/// <summary>
/// Transmit CAN message via ES581.3
/// </summary>
public int nWriteMessage(sTCAN_MSG sMessage)
{
int nReturn = 0;
icsSpyMessage SpyMsg = new icsSpyMessage();
SpyMsg.ArbIDOrHeader = (int)sMessage.m_unMsgID;
SpyMsg.NumberBytesData = sMessage.m_ucDataLen;
SpyMsg.StatusBitField = 0;
SpyMsg.StatusBitField2 = 0;
if (sMessage.m_ucRTR == 1)
{
SpyMsg.StatusBitField |= (uint)SPY_STATUS_REMOTE_FRAME;
}
if (sMessage.m_ucEXTENDED == 1)
{
SpyMsg.StatusBitField |= (uint)SPY_STATUS_XTD_FRAME;
}
SpyMsg.Data = sMessage.m_ucData; // what if data> 8Byte?
if (icsneoTxMessages(m_anhObject, ref SpyMsg, 1, 1) != 0)
{
nReturn = 1;
}
return(nReturn);
}
/**
* \param[in] CurrSpyMsg Message polled from the bus in neoVI format
* \param[out] sCanData Application specific data format
* \param[in] unChannel channel
* \return TRUE (always)
*
* This will classify the messages, which can be one of Rx, Tx or
* Error messages. In case of Err messages this identifies under
* what broader category (Rx / Tx) does this occur.
*/
public bool bClassifyMsgType(ref icsSpyMessage CurrSpyMsg,
ref sTCANDATA sCanData)
{
if ((long.Parse(CurrSpyMsg.StatusBitField.ToString()) & long.Parse(VALUECAN_ERROR_BITS.ToString())) > 0)
{
sCanData.m_ucDataType = ERR_FLAG;
}
else if ((long.Parse(CurrSpyMsg.StatusBitField.ToString()) & long.Parse(SPY_STATUS_CAN_BUS_OFF.ToString())) > 0)
{
sCanData.m_ucDataType = ERR_FLAG;
}
else
{
//Check for RTR Message
if ((long.Parse(CurrSpyMsg.StatusBitField.ToString()) & long.Parse(SPY_STATUS_REMOTE_FRAME.ToString())) > 0)
{
sCanData.m_ucDataType = RX_FLAG;
sCanData.m_uDataInfo.m_sCANMsg.m_ucRTR = 1;
}
else
{
sCanData.m_uDataInfo.m_sCANMsg.m_ucRTR = 0;
}
if ((long.Parse(CurrSpyMsg.StatusBitField.ToString()) & long.Parse(SPY_STATUS_TX_MSG.ToString())) > 0)
{
sCanData.m_ucDataType = TX_FLAG;
}
else if ((long.Parse(CurrSpyMsg.StatusBitField.ToString()) & long.Parse(SPY_STATUS_NETWORK_MESSAGE_TYPE.ToString())) > 0)
{
sCanData.m_ucDataType = RX_FLAG;
}
// Copy data length
sCanData.m_uDataInfo.m_sCANMsg.m_ucDataLen = CurrSpyMsg.NumberBytesData;
// Copy the message data
sCanData.m_uDataInfo.m_sCANMsg.m_ucData = CurrSpyMsg.Data;
// Copy the message ID
sCanData.m_uDataInfo.m_sCANMsg.m_unMsgID = (uint)CurrSpyMsg.ArbIDOrHeader;
// Check for extended message indication
if ((long.Parse(CurrSpyMsg.StatusBitField.ToString()) & long.Parse(SPY_STATUS_XTD_FRAME.ToString())) > 0)
{
sCanData.m_uDataInfo.m_sCANMsg.m_ucEXTENDED = 1;
}
else
{
sCanData.m_uDataInfo.m_sCANMsg.m_ucEXTENDED = 0;
}
}
return(true);
}
public static void ConvertCANtoJ1850Message(ref icsSpyMessage icsCANStruct, ref icsSpyMessageJ1850 icsJ1850Struct)
{
icsJ1850Struct.StatusBitField = icsCANStruct.StatusBitField;
icsJ1850Struct.StatusBitField2 = icsCANStruct.StatusBitField2;
icsJ1850Struct.TimeHardware = icsCANStruct.TimeHardware;
icsJ1850Struct.TimeHardware2 = icsCANStruct.TimeHardware2;
icsJ1850Struct.TimeSystem = icsCANStruct.TimeSystem;
icsJ1850Struct.TimeSystem2 = icsCANStruct.TimeSystem2;
icsJ1850Struct.TimeStampHardwareID = icsCANStruct.TimeStampHardwareID;
icsJ1850Struct.TimeStampSystemID = icsCANStruct.TimeStampSystemID;
icsJ1850Struct.NetworkID = icsCANStruct.NetworkID;
icsJ1850Struct.NodeID = icsCANStruct.NodeID;
icsJ1850Struct.Protocol = icsCANStruct.Protocol;
icsJ1850Struct.MessagePieceID = icsCANStruct.MessagePieceID;
icsJ1850Struct.ColorID = icsCANStruct.ColorID;
icsJ1850Struct.NumberBytesHeader = icsCANStruct.NumberBytesHeader;
icsJ1850Struct.NumberBytesData = icsCANStruct.NumberBytesData;
icsJ1850Struct.DescriptionID = icsCANStruct.DescriptionID;
icsJ1850Struct.Header1 = Convert.ToByte(icsCANStruct.ArbIDOrHeader & 0xff);
icsJ1850Struct.Header2 = Convert.ToByte((0xFF00 & icsCANStruct.ArbIDOrHeader) / 256);
icsJ1850Struct.Header3 = Convert.ToByte((0xFF0000 & icsCANStruct.ArbIDOrHeader) / 65536);
icsJ1850Struct.Data1 = icsCANStruct.Data1;
icsJ1850Struct.Data2 = icsCANStruct.Data2;
icsJ1850Struct.Data3 = icsCANStruct.Data3;
icsJ1850Struct.Data4 = icsCANStruct.Data4;
icsJ1850Struct.Data5 = icsCANStruct.Data5;
icsJ1850Struct.Data6 = icsCANStruct.Data6;
icsJ1850Struct.Data7 = icsCANStruct.Data7;
icsJ1850Struct.Data8 = icsCANStruct.Data8;
icsJ1850Struct.AckBytes1 = icsCANStruct.AckBytes1;
icsJ1850Struct.AckBytes2 = icsCANStruct.AckBytes2;
icsJ1850Struct.AckBytes3 = icsCANStruct.AckBytes3;
icsJ1850Struct.AckBytes4 = icsCANStruct.AckBytes4;
icsJ1850Struct.AckBytes5 = icsCANStruct.AckBytes5;
icsJ1850Struct.AckBytes6 = icsCANStruct.AckBytes6;
icsJ1850Struct.AckBytes7 = icsCANStruct.AckBytes7;
icsJ1850Struct.AckBytes8 = icsCANStruct.AckBytes8;
icsJ1850Struct.Value = icsCANStruct.Value;
icsJ1850Struct.MiscData = icsCANStruct.MiscData;
}
public static void ConvertJ1850toCAN(ref icsSpyMessage icsCANStruct, ref icsSpyMessageJ1850 icsJ1850Struct)
{
//Becuse memcopy is not available.
icsCANStruct.StatusBitField = icsJ1850Struct.StatusBitField;
icsCANStruct.StatusBitField2 = icsJ1850Struct.StatusBitField2;
icsCANStruct.TimeHardware = icsJ1850Struct.TimeHardware;
icsCANStruct.TimeHardware2 = icsJ1850Struct.TimeHardware2;
icsCANStruct.TimeSystem = icsJ1850Struct.TimeSystem;
icsCANStruct.TimeSystem2 = icsJ1850Struct.TimeSystem2;
icsCANStruct.TimeStampHardwareID = icsJ1850Struct.TimeStampHardwareID;
icsCANStruct.TimeStampSystemID = icsJ1850Struct.TimeStampSystemID;
icsCANStruct.NetworkID = icsJ1850Struct.NetworkID;
icsCANStruct.NodeID = icsJ1850Struct.NodeID;
icsCANStruct.Protocol = icsJ1850Struct.Protocol;
icsCANStruct.MessagePieceID = icsJ1850Struct.MessagePieceID;
icsCANStruct.ColorID = icsJ1850Struct.ColorID;
icsCANStruct.NumberBytesHeader = icsJ1850Struct.NumberBytesHeader;
icsCANStruct.NumberBytesData = icsJ1850Struct.NumberBytesData;
icsCANStruct.DescriptionID = icsJ1850Struct.DescriptionID;
icsCANStruct.ArbIDOrHeader = (icsJ1850Struct.Header3 * 65536) + (icsJ1850Struct.Header2 * 256) + icsJ1850Struct.Header1;
icsCANStruct.Data1 = icsJ1850Struct.Data1;
icsCANStruct.Data2 = icsJ1850Struct.Data2;
icsCANStruct.Data3 = icsJ1850Struct.Data3;
icsCANStruct.Data4 = icsJ1850Struct.Data4;
icsCANStruct.Data5 = icsJ1850Struct.Data5;
icsCANStruct.Data6 = icsJ1850Struct.Data6;
icsCANStruct.Data7 = icsJ1850Struct.Data7;
icsCANStruct.Data8 = icsJ1850Struct.Data8;
icsCANStruct.AckBytes1 = icsJ1850Struct.AckBytes1;
icsCANStruct.AckBytes2 = icsJ1850Struct.AckBytes2;
icsCANStruct.AckBytes3 = icsJ1850Struct.AckBytes3;
icsCANStruct.AckBytes4 = icsJ1850Struct.AckBytes4;
icsCANStruct.AckBytes5 = icsJ1850Struct.AckBytes5;
icsCANStruct.AckBytes6 = icsJ1850Struct.AckBytes6;
icsCANStruct.AckBytes7 = icsJ1850Struct.AckBytes7;
icsCANStruct.AckBytes8 = icsJ1850Struct.AckBytes8;
icsCANStruct.Value = icsJ1850Struct.Value;
icsCANStruct.MiscData = icsJ1850Struct.MiscData;
}
public static extern Int32 icsneoScriptWriteTxMessage(Int32 hObject, UInt32 iIndex, ref icsSpyMessage pTxMessage);
public static extern Int32 icsneoScriptWriteRxMessage(Int32 hObject, UInt32 iIndex, ref icsSpyMessage pRxMessageMask, ref icsSpyMessage pRxMessageValue);
public static extern Int32 icsneoGetTimeStampForMsg(Int32 hObject, ref icsSpyMessage pMsg, ref double pTimeStamp);
public static extern Int32 icsneoTxMessages(Int32 hObject, ref icsSpyMessage pMsg, Int32 lNetworkID, Int32 lNumMessages);
public static extern Int32 icsneoGetMessages(Int32 hObject, ref icsSpyMessage pMsg, ref Int32 pNumberOfMessages, ref Int32 pNumberOfErrors);
/**
* \param[in] psCanDataArray Pointer to CAN Message Array of Structures
* \param[in] nMessage Maximun number of message to read or size of the CAN Message Array
* \param[out] Message Actual Messages Read
* \return Returns S_OK if successful otherwise corresponding Error code.
*
* This function will read multiple CAN messages from the driver.
* The other fuctionality is same as single message read. This
* will update the variable nMessage with the actual messages
* read.
*/
public int nReadMultiMessage(sTCANDATA[] psCanDataArray, ref int nMessage /* int nChannelIndex*/)
{
int i = 0;
int nReturn = 0;
int s_CurrIndex = 0;
Int32 s_Messages = 0;
Int32 nErrMsg = 0;
if (s_CurrIndex == 0)
{
nReturn = icsneoGetMessages(m_anhObject, s_asSpyMsg, ref s_Messages, ref nErrMsg);
}
ushort ushRxErr = 0, ushTxErr = 0;
if (nErrMsg > 0)
{
int nErrors = 0;
nReturn = icsneoGetErrorMessages(m_anhObject, ref s_anErrorCodes, ref nErrors);
if ((nReturn == NEOVI_OK) && (nErrors > 0))
{
for (int j = 0; j < nErrors; j++)
{
switch (s_anErrorCodes[j])
{
case 2: //NEOVI_ERROR_DLL_USB_SEND_DATA_ERROR
{
++ushTxErr;
}
break;
case 39: // NEOVI_ERROR_DLL_RX_MSG_FRAME_ERR
case 40: //NEOVI_ERROR_DLL_RX_MSG_FIFO_OVER
case 41: //NEOVI_ERROR_DLL_RX_MSG_CHK_SUM_ERR
{
++ushRxErr;
}
break;
default:
{
// Do nothing until further clarification is received
}
break;
}
}
}
}
// End of first level of error message processing
// START
/* Create the time stamp map. This means getting the local time and assigning
* offset value to the QuadPart.
*/
//UInt64 QuadPartRef = 0;
if (CREATE_MAP_TIMESTAMP == sg_byCurrState)
{
icsSpyMessage CurrSpyMsg = new icsSpyMessage();
CurrSpyMsg = s_asSpyMsg[s_CurrIndex];
double dTimestamp = 0;
nReturn = icsneoGetTimeStampForMsg(m_anhObject, ref CurrSpyMsg, ref dTimestamp);
if (nReturn == NEOVI_OK)
{
sg_byCurrState = CALC_TIMESTAMP_READY;
nReturn = 1;
long g_QueryTickCount;
g_QueryTickCount = 0;
QueryPerformanceCounter(ref g_QueryTickCount);
long unConnectionTimer;
unConnectionTimer = ((g_QueryTickCount * 10000) / sg_lnFrequency) - sg_TimeStamp;
if ((dTimestamp * 10000) >= unConnectionTimer)
{
sg_TimeStamp = (long)((dTimestamp * 10000) - unConnectionTimer);
}
else
{
sg_TimeStamp = (long)(unConnectionTimer - (dTimestamp * 10000));
}
}
else
{
nReturn = -1;
}
}
//End
int nLimForAppBuf = nMessage;
bool bChannelCnfgrd = false;
for (; (i < nLimForAppBuf) && (s_CurrIndex < s_Messages);)
{
sTCANDATA sCanData = new sTCANDATA();
icsSpyMessage CurrSpyMsg = new icsSpyMessage();
CurrSpyMsg = s_asSpyMsg[s_CurrIndex];
if (true)
{
bChannelCnfgrd = true;
sCanData.m_uDataInfo.m_sCANMsg.m_ucChannel = 0x01; // tbd
double dTimestamp = 0;
icsneoGetTimeStampForMsg(m_anhObject, ref CurrSpyMsg, ref dTimestamp);
sCanData.m_lTickCount = (long)(dTimestamp * 10000);
bClassifyMsgType(ref CurrSpyMsg, ref sCanData);
psCanDataArray[i] = sCanData;
}
s_CurrIndex++;
if (bChannelCnfgrd)
{
i++;
}
}
if ((s_CurrIndex == MAX_BUFFER_VALUECAN) || (s_CurrIndex == s_Messages))
{
s_CurrIndex = 0;
s_Messages = 0;
}
nMessage = i;
return(1);
}
public static extern int icsneoGetTimeStampForMsg(int hObject, ref icsSpyMessage pMsg, ref double pTimeStamp);
public async Task GetMessageFromCAN()
{
long lResult = 0;
icsSpyMessage stMessagesTx = new icsSpyMessage();
long lNetworkID;
int uiTimeout = 0;
// Has the uset open neoVI yet?;
if (m_bPortOpen == false)
{
MessageBox.Show("ValueCAN not connected");
return; // do not read messages if we haven't opened neoVI yet
}
// Read the Network we will transmit on (indicated by lstNetwork ListBox)
lNetworkID = (int)eNETWORK_ID.NETID_HSCAN;
stMessagesTx.StatusBitField = 0;
tCANWait.Start();
timeDelay.Start();
while (StartDAQ)
{
mutex.WaitOne(250);
var txMsgCount = qTxMsg.Count;
CAN_TX_MSG txMsg = null;
Console.WriteLine("TX Msg count = {0}", txMsgCount);
if (txMsgCount > 0)
{
txMsg = qTxMsg.Dequeue();
}
mutex.ReleaseMutex();
if ((txMsgCount > 0) && (txMsg != null))
{
stMessagesTx.ArbIDOrHeader = txMsg.lArbId; // The ArbID
stMessagesTx.NumberBytesData = txMsg.iNumBytes; // The number of Data Bytes
stMessagesTx.Data1 = txMsg.bData[0];
stMessagesTx.Data2 = txMsg.bData[1];
stMessagesTx.Data3 = txMsg.bData[2];
stMessagesTx.Data4 = txMsg.bData[3];
stMessagesTx.Data5 = txMsg.bData[4];
stMessagesTx.Data6 = txMsg.bData[5];
stMessagesTx.Data7 = txMsg.bData[6];
stMessagesTx.Data8 = txMsg.bData[7];
Console.WriteLine("Sending TX MSG: ARB ID = " + icsNeoDll.ConvertToHex(Convert.ToString(txMsg.lArbId)) + " Data : " + BitConverter.ToString(txMsg.bData));
// Transmit the assembled message
lResult = icsNeoDll.icsneoTxMessages(m_hObject, ref stMessagesTx, (int)lNetworkID, 1);
if (lResult != 1)
{
Console.WriteLine("!!!!!!!!!!!!!!!!!!!!!! Problem Transmitting Message");
await Task.Delay(2000);
continue;
}
timeDelay.Restart();
}
else
{
Console.WriteLine("No TX MSG in Queue");
}
if (lResult == 1 && iNumberOfMessages > 0)
{
// send the collected raw data bytes for processing
//ProcessReceivedMsg(Encoding.ASCII.GetBytes(sMsgData));
//Console.WriteLine("Num of Msg = {0}", iNumberOfMessages);
ProcessReceivedMsg(iNumberOfMessages, ToByteArray(stMessages));
Array.Clear(stMessages, 0, stMessages.Length);
iNumberOfMessages = -1;
lResult = 0;
}
uiTimeout = 0;
iElapsed = Convert.ToInt32(timeDelay.Elapsed.TotalMilliseconds);
if (iElapsed < Constants.RX_Timeout)
{
uiTimeout = Constants.RX_Timeout - iElapsed;
}
else if (iElapsed < Constants.DAQ_Interval)
{
uiTimeout = Constants.DAQ_Interval - iElapsed;
}
tCANWait.Restart();
//Console.WriteLine("Ui Timeout before if {0}", uiTimeout);
if (uiTimeout > 0)
{
//Console.WriteLine("UI Timeout = {0}", uiTimeout);
if (icsNeoDll.icsneoWaitForRxMessagesWithTimeOut(m_hObject, Convert.ToUInt32(uiTimeout)) == 1)
{
// Message reveived success
if (tCANWait.Elapsed.TotalMilliseconds < uiTimeout)
{
//Console.WriteLine("########### Waiting for Timeout");
await Task.Delay((uiTimeout - Convert.ToInt32(tCANWait.Elapsed.TotalMilliseconds)));
}
Console.WriteLine("####### Message Received:: Time taken : {0} ########", timeDelay.Elapsed.TotalMilliseconds);
}
lResult = icsNeoDll.icsneoGetMessages(m_hObject, ref stMessages[0], ref iNumberOfMessages, ref iNumberOfErrors);
}
iElapsed = Convert.ToInt32(timeDelay.Elapsed.TotalMilliseconds);
if (iElapsed < Constants.DAQ_Interval)
{
//Console.WriteLine("Task Delay time = {0}", (Constants.DAQ_Interval - iElapsed));
await Task.Delay((Constants.DAQ_Interval - iElapsed));
}
//Console.WriteLine("End iElapsed = {0}", iElapsed);
}
}
