512 lines
19 KiB
C#
512 lines
19 KiB
C#
using CapMachine.Wpf.Models.Tag;
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using NPOI.OpenXmlFormats.Wordprocessing;
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using Prism.Mvvm;
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using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Diagnostics;
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using System.IO;
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using System.Linq;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using System.Windows.Interop;
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namespace CapMachine.Wpf.CanDrive
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{
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/// <summary>
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/// Toomoss CAN
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/// </summary>
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public class ToomossCanFD : BindableBase
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{
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/// <summary>
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/// 实例化函数
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/// </summary>
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public ToomossCanFD()
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{
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}
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/// <summary>
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/// 开始CAN的驱动
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/// </summary>
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public void StartCanDrive()
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{
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IsExistsDllFile();
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ScanDevice();
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OpenDevice();
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GetDeviceInfo();
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GetCANConfig();
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InitCAN();
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}
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/// <summary>
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/// 开始Dbc文件写入
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/// </summary>
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public void StartDbc(string DbcPath)
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{
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DBC_Parser(DbcPath);
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}
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/// <summary>
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/// Dbc消息集合
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/// </summary>
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public ObservableCollection<CanDbcModel> ListCanDbcModel { get; set; } = new ObservableCollection<CanDbcModel>();
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#region 公共变量
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/// <summary>
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/// 设备固件信息
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/// </summary>
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public USB_DEVICE.DEVICE_INFO DevInfo = new USB_DEVICE.DEVICE_INFO();
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/// <summary>
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/// CAN Config
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/// </summary>
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USB2CANFD.CANFD_INIT_CONFIG CANConfig = new USB2CANFD.CANFD_INIT_CONFIG();
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/// <summary>
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/// DBC Handle
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/// </summary>
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public UInt64 DBCHandle { get; set; }
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/// <summary>
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/// 扫描设备Handle集合
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/// </summary>
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public Int32[] DevHandles { get; set; } = new Int32[20];
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/// <summary>
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/// 扫描设备Handle
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/// </summary>
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public Int32 DevHandle { get; set; } = 0;
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/// <summary>
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/// Write CAN Index
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/// </summary>
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public Byte WriteCANIndex { get; set; } = 0;
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/// <summary>
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/// Read CAN Index
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/// </summary>
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public Byte ReadCANIndex { get; set; } = 1;
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private bool _OpenState;
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/// <summary>
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/// 打开设备的状态
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/// </summary>
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public bool OpenState
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{
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get { return _OpenState; }
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set { _OpenState = value; RaisePropertyChanged(); }
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}
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/// <summary>
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/// 扫描到设备个数
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/// </summary>
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public Int32 DevNum { get; set; }
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public Int32 ret { get; set; }
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public string dllFilePath { get; set; } = "USB2XXX.dll";
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/// <summary>
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/// 消息值Pt
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/// </summary>
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public IntPtr msgPt { get; set; }
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#endregion
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/// <summary>
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/// ******************【1】*********************
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/// 是否存在Dll文件
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/// </summary>
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/// <returns></returns>
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public bool IsExistsDllFile()
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{
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if (!File.Exists(dllFilePath))
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{
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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!");
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Console.WriteLine("dll文件在‘usb2can_lin_pwm_example/sdk/libs/windows’目录下！");
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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！");
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return false;
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}
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return true;
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}
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/// <summary>
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/// ******************【2】*********************
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/// 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
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/// </summary>
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/// <returns></returns>
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public bool ScanDevice()
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{
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DevNum = USB_DEVICE.USB_ScanDevice(DevHandles);
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if (DevNum <= 0)
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{
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Console.WriteLine("No device connected!");
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return false;
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}
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else
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{
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Console.WriteLine("Have {0} device connected!", DevNum);
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DevHandle = DevHandles[0];//获取第一个设备的设备号
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return true;
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}
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}
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/// <summary>
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/// ******************【3】*********************
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/// 打开设备
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/// </summary>
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/// <returns></returns>
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public bool OpenDevice()
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{
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//打开设备
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OpenState = USB_DEVICE.USB_OpenDevice(DevHandle);
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if (!OpenState)
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{
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Console.WriteLine("Open device error!");
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return false;
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}
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else
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{
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Console.WriteLine("Open device success!");
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return true;
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}
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}
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/// <summary>
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/// ******************【4】*********************
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/// 获取设备的固件信息
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/// </summary>
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/// <returns></returns>
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public bool GetDeviceInfo()
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{
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//获取固件信息
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StringBuilder FuncStr = new StringBuilder(256);
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OpenState = USB_DEVICE.DEV_GetDeviceInfo(DevHandle, ref DevInfo, FuncStr);
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if (!OpenState)
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{
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Console.WriteLine("Get device infomation error!");
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return false;
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}
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else
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{
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Console.WriteLine("Firmware Info:");
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Console.WriteLine(" Name:" + Encoding.Default.GetString(DevInfo.FirmwareName));
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Console.WriteLine(" Build Date:" + Encoding.Default.GetString(DevInfo.BuildDate));
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Console.WriteLine(" Firmware Version:v{0}.{1}.{2}", (DevInfo.FirmwareVersion >> 24) & 0xFF, (DevInfo.FirmwareVersion >> 16) & 0xFF, DevInfo.FirmwareVersion & 0xFFFF);
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Console.WriteLine(" Hardware Version:v{0}.{1}.{2}", (DevInfo.HardwareVersion >> 24) & 0xFF, (DevInfo.HardwareVersion >> 16) & 0xFF, DevInfo.HardwareVersion & 0xFFFF);
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Console.WriteLine(" Functions:" + DevInfo.Functions.ToString("X8"));
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Console.WriteLine(" Functions String:" + FuncStr);
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StringBuilder DLLBuildDate = new StringBuilder(256);
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USB_DEVICE.DEV_GetDllBuildTime(DLLBuildDate);
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Console.WriteLine(" DLL Build Date:" + DLLBuildDate);
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return true;
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}
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}
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/// <summary>
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/// ******************【5】*********************
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/// 获取设备Config配置
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/// </summary>
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public void GetCANConfig()
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{
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//获取CAN波特率参数
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ret = USB2CANFD.CANFD_GetCANSpeedArg(DevHandle, ref CANConfig, 500000, 2000000);
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if (ret != USB2CANFD.CANFD_SUCCESS)
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{
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Console.WriteLine("Get CAN Speed failed!");
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return;
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}
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else
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{
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Console.WriteLine("Get CAN Speed Success!");
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}
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}
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/// <summary>
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/// ******************【6】*********************
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/// 初始化CAN
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/// </summary>
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public void InitCAN()
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{
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//初始化CAN
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ret = USB2CANFD.CANFD_Init(DevHandle, WriteCANIndex, ref CANConfig);
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if (ret != USB2CANFD.CANFD_SUCCESS)
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{
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Console.WriteLine("Config CAN failed!");
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return;
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}
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else
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{
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Console.WriteLine("WriteCANIndex Config CAN Success!");
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}
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ret = USB2CANFD.CANFD_Init(DevHandle, ReadCANIndex, ref CANConfig);
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if (ret != USB2CAN.CAN_SUCCESS)
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{
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Console.WriteLine("Config CAN failed!");
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return;
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}
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else
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{
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Console.WriteLine("ReadCANIndex Config CAN Success!");
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}
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Console.WriteLine("");
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}
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/// <summary>
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/// ******************【7】*********************
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/// DBC解析
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/// </summary>
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public void DBC_Parser(string Path)
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{
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//解析DBC文件
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DBCHandle = CANFD_DBCParser.DBC_ParserFile(DevHandle, new StringBuilder(Path));
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if (DBCHandle == 0)
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{
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Console.WriteLine("Parser DBC File error!");
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return;
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}
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else
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{
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Console.WriteLine("Parser DBC File success!");
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}
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ListCanDbcModel.Clear();
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//打印DBC里面报文和信号相关信息
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int DBCMsgNum = CANFD_DBCParser.DBC_GetMsgQuantity(DBCHandle);
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for (int i = 0; i < DBCMsgNum; i++)
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{
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StringBuilder MsgName = new StringBuilder(32);
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CANFD_DBCParser.DBC_GetMsgName(DBCHandle, i, MsgName);
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Console.WriteLine("Msg.Name = {0}", MsgName);
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int DBCSigNum = CANFD_DBCParser.DBC_GetMsgSignalQuantity(DBCHandle, MsgName);
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StringBuilder Publisher = new StringBuilder(32);
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CANFD_DBCParser.DBC_GetMsgPublisher(DBCHandle, MsgName, Publisher);
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Console.Write("Signals:");
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for (int j = 0; j < DBCSigNum; j++)
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{
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StringBuilder SigName = new StringBuilder(32);
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CANFD_DBCParser.DBC_GetMsgSignalName(DBCHandle, MsgName, j, SigName);
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Console.Write("{0} ", SigName);
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//增加信息数据
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ListCanDbcModel.Add(new CanDbcModel()
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{
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MsgName = MsgName.ToString(),
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MsgId = "",
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SignalName = SigName.ToString(),
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SignalDesc = "",
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SignalUnit = "",
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SignalRtValue = "",
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Publisher = Publisher.ToString()
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});
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}
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Console.WriteLine("");
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}
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}
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/// <summary>
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/// 发送CAN数据
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/// </summary>
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public void SendCanMsg(List<CanCmdData> CmdData)
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{
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var GroupMsg = CmdData.GroupBy(x => x.MsgName);
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USB2CANFD.CANFD_MSG[] CanMsg = new USB2CANFD.CANFD_MSG[GroupMsg.Count()];
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for (int i = 0; i < GroupMsg.Count(); i++)
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{
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CanMsg[i] = new USB2CANFD.CANFD_MSG();
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CanMsg[i].Data = new Byte[64];
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}
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IntPtr msgPt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)));
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int Index = 0;
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//循环给MSG赋值数据
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foreach (var itemMsg in GroupMsg)
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{
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foreach (var itemSignal in itemMsg)
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{
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CANFD_DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
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}
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CANFD_DBCParser.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPt);
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CanMsg[Index] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPt, typeof(USB2CANFD.CANFD_MSG));
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Index++;
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}
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//设置信号值
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//DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder("msg_moto_speed"), new StringBuilder("moto_speed"), 2412);
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//DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder("msg_oil_pressure"), new StringBuilder("oil_pressure"), 980);
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//DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder("msg_speed_can"), new StringBuilder("speed_can"), 120);
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//通过DBC写入数据后生成CanMsg
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//将信号值填入CAN消息里面
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//IntPtr msgPt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)));
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//DBCParser.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder("msg_moto_speed"), msgPt);
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//CanMsg[0] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPt, typeof(USB2CANFD.CANFD_MSG));
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//DBCParser.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder("msg_oil_pressure"), msgPt);
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//CanMsg[1] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPt, typeof(USB2CANFD.CANFD_MSG));
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//DBCParser.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder("msg_speed_can"), msgPt);
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//CanMsg[2] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPt, typeof(USB2CANFD.CANFD_MSG));
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//释放申请的临时缓冲区
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Marshal.FreeHGlobal(msgPt);
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Console.WriteLine("");
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//发送CAN数据
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int SendedNum = USB2CANFD.CANFD_SendMsg(DevHandle, WriteCANIndex, CanMsg, (Int32)CanMsg.Length);
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if (SendedNum >= 0)
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{
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Console.WriteLine("Success send frames:{0}", SendedNum);
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}
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else
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{
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Console.WriteLine("Send CAN data failed! {0}", SendedNum);
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}
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}
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/// <summary>
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/// 是否循环接收数据
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/// </summary>
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public bool IsCycleRevice { get; set; }
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/// <summary>
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/// CycleRevice扫描Task
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/// </summary>
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private static Task CycleReviceTask { get; set; }
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/// <summary>
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/// 循环获取CAN消息
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/// </summary>
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public void StartCycleReviceCanMsg()
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{
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CycleReviceTask = Task.Run(async () =>
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{
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while (IsCycleRevice)
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{
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await Task.Delay(1000);
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try
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{
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//另外一个CAN通道读取数据
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USB2CANFD.CANFD_MSG[] CanMsgBuffer = new USB2CANFD.CANFD_MSG[10];
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msgPt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)) * CanMsgBuffer.Length);
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int CanNum = USB2CANFD.CANFD_GetMsg(DevHandle, ReadCANIndex, msgPt, CanMsgBuffer.Length);
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if (CanNum > 0)
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{
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Console.WriteLine("Read CanMsgNum = {0}", CanNum);
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for (int i = 0; i < CanNum; i++)
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{
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CanMsgBuffer[i] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure((IntPtr)(msgPt + i * Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG))), typeof(USB2CANFD.CANFD_MSG));
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Console.WriteLine("CanMsg[{0}].ID = 0x{1}", i, CanMsgBuffer[i].ID.ToString("X8"));
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//Console.WriteLine("CanMsg[{0}].TimeStamp = {1}",i,CanMsgBuffer[i].TimeStamp);
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Console.Write("CanMsg[{0}].Data = ", i);
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for (int j = 0; j < CanMsgBuffer[i].DLC; j++)
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{
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Console.Write("{0} ", CanMsgBuffer[i].Data[j].ToString("X2"));
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}
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Console.WriteLine("");
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}
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}
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else if (CanNum == 0)
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{
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Console.WriteLine("No CAN data!");
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}
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else
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{
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Console.WriteLine("Get CAN data error!");
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}
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Console.WriteLine("");
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//将CAN消息数据填充到信号里面
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CANFD_DBCParser.DBC_SyncCANFDMsgToValue(DBCHandle, msgPt, CanNum);
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//获取信号值并打印出来
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StringBuilder ValueStr = new StringBuilder(32);
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CANFD_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_current_Power"), ValueStr);
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Console.WriteLine("COM_current_Power = {0}", ValueStr);
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CANFD_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_Curr_dc"), ValueStr);
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Console.WriteLine("COM_Curr_dc = {0}", ValueStr);
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}
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catch (Exception ex)
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{
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//LogService.Info($"时间:{DateTime.Now.ToString()}-【Meter】-{ex.Message}");
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}
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}
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});
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}
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/// <summary>
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/// 接受CAN消息
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/// </summary>
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public void ReciveCanMsg()
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{
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//另外一个CAN通道读取数据
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USB2CANFD.CANFD_MSG[] CanMsgBuffer = new USB2CANFD.CANFD_MSG[10];
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msgPt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)) * CanMsgBuffer.Length);
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int CanNum = USB2CANFD.CANFD_GetMsg(DevHandle, ReadCANIndex, msgPt, CanMsgBuffer.Length);
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if (CanNum > 0)
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{
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Console.WriteLine("Read CanMsgNum = {0}", CanNum);
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for (int i = 0; i < CanNum; i++)
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{
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CanMsgBuffer[i] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure((IntPtr)(msgPt + i * Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG))), typeof(USB2CANFD.CANFD_MSG));
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Console.WriteLine("CanMsg[{0}].ID = 0x{1}", i, CanMsgBuffer[i].ID.ToString("X8"));
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//Console.WriteLine("CanMsg[{0}].TimeStamp = {1}",i,CanMsgBuffer[i].TimeStamp);
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Console.Write("CanMsg[{0}].Data = ", i);
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for (int j = 0; j < CanMsgBuffer[i].DLC; j++)
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{
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Console.Write("{0} ", CanMsgBuffer[i].Data[j].ToString("X2"));
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}
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Console.WriteLine("");
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}
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}
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else if (CanNum == 0)
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{
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Console.WriteLine("No CAN data!");
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}
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else
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{
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Console.WriteLine("Get CAN data error!");
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}
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Console.WriteLine("");
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//将CAN消息数据填充到信号里面
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CANFD_DBCParser.DBC_SyncCANFDMsgToValue(DBCHandle, msgPt, CanNum);
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//获取信号值并打印出来
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StringBuilder ValueStr = new StringBuilder(32);
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CANFD_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_moto_speed"), new StringBuilder("moto_speed"), ValueStr);
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Console.WriteLine("moto_speed = {0}", ValueStr);
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CANFD_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_oil_pressure"), new StringBuilder("oil_pressure"), ValueStr);
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Console.WriteLine("oil_pressure = {0}", ValueStr);
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CANFD_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;
|
||
}
|
||
|
||
}
|
||
}
|