}
Canlib.canWrite(
handle: Instance.dic_CanChanels[NodeId],
id: 0,
msg: new byte[] { 0x80, (byte)NodeId },
dlc: 2,
//size of msg
flag: 2 //we have defined this as const
);
Canlib.canBusOff(Instance.dic_CanChanels[NodeId]);
Canlib.canClose(Instance.dic_CanChanels[NodeId]);
}
public static void CloseAllConnections()
{
new Thread(
() => {
lock (LockCanIdsDic) {
foreach (var entry in Instance.dic_CanChanels)
{
byte[] packet = Utils.makePacket(entry.Key, "CC", 0, false, false, "0");
for (int i = 0; i < 3; i++)
{
Canlib.canWrite(entry.Value, 0x37f, packet, packet.Length, 2);
Write(packet);
Thread.Sleep(50);
}
Canlib.canWrite(
handle: entry.Value,
id: 0,
msg: new byte[] { 0x80, (byte)entry.Key },
dlc: 2,
//size of msg
flag: 2 //we have defined this as const
);
Canlib.canBusOff(entry.Value);
Canlib.canClose(entry.Value);
}
}
}).Start();
}
internal int FWwrite(byte[] buffer2, int id)
{
//int id = 888;
Canlib.canStatus status;
status = Canlib.canWrite(hcan, id, buffer2, 8, Canlib.canMSG_STD);
if (status != Canlib.canStatus.canOK)
{
send2Terminal("mingi error sõnumi saatmisel");
}
//Get ACK response
byte[] data = new byte[8];
int dlc;
int flags;
long time;
while (id != 889)
{
Canlib.canReadWait(hcan, out id, data, out dlc, out flags, out time, 100);
}
if (data[0] == ACK)
{
return(ACK);
}
else
{
return(NACK);
}
}
/// <summary>
/// CAN发送一帧数据
/// </summary>
/// <param name="id"></param>
/// <param name="dat"></param>
/// <param name="dlc"></param>
/// <param name="time"></param>
/// <returns></returns>
public bool WriteData(int id, byte[] dat, int dlc, out long time)
{
time = 0;
Canlib.canStatus canStatus = Canlib.canWrite(canHandler, id, dat, dlc, 0);
if (canStatus != Canlib.canStatus.canOK)
{
return(false);
}
int ttime = 0;
Canlib.kvReadTimer(canHandler, out ttime);
time = (long)ttime;
return(true);
}
public FuctionResult SendShortMsg(int id, byte[] data, int dlc)
{
if (data.Length != 8)
{
return(FuctionResult.ERROR_UNKNOWN);
}
string msg = String.Format("{0} {1} {2:x2} {3:x2} {4:x2} {5:x2} {6:x2} {7:x2} {8:x2} {9:x2} to handle {10}",
id, dlc, data[0], data[1], data[2], data[3], data[4],
data[5], data[6], data[7], handle);
Canlib.canStatus status = Canlib.canWrite(handle, id, data, dlc, flags);
CheckStatus("Writing message " + msg, status);
return(FuctionResult.OK);
}
/// <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);
}
}
// Not being used since single transmission does not need threading at this time
/*public void KvaserWrite(CanData can)
* {
* // Canlib.canWrite(can.handle, can.id, can.msg, can.dlc, can.flags);
* // Canlib.canWriteSync(can.handle, 10000);
* Canlib.canWriteWait(can.handle, can.id, can.msg, can.dlc, can.flags,1000);
* }*/
public void KvaserWriteMultiple(CanData can)
{
for (int x = 0; x < can.number; x++)
{
// MainWindow.ErrorDisplayString("can message: " + CommonUtils.DisplayMsg(can));
can.status = Canlib.canWrite(can.handle, can.id, can.msg, can.dlc, can.flags);
// MainWindow.ErrorDisplayString("can status: " + can.status);
can.status1 = Canlib.canWriteSync(can.handle, 10000);
//CheckFlags(can);
System.Threading.Thread.Sleep(can.timeBtw);
if (can.increment == true)
{
can.id++;
}
}
}
//Reads message data from user input and writes a message to the channel, sending to the CAN bus.
void sendMessageButton_Click(object sender, RoutedEventArgs e)
{
if (String.IsNullOrEmpty(idBox.Text))
{
MessageBox.Show("Tx Failed: CAN message ID has not been specified.");
return;
}
if (String.IsNullOrEmpty(DLCBox.Text))
{
MessageBox.Show("Tx Failed: DLC value has not been specified.");
return;
}
string idStr_decimal = Utils.ConvertHexStrToDecStr(idBox.Text);
int id_decimal = Convert.ToInt32(idStr_decimal);
int dlc = Convert.ToInt32(DLCBox.Text);
byte[] data = new byte[Defined.MAX_DLC];
Array.Clear(data, 0, sizeof(byte) * Defined.MAX_DLC);
for (int i = 0; i < dlc; i++)
{
data[i] = canDataBoxes[i].Text == "" ? (byte)0 : Convert.ToByte(canDataBoxes[i].Text);
}
int messageOptionFlags = 0;
if (messageOptionCheckboxPanel.IsVisible)
{
foreach (CheckBox box in messageOptionCheckboxPanel.Children)
{
if (box.IsChecked.Value)
{
messageOptionFlags += Convert.ToInt32(box.Tag);
}
}
}
string msgLog = String.Format("0x{0:x3} {1} {2:x2} {3:x2} {4:x2} {5:x2} {6:x2} {7:x2} {8:x2} {9:x2} to handle {10}",
idBox.Text, DLCBox.Text, data[0], data[1], data[2], data[3], data[4],
data[5], data[6], data[7], sendHandle);
Canlib.canStatus status = Canlib.canWrite(sendHandle, id_decimal, data, dlc, messageOptionFlags);
LogOutput("[Tx] " + msgLog);
CheckStatus("[Tx] " + msgLog, status);
}
//Reads message data from user input and writes a message to the channel
private void sendMessage_Button_Click(object sender, EventArgs e)
{
int id = Convert.ToInt32(idBox.Text, 16);
TextBox[] textBoxes = { dataBox0, dataBox1, dataBox2, dataBox3, dataBox4,
dataBox5, dataBox6, dataBox7 };
byte[] data = new byte[8];
for (int i = 0; i < 8; i++)
{
data[i] = textBoxes[i].Text == "" ? (byte)0 : Convert.ToByte(textBoxes[i].Text);
}
int flags = Convert.ToInt32(flagsBox.Text);
int dlc = Convert.ToInt32(DLCBox.Text);
string msg = String.Format("{0} {1} {2:x2} {3:x2} {4:x2} {5:x2} {6:x2} {7:x2} {8:x2} {9:x2} to handle {10}",
idBox.Text, dlc, data[0], data[1], data[2], data[3], data[4],
data[5], data[6], data[7], handle);
Canlib.canStatus status = Canlib.canWrite(handle, id, data, dlc, flags);
CheckStatus("Writing message " + msg, status);
}
public void _OpenAllConnections()
{
if (ActiveCanDriver == Consts.INTERFACE_RS232)
{
if (PortConnection.OpenPort())
{
dic_CanChanels.Clear();
foreach (var entry in Globals.Vm_scis)
{
dic_CanChanels[entry.VM_UC_Main.NodeId] = 0;
}
Task.Factory.StartNew(() => {
int i = 0;
do
{
Globals.Vm_scis[0].HighFrequencyOn = true;
FrequencyManager.SendCCComand(vm_sci: Globals.Vm_scis[0]);
Thread.Sleep(5);
} while (!graphStarted && i < 500);//max 25 seconds
});
}
}
else if (ActiveCanDriver == Consts.CAN_DRIVER_KVASER)
{
lock (LockCanIdsDic) {
hasChangeInNodesList = true;
Canlib.canInitializeLibrary();
foreach (var value in dic_CanChanels.Where(x => x.Value >= 0).Select(x => x.Value))
{
Canlib.canBusOff(value);
Canlib.canClose(value);
}
//lastOpenedChanel = 0;
dic_CanChanels.Clear();
foreach (var entry in Globals.Vm_scis.Where(entry => entry.VM_UC_Main != null))
{
dic_CanChanels[entry.VM_UC_Main.NodeId] = -1;
}
foreach (var key in dic_CanChanels.Select(x => x.Key).ToList())
{
int openedChanel = Canlib.canOpenChannel(lastOpenedChanel + 1, key);
if (openedChanel >= 0)
{
dic_CanChanels[key] = openedChanel;
}
}
foreach (var entry in dic_CanChanels.Where(x => x.Value >= 0))
{
Canlib.canSetBusParams(
handle: entry.Value,
freq: CANDesiredBitRate,
tseg2: 0,
tseg1: 0,
sjw: 0,
noSamp: 0,
syncmode: 0
);
Canlib.canBusOn(entry.Value);
//if (!setCanCardName() || !getCanBitRate()) {
// CANStatus = Consts.BOOL_FAILED;
// CANHandle = -1;
//}
//initialize the node
Canlib.canWrite(
handle: entry.Value,
id: 0,
msg: new byte[] { 1, (byte)entry.Key },
dlc: 2, //size of msg
flag: 2 //we have defined this as const
);
}
}
//get multiply value
WriteToAll("AD", 0, true, true);
//get ISR
WriteToAll("AE", 0, true, true);
graphStarted = false;
//start Graph
//todo fix for each nodeId
Task.Factory.StartNew(() => {
int i = 0;
do
{
if (Globals.Vm_scis.Count > 0)
{
Globals.Vm_scis[0].HighFrequencyOn = true;
FrequencyManager.SendCCComand(1, vm_sci: Globals.Vm_scis[0]); // start graph plot with 6k frequency.
Thread.Sleep(5);
}
else
{
Debugger.Break();
}
} while (!graphStarted && i < 500 && Globals.Vm_scis.Count > 0);//max 25 seconds
});
//_can_status = RoundBoolLed.DISABLED;
}
}
public bool CanLongMsgSend(int id, byte[] data, int datalength, int retrycount, double timeout, ref int EcuID, ref byte[] READDATA, ref string errmsg)
{
if ((datalength < 9) || (data.Length < 9))
{
errmsg = "Command Data Length <=8";
return(false);
}
bool _LoopChk = true;
int _EcuID;
byte[] _EcuData = new byte[8];
int _EcuDlc;
int _EcuFlags;
long _EcuTime;
int _Ecu_FS = -1; // 정상적으로 수신시 확인되는 값, FS FlowStatus, BS BlockSize, STmin
int _Ecu_BS = 0;
int _Ecu_STmin = 0;
double _Ecu_Stmin_sec; // 소수점단위 계산
bool _Ecu_FlowControl_Receive_OK = false;
byte[] _Data_FF = new byte[8];
byte[] _Data_CF = new byte[8];
int _LastSendDataIndex = 0;
Canlib.canStatus status;
Stopwatch _stopwatch_total = new Stopwatch();
Stopwatch _stopwatch_send = new Stopwatch();
// 명령 만들기
_Data_FF[0] = 0x10;
Int32 _DataLength_12bit = 0x00000000;
_DataLength_12bit = (Int32)datalength;
_DataLength_12bit = _DataLength_12bit & 0x00000FFF;
byte byte1Lownibble;
byte byte2;
byte1Lownibble = (byte)((_DataLength_12bit & 0x00000F00) >> 16);
byte2 = (byte)(_DataLength_12bit & 0x000000FF);
_Data_FF[0] = (byte)(0x10 | byte1Lownibble);
_Data_FF[1] = byte2;
_Data_FF[2] = data[0];
_Data_FF[3] = data[1];
_Data_FF[4] = data[2];
_Data_FF[5] = data[3];
_Data_FF[6] = data[4];
_Data_FF[7] = data[5];
_LastSendDataIndex = 6;
//
//Canlib.canBusOn(handle);
//status = Canlib.canWrite(handle, id, _Data_FF, 8, flags);
//Open up a new handle for reading
readHandle = Canlib.canOpenChannel(channel, Canlib.canOPEN_ACCEPT_LARGE_DLC);
status = Canlib.canAccept(readHandle, 0x7DF, Canlib.canFILTER_SET_CODE_STD);
status = Canlib.canAccept(readHandle, 0x7D0, Canlib.canFILTER_SET_MASK_STD);
status = Canlib.canBusOn(readHandle);
if (status == Canlib.canStatus.canOK)
{
onBus = true;
}
else
{
onBus = false;
}
if (readHandle < 0)
{
errmsg = "canOpenChannel Handle create error";
return(false);
}
if (!onBus)
{
errmsg = "onBus false";
return(false);
}
_stopwatch_total.Reset();
_stopwatch_total.Start();
_stopwatch_send.Reset();
_stopwatch_send.Start();
// Receive Channel Open -> SEND
Canlib.canBusOn(handle);
status = Canlib.canWrite(handle, id, _Data_FF, 8, flags);
while (_LoopChk)
{
// TimeOut Check
long st = _stopwatch_total.ElapsedMilliseconds;
double _durationtime = st / 1000.0; // ms -> sec
if (_durationtime > timeout)
{
// 설정시간안에 메세지 및 처리를 못했을 경우 종료
errmsg = "timeout error";
_LoopChk = false;
break;
}
// Message Recieve Check
bool _RecvOK = false;
status = Canlib.canReadWait(readHandle, out _EcuID, _EcuData, out _EcuDlc, out _EcuFlags, out _EcuTime, 100); // 100ms timeout
if (status == Canlib.canStatus.canOK)
{
if ((_EcuFlags & Canlib.canMSG_ERROR_FRAME) == Canlib.canMSG_ERROR_FRAME)
{
errmsg = "***ERROR FRAME RECEIVED***";
}
else
{
errmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2} {10}\r",
_EcuID, _EcuDlc, _EcuData[0], _EcuData[1], _EcuData[2], _EcuData[3], _EcuData[4],
_EcuData[5], _EcuData[6], _EcuData[7], _EcuTime);
if (_EcuID == 0x07D9)
{
_RecvOK = true;
}
}
}
else if (status != Canlib.canStatus.canERR_NOMSG)
{
errmsg = "TimeOut:NO MSG";
}
//CheckStatus("Read message " + errmsg, status);
//Canlib.canBusOff(readHandle);
if ((_EcuID == 0x07D9) && (_RecvOK))
{
byte EcuFC_Check = _EcuData[0];
EcuFC_Check = (byte)((EcuFC_Check & 0x00F0) >> 4);
if (EcuFC_Check == 3)
{
_LoopChk = false;
_Ecu_FS = (_EcuData[0] & 0x000F);
_Ecu_BS = (int)(_EcuData[1] & 0x00FF);
_Ecu_STmin = (int)(_EcuData[2] & 0x00FF);
if (_Ecu_STmin <= 0x7F)
{
_Ecu_Stmin_sec = _Ecu_STmin * 0.001;
}
if (_Ecu_STmin >= 0xF1)
{
_Ecu_Stmin_sec = (_Ecu_STmin - 0xF0) * 0.0001;
}
_Ecu_FlowControl_Receive_OK = true;
}
string sndmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2}\r",
id, 8, _Data_FF[0], _Data_FF[1], _Data_FF[2], _Data_FF[3], _Data_FF[4],
_Data_FF[5], _Data_FF[6], _Data_FF[7]);
CheckStatus("PC->ECU " + sndmsg, Canlib.canStatus.canOK);
CheckStatus("ECU->PC " + errmsg, status);
}
}
Canlib.canClose(readHandle);
if (!_Ecu_FlowControl_Receive_OK)
{
errmsg = "Ecu FlowControl not arrived";
return(false);
}
if (_Ecu_FS > 0)
{
errmsg = "Ecu FlowControl signal Busy";
return(false);
}
// ECU에서 FC를 정상적으로 수신후 데이터 전송....
_stopwatch_total.Reset();
_stopwatch_total.Start();
_stopwatch_send.Reset();
_stopwatch_send.Start();
_LoopChk = true;
int _SequenceNumber = 1;
byte _SN = (byte)_SequenceNumber;
int _BlockSendLoopCount = _Ecu_BS;
Canlib.canBusOn(handle);
bool _EcuLastReceiveOK = false;
// CF 전송후 수신확인.
//Open up a new handle for reading
readHandle = Canlib.canOpenChannel(channel, Canlib.canOPEN_ACCEPT_LARGE_DLC);
status = Canlib.canAccept(readHandle, 0x7DF, Canlib.canFILTER_SET_CODE_STD);
status = Canlib.canAccept(readHandle, 0x7D0, Canlib.canFILTER_SET_MASK_STD);
status = Canlib.canBusOn(readHandle);
if (status == Canlib.canStatus.canOK)
{
onBus = true;
}
else
{
onBus = false;
}
if (readHandle < 0)
{
errmsg = "canOpenChannel Handle create error";
return(false);
}
if (!onBus)
{
errmsg = "onBus false";
return(false);
}
while (_LoopChk)
{
// TimeOut Check
long st = _stopwatch_total.ElapsedMilliseconds;
double _durationtime = st / 1000.0; // ms -> sec
if (_durationtime > timeout)
{
// 설정시간안에 메세지 및 처리를 못했을 경우 종료
errmsg = "timeout error";
_LoopChk = false;
break;
}
if (datalength < _LastSendDataIndex)
{
_LoopChk = false;
break;
}
_stopwatch_send.Reset();
_stopwatch_send.Start();
// CF 전송
for (int hs = 0; hs < _BlockSendLoopCount; hs++)
{
// FF전송후 CF 데이터 전송 준비
_Data_CF[0] = 0x20;
_Data_CF[0] = (byte)(_Data_CF[0] + _SN);
for (int i = 0; i < 7; i++)
{
if (_LastSendDataIndex < datalength)
{
_Data_CF[1 + i] = data[_LastSendDataIndex];
}
else
{
_Data_CF[1 + i] = 0x00; // 0xAA;
}
_LastSendDataIndex++;
}
_SN++;
if (_SN > 16)
{
_SN = 0;
}
status = Canlib.canWrite(handle, id, _Data_CF, 8, flags);
long _dt = _stopwatch_send.ElapsedMilliseconds;
string sndmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2} {10:D5}ms\r",
id, 8, _Data_CF[0], _Data_CF[1], _Data_CF[2], _Data_CF[3], _Data_CF[4],
_Data_CF[5], _Data_CF[6], _Data_CF[7], _dt);
CheckStatus("PC->ECU " + sndmsg, status);
break; // Only One Run-----------------------------------------------실제 전송될 데이터 길이만큼만 전송함----------------------------------------------------------
}
// Message Recieve Check
bool _RecvOK = false;
bool _FinalReceiveCheck = true;
Stopwatch _Final = new Stopwatch();
_Final.Reset();
_Final.Start();
while (_FinalReceiveCheck)
{
if ((_Final.ElapsedMilliseconds / 1000.0) > 3.0)
{
errmsg = "Finnal ECU Receive Msg TIMEOUT";
_FinalReceiveCheck = false;
break;
}
status = Canlib.canReadWait(readHandle, out _EcuID, _EcuData, out _EcuDlc, out _EcuFlags, out _EcuTime, 100); // 100ms timeout
if (status == Canlib.canStatus.canOK)
{
if ((_EcuFlags & Canlib.canMSG_ERROR_FRAME) == Canlib.canMSG_ERROR_FRAME)
{
errmsg = "***ERROR FRAME RECEIVED***";
}
else
{
errmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2} {10}\r",
_EcuID, _EcuDlc, _EcuData[0], _EcuData[1], _EcuData[2], _EcuData[3], _EcuData[4],
_EcuData[5], _EcuData[6], _EcuData[7], _EcuTime);
if (_EcuID == 0x07D9)
{
_RecvOK = true;
CheckStatus("ECU->PC " + errmsg, status);
}
}
}
else if (status != Canlib.canStatus.canERR_NOMSG)
{
errmsg = "TimeOut:NO MSG";
}
//CheckStatus("Read message " + errmsg, status);
//Canlib.canBusOff(readHandle);
if ((_EcuID == 0x07D9) && (_RecvOK))
{
Canlib.canBusOn(handle);
byte[] temp = new byte[8] {
0x30, 0x00, 0x02, 0xAA, 0xAA, 0xAA, 0xAA, 0xAA
};
status = Canlib.canWrite(handle, 0x07D1, _Data_FF, 8, flags);
CheckStatus("PC->ECU " + "PC AutoResponse(0x30,0x00,0x02,0xAA,0xAA,0xAA,0xAA,0xaa", status);
Canlib.canBusOff(handle);
status = Canlib.canReadWait(readHandle, out _EcuID, _EcuData, out _EcuDlc, out _EcuFlags, out _EcuTime, 100);
if (status == Canlib.canStatus.canOK)
{
errmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2} {10}\r",
_EcuID, _EcuDlc, _EcuData[0], _EcuData[1], _EcuData[2], _EcuData[3], _EcuData[4],
_EcuData[5], _EcuData[6], _EcuData[7], _EcuTime);
if (_EcuID == 0x07D9)
{
_RecvOK = true;
CheckStatus("ECU->PC " + errmsg, status);
}
}
_FinalReceiveCheck = false;
_EcuLastReceiveOK = true;
_LoopChk = false;
break;
}
}
}
if (readHandle >= 0)
{
Canlib.canClose(readHandle);
}
if (_EcuLastReceiveOK)
{
if (_EcuData[1] == 0x62)
{
return(true);
}
return(false);
}
else
{
return(false);
}
}
private bool CanShortMsgSend(int id, byte[] data, int datalength, int retrycount, double timeout, ref int EcuID, ref byte[] READDATA, ref string errmsg)
{
bool _LoopChk = true;
bool _Result = false;
int _dlc = datalength;
int _flags = this.flags;
int _channel = this.channel;
long _time;
int _id = id;
int _handle = this.handle;
bool _noError = true;
Canlib.canStatus status;
string msg = "";
byte[] _ReadData = new byte[8];
Stopwatch _stopwatch = new Stopwatch();
bool _OnlyOneReceiveOK = false;
//Canlib.canBusOn(_handle);
//status = Canlib.canWrite(_handle, _id, data, _dlc, _flags);
//Open up a new handle for reading
/*
* readHandle = Canlib.canOpenChannel(_channel, Canlib.canOPEN_ACCEPT_LARGE_DLC);
* status = Canlib.canAccept(readHandle, 0x7DF, Canlib.canFILTER_SET_CODE_STD);
* status = Canlib.canAccept(readHandle, 0x7D0, Canlib.canFILTER_SET_MASK_STD);
* status = Canlib.canBusOn(readHandle);
* if (status == Canlib.canStatus.canOK) onBus = true;
* else onBus = false;
* if (readHandle < 0)
* {
* errmsg = "canOpenChannel Handle create error";
* return false;
* }
* if (!onBus)
* {
* errmsg = "onBus false";
* return false;
* }
*/
string sndmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2} {10}\r",
_id, _dlc, data[0], data[1], data[2], data[3], data[4],
data[5], data[6], data[7], 0);
CheckStatus("PC->ECU " + sndmsg, Canlib.canStatus.canOK);
Canlib.canBusOn(_handle);
status = Canlib.canWrite(_handle, _id, data, _dlc, _flags);
_stopwatch.Reset();
_stopwatch.Start();
while (_LoopChk)
{
// TimeOut Check
long st = _stopwatch.ElapsedMilliseconds;
double _durationtime = st / 1000.0; // ms -> sec
if (_durationtime > timeout)
{
// 설정시간안에 메세지 및 처리를 못했을 경우 종료
msg = "timeout error";
_LoopChk = false;
break;
}
// Message Recieve Check
status = Canlib.canReadWait(_handle, out _id, _ReadData, out _dlc, out _flags, out _time, 100); // 100ms timeout
if (status == Canlib.canStatus.canOK)
{
if ((_flags & Canlib.canMSG_ERROR_FRAME) == Canlib.canMSG_ERROR_FRAME)
{
msg = "***ERROR FRAME RECEIVED***";
}
else
{
msg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2} {10}\r",
_id, _dlc, _ReadData[0], _ReadData[1], _ReadData[2], _ReadData[3], _ReadData[4],
_ReadData[5], _ReadData[6], _ReadData[7], _time);
if (_id == 0x07D9)
{
for (int i = 0; i < 8; i++)
{
READDATA[i] = _ReadData[i];
}
_Result = true;
_OnlyOneReceiveOK = true;
}
}
}
else if (status != Canlib.canStatus.canERR_NOMSG)
{
msg = "TimeOut:NO MSG";
}
if (_id == 0x7D9)
{
CheckStatus("ECU->PC " + msg, status);
Canlib.canBusOff(_handle);
_LoopChk = false;
}
//onBus = false;
}
return(_Result);
}
private bool CanSend_Frame(int id, byte[] data, int datalength, int ReceiveRetryCount, ref int EcuID, ref byte[] READDATA, ref int ReadDataCount, ref string ErrMsg)
{
// Real Data Count Only...
int _handle = this.handle;
int _flags = this.flags;
Canlib.canStatus status;
byte[] SendData = new byte[8];
byte[] TempData = new byte[8] {
0x30, 0x00, 0x02, 0xAA, 0xAA, 0xAA, 0xAA, 0xAA
}; // Flow Control Signal
int RecvID = 0;
byte[] RecvData = new byte[8];
byte[] RecvDataBuffer = new byte[50];
int RecvDataIndex = 0;
int RecvDLC;
int RecvFlags;
long RecvTime;
long RecvSetTimeOut = 50;
int _ReceiveRetryCount = 0;
Canlib.canBusOn(_handle);
bool SendAll = false;
int DataIndex = 0;
while (!SendAll)
{
for (int i = 0; i < 8; i++)
{
if (DataIndex < datalength)
{
SendData[i] = data[DataIndex];
}
else
{
SendData[i] = 0x00;
}
DataIndex++;
}
// Data Send
status = Canlib.canWrite(_handle, id, SendData, 8, _flags);
CheckStatus("PC->ECU " + MsgConv(id, 8, SendData, 0), status);
bool MsgReceive = false;
while (!MsgReceive)
{
status = Canlib.canReadWait(_handle, out RecvID, RecvData, out RecvDLC, out RecvFlags, out RecvTime, RecvSetTimeOut);
if ((status == Canlib.canStatus.canOK) && (!((_flags & Canlib.canMSG_ERROR_FRAME) == Canlib.canMSG_ERROR_FRAME)))
{
if (RecvID == 0x07D9)
{
CheckStatus("ECU->PC " + MsgConv(RecvID, 8, RecvData, 0), status);
if ((RecvData[0] & 0xF0) == 0x30)
{
for (int i = 0; i < 8; i++)
{
RecvDataBuffer[RecvDataIndex] = RecvData[i]; RecvDataIndex++;
}
MsgReceive = true;
break;
}
if ((RecvData[0] & 0xF0) == 0x10)
{ // FF Respons
status = Canlib.canWrite(_handle, id, TempData, 8, _flags);
for (int i = 0; i < 8; i++)
{
RecvDataBuffer[RecvDataIndex] = RecvData[i]; RecvDataIndex++;
}
}
if ((RecvData[0] & 0xF0) == 0x20)
{ // CF Respons
for (int i = 0; i < 8; i++)
{
RecvDataBuffer[RecvDataIndex] = RecvData[i]; RecvDataIndex++;
}
}
if ((RecvData[0] & 0xF0) == 0x00)
{ // Single Frame
MsgReceive = true;
break;
}
}
}
if (_ReceiveRetryCount > ReceiveRetryCount)
{
break;
}
_ReceiveRetryCount++;
}
if (DataIndex > datalength)
{
SendAll = true;
break;
}
}
Canlib.canBusOff(_handle);
if (RecvDataIndex > 0)
{
EcuID = RecvID;
READDATA = RecvDataBuffer;
ReadDataCount = RecvDataIndex;
}
else
{
EcuID = RecvID;
READDATA = RecvData;
ReadDataCount = 8;
}
return(true);
}
private void initLoop()
{
//ActiveCanDriver = Static_Utils.ActiveCANDriver;
//if (ActiveCanDriver==Common.Consts.CAN_DRIVER_KVASER) {
// if (runningKvaser) return;
// runningKvaser = true;
int faultedPackage = 0;
int serialPortReadBytes = 0;
Task.Factory.StartNew(
action: () => {
while (true)
{
if (ActiveCanDriver == Common.Consts.CAN_DRIVER_KVASER)
{
if (hasChangeInNodesList)
{
lock (LockCanIdsDic) {
dic_Loop_CanChanels = dic_CanChanels.ToDictionary(x => x.Key, x => x.Value);
hasChangeInNodesList = false;
}
}
if (_writePackage.Count != 0 && sw.ElapsedMilliseconds >= Globals.sleepForRefresh)
{
lock (SyncRoot) {
if (_writePackage[0] == null)
{
Canlib.canFlushReceiveQueue(CANHandle);
}
else if /*_writepackage[0] reference a nodeid that does't exist*/ (
!dic_Loop_CanChanels.ContainsKey(_writePackage[0].getInt(8)))
{
if (faultedPackage > 5)
{
_writePackage.RemoveAt(0);
faultedPackage = 0;
continue;
}
else
{
faultedPackage++;
Thread.Sleep(5);
continue;
}
}
else
{
var pckt = _writePackage[0].Where((s, i) => i < 8).ToArray();
Canlib.canWrite(
handle: dic_Loop_CanChanels[_writePackage[0].getInt(8)],
id: FrequencyManager.MAGIC_NUMBER,
msg: pckt,
dlc: 8,
/*size of array*/
flag: 2);
}
sw = Stopwatch.StartNew();
_writePackage.RemoveAt(0);
}
}
foreach (var nodeId_x_handle in dic_Loop_CanChanels)
{
byte[] msgReceive = new byte[16];
int msgReceiveSize = 8;
int flag = 2;
int _id = 0; //(idArr[0] << 8) + (idArr[1]);
long time = 100;
Canlib.canStatus err;
//err = Canlib.canRead(CANHandle, out _id, msgReceive, out msgReceiveSize, out flag, out time);
err = Canlib.canRead(
nodeId_x_handle.Value,
out _id,
msgReceive,
out msgReceiveSize,
out flag,
out time);
if (err != Canlib.canStatus.canOK)
{
if (_writePackage.Count == 0)
{
Thread.Sleep(10);
}
continue;
}
/*let everyone know wich nodeId sent this message*/
msgReceive.putInt(12, nodeId_x_handle.Key);
innerTranmit(msgReceive);
//Debug.WriteLine(msgReceive.ToArray());
}
}
else if (ActiveCanDriver == Common.Consts.INTERFACE_RS232)
{
if (_writePackage.Count != 0 && sw.ElapsedMilliseconds >= Globals.sleepForRefresh)
{
lock (SyncRoot) {
}
}
}
}
});
//} else if (ActiveCanDriver == Common.Consts.INTERFACE_RS232) { }
}
public void send(int id, int dlc, byte[] data, int flags)
{
Canlib.canStatus status = Canlib.canWrite(chanHandle, id, data, dlc, flags);
}
public static void Transmitter(CAN_Channel.DataParameters data, int CAN_ID = 1)
{
switch (CAN_Channel._INTERFACEs[CAN_ID - 1])
{
case CAN_Channel.CAN_INTERFACE.KVASER:
//write data to the can bus
switch (data.Extended)
{
case true:
Canlib.canWrite(canHandle[CAN_ID - 1], Convert.ToInt32(data.Message_ID, 16),
data.CAN_Message, 8, Canlib.canMSG_EXT);
break;
case false:
Canlib.canWrite(canHandle[CAN_ID - 1], Convert.ToInt32(data.Message_ID, 16),
data.CAN_Message, 8, 0);
break;
}
break;
case CAN_Channel.CAN_INTERFACE.PEAK:
switch (data.Extended)
{
case true:
pCANMsg.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_EXTENDED;
goto default;
case false:
pCANMsg.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_STANDARD;
goto default;
default:
pCANMsg.DATA = data.CAN_Message;
pCANMsg.ID = Convert.ToUInt32(data.Message_ID, 16);
pCANMsg.LEN = Convert.ToByte(data.Message_Length);
pCANStatus = PCANBasic.Write((ushort)canHandle[CAN_ID - 1], ref pCANMsg);
break;
}
//report any failure to the developer
if (pCANStatus < 0)
{
Console.WriteLine("Writing file failed, can status: " + pCANStatus +
"\nThe message time is: " + data.Message_Time +
"\nThe message ID is: " + data.Message_ID);
}
break;
}
}
public static void GenericLinTransmit(CanData can)
{
can.status = Canlib.canWrite(can.handle, can.id, can.msg, can.dlc, can.flags);
}
