/// <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>
private uint waitForMessage(uint a_canID, uint timeout, out Lawicel.CANUSB.CANMsg r_canMsg)
{
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
readResult = Lawicel.CANUSB.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == Lawicel.CANUSB.ERROR_CANUSB_OK)
{
if (r_canMsg.id == 0x00)
{
nrOfWait++;
}
else if (r_canMsg.id != a_canID)
continue;
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;
}
/// <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;
}
