104 lines
3.1 KiB
C#
104 lines
3.1 KiB
C#
using System;
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using System.Runtime.InteropServices;
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namespace CapMachine.Wpf.CanDrive.ZlgCan
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{
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/// <summary>
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/// 供 DBC 编解码/Marshal 使用的原生 CAN 帧结构（与 zlgcan can_frame 二进制布局兼容）。
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/// </summary>
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[StructLayout(LayoutKind.Sequential, Pack = 1)]
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public struct ZlgNativeCanFrame
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{
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public uint can_id;
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public byte can_dlc;
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public byte __pad;
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public byte __res0;
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public byte __res1;
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
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public byte[] data;
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/// <summary>
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/// 创建 CAN 帧。
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/// </summary>
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/// <param name="canId">can_id（包含扩展帧等标志位）。</param>
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/// <param name="payload">数据（0~8）。</param>
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/// <param name="requestTxEcho">是否请求发送回显。</param>
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/// <returns>原生 CAN 帧。</returns>
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public static ZlgNativeCanFrame Create(uint canId, byte[] payload, bool requestTxEcho)
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{
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var len = Math.Min(8, payload?.Length ?? 0);
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var frame = new ZlgNativeCanFrame
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{
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can_id = canId,
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can_dlc = (byte)len,
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__pad = 0,
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__res0 = 0,
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__res1 = 0,
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data = new byte[8]
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};
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if (len > 0 && payload != null)
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{
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Array.Copy(payload, frame.data, len);
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}
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if (requestTxEcho)
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{
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frame.__pad |= 0x20;
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}
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return frame;
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}
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}
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/// <summary>
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/// 供 DBC 编解码/Marshal 使用的原生 CANFD 帧结构（与 zlgcan canfd_frame 二进制布局兼容）。
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/// </summary>
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[StructLayout(LayoutKind.Sequential, Pack = 1)]
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public struct ZlgNativeCanFdFrame
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{
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public uint can_id;
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public byte len;
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public byte flags;
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public byte __res0;
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public byte __res1;
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
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public byte[] data;
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/// <summary>
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/// 创建 CANFD 帧。
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/// </summary>
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/// <param name="canId">can_id（包含扩展帧等标志位）。</param>
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/// <param name="payload">数据（0~64）。</param>
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/// <param name="requestTxEcho">是否请求发送回显。</param>
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/// <returns>原生 CANFD 帧。</returns>
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public static ZlgNativeCanFdFrame Create(uint canId, byte[] payload, bool requestTxEcho)
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{
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var len = Math.Min(64, payload?.Length ?? 0);
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var frame = new ZlgNativeCanFdFrame
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{
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can_id = canId,
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len = (byte)len,
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flags = 0,
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__res0 = 0,
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__res1 = 0,
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data = new byte[64]
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};
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if (len > 0 && payload != null)
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{
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Array.Copy(payload, frame.data, len);
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}
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if (requestTxEcho)
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{
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frame.flags |= 0x20;
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}
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return frame;
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}
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}
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}
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