using System;
using System.Collections.Generic;
using System.Text;
public class CanPacket {
private byte pktclass = 0;
// private byte type = 0;
// private byte sid = 0;
// private byte rid = 0;
private byte data_length = 0;
private uint id = 0;
private byte[] data
= new byte[8]; private byte ext = 1;
private byte rtr = 0;
public CanPacket() {
}
public CanPacket(byte[] raw,uint startIndex) {
// 17 bytes, a packet.
// UART_START_BYTE id[0] id[1] id[2] id[3] extended remote_request data_length d[0] d[1] d[2] d[3] d[4] d[5] d[6] d[7] UART_END_BYTE
/*
* 000CCCCx TTTTTTTT SSSSSSSS RRRRRRRR
*
* <CLASS> = 00011110 00000000 00000000 00000000 = 0x1E000000 NMT, ...
* <TYPE> = 00000000 11111111 00000000 00000000 = 0x00FF0000 NMT[CAN_NMT_PGM_START, CAN_ID_NMT_PGM_ACK, ...]
* <SID> = 00000000 00000000 11111111 00000000 = 0x0000FF00 Sender ID
* <RID> = 00000000 00000000 00000000 11111111 = 0x000000FF Receiver ID
*
*/
uint addr = (((uint)raw[startIndex + 3]) << 24) + (((uint)raw[startIndex + 2]) << 16) + (((uint)raw[startIndex + 1]) << 8) + (((uint)raw[startIndex + 0]));
this.id = addr;
this.pktclass = (byte)((addr & 0x1E000000) >> 25);
// this.type = (byte)((addr & 0x00FF0000) >> 16);
// this.sid = (byte)((addr & 0x0000FF00) >> 8);
// this.rid = (byte)((addr & 0x000000FF));
this.data_length = raw[startIndex + 6];
ext = (byte)(0x0f & raw[startIndex + 4]);
rtr = (byte)(0x0f & raw[startIndex + 5]);
for (int i = 0; i < 8; i++) this.data[i] = raw[startIndex + 7 + i];
}
public CanPacket(string raw) {
//denna funktion fungerar sådär, se till att bygga en bättre parser
//1e00007f 1 0 04 03 02 01 96 3f 76 15
string [] split = null;
//split = raw.Split( new Char [] {' '} );
split = raw.Split( ' ' );
if ((split.Length >= 3) && (split.Length <= 11)) {
try {
id = System.Convert.ToUInt32(split[0].Trim(), 16);
}
catch {
Console.WriteLine("\noverflow 1 <"+split[0].Trim()+">\n");
}
try {
ext = (byte)(System.Convert.ToUInt32(split[1].Trim(), 16)&0xFF);
}
catch {
Console.WriteLine("\noverflow 2 <"+split[1].Trim()+">\n");
}
try {
rtr = (byte)(System.Convert.ToUInt32(split[2].Trim(), 16)&0xFF);
}
catch {
Console.WriteLine("\noverflow 3 <"+split[2].Trim()+">\n");
}
//testa ext och rtr!
string dummy="";
try {
for (int i = 0; i < split.Length-3; i++) {
dummy = split[i+3].Trim();
if (dummy.Length == 0) break;
data_length = (byte)((i+1)&0xFF);
//Console.WriteLine("i: " + i + " i+3: " + (i+3) + " split[i+3]: " +split[i+3]);
data[i] = (byte)(System.Convert.ToUInt32(dummy, 16)&0xFF);
}
}
catch {
Console.WriteLine("\noverflow 4 <"+dummy+">\n");
}
}
}
public override int GetHashCode() {
return base.GetHashCode();
}
public override bool Equals(Object obj) {
CanPacket cpm = (CanPacket)obj;
byte[] bytes = cpm.getData();
for(int i=0;i<8;i++) if (this.data[i]!=bytes[i]) return false;
return (this.id==cpm.getId() && this.data_length==cpm.getDataLength());
}
public uint getId() { return this.id; }
public void setId(uint id) { this.id = id; }
public byte getPktClass(){ return this.pktclass; }
public void setDataLength(byte datalength){ this.data_length=datalength; }
public byte getDataLength(){ return this.data_length; }
public byte[] getData(){ return this.data; }
public void setExt(byte ext) { this.ext = ext; }
public void setData(byte[] data){ this.data = data; }
// public override string ToString() {
// string str = "";
// str = "pktclass: "+pktclass.ToString()+", type: "+type.ToString()+", sid: "+sid.ToString()+", rid: "+rid.ToString()+",data_length: "+data_length.ToString()+", data: ";
// for (int i = 0; i < 8; i++) str+=data[i].ToString()+" ";
// return str;
// }
public string toRawString() {
string returnstring = "PKT " + String.Format("{0:x8}", id);
returnstring = returnstring + " " + String.Format("{0:x1}", ext) + " " + String.Format("{0:x1}", rtr);
for (int i = 0; i < data_length; i++) {
returnstring = returnstring + " " + String.Format("{0:x2}", data[i]);
}
//returnstring = returnstring + "\n";
return returnstring;
}
public byte[] getBytes() {
byte[] bytes
= new byte[15];
// 17 bytes, a packet.
// UART_START_BYTE id[0] id[1] id[2] id[3] extended remote_request data_length d[0] d[1] d[2] d[3] d[4] d[5] d[6] d[7] UART_END_BYTE
/*
* 000CCCCx TTTTTTTT SSSSSSSS RRRRRRRR
*
* <CLASS> = 00011110 00000000 00000000 00000000 = 0x1E000000 NMT, ...
* <TYPE> = 00000000 11111111 00000000 00000000 = 0x00FF0000 NMT[CAN_NMT_PGM_START, CAN_ID_NMT_PGM_ACK, ...]
* <SID> = 00000000 00000000 11111111 00000000 = 0x0000FF00 Sender ID
* <RID> = 00000000 00000000 00000000 11111111 = 0x000000FF Receiver ID
*
*/
bytes[3] = (byte)((id & 0xFF000000) >> 24);
bytes[2] = (byte)((id & 0x00FF0000) >> 16);
bytes[1] = (byte)((id & 0x0000FF00) >> 8);
bytes[0] = (byte)((id & 0x000000FF));
bytes[4]=ext;
bytes[5]=rtr;
bytes[6]=this.data_length;
for(int i=0;i<8;i++) bytes[i+7]=this.data[i];
return bytes;
}
}