/// <summary>
/// timer's tick in it we recive and update the data sent to the PC then update them to the htable
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void timerRecieve_Tick(object sender, EventArgs e)
{
PVCI_CAN_OBJ[] sendbuf = new PVCI_CAN_OBJ[200];
int NumValue = 0;
NumValue = VCI_Receive(2, 0, 0, sendbuf);/////////////////Get the msg from the CAN NetWork
showCan(0, 1, sendbuf, NumValue);
int len=sendbuf.GetLength(0);
/////Check the Oil Height And Update the Oil Height
if (sendbuf[0].ID[0]==Convert.ToByte(0)) {
CurrentBuff = sendbuf[len-1];
if (htable.ContainsKey(OilHeight)) {
htable[OilHeight] = HexArr2Int(CurrentBuff.Data);
}
}
////Check the Pressure Data
////
if ((int)sendbuf[0].ID[0] == 0& (int)sendbuf[0].ID[1] == 0 & (int)sendbuf[0].ID[2] == 0 & (int)sendbuf[0].ID[3] == 8)
{
CurrentBuff = sendbuf[0];
if (htable.ContainsKey(pressure))
{
htable[temp]=Convert.ToInt32(CurrentBuff.Data[0] );
htable[pressure] = Convert.ToInt32(CurrentBuff.Data[4]); //HexArr2Int(CurrentBuff.Data);
htable[OilHeight] = Convert.ToInt32(CurrentBuff.Data[5]);
htable[speed] = Convert.ToInt32(CurrentBuff.Data[6]);
////sychnize data
///
htable[temptogo] = Convert.ToInt32(htable[temp]);
htable[pressuretogo] =Convert.ToInt32( htable[pressure]);
htable[OilHeighttogo] =Convert.ToInt32( htable[OilHeight]);
htable[speedtogo] =Convert.ToInt32( htable[speed]);
}
}
//////Check the Speed data
/////
//if ((sendbuf[0].ID[0] ==8)& (sendbuf[0].ID[1] == 8) & (sendbuf[0].ID[2] == 8) & sendbuf[0].ID[3] ==0)
//{
// CurrentBuff = sendbuf[0];
// if (htable.ContainsKey(speed))
// {
// htable[speed] = HexArr2Int(CurrentBuff.Data)/1000;
// }
//}
bool t;
byte a=250;
t= (a == HexToInt("F")*16+HexToInt("A"));
///Check the GearState
if (sendbuf[0].ID[0] == 3)
{
CurrentBuff = sendbuf[len - 1];
if (htable.ContainsKey(gear))
{
htable[gear] = HexArr2Int(CurrentBuff.Data);
}
}
///Give speedcomand
///
if(Convert.ToInt32(htable[speedtogo])!=LastSpeed){
string tempstr;
tempstr = htable[speedtogo].ToString();
transmitVariableCan(SpeedID, Convert.ToInt32(htable[speedtogo]), 3);
transmitVariableCan(SelSpeedID, Convert.ToInt32(htable[speedtogo]), Convert.ToInt32(htable[speedtogo]), 0, 1);
LastSpeed = (int)htable[speedtogo];
}
///Give PRESSURECONMAND
///
if (Convert.ToInt32(htable[pressuretogo]) !=LastPressure)
{
int tempint;
tempint = Convert.ToInt32( htable[pressuretogo]);
transmitVariableCan(PressureID, tempint, tempint, 4, 5);
LastPressure = (int)htable[pressuretogo];
}
///Give TempComand
if (Convert.ToInt32(htable[temptogo]) !=LastTemp)
{
string tempstr;
tempstr = htable[temptogo].ToString();
transmitVariableCan(TempID, Convert.ToInt32(htable[temptogo]), 0);
LastTemp = (int)htable[temptogo];
}
///Give OilheightComand
if (Convert.ToInt32(htable[OilHeighttogo]) != LastOilHeight)
{
int tempstr;
tempstr = Convert.ToInt32(htable[OilHeighttogo]);
transmitVariableCan(OilHeightID, tempstr, 1);
// TransmitACanMsg(OilHeightID,tempstr);
LastOilHeight = (int)htable[OilHeighttogo];
}
///update the view
///
UpdateSpeedMeter();
if (Form1.htable.Contains(OilHeight))
{
int x = Convert.ToInt32(Form1.htable[OilHeight]);
if ((16 * x - 5.27) > 0)
{
label10.Text =x.ToString();
if (Convert.ToInt32(label10.Text) <= OilHeightVpOnMain.Maximum)
{
OilHeightVpOnMain.Value = Convert.ToInt32(label10.Text);
}
}
else {
label10.Text = "0";
OilHeightVpOnMain.Value = 0;
}
}
int y = Convert.ToInt32(Form1.htable[temp]);
if (Convert.ToInt32(y * 0.51 - 6) >= 0)
{
label9.Text = (Convert.ToInt32(y * 0.51 - 46)).ToString();
}
else
{
label9.Text = "0";
}
TempVpOnMain.Value = Convert.ToInt32(label9.Text);
label12.Text = Convert.ToInt32(Form1.htable[pressure]).ToString();
if (Convert.ToInt32(label12.Text) <= PressureProgressBar.Maximum)
{
PressureProgressBar.Value = Convert.ToInt32(label12.Text);
}
// TempVpOnMain.Value = (int)Form1.htable[pressure]/TempVpOnMain.Maximum;
//DrawBar(sendbuf[sendbuf.GetLength(0)-1]);
}
public void TransmitACanMsg(string IDtoSend,string data) {
PVCI_CAN_OBJ sendbuf = new PVCI_CAN_OBJ();
sendbuf.ID = new byte[4];
sendbuf.Data = new byte[8];
sendbuf.Reserved = new byte[3];
string[] str5 = new string[32];
byte[] buf = new byte[50];
byte[] SendID = new byte[10];
string strtemp, strtemp1;
// string str1;
int len, datanum = 0, IDnum = 0, newflag = 1;
string strSendID = IDtoSend;//textBoxID.Text.ToString();
char[] m_strSendID = strSendID.ToCharArray();
len = m_strSendID.Length;
for (int i = 0; i < len; i++)
{
strtemp = m_strSendID[i].ToString();
if (strtemp == " ")
newflag = 1;
else if (newflag == 1)
{
newflag = 0;
strtemp = m_strSendID[i].ToString();
if (i == (len - 1))
{
str5[IDnum] = "0" + strtemp;
}
else
{
strtemp1 = m_strSendID[i + 1].ToString();
if (strtemp1 == " ")
str5[IDnum] = "0" + strtemp;
else
str5[IDnum] = strtemp + strtemp1;
}
SendID[IDnum] = (byte)Str2Hex(str5[IDnum]);
IDnum++;
if (IDnum >= 4)
break;
}
}
newflag = 1;
string strSendData =data;
char[] m_strSendData = strSendData.ToCharArray();
len = m_strSendData.Length;
//m_strSendData.GetLength();
for (int i = 0; i < len; i++)
{
strtemp = m_strSendData[i].ToString();
if (strtemp == " ")
newflag = 1;
else if (newflag == 1)
{
newflag = 0;
strtemp = m_strSendData[i].ToString();
if (i == (len - 1))
{
str5[datanum] = "0" + strtemp;
}
else
{
strtemp1 = m_strSendData[i + 1].ToString();
if (strtemp1 == " ")
{
str5[datanum] = "0" + strtemp;
}
else
str5[datanum] = strtemp + strtemp1;
}
buf[datanum] = (byte)Str2Hex(str5[datanum]);
datanum++;
if (datanum >= 8)
break;
}
}
byte m_nSendFrameType = 0;
byte m_nSendFrameFormat = 0;
byte m_radioIDFormat = 0;
sendbuf.ExternFlag = 1;// m_nSendFrameType;//1
sendbuf.DataLen = (byte)datanum;//8
sendbuf.RemoteFlag = m_nSendFrameFormat;//0
if (m_nSendFrameFormat == 1)//if remote frame, data is invalid
for (int i = 0; i < datanum; i++)
buf[i] = 0;
byte[] SendID2 = new byte[4];
if ((sendbuf.ExternFlag) == 1)//Extend ID progress
{
if (m_radioIDFormat != 0)//将直接ID值进行转换到CAN2.0B格式
{
SendID[0] &= 0x1F;
SendID2[0] = (byte)((SendID[0] << 3) | (SendID[1] >> 5));
SendID2[1] = (byte)((SendID[1] << 3) | (SendID[2] >> 5));
SendID2[2] = (byte)((SendID[2] << 3) | (SendID[3] >> 5));
SendID2[3] = (byte)(SendID[3] << 3);
for (int i = 0; i < 4; i++)
sendbuf.ID[i] = SendID2[i];
// sendbuf->ID=(SendID2[0]<<24)+(SendID2[1]<<16)+(SendID2[2]<<8)+SendID2[3];
}
else
{
SendID[3] = (byte)(SendID[3] & 0xF8);//the last 3 bits is invalid,clear to 0
for (int i = 0; i < 4; i++)
sendbuf.ID[i] = SendID[i];
// sendbuf->ID=(SendID[0]<<24)+(SendID[1]<<16)+(SendID[2]<<8)+SendID[3];
}
}
else//Basic CAN
{
if (m_radioIDFormat != 0)//Direct id value to SJA1000 format
{
SendID[2] &= 0x07;
SendID2[0] = (byte)((SendID[2] << 5) | (SendID[3] >> 3));
SendID2[1] = (byte)(SendID[3] << 5);
for (int i = 0; i < 2; i++)
sendbuf.ID[i] = SendID2[i];
//sendbuf->ID=(SendID2[0]<<24)+(SendID2[1]<<16)+(SendID2[2]<<8)+SendID2[3];
}
else
{
SendID[1] = (byte)(SendID[1] & 0xE0);//the last 5 bits is invalid, clear to 0
for (int i = 0; i < 2; i++)
sendbuf.ID[i] = SendID[i];
// sendbuf->ID=(SendID[0]<<24)+(SendID[1]<<16)+(SendID[2]<<8)+SendID[3];
}
}
for (int i = 0; i < datanum; i++)
sendbuf.Data[i] = buf[i];
int flag=0;
flag = VCI_Transmit(2, 0, 0, ref sendbuf);//CAN DATA SEND
PVCI_CAN_OBJ[] TempBuf = new PVCI_CAN_OBJ[50];
for (int i = 0; i < TempBuf.GetLength(0); i++) {
TempBuf[i] = sendbuf;
}
//TempBuf[1] = sendbuf;
showCan(0, 0, TempBuf, 1);
}
/// <summary>
/// timer's tick in which we recive and update the data sent to the PC then update them to the htable
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void timerRecieve_Tick(object sender, EventArgs e)
{
PVCI_CAN_OBJ[] sendbuf = new PVCI_CAN_OBJ[200];
int NumValue = 0;
NumValue = VCI_Receive(2, 0, 0, sendbuf);/////////////////Get the msg from the CAN NetWork
showCan(0, 1, sendbuf, NumValue);
int len=sendbuf.GetLength(0);
if (sendbuf[0].DataLen > 0)
{
CurrentBuff = sendbuf[0];
for (int i = 0; i < CurrentBuff.ID.GetLength(0); i++)
{
CurrentBuff.ID[i] = (byte)((CurrentBuff.ID[i])>> 3);
}
////////////////Recive the data from the dsp /////recive data of valid distance and draw on board ////the ID is 00 11 12 19
if (CurrentBuff.ID[0] == 0x00 && CurrentBuff.ID[1] == 0x11 && CurrentBuff.ID[2] == 0x12 && CurrentBuff.ID[3] == 0x19)
{
Int32[] temp = new Int32[8];
CurrentBuff = sendbuf[0];
for (int i = 0; i < 6; i++)
{
temp[i] = CurrentBuff.Data[i];
}
temp[0] = (temp[0] << 16);
temp[1] = (temp[1] << 8);
temp[2] = (temp[2]);
distance = temp[0] + temp[1] + temp[2];
angle = (temp[3]<<16) + (temp[4]<<8) + temp[5];
angle = angle * 360 /1152000;
valid_coord = new Coor();
valid_coord= pollor_to_Descart(distance, angle);
file_txt+="<Real X " + valid_coord.X.ToString() + " Y " + valid_coord.Y.ToString() + ">\n\r ";
//write_file("E:\\trail.txt","","X "+valid_coord.X.ToString()+"Y "+valid_coord.Y.ToString()+"\n\r");
//"D:\\trail.txt"
DrawCoorodinates( ORG_X+ (valid_coord.X)/100,ORG_Y+ (valid_coord.Y)/100);
}
////////////////Recive the data from the dsp /////valid aim map point 00 11 12 1a
if (CurrentBuff.ID[0] == 0x00 && CurrentBuff.ID[1] == 0x11 && CurrentBuff.ID[2] == 0x12 && CurrentBuff.ID[3] == 0x1a)
{
Int32[] temp = new Int32[8];
CurrentBuff = sendbuf[0];
for (int i = 0; i < 6; i++)
{
temp[i] = CurrentBuff.Data[i];
}
temp[0] = (temp[0] << 16);
temp[1] = (temp[1] << 8);
temp[2] = (temp[2]);
x_map = temp[0] + temp[1] + temp[2];
y_map = (temp[3] << 16) + (temp[4] << 8) + temp[5];
//angle = angle * 360 / 1152000;
valid_coord = new Coor();
valid_coord = pollor_to_Descart(distance, angle);
file_txt += "<Map :X " + valid_coord.X.ToString() + " Y " + valid_coord.Y.ToString() + ">\n\r ";
//write_file("E:\\trail.txt","","X "+valid_coord.X.ToString()+"Y "+valid_coord.Y.ToString()+"\n\r");
//"D:\\trail.txt"
DrawCoorodinates_with_pen(ORG_X + (valid_coord.X) / 100, ORG_Y + (valid_coord.Y) / 100,new Pen(Color.Red));
}
}
// TempVpOnMain.Value = (int)Form1.htable[pressure]/TempVpOnMain.Maximum;
//DrawBar(sendbuf[sendbuf.GetLength(0)-1]);
}