/// <summary>
/// 打开CAN卡
/// </summary>
/// <param name="CanDeceivePort">打开的端口号</param>
/// <returns></returns>
private void OpenCAN(UInt32 CanDeceivePort = 0)
{
char t_char = '0';
CANDeviceHandle = CanCmd.CAN_DeviceOpen(canDviceType, CanDeceivePort, ref t_char);
if (CANDeviceHandle == 0)
{
Info?.Invoke("[E]打开" + canDeviceName + "设备失败");
return;
}
Info?.Invoke("[I]打开" + canDeviceName + "设备成功");
}
/// <summary>
/// CAN卡数据接收线程
/// </summary>
private unsafe void TRecv()
{
while (!T_CANRecv_NeedDel)
{
if (IsCANopen)
{
//check is have data
uint res = CanCmd.CAN_GetReceiveCount(CANDeviceHandle, canDeviceChannel);
if (res == 0)
{
continue;//not receive data
}
/////////////////////////////////////
UInt32 con_maxlen = 500;
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(CAN_DataFrame)) * (Int32)con_maxlen);
res = CanCmd.CAN_ChannelReceive(CANDeviceHandle, canDeviceChannel, pt, con_maxlen, 100);
////////////////////////////////////////////////////////
if (res == 0)
{
// 读取错误信息
CAN_ErrorInformation err = new CAN_ErrorInformation();
// 必须调用此函数
if (CanCmd.CAN_GetErrorInfo(CANDeviceHandle, canDeviceChannel, ref err) == CanCmd.CAN_RESULT_OK)
{ // CAN通讯有错误
// 处理错误信息
Info?.Invoke("[E]CAN通讯有错误: " + DecodeErrCode(err.uErrorCode));
}
else
{ // 没有收到CAN数据
Info?.Invoke("[E]没有收到CAN数据,获取错误信息失败");
}
CanCmd.CAN_ClearReceiveBuffer(CANDeviceHandle, canDeviceChannel);
}
else
{
WriteDataToCANRecvData = true;
for (UInt32 i = 0; i < res; i++)
{
CAN_DataFrame obj = (CAN_DataFrame)Marshal.PtrToStructure((IntPtr)((UInt64)pt + (UInt64)(i * Marshal.SizeOf(typeof(CAN_DataFrame)))), typeof(CAN_DataFrame));
CANRecvedData.AddLast(obj);
}
}
WriteDataToCANRecvData = false;
Marshal.FreeHGlobal(pt);
}
}
}
/// <summary>
/// 对外接口,通过CAN发送数据
/// </summary>
/// <param name="str">发送数据的命令</param>
/// <returns>发送状态</returns>
public bool Write(string str)
{
List <SendCMD> sendCMDs = new List <SendCMD>();
CAN_DataFrame sendobj = new CAN_DataFrame();
sendobj.nDataLen = 8;
//str = str.Substring(1);
str = str.Replace('$', ' ');
var cmds = str.Split(',');
for (int i = 0; i < cmds.Length; i++)
{
if (cmds[i] == "" || cmds[i] == ",")
{
continue;
}
SendCMD a = new SendCMD();
a.Name = cmds[i].Substring(0, 6);
var ttt = cmds[i].Substring(6);
a.Value = Convert.ToInt32(cmds[i].Substring(6));
a.ID = CheckID(a.Name);
sendobj.uID = a.ID;
sendCMDs.Add(a);
}
sendobj.nSendType = 0; //Normal send
sendobj.bRemoteFlag = 0; //不是远程帧
sendobj.bExternFlag = 1; //扩展帧
sendobj.nDataLen = 8;
OganizeData(sendCMDs, ref sendobj);
if (IsCANopen)
{
if (CanCmd.CAN_ChannelSend(CANDeviceHandle, canDeviceChannel, ref sendobj, 1) == 0)
{
Info?.Invoke("[E]发送失败");
}
else
{
Info?.Invoke("[I]发送成功");
}
}
else
{
Info?.Invoke("[E]CAN未打开");
}
return(true);
}
/// <summary>
/// 打开通道
/// </summary>
/// <param name="channel">通道号</param>
private void OpenChannel(UInt32 channel)
{
canDeviceChannel = channel;
if (CANDeviceHandle != 0)
{
if (CanCmd.CAN_RESULT_OK != CanCmd.CAN_ChannelStart(CANDeviceHandle, canDeviceChannel, ref config))
{
Info?.Invoke("[E]打开" + canDeviceName + "设备的通道" + canDeviceChannel.ToString() + "失败");
return;
}
Info?.Invoke("[I]打开" + canDeviceName + "设备的通道" + canDeviceChannel.ToString() + "成功");
IsCANopen = true;
}
else
{
Info?.Invoke("[E]没有打开设备之前不可操作CAN通道");
}
}
/// <summary>
/// 关闭CAN卡
/// </summary>
public void CloseCAN()
{
try
{
T_CANRecv_NeedDel = true;
T_CANRecv.Abort();
}
catch (Exception ex)
{
Info?.Invoke("[I]关闭线程" + T_CANRecv.Name + "：" + ex.ToString());
}
if (CanCmd.CAN_RESULT_OK != CanCmd.CAN_ChannelStop(CANDeviceHandle, canDeviceChannel))
{
Info?.Invoke("[E]关闭" + canDeviceName + "设备的通道" + canDeviceChannel.ToString() + "失败");
}
Info?.Invoke("[I]已关闭" + canDeviceName + "设备的通道" + canDeviceChannel.ToString());
CanCmd.CAN_DeviceClose(CANDeviceHandle);
IsCANopen = false;
Info?.Invoke("[I]已关闭" + canDeviceName + "设备");
}
