CAN_Ethernet_Gateway

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CAN_Ethernet_Gateway

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C# class for communicating with Peak-System's PCAN-Ethernet Gateway

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// repository documentation

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# J1939/CAN Ethernet Gateway

CAN-Ethernet Gateway is a C# library that allows for easy communication with a CAN Bus over IP networks. 
 The libary enables bi-directional communications to a PCAN-Ethernet Gateway DR hardware unit sold by Peak-Systems.
  (See: https://www.peak-system.com/PCAN-Ethernet-Gateway-DR.330.0.html?&L=1) 
  Peak's hardware allows for CAN frames are wrapped in TCP or UDP message packets.

The library also makes it easy to receive and send standard J1939 messages.

<b>Currently Supported Features</b>
- UDP Protocol
- J1939 and NMEA 2000 Phrasing
- .Net Core

<b>Requirements / Issues</b>
- You must disable the PCAN-Gateway Handshake to allow the connection (Handshake currently not supported).
- TCP protocol currently not supported

CanGateway canGatewayConnector = new CanGateway();

var messages = new List<CanMessageDefinition>();
 
         CanMessageDefinition joyStick = new CanMessageDefinition
            {
               IdHex = "18FDD7AA", MessageName = "GPS Position"
            };

var position = new CanMessageDefinition {IdHex = "09F80100", MessageName = "GPS Position"};
             position.AddParameter(new MessageParameter(.0000001, 0, 0, 32, -2147483648, 2147483647, "Latitude", typeof(double), "Latitude"));
             position.AddParameter(new MessageParameter(.0000001, 0, 32, 32, -2147483648, 2147483647, "Longitude", typeof(double), "Longitude"));
             messages.Add(position);

canGatewayConnector.CanBusDefLoad(messages); // Load messages into CAN Gateway connector;

int localPort = 2001;               // Port o open on local machine
          string remoteIp = "192.168.0.10";   // IP of remote CAN Gateway device
          int RemotePort = 5050;              // Port on remote CAN Gateway configured to the specific CAN Device

canGatewayConnector.Configuration(localPort, IPAddress.Parse(remoteIp), RemotePort); // Load configuration into CAN Gateway Connector
            canGatewayConnector.StartProcess(); // Start the thread //

canGatewayConnector.Connect();
            
            lock (canGatewayConnector.SyncRoot)
            {
                var canPosition = canGatewayConnector.Messages.First(x => x.IdHex == "0x9F80100");
                var latitude = (double)canPosition.GetValues()["Latitude"];
                var longitude = (double)canPosition.GetValues()["Longitude"];

Console.WriteLine("Longitude: {0}  Longitude: {1}", longitude.ToString(CultureInfo.CurrentCulture), latitude.ToString(CultureInfo.CurrentCulture));
            }

Console.WriteLine("Hit any key to send message");
            Console.ReadKey();

var x18Fdd7Aa = canGatewayConnector.Messages.First(x => x.IdHex == "0x18FDD7AA");       // Pull the message definition
            x18Fdd7Aa.Parameters.First(x => x.Name == "Joystick1GripXAxis").Value = 59;
            x18Fdd7Aa.Parameters.First(x => x.Name == "Joystick1GripYAxis").Value = 50;

canGatewayConnector.DataSend(x18Fdd7Aa.GenerateIpCanMsg().EncodeCanPacket()); // Encode and send message

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