private void ReadMessages2()
{
CAN_OBJ mMsg = new CAN_OBJ();
int sCount = 0;
do
{
uint mLen = 1;
if (!((ECANDLL.Receive(1, i, 1, out mMsg, mLen, 0) == ECANStatus.STATUS_OK) & (mLen > 0)))
{
break;
}
this.gRecMsgBuf2[this.gRecMsgBufHead2].ID = mMsg.ID;
this.gRecMsgBuf2[this.gRecMsgBufHead2].DataLen = mMsg.DataLen;
this.gRecMsgBuf2[this.gRecMsgBufHead2].data = mMsg.data;
this.gRecMsgBuf2[this.gRecMsgBufHead2].ExternFlag = mMsg.ExternFlag;
this.gRecMsgBuf2[this.gRecMsgBufHead2].RemoteFlag = mMsg.RemoteFlag;
if ((mMsg.ID == 0x141) || (mMsg.ID == 0x139) || (mMsg.ID == 0x143))
{
this.gRecMsgBufHead2 += 1;
if (this.gRecMsgBufHead2 >= REC_MSG_BUF_MAX)
{
this.gRecMsgBufHead2 = 0;
}
}
sCount++;
}while (sCount < 500);
}
private void ReadMessages()
{
int m = 0;
int sCount = 0;
do
{
CAN_OBJ mMsg = new CAN_OBJ();
mMsg.ID = 0;
uint mLen = 1;
if ((ECANDLL.Receive(1, i, 0, out mMsg, mLen, 0) == ECANStatus.STATUS_OK))
{
}
else
{
break;
}
if (mMsg.ID == 0x139)
{
mad0 = (mMsg.data[0] + mMsg.data[1] * 256) / 1000.0;
}
if (mMsg.ID == 0x141)
{
mad1 = (mMsg.data[0] + mMsg.data[1] * 256) / 1000.0;
}
if (mMsg.ID == 0x143)
{
mad2 = (mMsg.data[0] + mMsg.data[1] * 256) / 1000.0;
m_starttime = m_starttime + 0.01;
p.x = mad0;
p.y = mad1;
p.z = mad2;
p.t = m_starttime;
ClsStaticStation.m_Global.madlist.Add(p);
}
sCount++;
}while (sCount < 500);
}
private void ReadMessages()
{
mainform.canDataRWLock.EnterWriteLock();
CAN_OBJ mMsg = new CAN_OBJ();
try
{
int sCount = 0;
do
{
uint mLen = 1;
if (!((ECANDLL.Receive(1, 0, 0, out mMsg, mLen, 1) == ECANStatus.STATUS_OK) & (mLen > 0)))
{
break;
}
if (this.gRecMsgBuf[this.gRecMsgBufHead].data == null)
{
this.gRecMsgBuf[this.gRecMsgBufHead].data = new byte[8];
}
this.gRecMsgBuf[this.gRecMsgBufHead].ID = mMsg.ID;
this.gRecMsgBuf[this.gRecMsgBufHead].DataLen = mMsg.DataLen;
for (int i = 0; i < 8; i++)
{
this.gRecMsgBuf[this.gRecMsgBufHead].data[i] = mMsg.data[i];
}
this.gRecMsgBuf[this.gRecMsgBufHead].ExternFlag = mMsg.ExternFlag;
this.gRecMsgBuf[this.gRecMsgBufHead].RemoteFlag = mMsg.RemoteFlag;
this.gRecMsgBuf[this.gRecMsgBufHead].TimeFlag = mMsg.TimeFlag;
this.gRecMsgBuf[this.gRecMsgBufHead].TimeStamp = mMsg.TimeStamp;
this.gRecMsgBufHead += 1;
if (this.gRecMsgBufHead >= REC_MSG_BUF_MAX)
{
this.gRecMsgBufHead = 0;
}
sCount++;
} while (sCount < 500);
}
finally
{
mainform.canDataRWLock.ExitWriteLock();
}
return;
}
protected override void ReceiveData()
{
if (GetReceivedCount() <= 0)
{
return;
}
CAN_OBJ buffer = new CAN_OBJ();
ECANStatus getStatus = ECANDLL.Receive(
deviceType, useDeviceIndex, useCANIndex, ref buffer, 1, 20);
if (getStatus == ECANStatus.STATUS_OK)
{
Push(new CANData((int)buffer.ID, buffer.data));
}
// Or else you can get error info as you want
}
public bool Comm(CAN_OBJ sendmsg, out CAN_OBJ recmsg)
{
int sendnum;
int recnum;
uint mLen;
sendnum = 0;
recnum = 0;
CAN_OBJ msg = new CAN_OBJ();
if (!isOpen)
{
OpenComm();
}
mLen = 1;
while (ECANDLL.Transmit(1, 0, 0, ref sendmsg, (ushort)mLen) != ECAN.ECANStatus.STATUS_OK)
{
sendnum++;
Thread.Sleep(1);
if (sendnum == 10)
{
recmsg = msg;
return(false);
}
}
while (ECANDLL.Receive(1, 0, 0, out recmsg, 1, 1) != ECAN.ECANStatus.STATUS_OK)
{
recnum++;
Thread.Sleep(1);
if (recnum == 10)
{
return(false);
}
}
return(true);
}
public bool Comm(CAN_OBJ sendmsg, out CAN_OBJ recmsg)
{
int sendnum;
int recnum;
uint mLen;
sendnum = 0;
recnum = 0;
CAN_OBJ msg = new CAN_OBJ();
if (!isOpen)
{
StackTrace st = new StackTrace(new StackFrame(true));
LogHelper.WriteMLog("Fail to open the USB-CAN!", st);
OpenComm();
}
mLen = 1;
while (ECANDLL.Transmit(1, 0, 0, ref sendmsg, (ushort)mLen) != ECAN.ECANStatus.STATUS_OK)
{
sendnum++;
if (sendnum == 3)
{
recmsg = msg;
return(false);
}
}
Thread.Sleep(1);
while (ECANDLL.Receive(1, 0, 0, out recmsg, 1, 1) != ECAN.ECANStatus.STATUS_OK)
{
recnum++;
if (recnum == 3)
{
return(false);
}
}
return(true);
}
private void receive(object obj)
{
CAN_OBJ vco1 = new CAN_OBJ();
while (receiveRunning)
{
//CAN_OBJ vco1 = new CAN_OBJ();
uint result = ECANDLL.Receive(4, 0, 0, out vco1, 1, 10000);
//Console.WriteLine("GetReceiveNum result : " + result);
Console.WriteLine("GetReceiveNum result data: " + Untils.ToHexString(vco1.data));
if (result != 0xFFFFFFFF && result != 0)
{
CanDataWithInfo can = new CanDataWithInfo(vco1.ID, vco1.data, "");
queueReceiveBuffer.Enqueue(can);
}
else
{
//Console.WriteLine("receive fault");
}
Thread.Sleep(10);
}
}
private void ReadMessagesold()
{
CAN_OBJ mMsg = new CAN_OBJ();
int m = 0;
int sCount = 0;
do
{
uint mLen = 1;
if (!((ECANDLL.Receive(1, i, 0, out mMsg, mLen, 1) == ECANStatus.STATUS_OK) & (mLen > 0)))
{
break;
}
// m = m + 1;
//if (m == 5)
{
m = 0;
this.gRecMsgBuf[this.gRecMsgBufHead].ID = mMsg.ID;
this.gRecMsgBuf[this.gRecMsgBufHead].DataLen = mMsg.DataLen;
this.gRecMsgBuf[this.gRecMsgBufHead].data = mMsg.data;
this.gRecMsgBuf[this.gRecMsgBufHead].ExternFlag = mMsg.ExternFlag;
this.gRecMsgBuf[this.gRecMsgBufHead].RemoteFlag = mMsg.RemoteFlag;
this.gRecMsgBufHead += 1;
if (this.gRecMsgBufHead >= REC_MSG_BUF_MAX)
{
this.gRecMsgBufHead = 0;
}
sCount++;
}
}while (sCount < 50);
}
/// <summary>
/// 下载
/// </summary>
/// <param name="data">下载的数据</param>
/// <param name="ctoBuffer">返回数据</param>
/// <param name="ctoBufferLength">返回数据长度</param>
/// <returns></returns>
public EcanXcpResult XCP_Download(byte[] data, out byte[] ctoBuffer, UInt16 ctoBufferLength)
{
ctoBuffer = new byte[ctoBufferLength];
CAN_OBJ frameInfo = new CAN_OBJ(); // 报文帧
UInt32 numOfFrameTX; // 实际发送帧数量
UInt32 numOfFrameRX; // 接收帧数量
#region Packet Identifier:CMD Command:DOWNLOAD
// 报文帧ID为
frameInfo.ID = masterID;
// 发送帧类型 正常发送
frameInfo.SendType = 0;
// 是否为远程帧 0为数据帧
frameInfo.RemoteFlag = 0;
// 是否为扩展帧 0为标准帧，11位帧ID
frameInfo.ExternFlag = 0;
// 数据长度
frameInfo.DataLen = (byte)(data.Length + 2);
// CAN报文的数据
frameInfo.data = new byte[8];
// 系统保留
//CANObj.Reserved = new byte[3];
frameInfo.data[0] = 0xF0;
frameInfo.data[1] = (byte)data.Length;
Array.Copy(data, 0, frameInfo.data, 2, data.Length); // 将Data复制到FrameInfo
if ((numOfFrameTX = ECANDLL.Transmit(deviceType, deviceIndex, canIndex, frameInfo, 1)) != 1) // 如果发送命令失败
{
// Function not available / Operation not implemented
return(EcanXcpResult.XCP_ERR_NOT_IMPLEMENTED);
}
#endregion
#region 读取应答数据
for (int i = 0; i < 5; i++) // 尝试读取5次
{
if ((numOfFrameRX = ECANDLL.GetReceiveNum(deviceType, deviceIndex, canIndex)) > 0) // 如果收到数据帧
{
numOfFrameRX = ECANDLL.Receive(deviceType, deviceIndex, canIndex, out frameInfo, 1, 10);
if (frameInfo.data[0] == 0xFF) // Packet Identifier:RES
{
ctoBuffer = frameInfo.data; // 回传接收到的数据
// Acknowledge / no error
return(EcanXcpResult.XCP_ERR_OK);
}
else if (frameInfo.data[0] == 0xFE) // Packet Identifier:ERR
{
ctoBuffer = frameInfo.data; // 回传接收到的数据
#region Error Code
switch (frameInfo.data[1]) // 返回 Error Code
{
case 0:
return(EcanXcpResult.XCP_ERR_CMD_SYNCH);
case 0x10:
return(EcanXcpResult.XCP_ERR_CMD_BUSY);
case 0x11:
return(EcanXcpResult.XCP_ERR_DAQ_ACTIVE);
case 0x12:
return(EcanXcpResult.XCP_ERR_PGM_ACTIVE);
case 0x20:
return(EcanXcpResult.XCP_ERR_CMD_UNKNOWN);
case 0x21:
return(EcanXcpResult.XCP_ERR_CMD_SYNTAX);
case 0x22:
return(EcanXcpResult.XCP_ERR_OUT_OF_RANGE);
case 0x23:
return(EcanXcpResult.XCP_ERR_WRITE_PROTECTED);
case 0x24:
return(EcanXcpResult.XCP_ERR_ACCESS_DENIED);
case 0x25:
return(EcanXcpResult.XCP_ERR_ACCESS_DENIED);
case 0x26:
return(EcanXcpResult.XCP_ERR_PAGE_NOT_VALID);
case 0x27:
return(EcanXcpResult.XCP_ERR_MODE_NOT_VALID);
case 0x28:
return(EcanXcpResult.XCP_ERR_SEGMENT_NOT_VALID);
case 0x29:
return(EcanXcpResult.XCP_ERR_SEQUENCE);
case 0x2A:
return(EcanXcpResult.XCP_ERR_DAQ_CONFIG);
case 0x30:
return(EcanXcpResult.XCP_ERR_MEMORY_OVERFLOW);
case 0x31:
return(EcanXcpResult.XCP_ERR_GENERIC);
case 0x32:
return(EcanXcpResult.XCP_ERR_VERIFY);
case 0x33:
return(EcanXcpResult.XCP_ERR_RESOURCE_TEMPORARY_NOT_ACCESSIBLE);
default:
return(EcanXcpResult.XCP_ERR_INVALID_PARAMETER);
}
#endregion
}
else
{
ctoBuffer = frameInfo.data;// 回传接收到的数据
// Invalid parameter value
return(EcanXcpResult.XCP_ERR_INVALID_PARAMETER);
}
}
else//如果没有数据帧，等待1ms
{
System.Threading.Thread.Sleep(1);
}
}
// 尝试5次，超时
// A timeout was reached by calling a function synchronously
return(EcanXcpResult.XCP_ERR_INTERNAL_TIMEOUT);
#endregion
}
public bool Receive(out CAN_OBJ obj, uint timeout = 0)
{
return(ECANStatus.STATUS_OK ==
ECANDLL.Receive(DefaultDeviceType, 0, 0, out obj, 1, timeout));
}
