/// <summary>
/// Reads CAN packages send in WebXi message from the socket data stream.
/// </summary>
/// <param name="dataLength">Number of bytes to read and parse.</param>
/// <param name="messageType">Type of message to parse. 1 means SignalData, and is the only one supported. Other types are ignored.</param>
public static void ReadCanMessage(int dataLength, UInt16 messageType)
{
// Initialize a temporary buffer
byte[] inputBuffer = new byte[dataLength];
int bytesReceived = 0;
// Read the full message contents into the temporary buffer
while (bytesReceived < dataLength)
{
bytesReceived += sock.Receive(inputBuffer, bytesReceived, dataLength - bytesReceived, SocketFlags.None);
}
// Simple examples - we only care about signal data.
// Populate a header struct
AuxSequenceDataHeader auxSequenceHeader;
auxSequenceHeader.numberOfSequence = BitConverter.ToUInt16(inputBuffer, 0);
auxSequenceHeader.sequenceId = BitConverter.ToUInt16(inputBuffer, 4);
auxSequenceHeader.numberOfValues = BitConverter.ToUInt16(inputBuffer, 6);
// Total number of packaged received so far
totalReceivedCanPackages += auxSequenceHeader.numberOfValues;
AuxSequenceData auxSequenceData = new AuxSequenceData();
auxSequenceData.canData = new byte[8];
int canChanIndex = auxSequenceHeader.sequenceId - 101;
// if (canChannel>2) canChannel = 0;
dataError = false;
int offset = 8;
for (int i = 0; i < auxSequenceHeader.numberOfValues; i++)
{
auxSequenceData.relativeOffsetTime = BitConverter.ToUInt32(inputBuffer, offset);
auxSequenceData.status = (Byte)BitConverter.ToChar(inputBuffer, offset + 4);
auxSequenceData.canMessageInfo = (Byte)BitConverter.ToChar(inputBuffer, offset + 5);
auxSequenceData.canDataSize = (Byte)BitConverter.ToChar(inputBuffer, offset + 6);
auxSequenceData.canMessageID = BitConverter.ToUInt32(inputBuffer, offset + 8);
Array.Copy(inputBuffer, (offset + 12), auxSequenceData.canData, 0, 8);
idCounter++;
//if (auxSequenceData.canMessageID == 0xcfe6c17)
{
//Console.WriteLine("CAN Message: ID=0x{0:x} Data={1:x} counter={2} channel={3}", auxSequenceData.canMessageID, BitConverter.ToString(auxSequenceData.canData), idCounter, auxSequenceHeader.sequenceId);
}
// Console.WriteLine("Info: {0}", auxSequenceData.canMessageInfo);
//Console.WriteLine("RelTime: {0}", auxSequenceData.relativeOffsetTime);
// if (obd2Enabled)
// {
// if (auxSequenceData.canData[2] == 0x0c) rpm = ((auxSequenceData.canData[3] << 8) + auxSequenceData.canData[4]) >> 2;
// if (auxSequenceData.canData[2] == 0x0d) speed = auxSequenceData.canData[3];
// Console.WriteLine("Speed: {0} km/h RPM: {1}", speed, rpm);
// }
if (VerifyData)
{
dataError = false;
for (byte n = 0; n < 8; n++)
{
if (auxSequenceData.canData[n] != dataToTest[n])
{
// Console.WriteLine("ERROR on: CAN-message={0} byte[{1}] expected={2} received={4})", idCounter, n, dataToTest[n], auxSequenceData.canData[n]);
dataError = true;
}
}
if (dataError)
{
canChanError[canChanIndex + 1]++;
}
Console.WriteLine("CAN message:{0} Channel={1} errors={2} ID={3:x} Data={4:x}\r", idCounter, enabledCanChannels[canChanIndex], canChanError[canChanIndex + 1], auxSequenceData.canMessageID, BitConverter.ToString(auxSequenceData.canData));
}
else
{
Console.WriteLine("Message={0} Channel={1} SeqID={2} [CAN: ID={3:x} Data={4:x}]\r", idCounter, enabledCanChannels[canChanIndex], auxSequenceHeader.sequenceId, auxSequenceData.canMessageID, BitConverter.ToString(auxSequenceData.canData));
}
offset += 20;
}
//Console.WriteLine("Speed: {0} km/h RPM: {1}", speed, rpm);
}
private void _read()
{
_header = new Header(m_io, this, m_root);
switch (header.MessageType)
{
case Header.EMessageType.EState: {
__raw_content = m_io.ReadBytes(header.ContentLength);
var io___raw_content = new KaitaiStream(__raw_content);
_content = new State(io___raw_content, this, m_root);
break;
}
case Header.EMessageType.ESequenceData: {
__raw_content = m_io.ReadBytes(header.ContentLength);
var io___raw_content = new KaitaiStream(__raw_content);
_content = new SequenceData(io___raw_content, this, m_root);
break;
}
case Header.EMessageType.EDebug: {
__raw_content = m_io.ReadBytes(header.ContentLength);
var io___raw_content = new KaitaiStream(__raw_content);
_content = new Debug(io___raw_content, this, m_root);
break;
}
case Header.EMessageType.ESync: {
__raw_content = m_io.ReadBytes(header.ContentLength);
var io___raw_content = new KaitaiStream(__raw_content);
_content = new Sync(io___raw_content, this, m_root);
break;
}
case Header.EMessageType.EAuxSequenceData: {
__raw_content = m_io.ReadBytes(header.ContentLength);
var io___raw_content = new KaitaiStream(__raw_content);
_content = new AuxSequenceData(io___raw_content, this, m_root);
break;
}
case Header.EMessageType.EPackage: {
__raw_content = m_io.ReadBytes(header.ContentLength);
var io___raw_content = new KaitaiStream(__raw_content);
_content = new Package(io___raw_content, this, m_root);
break;
}
case Header.EMessageType.EDataQuality: {
__raw_content = m_io.ReadBytes(header.ContentLength);
var io___raw_content = new KaitaiStream(__raw_content);
_content = new DataQuality(io___raw_content, this, m_root);
break;
}
case Header.EMessageType.ENode: {
__raw_content = m_io.ReadBytes(header.ContentLength);
var io___raw_content = new KaitaiStream(__raw_content);
_content = new Node(io___raw_content, this, m_root);
break;
}
case Header.EMessageType.EStatus: {
__raw_content = m_io.ReadBytes(header.ContentLength);
var io___raw_content = new KaitaiStream(__raw_content);
_content = new Status(io___raw_content, this, m_root);
break;
}
case Header.EMessageType.ETrigger: {
__raw_content = m_io.ReadBytes(header.ContentLength);
var io___raw_content = new KaitaiStream(__raw_content);
_content = new Trigger(io___raw_content, this, m_root);
break;
}
default: {
_content = m_io.ReadBytes(header.ContentLength);
break;
}
}
}
