// This helper function retrieve active Dll Major version number
//
private CANResult DllMajorVersion(HardwareType hType, out int majorVersion)
{
CANResult Res;
String dllVersionStr = "";
// We execute the "DllVersionInfo" function of the PCANLight
// using as parameter the Hardware type and a string
// variable to get the info like "x.xx"
//
Res = PCANLight.DllVersionInfo(hType, out dllVersionStr);
// We retrieve major version number
// spliting versionNumberStr based on "." decimal symbol
//
String[] versionTabInfo = dllVersionStr.Split('.');
if (versionTabInfo.Length > 0)
{
Int32.TryParse(versionTabInfo[0].ToString(), out majorVersion);
}
else
{
majorVersion = 0;
}
return(Res);
}
private void btnInfo_Click(object sender, System.EventArgs e)
{
string strInfo;
CANResult Res;
// We execute the "VersionInfo" function of the PCANLight
// using as parameter the Hardware type and a string
// variable to get the info.
//
Res = PCANLight.VersionInfo((HardwareType)cbbHws.SelectedIndex, out strInfo);
strInfo = strInfo.Replace("\n", "\r\n");
// The function was successfully executed
//
if (Res == CANResult.ERR_OK)
{
// We show the Version Information
//
txtInfo.Text = strInfo;
}
// An error occurred. We show the error.
//
else
{
txtInfo.Text = "Error: " + Res.ToString();
}
}
private void btnSetFilter_Click(object sender, EventArgs e)
{
uint FromID, ToID;
CANResult Res;
// The range IDs is read
//
FromID = Convert.ToUInt32(txtIdFrom.Text, 16);
ToID = Convert.ToUInt32(txtIdTo.Text, 16);
// The desired Filter is set on the configured Hardware
//
Res = PCANLight.MsgFilter(ActiveHardware, FromID, ToID, (rdbStandard.Checked) ? MsgTypes.MSGTYPE_STANDARD : MsgTypes.MSGTYPE_EXTENDED);
// The Filter was successfully set
//
if (Res == CANResult.ERR_OK)
{
txtInfo.Text = "Filter was successfully SET.\r\n";
}
// An error occurred. We show the error.
//
else
{
txtInfo.Text = "Error: " + Res.ToString();
}
}
/// <summary>
/// Writes a Generic Message, check ActiveHardware
/// </summary>
/// <param name="ID"></param>
/// <param name="PID"></param>
/// <param name="DID"></param>
/// <param name="SID"></param>
/// <param name="Data"></param>
public void WriteMessage(uint ID, uint PID, uint DID, uint SID, Byte[] Data)
{
#region ValCheck
if ((int)console.GetActiveHardware() == -1)
{
return;
}
#endregion
TCLightMsg newMsg = new TCLightMsg();
TCLightTimestamp newTime = new TCLightTimestamp();
newMsg.ID = ID | PID | DID | SID;
newMsg.MsgType = MsgTypes.MSGTYPE_EXTENDED;
newMsg.Len = 8;
newMsg.Data = Data;
newTime.millis = 1002;
console.AddOutsideMessage(newMsg, newTime);
PCANLight.Write(console.GetActiveHardware(), newMsg);
}
private void btnWrite_Click(object sender, System.EventArgs e)
{
TCLightMsg MsgToSend;
TextBox CurrentTextBox;
CANResult Res;
// We create a TCLightMsg message structure
//
MsgToSend = new TCLightMsg();
// We configurate the Message. The ID (max 0x1FF),
// Length of the Data, Message Type (Standard in
// this example) and die data
//
MsgToSend.ID = Convert.ToUInt32(txtID.Text, 16);
MsgToSend.Len = Convert.ToByte(nudLength.Value);
MsgToSend.MsgType = (chbExtended.Checked) ? MsgTypes.MSGTYPE_EXTENDED : MsgTypes.MSGTYPE_STANDARD;
// If a remote frame will be sent, the data bytes are not important.
//
if (chbRemote.Checked)
{
MsgToSend.MsgType |= MsgTypes.MSGTYPE_RTR;
}
else
{
// We get so much data as the Len of the message
//
CurrentTextBox = txtData0;
for (int i = 0; i < MsgToSend.Len; i++)
{
MsgToSend.Data[i] = Convert.ToByte(CurrentTextBox.Text, 16);
if (i < 7)
{
CurrentTextBox = (TextBox)this.GetNextControl(CurrentTextBox, true);
}
}
}
// The message is sent to the configured hardware
//
Res = PCANLight.Write(ActiveHardware, MsgToSend);
// The Hardware was successfully sent
//
if (Res == CANResult.ERR_OK)
{
txtInfo.Text = "Message was successfully SENT.\r\n";
}
// An error occurred. We show the error.
//
else
{
txtInfo.Text = "Error: " + Res.ToString();
}
}
public void WriteMessage(TCLightMsg msg)
{
#region ValCheck
if ((int)console.GetActiveHardware() == -1)
{
return;
}
#endregion
console.AddOutsideMessage(msg, BuildMessageTime());
PCANLight.Write(console.GetActiveHardware(), msg);
}
private void AlignMotorBtn_Click(object sender, EventArgs e)
{
TCLightMsg MsgToSend = new TCLightMsg();
MsgToSend.ID = 0x013E20E0 | 0x00000001;
MsgToSend.MsgType = MsgTypes.MSGTYPE_EXTENDED;
TCLightTimestamp q = new TCLightTimestamp();
q.millis = 1000;
console.AddOutsideMessage(MsgToSend, q);
PCANLight.Write(ActiveHardware, MsgToSend);
}
/// <summary>
/// Sends the Execute Command over the CAN Bus
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void ExecuteProfileBtn_Click(object sender, EventArgs e)
{
#region execute
TCLightMsg MsgToSend = new TCLightMsg();
MsgToSend.ID = 0x013EF0E0 | 0x00000001;
MsgToSend.Len = 0;
MsgToSend.MsgType = MsgTypes.MSGTYPE_EXTENDED;
PCANLight.Write(ActiveHardware, MsgToSend);
#endregion
TCLightTimestamp q = new TCLightTimestamp();
q.millis = 1000;
console.AddOutsideMessage(MsgToSend, q);
SendProfileBtn.Enabled = false;
ExecuteProfileBtn.Enabled = false;
}
private void CANReadThreadFunc()
{
// Sets the handle of the Receive-Event.
//
PCANLight.SetRcvEvent(ActiveHardware, RcvEvent);
// While this mode is selected
while (rdbEvent.Checked)
{
// Waiting for Receive-Event
//
RcvEvent.WaitOne();
// Process Receive-Event using .NET Invoke function
// in order to interact with Winforms UI
//
this.Invoke(ReadDelegate);
}
}
private void button1_Click(object sender, EventArgs e)
{
#region setup
TCLightMsg MsgToSend = new TCLightMsg();
MsgToSend.ID = 0x013EE8E0 | 0x00000001;
MsgToSend.Len = 1;
MsgToSend.MsgType = MsgTypes.MSGTYPE_EXTENDED;
MsgToSend.Data[0] = numPackets;
TCLightTimestamp q = new TCLightTimestamp();
q.millis = 1000;
console.AddOutsideMessage(MsgToSend, q);
PCANLight.Write(ActiveHardware, MsgToSend);
#endregion
}
private void btnRelease_Click(object sender, System.EventArgs e)
{
CANResult Res;
// We choose Timer method by default
//
rdbTimer.Checked = true;
// We stopt to read from tehe CAN Queue
//
tmrRead.Enabled = false;
// We close the active hardware using the
// "Close" function of the PCANLight using
// as parameter the Hardware type.
//
Res = PCANLight.Close(ActiveHardware);
// The Hardware was successfully closed
//
if (Res == CANResult.ERR_OK)
{
txtInfo.Text = "Hardware was successfully Released.\r\n";
}
// An error occurred. We show the error.
//
else
{
txtInfo.Text = "Error: " + Res.ToString();
}
// We set the varibale of active hardware to None
// and activate/deactivate the corresponding buttons
//
ActiveHardware = (HardwareType)(-1);
btnInit.Enabled = !(btnWrite.Enabled = btnSetFilter.Enabled = btnResetFilter.Enabled = btnRelease.Enabled = btnInfo.Enabled = btnDllInfo.Enabled = false);
rdbTimer.Enabled = false;
rdbEvent.Enabled = false;
chbTimeStamp.Enabled = false;
cbbHws_SelectedIndexChanged(this, new EventArgs());
}
private void btnResetFilter_Click(object sender, EventArgs e)
{
CANResult Res;
// The current Filter on the configured Hardware is reset
//
Res = PCANLight.ResetFilter(ActiveHardware);
// The Filter was successfully reset
//
if (Res == CANResult.ERR_OK)
{
txtInfo.Text = "Filter was successfully RESET.\r\n";
}
// An error occurred. We show the error.
//
else
{
txtInfo.Text = "Error: " + Res.ToString();
}
}
private void btnSetUsbDevNumber_Click(object sender, EventArgs e)
{
CANResult Res;
// The USB Device Number will set
//
Res = PCANLight.SetUSBDeviceNr((HardwareType)cbbHws.SelectedIndex, Convert.ToUInt32(txtDevNumber.Text));
// The Device number was set successfully
//
if (Res == CANResult.ERR_OK)
{
MessageBox.Show("USB Device Number was set", "SetUSBDevNr");
}
// An error occurred. We show the error.
//
else
{
MessageBox.Show("Set USB Device Number failed: " + Res.ToString(), "SetUSBDevNr");
}
}
private void NPTModeBtn_Click(object sender, EventArgs e)
{
TCLightMsg MsgToSend = new TCLightMsg();
MsgToSend.ID = 0x01745400 | 0x00000001 | 0x000000E0;
MsgToSend.Len = 8;
MsgToSend.Data[0] = (byte)0x01;
MsgToSend.Data[1] = (byte)0x00;
MsgToSend.Data[2] = (byte)0x00;
MsgToSend.Data[3] = (byte)0x00;
MsgToSend.Data[4] = (byte)0x00;
MsgToSend.Data[5] = (byte)0x00;
MsgToSend.Data[6] = (byte)0x00;
MsgToSend.Data[7] = (byte)0x00;
MsgToSend.MsgType = MsgTypes.MSGTYPE_EXTENDED;
TCLightTimestamp q = new TCLightTimestamp();
q.millis = 1000;
console.AddOutsideMessage(MsgToSend, q);
PCANLight.Write(ActiveHardware, MsgToSend);
}
private void ReadMessage()
{
TCLightMsg MyMsg;
TCLightTimestamp MyTimeStamp = null;
CANResult Res;
// We read at least one time the queue looking for messages.
// If a message is found, we look again trying to find more.
// If the queue is empty or an error occurr, we get out from
// the dowhile statement.
//
do
{
// We read the queue looking for messages.
//
if (chbTimeStamp.Checked)
{
// We execute the "ReadEx" function of the PCANLight
// if "Show Time Stamp" checkbox is selected
//
Res = PCANLight.ReadEx(ActiveHardware, out MyMsg, out MyTimeStamp);
}
else
{
// We execute the "Read" function of the PCANLight
// if "Show Time Stamp" checkbox isn't selected
//
Res = PCANLight.Read(ActiveHardware, out MyMsg);
}
// A message was received
// We process the message(s)
//
if (Res == CANResult.ERR_OK)
{
ProcessMessage(MyMsg, MyTimeStamp);
}
} while (((int)ActiveHardware != -1) && (!Convert.ToBoolean(Res & CANResult.ERR_QRCVEMPTY)));
}
private void btnGetUsbDevNumber_Click(object sender, EventArgs e)
{
uint iDevNum;
CANResult Res;
// The USB Device Number will asked
//
Res = PCANLight.GetUSBDeviceNr((HardwareType)cbbHws.SelectedIndex, out iDevNum);
// The Device number was got successfully
//
if (Res == CANResult.ERR_OK)
{
MessageBox.Show("USB Device Number is: " + iDevNum, "GetUSBDevNr");
}
// An error occurred. We show the error.
//
else
{
MessageBox.Show("Get USB Device Number failed: " + Res.ToString(), "GetUSBDevNr");
}
}
private void btnInit_Click(object sender, System.EventArgs e)
{
CANResult Res;
int majorVersion = 0;
// Check version 2.x Dll is available
//
Res = DllMajorVersion((HardwareType)cbbHws.SelectedIndex, out majorVersion);
if (Res == CANResult.ERR_OK)
{
// Sample must ONLY work if a 2.x or later version of the
// PCAN-Light is installed
//
if (majorVersion < 2)
{
MessageBox.Show("DLL 2.x or later are required to run this program" +
"\r\nPlease, download lastest DLL version on http://www.peak-system.com or refer to the documentation for more information.",
"DLL Version", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
else
{
// According with the active parameters/hardware, we
// use one of the two possible "Init" PCANLight functions.
// One is for Plug And Play hardware, and the other for
// Not P&P.
//
if (cbbIO.Enabled)
{
// Not P&P Hardware
//
Res = PCANLight.Init((HardwareType)cbbHws.SelectedIndex,
(Baudrates)cbbBaudrates.Tag,
(FramesType)cbbMsgType.SelectedIndex,
Convert.ToUInt32(cbbIO.Text, 16),
Convert.ToByte(cbbInterrupt.Text));
}
else
{
// P&P Hardware
//
Res = PCANLight.Init((HardwareType)cbbHws.SelectedIndex,
(Baudrates)cbbBaudrates.Tag,
(FramesType)cbbMsgType.SelectedIndex);
}
// The Hardware was successfully initiated
//
if (Res == CANResult.ERR_OK)
{
// We save the hardware type which is currently
// initiated
//
ActiveHardware = (HardwareType)cbbHws.SelectedIndex;
// We start to read from the CAN Queue
//
tmrRead.Enabled = true;
// Set UI enable
btnInit.Enabled = !(btnWrite.Enabled = btnSetFilter.Enabled = btnResetFilter.Enabled = btnRelease.Enabled = btnInfo.Enabled = btnDllInfo.Enabled = true);
rdbTimer.Enabled = true;
rdbEvent.Enabled = true;
chbTimeStamp.Enabled = true;
cbbHws_SelectedIndexChanged(this, new EventArgs());
// We show the information of the configured
// and initiated hardware
//
txtInfo.Text = "Active Hardware: " + cbbHws.Text;
txtInfo.Text += "\r\nBaud Rate: " + cbbBaudrates.Text;
txtInfo.Text += "\r\nFrame Type: " + cbbMsgType.Text;
// If was a no P&P Hardware, we show additional information
//
if (cbbIO.Enabled)
{
txtInfo.Text += "\r\nI/O Addr.: " + cbbIO.Text + "h";
txtInfo.Text += "\r\nInterrupt: " + cbbInterrupt.Text;
}
}
// An error occurred. We show the error.
//
else
{
txtInfo.Text = "Error: " + Res.ToString();
}
}
}
else
{
txtInfo.Text = "Error: " + Res.ToString();
}
}
/// <summary>
/// Sends the Command List over the CAN Bus
/// </summary>
/// <param name="cmds"></param>
/// <param name="numPackets"></param>
private void SendCommandList(List <String> cmds, byte numPackets)
{
#region ValCheck
if (cmds == null || numPackets == 0)
{
return;
}
#endregion
#region setup
TCLightMsg MsgToSend = new TCLightMsg();
MsgToSend.ID = 0x013EE8E0 | 0x00000001;
MsgToSend.Len = 1;
MsgToSend.MsgType = MsgTypes.MSGTYPE_EXTENDED;
MsgToSend.Data[0] = numPackets;
TCLightTimestamp q = new TCLightTimestamp();
q.millis = 1000;
console.AddOutsideMessage(MsgToSend, q);
PCANLight.Write(ActiveHardware, MsgToSend);
#endregion
#region move
MsgToSend.ID = 0x013EE0E0 | 0x00000001;
MsgToSend.Len = 8;
MsgToSend.MsgType = MsgTypes.MSGTYPE_EXTENDED;
byte count = 0;
foreach (String cmd in cmds)
{
String[] cmd2 = cmd.Split('~');
for (int i = 0; i < MsgToSend.Len; i++)
{
#region Data
switch (i)
{
case 0:
ProfileParamsTb.AppendText(cmd + "\r\n");
MsgToSend.Data[0] = count;
count++;
break;
case 1:
MsgToSend.Data[1] = numPackets;
break;
case 2:
MsgToSend.Data[2] = BitConverter.GetBytes(Int16.Parse(cmd2[0]))[1];
break;
case 3:
MsgToSend.Data[3] = BitConverter.GetBytes(Int16.Parse(cmd2[0]))[0];
break;
case 4:
MsgToSend.Data[4] = BitConverter.GetBytes(UInt16.Parse(cmd2[1]))[1];
break;
case 5:
MsgToSend.Data[5] = BitConverter.GetBytes(UInt16.Parse(cmd2[1]))[0];
break;
case 6:
MsgToSend.Data[6] = BitConverter.GetBytes(UInt16.Parse(cmd2[2]))[1];
break;
case 7:
MsgToSend.Data[7] = BitConverter.GetBytes(UInt16.Parse(cmd2[2]))[0];
break;
}
#endregion
}
console.AddOutsideMessage(MsgToSend, q);
PCANLight.Write(ActiveHardware, MsgToSend);
}
#endregion
#region Delete
//prevents sending repeats, consider disabling if you want such a feature
cmds = null;
numPackets = 0;
#endregion
}