static protected extern UInt32 VCI_Receive(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, VCI_CAN_OBJ *pReceive, UInt32 Len, Int32 WaitTime);
unsafe protected string ReceiveData(uint FilterID, int timeout, uint deviceType, uint deviceIndex, uint cANIndex)
{
string dataStrList = $"读取{FilterID}失败！";
uint num = VCI_GetReceiveNum(deviceType, deviceIndex, cANIndex);
if (num > 0)
{
var cancelTokenSource = new CancellationTokenSource(timeout);
List <byte> Data_Frame = new List <byte>();
if (IsOpen) //是否打开CAN
{
while (!cancelTokenSource.IsCancellationRequested) //设置读取超时
{
#region .net
//UInt32 con_maxlen = 50;
//int size = Marshal.SizeOf(typeof(VCI_CAN_OBJ));
//IntPtr pt = Marshal.AllocHGlobal(size * (int)con_maxlen);
//uint result = VCI_Receive(deviceType, deviceIndex, cANIndex, pt, con_maxlen, 100);
//for (uint i = 0; i < result; i++)
//{
// VCI_CAN_OBJ obj = (VCI_CAN_OBJ)Marshal.PtrToStructure((IntPtr)((uint)pt + i * size), typeof(VCI_CAN_OBJ));
// if (obj.ID == FilterID)
// {
// if (obj.RemoteFlag == 0)
// {
// List<uint> temp = new List<uint>();
// byte len = (byte)(obj.DataLen % 9);
// byte j = 0;
// if (j++ < len)
// {
// for (int d = 0; d < len; d++)
// {
// temp.Add(obj.Data[d]);
// }
// temp.RemoveRange(0, 2);//去除CAN协议头俩位数据（东峻专用）
// uintlist.AddRange(temp);
// }
// }
// }
#endregion
#region 指针
VCI_CAN_OBJ[] canObj = new VCI_CAN_OBJ[100];
fixed(VCI_CAN_OBJ *pcanObj = canObj)
{
VCI_CAN_OBJ *pNewcanObj = pcanObj;
int szie = sizeof(VCI_CAN_OBJ) * canObj.Length;
uint result = VCI_Receive(deviceType, deviceIndex, cANIndex, pcanObj, 100, 400);
for (uint i = 0; i < result; i++)
{
if (pNewcanObj->ID == FilterID) //判断是否为过滤的ID
{
if (pNewcanObj->RemoteFlag == 0) //判断是否为远程幁
{
List <byte> temp = new List <byte>();
byte * pdata = pNewcanObj->Data + 2;//每一帧的前两位去掉（帧头和长度）
for (int t = 0; t < 6; t++)
{
temp.Add(*pdata);
pdata++;
}
Data_Frame.AddRange(temp);
}
}
pNewcanObj++;
}
}
#endregion
#region old
//string dataStr = string.Empty;
//dataStr += Convert.ToString(obj.ID, 16);
//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]);
// }
// }
// if (obj.ID == FilterID)//0x77B
// {
// //dataStringList.Add(dataStr.ToUpper());
// }
//}
////Console.WriteLine(dataStr.ToUpper());
//if (dataStringList.Count > 0)
//{
// foreach (var item in dataStringList)
// {
// dataStrList += item;
// }
// 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！";
//}
//return $"CAN1 读取帧ID: {Convert.ToString(FilterID, 16).ToUpper()} 失败！";
#endregion
}
}
if (Data_Frame.Count > 0)
{
Data_Frame.RemoveRange(0, 2);
return(dataStrList = ConvertFrom.ToHexString(Data_Frame.ToArray()));
}
}
return(dataStrList);
}
public unsafe static extern uint VCI_Receive(uint DeviceType, uint DeviceInd, uint CANInd, VCI_CAN_OBJ *pReceive, uint Len, Int32 WaitTime);
