/// <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);
}
}
}
public static extern uint CAN_GetErrorInfo(uint dwDeviceHandle, uint dwChannel, ref CAN_ErrorInformation pErr);
