private void Read(Object source, ElapsedEventArgs e)
{
TPCANMsg CANMsg;
TPCANTimestamp CANTimeStamp;
TPCANStatus stsResult;
// We read at least one time the queue looking for messages.
// If a message is found, we look again trying to find more.
// If the queue is empty or an error occurr, we get out from
// the dowhile statement.
//
do
{
// We execute the "Read" function of the PCANBasic
//
stsResult = PCANBasic.Read(mChannel, out CANMsg, out CANTimeStamp);
// A message was received
if (stsResult == TPCANStatus.PCAN_ERROR_OK)
{
Console.WriteLine("COBID: 0x{0:X}\t LEN: {1}\t DATA: {2}", CANMsg.ID, CANMsg.LEN, BitConverter.ToString(CANMsg.DATA));
MessageStatus msg = DecodeMessage(CANMsg, CANTimeStamp);
}
} while (mReadingTimer.Enabled && (!Convert.ToBoolean(stsResult & TPCANStatus.PCAN_ERROR_QRCVEMPTY)));
}
private MessageStatus DecodeMessage(TPCANMsg theMsg, TPCANTimestamp itsTimeStamp)
{
double Map(double value, double fromSrouce, double toSource, double fromTarget, double toTarget) => (value - fromSrouce) / (toSource - fromSrouce) * (toTarget - fromTarget) + fromTarget;
MessageStatus StsMsg = new MessageStatus(theMsg, itsTimeStamp, 0);
string retID = StsMsg.IdString;
string retLEN = theMsg.LEN.ToString();
string retDATA = StsMsg.DataString.Trim();
char[] splitter = { ' ' };
string[] arData = retDATA.Split(splitter);
string ret1 = "";
string ret2 = "";
string ret3 = "";
string ret4 = "";
long value1 = 0;
long value2 = 0;
long value3 = 0;
long value4 = 0;
#region ID = 0x180
if (StsMsg.IdString == "182h")
{
if (retLEN == "4")
{
ret1 = arData[0];
ret2 = arData[1];
ret3 = arData[2];
ret4 = arData[3];
//Convert To Long
value1 = Convert.ToInt64(ret1, 16);
value2 = Convert.ToInt64(ret2, 16);
value3 = Convert.ToInt64(ret3, 16);
value4 = Convert.ToInt64(ret4, 16);
#region Convert To Binary
string Binary1 = Convert.ToString(value1, 2);
string Binary2 = Convert.ToString(value2, 2); //Error Number
string Binary3 = Convert.ToString(value3, 2);
string Binary4 = Convert.ToString(value4, 2);
if (Binary1.Length != 8)
{
int AddZero = 8 - Binary1.Length;
for (int j = 0; j < AddZero; j++)
{
Binary1 = "0" + Binary1;
}
}
if (Binary2.Length != 8)
{
int AddZero = 8 - Binary2.Length;
for (int j = 0; j < AddZero; j++)
{
Binary2 = "0" + Binary2;
}
}
if (Binary3.Length != 8)
{
int AddZero = 8 - Binary3.Length;
for (int j = 0; j < AddZero; j++)
{
Binary3 = "0" + Binary3;
}
}
if (Binary4.Length != 8)
{
int AddZero = 8 - Binary4.Length;
for (int j = 0; j < AddZero; j++)
{
Binary4 = "0" + Binary4;
}
}
#endregion Convert To Binary
#region Check Bit Data
if (Binary1.Length == 8)
{
string retBuf = Binary1;
if (retBuf.Substring(0, 1) == "1")//Reserved
{
}
mDigitalSignals["CommunicationReady"] = retBuf.Substring(1, 1) == "1" ? 1 : 0;
/*
* if (retBuf.Substring(1, 1) == "1")//Communication Ready
* {
* Pic_Com_Ready.Image = PicOn.Image;
* Status_CommunicationReady = true;
*
* Pic_Com_State.Image = PicOn.Image;
* // ParentForm.Pic_Com_State.Image = PicOn.Image;
* }
* else
* {
* Pic_Com_Ready.Image = PicOff.Image;
* Status_CommunicationReady = false;
*
* Pic_Com_State.Image = PicOff.Image;
* //ParentForm.Pic_Com_State.Image = PicOff.Image;
* }
*/
mDigitalSignals["PowerSourceReady"] = retBuf.Substring(2, 1) == "1" ? 1 : 0;
/*
* if (retBuf.Substring(2, 1) == "1")//Power Source Ready
* {
* Pic_Power_Source_Ready.Image = PicOn.Image;
* Status_PowerSourceReady = true;
*
* Pic_Power_Source_State.Image = PicOn.Image;
* // ParentForm.Pic_Power_Source_State.Image = PicOn.Image;
*
* }
* else
* {
* Pic_Power_Source_Ready.Image = PicOff.Image;
* Status_PowerSourceReady = false;
*
* Pic_Power_Source_State.Image = PicOff.Image;
* //ParentForm.Pic_Power_Source_State.Image = PicOff.Image;
* }
*/
mDigitalSignals["CollisionProtection"] = retBuf.Substring(3, 1) == "1" ? 1 : 0;
/*
* if (retBuf.Substring(3, 1) == "1")//Collision Protection.
* {
* Pic_Collision_Protection.Image = PicOn.Image;
* Status_CollisionProtection = true;
* }
* else
* {
* Pic_Collision_Protection.Image = PicOff.Image;
* Status_CollisionProtection = false;
* }
*/
mDigitalSignals["MainCurrent"] = retBuf.Substring(4, 1) == "1" ? 1 : 0;
/*
* if (retBuf.Substring(4, 1) == "1") //Main Current
* {
* Pic_Main_Current.Image = PicOn.Image;
* Status_MainCurrent = true;
*
* }
* else
* {
* Pic_Main_Current.Image = PicOff.Image;
* Status_MainCurrent = false;
* }
*/
mDigitalSignals["ProcessActive"] = retBuf.Substring(5, 1) == "1" ? 1 : 0;
/*
* if (retBuf.Substring(5, 1) == "1")//Process Active
* {
* Pic_Process_Active.Image = PicOn.Image;
* Status_ProcessActive = true;
*
* Pic_Process_Active_Status.Image = PicOn.Image;
* //ParentForm.Pic_Process_Active_Status.Image = PicOn.Image;
* }
* else
* {
* Pic_Process_Active.Image = PicOff.Image;
* Status_ProcessActive = false;
*
* Pic_Process_Active_Status.Image = PicOff.Image;
* // ParentForm.Pic_Process_Active_Status.Image = PicOff.Image;
* }
*/
if (retBuf.Substring(6, 1) == "1")//Not Use
{
}
mDigitalSignals["CurrentFlow"] = retBuf.Substring(6, 1) == "1" ? 1 : 0;
/*
* if (retBuf.Substring(7, 1) == "1")//Current Flow
* {
* Pic_Current_Flow.Image = PicOn.Image;
* Status_CurrentFlow = true;
*
* Pic_Current_Flow_Status.Image = PicOn.Image;
* }
* else
* {
* Pic_Current_Flow.Image = PicOff.Image;
* Status_CurrentFlow = false;
*
* Pic_Current_Flow_Status.Image = PicOff.Image;
* }
*/
}
mDigitalSignals["ErrorNum"] = Convert.ToInt16(value2);
/*
* txtErrorNum.Text = value2.ToString();
* ErrorNumber = value2.ToString();
*/
if (Binary3.Length == 8)
{
string retBuf = Binary3;
mDigitalSignals["PulseSync"] = retBuf.Substring(0, 1) == "1" ? 1 : 0;
/*
* if (retBuf.Substring(0, 1) == "1")//Pulse Sync
* {
* Pic_Pulse_Sync.Image = PicOn.Image;
* Status_PulseSync = true;
* }
* else
* {
* Pic_Pulse_Sync.Image = PicOff.Image;
* Status_PulseSync = false;
* }
*/
mDigitalSignals["PilotArc"] = retBuf.Substring(7, 1) == "1" ? 1 : 0;
/*
* if (retBuf.Substring(7, 1) == "1")//Pilot Arc
* {
* Pic_Pilot_Arc.Image = PicOn.Image;
* Status_PilotArc = true;
* }
* else
* {
* Pic_Pilot_Arc.Image = PicOff.Image;
* Status_PilotArc = false;
* }
*/
}
if (Binary4.Length == 8)
{
string retBuf = Binary4;
mDigitalSignals["StickingRemedied"] = retBuf.Substring(0, 1) == "1" ? 1 : 0;
/*
* if (retBuf.Substring(0, 1) == "1")//Sticking Remedied
* {
* Pic_Sticking_Remedied.Image = PicOn.Image;
* Status_StickingRemedied = true;
* }
* else
* {
* Pic_Sticking_Remedied.Image = PicOff.Image;
* Status_StickingRemedied = false;
* }
*/
mDigitalSignals["WireAvailable"] = retBuf.Substring(3, 1) == "1" ? 1 : 0;
/*
* if (retBuf.Substring(3, 1) == "1")//Wire Available.
* {
* Pic_Wire_Available.Image = PicOn.Image;
* Status_WireAvailable = true;
* }
* else
* {
* Pic_Wire_Available.Image = PicOff.Image;
* Status_WireAvailable = false;
* }
*/
}
#endregion Check Bit Data
}
}
#endregion ID = 0x180
#region ID = 0x280
if (StsMsg.IdString == "282h")
{
if (retLEN == "8")
{
#region A0 Cal
ret1 = arData[0];
ret2 = arData[1];
value1 = Convert.ToInt64(ret1, 16);
value2 = Convert.ToInt64(ret2, 16);
string Binary1 = Convert.ToString(value1, 2);
string Binary2 = Convert.ToString(value2, 2);
if (Binary1.Length != 8)
{
int AddZero = 8 - Binary1.Length;
for (int j = 0; j < AddZero; j++)
{
Binary1 = "0" + Binary1;
}
}
if (Binary2.Length != 8)
{
int AddZero = 8 - Binary2.Length;
for (int j = 0; j < AddZero; j++)
{
Binary2 = "0" + Binary2;
}
}
string BinaryA0 = Binary2 + Binary1;
long valueA0 = Convert.ToInt64(BinaryA0, 2);
double retmap = Map(Convert.ToDouble(valueA0), 0, 65536, 0, 100); //0-100V
mAnalogSignals["A0"] = retmap;
/*
* txtVoltageMea.Text = retmap.ToString("0.000");
* txtVoltageMea_status.Text = retmap.ToString("0.000");
* TxtA0Measure.Text = "Value : " + valueA0.ToString() + ", Binary : " + BinaryA0;
*/
#endregion A0 Cal
#region A1 Cal
ret1 = arData[2];
ret2 = arData[3];
value1 = Convert.ToInt64(ret1, 16);
value2 = Convert.ToInt64(ret2, 16);
Binary1 = Convert.ToString(value1, 2);
Binary2 = Convert.ToString(value2, 2);
if (Binary1.Length != 8)
{
int AddZero = 8 - Binary1.Length;
for (int j = 0; j < AddZero; j++)
{
Binary1 = "0" + Binary1;
}
}
if (Binary2.Length != 8)
{
int AddZero = 8 - Binary2.Length;
for (int j = 0; j < AddZero; j++)
{
Binary2 = "0" + Binary2;
}
}
string BinaryA1 = Binary2 + Binary1;
long valueA1 = Convert.ToInt64(BinaryA1, 2);
retmap = Map(Convert.ToDouble(valueA1), 0, 65536, 0, 500); //0-500A
mAnalogSignals["A1"] = retmap;
/*
* txtCurrentMea.Text = retmap.ToString("0.000");
* txtCurrentMea_status.Text = retmap.ToString("0.000");
* TxtA1Measure.Text = "Value : " + valueA1.ToString() + ", Binary : " + BinaryA1;
*/
#endregion A1 Cal
#region A2 Cal
ret1 = arData[4];
ret2 = arData[5];
value1 = Convert.ToInt64(ret1, 16);
value2 = Convert.ToInt64(ret2, 16);
Binary1 = Convert.ToString(value1, 2);
Binary2 = Convert.ToString(value2, 2);
if (Binary1.Length != 8)
{
int AddZero = 8 - Binary1.Length;
for (int j = 0; j < AddZero; j++)
{
Binary1 = "0" + Binary1;
}
}
if (Binary2.Length != 8)
{
int AddZero = 8 - Binary2.Length;
for (int j = 0; j < AddZero; j++)
{
Binary2 = "0" + Binary2;
}
}
string BinaryA2 = Binary2 + Binary1;
long valueA2 = Convert.ToInt64(BinaryA2, 2);
retmap = Map(Convert.ToDouble(valueA2), 0, 65536, 0, 5); //0-5A
mAnalogSignals["A2"] = retmap;
/*
* txtMotorCurrent.Text = retmap.ToString("0.000");
* txtMotorCurrent_Mea.Text = txtMotorCurrent.Text;
* TxtA2Measure.Text = "Value : " + valueA2.ToString() + ", Binary : " + BinaryA2;
*/
#endregion A2 Cal
#region A3 Cal
ret1 = arData[6];
ret2 = arData[7];
value1 = Convert.ToInt64(ret1, 16);
value2 = Convert.ToInt64(ret2, 16);
Binary1 = Convert.ToString(value1, 2);
Binary2 = Convert.ToString(value2, 2);
if (Binary1.Length != 8)
{
int AddZero = 8 - Binary1.Length;
for (int j = 0; j < AddZero; j++)
{
Binary1 = "0" + Binary1;
}
}
if (Binary2.Length != 8)
{
int AddZero = 8 - Binary2.Length;
for (int j = 0; j < AddZero; j++)
{
Binary2 = "0" + Binary2;
}
}
string BinaryA3 = Binary2 + Binary1;
long valueA3 = Convert.ToInt64(BinaryA3, 2);
retmap = Map(Convert.ToDouble(valueA3), 0, 65536, -12.5, 12.5);
mAnalogSignals["A3"] = retmap;
/*
* txtWireFeedSpeed.Text = retmap.ToString("0.000");
* txtWireFeedSpeed_Mea.Text = txtWireFeedSpeed.Text;
* TxtA3Measure.Text = "Value : " + valueA3.ToString() + ", Binary : " + BinaryA3;
*/
#endregion A3 Cal
}
}
#endregion ID = 0x280
#region ID = 0x380
if (StsMsg.IdString == "382h")
{
if (retLEN == "8")
{
ret1 = arData[0];
}
}
#endregion ID = 0x380
#region ID = 0x702
if (StsMsg.IdString == "702h")
{
if (retLEN == "1")
{
ret1 = arData[0];
mState = Convert.ToByte(ret1, 16);
}
}
#endregion ID = 0x702
return(StsMsg);
}
