private OBDParameterValue GetJ1939Value(OBDParameter param, OBDResponse response)
{
OBDParameterValue value2 = new OBDParameterValue();
if (response.Header.Substring(2, 2) == "E8")
{
// J1939的确认消息，非正确的返回值
value2.ErrorDetected = true;
return(value2);
}
switch (param.Parameter)
{
case 0xFECE:
value2 = GetDM5Value(param, response);
break;
case 0xD300:
value2 = GetDM19Value(param, response);
break;
case 0xFEEC:
// VIN
value2.ListStringValue = SetMode09ASCII(17 * 2, response);
break;
}
return(value2);
}
protected int GetDataStartIndex(int headLen, OBDParameter param, bool bIsMultiline)
{
int iRet;
switch (param.Service)
{
case 1:
iRet = headLen + 4;
break;
case 2:
iRet = headLen + 6;
break;
case 3:
case 4:
case 7:
case 0x0A:
iRet = headLen + 2;
break;
case 5:
iRet = headLen + 6;
break;
case 9:
return(param.Parameter % 2 == 0 ? headLen + 6 : headLen + 4);
default:
iRet = headLen + 4;
break;
}
return(bIsMultiline ? iRet + 2 : iRet);
}
public OBDParameter GetFreezeFrameCopy(int iFrame)
{
OBDParameter copy = GetCopy();
copy.Service = 2;
copy.OBDRequest = "02" + copy.OBDRequest.Substring(2, 2) + iFrame.ToString("D2");
return(copy);
}
/// <summary>
/// 返回符合标准协议规定的K线/J1850帧
/// </summary>
/// <param name="param"></param>
/// <param name="tempLines"></param>
/// <param name="headLen"></param>
/// <returns></returns>
protected override List <string> GetLegalLines(OBDParameter param, List <string> tempLines, int headLen)
{
List <string> lines = new List <string>();
// dicFrameType表示找到的正响应的PDU帧类型，key: ECU ID，value: 多帧计数
// value值，-1：未确认类型，0：单帧，1~7：多帧计数
Dictionary <string, int> dicFrameType = new Dictionary <string, int>();
string positiveResponse = (param.Service + 0x40).ToString("X2") + param.OBDRequest.Substring(2);
string negativeResponse = "7F" + param.OBDRequest.Substring(0, 2);
for (int i = 0; i < tempLines.Count; i++)
{
if (tempLines[i].Length < headLen)
{
continue;
}
string ECU_ID = tempLines[i].Substring(2, headLen - 2);
if (!dicFrameType.Keys.Contains(ECU_ID))
{
dicFrameType.Add(ECU_ID, -1);
}
if (tempLines[i].Contains(negativeResponse))
{
// 响应本命令的负反馈，可能有多个
lines.Add(tempLines[i]);
}
else if (tempLines[i].Contains(positiveResponse))
{
// 响应本命令的正反馈，每个ECU只会有一个
int pos = tempLines[i].IndexOf(positiveResponse);
try {
int iCount = Convert.ToInt32(tempLines[i].Substring(pos + positiveResponse.Length, 2), 16);
if (pos == headLen)
{
if (dicFrameType[ECU_ID] + 1 == iCount)
{
dicFrameType[ECU_ID] = iCount;
lines.Add(tempLines[i]);
}
else if (dicFrameType[ECU_ID] == -1)
{
dicFrameType[ECU_ID] = iCount;
lines.Add(tempLines[i]);
}
}
else
{
dicFrameType[ECU_ID] = -1;
}
} catch (Exception) {
dicFrameType[ECU_ID] = -1;
}
}
}
return(lines);
}
public OBDParameter GetCopy()
{
OBDParameter p = new OBDParameter {
ValueTypes = ValueTypes,
_OBDRequest = OBDRequest,
_parameter = Parameter,
Service = Service,
SignalName = SignalName,
};
return(p);
}
public OBDResponseList GetResponseList(OBDParameter param)
{
OBDResponseList responses = _obdDevice.Query(param);
string strItem = "Responses: ";
for (int i = 0; i < responses.ResponseCount; i++)
{
strItem += string.Format("[{0}] ", Utility.GetReadableHexString(0, responses.GetOBDResponse(i).Data));
}
strItem = strItem.TrimEnd();
_log.TraceInfo(strItem);
return(responses);
}
private OBDParameterValue GetDM19Value(OBDParameter param, OBDResponse response)
{
OBDParameterValue value2 = new OBDParameterValue();
if (response.GetDataByteCount() < 20)
{
value2.ErrorDetected = true;
return(value2);
}
int qty = response.Data.Length / (20 * 2);
string strData = "";
int OriginalParam = param.Parameter;
int OriginalService = param.Service;
param.Service = 9;
switch (param.SignalName)
{
case "CVN":
param.Parameter = 0x06;
for (int i = 0; i < qty; i++)
{
strData += response.Data.Substring(i * 20 * 2, 4 * 2);
}
response.Data = strData;
value2 = GetMode010209Value(param, response);
for (int i = 0; i < value2.ListStringValue.Count; i++)
{
string strVal = value2.ListStringValue[i];
value2.ListStringValue[i] = strVal.Substring(6, 2) + strVal.Substring(4, 2) + strVal.Substring(2, 2) + strVal.Substring(0, 2);
}
break;
case "CAL_ID":
param.Parameter = 0x04;
for (int i = 0; i < qty; i++)
{
strData += response.Data.Substring(4 * 2 + i * 20 * 2, 16 * 2);
}
response.Data = strData;
value2 = GetMode010209Value(param, response);
break;
default:
value2.ErrorDetected = true;
break;
}
param.Parameter = OriginalParam;
param.Service = OriginalService;
return(value2);
}
private OBDParameterValue GetDM5Value(OBDParameter param, OBDResponse response)
{
OBDParameterValue value2 = new OBDParameterValue();
if (response.GetDataByteCount() < 8)
{
value2.ErrorDetected = true;
return(value2);
}
switch (param.SignalName)
{
case "":
case "OBDSUP":
// OBD型式
response.Data = response.GetDataByte(2);
value2 = GetPIDValue(0x11C, response.Data, param.SignalName);
break;
case "ACT_DTC_CNT":
// 激活的故障代码，未实现解析功能
response.Data = response.GetDataByte(0);
break;
case "PRE_DTC_CNT":
// 先前激活的诊断故障代码，未实现解析功能
response.Data = response.GetDataByte(1);
break;
case "CON_MON":
// 持续监视系统支持／状态，未实现解析功能
response.Data = response.GetDataByte(3);
break;
case "NON_SUP":
// 非持续监视系统支持，未实现解析功能
response.Data = response.GetDataByte(4) + response.GetDataByte(5);
break;
case "NON_STAT":
// 非持续监视系统状态，未实现解析功能
response.Data = response.GetDataByte(6) + response.GetDataByte(7);
break;
default:
value2.ErrorDetected = true;
break;
}
return(value2);
}
private string GetLogString(OBDParameter param, OBDParameterValue obdValue)
{
string strRet = "Values: ";
if ((param.ValueTypes & (int)OBDParameter.EnumValueTypes.Double) == (int)OBDParameter.EnumValueTypes.Double)
{
strRet += string.Format("[ECU: {1}, Double: {0}] ", obdValue.DoubleValue.ToString(), obdValue.ECUResponseID);
}
if ((param.ValueTypes & (int)OBDParameter.EnumValueTypes.Bool) == (int)OBDParameter.EnumValueTypes.Bool)
{
strRet += string.Format("[ECU: {1}, Bool: {0}] ", obdValue.BoolValue.ToString(), obdValue.ECUResponseID);
}
if ((param.ValueTypes & (int)OBDParameter.EnumValueTypes.String) == (int)OBDParameter.EnumValueTypes.String)
{
strRet += string.Format("[ECU: {1}, String: {0}] ", obdValue.StringValue, obdValue.ECUResponseID);
}
if ((param.ValueTypes & (int)OBDParameter.EnumValueTypes.ListString) == (int)OBDParameter.EnumValueTypes.ListString)
{
strRet += string.Format("[ECU: {0}, ListString: ", obdValue.ECUResponseID);
if (obdValue.ListStringValue != null && obdValue.ListStringValue.Count > 0)
{
foreach (string strx in obdValue.ListStringValue)
{
strRet = string.Concat(strRet, strx + ", ");
}
strRet = strRet.Substring(0, strRet.Length - 2);
}
strRet += "]";
}
if ((param.ValueTypes & (int)OBDParameter.EnumValueTypes.ShortString) == (int)OBDParameter.EnumValueTypes.ShortString)
{
strRet += string.Format("[ECU: {1}, ShortString: {0}] ", obdValue.ShortStringValue, obdValue.ECUResponseID);
}
if ((param.ValueTypes & (int)OBDParameter.EnumValueTypes.BitFlags) == (int)OBDParameter.EnumValueTypes.BitFlags)
{
strRet += string.Format("[ECU: {0}, BitFlags: ", obdValue.ECUResponseID);
for (int idx = 0; idx < 32; idx++)
{
strRet += (obdValue.GetBitFlag(idx) ? "1" : "0");
if (idx % 8 == 7)
{
strRet += " ";
}
}
strRet = strRet.TrimEnd() + "]";
}
strRet = strRet.TrimEnd();
return(strRet);
}
public OBDParameterValue GetMode010209Value(OBDParameter param, OBDResponse response)
{
OBDParameterValue value2;
if (param.Parameter % 0x20 == 0)
{
value2 = GetPIDSupport(response);
}
else
{
uint ID = (uint)((param.Service == 2 ? param.Service - 1 : param.Service << 8) + param.Parameter);
value2 = GetPIDValue(ID, response.Data, param.SignalName);
}
return(value2);
}
public List <OBDParameterValue> GetValueList(OBDParameter param)
{
List <OBDParameterValue> ValueList = new List <OBDParameterValue>();
_log.TraceInfo("Requesting: " + param.OBDRequest);
OBDResponseList responses = _obdDevice.Query(param);
string strItem = "Responses: ";
if (responses.ErrorDetected)
{
strItem += "Error Detected!";
OBDParameterValue value = new OBDParameterValue {
ErrorDetected = true,
StringValue = "Error Detected in OBDResponseList!",
ShortStringValue = "ERROR_RESP"
};
ValueList.Add(value);
_log.TraceInfo(strItem);
return(ValueList);
}
else
{
for (int i = 0; i < responses.ResponseCount; i++)
{
strItem += string.Format("[{0}] ", Utility.GetReadableHexString(0, responses.GetOBDResponse(i).Data));
}
strItem = strItem.TrimEnd();
_log.TraceInfo(strItem);
}
for (int i = 0; i < responses.ResponseCount; i++)
{
OBDParameterValue obdValue = _obdInterpreter.GetValue(param, responses.GetOBDResponse(i));
if (obdValue.ErrorDetected)
{
_log.TraceError(string.Format("Values: [ECU: {0}, Error Detected!]", obdValue.ECUResponseID));
}
else
{
_log.TraceInfo(GetLogString(param, obdValue));
}
ValueList.Add(obdValue);
}
return(ValueList);
}
protected abstract List <string> GetLegalLines(OBDParameter param, List <string> tempLines, int headLen);
public abstract OBDResponseList Parse(OBDParameter param, string response);
public override OBDResponseList Query(OBDParameter param)
{
OBDResponseList orl = _Parser.Parse(param, GetOBDResponse(param.OBDRequest));
int errorQty;
for (errorQty = 0; errorQty < 2; errorQty++)
{
if (!orl.ErrorDetected)
{
break;
}
if (Online)
{
Thread.Sleep(500);
}
orl = _Parser.Parse(param, GetOBDResponse(param.OBDRequest));
}
// 重试3次后还是出错的话，软重启ELM327后再重试3次
if (errorQty >= 2)
{
ConfirmAT("ATWS");
InitELM327Format();
ConfirmAT("ATSP" + ((int)_iProtocol).ToString("X1"));
for (errorQty = 0; errorQty < 3; errorQty++)
{
if (!orl.ErrorDetected)
{
break;
}
if (Online && errorQty != 0)
{
Thread.Sleep(500);
}
orl = _Parser.Parse(param, GetOBDResponse(param.OBDRequest));
}
}
if (orl.RawResponse == "PENDING")
{
int waittingTime = 60; // 重试总时间，单位秒
int interval = 6; // 重试间隔时间，单位秒
// NRC=78 处理
_log.TraceWarning("Receive only NRC78, handle pending message");
switch (_iProtocol)
{
case ProtocolType.J1850_PWM:
case ProtocolType.J1850_VPW:
// 间隔30秒重复发送一次请求，直到有正响应消息返回
interval = 30;
for (int i = waittingTime / interval; i > 0; i--)
{
Thread.Sleep(interval * 1000);
orl = _Parser.Parse(param, GetOBDResponse(param.OBDRequest));
if (!(orl.RawResponse == "PENDING" || orl.ErrorDetected))
{
break;
}
}
break;
case ProtocolType.ISO9141_2:
// 间隔4秒重复发送一次请求，直到有正响应消息返回
interval = 4;
for (int i = waittingTime / interval; i > 0; i--)
{
Thread.Sleep(interval * 1000);
orl = _Parser.Parse(param, GetOBDResponse(param.OBDRequest));
if (!(orl.RawResponse == "PENDING" || orl.ErrorDetected))
{
break;
}
}
break;
default:
// ISO14230-4 会在50ms内发送NRC78负响应直到发送正响应，v2.1以下的ELM327一般可收到所需要的消息，只需要过滤NRC78的负响应即可
// ISO15765-4 会在5s内发送NRC78负响应直到发送正响应，v2.1以下的ELM327无法收到所需要的消息，需要上层应用自己处理
// 间隔6s(5s加上传输延时)检测一次是否有正响应消息返回，如果没有则继续
for (int i = waittingTime / interval; i > 0; i--)
{
Thread.Sleep(interval * 1000);
string RxLine = _CommELM.GetRxLine();
if (RxLine != null && RxLine.Length > 0)
{
_log.TraceInfo("RX: " + RxLine.Replace("\r", "\\r"));
orl = _Parser.Parse(param, RxLine);
if (!(orl.RawResponse == "PENDING" || orl.ErrorDetected))
{
break;
}
}
}
break;
}
}
return(orl);
}
public OBDParameterValue GetValue(OBDParameter param, OBDResponse response)
{
OBDParameterValue value2 = new OBDParameterValue();
if (response == null)
{
value2.ErrorDetected = true;
return(value2);
}
switch (param.Service)
{
case 0:
// SAE J1939
value2 = GetJ1939Value(param, response);
break;
case 1:
case 2:
value2 = GetMode010209Value(param, response);
break;
case 3:
case 7:
case 0x0A:
value2 = GetMode03070AValue(response);
break;
case 9:
value2 = GetMode010209Value(param, response);
break;
case 0x19:
// ISO 27145 ReadDTCInformation
string reportType = param.OBDRequest.Substring(2, 2);
if (reportType == "42")
{
value2 = Get42DTCValue(response);
}
else if (reportType == "55")
{
value2 = Get55DTCValue(response);
}
break;
case 0x22:
// ISO 27145 ReadDataByIdentifer
int HByte = (param.Parameter >> 8) & 0xFF;
int LByte = param.Parameter & 0x00FF;
int OriginalParam = param.Parameter;
int OriginalService = param.Service;
param.Parameter = LByte;
if (HByte == 0xF4)
{
param.Service = 1;
value2 = GetMode010209Value(param, response);
}
else if (HByte == 0xF8)
{
param.Service = 9;
value2 = GetMode010209Value(param, response);
}
param.Parameter = OriginalParam;
param.Service = OriginalService;
break;
default:
value2.ErrorDetected = true;
break;
}
value2.ECUResponseID = response.Header;
if (value2.ECUResponseID.Length == 6)
{
// 如果是K线协议的话ECUResponseID取最后2个字节
value2.ECUResponseID = value2.ECUResponseID.Substring(2);
}
else if (value2.ECUResponseID.Length == 8 && param.Service == 0)
{
// 如果是J1939协议的话ECUResponseID取最后1个字节
value2.ECUResponseID = value2.ECUResponseID.Substring(6);
}
return(value2);
}
public override OBDResponseList Parse(OBDParameter param, string response)
{
return(Parse(param, response, HEADER_LENGTH));
}
public abstract OBDResponseList Query(OBDParameter param);
public OBDResponseList Parse(OBDParameter param, string response, int headLen)
{
if (string.IsNullOrEmpty(response))
{
response = "";
}
OBDResponseList responseList = new OBDResponseList(response);
response = Strip(response);
response = ErrorFilter(response);
if (ErrorCheck(response))
{
responseList.ErrorDetected = true;
return(responseList);
}
List <string> legalLines = SplitByCR(response);
legalLines = GetLegalLines(param, legalLines, headLen);
List <string> lines = new List <string>();
foreach (string item in legalLines)
{
if (item.Length > 0 && item.Length < headLen)
{
// 过滤数据帧总长小于帧头长度的错误数据
continue;
}
string strNRC = GetNRC(item, headLen);
if (strNRC.Length == 0)
{
lines.Add(item);
}
else if (strNRC == "78")
{
responseList.Pending = true;
}
}
if (lines.Count == 0)
{
if (responseList.Pending)
{
responseList.RawResponse = "PENDING";
return(responseList);
}
else
{
responseList.ErrorDetected = true;
return(responseList);
}
}
lines.Sort();
List <List <string> > groups = new List <List <string> >();
List <string> group = new List <string> {
lines[0]
};
groups.Add(group);
if (lines[0].Length < headLen)
{
responseList.ErrorDetected = true;
return(responseList);
}
string header = lines[0].Substring(0, headLen);
for (int i = 1; i < lines.Count; i++)
{
if (lines[i].Length >= headLen)
{
if (lines[i].Substring(0, headLen).CompareTo(header) == 0)
{
group.Add(lines[i]);
}
else
{
group = new List <string> {
lines[i]
};
groups.Add(group);
header = lines[i].Substring(0, headLen);
}
}
else
{
responseList.ErrorDetected = true;
return(responseList);
}
}
for (int i = 0; i < groups.Count; i++)
{
OBDResponse obd_response = new OBDResponse();
bool bIsMultiline = false;
if (groups[i].Count > 1)
{
bIsMultiline = true;
}
int dataStartIndex = GetDataStartIndex(headLen, param, bIsMultiline);
int length1 = groups[i][0].Length - dataStartIndex - 2;
obd_response.Header = groups[i][0].Substring(0, headLen);
obd_response.Data = length1 > 0 ? groups[i][0].Substring(dataStartIndex, length1) : "";
for (int j = 1; j < groups[i].Count; j++)
{
int length2 = groups[i][j].Length - dataStartIndex - 2;
obd_response.Data += (length2 > 0 ? groups[i][j].Substring(dataStartIndex, length2) : "");
}
responseList.AddOBDResponse(obd_response);
}
return(responseList);
}
private bool GetSupportStatus(int mode, Dictionary <string, bool[]> supportStatus)
{
supportStatus.Clear();
OBDParameter param = new OBDParameter();
int HByte = 0;
if (_OBDIf.STDType == StandardType.ISO_27145)
{
HByte = (mode << 8) & 0xFF00;
param = new OBDParameter(0x22, HByte, "", 32);
}
else if (_OBDIf.STDType == StandardType.ISO_15031)
{
param = new OBDParameter(mode, 0, "", 32);
}
else if (_OBDIf.STDType == StandardType.SAE_J1939)
{
param = new OBDParameter(0, mode, "", 0);
List <OBDParameterValue> valueList = _OBDIf.GetValueList(param);
foreach (OBDParameterValue value in valueList)
{
if (value.ErrorDetected)
{
return(false);
}
supportStatus.Add(value.ECUResponseID, null);
}
return(true);
}
for (int i = 0; (i * 0x20) < MAX_PID; i++)
{
param.Parameter = HByte + i * 0x20;
List <OBDParameterValue> valueList = _OBDIf.GetValueList(param);
bool next = false;
foreach (OBDParameterValue value in valueList)
{
if (value.ErrorDetected)
{
return(false);
}
if (!supportStatus.ContainsKey(value.ECUResponseID))
{
bool[] bitFlag = new bool[MAX_PID];
supportStatus.Add(value.ECUResponseID, bitFlag);
}
foreach (string key in supportStatus.Keys)
{
if (value.ECUResponseID == key)
{
for (int j = 0; j < 0x20; j++)
{
supportStatus[key][j + i * 0x20] = value.GetBitFlag(j);
}
}
}
next = next || value.GetBitFlag(31);
}
if (!next)
{
break;
}
}
foreach (string key in supportStatus.Keys)
{
string log = "";
if (_OBDIf.STDType == StandardType.ISO_27145)
{
log = "DID " + mode.ToString("X2") + " Support: [" + key + "], [";
}
else if (_OBDIf.STDType == StandardType.ISO_15031)
{
log = "Mode" + mode.ToString("X2") + " Support: [" + key + "], [";
}
for (int i = 0; i * 8 < MAX_PID; i++)
{
for (int j = 0; j < 8; j++)
{
log += supportStatus[key][i * 8 + j] ? "1" : "0";
}
log += " ";
}
log = log.TrimEnd();
log += "]";
_log.TraceInfo(log);
}
return(true);
}
