public bool DecodePacket(CAN_DataFrame cAN_Data)
{
switch (cAN_Data.uID)
{
case 0x18FF2111: Analysis_DATA(1, cAN_Data); count[0] = 1; break;
case 0x18FF2313: Analysis_DATA(2, cAN_Data); count[1] = 1; break;
case 0x18FF2413: Analysis_DATA(3, cAN_Data); count[2] = 1; break;
case 0x0CFF2715: Analysis_DATA(4, cAN_Data); count[3] = 1; break;
case 0x18FF2815: Analysis_DATA(5, cAN_Data); count[4] = 1; break;
case 0x18FF2915: Analysis_DATA(6, cAN_Data); count[5] = 1; break;
case 0x18FF2515: Analysis_DATA(7, cAN_Data); count[6] = 1; break;
case 0x0CFF2615: Analysis_DATA(8, cAN_Data); count[7] = 1; break;
}
if (count.Min() == 1)
{
count.ToList().ForEach(a =>
{
a = 0;
});
return(true);
}
return(false);
}
/// <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);
}
unsafe private void Analysis_DATA(UInt16 Pack_NO, CAN_DataFrame CANRX)
{
switch (Pack_NO)
{
case 1:
json.HXCS = CANRX.arryData[0].ToString();
json.ZXCS = CANRX.arryData[1].ToString();
json.XLGWY = ((CANRX.arryData[3] << 8) + CANRX.arryData[2]).ToString();
// CANDATA.XLGWY = CANRX.arryData[2]&0XFFFF;
json.XLGZJ = ((CANRX.arryData[5] << 8) + CANRX.arryData[4]).ToString();
// CANDATA.XLGZJ += CANRX.arryData[4];
break;
case 2:
json.GTGD = (((ushort)CANRX.arryData[1] << 8) + (ushort)CANRX.arryData[0]).ToString();
// CANDATA.GTGD += CANRX.arryData[0];
json.BHLGD = ((ushort)(CANRX.arryData[3] << 8) + CANRX.arryData[2]).ToString();
// CANDATA.BHLGD += CANRX.arryData[2];
json.XGD = ((ushort)(CANRX.arryData[5] << 8) + CANRX.arryData[4]).ToString();
// CANDATA.XGD += CANRX.arryData[4];
json.GTGD_R = ((ushort)(CANRX.arryData[7] << 8) + CANRX.arryData[6]).ToString();
break;
case 3:
json.DPZQ = ((CANRX.arryData[1] << 8) + CANRX.arryData[0]).ToString();
// CANDATA.DPZQ += CANRX.arryData[0];
json.DPYQ = ((CANRX.arryData[3] << 8) + CANRX.arryData[2]).ToString();
// CANDATA.DPYQ += CANRX.arryData[2];
json.DPZH = ((CANRX.arryData[5] << 8) + CANRX.arryData[4]).ToString();
// CANDATA.DPZH += CANRX.arryData[4];
json.DPYH = ((CANRX.arryData[7] << 8) + CANRX.arryData[6]).ToString();
// CANDATA.DPYH += CANRX.arryData[6];
break;
case 4:
json.QJSD = ((CANRX.arryData[3] << 8) + CANRX.arryData[2]).ToString();
// CANDATA.QJSD += CANRX.arryData[2];
json.LZLL = ((CANRX.arryData[5] << 8) + CANRX.arryData[4]).ToString();
// CANDATA.LZLL += CANRX.arryData[4];
break;
case 5:
json.ZGDZS = ((CANRX.arryData[1] << 8) + CANRX.arryData[0]).ToString();
// CANDATA.ZGDZS += CANRX.arryData[0];
json.BHLZS = ((CANRX.arryData[3] << 8) + CANRX.arryData[2]).ToString();
// CANDATA.BHLZS += CANRX.arryData[2];
json.SSCZS = ((CANRX.arryData[5] << 8) + CANRX.arryData[4]).ToString();
// CANDATA.SSCZS += CANRX.arryData[4];
json.TLGT = ((CANRX.arryData[7] << 8) + CANRX.arryData[6]).ToString();
// CANDATA.TLGT += CANRX.arryData[6];
break;
case 6:
json.FJZS = ((CANRX.arryData[1] << 8) + CANRX.arryData[0]).ToString();
// CANDATA.FJZS += CANRX.arryData[0];
json.SLJLZS = ((CANRX.arryData[3] << 8) + CANRX.arryData[2]).ToString();
// CANDATA.SLJLZS += CANRX.arryData[2];
json.ZYJLZS = ((CANRX.arryData[5] << 8) + CANRX.arryData[4]).ToString();
// CANDATA.ZYJLZS += CANRX.arryData[4];
break;
case 7:
json.QXSS = ((CANRX.arryData[1] << 8) + CANRX.arryData[0]).ToString();
// CANDATA.QXSS += CANRX.arryData[0];
json.JDSS = ((CANRX.arryData[3] << 8) + CANRX.arryData[2]).ToString();
// CANDATA.JDSS += CANRX.arryData[2];
json.TLJX = CANRX.arryData[4].ToString();
json.DLBKD = CANRX.arryData[5].ToString();
json.JFKKD = CANRX.arryData[6].ToString();
json.YLKSD = CANRX.arryData[7].ToString();
break;
case 8:
json.GFKD = ((CANRX.arryData[4] << 8) + CANRX.arryData[3]).ToString();
// CANDATA.GFKD += CANRX.arryData[3];
json.HZL = CANRX.arryData[5].ToString();
json.PSL = CANRX.arryData[6].ToString();
break;
default:
break;
}
}
/// <summary>
/// 组织数据成为一个完整的CAN包
/// </summary>
/// <param name="cMDs">发送命令List</param>
/// <param name="cAN_Data">CAN数据包</param>
private unsafe void OganizeData(List <SendCMD> cMDs, ref CAN_DataFrame cAN_Data)
{
for (int i = 0; i < cMDs.Count; i++)
{
var cmd = cMDs[i];
switch (cmd.Name)
{
case "GT_PER":
cAN_Data.arryData[0] = (byte)cmd.Value;
cAN_Data.arryData[1] = (byte)(cmd.Value >> 8); break;
case "GT_MAX":
cAN_Data.arryData[2] = (byte)cmd.Value;
cAN_Data.arryData[3] = (byte)(cmd.Value >> 8); break;
case "GT_MIN":
cAN_Data.arryData[4] = (byte)cmd.Value;
cAN_Data.arryData[5] = (byte)(cmd.Value >> 8); break;
case "GF_PER":
cAN_Data.arryData[0] = (byte)cmd.Value;
cAN_Data.arryData[1] = (byte)(cmd.Value >> 8); break;
case "GF_MAX":
cAN_Data.arryData[2] = (byte)cmd.Value;
cAN_Data.arryData[3] = (byte)(cmd.Value >> 8); break;
case "GF_MIN":
cAN_Data.arryData[4] = (byte)cmd.Value;
cAN_Data.arryData[5] = (byte)(cmd.Value >> 8); break;
case "SD_MAX":
cAN_Data.arryData[0] = (byte)cmd.Value;
cAN_Data.arryData[1] = (byte)(cmd.Value >> 8); break;
case "SD_MIN":
cAN_Data.arryData[2] = (byte)cmd.Value;
cAN_Data.arryData[3] = (byte)(cmd.Value >> 8); break;
case "QZ_SS1":
cAN_Data.arryData[4] = (byte)cmd.Value; break;
case "QZ_TL2":
cAN_Data.arryData[5] = (byte)cmd.Value; break;
case "QZ_SL3":
cAN_Data.arryData[6] = (byte)cmd.Value; break;
case "QZ_ZY4":
cAN_Data.arryData[7] = (byte)cmd.Value; break;
case "SS_PER":
cAN_Data.arryData[0] = (byte)cmd.Value;
cAN_Data.arryData[1] = (byte)(cmd.Value >> 8); break;
case "SS_MAX":
cAN_Data.arryData[2] = (byte)cmd.Value;
cAN_Data.arryData[3] = (byte)(cmd.Value >> 8); break;
case "SS_MIN":
cAN_Data.arryData[4] = (byte)cmd.Value;
cAN_Data.arryData[5] = (byte)(cmd.Value >> 8); break;
case "TL_PER":
cAN_Data.arryData[0] = (byte)cmd.Value;
cAN_Data.arryData[1] = (byte)(cmd.Value >> 8); break;
case "TL_NAX":
cAN_Data.arryData[2] = (byte)cmd.Value;
cAN_Data.arryData[3] = (byte)(cmd.Value >> 8); break;
case "TL_MIN":
cAN_Data.arryData[4] = (byte)cmd.Value;
cAN_Data.arryData[5] = (byte)(cmd.Value >> 8); break;
case "SJ_PER":
cAN_Data.arryData[0] = (byte)cmd.Value;
cAN_Data.arryData[1] = (byte)(cmd.Value >> 8); break;
case "SJ_MAX":
cAN_Data.arryData[2] = (byte)cmd.Value;
cAN_Data.arryData[3] = (byte)(cmd.Value >> 8); break;
case "SJ_MIN":
cAN_Data.arryData[4] = (byte)cmd.Value;
cAN_Data.arryData[5] = (byte)(cmd.Value >> 8); break;
case "ZY_PER":
cAN_Data.arryData[0] = (byte)cmd.Value;
cAN_Data.arryData[1] = (byte)(cmd.Value >> 8); break;
case "ZY_MAX":
cAN_Data.arryData[2] = (byte)cmd.Value;
cAN_Data.arryData[3] = (byte)(cmd.Value >> 8); break;
case "ZY_MIN":
cAN_Data.arryData[2] = (byte)cmd.Value;
cAN_Data.arryData[3] = (byte)(cmd.Value >> 8); break;
case "ZX_CUR":
cAN_Data.arryData[0] = (byte)cmd.Value;
cAN_Data.arryData[1] = (byte)(cmd.Value >> 8); break;
case "ZX_FLG":
cAN_Data.arryData[2] = (byte)cmd.Value; break;
case "ZX_TTF":
cAN_Data.arryData[3] = (byte)cmd.Value; break;
case "ZX_TTD":
cAN_Data.arryData[4] = (byte)cmd.Value;
cAN_Data.arryData[5] = (byte)(cmd.Value >> 8); break;
case "CL_FLG":
cAN_Data.arryData[6] = (byte)cmd.Value; break;
case "HZL___":
cAN_Data.arryData[5] = (byte)cmd.Value; break;
case "PSL___":
cAN_Data.arryData[6] = (byte)cmd.Value; break;
}
}
}
public static extern uint CAN_ChannelSend(uint dwDeviceHandle, uint dwChannel, ref CAN_DataFrame pSend, ulong nCount = 1);
public static extern uint CAN_ChannelReceive(uint dwDeviceHandle, uint dwChannel, ref CAN_DataFrame pReceive, uint nCount=1, int nWaitTime = -1);
