private void ResetCanButton_Click(object sender, EventArgs e)
{
if (CanZLG.VCI_ResetCAN(m_devtype, 0, can_ind1) != CanZLG.STATUS_OK)
{
MessageBox.Show("复位失败");
}
StartCanButton.Enabled = true;
ResetCanButton.Enabled = false;
}
private void CarTest_FormClosing(object sender, FormClosingEventArgs e)
{
try
{
RecvThread.Abort();
if (canOpen)
{
CanZLG.VCI_CloseDevice(m_devtype, 0);
}
timer1.Stop();
SimulateTimer.Stop();
sw_Record.Close();
}
catch (Exception)
{
}
}
private void StartCanButton_Click(object sender, EventArgs e)
{
if (canOpen)
{
canOpen = false;
CanZLG.VCI_CloseDevice(m_devtype, 0);
}
CanZLG.VCI_INIT_CONFIG init_config = new CanZLG.VCI_INIT_CONFIG();
init_config.Mode = 0;
init_config.Filter = 1;
init_config.AccCode = 0;
init_config.AccMask = 0xffffffff;
init_config.AccCode = 0x451 << 20;
init_config.AccMask = 0x000FFFFF;
// init_config.Timing0 = 0;
// init_config.Timing1 = 0x1c;
if (CanZLG.VCI_OpenDevice(m_devtype, 0, 0) != CanZLG.STATUS_OK)
{
MessageBox.Show("Open device fault!", "Error!", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
byte[] baud;
baud = BitConverter.GetBytes(0x60007); //500k 0x60007
//UInt32 baud;
//baud = 0x1000c8;
if (CanZLG.VCI_SetReference(m_devtype, 0, can_ind1, 0, baud) != CanZLG.STATUS_OK)
{
MessageBox.Show("设置波特率错误，打开设备失败!", "错误", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
CanZLG.VCI_CloseDevice(m_devtype, 0);
return;
}
if (CanZLG.VCI_InitCAN(m_devtype, 0, can_ind1, ref init_config) != CanZLG.STATUS_OK)
{
MessageBox.Show("Init can fault!", "Error!", MessageBoxButtons.OK, MessageBoxIcon.Error);
CanZLG.VCI_CloseDevice(m_devtype, 0);
return;
}
if (CanZLG.VCI_StartCAN(m_devtype, 0, can_ind1) != CanZLG.STATUS_OK)
{
MessageBox.Show("Start Failed");
}
/*
* baud = BitConverter.GetBytes(0x1000c8);//250k
* init_config.Timing0 = 1;
* init_config.Timing1 = 0x1c;
* if (CanZLG.VCI_SetReference(m_devtype, 0, can_ind0, 0, baud) != CanZLG.STATUS_OK)
* {
*
* MessageBox.Show("设置波特率错误，打开设备失败!", "错误", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
* CanZLG.VCI_CloseDevice(m_devtype, 0);
* return;
* }
*
* if (CanZLG.VCI_InitCAN(m_devtype, 0, can_ind0, ref init_config) != CanZLG.STATUS_OK)
* {
*
* //MessageBox.Show("Init can fault!", "Error!", MessageBoxButtons.OK, MessageBoxIcon.Error);
*
* //CanZLG.VCI_CloseDevice(m_devtype, 0);
* //return;
* }
* if (CanZLG.VCI_StartCAN(m_devtype, 0, can_ind0) != CanZLG.STATUS_OK)
* {
* MessageBox.Show("Start Failed");
* }
*/
canOpen = true;
StartCanButton.Enabled = false;
ModeButton.Enabled = true;
ResetCanButton.Enabled = true;
//RecTimer.Start();
}
//List<uint> ids = new List<uint>();
//StreamWriter sw = new StreamWriter(@"D:\Documents\EQTest\0723\a.txt");
private void ReceiveCanData()
{
uint ReceiveNum = 0;
uint stsResult = 0;
while (true)
{
if (this.canOpen)
{
ReceiveNum = CanZLG.VCI_GetReceiveNum(m_devtype, 0, can_ind1);
if (ReceiveNum > 0)
{
ReceiveNum = Math.Min(ReceiveNum, 50);
for (int index = 0; index < ReceiveNum; index++)
{
stsResult = CanZLG.VCI_Receive(m_devtype, 0, can_ind1, ref receiveFrameinfo, 1, 1);
if (stsResult != 1)
{
break;
}
else
{
//ids.Add(receiveFrameinfo.ID);
//if (ids.Count > 20)
//{
// sw.WriteLine(string.Join("\t", ids));
// sw.Flush();
// ids.Clear();
//}
//if (receiveFrameinfo.ID == 0x21)
//{
// SpeedInfo = receiveFrameinfo.Data[0]*256 + receiveFrameinfo.Data[1];
// //GasInfo = frameinfo.Data[2];
// BrakeInfo = receiveFrameinfo.Data[3];
// GearInfo = receiveFrameinfo.Data[4];
// AccelerateInfo = receiveFrameinfo.Data[6]*100;
// Delay = receiveFrameinfo.Data[7]*10;
// Record = new StringBuilder((DateTime.Now.Hour > 9 ? "" : "0") + DateTime.Now.Hour
// + (DateTime.Now.Minute > 9 ? ":" : ":0") +
// DateTime.Now.Minute
// + (DateTime.Now.Second > 9 ? ":" : ":0") +
// DateTime.Now.Second
// + (DateTime.Now.Millisecond > 9 ? ":" : ":0") +
// DateTime.Now.Millisecond + "\t");
// Record.Append("SpeedInfo:" + SpeedInfo + " Accelerate:" + AccelerateInfo + " Delay:" +
// Delay);
// lock (recordList)
// {
// recordList.Add(Record.ToString());
// }
//}
if (receiveFrameinfo.ID == 0x451)
{
receive451Data = string.Empty;
GasInfo = receiveFrameinfo.Data[6];
for (int i = 0; i < 8; i++)
{
receive451Data += receiveFrameinfo.Data[i].ToString("X2") + " ";
}
}
if (receiveFrameinfo.ID == 0x403)
{
can403count++;
receive403Data = string.Empty;
GasInfo = receiveFrameinfo.Data[6];
for (int i = 0; i < 8; i++)
{
receive403Data += receiveFrameinfo.Data[i].ToString("X2") + " ";
}
//Receive_Speed = (((double)(receiveFrameinfo.Data[1] & 0x07) * 1024) + ((double)receiveFrameinfo.Data[2] * 4) + (double)((receiveFrameinfo.Data[3] & 0xC0) >> 6)) / 16;
}
if (receiveFrameinfo.ID == 0x394)
{
Receive_Steer = (double)((receiveFrameinfo.Data[1] << 7) + (receiveFrameinfo.Data[2] >> 1)) * 0.04375;
}
//解析角度反馈
//if (StartRecord && receiveFrameinfo.ID == 0x401)
//{
// RecordCount++;
// int ActualAngel = receiveFrameinfo.Data[4]*256 + receiveFrameinfo.Data[5] - 1024;
// if (Delay == 0 && ActualAngel != LastReceiveAngle)
// Delay = RecordCount;
// if (Complete == 0 && Math.Abs(Angle - ActualAngel) < 2)
// Complete = RecordCount;
// Log log = new Log();
// log.Data = new List<int>();
// log.Data.Add(RecordCount);
// log.Data.Add(Angle);
// log.Data.Add(ActualAngel);
// log.Data.Add(Delay);
// log.Data.Add(Complete);
// LogData.Add(log);
// LastReceiveAngle = ActualAngel;
//}
/*
* if ( frameinfo.ID == 0x2e9)
* {
* SpeedInfo = 16*(frameinfo.Data[6]&0x1f)+ frameinfo.Data[5]/16;
* AccelerateInfo = (SpeedInfo - SpeedInfoEx)/0.18;
* SpeedInfoEx = SpeedInfo;
* Record = new StringBuilder((DateTime.Now.Hour > 9 ? "" : "0") + DateTime.Now.Hour
+ (DateTime.Now.Minute > 9 ? ":" : ":0") + DateTime.Now.Minute
+ (DateTime.Now.Second > 9 ? ":" : ":0") + DateTime.Now.Second
+ (DateTime.Now.Millisecond > 9 ? ":" : ":0") + DateTime.Now.Millisecond + "\t");
+
+ Record.Append("SpeedInfo:" + SpeedInfo + " Accelerate:" + AccelerateInfo );
+
+ if (ModeButton.Text == "自动驾驶")
+ {
+ lock (recordList)
+ {
+ recordList.Add(Record.ToString());
+ }
+ }
+
+ }
+ if (stsResult > 0 && frameinfo.ID == 0x403)
+ {
+ GearInfo = frameinfo.Data[0] & 0x0f;
+ }
*/
}
}
if (stsResult == 0xFFFFFFFF)
{
CanZLG.VCI_ReadErrInfo(m_devtype, 0, can_ind0, ref Err_Info);
CanZLG.VCI_ReadCANStatus(m_devtype, 0, can_ind0, ref Can_Status);
CanZLG.VCI_ClearBuffer(m_devtype, 0, can_ind0);
}
else
{
CanZLG.VCI_ClearBuffer(m_devtype, 0, can_ind1);
}
}
}
Thread.Sleep(1);
}
}
private bool Send(int para, SendType type, int para2 = 0)
{
if (!canOpen)
{
return(false);
}
frameinfo.ID = 0x20;
switch (type)
{
case SendType.Auto:
frameinfo.Data[0] = (byte)para2;
if (para2 == 10)
{
frameinfo.Data[1] = 0x09;
}
if (para2 == 00)
{
frameinfo.Data[1] = 0x08;
}
frameinfo.Data[2] = 0x00;
frameinfo.Data[3] = 0x00;
frameinfo.Data[4] = 0x00;
frameinfo.Data[5] = (byte)(para >> 8);
frameinfo.Data[6] = (byte)(para & 0xff);
frameinfo.Data[7] = 0x56;
break;
case SendType.Angle:
//frameinfo.Data[1] = 0x08;
frameinfo.Data[5] = (byte)(para & 0xff);
frameinfo.Data[4] = (byte)(para >> 8);
frameinfo.Data[6] = 0xF5;
break;
case SendType.Brake:
frameinfo.Data[0] = (byte)para;
frameinfo.Data[1] = 0x09;
frameinfo.Data[5] = 0x04;
frameinfo.Data[7] = 0x56;
break;
case SendType.BrakeReset:
frameinfo.Data[0] = (byte)para;
frameinfo.Data[1] = 0x08;
frameinfo.Data[5] = 0x04;
frameinfo.Data[7] = 0x56;
break;
case SendType.Light:
frameinfo.Data[1] = 0x09;
frameinfo.Data[1] += ConvertData1(para);
frameinfo.Data[2] = ConvertData2(para);
break;
case SendType.Mode:
frameinfo.Data[1] = (byte)para;
break;
case SendType.AnlgeCan:
for (int i = 0; i < 8; ++i)
{
frameinfo.Data[i] = 0;
}
if (Angle != LastSendAngle)
{
ResetRecordAngel();
}
frameinfo.ID = 0x500;
frameinfo.Data[0] = 0x20; //模式 1 2 5 reserve
frameinfo.Data[3] = (byte)((Angle + 1024) >> 8);
frameinfo.Data[4] = (byte)((Angle + 1024) & 0xff);
frameinfo.Data[6] = (byte)Torque; //角速度+力矩 0x80
for (int i = 0; i < 7; i++)
{
frameinfo.Data[7] ^= frameinfo.Data[i];
}
LastSendAngle = Angle;
break;
default: break;
}
frameinfo.RemoteFlag = 0;
frameinfo.ExternFlag = 0;
frameinfo.DataLen = 8;
// 打印输出测试用
//string str = string.Empty;
//for (int i = 0; i < 8; i++)
//{
// if(frameinfo.Data[i] > 0)
// str += "Data" + i + ":" + frameinfo.Data[i].ToString("x2");
//}
//MessageBox.Show(str);
if (CanZLG.VCI_Transmit(m_devtype, 0, can_ind0, ref frameinfo, 1) != CanZLG.STATUS_OK)
{
MessageBox.Show(".v");
return(false);
}
return(true);
}
