/// <summary>
/// get can bus response data
/// </summary>
/// <param name="destID"></param>
/// <param name="source"></param>
/// <param name="command"></param>
/// <param name="waitTime"></param>
/// <param name="receiveDataLen"></param>
/// <returns></returns>
public byte[] getCanBusResponseData(int destID, int source, int command, double waitTime, ref int receiveDataLen)
{
CanbusMessage message = getCanBusResponseData(destID, source, command, waitTime);
if (message != null)
{
receiveDataLen = message.DataLen;
return(message.ByteData);
}
else
{
receiveDataLen = 0;
return(null);
}
}
/// <summary>
/// get can bus response data
/// </summary>
/// <param name="destID"></param>
/// <param name="source"></param>
/// <param name="command"></param>
/// <param name="waitTime"></param>
/// <param name="receiveDataLen"></param>
/// <returns></returns>
public CanbusMessage getCanBusResponseData(int destID, int source, int command, double waitTime)
{
TPCANMsg CANMsg;
// While this mode is selected
TPCANTimestamp CANTimeStamp;
TPCANStatus stsResult;
DateTime now = DateTime.Now;
DateTime end = now.AddSeconds(waitTime);
int flag_num = 0;
lock (this.lockObjForPowerOnThreadAndMessageReq)
{
while (this.isRunning)
{
now = DateTime.Now;
if (now > end) // if waiting time is over 1.5s, we think it has no response
{
return(null); //
}
// Waiting for Receive-Event
//if (m_ReceiveEvent.WaitOne(50))
{
do
{
stsResult = PCANBasic.Read(this._canChannel, out CANMsg, out CANTimeStamp);
if (stsResult == TPCANStatus.PCAN_ERROR_OK)
{
if (destID != -1 && CANMsg.ID != destID)
{
continue; // it was not from specify node
}
if (CANMsg.LEN < 1)
{
continue;
}
if (source != -1 && CANMsg.DATA[1] != source)
{
continue;
}
if (command != -1 && CANMsg.DATA[0] != command)
{
continue;
}
//receiveDataLen = CANMsg.LEN;
CanbusMessage message = new CanbusMessage(DateTime.Now, (int)CANMsg.ID, CANMsg.LEN, CANMsg.DATA);
return(message);
}
flag_num++;
if (flag_num >= 1000)
{
flag_num = 0;
now = DateTime.Now;
if (now > end) // if waiting over time, we think it has no response
{
return(null); //
}
}
} while (this.isRunning && (!Convert.ToBoolean(stsResult & TPCANStatus.PCAN_ERROR_QRCVEMPTY)));
}
}
}
return(null);
}
