public int SendMessage(CanPacket canPacket)
{
if (canPacket == null)
{
throw new ArgumentNullException(nameof(canPacket));
}
if (!isConnected)
{
return(-1);
}
var data = canPacket.RawBytes;
int resultToReturn = 0;
foreach (UdpClient client in udpSenderConnections)
{
int result = client.Send(data, data.Length, ipEndPointMulticast);
if (result > resultToReturn)
{
resultToReturn = result;
}
}
return(resultToReturn);
}
// send the canPacket over Pi socketcand interface
public int SendMessage(CanPacket canPacket)
{
if (!isConnected)
{
return(-1);
}
//var data = canPacket.RawBytes;
var data = new ArraySegment <byte>(canPacket.RawBytes, 0, 8);
var send = new List <ArraySegment <byte> >()
{
data
};
int resultToReturn = 0;
// send CAN to each client -> change to interface via socketCAN
/*foreach (UdpClient client in udpSenderConnections)
* {
* int result = client.Send(data, data.Length, ipEndPointMulticast);
* if (result > resultToReturn)
* resultToReturn = result;
* }*/
// send "send" message
resultToReturn = sender.Send(send);
return(resultToReturn);
}
public bool InRange(CanPacket canPacket)
{
if (canPacket.CanId >= BaseAddress && canPacket.CanId <= HighAddress)
{
return(true);
}
return(false);
}
public int SendMessage(CanPacket canPacket)
{
if (ReceivedCanPacketCallBack == null)
{
return(-1);
}
ReceivedCanPacketCallBack?.Invoke(canPacket);
return(1);
}
public bool InRange(CanPacket canPacket)
{
if (canPacket == null)
{
throw new ArgumentNullException(nameof(canPacket));
}
if (canPacket.CanId >= BaseAddress && canPacket.CanId <= HighAddress)
{
return(true);
}
return(false);
}
public CanPacket LatestPacket(uint canIdOffset)
{
CanPacket canPacket = (CanPacket)latestCanPackets[canIdOffset];
if (canPacket == null)
{
return(null);
}
if (MilliValid != 0 && canPacket.MilisecondsSinceReceived > MilliValid)
{
return(null);
}
return(canPacket);
}
private void CanPacketReceivedInternal(CanReceivedEventArgs e)
{
CanPacket canPacket = e.Message;
uint canIdOffset = canPacket.CanId - BaseAddress;
if (latestCanPackets.ContainsKey(canIdOffset))
{
latestCanPackets.Remove(canIdOffset);
}
latestCanPackets.Add(canIdOffset, canPacket);
if (InRange(canPacket))
{
CanPacketReceived(canPacket);
}
}
private void SplitCanPackets(byte[] data, IPAddress sourceIPAddress, int sourcePort)
{
Byte[] header = data.Take(16).ToArray();
Byte[] body = data.Skip(16).ToArray();
int numPackets = body.Length / 14;
for (int i = 0; i < numPackets; i++)
{
CanPacket canPacket = new CanPacket(header.Concat(body.Take(14).ToArray()).ToArray())
{
SourceIPAddress = sourceIPAddress,
SourceIPPort = sourcePort
};
ReceivedCanPacketCallBack?.Invoke(canPacket);
body = body.Skip(14).ToArray();
}
}
public CanReceivedEventArgs(CanPacket Message)
{
this.Message = Message;
}
public abstract void CanPacketReceived(CanPacket canPacket);
// Used for testing only
public void TestCanPacketReceived(CanPacket canPacket)
{
CanPacketReceivedInternal(new CanReceivedEventArgs(canPacket));
}
