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.

Currently Supported Features

• UDP Protocol
• J1939 and NMEA 2000 Phrasing
• .Net Core

Requirements / Issues

• 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