//数据接收函数
protected void RecvDataFunc()
{
ZCAN_Receive_Data[] can_data = new ZCAN_Receive_Data[100];
ZCAN_ReceiveFD_Data[] canfd_data = new ZCAN_ReceiveFD_Data[100];
uint len;
while (m_bStart)
{
lock (locker)
{
len = Method.ZCAN_GetReceiveNum(channel_handle_, TYPE_CAN);
if (len > 0)
{
int size = Marshal.SizeOf(typeof(ZCAN_Receive_Data));
IntPtr ptr = Marshal.AllocHGlobal((int)len * size);
len = Method.ZCAN_Receive(channel_handle_, ptr, len, 50);
for (int i = 0; i < len; ++i)
{
can_data[i] = (ZCAN_Receive_Data)Marshal.PtrToStructure(
(IntPtr)((UInt32)ptr + i * size), typeof(ZCAN_Receive_Data));
}
OnRecvCANDataEvent(can_data, len);
Marshal.FreeHGlobal(ptr);
}
len = Method.ZCAN_GetReceiveNum(channel_handle_, TYPE_CANFD);
if (len > 0)
{
int size = Marshal.SizeOf(typeof(ZCAN_ReceiveFD_Data));
IntPtr ptr = Marshal.AllocHGlobal((int)len * size);
len = Method.ZCAN_ReceiveFD(channel_handle_, ptr, len, 50);
for (int i = 0; i < len; ++i)
{
canfd_data[i] = (ZCAN_ReceiveFD_Data)Marshal.PtrToStructure(
(IntPtr)((UInt32)ptr + i * size), typeof(ZCAN_ReceiveFD_Data));
}
OnRecvFDDataEvent(canfd_data, len);
Marshal.FreeHGlobal(ptr);
}
}
Thread.Sleep(10);
}
}
private void AddData(ZCAN_Receive_Data[] data, uint len)
{
list_box_data_ = "";
list_box_data_ = "";
for (uint i = 0; i < len; ++i)
{
ZCAN_Receive_Data can = data[i];
uint id = data[i].frame.can_id;
string eff = IsEFF(id) ? "扩展帧" : "标准帧";
string rtr = IsRTR(id) ? "远程帧" : "数据帧";
list_box_data_ = String.Format("接收到CAN ID:0x{0:X8} {1:G} {2:G} 长度:{3:D1} 数据:", GetId(id), eff, rtr, can.frame.can_dlc);
for (uint j = 0; j < can.frame.can_dlc; ++j)
{
list_box_data_ = String.Format("{0:G}{1:X2} ", list_box_data_, can.frame.data[j]);
}
}
Object[] list = { this, System.EventArgs.Empty };
this.listBox.BeginInvoke(new EventHandler(SetListBox), list);
}