/*
* Constructs a form for creating messages.
* Consists of one TextBox for every signal in the loaded message.
*/
private List <Signal> LoadSignals(int dlc)
{
Kvadblib.SignalHnd sh;
Kvadblib.Status status = Kvadblib.GetFirstSignal(msgHandle, out sh);
List <Signal> signals = new List <Signal>();
while (status == Kvadblib.Status.OK)
{
string name;
string unit;
double min, max, scale, offset, val;
//byte[] data = new byte[dlc];
//Construct the text for the label
status = Kvadblib.GetSignalName(sh, out name);
status = Kvadblib.GetSignalUnit(sh, out unit);
status = Kvadblib.GetSignalValueLimits(sh, out min, out max);
status = Kvadblib.GetSignalValueScaling(sh, out scale, out offset);
//status = Kvadblib.GetSignalValueFloat(sh, out val, data, dlc);
//Signal s = new Signal(name, max, min, min, scale);
Signal s = new Signal(name, max, min, min, scale);
signals.Add(s);
status = Kvadblib.GetNextSignal(msgHandle, out sh);
}
return(signals);
}
static void createDatabase(Kvadblib.Hnd dh)
{
DisplayError(Kvadblib.SetFlags(dh, Kvadblib.DATABASE.J1939), "SetFlags");
var nh = new List<Kvadblib.NodeHnd>();
for(int n = 0; n < 4; n++) {
Kvadblib.NodeHnd nhx;
DisplayError(Kvadblib.AddNode(dh, out nhx), "AddNode");
nh.Add(nhx);
DisplayError(Kvadblib.SetNodeName(nhx, "node" + n.ToString()),
"SetNodeName");
DisplayError(Kvadblib.SetNodeComment(nhx, "comment" + n.ToString()),
"SetNodeComment");
}
for (int m = 0; m < 4; m++) {
Kvadblib.MessageHnd mh;
DisplayError(Kvadblib.AddMsg(dh, out mh), "AddMsg");
DisplayError(Kvadblib.SetMsgName(mh, "msg" + m.ToString()),
"SetMsgName");
DisplayError(Kvadblib.SetMsgComment(mh, "comment" + m.ToString()),
"SetMsgComment");
DisplayError(Kvadblib.SetMsgId(mh, 0x42 + m, 0), "SetMsgId");
DisplayError(Kvadblib.SetMsgDlc(mh, 8 - m), "SetMsgDlc");
for (int n = 0; n < 4; n++) {
Kvadblib.SignalHnd sh;
DisplayError(Kvadblib.AddSignal(mh, out sh), "AddSignal");
DisplayError(Kvadblib.SetSignalValueLimits(sh, n, n + 10),
"SetSignalValueLimits");
DisplayError(Kvadblib.SetSignalValueScaling(sh, n / 2.0, n),
"SetSignalValueScaling");
DisplayError(Kvadblib.SetSignalValueSize(sh, n * 16, 16),
"SetSignalValueSize");
DisplayError(Kvadblib.SetSignalName(sh, "sig" + m.ToString() + "_" + n.ToString()),
"SetSignalName");
DisplayError(Kvadblib.SetSignalComment(sh, "comment" + n.ToString()),
"SetSignalComment");
DisplayError(Kvadblib.SetSignalUnit(sh, "m/s"),
"SetSignalUnit");
DisplayError(Kvadblib.SetSignalEncoding(sh, (Kvadblib.SignalEncoding)n),
"SetSignalEncoding");
DisplayError(Kvadblib.SetSignalRepresentationType(sh, Kvadblib.SignalType.Signed + n),
"SetSignalRepresentationType");
if (n >= 1 && n <= nh.Count) {
DisplayError(Kvadblib.AddReceiveNodeToSignal(sh, nh[n - 1]),
"AddReceiveNodeToSignal");
}
}
}
}
/*
* Once a database is loaded, this method will be called
* to add all the messages to the ComboBox.
*/
public List <Message> LoadMessages()
{
Kvadblib.MessageHnd mh;
Kvadblib.Status status;
Kvadblib.NodeHnd nh;
List <Message> messages = new List <Message>();
status = Kvadblib.GetFirstMsg(dh, out mh);
while (status == Kvadblib.Status.OK)
{
string name;
int id;
int dlc;
string nodeName;
Kvadblib.MESSAGE flags;
status = Kvadblib.GetMsgName(mh, out name);
status = Kvadblib.GetMsgId(mh, out id, out flags);
status = Kvadblib.GetMsgDlc(mh, out dlc);
status = Kvadblib.GetMsgSendNode(mh, out nh);
status = Kvadblib.GetNodeName(nh, out nodeName);
Kvadblib.AttributeHnd ah;
int attEunmVal = 8;
status = Kvadblib.GetAttributeByName(dh, "GenMsgSendType", out ah); //获取ah用于存储对应message的ah
status = Kvadblib.GetMsgAttributeByName(mh, "GenMsgSendType", ref ah); //获取对应message的attribute信息
Kvadblib.GetAttributeValueEnumeration(ah, out attEunmVal);
int GenMsgCycleTime = 0;
status = Kvadblib.GetAttributeByName(dh, "GenMsgCycleTime", out ah); //获取ah用于存储对应message的ah
status = Kvadblib.GetMsgAttributeByName(mh, "GenMsgCycleTime", ref ah); //获取对应message的attribute信息
Kvadblib.GetAttributeValueInt(ah, out GenMsgCycleTime);
Message message = new Message();
message.id = id;
message.name = name;
message.dlc = dlc;
message.tx_node = nodeName;
message.GenMsgSendType = this.GenMsgSendType[attEunmVal];
message.GenMsgCycleTime = GenMsgCycleTime;
message.CycleCount = 0;
messages.Add(message);
status = Kvadblib.GetNextMsg(dh, out mh);
}
return(messages);
}
private void DumpMessage(int id, string idStr, byte[] data, int dlc, int flags, long time)
{
Kvadblib.Status status;
Kvadblib.MessageHnd mh = new Kvadblib.MessageHnd();
Kvadblib.SignalHnd sh = new Kvadblib.SignalHnd();
//Flips the EXT bit if the EXT flag is set
if ((flags & Canlib.canMSG_EXT) != 0)
{
id ^= -2147483648;
}
//Find the database message whose id matches the one
//from the incoming message
status = Kvadblib.GetMsgById(dbhandle, id, out mh);
outputBox.AppendText(string.Format("Reading message with id {0}", idStr) + Environment.NewLine);
//Print the message info
if (status == Kvadblib.Status.OK)
{
string msgName;
status = Kvadblib.GetMsgName(mh, out msgName);
outputBox.AppendText(string.Format("Message received: {0}", msgName) + Environment.NewLine);
int msgId;
Kvadblib.MESSAGE msgFlags;
status = Kvadblib.GetMsgId(mh, out msgId, out msgFlags);
outputBox.AppendText(string.Format("Id: {0}, flags: {1}", msgId, msgFlags) + Environment.NewLine);
//Iterate through all the signals and print their name, value and unit
status = Kvadblib.GetFirstSignal(mh, out sh);
while (status == Kvadblib.Status.OK)
{
string signalname;
status = Kvadblib.GetSignalName(sh, out signalname);
string unit;
status = Kvadblib.GetSignalUnit(sh, out unit);
double value;
status = Kvadblib.GetSignalValueFloat(sh, out value, data, dlc);
outputBox.AppendText(string.Format("Signal - {0}: {1} {2}", signalname, value, unit) + Environment.NewLine);
status = Kvadblib.GetNextSignal(mh, out sh);
}
}
}
/*
* Loads the selected database
* returns true if OK.
*/
private bool LoadDB(string filename)
{
Kvadblib.Hnd hnd = new Kvadblib.Hnd();
Kvadblib.Status status;
Kvadblib.Open(out hnd);
status = Kvadblib.ReadFile(hnd, filename);
if (status == Kvadblib.Status.OK)
{
dh = hnd;
}
return(status == Kvadblib.Status.OK);
}
/*
* Loads the selected message's signals to construct a form
*/
public List <Signal> LoadSignalsById(int MsgId)
{
List <Signal> result = new List <Signal>();
Kvadblib.MessageHnd mh;
Kvadblib.Status status = Kvadblib.GetMsgById(dh, MsgId, out mh);
if (status == Kvadblib.Status.OK)
{
Kvadblib.MESSAGE f;
int dlc;
msgHandle = mh;
Kvadblib.GetMsgId(mh, out msgId, out f);
Kvadblib.GetMsgDlc(mh, out dlc);
msgId = ((MsgId & -2147483648) == 0) ? MsgId : MsgId ^ -2147483648;
msgFlags = ((MsgId & -2147483648) == 0) ? 0 : Canlib.canMSG_EXT;
hasMessage = true;
result = LoadSignals(dlc);
}
return(result);
}
public Form1()
{
InitializeComponent();
Kvadblib.Status dbstatus;
//Load database
dbhandle = new Kvadblib.Hnd();
dbstatus = Kvadblib.Open(out dbhandle);
dbstatus = Kvadblib.ReadFile(dbhandle, DBCPath);
idBox.Text = "318";
DLCBox.Text = "8";
dataBox0.Text = "02";
flagsBox.Text = "0";
//Sets up a BackgroundWorker and adds delegates to
//the DumpMessageLoop and ProcessMessage methods
dumper = new BackgroundWorker();
dumper.DoWork += DumpMessageLoop;
dumper.WorkerReportsProgress = true;
dumper.ProgressChanged += new ProgressChangedEventHandler(ProcessMessage);
}
/*
* Constructs a message from the form and sends it
* to the channel
*/
private bool SendMessage(int dlc, List <Signal> signals)
{
byte[] data = new byte[dlc];
Kvadblib.Status status = Kvadblib.Status.OK;
Kvadblib.SignalHnd sh;
bool error = false;
foreach (Signal s in signals)
{
double min, max;
status = Kvadblib.GetSignalByName(msgHandle, s.name, out sh);
if (status != Kvadblib.Status.OK)
{
error = true;
break;
}
Kvadblib.GetSignalValueLimits(sh, out min, out max);
status = Kvadblib.StoreSignalValuePhys(sh, data, dlc, s.Value);
//Check if the signal value was successfully stored and that it's in the correct interval
if (status != Kvadblib.Status.OK || s.Value < min || s.Value > max)
{
error = true;
break;
}
}
if (!error)
{
Canlib.canWriteWait(chanHandle, msgId, data, dlc, msgFlags, 50);
}
return(error);
}
public static List <CanMessage> OpenCanDB(string fullFilePath)
{
Kvadblib.Hnd db_handle;
Kvadblib.Status status;
status = Kvadblib.Open(out db_handle);
status = Kvadblib.Create(db_handle, "MyTestDB", fullFilePath);
if (status == Kvadblib.Status.Err_DbFileOpen)
{
throw new Exception("Could not open CAN database file"); // TODO: Handle more gracefully
}
if (status == Kvadblib.Status.Err_DbFileParse)
{
string errorMessage;
status = Kvadblib.GetLastParseError(out errorMessage);
throw new Exception("Could not parse file. Error: \n" + errorMessage);
}
List <CanMessage> Messages = new List <CanMessage>();
// Get the first message in the database
Kvadblib.MessageHnd messageHandle;
status = Kvadblib.GetFirstMsg(db_handle, out messageHandle);
if (status != Kvadblib.Status.OK)
{
throw new Exception("kvaDbGetFirstMsg failed: " + status.ToString()); // TODO: Handle more gracefully
}
// Go through all messages in the database
while (status == Kvadblib.Status.OK)
{
string tempMessageName;
string tempMessageQualifiedName;
string tempMessageComment;
int tempMessageID;
Kvadblib.MESSAGE tempFlags;
int tempMessageDlc;
// Get the properties for each message
status = Kvadblib.GetMsgName(messageHandle, out tempMessageName);
if (status != Kvadblib.Status.OK)
{
throw new Exception("kvaDbGetMsgName failed: " + status.ToString()); // TODO: Handle more gracefully
}
status = Kvadblib.GetMsgQualifiedName(messageHandle, out tempMessageQualifiedName);
if (status != Kvadblib.Status.OK)
{
throw new Exception("kvaDbGetMsgQualifiedName failed: " + status.ToString());
}
status = Kvadblib.GetMsgComment(messageHandle, out tempMessageComment);
if (status != Kvadblib.Status.OK)
{
throw new Exception("kvaDbGetMsgComment failed: " + status.ToString()); // TODO: Handle more gracefully
}
status = Kvadblib.GetMsgIdEx(messageHandle, out tempMessageID);
if (status != Kvadblib.Status.OK)
{
throw new Exception("kvaDbGetMsgId failed: " + status.ToString()); // TODO: Handle more gracefully
}
status = Kvadblib.GetMsgFlags(messageHandle, out tempFlags);
if (status != Kvadblib.Status.OK)
{
throw new Exception("GetMsgFlags failed: " + status.ToString()); // TODO: Handle more gracefully
}
status = Kvadblib.GetMsgDlc(messageHandle, out tempMessageDlc);
if (status != Kvadblib.Status.OK)
{
throw new Exception("kvaDbGetMsgDlc failed: " + status.ToString()); // TODO: Handle more gracefully
}
CanMessage tempCanMessage = new CanMessage
{
Comment = tempMessageComment,
DLC = tempMessageDlc,
Flags = tempFlags,
ID = tempMessageID,
Name = tempMessageName,
QualifiedName = tempMessageQualifiedName,
};
Messages.Add(tempCanMessage);
// Go through all signals for this message
Kvadblib.SignalHnd signalHandle;
status = Kvadblib.GetFirstSignal(messageHandle, out signalHandle);
while (status == Kvadblib.Status.OK)
{
string tempSignalName;
string tempSignalQualifiedName;
string tempSignalComment;
string tempSignalUnit;
Kvadblib.SignalEncoding tempSignalEncoding;
Kvadblib.SignalType tempSignalType;
int tempStartbit = 0;
int tempLength = 0;
double tempMinval = 0;
double tempMaxval = 0;
double tempScaleFactor = 0;
double tempOffset = 0;
// Get the properties for each signal.
status = Kvadblib.GetSignalName(signalHandle, out tempSignalName);
if (status != Kvadblib.Status.OK)
{
throw new Exception("kvaDbGetSignalName failed: " + status.ToString()); // TODO: Handle more gracefully
}
status = Kvadblib.GetSignalQualifiedName(signalHandle, out tempSignalQualifiedName);
if (status != Kvadblib.Status.OK)
{
throw new Exception("kvaDbGetSignalQualifiedName failed: " + status.ToString()); // TODO: Handle more gracefully
}
status = Kvadblib.GetSignalComment(signalHandle, out tempSignalComment);
if (status != Kvadblib.Status.OK)
{
throw new Exception("kvaDbGetSignalComment failed: " + status.ToString()); // TODO: Handle more gracefully
}
status = Kvadblib.GetSignalUnit(signalHandle, out tempSignalUnit);
if (status != Kvadblib.Status.OK)
{
throw new Exception("kvaDbGetSignalUnit failed: " + status.ToString()); // TODO: Handle more gracefully
}
status = Kvadblib.GetSignalEncoding(signalHandle, out tempSignalEncoding);
if (status != Kvadblib.Status.OK)
{
throw new Exception("kvaDbGetSignalEncoding failed: " + status.ToString()); // TODO: Handle more gracefully
}
status = Kvadblib.GetSignalRepresentationType(signalHandle, out tempSignalType);
if (status != Kvadblib.Status.OK)
{
throw new Exception("kvaDbGetSignalRepresentationType failed: " + status.ToString()); // TODO: Handle more gracefully
}
status = Kvadblib.GetSignalValueLimits(signalHandle, out tempMinval, out tempMaxval);
if (status != Kvadblib.Status.OK)
{
throw new Exception("kvaDbGetSignalValueLimits failed: " + status.ToString()); // TODO: Handle more gracefully
}
status = Kvadblib.GetSignalValueScaling(signalHandle, out tempScaleFactor, out tempOffset);
if (status != Kvadblib.Status.OK)
{
throw new Exception("kvaDbGetSignalValueScaling failed: " + status.ToString()); // TODO: Handle more gracefully
}
status = Kvadblib.GetSignalValueSize(signalHandle, out tempStartbit, out tempLength);
if (status != Kvadblib.Status.OK)
{
throw new Exception("kvaDbGetSignalValueSize failed: " + status.ToString()); // TODO: Handle more gracefully
}
CanSignal tempCanSignal = new CanSignal
{
Comment = tempSignalComment,
Encoding = tempSignalEncoding,
Length = tempLength,
MaxValue = tempMaxval,
MinValue = tempMinval,
Name = tempSignalName,
Offset = tempOffset,
QualifiedName = tempSignalQualifiedName,
ScaleFactor = tempScaleFactor,
StartBit = tempStartbit,
Type = tempSignalType,
Unit = tempSignalUnit,
};
tempCanMessage.Signals.Add(tempCanSignal);
status = Kvadblib.GetNextSignal(messageHandle, out signalHandle);
}
status = Kvadblib.GetNextMsg(db_handle, out messageHandle);
}
// All done; close database
Kvadblib.Close(db_handle);
return(Messages);
}
static void dumpSignal(Kvadblib.SignalHnd sh)
{
double minval, maxval, factor, offset;
DisplayError(Kvadblib.GetSignalValueLimits(sh, out minval, out maxval),
"GetSignalValueLimits");
DisplayError(Kvadblib.GetSignalValueScaling(sh, out factor, out offset),
"GetSignalValueScaling");
int startbit, length;
DisplayError(Kvadblib.GetSignalValueSize(sh, out startbit, out length),
"GetSignalValueScaling");
string name, qname;
DisplayError(Kvadblib.GetSignalName(sh, out name), "GetSignalName");
DisplayError(Kvadblib.GetSignalQualifiedName(sh, out qname),
"GetSignalQualifiedName");
Console.WriteLine("{0} / {1}: {2} - {3} * {4} + {5} @ {6}, {7}",
name, qname,
minval, maxval,
factor, offset,
startbit, length);
string comment, unit;
DisplayError(Kvadblib.GetSignalComment(sh, out comment),
"GetSignalComment");
DisplayError(Kvadblib.GetSignalUnit(sh, out unit),
"GetSignalUnit");
Kvadblib.SignalEncoding encoding;
DisplayError(Kvadblib.GetSignalEncoding(sh, out encoding),
"GetSignalEncoding");
Kvadblib.SignalType rtype, ptype;
DisplayError(Kvadblib.GetSignalRepresentationType(sh, out rtype),
"GetSignalRepresentationType");
DisplayError(Kvadblib.GetSignalPresentationType(sh, out ptype),
"GetSignalPresentationType");
Console.WriteLine(" {0} {1} {2} {3} {4}",
comment, unit, encoding, rtype, ptype);
}
static void dumpNode(Kvadblib.NodeHnd nh)
{
Console.WriteLine("No way to get node data");
}
static void dumpMessage(Kvadblib.MessageHnd mh)
{
string name, qname, comment;
DisplayError(Kvadblib.GetMsgName(mh, out name), "GetMsgName");
DisplayError(Kvadblib.GetMsgQualifiedName(mh, out qname),
"GetMsgQualifiedName");
DisplayError(Kvadblib.GetMsgComment(mh, out comment),
"GetMsgComment");
int id, dlc;
Kvadblib.MESSAGE flags;
DisplayError(Kvadblib.GetMsgId(mh, out id, out flags), "GetMsgId");
DisplayError(Kvadblib.GetMsgDlc(mh, out dlc), "GetMsgDcl");
Console.WriteLine("Message {0} / {1} ({2}): {3}/{4} {5}",
name, qname, comment, id, flags, dlc);
Kvadblib.SignalHnd sh;
Kvadblib.Status status = Kvadblib.GetFirstSignal(mh, out sh);
while (status == Kvadblib.Status.OK) {
DisplayError(status, "GetFirst/NextSignal");
dumpSignal(sh);
status = Kvadblib.GetNextSignal(mh, out sh);
}
}
static void dumpDatabase(Kvadblib.Hnd dh)
{
Kvadblib.DATABASE flags;
DisplayError(Kvadblib.GetFlags(dh, out flags), "GetFlags");
Console.WriteLine("Flags: {0}", flags);
Kvadblib.MessageHnd mh;
Kvadblib.Status status = Kvadblib.GetFirstMsg(dh, out mh);
while (status == Kvadblib.Status.OK)
{
DisplayError(status, "GetFirst/NextMsg");
dumpMessage(mh);
status = Kvadblib.GetNextMsg(dh, out mh);
}
Kvadblib.NodeHnd nh;
status = Kvadblib.GetFirstNode(dh, out nh);
while (status == Kvadblib.Status.OK) {
DisplayError(status, "GetFirst/NextNode");
dumpNode(nh);
status = Kvadblib.GetNextNode(dh, out nh);
}
}
static void DisplayError(Kvadblib.Status status, String routineName)
{
switch (status) {
case Kvadblib.Status.OK:
break;
default:
Console.WriteLine("{0} failed: {1}", routineName, status);
Environment.Exit(1);
break;
}
}
