412 lines
17 KiB
C#
412 lines
17 KiB
C#
/*
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* 241217 程序默认用USBCANFD-200U通讯，两通道对侧
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* Main 有加载DBC文件，打印DBC文件信息
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* 打开设备并演示Encode Decode函数
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*/
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Runtime.InteropServices;
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using System.Threading;
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using System.IO;
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using ZLGAPI;
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namespace DBC
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{
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internal class Program
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{
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private static IntPtr deviceHandle = IntPtr.Zero; // 设备句柄
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private static IntPtr[] channelHandles = new IntPtr[]{
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IntPtr.Zero,
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IntPtr.Zero
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};
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private static int max_chn = 2; // 通道数量
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private static uint DBCHandle = 0; // DBC句柄
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private static volatile bool isRunning = true; // 线程标志
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static void Main(string[] args)
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{
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Program.LoadDBCFile(); // 加载DBC文件
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Program.ReadDBCFileMessages(); // 打印DBC文件信息
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//Program.ReadSignalDescPair(); // 获取具体信号的值与含义
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//Program.InitDevice(); // 打开设备，并演示接收解析和发送
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Console.ReadKey();
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Program.CloseDBCFile();
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}
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// 加载DBC文件
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static void LoadDBCFile()
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{
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// DBC文件路径
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string DBCFilePath = "C:\\Users\\admin\\Desktop\\DBC\\12.dbc";
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//string currentDirectory = AppDomain.CurrentDomain.BaseDirectory; // 获取当前执行文件exe同级目录
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//string fileName = "12.DBC"; // 替换为你的文件名
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//string filePath = Path.Combine(currentDirectory, fileName);
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//DBCFilePath = filePath.Replace("\\", "\\\\"); // 将路径中的分隔符替换为双反斜杠
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Console.WriteLine("{0} ", DBCFilePath);
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// 加载DBC文件
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Program.DBCHandle = ZDBC.ZDBC_Init();
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IntPtr P2DBCFileAddress = Marshal.StringToHGlobalAnsi(DBCFilePath);
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bool Result = ZDBC.ZDBC_LoadFile(DBCHandle, P2DBCFileAddress);
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Marshal.FreeHGlobal(P2DBCFileAddress);
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}
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// 关闭DBC文件
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static void CloseDBCFile()
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{
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ZDBC.ZDBC_Release(Program.DBCHandle);
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}
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// 读取DBC文件内容
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static void ReadDBCFileMessages()
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{
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uint count = ZDBC.ZDBC_GetMessageCount(Program.DBCHandle); //信号数量
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Console.WriteLine(" DBC文件中消息的数量：{0}\n", count);
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ZDBC.DBCMessage msg = new ZDBC.DBCMessage();
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IntPtr ptrMsg = Marshal.AllocHGlobal(Marshal.SizeOf(msg));
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if (ZDBC.ZDBC_GetFirstMessage(DBCHandle, ptrMsg))
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{
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Program.PrintfDBCMessage(ptrMsg);
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}
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while (ZDBC.ZDBC_GetNextMessage(DBCHandle, ptrMsg))
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{
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Program.PrintfDBCMessage(ptrMsg);
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}
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Marshal.FreeHGlobal(ptrMsg);
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}
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// 打印值描述
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static void ReadSignalDescPair()
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{
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ZDBC.DBCMessage msg = new ZDBC.DBCMessage();
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IntPtr ptrMsg = Marshal.AllocHGlobal(Marshal.SizeOf(msg));
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uint ID = 0x36F;
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string SignalName = "BMS_AbnormRlyOffSt";
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// 获取这个id的消息情况
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if (ZDBC.ZDBC_GetMessageById(Program.DBCHandle, ID, ptrMsg))
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{
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Program.PrintfDBCMessage(ptrMsg);
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}
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else
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{
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Console.WriteLine("没有找到这个0x{0:x}的定义", ID);
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}
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// 获取具体信号的值与含义对个数
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uint ret = ZDBC.ZDBC_GetValDescPairCount(Program.DBCHandle, ID, SignalName);
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Console.WriteLine("{0} 的值与含义对个数: {1}\n", SignalName, ret);
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// 循环获取值与含义对
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IntPtr ptr_pair = Marshal.AllocHGlobal((int)ret * Marshal.SizeOf(typeof(ZDBC.ValDescPair)));
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ZDBC.ZDBC_GetValDescPair(Program.DBCHandle, ID, SignalName, ptr_pair);
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ZDBC.ValDescPair[] pair = new ZDBC.ValDescPair[ret];
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for (int i = 0; i < ret; i++)
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{
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pair[i] = (ZDBC.ValDescPair)Marshal.PtrToStructure((IntPtr)((Int64)ptr_pair + i * Marshal.SizeOf(typeof(ZDBC.ValDescPair))), typeof(ZDBC.ValDescPair));
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string pair_name = new string(Encoding.ASCII.GetChars(pair[i].strName));
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string result = pair_name.Substring(0, pair_name.IndexOf('\0'));
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Console.WriteLine("[{0}] {1} {2}", i + 1, result, pair[i].value);
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}
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Console.ReadKey();
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}
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// 打印消息
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static void PrintfDBCMessage(IntPtr ptrMsg)
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{
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// 消息
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ZDBC.DBCMessage msg = new ZDBC.DBCMessage();
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msg = (ZDBC.DBCMessage)Marshal.PtrToStructure(ptrMsg, typeof(ZDBC.DBCMessage));
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string str_name = new string(Encoding.ASCII.GetChars(msg.strName));
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string result = str_name.Substring(0, str_name.IndexOf('\0'));
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Console.WriteLine("0x{0:X} {1}", msg.nID, result);
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// 信号
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Console.WriteLine("\t{0,-27} {1,-4} {2,-5} {3,-5}", "信号名", "起始位", "长度", "原始值");
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for (int i = 0; i < msg.nSignalCount; i++)
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{
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ZDBC.DBCSignal curSig = msg.vSignals[i];
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str_name = new string(Encoding.ASCII.GetChars(curSig.strName));
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result = str_name.Substring(0, str_name.IndexOf('\0'));
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Console.WriteLine("\t{0,-30} {1,-7} {2,-5} {3,-8:X}", result, msg.vSignals[i].nStartBit, msg.vSignals[i].nLen, msg.vSignals[i].nRawvalue);
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}
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Console.WriteLine("");
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}
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// 初始化设备
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static void InitDevice()
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{
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//int chn_idx = 0; // 通道号
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uint ret; // 返回值
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//打开设备
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Program.deviceHandle = ZLGCAN.ZCAN_OpenDevice(41, 0, 0); // USBCANFD-200U 41
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if (Program.deviceHandle == IntPtr.Zero)
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{
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Console.WriteLine("打开设备失败");
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Console.ReadKey();
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return;
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}
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else
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Console.WriteLine("打开设备成功");
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// 初始化通道
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for (int i = 0; i < Program.max_chn; i++)
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{
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// 仲裁域波特率
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string path = String.Format("{0}/canfd_abit_baud_rate", i);
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ret = ZLGCAN.ZCAN_SetValue(deviceHandle, path, "500000"); // 500k
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if (ret != 1)
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{
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Console.WriteLine("设置仲裁域波特率失败");
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Console.ReadKey();
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return;
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}
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// 数据域波特率
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path = String.Format("{0}/canfd_dbit_baud_rate", i);
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ret = ZLGCAN.ZCAN_SetValue(deviceHandle, path, "2000000"); // 2M
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if (ret != 1)
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{
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Console.WriteLine("设置数据域波特率失败");
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Console.ReadKey();
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return;
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}
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// 终端电阻
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path = String.Format("{0}/initenal_resistance", i);
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string resistance = "1";//1-使能 0-禁能
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ret = ZLGCAN.ZCAN_SetValue(deviceHandle, path, resistance);
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if (ret != 1)
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{
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Console.WriteLine("设置终端电阻失败");
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Console.ReadKey();
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return;
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}
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// 初始化通道
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ZLGCAN.ZCAN_CHANNEL_INIT_CONFIG InitConfig = new ZLGCAN.ZCAN_CHANNEL_INIT_CONFIG(); // 结构体
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InitConfig.can_type = 1; // 1 - CANFD (USBCANFD 只能选择CANFD模式)
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InitConfig.config.canfd.mode = 0; // 0 - 正常模式，1 - 只听模式
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IntPtr P2InitConfig = Marshal.AllocHGlobal(Marshal.SizeOf(InitConfig));
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Marshal.StructureToPtr(InitConfig, P2InitConfig, true); // 转成指针
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Program.channelHandles[i] = ZLGCAN.ZCAN_InitCAN(deviceHandle, (uint)i, P2InitConfig);
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Marshal.FreeHGlobal(P2InitConfig); // 释放内存
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if (Program.channelHandles[i] == IntPtr.Zero)
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{
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Console.WriteLine("初始化通道失败");
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Console.ReadKey();
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return;
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}
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Console.WriteLine("初始化通道成功");
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//打开通道
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ret = ZLGCAN.ZCAN_StartCAN(Program.channelHandles[i]);
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if (ret != 1)
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{
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Console.WriteLine("打开通道失败");
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Console.ReadKey();
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return;
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}
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Console.WriteLine("打开通道成功");
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// 创建一个接收线程
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Thread workerThread = new Thread(ReceiveThread);
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workerThread.IsBackground = true; // 设置为后台线程
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workerThread.Start(Program.channelHandles[i]); // 启动线程
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}
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Thread.Sleep(1000);
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// DBC发送
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//Program.SendDBCMessageById(0x15D);
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// 阻塞等待
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Console.ReadKey();
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Program.isRunning = false;
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for (int i = 0; i < max_chn; i++)
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{
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// 关闭通道
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ret = ZLGCAN.ZCAN_ResetCAN(Program.channelHandles[i]);
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if (ret != 1)
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{
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Console.WriteLine("关闭通道失败");
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Console.ReadKey();
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return;
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}
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Console.WriteLine("关闭通道成功");
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}
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// 关闭设备
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ret = ZLGCAN.ZCAN_CloseDevice(Program.deviceHandle);
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if (ret != 1)
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{
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Console.WriteLine("关闭设备失败");
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Console.ReadKey();
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return;
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}
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Console.WriteLine("关闭设备成功");
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}
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// 接收线程 (有DBC解析)
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static void ReceiveThread(object state)
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{
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IntPtr cur_chn = (IntPtr)state;
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const int arraySize = 100;
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IntPtr ptrCanData = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZLGCAN.ZCAN_Receive_Data)) * arraySize);
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IntPtr ptrCanFDData = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZLGCAN.ZCAN_ReceiveFD_Data)) * arraySize);
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IntPtr ptrMsg = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZDBC.DBCMessage)));
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byte[] zero = new byte[Marshal.SizeOf(typeof(ZLGCAN.ZCAN_Receive_Data)) * arraySize];
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while (Program.isRunning)
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{
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uint RecNum = ZLGCAN.ZCAN_GetReceiveNum(cur_chn, 0); //CAN
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if (RecNum != 0)
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{
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// Marshal.Copy(zero, 0, ptrCanData, zero.Length); // 赋0
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uint ReceiveNum = ZLGCAN.ZCAN_Receive(cur_chn, ptrCanData, arraySize, 10); // 接收报文
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for (int i = 0; i < ReceiveNum; i++)
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{
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IntPtr curPtr = IntPtr.Add(ptrCanData, i * Marshal.SizeOf(typeof(ZLGCAN.ZCAN_Receive_Data)));
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ZLGCAN.ZCAN_Receive_Data data = (ZLGCAN.ZCAN_Receive_Data)Marshal.PtrToStructure(curPtr, typeof(ZLGCAN.ZCAN_Receive_Data));
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// DBC解析
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if (true == ZDBC.ZDBC_Decode(Program.DBCHandle, ptrMsg, curPtr, 1, 0))
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Program.PrintfDBCMessage(ptrMsg); // 打印解析
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}
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}
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RecNum = ZLGCAN.ZCAN_GetReceiveNum(cur_chn, 1); // CANFD
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if (RecNum != 0)
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{
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// Marshal.Copy(zero, 0, ptrCanData, zero.Length); // 赋0
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uint ReceiveNum = ZLGCAN.ZCAN_ReceiveFD(cur_chn, ptrCanFDData, arraySize, 10); // 接收报文
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for (int i = 0; i < ReceiveNum; i++)
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{
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IntPtr curPtr = IntPtr.Add(ptrCanFDData, i * Marshal.SizeOf(typeof(ZLGCAN.ZCAN_ReceiveFD_Data)));
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ZLGCAN.ZCAN_ReceiveFD_Data data = (ZLGCAN.ZCAN_ReceiveFD_Data)Marshal.PtrToStructure(curPtr, typeof(ZLGCAN.ZCAN_ReceiveFD_Data));
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// DBC解析
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if (true == ZDBC.ZDBC_Decode(Program.DBCHandle, ptrMsg, curPtr, 1, 1))
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{
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Program.PrintfDBCMessage(ptrMsg); // 打印解析
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}
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}
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}
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}
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Marshal.FreeHGlobal(ptrMsg);
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Marshal.FreeHGlobal(ptrCanData);
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}
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// DBC发送
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static void SendDBCMessageById(uint id)
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{
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// 从DBC文件获取对应ID的 DBC结构体
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IntPtr ptrMsg = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZDBC.DBCMessage)));
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if (ZDBC.ZDBC_GetMessageById(Program.DBCHandle, id, ptrMsg) == false) // 找不到对应id退出
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{
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Marshal.FreeHGlobal(ptrMsg);
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return;
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}
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ZDBC.DBCMessage msg = (ZDBC.DBCMessage)Marshal.PtrToStructure(ptrMsg, typeof(ZDBC.DBCMessage));
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//通过 ZDBC_CalcRawValue 设置信号值（这里是根据实际的DBC信号设置的值，作为示例，设置该消息的第5个信号）
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/*
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double actualVal = 12; // 物理值
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IntPtr signalPtr = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZDBC.DBCSignal)));
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IntPtr actualValPtr = Marshal.AllocHGlobal(sizeof(double));
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Marshal.StructureToPtr(msg.vSignals[5], signalPtr, true);
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Marshal.StructureToPtr(actualVal, actualValPtr, true);
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//计算原始值
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ulong rawValue = ZDBC.ZDBC_CalcRawValue(signalPtr, actualValPtr); // 超出可信号值范围时会被修正
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msg.vSignals[5].nRawvalue = rawValue;
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Marshal.StructureToPtr(msg, ptrMsg, true);
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*/
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uint count = 1; // 初始化一个值
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IntPtr ptrCount = Marshal.AllocHGlobal(sizeof(uint)); // 分配内存
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Marshal.WriteInt32(ptrCount, (int)count); // 写入值
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//CAN 根据消息类型选择can还是canfd
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//Encode DBC_frame -> can_frame
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IntPtr ptrCanFrame = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZLGCAN.can_frame)));
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if (ZDBC.ZDBC_Encode(Program.DBCHandle, ptrCanFrame, ptrCount, ptrMsg, (int)0) == false) // Encode
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{
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Marshal.FreeHGlobal(ptrMsg);
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Marshal.FreeHGlobal(ptrCount);
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Marshal.FreeHGlobal(ptrCanFrame);
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return;
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}
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// 构造发送结构体
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ZLGCAN.can_frame can_f = (ZLGCAN.can_frame)Marshal.PtrToStructure(ptrCanFrame, typeof(ZLGCAN.can_frame));
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ZLGCAN.ZCAN_Transmit_Data tran_data = new ZLGCAN.ZCAN_Transmit_Data();
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tran_data.frame = can_f;
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// 转换成 ZCAN_Transmit_Data，并发送
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IntPtr ptrTransmit = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZLGCAN.ZCAN_Transmit_Data)));
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Marshal.StructureToPtr(tran_data, ptrTransmit, true);
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if (count != ZLGCAN.ZCAN_Transmit(Program.channelHandles[0], ptrTransmit, count))
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{
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Console.WriteLine("发送CAN失败");
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}
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// CANFD
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// Encode DBC_frame -> canfd_frame
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IntPtr ptrCanFDFrame = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZLGCAN.canfd_frame)));
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if (ZDBC.ZDBC_Encode(Program.DBCHandle, ptrCanFDFrame, ptrCount, ptrMsg, (int)1) == false) // Encode
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{
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Marshal.FreeHGlobal(ptrMsg);
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Marshal.FreeHGlobal(ptrCount);
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Marshal.FreeHGlobal(ptrCanFDFrame);
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return;
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}
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// 构造发送结构体
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ZLGCAN.canfd_frame canfd_f = (ZLGCAN.canfd_frame)Marshal.PtrToStructure(ptrCanFDFrame, typeof(ZLGCAN.canfd_frame));
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ZLGCAN.ZCAN_TransmitFD_Data tranfd_data = new ZLGCAN.ZCAN_TransmitFD_Data();
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tranfd_data.frame = canfd_f;
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// 转换成 ZCAN_Transmit_Data，并发送
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IntPtr ptrTransmitFD = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZLGCAN.ZCAN_TransmitFD_Data)));
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Marshal.StructureToPtr(tranfd_data, ptrTransmitFD, true);
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if (count != ZLGCAN.ZCAN_TransmitFD(Program.channelHandles[0], ptrTransmitFD, count))
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{
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Console.WriteLine("发送CANFD失败");
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}
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Marshal.FreeHGlobal(ptrMsg);
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Marshal.FreeHGlobal(ptrCount);
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Marshal.FreeHGlobal(ptrCanFrame);
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Marshal.FreeHGlobal(ptrCanFDFrame);
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Marshal.FreeHGlobal(ptrTransmit);
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//Marshal.FreeHGlobal(actualValPtr);
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//Marshal.FreeHGlobal(signalPtr);
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return;
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}
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}
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}
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