/* public CANMessage waitForMessage(uint a_canID, int a_timeout)
{
CANMessage retMsg;
m_canMessage.setID(0); // init so we cannot receive the same frame twice <GS-10022010>
lock (m_canMessage)
{
m_waitMsgID = a_canID;
}
m_resetEvent.WaitOne(a_timeout, true);
lock (m_canMessage)
{
retMsg = m_canMessage;
}
return retMsg;
}
*/
public override void handleMessage(CANMessage a_message)
{
lock (m_canMessage)
{
if (a_message.getID() == m_waitMsgID)
{
m_canMessage.setData(a_message.getData());
m_canMessage.setFlags(a_message.getFlags());
m_canMessage.setID(a_message.getID());
m_canMessage.setLength(a_message.getLength());
m_canMessage.setTimeStamp(a_message.getTimeStamp());
m_resetEvent.Set();
}
}
}
/// <summary> /// This message sends a CANMessage to the CAN device. /// The open method must have been called and returned possitive result /// before this method is called. /// </summary> /// <param name="a_message">The CANMessage</param> /// <returns>true on success, otherwise false.</returns> public abstract bool sendMessage(CANMessage a_message);
/// <summary>
/// Send a message that starts a session. This is used to test if there is
/// a connection.
/// </summary>
/// <returns></returns>
private bool sendSessionRequest()
{
CANMessage msg1 = new CANMessage(0x220, 0, 8);
LAWICEL.CANMsg msg = new LAWICEL.CANMsg();
msg1.setData(0x000040021100813f);
if (!sendMessage(msg1))
return false;
if (waitForMessage(0x238, 1000, out msg) == 0x238)
{
//Ok, there seems to be a ECU somewhere out there.
//Now, sleep for 10 seconds to get a session timeout. This is needed for
//applications on higher level. Otherwise there will be no reply when the
//higher level application tries to start a session.
Thread.Sleep(10000);
return true;
}
return false;
}
/// <summary>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
public override bool sendMessage(CANMessage a_message)
{
LAWICEL.CANMsg msg = new LAWICEL.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
int writeResult;
AddToCanTrace("Sending message");
writeResult = LAWICEL.canusb_Write(m_deviceHandle, ref msg);
if (writeResult == LAWICEL.ERROR_CANUSB_OK)
{
AddToCanTrace("Message sent successfully");
return true;
}
else
{
switch (writeResult)
{
case LAWICEL.ERROR_CANUSB_COMMAND_SUBSYSTEM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_COMMAND_SUBSYSTEM");
break;
case LAWICEL.ERROR_CANUSB_INVALID_PARAM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_INVALID_PARAM");
break;
case LAWICEL.ERROR_CANUSB_NO_MESSAGE:
AddToCanTrace("Message failed to send: ERROR_CANUSB_NO_MESSAGE");
break;
case LAWICEL.ERROR_CANUSB_NOT_OPEN:
AddToCanTrace("Message failed to send: ERROR_CANUSB_NOT_OPEN");
break;
case LAWICEL.ERROR_CANUSB_OPEN_SUBSYSTEM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_OPEN_SUBSYSTEM");
break;
case LAWICEL.ERROR_CANUSB_TX_FIFO_FULL:
AddToCanTrace("Message failed to send: ERROR_CANUSB_TX_FIFO_FULL");
break;
default:
AddToCanTrace("Message failed to send: " + writeResult.ToString());
break;
}
return false;
}
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
int readResult = 0;
LAWICEL.CANMsg r_canMsg = new LAWICEL.CANMsg();
CANMessage canMessage = new CANMessage();
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
return;
}
readResult = LAWICEL.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == LAWICEL.ERROR_CANUSB_OK)
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
lock (m_listeners)
{
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
else if (readResult == LAWICEL.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}
}
//-------------------------------------------------------------------------
/**
Tries to connect to CAN bus using the specified bitrate.
@param bitrate bitrate
@return succ / fail
*/
private bool try_bitrate(uint bitrate)
{
try
{
// try connecting
this.combi.CAN_SetBitrate(bitrate);
this.combi.CAN_Open(true);
// look for bus activity
CANMessage msg = new CANMessage();
Debug.Assert(msg != null);
if (this.waitForMessage(0, 1000, out msg) < 1)
{
throw new Exception("No traffic at given bitrate");
}
return true;
}
catch
{
// failed
this.combi.CAN_Open(false);
return false;
}
}
//-------------------------------------------------------------------------
/**
Waits for arrival of a specific CAN message or any message if ID = 0.
@param a_canID message ID
@param timeout timeout, ms
@param canMsg message
@return message ID
*/
public uint waitForMessage(uint a_canID, uint timeout,
out CANMessage canMsg)
{
canMsg = new CANMessage();
Debug.Assert(canMsg != null);
canMsg.setID(0);
caCombiAdapter.caCANFrame frame = new caCombiAdapter.caCANFrame();
if (this.combi.CAN_GetMessage(ref frame, timeout) &&
(frame.id == a_canID || a_canID == 0))
{
// message received
canMsg.setID(frame.id);
canMsg.setLength(frame.length);
canMsg.setData(frame.data);
return frame.id;
}
// timed out
return 0;
}
//-------------------------------------------------------------------------
/**
Sends a 11 bit CAN data frame.
@param msg CAN message
@return success (true/false)
*/
public override bool sendMessage(CANMessage msg)
{
this.AddToCanTrace("Sending message: " + msg.getID().ToString("X4") +
" " + msg.getData().ToString("X16"));
try
{
Combi.caCombiAdapter.caCANFrame frame;
frame.id = msg.getID();
frame.length = msg.getLength();
frame.data = msg.getData();
frame.is_extended = 0;
frame.is_remote = 0;
this.combi.CAN_SendMessage(ref frame);
this.AddToCanTrace("Message sent successfully");
return true;
}
catch (Exception e)
{
this.AddToCanTrace("Message failed to send: " + e.Message);
return false;
}
}
/// <summary> /// This method is called by ICANDevices where derived objects of this class /// are registered. The method is called for each received CANMessage. /// What this method does is application dependent. /// </summary> /// <param name="a_canMessage">The CANMessage to be handled by this method.</param> public abstract void handleMessage(CANMessage a_canMessage);
/// <summary>
/// Send an acknowledgement message.
/// </summary>
/// <param name="a_rowNr">The row number that should be acknowledged.</param>
private void sendAck(uint a_rowNr)
{
CANMessage msg = new CANMessage(0x266,0,8);
uint i = 0;
ulong data = 0;
data = setCanData(data, (byte)0x40, i++);
data = setCanData(data, (byte)0xA1, i++);
data = setCanData(data, (byte)0x3F, i++);
data = setCanData(data, (byte)(0x80 | (int)(a_rowNr)), i++);
msg.setData(data);
if (!m_canDevice.sendMessage(msg))
throw new Exception("Error sending ack");
}
/// <summary>
/// Start a KWP session.
/// </summary>
/// <remarks>
/// A KWP session must be started before any requests can be sent.
/// </remarks>
/// <returns>True if the session was started, otherwise false.</returns>
public bool startSession()
{
CANMessage msg = new CANMessage(0x220, 0, 8);
msg.setData(0x000040021100813F);
AddToCanTrace("Sending 0x000040021100813F message");
m_kwpCanListener.setupWaitMessage(0x238);
if (!m_canDevice.sendMessage(msg))
{
AddToCanTrace("Unable to send 0x000040021100813F message");
return false;
}
Console.WriteLine("Init msg sent");
if (m_kwpCanListener.waitMessage(timeoutPeriod).getID() == 0x238)
{
AddToCanTrace("Successfully sent 0x000040021100813F message and received reply 0x238");
return true;
}
else
{
AddToCanTrace("Didn't receive 0x238 message as reply on 0x000040021100813F message");
return false;
}
/* if (!m_canDevice.sendMessage(msg))
{
AddToCanTrace("Unable to send 0x000040021100813F message");
return false;
}
Console.WriteLine("Init msg sent");
if (m_kwpCanListener.waitForMessage(0x238, timeoutPeriod).getID() == 0x238)
{
AddToCanTrace("Successfully sent 0x000040021100813F message and received reply 0x238");
return true;
}
else
{
AddToCanTrace("Didn't receive 0x238 message as reply on 0x000040021100813F message");
return false;
}
*/
}
/// <summary>
/// Send a KWP request.
/// </summary>
/// <param name="a_request">A KWP request.</param>
/// <param name="r_reply">A KWP reply.</param>
/// <returns>The status of the request.</returns>
public RequestResult sendRequest(KWPRequest a_request, out KWPReply r_reply)
{
CANMessage msg = new CANMessage(0x240, 0, 8);
uint row = nrOfRowsToSend(a_request.getData());
m_kwpCanListener.setupWaitMessage(0x258);
// Send one or several request messages.
for (; row > 0; row--)
{
msg.setData(createCanMessage(a_request.getData(), row - 1));
if (!m_canDevice.sendMessage(msg))
{
r_reply = new KWPReply();
return RequestResult.ErrorSending;
}
}
msg = m_kwpCanListener.waitMessage(timeoutPeriod);
// msg = m_kwpCanListener.waitForMessage(0x258, timeoutPeriod);
// Receive one or several replys and send an ack for each reply.
if (msg.getID() == 0x258)
{
uint nrOfRows = (uint)(msg.getCanData(0) & 0x3F)+ 1;
row = 0;
if (nrOfRows == 0)
throw new Exception("Wrong nr of rows");
//Assume that no KWP reply contains more than 0x200 bytes
byte[] reply = new byte[0x200];
reply = collectReply(reply, msg.getData(), row);
sendAck(nrOfRows - 1);
nrOfRows--;
m_kwpCanListener.setupWaitMessage(0x258);
while (nrOfRows > 0)
{
// msg = m_kwpCanListener.waitForMessage(0x258, timeoutPeriod);
msg = m_kwpCanListener.waitMessage(timeoutPeriod);
if (msg.getID() == 0x258)
{
row++;
reply = collectReply(reply, msg.getData(), row);
sendAck(nrOfRows - 1);
nrOfRows--;
}
else
{
r_reply = new KWPReply();
return RequestResult.Timeout;
}
}
r_reply = new KWPReply(reply, a_request.getNrOfPID());
return RequestResult.NoError;
}
else
{
r_reply = new KWPReply();
return RequestResult.Timeout;
}
}
/// <summary> /// This message sends a CANMessage to the CAN device. /// The open method must have been called and returned possitive result /// before this method is called. /// </summary> /// <param name="a_message">The CANMessage</param> /// <returns>true on success, otherwise false.</returns> abstract public bool sendMessage(CANMessage a_message);
/// <summary> /// This method is called by ICANDevices where derived objects of this class /// are registered. The method is called for each received CANMessage. /// What this method does is application dependent. /// </summary> /// <param name="a_canMessage">The CANMessage to be handled by this method.</param> public abstract void handleMessage(CANMessage a_canMessage);