/// <summary>
/// 发送CAN帧
/// </summary>
/// <param name="pCanFrames">发送的CAN帧数组</param>
/// <param name="length">需要发送的帧数</param>
/// <returns>成功发送的帧数</returns>
unsafe public uint Transmit(CAN_FRAME[] pCanFrames, uint length)
{
uint realSendNum = 0;
try
{
//设置发送失败后重发的超时时间
uint nTimeOut = DEFAULT_RESEND_INTERVAL;
SetReference((uint)CAN_REFERENCE_REFTYPE.CONFIG_RESEND_TIMEOUT, (byte *)&nTimeOut);
CAN_OBJ[] pCANObjs = new CAN_OBJ[length];
for (int index = 0; index < length; index++)
{
pCANObjs[index] = pCanFrames[index].CANObj;
}
realSendNum = CANDLL.Transmit((uint)p_ParentDevice.DeviceType, p_ParentDevice.DeviceIndex, m_ChannelIndex, ref pCANObjs[0], (uint)pCANObjs.Length);
Logger.Info(string.Format("channel[{0}] transmit [{1}/{2}] messages successful.", m_ChannelName, realSendNum, pCANObjs.Length));
return(realSendNum);
}
catch (Exception e)
{
Logger.Error(string.Format("channel[{0}] transmit exception.", m_ChannelName), e);
return(realSendNum);
}
}
public CAN_FRAME(CAN_OBJ pCANObj, DateTime time, CAN_FRAME_DIRECTION direction, CAN_FRAME_STATUS status)
{
this.CANObj = pCANObj;
this.Time = time;
this.Direction = direction;
this.Status = status;
this.CANErrInfo = new CAN_ERR_INFO();
}
/// <summary>
/// 接收CAN帧数据
/// </summary>
/// <param name="pCanFrames">接收到的帧数组</param>
/// <param name="length">需要接收的帧数</param>
/// <param name="waitMilliseconds">等待时间ms</param>
/// <returns>实际接收的帧数</returns>
private uint Receive(out CAN_FRAME[] pCanFrames, uint length, int waitMilliseconds)
{
uint realRcvNum = 0;
pCanFrames = null;
try
{
IntPtr pReceive = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(CAN_OBJ)) * (Int32)length);
realRcvNum = CANDLL.Receive((uint)p_ParentDevice.DeviceType, p_ParentDevice.DeviceIndex, m_ChannelIndex, pReceive, length, waitMilliseconds);
if (realRcvNum != uint.MaxValue)
{
Logger.Info(string.Format("channel[{0}] receive [{1}/{2}] messages successful.", m_ChannelName, realRcvNum, length));
pCanFrames = new CAN_FRAME[realRcvNum];
for (int index = 0; index < realRcvNum; index++)
{
CAN_OBJ pCANObj = (CAN_OBJ)Marshal.PtrToStructure((IntPtr)((UInt32)pReceive + index * Marshal.SizeOf(typeof(CAN_OBJ))), typeof(CAN_OBJ));
pCanFrames[index] = new CAN_FRAME(pCANObj, DateTime.Now, CAN_FRAME_DIRECTION.RECEIVE, CAN_FRAME_STATUS.SUCCESS);
}
Marshal.FreeHGlobal(pReceive);
return(realRcvNum);
}
Marshal.FreeHGlobal(pReceive);
CAN_ERR_INFO pCANErrorInfo = new CAN_ERR_INFO();
uint result = (uint)CAN_RESULT.ERR_UNKNOWN;
if (ReadErrInfo(ref pCANErrorInfo) == (uint)CAN_RESULT.SUCCESSFUL)
{
result = pCANErrorInfo.ErrCode;
}
Logger.Info(string.Format("channel[{0}] receive failed: [0x{1}].", m_ChannelName, result.ToString("x")));
return(realRcvNum);
}
catch (Exception e)
{
Logger.Error(string.Format("channel[{0}] receive exception.", m_ChannelName), e);
return(realRcvNum);
}
}
public static extern UInt32 Transmit(UInt32 DeviceType, UInt32 DeviceIndex, UInt32 CANIndex, ref CAN_OBJ pSend, UInt32 Length);
