增加图莫斯CAN驱动

CapMachine.Wpf/CanDrive/CANFD_DBCParser.cs

@@ -7,7 +7,7 @@ using System.Threading.Tasks;
 
 namespace CapMachine.Wpf.CanDrive
 {
-    public class DBCParser
+    public class CANFD_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

CapMachine.Wpf/CanDrive/CAN_DBCParser.cs

@@ -0,0 +1,57 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace CapMachine.Wpf.CanDrive
+{
+    /// <summary>
+    /// CAN DBC 解析数据
+    /// </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
+
+            [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);
+
+            //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);
+        
+    }
+}

CapMachine.Wpf/CanDrive/ToomossCan.cs

@@ -0,0 +1,502 @@
+using CapMachine.Wpf.Models.Tag;
+using NPOI.OpenXmlFormats.Wordprocessing;
+using Prism.Mvvm;
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Diagnostics;
+using System.IO;
+using System.Linq;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+using System.Windows.Interop;
+
+namespace CapMachine.Wpf.CanDrive
+{
+    /// <summary>
+    /// Toomoss CAN
+    /// </summary>
+    public class ToomossCan : BindableBase
+    {
+        /// <summary>
+        /// 实例化函数
+        /// </summary>
+        public ToomossCan()
+        {
+
+        }
+
+        /// <summary>
+        /// 开始CAN的驱动
+        /// </summary>
+        public void StartCanDrive()
+        {
+            IsExistsDllFile();
+            ScanDevice();
+            OpenDevice();
+            GetDeviceInfo();
+            GetCANConfig();
+            InitCAN();
+
+        }
+
+        /// <summary>
+        /// 开始Dbc文件写入
+        /// </summary>
+        public void StartDbc(string DbcPath)
+        {
+            DBC_Parser(DbcPath);
+        }
+
+        /// <summary>
+        /// Dbc消息集合
+        /// </summary>
+        public ObservableCollection<CanDbcModel> ListCanDbcModel { get; set; } = new ObservableCollection<CanDbcModel>();
+
+
+        #region 公共变量
+
+        /// <summary>
+        /// 设备固件信息
+        /// </summary>
+        public USB_DEVICE.DEVICE_INFO DevInfo = new USB_DEVICE.DEVICE_INFO();
+
+        /// <summary>
+        /// CAN Config
+        /// </summary>
+        USB2CAN.CAN_INIT_CONFIG CANConfig = new USB2CAN.CAN_INIT_CONFIG();
+
+        /// <summary>
+        /// DBC Handle
+        /// </summary>
+        public UInt64 DBCHandle { get; set; }
+
+        /// <summary>
+        /// 扫描设备Handle集合
+        /// </summary>
+        public Int32[] DevHandles { get; set; } = new Int32[20];
+
+        /// <summary>
+        /// 扫描设备Handle
+        /// </summary>
+        public Int32 DevHandle { get; set; } = 0;
+        /// <summary>
+        /// Write CAN Index
+        /// </summary>
+        public Byte WriteCANIndex { get; set; } = 0;
+
+        /// <summary>
+        /// Read CAN Index
+        /// </summary>
+        public Byte ReadCANIndex { get; set; } = 1;
+
+
+        private bool _OpenState;
+        /// <summary>
+        /// 打开设备的状态
+        /// </summary>
+        public bool OpenState
+        {
+            get { return _OpenState; }
+            set { _OpenState = value; RaisePropertyChanged(); }
+        }
+
+
+        /// <summary>
+        /// 扫描到设备个数
+        /// </summary>
+        public Int32 DevNum { get; set; }
+
+        public Int32 ret { get; set; }
+
+        public string dllFilePath { get; set; } = "USB2XXX.dll";
+
+
+        /// <summary>
+        /// 消息值Pt
+        /// </summary>
+        public IntPtr msgPt { get; set; }
+
+        #endregion
+
+        /// <summary>
+        /// ******************【1】*********************
+        /// 是否存在Dll文件
+        /// </summary>
+        /// <returns></returns>
+        public bool IsExistsDllFile()
+        {
+            if (!File.Exists(dllFilePath))
+            {
+                Console.WriteLine("请先将USB2XXX.dll和libusb-1.0.dll文件复制到exe程序文件输出目录下!");
+                Console.WriteLine("dll文件在‘usb2can_lin_pwm_example/sdk/libs/windows’目录下！");
+                Console.WriteLine("程序是32位的就复制‘x86’目录下文件，程序是64位的就复制‘x86_64’目录下文件！");
+                return false;
+            }
+            return true;
+        }
+
+        /// <summary>
+        /// ******************【2】*********************
+        /// 扫描查找设备，并将每个设备的唯一设备号存放到数组中，后面的函数需要用到
+        /// </summary>
+        /// <returns></returns>
+        public bool ScanDevice()
+        {
+            DevNum = USB_DEVICE.USB_ScanDevice(DevHandles);
+            if (DevNum <= 0)
+            {
+                Console.WriteLine("No device connected!");
+
+                return false;
+            }
+            else
+            {
+                Console.WriteLine("Have {0} device connected!", DevNum);
+                DevHandle = DevHandles[0];//获取第一个设备的设备号
+                return true;
+            }
+        }
+
+        /// <summary>
+        /// ******************【3】*********************
+        /// 打开设备
+        /// </summary>
+        /// <returns></returns>
+        public bool OpenDevice()
+        {
+            //打开设备
+            OpenState = USB_DEVICE.USB_OpenDevice(DevHandle);
+            if (!OpenState)
+            {
+                Console.WriteLine("Open device error!");
+                return false;
+            }
+            else
+            {
+                Console.WriteLine("Open device success!");
+                return true;
+            }
+        }
+
+        /// <summary>
+        /// ******************【4】*********************
+        /// 获取设备的固件信息
+        /// </summary>
+        /// <returns></returns>
+        public bool GetDeviceInfo()
+        {
+            //获取固件信息
+            StringBuilder FuncStr = new StringBuilder(256);
+            OpenState = USB_DEVICE.DEV_GetDeviceInfo(DevHandle, ref DevInfo, FuncStr);
+            if (!OpenState)
+            {
+                Console.WriteLine("Get device infomation error!");
+                return false;
+            }
+            else
+            {
+                Console.WriteLine("Firmware Info:");
+                Console.WriteLine("    Name:" + Encoding.Default.GetString(DevInfo.FirmwareName));
+                Console.WriteLine("    Build Date:" + Encoding.Default.GetString(DevInfo.BuildDate));
+                Console.WriteLine("    Firmware Version:v{0}.{1}.{2}", (DevInfo.FirmwareVersion >> 24) & 0xFF, (DevInfo.FirmwareVersion >> 16) & 0xFF, DevInfo.FirmwareVersion & 0xFFFF);
+                Console.WriteLine("    Hardware Version:v{0}.{1}.{2}", (DevInfo.HardwareVersion >> 24) & 0xFF, (DevInfo.HardwareVersion >> 16) & 0xFF, DevInfo.HardwareVersion & 0xFFFF);
+                Console.WriteLine("    Functions:" + DevInfo.Functions.ToString("X8"));
+                Console.WriteLine("    Functions String:" + FuncStr);
+                StringBuilder DLLBuildDate = new StringBuilder(256);
+                USB_DEVICE.DEV_GetDllBuildTime(DLLBuildDate);
+                Console.WriteLine("    DLL Build Date:" + DLLBuildDate);
+
+                return true;
+            }
+        }
+
+        /// <summary>
+        /// ******************【5】*********************
+        /// 获取设备Config配置
+        /// </summary>
+        public void GetCANConfig()
+        {
+            //获取CAN波特率参数
+            ret = USB2CAN.CAN_GetCANSpeedArg(DevHandle, ref CANConfig, 500000);
+            if (ret != USB2CAN.CAN_SUCCESS)
+            {
+                Console.WriteLine("Get CAN Speed failed!");
+                return;
+            }
+            else
+            {
+                Console.WriteLine("Get CAN Speed Success!");
+            }
+
+        }
+
+        /// <summary>
+        /// ******************【6】*********************
+        /// 初始化CAN
+        /// </summary>
+        public void InitCAN()
+        {
+            //初始化CAN
+
+            ret = USB2CAN.CAN_Init(DevHandle, WriteCANIndex, ref CANConfig);
+            if (ret != USB2CAN.CAN_SUCCESS)
+            {
+                Console.WriteLine("Config CAN failed!");
+                return;
+            }
+            else
+            {
+                Console.WriteLine("WriteCANIndex Config CAN Success!");
+            }
+
+            ret = USB2CAN.CAN_Init(DevHandle, ReadCANIndex, ref CANConfig);
+            if (ret != USB2CAN.CAN_SUCCESS)
+            {
+                Console.WriteLine("Config CAN failed!");
+                return;
+            }
+            else
+            {
+                Console.WriteLine("ReadCANIndex Config CAN Success!");
+            }
+            Console.WriteLine("");
+        }
+
+        /// <summary>
+        /// ******************【7】*********************
+        /// DBC解析
+        /// </summary>
+        public void DBC_Parser(string Path)
+        {
+            //解析DBC文件
+            DBCHandle = CAN_DBCParser.DBC_ParserFile(DevHandle, new StringBuilder(Path));
+            if (DBCHandle == 0)
+            {
+                Console.WriteLine("Parser DBC File error!");
+                return;
+            }
+            else
+            {
+                Console.WriteLine("Parser DBC File success!");
+            }
+
+            ListCanDbcModel.Clear();
+
+            //打印DBC里面报文和信号相关信息
+            int DBCMsgNum = CAN_DBCParser.DBC_GetMsgQuantity(DBCHandle);
+            for (int i = 0; i < DBCMsgNum; i++)
+            {
+                StringBuilder MsgName = new StringBuilder(32);
+                CAN_DBCParser.DBC_GetMsgName(DBCHandle, i, MsgName);
+                Console.WriteLine("Msg.Name = {0}", MsgName);
+                int DBCSigNum = CAN_DBCParser.DBC_GetMsgSignalQuantity(DBCHandle, MsgName);
+                StringBuilder Publisher = new StringBuilder(32);
+                CAN_DBCParser.DBC_GetMsgPublisher(DBCHandle, MsgName, Publisher);
+                Console.Write("Signals:");
+                for (int j = 0; j < DBCSigNum; j++)
+                {
+                    StringBuilder SigName = new StringBuilder(32);
+                    CAN_DBCParser.DBC_GetMsgSignalName(DBCHandle, MsgName, j, SigName);
+                    Console.Write("{0} ", SigName);
+
+                    //增加信息数据
+                    ListCanDbcModel.Add(new CanDbcModel()
+                    {
+                        MsgName = MsgName.ToString(),
+                        MsgId = "",
+                        SignalName = SigName.ToString(),
+                        SignalDesc = "",
+                        SignalUnit = "",
+                        SignalRtValue = "",
+                        Publisher = Publisher.ToString()
+                    });
+                }
+                Console.WriteLine("");
+            }
+        }
+
+        /// <summary>
+        /// 发送CAN数据
+        /// </summary>
+        public void SendCanMsg(List<CanCmdData> CmdData)
+        {
+            var GroupMsg = CmdData.GroupBy(x => x.MsgName);
+            USB2CAN.CAN_MSG[] CanMsg = new USB2CAN.CAN_MSG[GroupMsg.Count()];
+            for (int i = 0; i < GroupMsg.Count(); i++)
+            {
+                CanMsg[i] = new USB2CAN.CAN_MSG();
+                CanMsg[i].Data = new Byte[64];
+            }
+
+            IntPtr msgPt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)));
+            int Index = 0;
+            //循环给MSG赋值数据
+            foreach (var itemMsg in GroupMsg)
+            {
+                foreach (var itemSignal in itemMsg)
+                {
+                    CAN_DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
+                }
+                CAN_DBCParser.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPt);
+                CanMsg[Index] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure(msgPt, typeof(USB2CAN.CAN_MSG));
+                Index++;
+            }
+
+            //设置信号值
+            //DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder("msg_moto_speed"), new StringBuilder("moto_speed"), 2412);
+            //DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder("msg_oil_pressure"), new StringBuilder("oil_pressure"), 980);
+            //DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder("msg_speed_can"), new StringBuilder("speed_can"), 120);
+
+            //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);
+            Console.WriteLine("");
+            //发送CAN数据
+            int SendedNum = USB2CAN.CAN_SendMsg(DevHandle, WriteCANIndex, CanMsg, (uint)CanMsg.Length);
+            if (SendedNum >= 0)
+            {
+                Console.WriteLine("Success send frames:{0}", SendedNum);
+            }
+            else
+            {
+                Console.WriteLine("Send CAN data failed! {0}", SendedNum);
+            }
+        }
+
+        /// <summary>
+        /// 是否循环接收数据
+        /// </summary>
+        public bool IsCycleRevice { get; set; }
+
+        /// <summary>
+        /// CycleRevice扫描Task
+        /// </summary>
+        private static Task CycleReviceTask { get; set; }
+
+        /// <summary>
+        /// 循环获取CAN消息
+        /// </summary>
+        public void StartCycleReviceCanMsg()
+        {
+            CycleReviceTask = Task.Run(async () =>
+            {
+                while (IsCycleRevice)
+                {
+                    await Task.Delay(1000);
+                    try
+                    {
+                        //另外一个CAN通道读取数据
+                        USB2CAN.CAN_MSG[] CanMsgBuffer = new USB2CAN.CAN_MSG[10];
+                        msgPt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)) * CanMsgBuffer.Length);
+                        int CanNum = USB2CAN.CAN_GetMsgWithSize(DevHandle, ReadCANIndex, msgPt, CanMsgBuffer.Length);
+                        if (CanNum > 0)
+                        {
+                            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));
+                                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);
+                                for (int j = 0; j < CanMsgBuffer[i].DataLen; j++)
+                                {
+                                    Console.Write("{0} ", CanMsgBuffer[i].Data[j].ToString("X2"));
+                                }
+                                Console.WriteLine("");
+                            }
+                        }
+                        else if (CanNum == 0)
+                        {
+                            Console.WriteLine("No CAN data!");
+                        }
+                        else
+                        {
+                            Console.WriteLine("Get CAN data error!");
+                        }
+                        Console.WriteLine("");
+
+                        //将CAN消息数据填充到信号里面
+                        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);
+                    }
+                    catch (Exception ex)
+                    {
+                        //LogService.Info($"时间:{DateTime.Now.ToString()}-【Meter】-{ex.Message}");
+                    }
+                }
+            });
+        }
+
+        /// <summary>
+        /// 接受CAN消息
+        /// </summary>
+        public void ReciveCanMsg()
+        {
+            //另外一个CAN通道读取数据
+            USB2CAN.CAN_MSG[] CanMsgBuffer = new USB2CAN.CAN_MSG[10];
+            msgPt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)) * CanMsgBuffer.Length);
+            int CanNum = USB2CAN.CAN_GetMsgWithSize(DevHandle, ReadCANIndex, msgPt, CanMsgBuffer.Length);
+            if (CanNum > 0)
+            {
+                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));
+                    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);
+                    for (int j = 0; j < CanMsgBuffer[i].DataLen; j++)
+                    {
+                        Console.Write("{0} ", CanMsgBuffer[i].Data[j].ToString("X2"));
+                    }
+                    Console.WriteLine("");
+                }
+            }
+            else if (CanNum == 0)
+            {
+                Console.WriteLine("No CAN data!");
+            }
+            else
+            {
+                Console.WriteLine("Get CAN data error!");
+            }
+            Console.WriteLine("");
+
+            //将CAN消息数据填充到信号里面
+            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);
+        }
+
+
+        /// <summary>
+        /// 关闭设备
+        /// </summary>
+        public void CloseDevice()
+        {
+            //关闭设备
+            USB_DEVICE.USB_CloseDevice(DevHandle);
+            OpenState = false;
+        }
+
+    }
+}

CapMachine.Wpf/CanDrive/ToomossCanFD.cs

@@ -272,7 +272,7 @@ namespace CapMachine.Wpf.CanDrive
         public void DBC_Parser(string Path)
         {
             //解析DBC文件
-            DBCHandle = DBCParser.DBC_ParserFile(DevHandle, new StringBuilder(Path));
+            DBCHandle = CANFD_DBCParser.DBC_ParserFile(DevHandle, new StringBuilder(Path));
             if (DBCHandle == 0)
             {
                 Console.WriteLine("Parser DBC File error!");
@@ -286,20 +286,20 @@ namespace CapMachine.Wpf.CanDrive
             ListCanDbcModel.Clear();
 
             //打印DBC里面报文和信号相关信息
-            int DBCMsgNum = DBCParser.DBC_GetMsgQuantity(DBCHandle);
+            int DBCMsgNum = CANFD_DBCParser.DBC_GetMsgQuantity(DBCHandle);
             for (int i = 0; i < DBCMsgNum; i++)
             {
                 StringBuilder MsgName = new StringBuilder(32);
-                DBCParser.DBC_GetMsgName(DBCHandle, i, MsgName);
+                CANFD_DBCParser.DBC_GetMsgName(DBCHandle, i, MsgName);
                 Console.WriteLine("Msg.Name = {0}", MsgName);
-                int DBCSigNum = DBCParser.DBC_GetMsgSignalQuantity(DBCHandle, MsgName);
+                int DBCSigNum = CANFD_DBCParser.DBC_GetMsgSignalQuantity(DBCHandle, MsgName);
                 StringBuilder Publisher = new StringBuilder(32);
-                DBCParser.DBC_GetMsgPublisher(DBCHandle, MsgName, Publisher);
+                CANFD_DBCParser.DBC_GetMsgPublisher(DBCHandle, MsgName, Publisher);
                 Console.Write("Signals:");
                 for (int j = 0; j < DBCSigNum; j++)
                 {
                     StringBuilder SigName = new StringBuilder(32);
-                    DBCParser.DBC_GetMsgSignalName(DBCHandle, MsgName, j, SigName);
+                    CANFD_DBCParser.DBC_GetMsgSignalName(DBCHandle, MsgName, j, SigName);
                     Console.Write("{0} ", SigName);
 
                     //增加信息数据
@@ -338,9 +338,9 @@ namespace CapMachine.Wpf.CanDrive
             {
                 foreach (var itemSignal in itemMsg)
                 {
-                    DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
+                    CANFD_DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
                 }
-                DBCParser.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPt);
+                CANFD_DBCParser.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPt);
                 CanMsg[Index] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPt, typeof(USB2CANFD.CANFD_MSG));
                 Index++;
             }
@@ -432,12 +432,12 @@ namespace CapMachine.Wpf.CanDrive
                         Console.WriteLine("");
 
                         //将CAN消息数据填充到信号里面
-                        DBCParser.DBC_SyncCANFDMsgToValue(DBCHandle, msgPt, CanNum);
+                        CANFD_DBCParser.DBC_SyncCANFDMsgToValue(DBCHandle, msgPt, CanNum);
                         //获取信号值并打印出来
                         StringBuilder ValueStr = new StringBuilder(32);
-                        DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_current_Power"), ValueStr);
+                        CANFD_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_current_Power"), ValueStr);
                         Console.WriteLine("COM_current_Power = {0}", ValueStr);
-                        DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_Curr_dc"), ValueStr);
+                        CANFD_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_Curr_dc"), ValueStr);
                         Console.WriteLine("COM_Curr_dc = {0}", ValueStr);
                     }
                     catch (Exception ex)
@@ -484,14 +484,14 @@ namespace CapMachine.Wpf.CanDrive
             Console.WriteLine("");
 
             //将CAN消息数据填充到信号里面
-            DBCParser.DBC_SyncCANFDMsgToValue(DBCHandle, msgPt, CanNum);
+            CANFD_DBCParser.DBC_SyncCANFDMsgToValue(DBCHandle, msgPt, CanNum);
             //获取信号值并打印出来
             StringBuilder ValueStr = new StringBuilder(32);
-            DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_moto_speed"), new StringBuilder("moto_speed"), ValueStr);
+            CANFD_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_moto_speed"), new StringBuilder("moto_speed"), ValueStr);
             Console.WriteLine("moto_speed = {0}", ValueStr);
-            DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_oil_pressure"), new StringBuilder("oil_pressure"), ValueStr);
+            CANFD_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_oil_pressure"), new StringBuilder("oil_pressure"), ValueStr);
             Console.WriteLine("oil_pressure = {0}", ValueStr);
-            DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_speed_can"), new StringBuilder("speed_can"), ValueStr);
+            CANFD_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_speed_can"), new StringBuilder("speed_can"), ValueStr);
             Console.WriteLine("speed_can = {0}", ValueStr);
 
         }

CapMachine.Wpf/ProPars/ProParsHelper.cs

@@ -110,6 +110,7 @@ namespace CapMachine.Wpf.ProPars
                     if (!string.IsNullOrEmpty(itemStep.ValueAddress))
                     {
                         var Result = siemensS7NetStance.Write(itemStep.ValueAddress, (short)(itemStep.Value * item.Ratio));
+                        //var Result1 = siemensS7NetStance.Write(itemStep.ValueAddress, (short)(itemStep.Value * item.Ratio),100);
                         if (!Result.IsSuccess)
                         {
                             var data1 = 1;

CapMachine.Wpf/Services/CanDriveService.cs

@@ -15,13 +15,13 @@ namespace CapMachine.Wpf.Services
     {
         public CanDriveService()
         {
-            ToomossCanDrive=new ToomossCanFD();
+            ToomossCanDrive=new ToomossCan();
             //ToomossCanDrive.StartCanDrive();
         }
 
         /// <summary>
         /// ToomossCanDrive
         /// </summary>
-        public ToomossCanFD ToomossCanDrive { get; set; }
+        public ToomossCan ToomossCanDrive { get; set; }
     }
 }