C# Example: A Simple Tutorial

Translated on 07-08-2026, 1:41.

Not fully finished yet, but the basic idea is to use a C++ DLL to interface with the RKS+ CAN interface.
Of course, the code could be written more elegantly, and it only displays the serial number and version information from the interface.

If anyone is a C# expert and can provide feedback on my work, please let me know. It would be beneficial to create a separate C# file for including the code, which encapsulates the DLL API. This isn't overly complicated.

Best regards, Rainer.

Translated on 07-08-2026, 1:43.

Has anyone had any progress on this yet? I expanded the project to include Ub, and that seems to be working so far.

I'm now stuck with receiving the CAN messages.

Code:

if(RKSCANRx(&sRx))

- exactly here, how do I need to import this from the DLL?

The following error is displayed: "Additional information: "parameter #1" cannot be marshaled: Pointers are not allowed to point to marshaled structures. Use ByRef instead."

possibly, someone can help me

Translated on 07-08-2026, 1:44.

Ugh... reluctantly becoming a C# hacker. Life could be so simple, I'm working on it, and soon I'll be ready for another vacation.

Here's how it works:
http://andyrushton.co.uk/csharp-calling-c-functions-marshalling-structs/
https://docs.microsoft.com/en-us/dotnet/framework/interop/passing-structures

Instead of wrapping each individual function call of the C/C++ DLL in a complex way, it would probably be more efficient to extend the C# RKS-USB class with wrapper functions that can be called instead. This way, the effort is only required once.

Best regards, Rainer.

10-01-2018, 20:58 Subject: C# Example: A Simple Tutorial

[Translating...]

Code:

using System.Runtime.InteropServices;

// CAN frame types

// CAN data structure
public class can_data_t
{
public uint dwID;
public byte byDLC;
public byte[] abyData = new byte[8]; // max 8 data bytes
}

// CAN error information structure
public class can_err_t
{
public byte byError;
}

// CAN information structure
//C++ TO C# CONVERTER TODO TASK: Unions are not supported in C#, but the following union can be replicated with the StructLayout and FieldOffset attributes:
//ORIGINAL LINE: union can_union_t
[StructLayout(LayoutKind.Explicit)]
public struct can_union_t
{
[FieldOffset(0)]
public can_data_t sData;
[FieldOffset(0)]
public can_err_t sErr;
}

// The final CAN frame structure used for send/receive
public class can_msg_t
{
public byte byType;
public uint dwTimeStamp;
public can_union_t uFrm = new can_union_t();
}

internal static class DefineConstants
{
public const int FRAME_TYPE_NORMAL = 0x1;
public const int FRAME_TYPE_RTR = 0x2;
public const int FRAME_TYPE_NORMAL_EXT = 0x3;
public const int FRAME_TYPE_RTR_EXT = 0x4;
public const int FRAME_TYPE_ERR = 0x5;
}

Translated on 07-08-2026, 1:45.

C# wrapper by Alexander Schmidt on GitHub:
https://www.canhack.de/en/viewtopic.php?t=2400