using ImTools;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace OrpaonEMS.App.CANDrive
{
    /// <summary>
    /// CAN驱动
    /// EMUC-B202-W1_CAN_API_V2.2.0_Win
    /// EMUC-B202-W1_CAN 有两个CAN口，目前工控机接出来的是CAN2口，那么调用和使用的时候使用CAN2口，在一些函数使用的过程中
    /// 需要同时指定两个口的参数，那么另一个不适用的随便设置
    /// </summary>
    public class CAN
    {
        const string LibName = @"C:\\CAN_inno\\EMUC-B202-W1_CAN_API_V2.2.0_Win\\2.0B_Lib_v2.2.0\\64\\lib_emuc2_64.dll";

        /* load .dll */
        [DllImport(LibName, CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
        public static extern int EMUCOpenDevice(int com_port);
        [DllImport(LibName, CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
        public static extern int EMUCCloseDevice(int com_port);
        /// <summary>
        /// Get firmware and library version
        /// </summary>
        /// <param name="com_port"></param>
        /// <param name="ver_info"></param>
        /// <returns></returns>
        [DllImport(LibName, CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
        public static extern int EMUCShowVer(int com_port, ref VER_INFO ver_info);
        [DllImport(LibName, CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
        public static extern int EMUCResetCAN(int com_port);
        [DllImport(LibName, CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
        public static extern int EMUCClearFilter(int com_port, int CAN_port);

        /// <summary>
        /// Set CAN port to active/inactive. Default is inactive.
        /// </summary>
        /// <param name="com_port"></param>
        /// <param name="CAN1_sts"></param>
        /// <param name="CAN2_sts"></param>
        /// <returns></returns>
        [DllImport(LibName, CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
        public static extern int EMUCInitCAN(int com_port, int CAN1_sts, int CAN2_sts);
        [DllImport(LibName, CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
        public static extern int EMUCSetBaudRate(int com_port, int CAN1_baud, int CAN2_baud);
        [DllImport(LibName, CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
        public static extern int EMUCSetMode(int com_port, int CAN1_mode, int CAN2_mode);
        [DllImport(LibName, CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
        public static extern int EMUCSetFilter(int com_port, ref FILTER_INFO filter_info);
        [DllImport(LibName, CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
        public static extern int EMUCSetErrorType(int com_port, int err_type);

        /// <summary>
        /// Set CAN acceptance filter
        /// </summary>
        /// <param name="com_port"></param>
        /// <param name="cfg_info"></param>
        /// <returns></returns>
        [DllImport(LibName, CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
        public static extern int EMUCGetCfg(int com_port, ref CFG_INFO cfg_info);
        [DllImport(LibName, CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
        public static extern int EMUCExpCfg(int com_port, [MarshalAs(UnmanagedType.LPStr)] string file_name);
        [DllImport(LibName, CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
        public static extern int EMUCImpCfg(int com_port, [MarshalAs(UnmanagedType.LPStr)] string file_name);
        [DllImport(LibName, CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
        public static extern int EMUCSend(int com_port, ref CAN_FRAME_INFO can_frame_info);
        [DllImport(LibName, CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
        public static extern int EMUCReceive(int com_port, ref CAN_FRAME_INFO can_frame_info);
        [DllImport(LibName, CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
        public static extern int EMUCReceiveNonblockCS(int com_port, uint cnt, uint interval, [Out] CAN_FRAME_INFO[] can_frame_info);

        /// <summary>
        /// 实例化函数
        /// </summary>
        public CAN()
        {

        }

        /// <summary>
        /// Can连接
        /// </summary>
        /// <returns></returns>
        public static bool ConnectionCan(BaudRate ConBaudRate)
        {
            int i;
            int j;
            //返回值
            int rtn;

            //获取Com口给Global
            Global.com_port = FindEmucDev();
            if (Global.com_port >= 0)
            {
                Console.WriteLine("EMUC open device (COM {0}) successfully !\n", Global.com_port + 1);

                /* ----- EMUCInitCAN() ----- */
                rtn = EMUCInitCAN(Global.com_port, CANStatus.EMUC_INACTIVE.GetHashCode(), CANStatus.EMUC_INACTIVE.GetHashCode());
                if (rtn == 0)
                    Console.WriteLine("EMUC initial CAN successfully !\n");
                else
                    Console.WriteLine("EMUC initial CAN failed !\n");


                /* ----- EMUCShowVer() ----- */
                rtn = EMUCShowVer(Global.com_port, ref Global.ver_info);
                if (rtn == 0)
                {
                    Console.WriteLine("EMUC show version successfully !");
                    Console.WriteLine("FW ver:  {0}", Global.ver_info.fw);
                    Console.WriteLine("LIB ver: {0}", Global.ver_info.api);
                    Console.WriteLine("Model:   {0}\n", Global.ver_info.model);
                }
                else
                    Console.WriteLine("EMUC show version failed !\n");

                /* ----- EMUCResetCAN() ----- */
                rtn = EMUCResetCAN(Global.com_port);
                if (rtn == 0)
                    Console.WriteLine("EMUC reset CAN successfully !\n");
                else
                    Console.WriteLine("EMUC reset CAN failed !\n");


                /* ----- EMUCClearFilter() ----- */
                Global.CAN_port = CANPort.EMUC_CAN_2.GetHashCode();
                rtn = EMUCClearFilter(Global.com_port, Global.CAN_port);
                if (rtn == 0)
                    Console.WriteLine("EMUC clear filter successfully !\n");
                else
                    Console.WriteLine("EMUC clear filter failed !\n");


                /* ----- EMUCSetBaudRate() ----- */
                rtn = EMUCSetBaudRate(Global.com_port, ConBaudRate.GetHashCode(), ConBaudRate.GetHashCode());
                if (rtn == 0)
                    Console.WriteLine("EMUC set baud rate successfully !\n");
                else
                    Console.WriteLine("EMUC set baud rate failed !\n");


                /* ----- EMUCSetErrorType() ----- */
                rtn = EMUCSetErrorType(Global.com_port, ErrType.EMUC_DIS_ALL.GetHashCode());
                if (rtn == 0)
                    Console.WriteLine("EMUC set error type successfully !\n");
                else
                    Console.WriteLine("EMUC set error type failed !\n");


                /* ----- EMUCSetMode() ----- */
                rtn = EMUCSetMode(Global.com_port, CANMode.EMUC_NORMAL.GetHashCode(), CANMode.EMUC_NORMAL.GetHashCode());
                if (rtn == 0)
                    Console.WriteLine("EMUC set mode successfully !\n");
                else
                    Console.WriteLine("EMUC set mode failed !\n");


                /* ----- CAN1的设置 EMUCSetFilter() ----- */
                Global.filter_info.CAN_port = CANPort.EMUC_CAN_1.GetHashCode();
                Global.filter_info.flt_type = IDType.EMUC_SID.GetHashCode();
                Global.filter_info.flt_id = 0x0000ABCD;
                Global.filter_info.mask = 0x1FFFFFFF;

                rtn = EMUCSetFilter(Global.com_port, ref Global.filter_info);
                if (rtn == 0)
                    Console.WriteLine("EMUC set CAN 1 filter successfully !\n");
                else
                    Console.WriteLine("EMUC set CAN 1 filter failed !\n");

                /* ----- CAN2的设置 EMUCSetFilter() ----- */
                Global.filter_info.CAN_port = CANPort.EMUC_CAN_2.GetHashCode();
                Global.filter_info.flt_type = IDType.EMUC_SID.GetHashCode();
                Global.filter_info.flt_id = 0x00000000;
                Global.filter_info.mask = 0x00000000;

                rtn = EMUCSetFilter(Global.com_port, ref Global.filter_info);
                if (rtn == 0)
                    Console.WriteLine("EMUC set CAN 2 filter successfully !\n");
                else
                    Console.WriteLine("EMUC set CAN 2 filter failed !\n");


                /* ----- EMUCGetCfg() ----- */
                /* ----- 获取配置信息----- */
                rtn = EMUCGetCfg(Global.com_port, ref Global.cfg_info);
                if (rtn == 0)
                {
                    Console.WriteLine("EMUC get config. successfully !");

                    for (i = 0; i < Global.CAN_NUM; i++)
                    {
                        Console.WriteLine("CAN {0}:", i + 1);
                        Console.WriteLine("baud rate   = {0}", Global.cfg_info.baud[i]);
                        Console.WriteLine("mode        = {0}", Global.cfg_info.mode[i]);
                        Console.WriteLine("filter type = {0}", Global.cfg_info.flt_type[i]);
                        Console.WriteLine("filter id   = {0:X8}", Global.cfg_info.flt_id[i]);
                        Console.WriteLine("filter mask = {0:X8}\n", Global.cfg_info.flt_mask[i]);
                    }

                    Console.WriteLine("error set = {0}\n", Global.cfg_info.err_set);
                }
                else
                    Console.WriteLine("EMUC get config. failed !\n");



                /* Send & Receive must initial CAN to EMUC_ACTIVE */
                /*---------------------------------------------------------------------------*/
                //EMUCClearFilter(Global.com_port, CANPort.EMUC_CAN_1.GetHashCode());  /* not necessary */
                //EMUCClearFilter(Global.com_port, CANPort.EMUC_CAN_2.GetHashCode());  /* not necessary */
                rtn = EMUCInitCAN(Global.com_port, CANStatus.EMUC_ACTIVE.GetHashCode(), CANStatus.EMUC_ACTIVE.GetHashCode());
                if (rtn == 0)
                {
                    return true;
                }
                else
                {
                    return false;
                }
            }
            else Console.WriteLine("No EMUC device !\n"); return false;

        }

        /// <summary>
        /// 发送数据
        /// </summary>
        public static bool SendData(uint id, byte[] data)
        {
            //int i;

            /* ----- EMUCSend ----- */

            Global.frame_send.CAN_port = CANPort.EMUC_CAN_2.GetHashCode();//默认使用CAN2口
            Global.frame_send.id_type = IDType.EMUC_EID.GetHashCode();//默认使用标准帧
            Global.frame_send.rtr = RTRSelect.EMUC_DIS_RTR.GetHashCode();//默认使用数据帧，不是远程数据帧
            Global.frame_send.dlc = 8;//默认数据长度为8
            //Global.frame_send.id = 0x00000011;
            Global.frame_send.id = id;
            //Global.frame_send.data = Global.data_send;
            Global.frame_send.data = data;

            //Console.WriteLine("EMUC send started !");
            //for (i = 0; i < Global.data_send_cnt; i++)
            //{
            //    Thread.Sleep(1);

            if (EMUCSend(Global.com_port, ref Global.frame_send) == 0)
            {
                //Console.WriteLine("EMUC send finished  !\n", Global.data_send_cnt);
                return true;
            }
            return false;

            //EMUCSend(Global.com_port, ref Global.frame_send);

            //}
            Console.WriteLine("EMUC send finished (with {0} data) !\n", Global.data_send_cnt);

        }

        /// <summary>
        ///接受到的消息内容
        /// </summary>
        public static void Start()
        {
            /* ----- EMUCReceive() ----- */
            Global.TRDRecv.Start();
            Console.WriteLine("\nEMUC reveice start ...\n");
        }

        /// <summary>
        /// 停止接收线程并关闭设备
        /// </summary>
        public static void Stop()
        {
            try { Global.StopRequested = true; } catch { }
            try {
                if (Global.TRDRecv != null && Global.TRDRecv.IsAlive)
                {
                    Global.TRDRecv.Join(500);
                }
            } catch { }
            try { if (Global.com_port >= 0) EMUCCloseDevice(Global.com_port); } catch { }
        }

        public void StartTest()
        {
            int i;
            int j;
            //返回值
            int rtn;

            /* for EMUCReceiveNonblockCS() */
            uint cnt;
            uint interval;
            CAN_FRAME_INFO[] frame_non_block;
            /*-----------------------------*/

            //获取Com口给Global
            Global.com_port = FindEmucDev();

            if (Global.com_port >= 0)
            {
                Console.WriteLine("EMUC open device (COM {0}) successfully !\n", Global.com_port + 1);


                /* ----- EMUCInitCAN() ----- */
                rtn = EMUCInitCAN(Global.com_port, CANStatus.EMUC_INACTIVE.GetHashCode(), CANStatus.EMUC_INACTIVE.GetHashCode());
                if (rtn == 0)
                    Console.WriteLine("EMUC initial CAN successfully !\n");
                else
                    Console.WriteLine("EMUC initial CAN failed !\n");


                /* ----- EMUCShowVer() ----- */
                rtn = EMUCShowVer(Global.com_port, ref Global.ver_info);
                if (rtn == 0)
                {
                    Console.WriteLine("EMUC show version successfully !");
                    Console.WriteLine("FW ver:  {0}", Global.ver_info.fw);
                    Console.WriteLine("LIB ver: {0}", Global.ver_info.api);
                    Console.WriteLine("Model:   {0}\n", Global.ver_info.model);
                }
                else
                    Console.WriteLine("EMUC show version failed !\n");

                /* ----- EMUCResetCAN() ----- */
                rtn = EMUCResetCAN(Global.com_port);
                if (rtn == 0)
                    Console.WriteLine("EMUC reset CAN successfully !\n");
                else
                    Console.WriteLine("EMUC reset CAN failed !\n");


                /* ----- EMUCClearFilter() ----- */
                Global.CAN_port = CANPort.EMUC_CAN_1.GetHashCode();
                rtn = EMUCClearFilter(Global.com_port, Global.CAN_port);
                if (rtn == 0)
                    Console.WriteLine("EMUC clear filter successfully !\n");
                else
                    Console.WriteLine("EMUC clear filter failed !\n");


                /* ----- EMUCSetBaudRate() ----- */
                rtn = EMUCSetBaudRate(Global.com_port, BaudRate.EMUC_BAUDRATE_1M.GetHashCode(), BaudRate.EMUC_BAUDRATE_1M.GetHashCode());
                if (rtn == 0)
                    Console.WriteLine("EMUC set baud rate successfully !\n");
                else
                    Console.WriteLine("EMUC set baud rate failed !\n");


                /* ----- EMUCSetErrorType() ----- */
                rtn = EMUCSetErrorType(Global.com_port, ErrType.EMUC_DIS_ALL.GetHashCode());
                if (rtn == 0)
                    Console.WriteLine("EMUC set error type successfully !\n");
                else
                    Console.WriteLine("EMUC set error type failed !\n");


                /* ----- EMUCSetMode() ----- */
                rtn = EMUCSetMode(Global.com_port, CANMode.EMUC_NORMAL.GetHashCode(), CANMode.EMUC_NORMAL.GetHashCode());
                if (rtn == 0)
                    Console.WriteLine("EMUC set mode successfully !\n");
                else
                    Console.WriteLine("EMUC set mode failed !\n");


                /* ----- EMUCSetFilter() ----- */
                Global.filter_info.CAN_port = CANPort.EMUC_CAN_1.GetHashCode();
                Global.filter_info.flt_type = IDType.EMUC_EID.GetHashCode();
                Global.filter_info.flt_id = 0x0000ABCD;
                Global.filter_info.mask = 0x1FFFFFFF;

                rtn = EMUCSetFilter(Global.com_port, ref Global.filter_info);
                if (rtn == 0)
                    Console.WriteLine("EMUC set CAN 1 filter successfully !\n");
                else
                    Console.WriteLine("EMUC set CAN 1 filter failed !\n");

                Global.filter_info.CAN_port = CANPort.EMUC_CAN_2.GetHashCode();
                Global.filter_info.flt_type = IDType.EMUC_EID.GetHashCode();
                Global.filter_info.flt_id = 0x00001234;
                Global.filter_info.mask = 0x00FFEEEE;

                rtn = EMUCSetFilter(Global.com_port, ref Global.filter_info);
                if (rtn == 0)
                    Console.WriteLine("EMUC set CAN 2 filter successfully !\n");
                else
                    Console.WriteLine("EMUC set CAN 2 filter failed !\n");


                /* ----- EMUCGetCfg() ----- */
                rtn = EMUCGetCfg(Global.com_port, ref Global.cfg_info);
                if (rtn == 0)
                {
                    Console.WriteLine("EMUC get config. successfully !");

                    for (i = 0; i < Global.CAN_NUM; i++)
                    {
                        Console.WriteLine("CAN {0}:", i + 1);
                        Console.WriteLine("baud rate   = {0}", Global.cfg_info.baud[i]);
                        Console.WriteLine("mode        = {0}", Global.cfg_info.mode[i]);
                        Console.WriteLine("filter type = {0}", Global.cfg_info.flt_type[i]);
                        Console.WriteLine("filter id   = {0:X8}", Global.cfg_info.flt_id[i]);
                        Console.WriteLine("filter mask = {0:X8}\n", Global.cfg_info.flt_mask[i]);
                    }

                    Console.WriteLine("error set = {0}\n", Global.cfg_info.err_set);
                }
                else
                    Console.WriteLine("EMUC get config. failed !\n");


                /* ----- EMUCExpCfg() ----- */
                rtn = EMUCExpCfg(Global.com_port, Global.file_name);
                if (rtn == 0)
                    Console.WriteLine("EMUC export config. successfully !\n");
                else
                    Console.WriteLine("EMUC export config. failed !\n");


                /* ----- EMUCImpCfg() ----- */
                rtn = EMUCImpCfg(Global.com_port, Global.file_name);
                if (rtn == 0)
                    Console.WriteLine("EMUC import config. successfully !\n");
                else
                    Console.WriteLine("EMUC import config. failed !\n");

                /* Send & Receive must initial CAN to EMUC_ACTIVE */
                /*---------------------------------------------------------------------------*/
                EMUCClearFilter(Global.com_port, CANPort.EMUC_CAN_1.GetHashCode());  /* not necessary */
                EMUCClearFilter(Global.com_port, CANPort.EMUC_CAN_2.GetHashCode());  /* not necessary */
                EMUCInitCAN(Global.com_port, CANStatus.EMUC_ACTIVE.GetHashCode(), CANStatus.EMUC_ACTIVE.GetHashCode());


                /* ----- EMUCSend ----- */
                Global.frame_send.CAN_port = CANPort.EMUC_CAN_1.GetHashCode();
                Global.frame_send.id_type = IDType.EMUC_EID.GetHashCode();
                Global.frame_send.rtr = RTRSelect.EMUC_DIS_RTR.GetHashCode();
                Global.frame_send.dlc = 8;
                Global.frame_send.id = 0x001234AB;
                Global.frame_send.data = Global.data_send;

                Console.WriteLine("EMUC send started !");
                for (i = 0; i < Global.data_send_cnt; i++)
                {
                    Thread.Sleep(1);
                    EMUCSend(Global.com_port, ref Global.frame_send);
                }
                Console.WriteLine("EMUC send finished (with {0} data) !\n", Global.data_send_cnt);


                /* ----- EMUCReceiveNonblock() ----- */
                cnt = 5;
                interval = 5 * 1000;
                frame_non_block = new CAN_FRAME_INFO[cnt];

                Console.WriteLine("Non-block ---------------------> Time start !");

                rtn = EMUCReceiveNonblockCS(Global.com_port, cnt, interval, frame_non_block);

                if (rtn > 0)
                {
                    Console.WriteLine("Non-block ---------------------> Time out or Data enough !\n");
                    for (i = 0; i < rtn; i++)
                    {
                        switch (frame_non_block[i].msg_type)
                        {
                            case (int)MsgType.EMUC_DATA_TYPE:
                                PrintData(frame_non_block[i]);
                                break;

                            case (int)MsgType.EMUC_EEERR_TYPE:
                                Console.WriteLine("EEPROM Error !");
                                break;

                            case (int)MsgType.EMUC_BUSERR_TYPE:
                                Console.WriteLine("Bus Error !");

                                System.Console.Write("error data (CAN 1): ");
                                for (j = 0; j < Global.DATA_LEN_ERR; j++)
                                    System.Console.Write("{0:X2} ", frame_non_block[i].data_err[j]);
                                Console.WriteLine();

                                System.Console.Write("error data (CAN 2): ");
                                for (j = 0; j < Global.DATA_LEN_ERR; j++)
                                    System.Console.Write("{0:X2} ", frame_non_block[i].data_err[j + Global.DATA_LEN_ERR]);
                                Console.WriteLine();
                                break;

                            default:
                                break;
                        }
                    }
                }
                else
                    Console.WriteLine("Non-block ---------------------> Time out (No data) !\n");


                /* ----- EMUCReceive() ----- */
                Global.TRDRecv.Start();
                Console.WriteLine("\nEMUC reveice start ...\n");


                /* ----- EMUCCloseDevice() ----- */
                /*
                rtn = EMUCCloseDevice(Global.com_port);
                if(rtn == 0)
                  Console.WriteLine("EMUC close device (COM {0}) successfully !\n", Global.com_port + 1);
                else
                  Console.WriteLine("EMUC close device failed !\n");
                */

                while (true)
                    Thread.Sleep(10000);
            }
            else
                Console.WriteLine("No EMUC device !\n");

            Console.ReadLine();

        }


        #region 原始方法

        /* success: return COM ID, failed: return -1 */
        /*---------------------------------------------------------------------*/
        /// <summary>
        /// 打开后返回对应的Com口
        /// 返回Com口的ID
        /// </summary>
        /// <returns></returns>
        public static int FindEmucDev()
        {
            int i;
            int rtn = -1;

            for (i = 0; i < Global.MAX_COM_NUM; i++)
            {
                if (EMUCOpenDevice(i) == 0)
                {
                    rtn = i;
                    break;
                }
            }

            return rtn;

        } /* END: FindEmucDev() */


        /*---------------------------------------------------------------------*/
        /// <summary>
        /// 循环接受数据
        /// </summary>
        public static void TRDRecvFx()
        {
            int i;
            int rtn;

            while (!Global.StopRequested)
            {
                rtn = EMUCReceive(Global.com_port, ref Global.frame_recv);

                if (rtn == 1)
                {
                    switch (Global.frame_recv.msg_type)
                    {
                        case (int)MsgType.EMUC_DATA_TYPE:
                            PrintData(Global.frame_recv);
                            switch (Global.frame_recv.id)
                            {
                                case 402686016://ID(0x18008040)
                                    ACCANParsData.Load_0x18008040_Msg(Global.frame_recv);
                                    break;
                                case 402751552://ID(0x18018040)
                                    ACCANParsData.Load_0x18018040_Msg(Global.frame_recv);
                                    break;
                                default:
                                    break;
                            }

                            break;

                        case (int)MsgType.EMUC_EEERR_TYPE:
                            Console.WriteLine("EEPROM Error !");
                            break;

                        case (int)MsgType.EMUC_BUSERR_TYPE:
                            //Console.WriteLine("Bus Error !");

                            //System.Console.Write("error data (CAN 1): ");
                            //for (i = 0; i < Global.DATA_LEN_ERR; i++)
                            //    //System.Console.Write("{0:X2} ", Global.frame_recv.data_err[i]);
                            ////Console.WriteLine();

                            //System.Console.Write("error data (CAN 2): ");
                            //for (i = 0; i < Global.DATA_LEN_ERR; i++)
                            //    //System.Console.Write("{0:X2} ", Global.frame_recv.data_err[i + Global.DATA_LEN_ERR]);
                            ////Console.WriteLine();
                            break;

                        default:
                            break;
                    }
                }
            }
        } /* END: TRDRecvFx() */


        

        public static void ParseData(byte[] data)
        {

        }


        /*---------------------------------------------------------------------*/
        /// <summary>
        /// 打印数据
        /// </summary>
        /// <param name="frame_recv"></param>
        public static void PrintData(CAN_FRAME_INFO frame_recv)
        {
            int i;

            /* CAN port & cnt */
            if (frame_recv.CAN_port == CANPort.EMUC_CAN_1.GetHashCode())
            {
                Global.recv_cnt1++;
                //System.Console.Write("(CAN 1) {0}. ", Global.recv_cnt1);
            }
            else if (frame_recv.CAN_port == CANPort.EMUC_CAN_2.GetHashCode())
            {
                Global.recv_cnt2++;
                //System.Console.Write("(CAN 2) {0}. ", Global.recv_cnt2);
            }

            /* ID */
            //if (frame_recv.id_type == IDType.EMUC_SID.GetHashCode())
                //System.Console.Write("ID: {0:X3}; ", frame_recv.id);
            //else if (frame_recv.id_type == IDType.EMUC_EID.GetHashCode())
                //System.Console.Write("ID: {0:X8}; ", frame_recv.id);

            /* Data */
            //System.Console.Write("Data: ");
            //for (i = 0; i < frame_recv.dlc; i++)
                //System.Console.Write("{0:X2} ", frame_recv.data[i]);
            //Console.WriteLine();

        } /* END: PrintData() */

        #endregion



        /* global variables */
        public class Global
        {
            /// <summary>
            /// 设备最大的COM数
            /// </summary>
            public const int MAX_COM_NUM = 256;
            public const int CAN_NUM = 2;
            public const int DATA_LEN = 8;
            public const int DATA_LEN_ERR = 6;

            /// <summary>
            /// Com口
            /// -1是失败的
            /// </summary>
            public static int com_port { get; set; }
            /// <summary>
            /// CAN口
            /// </summary>
            public static int CAN_port { get; set; }

            [MarshalAs(UnmanagedType.LPStr)]
            public static string file_name = "emuc_config";

            public static int data_send_cnt = 500;
            public static byte[] data_send = { 0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88 };

            public static uint recv_cnt1 = 0;
            public static uint recv_cnt2 = 0;
            /// <summary>
            /// 停止标志
            /// </summary>
            public static volatile bool StopRequested = false;
            /// <summary>
            /// 版本信息
            /// </summary>
            public static VER_INFO ver_info = new VER_INFO();
            /// <summary>
            /// 过滤信息
            /// </summary>
            public static FILTER_INFO filter_info = new FILTER_INFO();
            public static CFG_INFO cfg_info = new CFG_INFO();
            public static CAN_FRAME_INFO frame_send = new CAN_FRAME_INFO();
            public static CAN_FRAME_INFO frame_recv = new CAN_FRAME_INFO();

            public static Thread TRDRecv = new Thread(TRDRecvFx) { IsBackground = true };
        }


    }



    /* structure */
    [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
    public struct VER_INFO
    {
        [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 16)]
        public string fw;
        [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 16)]
        public string api;
        [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 16)]
        public string model;
    }


    /// <summary>
    /// 
    /// CAN标识符、过滤器、屏蔽器之间的关系
    ///CAN节点通过标识符来识别CAN帧是不是自己想要的,识别方法就是通过滤波屏蔽寄存器的设置来完成,接收滤波寄存器设置了标识符每位的值,
    ///接收屏蔽寄存器一般有相同的数量匹配接收滤波寄存器,规定接收滤波寄存器标识符每一位的值是否需要进行匹配,比如芯片设置有6个接收滤波寄存器和6个接收屏蔽青存器,
    ///从总线上接收 CAN 帧,然后依次将收到的 CAN 帧标识符与6对接收滤波和屏蔽寄存器进行匹配,符合某对接收滤波和屏蔽寄存器要求了,就停止匹配,将数据接收到对应的缓冲区中..
    ///例如:设置某接收滤波寄存器 00000000001(11 位)，接收屏蔽寄存器 11111111101(11 位)，则该对组合会拒绝接收 00000000011和 00000000001 之外所有的标识符对应的 CAN 帧，
    ///因为屏蔽器规定第二位(为 0)以外的所有标识符位要严格匹配(与滤波器值一致)，第二位的滤波器值和收到的 CAN 标识符第二位值是否一致都可以。
    /// https://www.cnblogs.com/lijf/p/17418979.html
    ///对于机器来说，我们要为它准备好两张纸片，一片写上屏蔽码，另一片纸片写上验证码，屏蔽码上相应位为1时，表示此位需要与验证码对应位进行比较，反之，则表示不需要。机器在执行任务的时候先将获取的身份证号码与屏蔽码进行“与”操作，再将结果与验证码的进行比较，根据判断是否相同来决定是否通过。整个判别流程如下所示：
    ///从上图可以很容易地理解屏蔽码与验证码的含义，这样一来，能通过的结果数量就完全取决于屏蔽码，设得宽，则可以通过的多(所有位为0，则不过任何过滤操作，则谁都可以通过)，设得窄，则通过的少(所有位设为1，则只有一个能通过)。那么知道这个有什么用呢？因为bxCAN的过滤器的掩码模式就是采用这种方式，在bxCAN中，分别采用了两个寄存器(CAN_FiR1,CAN_FiR2)来存储屏蔽码与验证码，从而实现掩码模式的工作流程的。这样,我们就知道了bxCAN过滤器的掩码模式的大概工作原理。
    ///
    /// </summary>
    [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
    public struct FILTER_INFO
    {
        public int CAN_port;
        /// <summary>
        /// 过滤类型/方式
        /// 比如：只收标准码，只收拓展码，接受所有类型
        /// </summary>
        public int flt_type;
        /// <summary>
        /// 过滤验收码
        /// 就是要接收的帧ID
        /// </summary>
        public uint flt_id;
        /// <summary>
        /// 过滤屏蔽码
        /// 就是选择性的过滤帧ID。 
        /// 当屏蔽码的某一位为1时，则忽略此位，此位不需要与验收码一致。当屏蔽码的某一位为0时，此位必须与验收码的此位一致。
        /// </summary>
        public uint mask;
    }

    [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
    public struct CFG_INFO
    {
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)]
        public byte[] baud;
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)]
        public byte[] mode;
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)]
        public byte[] flt_type;
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)]
        public uint[] flt_id;
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)]
        public uint[] flt_mask;

        public byte err_set;
    }


    #region 结构体和枚举

    [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
    public struct CAN_FRAME_INFO
    {
        /// <summary>
        /// 哪个端口发送的
        /// 当前的CAN模块有两个端口
        /// </summary>
        public int CAN_port;
        /// <summary>
        /// : [input] CAN ID type. (SID=11bit, EID=29bit)
        /// 标准还是拓展
        /// </summary>
        public int id_type;
        /// <summary>
        /// [input] Remote transmit request
        /// 远程还是数据帧
        /// </summary>
        public int rtr;
        /// <summary>
        /// dlc: [input] Data length.
        /// 数据长度
        /// </summary>
        public int dlc;
        /// <summary>
        /// There three types of received data define in msg_type.
        //1. EMUC_DATA_TYPE: Normal CAN frame.
        //2. EMUC_EEERR_TYPE: EEPROM error message.
        //3. EMUC_BUSERR_TYPE: Register of CANbus error status.
        /// </summary>
        public int msg_type;

        [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 13)]
        public string recv_time;  /* e.g., 15:30:58:789 (h:m:s:ms) */

        /// <summary>
        /// 帧Id
        /// </summary>
        public uint id;
        /// <summary>
        /// 接受的数据
        /// </summary>
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
        public byte[] data;
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 12)]
        public byte[] data_err;
    }

    /* enumeration */
    enum CANPort : int
    {
        /// <summary>
        /// CAN1
        /// </summary>
        EMUC_CAN_1 = 0,
        /// <summary>
        /// CAN2
        /// </summary>
        EMUC_CAN_2
    };

    /*----------------------*/
    public enum BaudRate : int
    {
        EMUC_BAUDRATE_100K = 4,
        EMUC_BAUDRATE_125K,
        EMUC_BAUDRATE_250K,
        EMUC_BAUDRATE_500K,
        EMUC_BAUDRATE_800K,
        EMUC_BAUDRATE_1M
    };

    /*----------------------*/
    enum CANStatus : int
    {
        /// <summary>
        /// 默认
        /// 未激活
        /// </summary>
        EMUC_INACTIVE = 0,
        /// <summary>
        /// 激活
        /// </summary>
        EMUC_ACTIVE
    };

    /*----------------------*/
    enum CANMode : int
    {
        /// <summary>
        /// 正常
        /// </summary>
        EMUC_NORMAL = 0,
        /// <summary>
        /// 监听（只听）模式
        /// </summary>
        EMUC_LISTEN
    };

    /*----------------------*/
    /// <summary>
    /// 过滤类型/方式 
    /// 
    /// 比如：只收标准码，只收拓展码，接受所有类型
    /// 
    /// ***也可以作为发送时的帧的类型的***
    /// </summary>
    public enum IDType : int
    {
        //0可能是接受所有类型


        /// <summary>
        /// SID=11bit
        /// 标准帧
        /// </summary>
        EMUC_SID = 1,
        /// <summary>
        /// EID=29bit
        /// Extended Mode
        /// 拓展帧
        /// </summary>
        EMUC_EID
    };

    /*----------------------*/
    enum RTRSelect : int
    {
        /// <summary>
        /// 取消使用RTR
        /// 普通的
        /// 数据帧
        /// </summary>
        EMUC_DIS_RTR = 0,
        /// <summary>
        /// 启用RTR
        /// 远程帧
        /// </summary>
        EMUC_EN_RTR
    };

    /*----------------------*/
    /// <summary>
    /// CAN Error Frame
    /// </summary>
    enum ErrType : int
    {
        /// <summary>
        /// disable all error frame
        /// </summary>
        EMUC_DIS_ALL = 0,
        /// <summary>
        /// enable EEPROM error only
        /// </summary>
        EMUC_EE_ERR,
        /// <summary>
        /// enable CAN bus error only
        /// </summary>
        EMUC_BUS_ERR,
        /// <summary>
        /// enable both EERPOM and CAN bus error
        /// </summary>
        EMUC_EN_ALL = 255
    };

    /*----------------------*/
    /// <summary>
    /// There three types of received data define in msg_type
    /// </summary>
    enum MsgType : int
    {
        /// <summary>
        /// Normal CAN frame
        /// </summary>
        EMUC_DATA_TYPE = 0,
        /// <summary>
        /// EEPROM error message
        /// </summary>
        EMUC_EEERR_TYPE,
        /// <summary>
        /// : Register of CANbus error status
        /// </summary>
        EMUC_BUSERR_TYPE
    };

    #endregion



}