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CAN 配置和报文记录的功能

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Tyrone CT
2024-12-23 21:33:19 +08:00
parent 713b9b02e6
commit 8b21846424
20 changed files with 1021 additions and 114 deletions
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95
CapMachine.Wpf/CanDrive/CAN_DBCParser.cs
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@@ -12,46 +12,63 @@ namespace CapMachine.Wpf.CanDrive
/// </summary>
public class CAN_DBCParser
{
public const Int32 DBC_PARSER_OK = 0;//没有错误
public const Int32 DBC_PARSER_FILE_OPEN = (-1);//打开文件出错
public const Int32 DBC_PARSER_FILE_FORMAT = (-2);//文件格式错误
public const Int32 DBC_PARSER_DEV_DISCONNECT = (-3);//设备未连接
public const Int32 DBC_PARSER_HANDLE_ERROR = (-4);//LDF Handle错误
public const Int32 DBC_PARSER_GET_INFO_ERROR = (-5);//获取解析后的数据出错
public const Int32 DBC_PARSER_DATA_ERROR = (-6);//数据处理错误
public const Int32 DBC_PARSER_SLAVE_NACK = (-7);//从机未响应数据
public const Int32 DBC_PARSER_OK = 0;//没有错误
public const Int32 DBC_PARSER_FILE_OPEN = (-1);//打开文件出错
public const Int32 DBC_PARSER_FILE_FORMAT = (-2);//文件格式错误
public const Int32 DBC_PARSER_DEV_DISCONNECT = (-3);//设备未连接
public const Int32 DBC_PARSER_HANDLE_ERROR = (-4);//LDF Handle错误
public const Int32 DBC_PARSER_GET_INFO_ERROR = (-5);//获取解析后的数据出错
public const Int32 DBC_PARSER_DATA_ERROR = (-6);//数据处理错误
public const Int32 DBC_PARSER_SLAVE_NACK = (-7);//从机未响应数据
[DllImport("USB2XXX.dll")]
public static extern UInt64 DBC_ParserFile(int DevHandle, StringBuilder pDBCFileName);
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_GetMsgQuantity(UInt64 DBCHandle);
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_GetMsgName(UInt64 DBCHandle, int index, StringBuilder pMsgName);
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_GetMsgSignalQuantity(UInt64 DBCHandle, StringBuilder pMsgName);
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_GetMsgSignalName(UInt64 DBCHandle, StringBuilder pMsgName, int index, StringBuilder pSignalName);
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_GetMsgPublisher(UInt64 DBCHandle, StringBuilder pMsgName, StringBuilder pPublisher);
//设置信号值
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_SetSignalValue(UInt64 DBCHandle, StringBuilder pMsgName, StringBuilder pSignalName, double Value);
//获取信号值
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_GetSignalValue(UInt64 DBCHandle, StringBuilder pMsgName, StringBuilder pSignalName, double[] pValue);
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_GetSignalValueStr(UInt64 DBCHandle, StringBuilder pMsgName, StringBuilder pSignalName, StringBuilder pValueStr);
[DllImport("USB2XXX.dll")]
public static extern UInt64 DBC_ParserFile(int DevHandle, StringBuilder pDBCFileName);
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_GetMsgQuantity(UInt64 DBCHandle);
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_GetMsgName(UInt64 DBCHandle, int index, StringBuilder pMsgName);
/// <summary>
///
/// </summary>
/// <param name="DBCHandle"></param>
/// <param name="ID"></param>
/// <param name="pMsgName"></param>
/// <returns></returns>
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_GetMsgNameByID(UInt64 DBCHandle, int ID, StringBuilder pMsgName);
/// <summary>
/// 获取ID根据名称
/// </summary>
/// <param name="DBCHandle"></param>
/// <param name="pMsgName"></param>
/// <returns></returns>
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_GetMsgIDByName(UInt64 DBCHandle, StringBuilder pMsgName);
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_GetMsgSignalQuantity(UInt64 DBCHandle, StringBuilder pMsgName);
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_GetMsgSignalName(UInt64 DBCHandle, StringBuilder pMsgName, int index, StringBuilder pSignalName);
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_GetMsgPublisher(UInt64 DBCHandle, StringBuilder pMsgName, StringBuilder pPublisher);
//设置信号值
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_SetSignalValue(UInt64 DBCHandle, StringBuilder pMsgName, StringBuilder pSignalName, double Value);
//获取信号值
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_GetSignalValue(UInt64 DBCHandle, StringBuilder pMsgName, StringBuilder pSignalName, double[] pValue);
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_GetSignalValueStr(UInt64 DBCHandle, StringBuilder pMsgName, StringBuilder pSignalName, StringBuilder pValueStr);
//将CAN消息数据填充到信号里面
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_SyncCANMsgToValue(UInt64 DBCHandle, IntPtr pCANMsg, int MsgLen);
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_SyncCANFDMsgToValue(UInt64 DBCHandle, IntPtr pCANFDMsg, int MsgLen);
//将信号数据填充到CAN消息里面
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_SyncValueToCANMsg(UInt64 DBCHandle, StringBuilder pMsgName, IntPtr pCANMsg);
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_SyncValueToCANFDMsg(UInt64 DBCHandle, StringBuilder pMsgName, IntPtr pCANFDMsg);
//将CAN消息数据填充到信号里面
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_SyncCANMsgToValue(UInt64 DBCHandle, IntPtr pCANMsg, int MsgLen);
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_SyncCANFDMsgToValue(UInt64 DBCHandle, IntPtr pCANFDMsg, int MsgLen);
//将信号数据填充到CAN消息里面
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_SyncValueToCANMsg(UInt64 DBCHandle, StringBuilder pMsgName, IntPtr pCANMsg);
[DllImport("USB2XXX.dll")]
public static extern Int32 DBC_SyncValueToCANFDMsg(UInt64 DBCHandle, StringBuilder pMsgName, IntPtr pCANFDMsg);
}
}

34
CapMachine.Wpf/CanDrive/CanDbcModel.cs
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@@ -10,13 +10,20 @@ namespace CapMachine.Wpf.CanDrive
/// <summary>
/// Dbc 信息
/// </summary>
public class CanDbcModel:BindableBase
public class CanDbcModel : BindableBase
{
/// <summary>
/// 消息Id
/// </summary>
public string? MsgId { get; set; }
/// <summary>
/// 配置的中文名称：速度，转速限制，使能等常用的信息数据
/// 但不是所有的SignalName都会配置一个Name，只是需要时才会配置名称
/// 但是CanDbcModel集合会包括所有的SignalName名称的
/// </summary>
public string? Name { get; set; }
/// <summary>
/// 消息名称
/// </summary>
@@ -38,20 +45,39 @@ namespace CapMachine.Wpf.CanDrive
public string? SignalUnit { get; set; }
private string? _SignalRtValue;
private string? _SignalRtValue = "--";
/// <summary>
/// 信号实时值
/// </summary>
public string? SignalRtValue
{
get { return _SignalRtValue; }
set { _SignalRtValue = value;RaisePropertyChanged(); }
set { _SignalRtValue = value; RaisePropertyChanged(); }
}
private StringBuilder _SignalRtValueSb = new StringBuilder(10);
/// <summary>
/// 信号实时值 StringBuilder
/// </summary>
public StringBuilder SignalRtValueSb
{
get { return _SignalRtValueSb; }
set
{
if (_SignalRtValueSb != value)
{
SignalRtValue = value.ToString();
_SignalRtValueSb = value;
}
}
}
/// <summary>
/// 发布者
/// </summary>
public string? Publisher { get; set; }
}
}

111
CapMachine.Wpf/CanDrive/ToomossCan.cs
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@@ -1,5 +1,8 @@
using CapMachine.Wpf.Models.Tag;
using CapMachine.Wpf.Services;
using HslCommunication;
using NPOI.OpenXmlFormats.Wordprocessing;
using Prism.Ioc;
using Prism.Mvvm;
using System;
using System.Collections.Generic;
@@ -12,6 +15,7 @@ using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Windows.Interop;
using static CapMachine.Wpf.CanDrive.USB2CAN;
namespace CapMachine.Wpf.CanDrive
{
@@ -20,12 +24,15 @@ namespace CapMachine.Wpf.CanDrive
/// </summary>
public class ToomossCan : BindableBase
{
private readonly IContainerProvider ContainerProvider;
/// <summary>
/// 实例化函数
/// </summary>
public ToomossCan()
public ToomossCan(IContainerProvider containerProvider)
{
ContainerProvider = containerProvider;
HighSpeedDataService = ContainerProvider.Resolve<HighSpeedDataService>();
}
/// <summary>
@@ -42,16 +49,31 @@ namespace CapMachine.Wpf.CanDrive
}
/// <summary>
/// HighSpeedDataService 实例
/// </summary>
public HighSpeedDataService HighSpeedDataService { get; set; }
/// <summary>
/// 开始Dbc文件写入
/// </summary>
public void StartDbc(string DbcPath)
public ObservableCollection<CanDbcModel> StartDbc(string DbcPath)
{
DBC_Parser(DbcPath);
return ListCanDbcModel;
}
///// <summary>
///// 获取Can DBC数据集合
///// </summary>
//public void LoadCanDbcData(ObservableCollection<CanDbcModel> canDbcModels)
//{
// ListCanDbcModel = canDbcModels;
//}
/// <summary>
/// Dbc消息集合
/// 包括读取的实时值和数据
/// </summary>
public ObservableCollection<CanDbcModel> ListCanDbcModel { get; set; } = new ObservableCollection<CanDbcModel>();
@@ -69,6 +91,7 @@ namespace CapMachine.Wpf.CanDrive
USB2CAN.CAN_INIT_CONFIG CANConfig = new USB2CAN.CAN_INIT_CONFIG();
/// <summary>
/// DBC加载后获取的Handle
/// DBC Handle
/// </summary>
public UInt64 DBCHandle { get; set; }
@@ -82,15 +105,40 @@ namespace CapMachine.Wpf.CanDrive
/// 扫描设备Handle
/// </summary>
public Int32 DevHandle { get; set; } = 0;
/// <summary>
/// Write CAN Index
/// 通道的含义
/// 描述：
/// 读取接收到的CAN消息，推荐使用该函数。
///原型：
///int WINAPI CAN_GetMsgWithSize(int DevHandle, unsigned char CANIndex, CAN_MSG* pCanGetMsg, int BufferSize);
///参数：
///DevHandle 设备句柄，本质为设备序号的低4字节，可以通过调用USB_ScanDevice函数获得。
///CANIndex CAN通道索引号，0-对应CAN1,1-对应CAN2。
///pCanGetMsg 存储CAN消息缓冲区首地址。
///BufferSize 存储CAN消息缓冲区大小。
///返回值：
//大于等于0表示从CAN适配器内部成功读取到的CAN消息帧数，若返回值小于0则说明调用该函数失败。
/// </summary>
public Byte WriteCANIndex { get; set; } = 0;
/// <summary>
/// Read CAN Index
/// 通道的含义
/// 描述：
///读取接收到的CAN消息，推荐使用该函数。
///原型：
///int WINAPI CAN_GetMsgWithSize(int DevHandle, unsigned char CANIndex, CAN_MSG* pCanGetMsg, int BufferSize);
///参数：
///DevHandle 设备句柄，本质为设备序号的低4字节，可以通过调用USB_ScanDevice函数获得。
///CANIndex CAN通道索引号，0-对应CAN1,1-对应CAN2。
///pCanGetMsg 存储CAN消息缓冲区首地址。
///BufferSize 存储CAN消息缓冲区大小。
///返回值：
///大于等于0表示从CAN适配器内部成功读取到的CAN消息帧数，若返回值小于0则说明调用该函数失败。
/// </summary>
public Byte ReadCANIndex { get; set; } = 1;
public Byte ReadCANIndex { get; set; } = 0;
private bool _OpenState;
@@ -219,6 +267,7 @@ namespace CapMachine.Wpf.CanDrive
/// </summary>
public void GetCANConfig()
{
CANConfig.CAN_Mode = 0x80;//正常模式并接入终端电阻
//获取CAN波特率参数
ret = USB2CAN.CAN_GetCANSpeedArg(DevHandle, ref CANConfig, 500000);
if (ret != USB2CAN.CAN_SUCCESS)
@@ -295,6 +344,9 @@ namespace CapMachine.Wpf.CanDrive
int DBCSigNum = CAN_DBCParser.DBC_GetMsgSignalQuantity(DBCHandle, MsgName);
StringBuilder Publisher = new StringBuilder(32);
CAN_DBCParser.DBC_GetMsgPublisher(DBCHandle, MsgName, Publisher);
long MsgId;
MsgId = CAN_DBCParser.DBC_GetMsgIDByName(DBCHandle, MsgName);
Console.Write("Signals:");
for (int j = 0; j < DBCSigNum; j++)
{
@@ -306,7 +358,7 @@ namespace CapMachine.Wpf.CanDrive
ListCanDbcModel.Add(new CanDbcModel()
{
MsgName = MsgName.ToString(),
MsgId = "",
MsgId = "0x" + MsgId.ToString("X8"),
SignalName = SigName.ToString(),
SignalDesc = "",
SignalUnit = "",
@@ -352,7 +404,7 @@ namespace CapMachine.Wpf.CanDrive
//通过DBC写入数据后生成CanMsg
//将信号值填入CAN消息里面
//释放申请的临时缓冲区
Marshal.FreeHGlobal(msgPt);
@@ -379,6 +431,8 @@ namespace CapMachine.Wpf.CanDrive
/// </summary>
private static Task CycleReviceTask { get; set; }
StringBuilder ValueSb = new StringBuilder(16);
/// <summary>
/// 循环获取CAN消息
/// </summary>
@@ -388,7 +442,7 @@ namespace CapMachine.Wpf.CanDrive
{
while (IsCycleRevice)
{
await Task.Delay(1000);
await Task.Delay(500);
try
{
//另外一个CAN通道读取数据
@@ -400,7 +454,9 @@ namespace CapMachine.Wpf.CanDrive
Console.WriteLine("Read CanMsgNum = {0}", CanNum);
for (int i = 0; i < CanNum; i++)
{
CanMsgBuffer[i] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)msgPt + i * Marshal.SizeOf(typeof(USB2CAN.CAN_MSG))), typeof(USB2CAN.CAN_MSG));
//CanMsgBuffer[i] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)msgPt + i * Marshal.SizeOf(typeof(USB2CAN.CAN_MSG))), typeof(USB2CAN.CAN_MSG)); //有溢出报错
CanMsgBuffer[i] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure((IntPtr)(msgPt + i * Marshal.SizeOf(typeof(USB2CAN.CAN_MSG))), typeof(USB2CAN.CAN_MSG));
Console.WriteLine("CanMsg[{0}].ID = 0x{1}", i, CanMsgBuffer[i].ID.ToString("X8"));
//Console.WriteLine("CanMsg[{0}].TimeStamp = {1}",i,CanMsgBuffer[i].TimeStamp);
Console.Write("CanMsg[{0}].Data = ", i);
@@ -409,6 +465,14 @@ namespace CapMachine.Wpf.CanDrive
Console.Write("{0} ", CanMsgBuffer[i].Data[j].ToString("X2"));
}
Console.WriteLine("");
HighSpeedDataService.AppendOrUpdateMsg(new Models.HighSpeed.CommMsg()
{
Category="CAN",
MsgInfo="0x"+CanMsgBuffer[i].ID.ToString("X8"),
MsgData= CanMsgBuffer[i].Data.ToArrayString(),
Time=DateTime.Now.ToString()
});
}
}
else if (CanNum == 0)
@@ -421,16 +485,29 @@ namespace CapMachine.Wpf.CanDrive
}
Console.WriteLine("");
//将CAN消息数据填充到信号里面
//将CAN消息数据填充到信号里面，用DBC解析数据
CAN_DBCParser.DBC_SyncCANMsgToValue(DBCHandle, msgPt, CanNum);
//获取信号值并打印出来
StringBuilder ValueStr = new StringBuilder(32);
CAN_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_moto_speed"), new StringBuilder("moto_speed"), ValueStr);
Console.WriteLine("moto_speed = {0}", ValueStr);
CAN_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_oil_pressure"), new StringBuilder("oil_pressure"), ValueStr);
Console.WriteLine("oil_pressure = {0}", ValueStr);
CAN_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_speed_can"), new StringBuilder("speed_can"), ValueStr);
Console.WriteLine("speed_can = {0}", ValueStr);
//循环获取消息的数据
foreach (var item in ListCanDbcModel)
{
//有配置的名称的，认为是有用的，则需要读取数据
//if (!string.IsNullOrEmpty(item.Name))
//{
CAN_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ValueSb);
item.SignalRtValueSb = ValueSb;
//}
}
////获取信号值并打印出来
//StringBuilder ValueStr = new StringBuilder(32);
//CAN_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_moto_speed"), new StringBuilder("moto_speed"), ValueStr);
//Console.WriteLine("moto_speed = {0}", ValueStr);
//CAN_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_oil_pressure"), new StringBuilder("oil_pressure"), ValueStr);
//Console.WriteLine("oil_pressure = {0}", ValueStr);
//CAN_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_speed_can"), new StringBuilder("speed_can"), ValueStr);
//Console.WriteLine("speed_can = {0}", ValueStr);
}
catch (Exception ex)
{