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CANController.cs
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CANController.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Collections;
using Peak.Can.Basic;
namespace HCAN
{
class CANController
{
private class CanMsg
{
private TPCANMsg msg;
private TPCANTimestamp timestamp;
private TPCANTimestamp lastTimestamp;
private int index;
private int recieveCount;
public CanMsg(TPCANMsg msg, TPCANTimestamp timestamp, int index)
{
this.msg = msg;
this.timestamp = timestamp;
this.index = index;
this.recieveCount = 0;
}
public void Update(TPCANMsg msg, TPCANTimestamp timestamp)
{
this.msg = msg;
this.timestamp = timestamp;
recieveCount++;
}
public TPCANMsg Msg { get => msg; }
public TPCANTimestamp Timestamp { get => timestamp; }
public int Index { get => index; }
public int RecieveCount { get => recieveCount; }
private string GetTimeString()
{
double time;
time = timestamp.millis;
return time.ToString()
}
}
#region Members
private TPCANBaudrate PCANBaudrate = TPCANBaudrate.PCAN_BAUD_250K;
private readonly ushort PCANHandle = PCANBasic.PCAN_USBBUS1;
private bool netInitialized = false;
private CANToolForm Main;
private System.Threading.AutoResetEvent ReceiveEvent;
private System.Threading.Thread RxThread;
private ArrayList MessagesList;
#endregion
public CANController(CANToolForm mainForm)
{
Main = mainForm;
ReceiveEvent = new System.Threading.AutoResetEvent(false);
}
#region Events
#region Event Members
public class OnPCANErrorData : EventArgs { public OnPCANErrorData(string err) { this.ErrorString = err; } public string ErrorString { get; set; } }
public class OnNetStatusChangeData : EventArgs
{
public OnNetStatusChangeData(bool init, Statuses status)
{
this.Initialized = init;
this.status = status;
}
public bool Initialized { get; set; }
public enum Statuses : byte
{
OK,
OFF,
BUSHEAVY,
BUSLIGHT
}
public Statuses status { get; set; }
}
public EventHandler<OnNetStatusChangeData> NetStatusChange;
public EventHandler<OnPCANErrorData> PCANError;
#endregion
protected virtual void OnPCANError(OnPCANErrorData e)
{
EventHandler<OnPCANErrorData> handler = PCANError;
if (handler != null)
{
handler(this, e);
}
}
protected virtual void OnNetStatusChange(OnNetStatusChangeData e)
{
EventHandler<OnNetStatusChangeData> handler = NetStatusChange;
handler?.Invoke(this, e);
}
#endregion
#region Public Methods
public bool GetNetInitialized()
{
return netInitialized;
}
public void ChangeBaudrate(string baudrate)
{
switch(baudrate)
{
case "500":
PCANBaudrate = TPCANBaudrate.PCAN_BAUD_500K;
break;
default:
PCANBaudrate = TPCANBaudrate.PCAN_BAUD_250K;
break;
}
}
public void InitializeNet()
{
TPCANStatus result;
if ((PCANBasic.GetStatus(PCANHandle) == TPCANStatus.PCAN_ERROR_OK))
{
result = PCANBasic.Uninitialize(PCANHandle);
if (result != TPCANStatus.PCAN_ERROR_OK)
{
ThrowInitError(result);
return;
}
}
result = PCANBasic.Initialize(PCANHandle, PCANBaudrate);
if (result != TPCANStatus.PCAN_ERROR_OK)
{
ThrowInitError(result);
return;
}
netInitialized = true;
StartReadThread();
OnNetStatusChangeData data = new OnNetStatusChangeData();
data.Initialized = true;
data.status = OnNetStatusChangeData.Statuses.OK;
OnNetStatusChange(data);
}
public void UninitializeNet()
{
TPCANStatus result;
result = PCANBasic.Uninitialize(PCANHandle);
if (result != TPCANStatus.PCAN_ERROR_OK && result != TPCANStatus.PCAN_ERROR_INITIALIZE)
{
ThrowInitError(result);
return;
}
netInitialized = false;
OnNetStatusChange(new OnNetStatusChangeData(netInitialized, OnNetStatusChangeData.Statuses.OFF));
}
#endregion
#region Private Methods
private void StartReadThread()
{
System.Threading.ThreadStart threadDelegate = new System.Threading.ThreadStart(RxThreadFunction);
RxThread = new System.Threading.Thread(threadDelegate);
RxThread.IsBackground = true;
RxThread.Start();
}
private void ThrowInitError(TPCANStatus result)
{
string errMsg = BuildErrorString(result);
ThrowErrorMessage(errMsg);
}
private string BuildErrorString(TPCANStatus result)
{
string errMsg;
StringBuilder errString = new StringBuilder(256);
TPCANStatus errCheckResult = PCANBasic.GetErrorText(result, 0, errString);
if (errCheckResult != TPCANStatus.PCAN_ERROR_OK)
{
errMsg = "Error checking errors. Probably not good.";
}
else
{
errMsg = errString.ToString();
}
return errMsg;
}
private void ThrowErrorMessage(string errorMsg)
{
OnPCANError(new OnPCANErrorData(errorMsg));
}
private void ErrorReadHandle(TPCANStatus result)
{
}
private void RxThreadFunction()
{
UInt32 buffer;
TPCANStatus result;
buffer = Convert.ToUInt32(ReceiveEvent.SafeWaitHandle.DangerousGetHandle().ToInt32());
result = PCANBasic.SetValue(PCANHandle, TPCANParameter.PCAN_RECEIVE_EVENT, ref buffer, sizeof(UInt32));
if (result != TPCANStatus.PCAN_ERROR_OK)
{
lock (this)
{
ThrowInitError(result);
return;
}
}
while (true)
{
if (ReceiveEvent.WaitOne(50))
RxEventRead();
}
}
private void RxEventRead()
{
TPCANMsg msg;
TPCANTimestamp timestamp;
TPCANStatus result;
result = PCANBasic.Read(PCANHandle, out msg, out timestamp);
if (result != TPCANStatus.PCAN_ERROR_OK)
{
ErrorReadHandle(result);
return;
}
ProcessMessage(msg, timestamp);
}
private void ProcessMessage(TPCANMsg msg, TPCANTimestamp timestamp)
{
}
#endregion
}
}