override public 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 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();
}*/
}
/*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.flags = LAWICEL.CANMSG_EXTENDED; // Test for now
msg.data = a_message.getData();
int writeResult;
//AddToCanTrace("Sending message");
AddToCanTrace("TX: " + msg.id.ToString("X6") + " " + msg.data.ToString("X16"));
writeResult = LAWICEL.canusb_Write(m_deviceHandle, ref msg);
if (writeResult == LAWICEL.ERROR_CANUSB_OK)
{
//AddToCanTrace("Message sent successfully");
txCount++;
bitsPerSecond += 109;
return true;
}
else
{
errCount++;
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;
}
}
/// <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 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);
}
/// <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);
}
//-------------------------------------------------------------------------
//-------------------------------------------------------------------------
/**
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;
}
}
