//public void setChannelHandle(IntPtr channel_handle)
//{
// lock (locker)
// {
// channel_handle = channel_handle;
// }
//}
/// <summary>
/// 接收CAN总线上的数据
/// </summary>
private void ReceiveDataFromCAN()
{
//ZCAN_Receive_Data[] can_data = new ZCAN_Receive_Data[100];
ZCAN_ReceiveFD_Data[] canfd_data = new ZCAN_ReceiveFD_Data[100];
uint len;
while (m_bStart)
{
lock (locker)
{
//len = ZCAN_GetReceiveNum(channel_handle, TYPE_CAN);
//if (len > 0)
//{
// int size = Marshal.SizeOf(typeof(ZCAN_Receive_Data));
// IntPtr ptr = Marshal.AllocHGlobal((int)len * size);
// len = ZCAN_Receive(channel_handle, ptr, len, 50);
// for (int i = 0; i < len; ++i)
// {
// can_data[i] = (ZCAN_Receive_Data)Marshal.PtrToStructure(
// (IntPtr)((UInt32)ptr + i * size), typeof(ZCAN_Receive_Data));
// }
// OnRecvCANDataEvent(can_data, len);
// Marshal.FreeHGlobal(ptr);
//}
len = ZCAN_GetReceiveNum(channel_handle, TYPE_CANFD);
int nRecvIndex = 0;
byte[] byRecvData = new byte[len * 8];
if (len > 0)
{
int size = Marshal.SizeOf(typeof(ZCAN_ReceiveFD_Data));
IntPtr ptr = Marshal.AllocHGlobal((int)len * size);
len = ZCAN_ReceiveFD(channel_handle, ptr, len, 50);
for (int i = 0; i < len; ++i)
{
canfd_data[i] = (ZCAN_ReceiveFD_Data)Marshal.PtrToStructure(
(IntPtr)((UInt32)ptr + i * size), typeof(ZCAN_ReceiveFD_Data));
Buffer.BlockCopy(canfd_data[i].frame.data, 0, byRecvData, nRecvIndex, 8);
nRecvIndex += 8;
}
//OnRecvFDDataEvent(canfd_data, len);
if (RaiseZLGRecvDataEvent != null)
{
OnRaiseZLGRecvDataEvent(this, new CANEvent()
{
eventType = CANEventType.ReceEvent,
DataLen = byRecvData[2],
listData = new List <byte>(byRecvData)
});
Marshal.FreeHGlobal(ptr);
}
}
}
Thread.Sleep(10);
}
}
//数据接收函数
protected void RecvDataFunc()
{
ZCAN_Receive_Data[] can_data = new ZCAN_Receive_Data[100];
ZCAN_ReceiveFD_Data[] canfd_data = new ZCAN_ReceiveFD_Data[100];
uint len;
while (m_bStart)
{
lock (locker)
{
len = Method.ZCAN_GetReceiveNum(channel_handle_, TYPE_CAN);
if (len > 0)
{
int size = Marshal.SizeOf(typeof(ZCAN_Receive_Data));
IntPtr ptr = Marshal.AllocHGlobal((int)len * size);
len = Method.ZCAN_Receive(channel_handle_, ptr, len, 50);
for (int i = 0; i < len; ++i)
{
can_data[i] = (ZCAN_Receive_Data)Marshal.PtrToStructure(
(IntPtr)((UInt32)ptr + i * size), typeof(ZCAN_Receive_Data));
}
OnRecvCANDataEvent(can_data, len);
Marshal.FreeHGlobal(ptr);
}
len = Method.ZCAN_GetReceiveNum(channel_handle_, TYPE_CANFD);
if (len > 0)
{
int size = Marshal.SizeOf(typeof(ZCAN_ReceiveFD_Data));
IntPtr ptr = Marshal.AllocHGlobal((int)len * size);
len = Method.ZCAN_ReceiveFD(channel_handle_, ptr, len, 50);
for (int i = 0; i < len; ++i)
{
canfd_data[i] = (ZCAN_ReceiveFD_Data)Marshal.PtrToStructure(
(IntPtr)((UInt32)ptr + i * size), typeof(ZCAN_ReceiveFD_Data));
}
OnRecvFDDataEvent(canfd_data, len);
Marshal.FreeHGlobal(ptr);
}
}
Thread.Sleep(10);
}
}
private void AddData(ZCAN_ReceiveFD_Data[] data, uint len)
{
list_box_data_ = "";
for (uint i = 0; i < len; ++i)
{
ZCAN_ReceiveFD_Data canfd = data[i];
uint id = data[i].frame.can_id;
string eff = IsEFF(id) ? "扩展帧" : "标准帧";
string rtr = IsRTR(id) ? "远程帧" : "数据帧";
list_box_data_ = String.Format("接收到CANFD ID:0x{0:X8} {1:G} {2:G} 长度:{3:D1} 数据:", GetId(id), eff, rtr, canfd.frame.len);
for (uint j = 0; j < canfd.frame.len; ++j)
{
list_box_data_ = String.Format("{0:G}{1:X2} ", list_box_data_, canfd.frame.data[j]);
}
}
Object[] list = { this, System.EventArgs.Empty };
this.listBox.BeginInvoke(new EventHandler(SetListBox), list);
}
