public __CanMsg ReadCan(short Ch, bool FDFlag = false)
{
__CanMsg Msg = new __CanMsg();
TPCANStatus stsResult;
// We execute the "Read" function of the PCANBasic
//
Msg.DATA = new byte[8];
Msg.ID = -1;
Msg.Length = 0;
#if PROGRAM_RUNNING
try
{
try
{
for (int i = 0; i < 8; i++)
{
Msg.DATA[i] = 0x00;
}
if (FDFlag == false)
{
TPCANMsg CANMsg;
TPCANTimestamp CANTimeStamp;
stsResult = PCANBasic.Read(m_PcanHandle[Ch], out CANMsg, out CANTimeStamp);
if (stsResult == TPCANStatus.PCAN_ERROR_OK)
{
Msg.ID = (int)CANMsg.ID;
Msg.Length = CANMsg.LEN;
for (int i = 0; i < CANMsg.LEN; i++)
{
Msg.DATA[i] = CANMsg.DATA[i];
}
if (NgCountCheckFlag == true)
{
if (OkCount < 100)
{
OkCount++;
}
}
}
if (mControl.PublicFunction != null)
{
Last = mControl.PublicFunction.timeGetTimems();
if (1000 <= (Last - First))
{
CanReceiveReset(Ch);
First = mControl.PublicFunction.timeGetTimems();
}
}
}
else
{
TPCANMsgFD CANMsg;
TPCANTimestampFD CANTimeStamp;
// We execute the "Read" function of the PCANBasic
//
stsResult = PCANBasic.ReadFD(m_PcanHandle[Ch], out CANMsg, out CANTimeStamp);
if (stsResult == TPCANStatus.PCAN_ERROR_OK)
{
Msg.ID = (int)CANMsg.ID;
Msg.Length = CANMsg.DLC;
for (int i = 0; i < CANMsg.DLC; i++)
{
Msg.DATA[i] = CANMsg.DATA[i];
}
if (NgCountCheckFlag == true)
{
if (OkCount < 100)
{
OkCount++;
}
}
}
}
}
catch (Exception fMsg)
{
//MessageBox.Show(fMsg.Message + "\n" + fMsg.StackTrace);
uMessageBox.Show(title: "경고", promptText: fMsg.Message + "\n" + fMsg.StackTrace); //MessageBox.Show(GetFormatedError(stsResult));
}
}
finally
{
}
#endif
return(Msg);
}
unsafe private void receivingThread()
{
int i;
int rx_index = 0;
rxCANOBJLIST.Clear();
TPCANStatus stsResult = 0;
while (true)
{
//arrCANOBJ[33000] = new VCI_CAN_OBJ();
do
{
if (Form_SetCANParam.form_setcan.checkCANFDMode.Checked == false)//非FD
{
TPCANMsg CANMsg;
TPCANTimestamp CANTimeStamp;
stsResult = PCANBasic.Read(PCAN_PARA1.PCANIndex, out CANMsg, out CANTimeStamp);
//if (stsResult == TPCANStatus.PCAN_ERROR_OK)
if (stsResult != TPCANStatus.PCAN_ERROR_QRCVEMPTY)
{
arrCANOBJ[rx_index].ID = CANMsg.ID;
arrCANOBJ[rx_index].DataLen = CANMsg.LEN;
if (((byte)CANMsg.MSGTYPE & (byte)0x02) == 0x02)//是扩展帧
{
arrCANOBJ[rx_index].ExternFlag = 1;
}
else
{
arrCANOBJ[rx_index].ExternFlag = 0;
}
if (((byte)CANMsg.MSGTYPE & (byte)0x01) == 0x01)//是请求帧
{
arrCANOBJ[rx_index].RemoteFlag = 1;
}
else
{
arrCANOBJ[rx_index].RemoteFlag = 0;
}
arrCANOBJ[rx_index].TimeStamp = Convert.ToUInt64(CANTimeStamp.micros + 1000 * CANTimeStamp.millis + 0x100000000 * 1000 * CANTimeStamp.millis_overflow);
for (i = 0; i < CANMsg.LEN; i++)//原来用8固定长度
{
arrCANOBJ[rx_index].Data[i] = CANMsg.DATA[i];
}
rx_pkg_counts++;
rx_index++;
if (rx_index > 32768)
{
rx_index = 32767;
}
//Form_BasicFunction.form_basic.RXCountsLabel.Text = "Rx:" + rx_pkgcounts;//耗时2ms
/* if (ProcessingFrame == null)
* {
* if (rxCANOBJLIST.Count >= 100000)
* {
* MessageBox.Show("设备" + (PCAN_PARA1.PCANIndex - 0x51) + "接收缓冲区已满，已自动清空");
* rxCANOBJLIST.Clear();
* }
* rxCANOBJLIST.Add(arrCANOBJ[0]);
* }
* else
* {
* ProcessingFrame(ref arrCANOBJ[0]);
* }*/
}
if (stsResult == TPCANStatus.PCAN_ERROR_ILLOPERATION)
{
break;
}
//else
}
else
{
TPCANMsgFD CANMsg;
TPCANTimestampFD CANTimeStamp;
stsResult = PCANBasic.ReadFD(PCAN_PARA1.PCANIndex, out CANMsg, out CANTimeStamp);
if (stsResult == TPCANStatus.PCAN_ERROR_ILLOPERATION)
{
break;
}
//if (stsResult == TPCANStatus.PCAN_ERROR_OK)
if (stsResult != TPCANStatus.PCAN_ERROR_QRCVEMPTY)
{
arrCANOBJ[rx_index].ID = CANMsg.ID;
arrCANOBJ[rx_index].DataLen = CANMsg.DLC;
if (((byte)CANMsg.MSGTYPE & (byte)0x02) == 0x02)//是扩展帧
{
arrCANOBJ[rx_index].ExternFlag = 1;
}
else
{
arrCANOBJ[rx_index].ExternFlag = 0;
}
if (((byte)CANMsg.MSGTYPE & (byte)0x01) == 0x01)//是请求帧
{
arrCANOBJ[rx_index].RemoteFlag = 1;
}
else
{
arrCANOBJ[rx_index].RemoteFlag = 0;
}
if (((byte)CANMsg.MSGTYPE & (byte)0x04) == 0x04)//是FD帧
{
arrCANOBJ[rx_index].FDflag = 1;
}
else
{
arrCANOBJ[rx_index].FDflag = 0;
}
if (((byte)CANMsg.MSGTYPE & (byte)0x08) == 0x08)//是FD-BRS
{
arrCANOBJ[rx_index].FDflag = 1;
}
else
{
arrCANOBJ[rx_index].FDflag = 0;
}
if (((byte)CANMsg.MSGTYPE & (byte)0x10) == 0x10)//是FD-ESI error status indicator
{
arrCANOBJ[rx_index].FDEsi = 1;
}
else
{
arrCANOBJ[rx_index].FDEsi = 0;
}
if (((byte)CANMsg.MSGTYPE & (byte)0x40) == 0x40)//是error frame
{
arrCANOBJ[rx_index].ErrorFrame = 1;
}
else
{
arrCANOBJ[rx_index].ErrorFrame = 0;
}
arrCANOBJ[rx_index].TimeStamp = CANTimeStamp;
for (i = 0; i < CANMsg.DLC; i++)//原来用8固定长度
{
arrCANOBJ[0].Data[i] = CANMsg.DATA[i];
}
rx_pkg_counts++;
rx_index++;
if (rx_index > 32768)
{
rx_index = 32767;
}
// for (i = 0; i < len; i++)
//ProcessingFrame(ref arrCANOBJ[0]);
/*if (ProcessingFrame == null)
* {
* if (rxCANOBJLIST.Count >= 100000)
* {
* MessageBox.Show("设备" + (PCAN_PARA1.PCANIndex - 0x51) + "接收缓冲区已满，已自动清空");
* rxCANOBJLIST.Clear();
* }
* rxCANOBJLIST.Add(arrCANOBJ[0]);
* }
* else
* {
* ProcessingFrame(ref arrCANOBJ[0]);
* }*/
}
//else
}
} while (!Convert.ToBoolean(stsResult & TPCANStatus.PCAN_ERROR_QRCVEMPTY));
if (rx_index > 0)
{
for (i = 0; i < rx_index; i++)
{
ProcessingFrame(ref arrCANOBJ[i]);
Thread.Sleep(1);
}
rx_index = 0;
}
Thread.Sleep(2);
}
}