//-------------------------------------------------------------------------
/**
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 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;
}
//-------------------------------------------------------------------------
/**
Handles incoming messages.
*/
private void read_messages()
{
caCombiAdapter.caCANFrame frame = new caCombiAdapter.caCANFrame();
// main loop
while (true)
{
// check tor thread termination request
Debug.Assert(this.term_mutex != null);
lock (this.term_mutex)
{
if (this.term_requested)
{
// exit
return;
}
}
// receive messages
if (this.combi.CAN_GetMessage(ref frame, 1000))
{
// convert message
this.in_msg.setID(frame.id);
this.in_msg.setLength(frame.length);
this.in_msg.setData(frame.data);
// pass message to listeners
lock (this.m_listeners)
{
foreach (ICANListener listener in this.m_listeners)
{
listener.handleMessage(this.in_msg);
}
}
// pass message to realtime
if (this.MessageContainsInformationForRealtime(this.in_msg.getID()))
{
// TODO
}
}
}
}
//-------------------------------------------------------------------------
/**
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"));
try
{
caCombiAdapter.caCANFrame frame = new caCombiAdapter.caCANFrame();
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;
}
}
