unsafe public void recordLog(VCI_CAN_OBJ obj)
{
logStr += "帧ID:0x" + System.Convert.ToString((int)obj.ID, 16);
logStr += " 帧格式:";
if (obj.RemoteFlag == 0)
logStr += "数据帧 ";
else
logStr += "远程帧 ";
if (obj.ExternFlag == 0)
logStr += "标准帧 ";
else
logStr += "扩展帧 ";
if (obj.RemoteFlag == 0)
{
logStr += "数据: ";
byte len = (byte)(obj.DataLen % 9);
for (byte j = 0; j < len; j++)
{
logStr += " " + Convert.ToString(obj.Data[j], 16);
}
}
logStr += Environment.NewLine;
}
/// <summary>
/// 接收CAN总线上的数据
/// </summary>
private void DeviceReceive()
{
VCI_ERR_INFO pErrInfo = new VCI_ERR_INFO();
while (true)
{
SpinWait.SpinUntil(() => false, 1);//80
//返回接收缓冲区中尚未被读取的帧数
UInt32 num = VCI_GetReceiveNum(devType, devIndex, devChannel);
if (num == 0)
{
continue;
}
//分配一次最多接收VCI_GetReceiveNum函数返回值的帧数的数据存储内存空间
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(VCI_CAN_OBJ)) * (int)num);
//返回实际读到的帧数，如返回的为0xFFFFFFFF，则读取数据失败，有错误发生。
UInt32 len = VCI_Receive(devType, devIndex, devChannel, pt, num, -1);
if (len == 0xFFFFFFFF)
{
VCI_ReadErrInfo(devType, devIndex, devChannel, ref pErrInfo);
//释放分配的内存空间
Marshal.FreeHGlobal(pt);
continue;
}
//获取CAN总线上的数据并触发事件
for (int i = 0; i < len; i++)
{
VCI_CAN_OBJ receData = (VCI_CAN_OBJ)Marshal.PtrToStructure((IntPtr)((UInt32)pt + i * Marshal.SizeOf(typeof(VCI_CAN_OBJ))), typeof(VCI_CAN_OBJ));
string _data = String.Empty;
byte[] temp = receData.Data;
for (int j = 0; j < receData.DataLen; j++)
{
_data += String.Format("{0:X2}", temp[j]) + " ";
}
//将接收的数据添加到table中
lock (DataBase)
{
DataRow _dr = DataBase.NewRow();
_dr["dttype"] = 1;
_dr["id"] = "0x" + string.Format("{0:X}", receData.ID);
_dr["direction"] = (string)Application.Current.Resources["teReceive"];
_dr["type"] = receData.ExternFlag == 0 ? (string)Application.Current.Resources["teStandardFrame"] : (string)Application.Current.Resources["teExtendedFrame"];
_dr["time"] = DateTime.Now.ToString("MM/dd HH:mm:ss:ffff");//((double)receData.TimeStamp / 10000).ToString().PadRight(9, '0');
_dr["data"] = _data.Trim();
_dr["signal"] = 0;
DataBase.Rows.Add(_dr);
if (DataBase.Rows.Count > 1000)
{
for (int n = 0; n < DataBase.Rows.Count - 1000; n++)
{
DataBase.Rows.RemoveAt(0);
}
}
}
}
Marshal.FreeHGlobal(pt);
}
}
public Int32 StandardWrite(Byte[] write_buffer, byte len, int state)
{
VCI_CAN_OBJ[] vco = new VCI_CAN_OBJ[1];
uint dwRel;
vco[0].ID = Consts.MASTER_ID;
//switch (state)
//{
// case 0x01:
// vco[0].ID = Consts.TX_CAN_ID_1;
// break;
// case 0x02:
// vco[0].ID = Consts.TX_CAN_ID_2;
// break;
// case 0x03:
// vco[0].ID = Consts.TX_CAN_ID_3;
// break;
// case 0x04:
// vco[0].ID = Consts.TX_CAN_ID_4;
// break;
// case 0x05:
// vco[0].ID = Consts.TX_CAN_ID_5;
// break;
//}
vco[0].RemoteFlag = 0;
vco[0].ExternFlag = 1;
vco[0].DataLen = len;
vco[0].SendType = 1; //只发一次
unsafe
{
fixed(VCI_CAN_OBJ *m_recobj1 = &vco[0])
{
for (int j = 0; j < 8; j++)
{
m_recobj1->Data[j] = write_buffer[j];
}
}
}
try
{
dwRel = VCI_Transmit(m_devtype, m_devind, m_canind, ref vco[0], 1);
if (dwRel == 1)
{
return(1);
}
else if (dwRel == 0xffffffff)
{
VCI_ResetCAN(m_devtype, m_devind, m_canind);
VCI_ClearBuffer(m_devtype, m_devind, m_canind);
//VCI_CloseDevice(m_devtype, m_devind);
//VCI_OpenDevice(m_devtype, m_devind, m_canind);
return(0);
}
else
{
return(0);
}
}
catch (Exception e)
{
//e.Message;
return(-1);
}
}
/// <summary>
/// 接收CAN总线上的数据
/// </summary>
private void ReceiveDataFromCAN()
{
try
{
if (ZLGInfo.DevType == (uint)ZLGType.VCI_USBCANFD_100U)
{
ZLGCAN_API.ZCAN_Receive_Data[] can_data = new ZLGCAN_API.ZCAN_Receive_Data[100];
//ZLGCAN_API.ZCAN_Receive_Data[] can_data = new ZLGCAN_API.ZCAN_Receive_Data[500];
uint len;
while (true)
{
lock (locker)
{
len = ZLGCAN_API.ZCAN_GetReceiveNum(channel_handle, TYPE_CAN);
int nRecvIndex = 0;
if (len > 0)
{
int size = Marshal.SizeOf(typeof(ZLGCAN_API.ZCAN_Receive_Data));
IntPtr ptr = Marshal.AllocHGlobal((int)len * size);
len = ZLGCAN_API.ZCAN_Receive(channel_handle, ptr, len, 50);
byte[] byRecvData = new byte[len * 8];
string canIDStr = string.Empty;
for (int i = 0; i < len; ++i)
{
can_data[i] = (ZLGCAN_API.ZCAN_Receive_Data)Marshal.PtrToStructure(
(IntPtr)((UInt32)ptr + i * size), typeof(ZLGCAN_API.ZCAN_Receive_Data));
Buffer.BlockCopy(can_data[i].frame.data, 0, byRecvData, nRecvIndex, 8);
nRecvIndex += 8;
canIDStr += can_data[i].frame.can_id.ToString("X");
canIDStr += ",";
}
Marshal.FreeHGlobal(ptr);
if (RaiseZLGRecvDataEvent != null)
{
OnRaiseZLGRecvDataEvent(this, new CANEvent()
{
eventType = CANEventType.ReceEvent,
DataLen = byRecvData[1],
listData = new List <byte>(byRecvData),
ID = canIDStr.TrimEnd(',')
});;
//Marshal.FreeHGlobal(ptr);
}
}
}
Thread.Sleep(100);
}
}
else if (ZLGInfo.DevType == (uint)ZLGType.PCAN)
{
PCANInterface.PCANInstance.ReadMessages();
}
else
{
VCI_ERR_INFO pErrInfo = new VCI_ERR_INFO();
while (true)
{
//为了不占用CPU
SpinWait.SpinUntil(() => false, 150);
//返回接收缓冲区中尚未被读取的帧数
UInt32 num = VCI_GetReceiveNum(ZLGInfo.DevType, zlgInfo.DevIndex, zlgInfo.DevChannel);
if (num == 0)
{
continue;
}
zlgInfo.IsSendFrame = false;
//分配一次最多接收VCI_GetReceiveNum函数返回值的帧数的数据存储内存空间
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(VCI_CAN_OBJ)) * (int)num);
//返回实际读到的帧数，如返回的为0xFFFFFFFF，则读取数据失败，有错误发生。
UInt32 len = VCI_Receive(ZLGInfo.DevType, zlgInfo.DevIndex, zlgInfo.DevChannel, pt, num, -1);
if (len == 0xFFFFFFFF)
{
VCI_ReadErrInfo(ZLGInfo.DevType, zlgInfo.DevIndex, zlgInfo.DevChannel, ref pErrInfo);
//释放分配的内存空间
Marshal.FreeHGlobal(pt);
continue;
}
else
{
}
int nRecvIndex = 0;
byte[] byRecvData = new byte[len * 8];
string canIDStr = String.Empty;
//获取CAN总线上的数据并触发事件
for (int i = 0; i < len; i++)
{
VCI_CAN_OBJ recvData = (VCI_CAN_OBJ)Marshal.PtrToStructure((IntPtr)((UInt32)pt + i * Marshal.SizeOf(typeof(VCI_CAN_OBJ))), typeof(VCI_CAN_OBJ));
Buffer.BlockCopy(recvData.Data, 0, byRecvData, nRecvIndex, 8);
nRecvIndex += 8;
canIDStr += recvData.ID.ToString("X");
canIDStr += ",";
}
if (RaiseZLGRecvDataEvent != null)
{
OnRaiseZLGRecvDataEvent(this, new CANEvent()
{
eventType = CANEventType.ReceEvent,
DataLen = byRecvData[2],
listData = new List <byte>(byRecvData),
ID = canIDStr.TrimEnd(',')
});
}
VCI_ClearBuffer(ZLGInfo.DevType, zlgInfo.DevIndex, zlgInfo.DevChannel);
Marshal.FreeHGlobal(pt);
}
}
}
catch (Exception ex)
{
string str = ex.Message;
}
}
static extern uint VCI_Transmit(uint DeviceType, uint DeviceInd, uint CANInd, ref VCI_CAN_OBJ pSend, uint Len);
/// <summary>
/// 发送数据
/// </summary>
/// <param name="buffer"></param>
void IDataCommunication.SendData(byte[] buffer)
{
VCI_CAN_OBJ frameinfo = new VCI_CAN_OBJ();
frameinfo.Data = new byte[buffer.Length - 4];
for (int i = 4; i < buffer.Length; i++)
{
frameinfo.Data[i - 4] = buffer[i];
}
frameinfo.DataLen = BitConverter.GetBytes(buffer.Length - 4)[0];
frameinfo.RemoteFlag = 0;
frameinfo.ExternFlag = 0;
frameinfo.SendType = 0;
frameinfo.ID = Convert.ToUInt32((buffer[3] << 8) + buffer[2]);
frameinfo.Reserved = new byte[3];
if (VCI_Transmit(DEVICETYPE, DeviceInd, CNDInd, ref frameinfo, 1) != STATUS_OK)
{
WriteLog("写入失败!");
if (VCI_Transmit(DEVICETYPE, DeviceInd, CNDInd, ref frameinfo, 1) != STATUS_OK)//如果出错，再写一次
{
WriteLog("二次写入失败!");
}
}
}
unsafe public static String CanReceive()
{
UInt32 res = VCI_GetReceiveNum(4, 0, 0);
if (res == 0)
{
return("");
}
UInt32 con_maxlen = 2500;
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(VCI_CAN_OBJ)) * (Int32)con_maxlen);
res = VCI_Receive(4, 0, 0, pt, con_maxlen, 0);
String str = "";
for (UInt32 i = 0; i < res; i++)
{
VCI_CAN_OBJ obj = (VCI_CAN_OBJ)Marshal.PtrToStructure((IntPtr)((UInt32)pt + i * Marshal.SizeOf(typeof(VCI_CAN_OBJ))), typeof(VCI_CAN_OBJ));
str = "接收到数据: ";
str += " 帧ID:0x" + System.Convert.ToString((Int32)obj.ID, 16);
str += " 帧格式:";
if (obj.RemoteFlag == 0)
{
str += "数据帧 ";
}
else
{
str += "远程帧 ";
}
if (obj.ExternFlag == 0)
{
str += "标准帧 ";
}
else
{
str += "扩展帧 ";
}
//////////////////////////////////////////
if (obj.RemoteFlag == 0)
{
str += "数据: ";
byte len = (byte)(obj.DataLen % 9);
byte j = 0;
if (j++ < len)
{
str += " " + System.Convert.ToString(obj.Data[0], 16);
}
if (j++ < len)
{
str += " " + System.Convert.ToString(obj.Data[1], 16);
}
if (j++ < len)
{
str += " " + System.Convert.ToString(obj.Data[2], 16);
}
if (j++ < len)
{
str += " " + System.Convert.ToString(obj.Data[3], 16);
}
if (j++ < len)
{
str += " " + System.Convert.ToString(obj.Data[4], 16);
}
if (j++ < len)
{
str += " " + System.Convert.ToString(obj.Data[5], 16);
}
if (j++ < len)
{
str += " " + System.Convert.ToString(obj.Data[6], 16);
}
if (j++ < len)
{
str += " " + System.Convert.ToString(obj.Data[7], 16);
}
}
}
Marshal.FreeHGlobal(pt);
return(str);
}
static extern UInt32 VCI_Receive(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_CAN_OBJ pReceive, UInt32 Len, Int32 WaitTime);
unsafe private void ReceiveDataHandle(UInt32 canId)
{
String str = "";
UInt32 res = new UInt32();
res = DllAdapte.VCI_GetReceiveNum(mDevType, mDevInd, canId);
if (res == 0)
{
return;
}
//res = DllAdapte.VCI_Receive(mDevType, mDevInd, mCanInd, ref mRecObj[0],50, 100);
UInt32 con_maxlen = 50;
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(VCI_CAN_OBJ)) * (Int32)con_maxlen);
res = DllAdapte.VCI_Receive(mDevType, mDevInd, canId, pt, con_maxlen, 100);
for (UInt32 i = 0; i < res; i++)
{
VCI_CAN_OBJ obj = (VCI_CAN_OBJ)Marshal.PtrToStructure((IntPtr)((UInt32)pt + i * Marshal.SizeOf(typeof(VCI_CAN_OBJ))), typeof(VCI_CAN_OBJ));
//str = "接收到数据: ";
str += " 帧ID:0x" + System.Convert.ToString((Int32)obj.ID, 16);
str += " 帧格式:";
if (obj.RemoteFlag == 0)
{
str += "数据帧 ";
}
else
{
str += "远程帧 ";
}
if (obj.ExternFlag == 0)
{
str += "标准帧 ";
}
else
{
str += "扩展帧 ";
}
if (obj.RemoteFlag == 0)
{
str += "数据: ";
byte len = (byte)(obj.DataLen % 9);
for (byte j = 0; j < len; j++)
{
if (j == 0)
{
str += obj.Data[j].ToString("X2");
}
else
{
str += " " + obj.Data[j].ToString("X2"); //System.Convert.ToString(obj.Data[j], 16);
}
}
}
if (mPauseFlag == 0)
{
RevListBox.Items.Add(str);
RevListBox.SelectedIndex = RevListBox.Items.Count - 1;
}
str = string.Empty;
}
Marshal.FreeHGlobal(pt);
}
static extern uint VCI_Receive(uint DeviceType, uint DeviceInd, uint CANInd, ref VCI_CAN_OBJ pReceive, uint Len, int WaitTime);
unsafe public void torque_input(int index, bool b)
{
if (m_bOpen == 0)
{
return;
}
VCI_CAN_OBJ sendobj = new VCI_CAN_OBJ();
sendobj.RemoteFlag = 0;
sendobj.ID = Motor[index].ID;
sendobj.ExternFlag = Motor[index].FrameFormat;
string v = "";
if (b == enable)
{
switch (index)
{
case 0:
v = textBox_tq_LF.Text;
break;
case 1:
v = textBox_tq_LM.Text;
break;
case 2:
v = textBox_tq_LR.Text;
break;
case 3:
v = textBox_tq_RF.Text;
break;
case 4:
v = textBox_tq_RM.Text;
break;
case 5:
v = textBox_tq_RR.Text;
break;
}
}
else
{
v = "0";
}
//*******************************************//
v = v.Replace(" ", "");
if ((v.Length % 2) != 0)
{
v = '0' + v;
}
sendobj.DataLen = (byte)(v.Length / 2);
for (int i = 0; i < sendobj.DataLen; i++)
{
sendobj.Data[i] = Convert.ToByte(v.Substring(i * 2, 2), 16);
}
//************************************************//
if (VCI_Transmit(m_devtype, m_devind, m_canind, ref sendobj, 1) == 0)
{
MessageBox.Show("发送失败", "错误",
MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
}
}
unsafe protected string ReceiveData(UInt32 FilterID, int timeout, uint deviceType, uint deviceIndex, uint cANIndex)
{
string dataStrList = "读取失败！";
List <string> dataStringList = new List <string>();
var cancelTokenSource = new CancellationTokenSource(timeout);
if (IsOpen) //是否打开CAN
{
List <uint> Data_Frame = new List <uint>();
while (!cancelTokenSource.IsCancellationRequested)//设置读取超时
{
//uint num = VCI_GetReceiveNum(deviceType, deviceIndex, cANIndex);
uint con_maxlen = 100;
int size = Marshal.SizeOf(typeof(VCI_CAN_OBJ)); //获取结构体占用空间大小
IntPtr pt = Marshal.AllocHGlobal(size * (Int32)con_maxlen); //声明一个同样大小的空间的指针或句柄
UInt32 result = VCI_Receive(deviceType, deviceIndex, cANIndex, pt, con_maxlen, 100); //返回最大100幁数据
for (UInt32 i = 0; i < result; i++)
{
VCI_CAN_OBJ obj = (VCI_CAN_OBJ)Marshal.PtrToStructure((IntPtr)((uint)pt + i * size), typeof(VCI_CAN_OBJ)); //将结构体放到这个空间中
if (obj.ID == FilterID) //判断是否为过滤的ID
{
if (obj.RemoteFlag == 0) //判断是否为远程幁
{
//Data_Frame.Add(obj.ID);
byte len = (byte)(obj.DataLen % 9);
byte j = 0;
if (j++ < len)
{
for (int d = 0; d < len; d++)
{
Data_Frame.Add(obj.Data[d]);
}
Data_Frame.RemoveRange(0, 2);
}
}
dataStrList = ConvertFrom.ArrayToHexString(Data_Frame.ToArray());
}
}
#region old
//dataStr = "帧ID: ";
//dataStr = Convert.ToString(obj.ID, 16);
// if (obj.ID == FilterID)
// {
// if (obj.RemoteFlag == 0)
// {
// //dataStr += " 数据: ";
// byte len = (byte)(obj.DataLen % 9);
// byte j = 0;
// if (j++ < len)
// {
// for (int d = 0; d < len; d++)
// {
// dataStr += " " + string.Format("{0:X2}", obj.Data[d]);//01 00 00 00 00 00 00 08
// }
// }
// dataStringList.Add(dataStr.ToUpper());
// }
// }
// //Console.WriteLine(dataStr.ToUpper());
//}
//if (dataStringList.Count > 0)
//{
// foreach (var item in dataStringList)
// {
// dataStrList += item + "\r\n";
// }
// return dataStrList;
//}//判断是否有 指定的数据
//else
//{
// dataStringList = null;
// dataStrList = "";
// //ReceiveData(FilterID, timeout);
// return $"CAN1 读取帧ID: {Convert.ToString(FilterID, 16).ToUpper()} 失败！";
//}
#endregion
}
return(dataStrList);
}
return(dataStrList);
//return $"CAN1 读取帧ID: {Convert.ToString(FilterID, 16).ToUpper()} 失败！";
}
/// <summary>
/// 发送单帧信息
/// </summary>
/// <param name="ID"></param>
/// <param name="canIndex"></param>
/// <param name="data"></param>
/// <param name="dataLength"></param>
public void SingleTransmit(VCI_CAN_OBJ obj)
{
try
{
if (ZLGInfo.DevType == (uint)ZLGType.VCI_USBCANFD_100U)
{
ZLGCAN_API.ZCAN_Transmit_Data can_data = new ZLGCAN_API.ZCAN_Transmit_Data();
obj.ExternFlag = 1;
can_data.frame.can_id = MakeCanId(obj.ID, obj.ExternFlag, 0, 0);
can_data.frame.data = new byte[8];
Buffer.BlockCopy(obj.Data, 0, can_data.frame.data, 0, obj.DataLen);
can_data.frame.can_dlc = (byte)obj.Data.Length;
can_data.transmit_type = obj.SendType;
IntPtr ptr = Marshal.AllocHGlobal(Marshal.SizeOf(can_data));
Marshal.StructureToPtr(can_data, ptr, true);
BoqiangH5Repository.CSVFileHelper.WriteLogs("log", "发送", CSVFileHelper.ToHexStrFromByte(can_data.frame.data, false), false);
uint res = ZLGCAN_API.ZCAN_Transmit(channel_handle, ptr, 1);
Marshal.FreeHGlobal(ptr);
if (res == 0)
{
_dispatcher.BeginInvoke(new Action(delegate()
{
}));
AbortThread();
return;
}
else
{
OnRaiseZLGCommunicateEvent(this,
new CANEvent()
{
eventType = CANEventType.SendEvent,
//ID = can_data.frame.can_id,
DataLen = can_data.frame.data[2],
listData = new List <byte>(can_data.frame.data)
});
}
}
else if (ZLGInfo.DevType == (uint)ZLGType.PCAN)
{
bool isRemote = false;
if (obj.RemoteFlag == 0x00)
{
isRemote = false;
}
else
{
isRemote = true;
}
BoqiangH5Repository.CSVFileHelper.WriteLogs("log", "发送", CSVFileHelper.ToHexStrFromByte(obj.Data, false), false);
PCANInterface.PCANInstance.PCAN_WriteData(obj.ID, obj.DataLen, isRemote, obj.Data);
}
else
{
//在非托管内存中分配一个VCI_CAN_OBJ结构体大小的内存空间
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(VCI_CAN_OBJ)) * 1);
VCI_CAN_OBJ pSend = (VCI_CAN_OBJ)Marshal.PtrToStructure((IntPtr)((UInt32)pt), typeof(VCI_CAN_OBJ));
//IsSendFrame = true;
pSend.ID = obj.ID;
pSend.SendType = obj.SendType;
pSend.RemoteFlag = obj.RemoteFlag;
pSend.ExternFlag = obj.ExternFlag;
pSend.DataLen = obj.DataLen;
string strSendDdata = String.Empty;
byte[] temp = obj.Data;
for (int j = 0; j < pSend.DataLen; j++)
{
strSendDdata += String.Format("{0:X2}", temp[j]) + " ";
}
for (int i = 0; i < obj.DataLen; i++)
{
pSend.Data[i] = obj.Data[i];
}
if (pSend.Data[0] == 0x30 && pSend.Data[1] == 0xff && pSend.Data[3] == 0x00)
{
}
BoqiangH5Repository.CSVFileHelper.WriteLogs("log", "发送", CSVFileHelper.ToHexStrFromByte(pSend.Data, false), false);
//返回实际发送成功的帧数
UInt32 res = VCI_Transmit(ZLGInfo.DevType, zlgInfo.DevIndex, zlgInfo.DevChannel, ref pSend, 1);
if (res == 0)
{
_dispatcher.BeginInvoke(new Action(delegate()
{
}));
AbortThread();
return;
}
else
{
OnRaiseZLGCommunicateEvent(this,
new CANEvent()
{
eventType = CANEventType.SendEvent,
//ID = pSend.ID,
DataLen = pSend.DataLen,
listData = new List <byte>(pSend.Data)
});
}
Marshal.FreeHGlobal(pt);
}
}
catch (Exception ex)
{
}
}
/// <summary>
/// 发送单帧信息
/// </summary>
/// <param name="ID"></param>
/// <param name="canIndex"></param>
/// <param name="data"></param>
/// <param name="dataLength"></param>
public void SingleTransmit()
{
if (sendData.ToString() == "" || sendID.ToString() == "")
{
return;
}
string[] _data = sendData.Trim().Split(' ');
//在非托管内存中分配一个VCI_CAN_OBJ结构体大小的内存空间——————此方法似乎不行！！！
//IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(VCI_CAN_OBJ)) * 1);
//VCI_CAN_OBJ pSend = (VCI_CAN_OBJ)Marshal.PtrToStructure((IntPtr)((UInt32)pt), typeof(VCI_CAN_OBJ));
VCI_CAN_OBJ pSend = new VCI_CAN_OBJ();
//初始化Data为8个字节
pSend.Data = new byte[8];
pSend.DataLen = System.Convert.ToByte(_data.Length);
for (int i = 0; i < _data.Length; i++)
{
pSend.Data[i] = System.Convert.ToByte(_data[i], 16);
}
pSend.ExternFlag = 1;
pSend.RemoteFlag = 0;
pSend.SendType = 0;
pSend.TimeFlag = 0;
pSend.TimeStamp = 0x00;
pSend.ID = Convert.ToUInt32(sendID, 16);
//返回实际发送成功的帧数
UInt32 res = VCI_Transmit(devType, devIndex, devChannel, ref pSend, 1);
if (res == 0)
{
_dispatcher.BeginInvoke(new Action(delegate()
{
DXMessageBox.Show((string)Application.Current.Resources["tePromptText3"], (string)Application.Current.Resources["tePrompt"], MessageBoxButton.OK, MessageBoxImage.Warning);
}));
AbortThread();
return;
}
//将接收的数据添加到table中
lock (DataBase)
{
DataRow _dr = DataBase.NewRow();
_dr["dttype"] = 0;
_dr["id"] = "0x" + sendID;
_dr["direction"] = (string)Application.Current.Resources["coSend"];
_dr["type"] = pSend.ExternFlag == 0 ? (string)Application.Current.Resources["teStandardFrame"] : (string)Application.Current.Resources["teExtendedFrame"];
_dr["time"] = DateTime.Now.ToString("MM/dd HH:mm:ss:ffff");
_dr["data"] = sendData;
_dr["signal"] = 0;
DataBase.Rows.Add(_dr);
if (DataBase.Rows.Count > 1000)
{
for (int i = 0; i < DataBase.Rows.Count - 1000; i++)
{
DataBase.Rows.RemoveAt(0);
}
}
}
//Marshal.FreeHGlobal(pt);
}
unsafe private void ReceiveUpData()
{
String idStr = "";
string dataStr = string.Empty;
UInt32 res = new UInt32();
UInt32 canId = 0;
res = DllAdapte.VCI_GetReceiveNum(mDevType, mDevInd, canId);
if (res == 0)
{
return;
}
//res = DllAdapte.VCI_Receive(mDevType, mDevInd, mCanInd, ref mRecObj[0],50, 100);
UInt32 con_maxlen = 50;
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(VCI_CAN_OBJ)) * (Int32)con_maxlen);
res = DllAdapte.VCI_Receive(mDevType, mDevInd, canId, pt, con_maxlen, 100);
for (UInt32 i = 0; i < res; i++)
{
VCI_CAN_OBJ obj = (VCI_CAN_OBJ)Marshal.PtrToStructure((IntPtr)((UInt32)pt + i * Marshal.SizeOf(typeof(VCI_CAN_OBJ))), typeof(VCI_CAN_OBJ));
idStr = System.Convert.ToString((Int32)obj.ID, 16);
if (idStr.Contains("1441abaa")) // && mPauseFlag == 0
{
if (obj.Data[1] == (byte)0xcc)
{
mUpCmd = UpgradeCmd.CmdUpgrade;
sendListBox.Items.Add("同主机Ping成功!");
}
else
{
mUpCmd = UpgradeCmd.CmdPing;
}
}
if (idStr.Contains("1442abaa")) // && mPauseFlag == 0
{
if (obj.Data[1] == (byte)0xcc)
{
mFrameSendFlag = 0;
mUpgradeFlag = 0;
mUpCmd = UpgradeCmd.CmdNone;
//timerSend.Enabled = false; //重启后要先关闭发送定时器
sendListBox.Items.Add("主机重启成功!");
}
}
if (idStr.Contains("1443abaa")) // && mPauseFlag == 0
{
if (obj.Data[1] == (byte)0xcc)
{
mUpCmd = UpgradeCmd.CmdSendData;
sendListBox.Items.Add("发送升级地址成功!");
}
else if (obj.Data[1] == (byte)0x33)
{
mUpgradeFlag = 0;
mUpCmd = UpgradeCmd.CmdNone;
sendListBox.Items.Add("升级下载地址不符合FLASH空间大小!");
}
else
{
mUpCmd = UpgradeCmd.CmdUpgrade;
}
}
if (idStr.Contains("1444abaa")) // && mPauseFlag == 0
{
if (obj.Data[1] == (byte)0x33)
{
mRevFrameNum = 0;
mUpgradeFlag = 0;
progressBar.Visible = false;
mUpCmd = UpgradeCmd.CmdRun;
sendListBox.Items.Add("升级成功!");
mBinReader.Close();
mBinStream.Close();
}
else if (obj.Data[1] == (byte)0xcc)
{
mUpCmd = UpgradeCmd.CmdSendData;
}
else
{
if (mSendDone == 1)
{
progressBar.Visible = false;
mSendDone = 0; //标志复位
mUpgradeFlag = 0;
//mUpCmd = UpgradeCmd.CmdRun;
sendListBox.Items.Add("数据发送完成但未收到主机应答信号!");
}
else
{
mUpgradeFlag = 0;
mUpCmd = UpgradeCmd.CmdNone;
sendListBox.Items.Add("提示：主机在本帧中有丢失数据!");
}
}
}
if (obj.RemoteFlag == 0)
{
byte len = (byte)(obj.DataLen % 9);
for (byte j = 0; j < len; j++)
{
if (j == 0)
{
dataStr += obj.Data[j].ToString("X2");
}
else
{
dataStr += " " + obj.Data[j].ToString("X2"); //System.Convert.ToString(obj.Data[j], 16);
}
}
}
if (mPauseFlag == 0)
{
if (mFrameSendFlag == 1)
{
mRevFrameNum++;
}
RevListBox.Items.Add("报文ID: 0x" + idStr + " 接收数据: " + dataStr + " 接收帧数: " + mRevFrameNum.ToString("X4"));
RevListBox.SelectedIndex = RevListBox.Items.Count - 1;
}
dataStr = string.Empty;
}
Marshal.FreeHGlobal(pt);
}
/// <summary>
/// 发送数据
/// </summary>
/// <param name="id">发送ID</param>
/// <param name="data">发送数据</param>
public unsafe void SendData(string id, string data)
{
Debug.WriteLine("id:" + id + "data:" + data);
if (!connected)
{
return;
}
var SendID = "0x00000" + id.ToUpper();
var sendobj = new VCI_CAN_OBJ
{
SendType = 0,
RemoteFlag = 0,
ExternFlag = 0,
ID = Convert.ToUInt32(SendID, 16)
};
if (data.Length != 23)
{
var length = (23 - data.Length) / 3;
for (int j = 0; j < length; j++)
{
data += " FF";
}
}
var len = (data.Length + 1) / 3;
sendobj.DataLen = Convert.ToByte(len);
var strdata = data;
//Debug.WriteLine(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss fff") + " 7E2：" + strdata);
var i = -1;
if (i++ < len - 1)
{
sendobj.Data[0] = Convert.ToByte("0x" + strdata.Substring(i * 3, 2), 16);
}
if (i++ < len - 1)
{
sendobj.Data[1] = Convert.ToByte("0x" + strdata.Substring(i * 3, 2), 16);
}
if (i++ < len - 1)
{
sendobj.Data[2] = Convert.ToByte("0x" + strdata.Substring(i * 3, 2), 16);
}
if (i++ < len - 1)
{
sendobj.Data[3] = Convert.ToByte("0x" + strdata.Substring(i * 3, 2), 16);
}
if (i++ < len - 1)
{
sendobj.Data[4] = Convert.ToByte("0x" + strdata.Substring(i * 3, 2), 16);
}
if (i++ < len - 1)
{
sendobj.Data[5] = Convert.ToByte("0x" + strdata.Substring(i * 3, 2), 16);
}
if (i++ < len - 1)
{
sendobj.Data[6] = Convert.ToByte("0x" + strdata.Substring(i * 3, 2), 16);
}
if (i++ < len - 1)
{
sendobj.Data[7] = Convert.ToByte("0x" + strdata.Substring(i * 3, 2), 16);
}
var nTimeOut = 3000;
//Debug.WriteLine(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss:fff") + " CAN开始发送数据");
VCI_SetReference(m_devtype, m_devind, m_canind, 4, (byte *)&nTimeOut);
// Debug.WriteLine(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss fff ") + id + ": " + strdata);
//Debug.WriteLine(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss:fff") + " CAN结束发送数据");
if (VCI_Transmit(m_devtype, m_devind, m_canind, ref sendobj, 1) == 0)
{
if (connected)
{
if (!messageBoxNotice)
{
messageBoxNotice = true;
if (MessageBox.Show("TCU指令发送失败，请检查TCU是否正常连接", "Confirmation", MessageBoxButton.OK) == MessageBoxResult.Yes)
{
messageBoxNotice = false;
}
}
//MessageBox.Show("TCU指令发送失败，请检查TCU是否正常连接");
}
}
}
public uint Receive(uint can_index, ref VCI_CAN_OBJ obj_ref, uint obj_length = VCI_MAX_OBJECT_LENGTH, int rec_wait_time = VCI_RECEIVE_WAIT_TIME)
{
return(VCI_Receive(m_devtype, m_devind, can_index, ref obj_ref, obj_length, rec_wait_time));
}
static extern UInt32 VCI_Transmit(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_CAN_OBJ pSend, UInt32 Len);
public uint Transmit(uint can_index, ref VCI_CAN_OBJ obj_ref, uint obj_length)
{
return(VCI_Transmit((uint)m_devtype, m_devind, can_index, ref obj_ref, obj_length));
}
public static extern uint VCI_Transmit(uint DeviceType, uint DeviceInd, uint CANInd, ref VCI_CAN_OBJ pSend, uint Len);
unsafe private void timer_rec_Tick(object sender, EventArgs e)
{
UInt32 res = new UInt32();
res = VCI_GetReceiveNum(m_devtype, m_devind, m_canind);
if (res == 0)
{
return;
}
//res = VCI_Receive(m_devtype, m_devind, m_canind, ref m_recobj[0],50, 100);
/////////////////////////////////////
UInt32 con_maxlen = 50;
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(VCI_CAN_OBJ)) * (Int32)con_maxlen);
res = VCI_Receive(m_devtype, m_devind, m_canind, pt, con_maxlen, 100);
////////////////////////////////////////////////////////
String str = "";
for (UInt32 i = 0; i < res; i++)
{
VCI_CAN_OBJ obj = (VCI_CAN_OBJ)Marshal.PtrToStructure((IntPtr)((UInt32)pt + i * Marshal.SizeOf(typeof(VCI_CAN_OBJ))), typeof(VCI_CAN_OBJ));
str = "接收到数据: ";
str += " 帧ID:0x" + System.Convert.ToString((Int32)obj.ID, 16);
str += " 帧格式:";
if (obj.RemoteFlag == 0)
{
str += "数据帧 ";
}
else
{
str += "远程帧 ";
}
if (obj.ExternFlag == 0)
{
str += "标准帧 ";
}
else
{
str += "扩展帧 ";
}
//////////////////////////////////////////
if (obj.RemoteFlag == 0)
{
str += "数据: ";
byte len = (byte)(obj.DataLen % 9);
byte j = 0;
if (j++ < len)
{
str += " " + System.Convert.ToString(obj.Data[0], 16);
}
if (j++ < len)
{
str += " " + System.Convert.ToString(obj.Data[1], 16);
}
if (j++ < len)
{
str += " " + System.Convert.ToString(obj.Data[2], 16);
}
if (j++ < len)
{
str += " " + System.Convert.ToString(obj.Data[3], 16);
}
if (j++ < len)
{
str += " " + System.Convert.ToString(obj.Data[4], 16);
}
if (j++ < len)
{
str += " " + System.Convert.ToString(obj.Data[5], 16);
}
if (j++ < len)
{
str += " " + System.Convert.ToString(obj.Data[6], 16);
}
if (j++ < len)
{
str += " " + System.Convert.ToString(obj.Data[7], 16);
}
}
listBox_Info.Items.Add(str);
listBox_Info.SelectedIndex = listBox_Info.Items.Count - 1;
}
Marshal.FreeHGlobal(pt);
}
/// <summary>
/// 接收数据
/// </summary>
private void Recieve()
{
uint len = 0;
VCI_ERR_INFO errinfo = new VCI_ERR_INFO();
VCI_CAN_OBJ[] frameinfos = new VCI_CAN_OBJ[1];
while (isOpen)
{
try
{
do
{
len = VCI_Receive(DEVICETYPE, DeviceInd, CNDInd, ref frameinfos[0], 1, 0);
if (len <= 0)
{
VCI_ReadErrInfo(DEVICETYPE, DeviceInd, CNDInd, ref errinfo);
}
else
{
foreach (var frameinfo in frameinfos)
{
if (frameinfo.DataLen > 0 && frameinfo.Data != null)
{
if (frameinfo.Data.Length < frameinfo.DataLen)
{
WriteLog("数据格式不正确！");
}
buffer.Add(0xFA);//加数据包头
//buffer.Add(0xe1);
//buffer.Add(0x08);
//buffer.Add(0);
//buffer.Add(0);
for (int i = 1; i < frameinfo.DataLen + 1; i++)
{
buffer.Add(frameinfo.Data[i - 1]);
}
DataRecievedArgs args = new DataRecievedArgs();
args.Buffer = buffer;
//System.Diagnostics.Debug.WriteLine(frameinfo.Data[7]);
//args.Buffer1 = new byte[frameinfo.DataLen];
////args.Buffer[0] = 0xe1;
////args.Buffer[1] = 0x08;
////args.Buffer[2] = 0;
////args.Buffer[3] = 0;
//for (int i = 0; i < frameinfo.DataLen; i++)
//{
// args.Buffer1[i] = frameinfo.Data[i];
//}
if (DataReceived != null) DataReceived(args);
}
}
}
}
while (len <= 0);
}
catch { }
//System.Diagnostics.Debug.WriteLine("end:" + DateTime.Now.Millisecond);
//VCI_ClearBuffer(VCI_USBCAN1, DeviceInd, CNDInd);
Thread.Sleep(1);
}
}
public UInt32 Receive(ref VCI_CAN_OBJ pReceive)
{
return(VCI_Receive(m_devtype, m_devind, m_canind, ref pReceive, 1000, 100));
}
static extern uint VCI_Receive(uint DeviceType, uint DeviceInd, uint CANInd, ref VCI_CAN_OBJ pReceive, uint Len, int WaitTime);
/// <summary>
/// 发送数据
/// </summary>
/// <param name="buffer"></param>
void IDataCommunication.SendData(byte[] buffer)
{
lock (this)
{
VCI_CAN_OBJ frameinfo = new VCI_CAN_OBJ();
frameinfo.Data = new byte[buffer.Length - 4];
for (int i = 4; i < buffer.Length; i++)
{
frameinfo.Data[i - 4] = buffer[i];
}
frameinfo.DataLen = BitConverter.GetBytes(buffer.Length - 4)[0];
frameinfo.RemoteFlag = 0;
frameinfo.ExternFlag = 0;
frameinfo.SendType = 0;
frameinfo.ID = Convert.ToUInt32((buffer[3] << 8) + buffer[2]);
frameinfo.Reserved = new byte[3];
if (VCI_Transmit(VCI_USBCAN1, DeviceInd, CNDInd, ref frameinfo, 1) != STATUS_OK)
{
WriteLog("写入失败!");
if (VCI_Transmit(VCI_USBCAN1, DeviceInd, CNDInd, ref frameinfo, 1) != STATUS_OK)//如果出错，再写一次
{
WriteLog("二次写入失败!");
}
}
Thread.Sleep(10);
}
//LogManager.Debug(buffer[0].ToString("X2") + " " + buffer[1].ToString("X2") + " " + buffer[2].ToString("X2") + " " + buffer[3].ToString("X2") + " " + buffer[4].ToString("X2") + " "
// + buffer[5].ToString("X2") + " " + buffer[6].ToString("X2") + " " + buffer[7].ToString("X2") + " "
// + buffer[8].ToString("X2") + " " + buffer[9].ToString("X2") + " " + buffer[10].ToString("X2") + " " + buffer[11].ToString("X2"));
}