/// <summary>
/// 启动Can
/// </summary>
public int OpenCan(string ip)
{
byte[] outPut = new byte[1024];
int len = (int)CanHelper.VCI_FindDevice(currentDeviceType, outPut, outPut.Length);
if (len == 0)
{
return(-1);
}
string[] s = Encoding.ASCII.GetString(outPut, 0, len).Split(';');
if (s[0] == "")
{
return(-1);
}
var count = 0;
for (int i = 0; i < s.Length; i++)
{
if (ip == s[i])
{
selectedDeviceIndex = (uint)i;
break;
}
count++;
}
if (count == s.Length)
{
return(-1);
}
return(InitCan(selectedDeviceIndex, selectedCanIndex));
}
/// <summary>
/// 发送给通讯设备（是发送帧数为空，返回-1，不为空返回0）
/// </summary>
/// <param name="id">接收Id</param>
/// <param name="data">通讯数据</param>
public unsafe int SendData(uint id, byte[] data)
{
//lock (Locker)
//{
var length = (byte)data.Length;
var sendobj = new VCI_CAN_OBJ();
sendobj.RemoteFlag = 0;
sendobj.ExternFlag = 1;
sendobj.ID = id;
sendobj.DataLen = length;
//数据帧
//扩展
//暂时认为,命令+参数不会超过8个字节
for (var i = 0; i < length; i++)
{
sendobj.Data[i] = data[i];
}
if (CanHelper.VCI_Transmit(currentDeviceType, selectedDeviceIndex,
selectedCanIndex, ref sendobj, 1) == 0)
{
if (CanHelper.VCI_Transmit(currentDeviceType, selectedDeviceIndex,
selectedCanIndex, ref sendobj, 1) == 0)
{
return(-1);
}
}
return(0);
//}
}
/// <summary>
/// 打开Can
/// </summary>
/// <param name="devind">设备号</param>
/// <param name="canind">can通道号</param>
private int InitCan(uint devind, uint canind)
{
if (CanHelper.VCI_CloseDevice == null)
{
return(-1);
}
try
{
// 先关闭设备
CanHelper.VCI_CloseDevice(currentDeviceType, devind);
}
catch (Exception)
{
return(-1);
}
// 打开设备
if (CanHelper.VCI_OpenDevice(currentDeviceType, devind, 0) != 1)
{
return(-1);
}
var config = new VCI_INIT_CONFIG
{
AccCode = 0,
AccMask = 0xFFFFFFFF,
Timing0 = 0x00,
Timing1 = 0x14,
Filter = 0,
Mode = 0,
Baud = 1000000
};
//不关心所有的位,即,在CAN总线上的所有帧,主机都要接收
//1M波特率
//接收全部帧(标准帧或扩展帧)
CanHelper.VCI_ClearBuffer(currentDeviceType, devind, canind);
//配置can口参数，初始化失败，关闭can
if (CanHelper.VCI_InitCAN(currentDeviceType, devind, canind, ref config) != 1)
{
CanHelper.VCI_CloseDevice(currentDeviceType, devind);
return(-1);
}
CanHelper.VCI_StartCAN(currentDeviceType, devind, canind);
canIsOpened = true;
return(0);
}
public Communication(string type, uint index = 0)
{
switch (type)
{
case "MRH-U":
case "USBCAN2":
currentDeviceType = 4;
break;
case "MRH-E":
currentDeviceType = 6;
break;
case "MRH-T":
currentDeviceType = 8;
break;
}
selectedDeviceIndex = index;
selectedCanIndex = 0;
canIsOpened = false;
receivedDataBuff = new VCI_CAN_OBJ[5000];
CanHelper.LoadDll(type);
}
public int CloseCan()
{
canIsOpened = false;
return((int)CanHelper.VCI_CloseDevice(currentDeviceType, selectedCanIndex));
}
public unsafe List <ExecResult> ReceiveData(int main, int sub, int channel = -1, int index = -1)
{
// 计数器--数据个数
int count = 0;
int queryCount = 0;
while (queryCount <= 20)
{
int res = (int)CanHelper.VCI_Receive(currentDeviceType, selectedDeviceIndex, selectedCanIndex,
ref receivedDataBuff[0 + count], 1, 5);
Thread.Sleep(10);
if (res == 0)
{
res = (int)CanHelper.VCI_Receive(currentDeviceType, selectedDeviceIndex, selectedCanIndex,
ref receivedDataBuff[0 + count], 1, 5);
queryCount++;
if (res == 0)
{
break;
}
count++;
}
else
{
count++;
}
}
List <ExecResult> result = new List <ExecResult>();
for (int i = 0; i < count; i++)
{
ExecResult tempResult = new ExecResult();
var data = receivedDataBuff[i];
var len = data.DataLen;
if (len < 2)
{
continue;
}
byte[] temp = new byte[len];
for (int j = 0; j < len; j++)
{
temp[j] = data.Data[j];
}
if (temp[0] != main || temp[1] != sub)
{
continue;
}
if (channel != -1)
{
if (temp[2] != channel)
{
continue;
}
}
if (index != -1)
{
if (temp[3] != channel)
{
continue;
}
}
tempResult.SendId = data.ID;
tempResult.Result = temp;
result.Add(tempResult);
}
return(result);
}