public override void handleMessage(CANMessage a_message)
{
if (_queue == null)
{
_queue = new CANMessage[32];
_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();
}
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();
}
}
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
int readResult = 0;
Lawicel.CANUSB.CANMsg r_canMsg = new Lawicel.CANUSB.CANMsg();
CANMessage canMessage = new CANMessage();
Console.WriteLine("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
Console.WriteLine("readMessages ended");
return;
}
}
readResult = Lawicel.CANUSB.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
if (acceptMessageId(r_canMsg.id))
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
lock (m_listeners)
{
AddToCanTrace(string.Format("RX: {0} {1}", canMessage.getID().ToString("X3"), canMessage.getData().ToString("X16")));
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
}
else if (readResult == Lawicel.CANUSB.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}
}
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();
* }*/
}
/// <summary>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
override public bool sendMessage(CANMessage a_message)
{
lock (lockObj)
{
while (interfaceBusy)
{
if (lastSentTimestamp < Environment.TickCount - timeoutWithoutReadyChar)
{
//Console.WriteLine("released");
break;
}
}
lastSentTimestamp = Environment.TickCount;
interfaceBusy = true;
//Console.WriteLine("set");
Lawicel.CANUSB.CANMsg msg = new Lawicel.CANUSB.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
if (m_serialPort.IsOpen)
{
//m_serialPort.Write("\r");
string txstring = "t";
txstring += msg.id.ToString("X3");
txstring += "8"; // always 8 bytes to transmit
for (int t = 0; t < 8; t++)
{
byte b = (byte)(((msg.data >> t * 8) & 0x0000000000000000FF));
txstring += b.ToString("X2");
}
txstring += "\r";
AddToCanTrace(string.Format("TX: {0} {1} {2}", a_message.getID().ToString("X3"), a_message.getData().ToString("X16"), txstring));
m_serialPort.Write(txstring);
return(true);
}
}
return(false);
}
//---------------------------------------------------------------------------------------------
/**
* Sends a 11 bit CAN data frame.
*
* @param msg CAN message
*
* @return success (true/false)
*/
protected override bool sendMessageDevice(CANMessage msg)
{
try
{
caCombiAdapter.caCANFrame frame;
frame.id = msg.getID();
frame.length = msg.getLength();
frame.data = msg.getData();
frame.is_extended = 0;
frame.is_remote = 0;
combi.CAN_SendMessage(ref frame);
return(true);
}
catch (Exception e)
{
logger.Debug("tx failed with Exception.Message: " + e.Message);
return(false);
}
}
/// <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)
{
Lawicel.CANUSB.CANMsg msg = new Lawicel.CANUSB.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
int writeResult;
writeResult = Lawicel.CANUSB.canusb_Write(m_deviceHandle, ref msg);
if (writeResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
return(true);
}
else
{
logger.Debug("tx failed writeResult: " + writeResult);
return(false);
}
}
//---------------------------------------------------------------------------------------------
/**
* Waits for arrival of a specific CAN message or any message if ID = 0.
*
* @param a_canID message ID
* @param timeout timeout, ms
* @param canMsg message
*
* @return message ID
*/
public override uint waitForMessage(uint a_canID, uint timeout,
out CANMessage canMsg)
{
canMsg = new CANMessage();
Debug.Assert(canMsg != null);
canMsg.setID(0);
caCombiAdapter.caCANFrame frame = new caCombiAdapter.caCANFrame();
if (combi.CAN_GetMessage(ref frame, timeout) &&
(frame.id == a_canID || a_canID == 0))
{
// message received
canMsg.setID(frame.id);
canMsg.setLength(frame.length);
canMsg.setData(frame.data);
return(frame.id);
}
// timed out
return(0);
}
/// <summary>
/// Send a message that starts a session. This is used to test if there is
/// a connection.
/// </summary>
/// <returns></returns>
private bool sendSessionRequest()
{
CANMessage msg1 = new CANMessage(0x220, 0, 8);
EASYSYNC.CANMsg msg = new EASYSYNC.CANMsg();
msg1.setData(0x000040021100813f);
if (!sendMessage(msg1))
{
return(false);
}
if (waitForMessage(0x238, 1000, out msg) == 0x238)
{
//Ok, there seems to be a ECU somewhere out there.
//Now, sleep for 10 seconds to get a session timeout. This is needed for
//applications on higher level. Otherwise there will be no reply when the
//higher level application tries to start a session.
Thread.Sleep(10000);
return(true);
}
return(false);
}
public override uint waitForMessage(uint a_canID, uint timeout, out CANMessage canMsg)
{
canMsg = new CANMessage();
return(0);
//CANMessage canMessage = new CANMessage();
//string rxMessage = string.Empty;
//canMsg = new CANMessage();
//int nrOfWait = 0;
//while (nrOfWait < timeout)
//{
// 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
// if (rxMessage.StartsWith("w") == false)
// {
// Thread.Sleep(1);
// nrOfWait++;
// continue;
// }
// uint id = Convert.ToUInt32(rxMessage.Substring(1, 3), 16);
// if (id != a_canID && a_canID != 0)
// {
// Thread.Sleep(1);
// nrOfWait++;
// continue;
// }
// 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);
// return (uint)id;
//}
//return 0;
}
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();
}*/
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
int readResult = 0;
Lawicel.CANUSB.CANMsg r_canMsg = new Lawicel.CANUSB.CANMsg();
CANMessage canMessage = new CANMessage();
logger.Debug("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
logger.Debug("readMessages thread ended");
return;
}
}
readResult = Lawicel.CANUSB.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
if (acceptMessageId(r_canMsg.id))
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
receivedMessage(canMessage);
}
}
else if (readResult == Lawicel.CANUSB.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
int readResult = 0;
EASYSYNC.CANMsg r_canMsg = new EASYSYNC.CANMsg();
CANMessage canMessage = new CANMessage();
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
return;
}
}
readResult = EASYSYNC.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == EASYSYNC.ERROR_CANUSB_OK)
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
lock (m_listeners)
{
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
else if (readResult == EASYSYNC.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}
}
/// <summary>
/// waitForMessage waits for a specific CAN message give by a CAN id.
/// </summary>
/// <param name="a_canID">The CAN id to listen for</param>
/// <param name="timeout">Listen timeout</param>
/// <param name="r_canMsg">The CAN message with a_canID that we where listening for.</param>
/// <returns>The CAN id for the message we where listening for, otherwise 0.</returns>
public override uint waitForMessage(uint a_canID, uint timeout, out CANMessage canMsg)
{
Lawicel.CANUSB.CANMsg r_canMsg;
canMsg = new CANMessage();
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
r_canMsg = new Lawicel.CANUSB.CANMsg();
readResult = Lawicel.CANUSB.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
Thread.Sleep(1);
logger.Trace("rx: 0x" + r_canMsg.id.ToString("X3") + r_canMsg.data.ToString("X16"));
if (r_canMsg.id == 0x00)
{
nrOfWait++;
}
else if (r_canMsg.id != a_canID)
{
continue;
}
canMsg.setData(r_canMsg.data);
canMsg.setID(r_canMsg.id);
canMsg.setLength(r_canMsg.len);
return((uint)r_canMsg.id);
}
else if (readResult == Lawicel.CANUSB.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
nrOfWait++;
}
}
r_canMsg = new Lawicel.CANUSB.CANMsg();
return(0);
}
public CANMessage waitMessage(int a_timeout)
{
sw.Reset();
sw.Start();
CANMessage retMsg = new CANMessage();
while (sw.ElapsedMilliseconds < a_timeout)
{
// search queue for the desired message
if (_receiveMessageIndex < _readMessageIndex)
{
// first upto (_queue.Length - 1)
for (int idx = _readMessageIndex; idx < _queue.Length; idx++)
{
if (_queue[idx].getID() == this.m_waitMsgID)
{
retMsg = _queue[idx];
_readMessageIndex = idx + 1;
if (_readMessageIndex > _queue.Length - 1) _readMessageIndex = 0; // make it circular
sw.Stop();
return retMsg;
}
}
for (int idx = 0; idx < _receiveMessageIndex; idx++)
{
if (_queue[idx].getID() == this.m_waitMsgID)
{
retMsg = _queue[idx];
_readMessageIndex = idx + 1;
if (_readMessageIndex > _queue.Length - 1) _readMessageIndex = 0; // make it circular
sw.Stop();
return retMsg;
}
}
}
else
{
for (int idx = _readMessageIndex; idx < _receiveMessageIndex; idx++)
{
if (_queue[idx].getID() == this.m_waitMsgID)
{
retMsg = _queue[idx];
_readMessageIndex = idx + 1;
if (_readMessageIndex > _queue.Length - 1) _readMessageIndex = 0; // make it circular
sw.Stop();
return retMsg;
}
}
}
Thread.Sleep(1);
}
sw.Stop();
return retMsg;
/*
CANMessage retMsg;
m_resetEvent.WaitOne(a_timeout, true);
lock (m_canMessage)
{
retMsg = m_canMessage;
}
messageReceived = false;
return retMsg;*/
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
int readResult = 0;
Lawicel.CANUSB.CANMsg r_canMsg = new Lawicel.CANUSB.CANMsg();
CANMessage canMessage = new CANMessage();
Console.WriteLine("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
Console.WriteLine("readMessages ended");
return;
}
}
readResult = Lawicel.CANUSB.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
if (acceptMessageId(r_canMsg.id))
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
lock (m_listeners)
{
AddToCanTrace(string.Format("RX: {0} {1}", canMessage.getID().ToString("X3"), canMessage.getData().ToString("X16")));
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
}
else if (readResult == Lawicel.CANUSB.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}
}
/// <summary>
/// waitForMessage waits for a specific CAN message give by a CAN id.
/// </summary>
/// <param name="a_canID">The CAN id to listen for</param>
/// <param name="timeout">Listen timeout</param>
/// <param name="r_canMsg">The CAN message with a_canID that we where listening for.</param>
/// <returns>The CAN id for the message we where listening for, otherwise 0.</returns>
public override uint waitForMessage(uint a_canID, uint timeout, out CANMessage canMsg)
{
Lawicel.CANUSB.CANMsg r_canMsg;
canMsg = new CANMessage();
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
r_canMsg = new Lawicel.CANUSB.CANMsg();
readResult = Lawicel.CANUSB.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
Thread.Sleep(1);
AddToCanTrace("rx: 0x" + r_canMsg.id.ToString("X4") + r_canMsg.data.ToString("X16"));
if (r_canMsg.id == 0x00)
{
nrOfWait++;
}
else if (r_canMsg.id != a_canID)
continue;
canMsg.setData(r_canMsg.data);
canMsg.setID(r_canMsg.id);
canMsg.setLength(r_canMsg.len);
return (uint)r_canMsg.id;
}
else if (readResult == Lawicel.CANUSB.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
nrOfWait++;
}
}
r_canMsg = new Lawicel.CANUSB.CANMsg();
return 0;
}
//---------------------------------------------------------------------------------------------
/**
Waits for arrival of a specific CAN message or any message if ID = 0.
@param a_canID message ID
@param timeout timeout, ms
@param canMsg message
@return message ID
*/
public override uint waitForMessage(uint a_canID, uint timeout,
out CANMessage canMsg)
{
canMsg = new CANMessage();
Debug.Assert(canMsg != null);
canMsg.setID(0);
caCombiAdapter.caCANFrame frame = new caCombiAdapter.caCANFrame();
if (this.combi.CAN_GetMessage(ref frame, timeout) &&
(frame.id == a_canID || a_canID == 0))
{
// message received
canMsg.setID(frame.id);
canMsg.setLength(frame.length);
canMsg.setData(frame.data);
return frame.id;
}
// timed out
return 0;
}
// int thrdcnt = 0;
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
m_endThread = false;
return;
}
}
if (m_serialPort.IsOpen)
{
// read the status?
string line = string.Empty;
try
{
line = m_serialPort.ReadLine();
if (line.Length > 0)
{
if (line.Length == 25)
{
Lawicel.CANUSB.CANMsg r_canMsg = new Lawicel.CANUSB.CANMsg();
canMessage = new CANMessage();
// three bytes identifier
r_canMsg.id = (uint)Convert.ToInt32(line.Substring(1, 3), 16);
r_canMsg.len = (byte)Convert.ToInt32(line.Substring(4, 1), 16);
ulong data = 0;
// add all the bytes
data |= (ulong)(byte)Convert.ToInt32(line.Substring(5, 2), 16);
data |= (ulong)(byte)Convert.ToInt32(line.Substring(7, 2), 16) << 1 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(9, 2), 16) << 2 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(11, 2), 16) << 3 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(13, 2), 16) << 4 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(15, 2), 16) << 5 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(17, 2), 16) << 6 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(19, 2), 16) << 7 * 8;
r_canMsg.data = data;
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
lock (m_listeners)
{
AddToCanTrace(string.Format("RX: {0} {1} {2}", canMessage.getID().ToString("X3"), line.Substring(5, 16), line));
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
else if (line.Contains("z"))
{
interfaceBusy = false;
//Console.WriteLine("clear");
}
else if (line.Length == 2 && Convert.ToInt32(line.Substring(1, 2), 16) != 0x07)
{
//Console.WriteLine("Send error");
}
else
{
//Console.WriteLine("Unknown message: " + line);
}
}
}
catch (Exception E)
{
Console.WriteLine("Failed to read frames from CANbus: " + E.Message);
}
}
//Thread.Sleep(2);
Thread.Sleep(delayTimespan); // give others some air
}
}
//-------------------------------------------------------------------------
/**
* Sends a 11 bit CAN data frame.
*
* @param message CAN message
*
* @return success (true/false)
*/
public override bool sendMessage(CANMessage message)
{
return(MctAdapter_SendMessage(message.getID(), message.getLength(),
message.getData()));
}
public InformationFrameEventArgs(CANMessage message)
{
this._message = message;
}
/// <summary>
/// waitForMessage waits for a specific CAN message give by a CAN id.
/// </summary>
/// <param name="a_canID">The CAN id to listen for</param>
/// <param name="timeout">Listen timeout</param>
/// <param name="r_canMsg">The CAN message with a_canID that we where listening for.</param>
/// <returns>The CAN id for the message we where listening for, otherwise 0.</returns>
public override uint waitForMessage(uint a_canID, uint timeout, out CANMessage canMessage)
{
canMessage = new CANMessage();
Debug.Assert(canMessage != null);
int wait_cnt = 0;
uint id;
byte length;
ulong data;
while (wait_cnt < timeout)
{
if (MctAdapter_ReceiveMessage(out id, out length, out data))
{
// message received
canMessage.setID(id);
canMessage.setLength(length);
canMessage.setData(data);
if (canMessage.getID() != a_canID)
continue;
return (uint)canMessage.getID();
}
// wait a bit
Thread.Sleep(1);
++wait_cnt;
}
// nothing was received
return 0;
}
//-------------------------------------------------------------------------
/**
Handles incoming messages.
*/
private void read_messages()
{
uint id;
byte length;
ulong data;
CANMessage msg = new CANMessage();
Debug.Assert(msg != null);
// main loop
while (true)
{
// check for thread termination request
Debug.Assert(this.term_mutex != null);
lock (this.term_mutex)
{
if (this.term_requested)
{
return;
}
}
// receive messages
while (MctAdapter_ReceiveMessage(out id, out length, out data))
{
if (acceptMessageId(id))
{
// convert message
msg.setID(id);
msg.setLength(length);
msg.setData(data);
// pass message to listeners
lock (this.m_listeners)
{
AddToCanTrace("RX: " + id.ToString("X4") + " " + data.ToString("X16"));
foreach (ICANListener listener in this.m_listeners)
{
listener.handleMessage(msg);
}
}
}
}
// give up CPU for a moment
Thread.Sleep(1);
}
}
/// <summary>
/// Send a message that starts a session. This is used to test if there is
/// a connection.
/// </summary>
/// <returns></returns>
private bool sendSessionRequest()
{
CANMessage msg1 = new CANMessage(0x220, 0, 8);
EASYSYNC.CANMsg msg = new EASYSYNC.CANMsg();
msg1.setData(0x000040021100813f);
if (!sendMessage(msg1))
return false;
if (waitForMessage(0x238, 1000, out msg) == 0x238)
{
//Ok, there seems to be a ECU somewhere out there.
//Now, sleep for 10 seconds to get a session timeout. This is needed for
//applications on higher level. Otherwise there will be no reply when the
//higher level application tries to start a session.
Thread.Sleep(10000);
return true;
}
return false;
}
//-------------------------------------------------------------------------
/**
Sends a 11 bit CAN data frame.
@param message CAN message
@return success (true/false)
*/
public override bool sendMessage(CANMessage message)
{
return MctAdapter_SendMessage(message.getID(), message.getLength(),
message.getData());
}
public void readMessages()
{
CANMessage canMessage = new CANMessage();
StringBuilder receiveText = new StringBuilder();
logger.Debug("readMessages started");
while (true)
{
receiveDataSemaphore.WaitOne();
lock (m_synchObject)
{
if (m_endThread)
{
logger.Debug("readMessages ended");
return;
}
}
if (m_serialPort != null)
{
if (m_serialPort.IsOpen && m_serialPort.BytesToRead > 0)
{
string rawString = string.Empty;
try
{
rawString = m_serialPort.ReadExisting();
}
catch (Exception e)
{
logger.Debug("CANELM372Device ReadExisting()" + e.Message);
}
//AddToSerialTrace("RAW RX: " + rawString.Replace("\r",m_cr_sequence));
string rxString = rawString.Replace("\n", "").Replace(">", "");// remove prompt characters... we don't need that stuff
bool isStopped = false;
if (rxString.Length > 0)
{
rxString = rxString.Replace("\r", m_cr_sequence); //replace , because stringbuilder cannot handle \r
receiveText.Append(rxString);
//AddToSerialTrace("RECEIVE TEXT: " + receiveText.ToString());
//System.Diagnostics.Debug.WriteLine("SERMSG: " + receiveText);
var lines = ExtractLines(ref receiveText);
foreach (var rxMessage in lines)
{
if (rxMessage.StartsWith("STOPPED"))
{
isStopped = true;
}
else if (rxMessage.StartsWith("NO DATA"))
{
} //skip it
else if (rxMessage.StartsWith("CAN ERROR"))
{
//handle error?
}
else if (rxMessage.StartsWith("ELM"))
{
isStopped = false;
} //skip it, this is a trick to stop ELM from listening to more messages and send ready char
else if (rxMessage.StartsWith("?"))
{
isStopped = false;
}
else if (rxMessage.StartsWith("NO DATA"))
{
logger.Debug("NO DATA");
}
else if (rxMessage.Length == 19) // is it a valid line
{
try
{
rxMessage.Replace(" ", "");//remove all whitespaces
uint id = Convert.ToUInt32(rxMessage.Substring(0, 3), 16);
if (acceptMessageId(id))
{
canMessage.setID(id);
canMessage.setLength(8); // TODO: alter to match data
//canMessage.setData(0x0000000000000000); // reset message content
canMessage.setData(ExtractDataFromString(rxMessage));
receivedMessage(canMessage);
}
}
catch (Exception e)
{
logger.Debug(e, rxMessage);
}
}
// Catch weird message-lengths from Z22SE
else if (rxMessage.StartsWith("7E8") && rxMessage.Length > 6)
{
try
{
rxMessage.Replace(" ", "");//remove all whitespaces
uint id = Convert.ToUInt32(rxMessage.Substring(0, 3), 16);
byte len = (byte)(rxMessage.Length - 3);
len = (byte)(((len & 1) == 1 ? len + 1 : len) / 2);
if (acceptMessageId(id) && len <= 8)
{
canMessage.setID(id);
canMessage.setLength(len);
canMessage.setData(ExtractDataFromString2(len, rxMessage));
receivedMessage(canMessage);
}
}
catch (Exception e)
{
logger.Debug(e, rxMessage);
}
}
//disable whitespace logging
if (rxMessage.Length > 0)
{
logger.Debug("SERRX: " + rxMessage + " Len:" + rxMessage.Length);
}
}
}
if (rawString.Contains(">") && !isStopped)
{
logger.Debug("SERIAL READY");
sendDataSempahore.WaitOne(0);
sendDataSempahore.Release();
interfaceBusy = false;
}
}
}
}
}
public override uint waitForMessage(uint a_canID, uint timeout, out CANMessage canMsg)
{
canMsg = new CANMessage();
return(0);
}
public CANMessage waitMessage(int a_timeout)
{
sw.Reset();
sw.Start();
CANMessage retMsg = new CANMessage();
while (sw.ElapsedMilliseconds < a_timeout)
{
// search queue for the desired message
if (_receiveMessageIndex < _readMessageIndex)
{
// first upto (_queue.Length - 1)
for (int idx = _readMessageIndex; idx < _queue.Length; idx++)
{
if (_queue[idx].getID() == this.m_waitMsgID || _queue[idx].getID() == this.m_additionalWaitMsgID)
{
retMsg = _queue[idx];
_readMessageIndex = idx + 1;
if (_readMessageIndex > _queue.Length - 1) _readMessageIndex = 0; // make it circular
sw.Stop();
return retMsg;
}
}
for (int idx = 0; idx < _receiveMessageIndex; idx++)
{
if (_queue[idx].getID() == this.m_waitMsgID || _queue[idx].getID() == this.m_additionalWaitMsgID)
{
retMsg = _queue[idx];
_readMessageIndex = idx + 1;
if (_readMessageIndex > _queue.Length - 1) _readMessageIndex = 0; // make it circular
sw.Stop();
return retMsg;
}
}
}
else
{
for (int idx = _readMessageIndex; idx < _receiveMessageIndex; idx++)
{
if (_queue[idx].getID() == this.m_waitMsgID || _queue[idx].getID() == this.m_additionalWaitMsgID)
{
retMsg = _queue[idx];
_readMessageIndex = idx + 1;
if (_readMessageIndex > _queue.Length - 1) _readMessageIndex = 0; // make it circular
sw.Stop();
return retMsg;
}
}
}
Thread.Sleep(1);
}
sw.Stop();
return retMsg;
}
public CANMessage waitMessage(int a_timeout)
{
sw.Reset();
sw.Start();
CANMessage retMsg = new CANMessage();
while (sw.ElapsedMilliseconds < a_timeout)
{
// search queue for the desired message
if (_receiveMessageIndex < _readMessageIndex)
{
// first upto (_queue.Length - 1)
for (int idx = _readMessageIndex; idx < _queue.Length; idx++)
{
if (_queue[idx].getID() == this.m_waitMsgID || _queue[idx].getID() == this.m_additionalWaitMsgID)
{
retMsg = _queue[idx];
_readMessageIndex = idx + 1;
if (_readMessageIndex > _queue.Length - 1)
{
_readMessageIndex = 0; // make it circular
}
sw.Stop();
return(retMsg);
}
}
for (int idx = 0; idx < _receiveMessageIndex; idx++)
{
if (_queue[idx].getID() == this.m_waitMsgID || _queue[idx].getID() == this.m_additionalWaitMsgID)
{
retMsg = _queue[idx];
_readMessageIndex = idx + 1;
if (_readMessageIndex > _queue.Length - 1)
{
_readMessageIndex = 0; // make it circular
}
sw.Stop();
return(retMsg);
}
}
}
else
{
for (int idx = _readMessageIndex; idx < _receiveMessageIndex; idx++)
{
if (_queue[idx].getID() == this.m_waitMsgID || _queue[idx].getID() == this.m_additionalWaitMsgID)
{
retMsg = _queue[idx];
_readMessageIndex = idx + 1;
if (_readMessageIndex > _queue.Length - 1)
{
_readMessageIndex = 0; // make it circular
}
sw.Stop();
return(retMsg);
}
}
}
Thread.Sleep(1);
}
sw.Stop();
return(retMsg);
}
/// <summary>
/// waitAnyMessage waits for any message to be received.
/// </summary>
/// <param name="timeout">Listen timeout</param>
/// <param name="r_canMsg">The CAN message that was first received</param>
/// <returns>The CAN id for the message received, otherwise 0.</returns>
private uint waitAnyMessage(uint timeout, out CANMessage canMessage)
{
canMessage = new CANMessage();
Debug.Assert(canMessage != null);
int wait_cnt = 0;
uint id;
byte length;
ulong data;
while (wait_cnt < timeout)
{
if (MctAdapter_ReceiveMessage(out id, out length, out data))
{
// message received
canMessage.setID(id);
canMessage.setLength(length);
canMessage.setData(data);
return id;
}
// wait a bit
Thread.Sleep(1);
++wait_cnt;
}
// nothing was received
return 0;
}
public CANMessage waitMessage(int a_timeout)
{
sw.Reset();
sw.Start();
CANMessage retMsg = new CANMessage();
while (sw.ElapsedMilliseconds < a_timeout)
{
// search queue for the desired message
if (_receiveMessageIndex < _readMessageIndex)
{
// first upto (_queue.Length - 1)
for (int idx = _readMessageIndex; idx < _queue.Length; idx++)
{
if (_queue[idx].getID() == this.m_waitMsgID)
{
retMsg = _queue[idx];
_readMessageIndex = idx + 1;
if (_readMessageIndex > _queue.Length - 1)
{
_readMessageIndex = 0; // make it circular
}
sw.Stop();
return(retMsg);
}
}
for (int idx = 0; idx < _receiveMessageIndex; idx++)
{
if (_queue[idx].getID() == this.m_waitMsgID)
{
retMsg = _queue[idx];
_readMessageIndex = idx + 1;
if (_readMessageIndex > _queue.Length - 1)
{
_readMessageIndex = 0; // make it circular
}
sw.Stop();
return(retMsg);
}
}
}
else
{
for (int idx = _readMessageIndex; idx < _receiveMessageIndex; idx++)
{
if (_queue[idx].getID() == this.m_waitMsgID)
{
retMsg = _queue[idx];
_readMessageIndex = idx + 1;
if (_readMessageIndex > _queue.Length - 1)
{
_readMessageIndex = 0; // make it circular
}
sw.Stop();
return(retMsg);
}
}
}
Thread.Sleep(1);
}
sw.Stop();
return(retMsg);
/*
* CANMessage retMsg;
*
* m_resetEvent.WaitOne(a_timeout, true);
* lock (m_canMessage)
* {
* retMsg = m_canMessage;
* }
* messageReceived = false;
* return retMsg;*/
}
/// <summary>
/// waitForMessage waits for a specific CAN message give by a CAN id.
/// </summary>
/// <param name="a_canID">The CAN id to listen for</param>
/// <param name="timeout">Listen timeout</param>
/// <param name="r_canMsg">The CAN message with a_canID that we where listening for.</param>
/// <returns>The CAN id for the message we where listening for, otherwise 0.</returns>
public override uint waitForMessage(uint a_canID, uint timeout, out CANMessage canMsg)
{
EASYSYNC.CANMsg r_canMsg;
canMsg = new CANMessage();
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
r_canMsg = new EASYSYNC.CANMsg();
readResult = EASYSYNC.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == EASYSYNC.ERROR_CANUSB_OK)
{
if (r_canMsg.id == 0x00)
{
nrOfWait++;
}
else if (r_canMsg.id != a_canID)
continue;
canMsg.setData(r_canMsg.data);
canMsg.setID(r_canMsg.id);
canMsg.setLength(r_canMsg.len);
return (uint)r_canMsg.id;
}
else if (readResult == EASYSYNC.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
nrOfWait++;
}
}
r_canMsg = new EASYSYNC.CANMsg();
return 0;
}
abstract public uint waitForMessage(uint a_canID, uint timeout, out CANMessage canMsg);
public void readMessages()
{
CANMessage canMessage = new CANMessage();
Console.WriteLine("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
Console.WriteLine("readMessages ended");
return;
}
}
if (rawString != null)
{
logger.Trace(String.Format("Raw Data: {0}", rawString));
//AddToSerialTrace("RAW RX: " + rawString.Replace("\r",m_cr_sequence));
string rxString = rawString.Replace("\r", m_cr_sequence); //replace , because stringbuilder cannot handle \r
bool isStopped = false;
if (rxString.Length > 0)
{
//AddToSerialTrace("RECEIVE TEXT: " + rxString);
//System.Diagnostics.Debug.WriteLine("SERMSG: " + rxString);
var lines = ExtractLines(rxString);
foreach (var rxMessage in lines)
{
if (rxMessage.StartsWith("STOPPED")) { isStopped = true; }
else if (rxMessage.StartsWith("NO (MORE?) DATA")) { } //skip it
else if (rxMessage.StartsWith("CAN ERROR")) { } //handle error?
else if (rxMessage.StartsWith("ELM")) { isStopped = false; } //skip it, this is a trick to stop ELM from listening to more messages and send ready char
else if (rxMessage.StartsWith("?")) { isStopped = false; }
else if (rxMessage.Length == 19) // is it a valid line
{
try
{
rxMessage.Replace(" ", "");//remove all whitespaces
uint id = Convert.ToUInt32(rxMessage.Substring(0, 3), 16);
if (acceptMessageId(id))
{
canMessage.setID(id);
canMessage.setLength(8); // TODO: alter to match data
//canMessage.setData(0x0000000000000000); // reset message content
canMessage.setData(ExtractDataFromString(rxMessage));
receivedMessage(canMessage);
}
}
catch (Exception)
{
//Console.WriteLine("MSG: " + rxMessage);
}
}
//disable whitespace logging
if (rxMessage.Length > 0)
{
logger.Debug("TELNET: " + rxMessage);
}
}
}
if (!isStopped)
{
logger.Debug("TELNET READY");
interfaceBusy = false;
}
rawString = null;
}
}
}
//---------------------------------------------------------------------------------------------
/**
Sends a 11 bit CAN data frame.
@param msg CAN message
@return success (true/false)
*/
public override bool sendMessage(CANMessage msg)
{
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;
}
}
protected override bool sendMessageDevice(CANMessage a_message)
{
lock (lockObj)
{
interfaceBusy = true;
if (a_message.getID() != _ECUAddress)
{
_ECUAddress = a_message.getID();
string command = String.Format("ATSH{0:X3}\r", a_message.getID());
SendControlMessage(command, false);
}
lastSentCanMessage = a_message.Clone();
string sendString = GetELMRequest(a_message);
//add expected responses, but this has to be one char only :(
if (a_message.elmExpectedResponses != -1 && a_message.elmExpectedResponses < 16)
sendString += " " + a_message.elmExpectedResponses.ToString("X1");
sendString += "\r";
lastSentTimestamp = Environment.TickCount;
rawString = WriteToTelnetAndWait(sendString);
return true; // remove after implementation
}
}
//---------------------------------------------------------------------------------------------
/**
Tries to connect to CAN bus using the specified bitrate.
@param bitrate bitrate
@param check_traffic check for CAN traffic
@return succ / fail
*/
private bool try_bitrate(uint bitrate, bool check_traffic)
{
try
{
// try connecting
this.combi.CAN_SetBitrate(bitrate);
this.combi.CAN_Open(true);
if (check_traffic)
{
// look for bus activity
CANMessage msg = new CANMessage();
Debug.Assert(msg != null);
if (this.waitForMessage(0, 1000, out msg) < 1)
{
throw new Exception("No traffic at given bitrate");
}
}
return true;
}
catch
{
// failed
this.combi.CAN_Open(false);
return false;
}
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
int readResult = 0;
EASYSYNC.CANMsg r_canMsg = new EASYSYNC.CANMsg();
CANMessage canMessage = new CANMessage();
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
return;
}
readResult = EASYSYNC.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == EASYSYNC.ERROR_CANUSB_OK)
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
lock (m_listeners)
{
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
else if (readResult == EASYSYNC.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}
}
public InformationFrameEventArgs(CANMessage message)
{
this._message = message;
}
/// <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)
{
lock (lockObj)
{
while (interfaceBusy)
{
if (lastSentTimestamp < Environment.TickCount - timeoutWithoutReadyChar)
{
//Console.WriteLine("released");
break;
}
}
lastSentTimestamp = Environment.TickCount;
interfaceBusy = true;
//Console.WriteLine("set");
Lawicel.CANUSB.CANMsg msg = new Lawicel.CANUSB.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
if (m_serialPort.IsOpen)
{
//m_serialPort.Write("\r");
string txstring = "t";
txstring += msg.id.ToString("X3");
txstring += "8"; // always 8 bytes to transmit
for (int t = 0; t < 8; t++)
{
byte b = (byte)(((msg.data >> t * 8) & 0x0000000000000000FF));
txstring += b.ToString("X2");
}
txstring += "\r";
AddToCanTrace(string.Format("TX: {0} {1} {2}", a_message.getID().ToString("X3"), a_message.getData().ToString("X16"), txstring));
m_serialPort.Write(txstring);
return true;
}
}
return false;
}
/// <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.CANUSB.CANMsg msg = new Lawicel.CANUSB.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
int writeResult;
AddToCanTrace("TX: " + msg.id.ToString("X4") + " " + msg.data.ToString("X16"));
writeResult = Lawicel.CANUSB.canusb_Write(m_deviceHandle, ref msg);
if (writeResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
AddToCanTrace("Message sent successfully");
return true;
}
else
{
switch (writeResult)
{
case Lawicel.CANUSB.ERROR_CANUSB_COMMAND_SUBSYSTEM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_COMMAND_SUBSYSTEM");
break;
case Lawicel.CANUSB.ERROR_CANUSB_INVALID_PARAM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_INVALID_PARAM");
break;
case Lawicel.CANUSB.ERROR_CANUSB_NO_MESSAGE:
AddToCanTrace("Message failed to send: ERROR_CANUSB_NO_MESSAGE");
break;
case Lawicel.CANUSB.ERROR_CANUSB_NOT_OPEN:
AddToCanTrace("Message failed to send: ERROR_CANUSB_NOT_OPEN");
break;
case Lawicel.CANUSB.ERROR_CANUSB_OPEN_SUBSYSTEM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_OPEN_SUBSYSTEM");
break;
case Lawicel.CANUSB.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>
/// waitAnyMessage waits for any message to be received.
/// </summary>
/// <param name="timeout">Listen timeout</param>
/// <param name="r_canMsg">The CAN message that was first received</param>
/// <returns>The CAN id for the message received, otherwise 0.</returns>
private uint waitAnyMessage(uint timeout, out Lawicel.CANUSB.CANMsg r_canMsg)
{
CANMessage canMessage = new CANMessage();
string line = string.Empty;
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
m_serialPort.Write("\r");
m_serialPort.Write("P\r");
bool endofFrames = false;
while (!endofFrames)
{
Console.WriteLine("reading line");
line = m_serialPort.ReadLine();
Console.WriteLine("line: " + line + " len: " + line.Length.ToString());
if (line[0] == '\x07' || line[0] == '\r' || line[0] == 'A')
{
endofFrames = true;
}
else
{
if (line.Length == 14)
{
// three bytes identifier
r_canMsg = new Lawicel.CANUSB.CANMsg();
r_canMsg.id = (uint)Convert.ToInt32(line.Substring(1, 3), 16);
r_canMsg.len = (byte)Convert.ToInt32(line.Substring(4, 1), 16);
ulong data = 0;
// add all the bytes
data |= (ulong)(byte)Convert.ToInt32(line.Substring(5, 2), 16) << 7 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(7, 2), 16) << 6 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(9, 2), 16) << 5 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(11, 2), 16) << 4 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(13, 2), 16) << 3 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(15, 2), 16) << 2 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(17, 2), 16) << 1 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(19, 2), 16);
r_canMsg.data = data;
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setFlags(0);
canMessage.setData(r_canMsg.data);
return (uint)r_canMsg.id;
}
}
}
//Thread.Sleep(0);
nrOfWait++;
}
r_canMsg = new Lawicel.CANUSB.CANMsg();
return 0;
}
/// <summary>
/// Send a message that starts a session. This is used to test if there is
/// a connection.
/// </summary>
/// <returns></returns>
private bool sendSessionRequest()
{
Console.WriteLine("Sending session request");
// 0x220 is for T7
// 0x7E0 is for T8
CANMessage msg1 = new CANMessage(0x220, 0, 8);
Lawicel.CANUSB.CANMsg msg = new Lawicel.CANUSB.CANMsg();
msg1.setData(0x000040021100813f);
if (!sendMessage(msg1))
{
Console.WriteLine("Unable to send session request");
return false;
}
if (waitForMessage(0x238, 1000, out msg) == 0x238)
{
//Ok, there seems to be a ECU somewhere out there.
//Now, sleep for 10 seconds to get a session timeout. This is needed for
//applications on higher level. Otherwise there will be no reply when the
//higher level application tries to start a session.
Thread.Sleep(10000);
Console.WriteLine("sendSessionRequest: TRUE");
return true;
}
Console.WriteLine("sendSessionRequest: FALSE");
return false;
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
int readResult = 0;
Lawicel.CANUSB.CANMsg r_canMsg = new Lawicel.CANUSB.CANMsg();
CANMessage canMessage = new CANMessage();
logger.Debug("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
logger.Debug("readMessages thread ended");
return;
}
}
readResult = Lawicel.CANUSB.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
if (acceptMessageId(r_canMsg.id))
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
receivedMessage(canMessage);
}
}
else if (readResult == Lawicel.CANUSB.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}
}
/// <summary> /// This method is called by ICANDevices where derived objects of this class /// are registered. The method is called for each received CANMessage. /// What this method does is application dependent. /// </summary> /// <param name="a_canMessage">The CANMessage to be handled by this method.</param> public abstract void handleMessage(CANMessage a_canMessage);
/// <summary>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
protected override bool sendMessageDevice(CANMessage a_message)
{
Lawicel.CANUSB.CANMsg msg = new Lawicel.CANUSB.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
int writeResult;
writeResult = Lawicel.CANUSB.canusb_Write(m_deviceHandle, ref msg);
if (writeResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
return true;
}
else
{
logger.Debug("tx failed writeResult: " + writeResult);
return false;
}
}
public void readMessages()
{
CANMessage canMessage = new CANMessage();
Console.WriteLine("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
Console.WriteLine("readMessages ended");
return;
}
}
if (rawString != null)
{
logger.Trace(String.Format("Raw Data: {0}", rawString));
//AddToSerialTrace("RAW RX: " + rawString.Replace("\r",m_cr_sequence));
string rxString = rawString.Replace("\r", m_cr_sequence); //replace , because stringbuilder cannot handle \r
bool isStopped = false;
if (rxString.Length > 0)
{
//AddToSerialTrace("RECEIVE TEXT: " + rxString);
//System.Diagnostics.Debug.WriteLine("SERMSG: " + rxString);
var lines = ExtractLines(rxString);
foreach (var rxMessage in lines)
{
if (rxMessage.StartsWith("STOPPED"))
{
isStopped = true;
}
else if (rxMessage.StartsWith("NO (MORE?) DATA"))
{
} //skip it
else if (rxMessage.StartsWith("CAN ERROR"))
{
} //handle error?
else if (rxMessage.StartsWith("ELM"))
{
isStopped = false;
} //skip it, this is a trick to stop ELM from listening to more messages and send ready char
else if (rxMessage.StartsWith("?"))
{
isStopped = false;
}
else if (rxMessage.Length == 19) // is it a valid line
{
try
{
rxMessage.Replace(" ", "");//remove all whitespaces
uint id = Convert.ToUInt32(rxMessage.Substring(0, 3), 16);
if (acceptMessageId(id))
{
canMessage.setID(id);
canMessage.setLength(8); // TODO: alter to match data
//canMessage.setData(0x0000000000000000); // reset message content
canMessage.setData(ExtractDataFromString(rxMessage));
receivedMessage(canMessage);
}
}
catch (Exception)
{
//Console.WriteLine("MSG: " + rxMessage);
}
}
//disable whitespace logging
if (rxMessage.Length > 0)
{
logger.Debug("TELNET: " + rxMessage);
}
}
}
if (!isStopped)
{
logger.Debug("TELNET READY");
interfaceBusy = false;
}
rawString = null;
}
}
}
abstract protected bool sendMessageDevice(CANMessage a_message);
//---------------------------------------------------------------------------------------------
/**
Sends a 11 bit CAN data frame.
@param msg CAN message
@return success (true/false)
*/
protected override bool sendMessageDevice(CANMessage msg)
{
try
{
caCombiAdapter.caCANFrame frame;
frame.id = msg.getID();
frame.length = msg.getLength();
frame.data = msg.getData();
frame.is_extended = 0;
frame.is_remote = 0;
combi.CAN_SendMessage(ref frame);
return true;
}
catch (Exception e)
{
logger.Debug("tx failed with Exception.Message: " + e.Message);
return false;
}
}
protected override bool sendMessageDevice(CANMessage a_message)
{
lock (lockObj)
{
sendDataSempahore.WaitOne(timeoutWithoutReadyChar);
interfaceBusy = true;
if (a_message.getID() != _ECUAddress)
{
_ECUAddress = a_message.getID();
string command = "ATSH" + a_message.getID().ToString("X3") + "\r";
SendControlMessage(command, false);
}
//check if it is beneficial to send ATR0 and ATR1 for ELM clones
if (!supports8ByteResponse)
{
if ((a_message.elmExpectedResponses == 0) != request0Responses)
{
if (a_message.elmExpectedResponses == 0)
{
SendControlMessage("ATR0\r", false);
request0Responses = true;
}
else
{
SendControlMessage("ATR1\r", false);
request0Responses = false;
}
}
}
lastSentCanMessage = a_message.Clone();
string sendString = GetELMRequest(a_message);
if (sendString.Length == 16 && !supports8ByteResponse)
{
bool canIgnoreLastByte = a_message.getCanData(7) == 0;
if (canIgnoreLastByte)
{
sendString = sendString.Substring(0, 14);
}
}
if (sendString.Length <= 14 || supports8ByteResponse) //ELM 2.0 supports 8 bytes + response count, previous versions dont
{
//add expected responses, but this has to be one char only :(
if (a_message.elmExpectedResponses != -1 && a_message.elmExpectedResponses < 16)
{
sendString += " " + a_message.elmExpectedResponses.ToString("X1");
}
}
sendString += "\r";
if (m_serialPort.IsOpen)
{
lastSentTimestamp = Environment.TickCount;
WriteToSerialWithTrace(sendString);
}
return(true); // remove after implementation
}
}
public override uint waitForMessage(uint a_canID, uint timeout, out CANMessage canMsg)
{
canMsg = new CANMessage();
return 0;
}
// int thrdcnt = 0;
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
m_endThread = false;
return;
}
}
if (m_serialPort.IsOpen)
{
// read the status?
string line = string.Empty;
try
{
line = m_serialPort.ReadLine();
if (line.Length > 0)
{
if (line.Length == 25)
{
Lawicel.CANUSB.CANMsg r_canMsg = new Lawicel.CANUSB.CANMsg();
canMessage = new CANMessage();
// three bytes identifier
r_canMsg.id = (uint)Convert.ToInt32(line.Substring(1, 3), 16);
r_canMsg.len = (byte)Convert.ToInt32(line.Substring(4, 1), 16);
ulong data = 0;
// add all the bytes
data |= (ulong)(byte)Convert.ToInt32(line.Substring(5, 2), 16);
data |= (ulong)(byte)Convert.ToInt32(line.Substring(7, 2), 16) << 1 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(9, 2), 16) << 2 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(11, 2), 16) << 3 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(13, 2), 16) << 4 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(15, 2), 16) << 5 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(17, 2), 16) << 6 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(19, 2), 16) << 7 * 8;
r_canMsg.data = data;
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
lock (m_listeners)
{
AddToCanTrace(string.Format("RX: {0} {1} {2}", canMessage.getID().ToString("X3"), line.Substring(5, 16), line));
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
else if(line.Contains("z"))
{
interfaceBusy = false;
//Console.WriteLine("clear");
}
else if (line.Length == 2 && Convert.ToInt32(line.Substring(1, 2), 16) != 0x07)
{
//Console.WriteLine("Send error");
}
else
{
//Console.WriteLine("Unknown message: " + line);
}
}
}
catch (Exception E)
{
Console.WriteLine("Failed to read frames from CANbus: " + E.Message);
}
}
//Thread.Sleep(2);
Thread.Sleep(delayTimespan); // give others some air
}
}
/// <summary>
/// Creates valid request string for ELM device. Calculates data size and formats it automatically
/// </summary>
/// <param name="input"></param>
/// <returns></returns>
private static string GetELMRequest(CANMessage msg)
{
ulong reversed = BitTools.ReverseOrder(msg.getData());
//var length = BitTools.GetDataSize(reversed);
return reversed.ToString("X16").Substring(0, msg.getLength() * 2);
}
/// <summary> /// This message sends a CANMessage to the CAN device. /// The open method must have been called and returned possitive result /// before this method is called. /// </summary> /// <param name="a_message">The CANMessage</param> /// <returns>true on success, otherwise false.</returns> abstract public bool sendMessage(CANMessage a_message);