public static CANData waitMessage(CANData msg, int timeout)
{
CANData cdGet = null;
//向驱动管理器注册一个回调函数
Action <CANData> actFun = new Action <CANData>(
(CANData cd) => {
if (cd.Equals(msg))
{
cdGet = cd;
}
}
);
DriverManager.PushCANDataProcessor(actFun);
long tickTimeout = DateTime.Now.Ticks + timeout * 10000;
while (DateTime.Now.Ticks < tickTimeout)
{
if (cdGet != null)
{
DriverManager.PopCANDataProcessor();
return(cdGet);
}
else
{
Application.DoEvents();
Thread.Sleep(1);
}
}
DriverManager.PopCANDataProcessor();
throw new TimeoutException("Waiting on CAN time out!");
}
public NativeCAN()
{
handle = FRC_CAN_Reader_Native_Create();
readThread = new Thread(() =>
{
var eventHandle = FRC_CAN_Reader_Native_GetEventHandle(handle);
while (true)
{
int dataLen = 0;
if (WPI_WaitForObjectTimeout(eventHandle, 1, &dataLen) != 0)
{
dataLen = 0;
CANData *messages = FRC_CAN_Reader_Native_ReadMessages(handle, &dataLen);
if (messages == null)
{
continue;
}
for (int i = 0; i < dataLen; i++)
{
CANData data = messages[i];
ulong ulongData = Unsafe.ReadUnaligned <ulong>(data.data);
CANMessageReceived?.Invoke((uint)data.id, ulongData, data.length, (uint)data.timestamp);
}
}
}
});
readThread.IsBackground = true;
readThread.Name = "CAN Managed Reader";
readThread.Start();
}
public static bool SendData(CANData cd)
{
cd.ActionTime = DateTime.Now;
bool TxResult = Driver.SendData(cd);
TxForm.appendData(cd);
return(TxResult);
}
public static void transmitData(int ID, int[] Data)
{
try {
sendData(CANData.getNewJS(ID, Data));
} catch (Exception e) {
JavascriptIDE.add(e);
Logger.logError(e);
}
}
public void appendData(CANData cd)
{
ctvr.Dispatcher.Invoke(new Action(() => {
ctvr.appendData(cd);
}));
mlt.Dispatcher.Invoke(new Action(() => {
mlt.addItem(cd.ToString());
}));
lbAllCount.Text = string.Format("总数量：{0}条 ", ctvr.Data.Count);
}
public static CANData GetData()
{
CANData cd = cdriver.GetQueue().Dequeue();
foreach (Action <CANData> processor in messageProcessorQueue)
{
processor(cd);
}
return(cd);
}
void rxThread()
{
while (true)
{
if (DriverManager.IsInitialized)
{
int dataSize = DriverManager.Driver.GetQueue().Count;
if (dataSize > 0)
{
try {
for (int i = 0; i < dataSize; i++)
{
CANData cd = DriverManager.GetData();
ctvr.Dispatcher.Invoke(new Action(() => {
ctvr.appendData(cd);
}));
mlt.Dispatcher.Invoke(new Action(() => {
mlt.addItem(cd.ToString());
}));
rxTime.Enqueue(cd.ActionTime);
}
} catch {
return;
}
}
}
DateTime histLimit = DateTime.Now - new TimeSpan(0, 0, 3);
while (rxTime.Count > 0)
{
if (rxTime.Dequeue() >= histLimit)
{
break;
}
}
if (rxTime.Count > 0)
{
long dt = rxTime.Last().Ticks - rxTime.First().Ticks;
double dtms = dt / 10000.0 / 1000.0;
if (dt == 0)
{
lbSpeed.Text = "传输速度：- fps";
}
else
{
lbSpeed.Text = string.Format("传输速度：{0} fps", (long)(rxTime.Count / dtms));
}
}
else
{
lbSpeed.Text = "传输速度：0 fps";
}
lbAllCount.Text = string.Format("总数量：{0}条 ", ctvr.Data.Count);
Thread.Sleep(50);//20Hz刷新率
}
}
public void appendData(CANData cd)
{
dataQueue.Enqueue(cd);
if (treeData.ContainsKey(cd.ID))
{
//刷新内容
treeData[cd.ID].Header = cd.ToString();
}
else
{
//新增节点
treeData.Add(cd.ID, new TreeViewItem()
{
Foreground = canView.Foreground
});
treeData[cd.ID].Header = cd.ToString();
canView.Items.Add(treeData[cd.ID]);
}
string appendText;
if (lastTick.ContainsKey(cd.ID))
{
appendText = string.Format(" Dt:{0}ms", (cd.ActionTime.Ticks - lastTick[cd.ID]) / 10000.0);
lastTick[cd.ID] = cd.ActionTime.Ticks;
}
else
{
appendText = " Dt:--ms";
lastTick.Add(cd.ID, cd.ActionTime.Ticks);
}
treeData[cd.ID].Header += appendText;
treeData[cd.ID].Tag = cd;
if (CANDecoder.ContainsKey(cd.ID)) //可以解析
{
bool isExpand = false;
foreach (CANSignal cSignal in CANDecoder[cd.ID].Keys)
{
TreeViewItem tn = CANDecoder[cd.ID][cSignal];
if (NOT_ADDED.Equals(tn.Header.ToString()))
{
treeData[cd.ID].Items.Add(tn);
isExpand = true;
}
tn.Header = string.Format("{0}:{1}-->{2}",
cSignal.Name, cSignal.BytesToInt(cd.GetData()), cSignal.DecodeCANMessage(cd.GetData()).ToString());
tn.Foreground = canView.Foreground;
}
if (isExpand)
{
treeData[cd.ID].ExpandSubtree();
}
}
}
public static void transmitData(CANData cd)
{
try {
DriverManager.SendData(cd);
} catch (NullReferenceException nullex) {
JavascriptIDE.add("可能尚未初始化CAN收发器，去初始化一下！");
Logger.logError(nullex);
} catch (Exception e) {
JavascriptIDE.add(e);
Logger.logError(e);
}
}
public override bool SendData(CANData cdin)
{
CAN_OBJ co = new CAN_OBJ();
co.data = cdin.GetData();
co.ID = (uint)cdin.ID;
co.DataLen = (byte)cdin.getDataLen();
co.SendType = 1;
co.ExternFlag = 0x01;
co.RemoteFlag = 0x00;
lock (this) {
return(ECANDLL.Transmit(deviceType, useDeviceIndex, useCANIndex, ref co, 1) == ECANStatus.STATUS_OK);
}
}
public override bool SendData(CANData data)
{
VCI_CAN_OBJ co = new VCI_CAN_OBJ();
co.Data = data.GetData();
co.ID = (uint)data.ID;
co.DataLen = (byte)data.getDataLen();
co.SendType = 1;
co.ExternFlag = 0x01;
co.RemoteFlag = 0x00;
lock (this) {
uint sendResult
= iTekAnalyst2API.VCI_Transmit(devideType, useDeviceIndex, useCANIndex, ref co, 1);
return(sendResult != 0);
}
}
public TransmitThread(CANData cd, int cycleTime)
{
sd.data = cd;
sd.cycle = cycleTime;
}
public static TransmitThread newSendThread(CANData cd, int cycleTime)
{
print("Warning: 'newSendThread' is obsoleted.\nUse 'newTransmitThread' instead.");
return(new TransmitThread(cd, cycleTime));
}
public static TransmitThread newTransmitThread(CANData cd, int cycleTime)
{
return(new TransmitThread(cd, cycleTime));
}
public abstract bool SendData(CANData data);
protected void Push(CANData cd)
{
RXQueue.Enqueue(cd);
PushedCount++;
}
public void appendRX(CANData cd)
{
ctvr.appendData(cd);
}
public static void sendData(CANData cd)
{
print("Warning: 'sendData' is obsoleted.\nUse 'transmitData' instead.");
transmitData(cd);
}
public static CANData getNewCANData(int ID, int[] Data)
{
return(CANData.getNewJS(ID, Data));
}
