/// <summary>
/// CanBus連線
/// </summary>
/// <returns> 連線成功回傳1，否則回傳0</returns>
public static int CanConnect()
{
//開始連線
if (m_bOpen == 1)
{
CanBusTool.VCI_CloseDevice(m_devtype, m_devind);
m_bOpen = 0;
}
else
{
//開啟第一個device，用於轉向馬達
m_devtype = m_arrdevtype[1];
m_devind = 0;
m_canind = 0;
m_devind_2 = 0;
m_canind_2 = 1;
if (CanBusTool.VCI_OpenDevice(m_devtype, m_devind, 0) == 0)
{
return(0);
}
m_bOpen = 1;
VCI_INIT_CONFIG config = new VCI_INIT_CONFIG();
config.AccCode = System.Convert.ToUInt32("0x" + "40e00000", 16);
config.AccMask = System.Convert.ToUInt32("0x" + "FFFFFFFF", 16);
/*config.AccCode = System.Convert.ToUInt32("0x" + "41600000", 16);
* config.AccMask = System.Convert.ToUInt32("0x" + "0FFFFFFF", 16);*/
config.Timing0 = System.Convert.ToByte("0x" + "03", 16);
config.Timing1 = System.Convert.ToByte("0x" + "1c", 16);
config.Filter = (Byte)(1);
config.Mode = (Byte)0;
VCI_INIT_CONFIG config2 = new VCI_INIT_CONFIG();
config2.AccCode = System.Convert.ToUInt32("0x" + "30e00000", 16);
config2.AccMask = System.Convert.ToUInt32("0x" + "FFFFFFFF", 16);
/*config2.AccCode = System.Convert.ToUInt32("0x" + "31600000", 16);
* config2.AccMask = System.Convert.ToUInt32("0x" + "0FFFFFFF", 16);*/
config2.Timing0 = System.Convert.ToByte("0x" + "03", 16);
config2.Timing1 = System.Convert.ToByte("0x" + "1c", 16);
config2.Filter = (Byte)(1);
config2.Mode = (Byte)0;
CanBusTool.VCI_InitCAN(m_devtype, m_devind, m_canind, ref config);
CanBusTool.VCI_InitCAN(m_devtype, m_devind_2, m_canind_2, ref config2);
ComputerThread = new Thread(StartComputerMonitorThread);
MotorThread = new Thread(StartMotorMonitorThread);
}
if (m_bOpen == 1)
{
return(1); //CAN連線
}
else
{
return(0);//CAN斷線
}
}
/// <summary>
/// 關閉CanBus通訊
/// </summary>
public static void ResetCan()
{
if (m_bOpen == 0)
{
return;
}
CanBusTool.VCI_ResetCAN(m_devtype, m_devind, m_canind);
CanBusTool.VCI_ResetCAN(m_devtype, m_devind_2, m_canind_2);
}
/// <summary>
/// 收到堆高機馬達傳送過來資料，修改後傳送給電腦
/// </summary>
unsafe public static void StartMotorMonitorThread()
{
while (true)
{
UInt32 res = new UInt32();
res = CanBusTool.VCI_Receive(m_devtype, m_devind_2, m_canind_2, ref m_recobj_2[0], 1000, 100);
if (res > 10000 || res < 0)
{
return;
}
if (!CanControl) //初始化
{
for (UInt32 i = 0; i < res; i++)
{
//收到馬達傳送過來資料，傳送給電腦
VCI_CAN_OBJ recobj = m_recobj_2[i];
byte Datalen = (byte)(m_recobj_2[i].DataLen % 9);
byte[] TransData = new byte[Datalen];
for (int k = 0; k < TransData.Length; k++)
{
TransData[k] = recobj.Data[k];
}
SendCommand(recobj.ID, Datalen, TransData);
if (recobj.ID == 391) //ID187 轉向站號
{
Array.Copy(TransData, ReceiveMotor, TransData.Length);
Array.Copy(TransData, ReceiveMotor_Storage, TransData.Length);
}
if (recobj.ID == 395) //ID18B 行走站號
{
Array.Copy(TransData, ReceiveMoveMotor, TransData.Length);
Array.Copy(TransData, ReceiveMoveMotor_Storage, TransData.Length);
}
}
}
else
{
if (GlobalVar.isCanBusDebug) //記錄回傳角度資訊
{
for (UInt32 i = 0; i < res; i++)
{
VCI_CAN_OBJ recobj = m_recobj_2[i];
//分析馬達回傳資料
AnalysisMotorData(recobj, i);
}
}
}
}
}
/// <summary>
/// 傳送資料給堆高機的馬達
/// </summary>
/// <param name="ID">[IN] 傳送ID</param>
/// <param name="len">[IN] 數據長度</param>
/// <param name="data">[IN] 傳送數據</param>
unsafe public static void SendCommandToMotor(uint ID, int len, byte[] data)
{
if (m_bOpen == 0)
{
return;
}
VCI_CAN_OBJ sendobj = new VCI_CAN_OBJ();
sendobj.RemoteFlag = 0;
sendobj.ExternFlag = 0;
sendobj.ID = ID;
sendobj.DataLen = System.Convert.ToByte(len);
for (int i = 0; i < len; i++)
{
sendobj.Data[i] = data[i];
}
CanBusTool.VCI_Transmit(m_devtype, m_devind_2, m_canind_2, ref sendobj, 1);
}
/// <summary>
/// 開啟CanBus通訊
/// </summary>
/// <returns>連線成功回傳1，否則回傳0</returns>
public static int OpenCan()
{
//開啟CanBus
if (m_bOpen == 0)
{
return(0);
}
CanBusTool.VCI_StartCAN(m_devtype, m_devind, m_canind);
CanBusTool.VCI_StartCAN(m_devtype, m_devind_2, m_canind_2);
ComputerThread.Start();
MotorThread.Start();
if (m_bOpen == 1)
{
return(1);
}
else
{
return(0);
}
}
/// <summary>
/// 攔截堆高機電腦傳送過來資料，修改後傳送給馬達
/// </summary>
unsafe private static void StartComputerMonitorThread()
{
while (true)
{
UInt32 res = new UInt32();
res = CanBusTool.VCI_Receive(m_devtype, m_devind, m_canind, ref m_recobj[0], 1000, 100);
if (res > 10000 || res < 0)
{
return;
}
for (UInt32 i = 0; i < res; i++)
{
if (!CanControl) //初始化
{
//收到電腦傳送過來資料，直接傳送給馬達
VCI_CAN_OBJ recobj = m_recobj[i];
string StrID = Convert.ToString(recobj.ID, 16);
//Console.WriteLine("ReceiveComputerID: " + StrID);
byte Datalen = (byte)(m_recobj[i].DataLen % 9);
byte[] TransData = new byte[Datalen];
for (int k = 0; k < TransData.Length; k++)
{
TransData[k] = recobj.Data[k];
}
SendCommandToMotor(recobj.ID, Datalen, TransData);
//ID 207 轉向馬達
if (recobj.ID == 519)
{
Array.Copy(TransData, ReceiveComputer_Storage, TransData.Length);
Array.Copy(TransData, ReceiveComputer, TransData.Length);
}
//ID 20B 行走馬達
if (recobj.ID == 523)
{
Array.Copy(TransData, ReceiveMoveComputer_Storage, TransData.Length);
Array.Copy(TransData, ReceiveMoveComputer, TransData.Length);
}
}
else //開始介入
{
VCI_CAN_OBJ recobj = m_recobj[i];
string StrID = Convert.ToString(recobj.ID, 16);
byte Datalen = (byte)(recobj.DataLen % 9);
//收到ID 207
if (recobj.ID == 519) //轉向馬達站號
{
//將上次傳送結果複製給比較buffer
Array.Copy(ReceiveComputer, BufferData, BufferData.Length);
//更改ID207資料
if (isSend)
{
Array.Copy(TransData, ReceiveComputer, TransData.Length);//傳送資料
isSend = false;
}
//計算ID207的Check的資料
CalCheckData();
//傳送指令給馬達
SendCommandToMotor(recobj.ID, ReceiveComputer.Length, ReceiveComputer);
//回傳給電腦虛擬馬達ID187資料
SendCommand(391, ReceiveMotor_Storage.Length, ReceiveMotor_Storage);
}
if (recobj.ID == 523) //行走馬達站號
{
//修改ID523資料
if (isMoveSend)
{
Array.Copy(TransMoveData, ReceiveMoveComputer, TransMoveData.Length);//傳送資料
isMoveSend = false;
}
//傳送指令給馬達
SendCommandToMotor(recobj.ID, ReceiveMoveComputer.Length, ReceiveMoveComputer);
//回傳給電腦虛擬馬達ID18B資料
SendCommand(395, ReceiveMoveMotor_Storage.Length, ReceiveMoveMotor_Storage);
}
}
}
}
}
