internal int FWwrite(byte[] buffer2, int id)
{
//int id = 888;
Canlib.canStatus status;
status = Canlib.canWrite(hcan, id, buffer2, 8, Canlib.canMSG_STD);
if (status != Canlib.canStatus.canOK)
{
send2Terminal("mingi error sõnumi saatmisel");
}
//Get ACK response
byte[] data = new byte[8];
int dlc;
int flags;
long time;
while (id != 889)
{
Canlib.canReadWait(hcan, out id, data, out dlc, out flags, out time, 100);
}
if (data[0] == ACK)
{
return(ACK);
}
else
{
return(NACK);
}
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
byte[] msg = new byte[8];
int dlc;
int flag, id;
long time;
Canlib.canStatus status;
CANMessage canMessage = new CANMessage();
logger.Debug("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
logger.Debug("readMessages thread ended");
return;
}
}
status = Canlib.canReadWait(handleRead, out id, msg, out dlc, out flag, out time, 250);
if ((flag & Canlib.canMSG_ERROR_FRAME) == 0)
{
if (status == Canlib.canStatus.canOK)
{
canMessage.setID((uint)id);
canMessage.setTimeStamp((uint)time);
canMessage.setFlags((byte)flag);
canMessage.setCanData(msg, (byte)dlc);
lock (m_listeners)
{
//AddToCanTrace("RX: " + canMessage.getID().ToString("X3") + " " + canMessage.getLength().ToString("X1") + " " + canMessage.getData().ToString("X16"));
//Console.WriteLine("MSG: " + rxMessage);
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
//CastInformationEvent(canMessage); // <GS-05042011> re-activated this function
}
}
else if (status == Canlib.canStatus.canERR_NOMSG)
{
Thread.Sleep(1);
}
}
else
{
logger.Debug("error frame");
}
}
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
byte[] msg = new byte[8];
int dlc;
int flag, id;
long time;
Canlib.canStatus status;
CANMessage canMessage = new CANMessage();
logger.Debug("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
logger.Debug("readMessages thread ended");
return;
}
}
status = Canlib.canReadWait(handleRead, out id, msg, out dlc, out flag, out time, 250);
if ((flag & Canlib.canMSG_ERROR_FRAME) == 0)
{
if (status == Canlib.canStatus.canOK)
{
if (acceptMessageId((uint)id))
{
canMessage.setID((uint)id);
canMessage.setTimeStamp((uint)time);
canMessage.setFlags((byte)flag);
canMessage.setCanData(msg, (byte)dlc);
receivedMessage(canMessage);
}
}
else if (status == Canlib.canStatus.canERR_NOMSG)
{
Thread.Sleep(1);
}
else
{
logger.Debug("error" + status);
}
}
else
{
logger.Debug("error frame");
}
}
}
/*
* Looks for messages and sends them to the output box.
*/
private void DumpMessageLoop(out string[] msg)
{
Canlib.canStatus status;
int id;
byte[] data = new byte[8];
int dlc;
int flags;
long time;
bool noError = true;
int i = 0, j = 0;
msg = new string[1000];
//Open up a new handle for reading
// readHandle = Canlib.canOpenChannel(channel, Canlib.canOPEN_ACCEPT_VIRTUAL);
// status = Canlib.canBusOn(readHandle);
//
Thread.Sleep(200);
while (j < 200)
{
status = Canlib.canReadWait(handle, out id, data, out dlc, out flags, out time, 5);
if (status == Canlib.canStatus.canOK && id == DigRecivedID)
{
if ((flags & Canlib.canMSG_ERROR_FRAME) == Canlib.canMSG_ERROR_FRAME)
{
// msg[i] = "***ERROR FRAME RECEIVED***";
}
else
{
msg[i] = String.Format("{0} {1} {2:x2} {3:x2} {4:x2} {5:x2} {6:x2} {7:x2} {8:x2} {9:x2} {10}\r",
id, dlc, data[0], data[1], data[2], data[3], data[4],
data[5], data[6], data[7], time);
}
//Sends the message to the ProcessMessage method
i++;
}
else if (status != Canlib.canStatus.canERR_NOMSG)
{
//Sends the error status to the ProcessMessage method and breaks the loop
noError = false;
}
j++;
}
// Canlib.canBusOff(readHandle);
}
/*
* Looks for messages and sends them to the output box.
*/
private void DumpMessageLoop(object sender, DoWorkEventArgs e)
{
BackgroundWorker worker = sender as BackgroundWorker;
Canlib.canStatus status;
int id;
byte[] data = new byte[8];
int dlc;
int flags;
long time;
bool noError = true;
string msg;
//Open up a new handle for reading
readHandle = Canlib.canOpenChannel(channel, Canlib.canOPEN_ACCEPT_VIRTUAL);
status = Canlib.canBusOn(readHandle);
while (noError && onBus && readHandle >= 0)
{
status = Canlib.canReadWait(readHandle, out id, data, out dlc, out flags, out time, 50);
if (status == Canlib.canStatus.canOK)
{
if ((flags & Canlib.canMSG_ERROR_FRAME) == Canlib.canMSG_ERROR_FRAME)
{
msg = "***ERROR FRAME RECEIVED***";
}
else
{
msg = String.Format("{0} {1} {2:x2} {3:x2} {4:x2} {5:x2} {6:x2} {7:x2} {8:x2} {9:x2} {10}\r",
id, dlc, data[0], data[1], data[2], data[3], data[4],
data[5], data[6], data[7], time);
}
//Sends the message to the ProcessMessage method
worker.ReportProgress(0, msg);
}
else if (status != Canlib.canStatus.canERR_NOMSG)
{
//Sends the error status to the ProcessMessage method and breaks the loop
worker.ReportProgress(100, status);
noError = false;
}
}
Canlib.canBusOff(readHandle);
}
public Message ReadMessage(int readHandle, out Canlib.canStatus status)
{
status = Canlib.canStatus.canOK;
Message m = null;
int id;
byte[] data = new byte[8];
int dlc;
int flags;
long time;
status = Canlib.canReadWait(readHandle, out id, data, out dlc, out flags, out time, 50);
m = new Message(id, data, dlc, flags, time);
return(m);
}
public void DumpMessageLoop()
{
Canlib.canStatus status;
bool finished = false;
//These variables hold the incoming message
byte[] data = new byte[8];
int id;
int dlc;
int flags;
long time;
send2Terminal("Channel opened. Press Disconnect to close. ");
send2Terminal("ID DLC DATA Timestamp");
while (!finished)
{
//Wait for up to 100 ms for a message on the channel
status = Canlib.canReadWait(hcan, out id, data, out dlc, out flags, out time, 100);
//If a message was received, display i
if (status == Canlib.canStatus.canOK)
{
DumpMessage(id, data, dlc, flags, time);
}
//Call DisplayError and exit in case an actual error occurs
else if (status != Canlib.canStatus.canERR_NOMSG)
{
CheckStatus(status, "canRead/canReadWait");
lock (MainWindow._locker) wnd.runCan = false;
deinitCan();
}
//Breaks the loop if the user presses the Disconnect key
lock (MainWindow._locker) finished = !wnd.runCan;
}
//deinitCan();
}
public bool CanLongMsgSend(int id, byte[] data, int datalength, int retrycount, double timeout, ref int EcuID, ref byte[] READDATA, ref string errmsg)
{
if ((datalength < 9) || (data.Length < 9))
{
errmsg = "Command Data Length <=8";
return(false);
}
bool _LoopChk = true;
int _EcuID;
byte[] _EcuData = new byte[8];
int _EcuDlc;
int _EcuFlags;
long _EcuTime;
int _Ecu_FS = -1; // 정상적으로 수신시 확인되는 값, FS FlowStatus, BS BlockSize, STmin
int _Ecu_BS = 0;
int _Ecu_STmin = 0;
double _Ecu_Stmin_sec; // 소수점단위 계산
bool _Ecu_FlowControl_Receive_OK = false;
byte[] _Data_FF = new byte[8];
byte[] _Data_CF = new byte[8];
int _LastSendDataIndex = 0;
Canlib.canStatus status;
Stopwatch _stopwatch_total = new Stopwatch();
Stopwatch _stopwatch_send = new Stopwatch();
// 명령 만들기
_Data_FF[0] = 0x10;
Int32 _DataLength_12bit = 0x00000000;
_DataLength_12bit = (Int32)datalength;
_DataLength_12bit = _DataLength_12bit & 0x00000FFF;
byte byte1Lownibble;
byte byte2;
byte1Lownibble = (byte)((_DataLength_12bit & 0x00000F00) >> 16);
byte2 = (byte)(_DataLength_12bit & 0x000000FF);
_Data_FF[0] = (byte)(0x10 | byte1Lownibble);
_Data_FF[1] = byte2;
_Data_FF[2] = data[0];
_Data_FF[3] = data[1];
_Data_FF[4] = data[2];
_Data_FF[5] = data[3];
_Data_FF[6] = data[4];
_Data_FF[7] = data[5];
_LastSendDataIndex = 6;
//
//Canlib.canBusOn(handle);
//status = Canlib.canWrite(handle, id, _Data_FF, 8, flags);
//Open up a new handle for reading
readHandle = Canlib.canOpenChannel(channel, Canlib.canOPEN_ACCEPT_LARGE_DLC);
status = Canlib.canAccept(readHandle, 0x7DF, Canlib.canFILTER_SET_CODE_STD);
status = Canlib.canAccept(readHandle, 0x7D0, Canlib.canFILTER_SET_MASK_STD);
status = Canlib.canBusOn(readHandle);
if (status == Canlib.canStatus.canOK)
{
onBus = true;
}
else
{
onBus = false;
}
if (readHandle < 0)
{
errmsg = "canOpenChannel Handle create error";
return(false);
}
if (!onBus)
{
errmsg = "onBus false";
return(false);
}
_stopwatch_total.Reset();
_stopwatch_total.Start();
_stopwatch_send.Reset();
_stopwatch_send.Start();
// Receive Channel Open -> SEND
Canlib.canBusOn(handle);
status = Canlib.canWrite(handle, id, _Data_FF, 8, flags);
while (_LoopChk)
{
// TimeOut Check
long st = _stopwatch_total.ElapsedMilliseconds;
double _durationtime = st / 1000.0; // ms -> sec
if (_durationtime > timeout)
{
// 설정시간안에 메세지 및 처리를 못했을 경우 종료
errmsg = "timeout error";
_LoopChk = false;
break;
}
// Message Recieve Check
bool _RecvOK = false;
status = Canlib.canReadWait(readHandle, out _EcuID, _EcuData, out _EcuDlc, out _EcuFlags, out _EcuTime, 100); // 100ms timeout
if (status == Canlib.canStatus.canOK)
{
if ((_EcuFlags & Canlib.canMSG_ERROR_FRAME) == Canlib.canMSG_ERROR_FRAME)
{
errmsg = "***ERROR FRAME RECEIVED***";
}
else
{
errmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2} {10}\r",
_EcuID, _EcuDlc, _EcuData[0], _EcuData[1], _EcuData[2], _EcuData[3], _EcuData[4],
_EcuData[5], _EcuData[6], _EcuData[7], _EcuTime);
if (_EcuID == 0x07D9)
{
_RecvOK = true;
}
}
}
else if (status != Canlib.canStatus.canERR_NOMSG)
{
errmsg = "TimeOut:NO MSG";
}
//CheckStatus("Read message " + errmsg, status);
//Canlib.canBusOff(readHandle);
if ((_EcuID == 0x07D9) && (_RecvOK))
{
byte EcuFC_Check = _EcuData[0];
EcuFC_Check = (byte)((EcuFC_Check & 0x00F0) >> 4);
if (EcuFC_Check == 3)
{
_LoopChk = false;
_Ecu_FS = (_EcuData[0] & 0x000F);
_Ecu_BS = (int)(_EcuData[1] & 0x00FF);
_Ecu_STmin = (int)(_EcuData[2] & 0x00FF);
if (_Ecu_STmin <= 0x7F)
{
_Ecu_Stmin_sec = _Ecu_STmin * 0.001;
}
if (_Ecu_STmin >= 0xF1)
{
_Ecu_Stmin_sec = (_Ecu_STmin - 0xF0) * 0.0001;
}
_Ecu_FlowControl_Receive_OK = true;
}
string sndmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2}\r",
id, 8, _Data_FF[0], _Data_FF[1], _Data_FF[2], _Data_FF[3], _Data_FF[4],
_Data_FF[5], _Data_FF[6], _Data_FF[7]);
CheckStatus("PC->ECU " + sndmsg, Canlib.canStatus.canOK);
CheckStatus("ECU->PC " + errmsg, status);
}
}
Canlib.canClose(readHandle);
if (!_Ecu_FlowControl_Receive_OK)
{
errmsg = "Ecu FlowControl not arrived";
return(false);
}
if (_Ecu_FS > 0)
{
errmsg = "Ecu FlowControl signal Busy";
return(false);
}
// ECU에서 FC를 정상적으로 수신후 데이터 전송....
_stopwatch_total.Reset();
_stopwatch_total.Start();
_stopwatch_send.Reset();
_stopwatch_send.Start();
_LoopChk = true;
int _SequenceNumber = 1;
byte _SN = (byte)_SequenceNumber;
int _BlockSendLoopCount = _Ecu_BS;
Canlib.canBusOn(handle);
bool _EcuLastReceiveOK = false;
// CF 전송후 수신확인.
//Open up a new handle for reading
readHandle = Canlib.canOpenChannel(channel, Canlib.canOPEN_ACCEPT_LARGE_DLC);
status = Canlib.canAccept(readHandle, 0x7DF, Canlib.canFILTER_SET_CODE_STD);
status = Canlib.canAccept(readHandle, 0x7D0, Canlib.canFILTER_SET_MASK_STD);
status = Canlib.canBusOn(readHandle);
if (status == Canlib.canStatus.canOK)
{
onBus = true;
}
else
{
onBus = false;
}
if (readHandle < 0)
{
errmsg = "canOpenChannel Handle create error";
return(false);
}
if (!onBus)
{
errmsg = "onBus false";
return(false);
}
while (_LoopChk)
{
// TimeOut Check
long st = _stopwatch_total.ElapsedMilliseconds;
double _durationtime = st / 1000.0; // ms -> sec
if (_durationtime > timeout)
{
// 설정시간안에 메세지 및 처리를 못했을 경우 종료
errmsg = "timeout error";
_LoopChk = false;
break;
}
if (datalength < _LastSendDataIndex)
{
_LoopChk = false;
break;
}
_stopwatch_send.Reset();
_stopwatch_send.Start();
// CF 전송
for (int hs = 0; hs < _BlockSendLoopCount; hs++)
{
// FF전송후 CF 데이터 전송 준비
_Data_CF[0] = 0x20;
_Data_CF[0] = (byte)(_Data_CF[0] + _SN);
for (int i = 0; i < 7; i++)
{
if (_LastSendDataIndex < datalength)
{
_Data_CF[1 + i] = data[_LastSendDataIndex];
}
else
{
_Data_CF[1 + i] = 0x00; // 0xAA;
}
_LastSendDataIndex++;
}
_SN++;
if (_SN > 16)
{
_SN = 0;
}
status = Canlib.canWrite(handle, id, _Data_CF, 8, flags);
long _dt = _stopwatch_send.ElapsedMilliseconds;
string sndmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2} {10:D5}ms\r",
id, 8, _Data_CF[0], _Data_CF[1], _Data_CF[2], _Data_CF[3], _Data_CF[4],
_Data_CF[5], _Data_CF[6], _Data_CF[7], _dt);
CheckStatus("PC->ECU " + sndmsg, status);
break; // Only One Run-----------------------------------------------실제 전송될 데이터 길이만큼만 전송함----------------------------------------------------------
}
// Message Recieve Check
bool _RecvOK = false;
bool _FinalReceiveCheck = true;
Stopwatch _Final = new Stopwatch();
_Final.Reset();
_Final.Start();
while (_FinalReceiveCheck)
{
if ((_Final.ElapsedMilliseconds / 1000.0) > 3.0)
{
errmsg = "Finnal ECU Receive Msg TIMEOUT";
_FinalReceiveCheck = false;
break;
}
status = Canlib.canReadWait(readHandle, out _EcuID, _EcuData, out _EcuDlc, out _EcuFlags, out _EcuTime, 100); // 100ms timeout
if (status == Canlib.canStatus.canOK)
{
if ((_EcuFlags & Canlib.canMSG_ERROR_FRAME) == Canlib.canMSG_ERROR_FRAME)
{
errmsg = "***ERROR FRAME RECEIVED***";
}
else
{
errmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2} {10}\r",
_EcuID, _EcuDlc, _EcuData[0], _EcuData[1], _EcuData[2], _EcuData[3], _EcuData[4],
_EcuData[5], _EcuData[6], _EcuData[7], _EcuTime);
if (_EcuID == 0x07D9)
{
_RecvOK = true;
CheckStatus("ECU->PC " + errmsg, status);
}
}
}
else if (status != Canlib.canStatus.canERR_NOMSG)
{
errmsg = "TimeOut:NO MSG";
}
//CheckStatus("Read message " + errmsg, status);
//Canlib.canBusOff(readHandle);
if ((_EcuID == 0x07D9) && (_RecvOK))
{
Canlib.canBusOn(handle);
byte[] temp = new byte[8] {
0x30, 0x00, 0x02, 0xAA, 0xAA, 0xAA, 0xAA, 0xAA
};
status = Canlib.canWrite(handle, 0x07D1, _Data_FF, 8, flags);
CheckStatus("PC->ECU " + "PC AutoResponse(0x30,0x00,0x02,0xAA,0xAA,0xAA,0xAA,0xaa", status);
Canlib.canBusOff(handle);
status = Canlib.canReadWait(readHandle, out _EcuID, _EcuData, out _EcuDlc, out _EcuFlags, out _EcuTime, 100);
if (status == Canlib.canStatus.canOK)
{
errmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2} {10}\r",
_EcuID, _EcuDlc, _EcuData[0], _EcuData[1], _EcuData[2], _EcuData[3], _EcuData[4],
_EcuData[5], _EcuData[6], _EcuData[7], _EcuTime);
if (_EcuID == 0x07D9)
{
_RecvOK = true;
CheckStatus("ECU->PC " + errmsg, status);
}
}
_FinalReceiveCheck = false;
_EcuLastReceiveOK = true;
_LoopChk = false;
break;
}
}
}
if (readHandle >= 0)
{
Canlib.canClose(readHandle);
}
if (_EcuLastReceiveOK)
{
if (_EcuData[1] == 0x62)
{
return(true);
}
return(false);
}
else
{
return(false);
}
}
private bool CanShortMsgSend(int id, byte[] data, int datalength, int retrycount, double timeout, ref int EcuID, ref byte[] READDATA, ref string errmsg)
{
bool _LoopChk = true;
bool _Result = false;
int _dlc = datalength;
int _flags = this.flags;
int _channel = this.channel;
long _time;
int _id = id;
int _handle = this.handle;
bool _noError = true;
Canlib.canStatus status;
string msg = "";
byte[] _ReadData = new byte[8];
Stopwatch _stopwatch = new Stopwatch();
bool _OnlyOneReceiveOK = false;
//Canlib.canBusOn(_handle);
//status = Canlib.canWrite(_handle, _id, data, _dlc, _flags);
//Open up a new handle for reading
/*
* readHandle = Canlib.canOpenChannel(_channel, Canlib.canOPEN_ACCEPT_LARGE_DLC);
* status = Canlib.canAccept(readHandle, 0x7DF, Canlib.canFILTER_SET_CODE_STD);
* status = Canlib.canAccept(readHandle, 0x7D0, Canlib.canFILTER_SET_MASK_STD);
* status = Canlib.canBusOn(readHandle);
* if (status == Canlib.canStatus.canOK) onBus = true;
* else onBus = false;
* if (readHandle < 0)
* {
* errmsg = "canOpenChannel Handle create error";
* return false;
* }
* if (!onBus)
* {
* errmsg = "onBus false";
* return false;
* }
*/
string sndmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2} {10}\r",
_id, _dlc, data[0], data[1], data[2], data[3], data[4],
data[5], data[6], data[7], 0);
CheckStatus("PC->ECU " + sndmsg, Canlib.canStatus.canOK);
Canlib.canBusOn(_handle);
status = Canlib.canWrite(_handle, _id, data, _dlc, _flags);
_stopwatch.Reset();
_stopwatch.Start();
while (_LoopChk)
{
// TimeOut Check
long st = _stopwatch.ElapsedMilliseconds;
double _durationtime = st / 1000.0; // ms -> sec
if (_durationtime > timeout)
{
// 설정시간안에 메세지 및 처리를 못했을 경우 종료
msg = "timeout error";
_LoopChk = false;
break;
}
// Message Recieve Check
status = Canlib.canReadWait(_handle, out _id, _ReadData, out _dlc, out _flags, out _time, 100); // 100ms timeout
if (status == Canlib.canStatus.canOK)
{
if ((_flags & Canlib.canMSG_ERROR_FRAME) == Canlib.canMSG_ERROR_FRAME)
{
msg = "***ERROR FRAME RECEIVED***";
}
else
{
msg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2} {10}\r",
_id, _dlc, _ReadData[0], _ReadData[1], _ReadData[2], _ReadData[3], _ReadData[4],
_ReadData[5], _ReadData[6], _ReadData[7], _time);
if (_id == 0x07D9)
{
for (int i = 0; i < 8; i++)
{
READDATA[i] = _ReadData[i];
}
_Result = true;
_OnlyOneReceiveOK = true;
}
}
}
else if (status != Canlib.canStatus.canERR_NOMSG)
{
msg = "TimeOut:NO MSG";
}
if (_id == 0x7D9)
{
CheckStatus("ECU->PC " + msg, status);
Canlib.canBusOff(_handle);
_LoopChk = false;
}
//onBus = false;
}
return(_Result);
}
private bool CanSend_Frame(int id, byte[] data, int datalength, int ReceiveRetryCount, ref int EcuID, ref byte[] READDATA, ref int ReadDataCount, ref string ErrMsg)
{
// Real Data Count Only...
int _handle = this.handle;
int _flags = this.flags;
Canlib.canStatus status;
byte[] SendData = new byte[8];
byte[] TempData = new byte[8] {
0x30, 0x00, 0x02, 0xAA, 0xAA, 0xAA, 0xAA, 0xAA
}; // Flow Control Signal
int RecvID = 0;
byte[] RecvData = new byte[8];
byte[] RecvDataBuffer = new byte[50];
int RecvDataIndex = 0;
int RecvDLC;
int RecvFlags;
long RecvTime;
long RecvSetTimeOut = 50;
int _ReceiveRetryCount = 0;
Canlib.canBusOn(_handle);
bool SendAll = false;
int DataIndex = 0;
while (!SendAll)
{
for (int i = 0; i < 8; i++)
{
if (DataIndex < datalength)
{
SendData[i] = data[DataIndex];
}
else
{
SendData[i] = 0x00;
}
DataIndex++;
}
// Data Send
status = Canlib.canWrite(_handle, id, SendData, 8, _flags);
CheckStatus("PC->ECU " + MsgConv(id, 8, SendData, 0), status);
bool MsgReceive = false;
while (!MsgReceive)
{
status = Canlib.canReadWait(_handle, out RecvID, RecvData, out RecvDLC, out RecvFlags, out RecvTime, RecvSetTimeOut);
if ((status == Canlib.canStatus.canOK) && (!((_flags & Canlib.canMSG_ERROR_FRAME) == Canlib.canMSG_ERROR_FRAME)))
{
if (RecvID == 0x07D9)
{
CheckStatus("ECU->PC " + MsgConv(RecvID, 8, RecvData, 0), status);
if ((RecvData[0] & 0xF0) == 0x30)
{
for (int i = 0; i < 8; i++)
{
RecvDataBuffer[RecvDataIndex] = RecvData[i]; RecvDataIndex++;
}
MsgReceive = true;
break;
}
if ((RecvData[0] & 0xF0) == 0x10)
{ // FF Respons
status = Canlib.canWrite(_handle, id, TempData, 8, _flags);
for (int i = 0; i < 8; i++)
{
RecvDataBuffer[RecvDataIndex] = RecvData[i]; RecvDataIndex++;
}
}
if ((RecvData[0] & 0xF0) == 0x20)
{ // CF Respons
for (int i = 0; i < 8; i++)
{
RecvDataBuffer[RecvDataIndex] = RecvData[i]; RecvDataIndex++;
}
}
if ((RecvData[0] & 0xF0) == 0x00)
{ // Single Frame
MsgReceive = true;
break;
}
}
}
if (_ReceiveRetryCount > ReceiveRetryCount)
{
break;
}
_ReceiveRetryCount++;
}
if (DataIndex > datalength)
{
SendAll = true;
break;
}
}
Canlib.canBusOff(_handle);
if (RecvDataIndex > 0)
{
EcuID = RecvID;
READDATA = RecvDataBuffer;
ReadDataCount = RecvDataIndex;
}
else
{
EcuID = RecvID;
READDATA = RecvData;
ReadDataCount = 8;
}
return(true);
}
private void canThreadFunct()
{
int canHandle;
Canlib.canStatus status;
int channel_number = 0;
int id;
byte[] msg = new byte[8];
int dlc;
int flag;
long time;
long timeout;
int val0 = 0;
int val1 = 0;
int val2 = 0;
int val3 = 0;
long count0 = 1;
long count1 = 2;
long count2 = 3;
long count3 = 4;
Canlib.canInitializeLibrary();
canHandle = Canlib.canOpenChannel(channel_number, Canlib.canOPEN_NO_INIT_ACCESS);
CheckStatus((Canlib.canStatus)canHandle, "canOpenChannel");
// Next, take the channel on bus using the canBusOn method. This
// needs to be done before we can send a message.
status = Canlib.canBusOn(canHandle);
CheckStatus(status, "canBusOn");
timeout = 1000;
while (!exit_request)
{
status = Canlib.canReadWait(canHandle, out id, msg, out dlc, out flag, out time, timeout);
CheckStatus(status, "canReadWait");
if (id == 0x700)
{
val0 = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(msg, 0));
count0 = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(msg, 4));
}
if (id == 0x701)
{
val1 = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(msg, 0));
count1 = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(msg, 4));
}
if (id == 0x702)
{
val2 = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(msg, 0));
count2 = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(msg, 4));
}
if (id == 0x703)
{
val3 = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(msg, 0));
count3 = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(msg, 4));
}
if (count0 == count1 && count0 == count2 && count0 == count3)
{
realtimeChart.DataSample genValue = new realtimeChart.DataSample();
genValue.value[0] = val0;
genValue.value[1] = val1;
genValue.value[2] = val2;
genValue.value[3] = val3;
mainChart.AddValue(genValue);
}
}
status = Canlib.canBusOff(canHandle);
CheckStatus(status, "canBusOff");
}