Aotecar-CAN/CompressorXN_Communication/MoFan/MFCANHelper.cs

using CompressorXN_Common;
using CompressorXN_Model.Enums;
using MFSerial_Lib;
using System;
using System.Threading;
using thinger.DataConvertLib;

namespace CompressorXN_Communication.MoFan
{
    public class MFCANHelper
    {
        private static MFSerial mfser = new MFSerial();

        public static void OpenCanDevice(string portName)
        {
            if (!mfser.Can_Is_Opened)
            {
                mfser.Can_Open(portName, 115200);
            }
            else
            {
                mfser.CanClose();
            }
            if (!mfser.Can_Is_Opened)
            {
                Console.WriteLine($"{DateTime.Now}>>>>打开CAN设备异常！");
            }
            else
            {
                MFCan_DevInfo dev = mfser.MFCanGetInfo();
                Console.WriteLine($"{DateTime.Now}>>>>Device Info:");
                Console.WriteLine($"NAME: {dev.Name}");
                Console.WriteLine("ProtocolVersion: " + dev.ProtocolVersion);
                Console.WriteLine("SN: " + dev.SN);
            }
        }

        /// <summary>
        /// 初始化CAN
        /// </summary>
        /// <param name="bps"></param>
        public static void InitCan(int bps)
        {
            bool ret;
            MFCan_CFG cfg = new MFCan_CFG();
            //CAN总线波特率
            cfg.NormalBps = bps;

            ret = mfser.CanSet(cfg);
            if (ret)
            {
                Console.WriteLine($"{DateTime.Now}>>>>Device Set Success");
            }
            else
            {
                Console.WriteLine($"{DateTime.Now}>>>>Device Set Failed");
            }
        }

        private static Thread CANSendMsgThread = null;
        private static Thread CANReadMsgThread = null;

        /// <summary>
        /// 启动线程
        /// </summary>
        public static void CAN_StartTask()
        {
            CANSendMsgThread = new Thread(new ThreadStart(SendCanMsgThread));
            CANReadMsgThread = new Thread(new ThreadStart(ReadCanMsgThread));

            //启动接收数据线程
            GlobalVar.CAN_ReadMsgFlag = true;
            CANReadMsgThread.Start();

            //启动发送数据线程
            GlobalVar.CAN_SendMsgFlag = true;
            CANSendMsgThread.Start();
        }

        /// <summary>
        /// 停止线程
        /// </summary>
        public static void CAN_StopTask()
        {
            GlobalVar.CAN_ReadMsgFlag = false;
            GlobalVar.CAN_SendMsgFlag = false;
            CANSendMsgThread.Join();
            CANReadMsgThread.Join();
        }

        /// <summary>
        /// 发送CAN报文
        /// </summary>
        public static void SendCanMsgThread()
        {
            MFCan_MSG sendMsg = new MFCan_MSG();
            while (mfser.Can_Is_Opened && GlobalVar.CAN_SendMsgFlag)
            {
                sendMsg.Ch = 0;
                sendMsg.Id = Convert.ToUInt32(GlobalVar.agreementMsgVM.SendId, 16);
                sendMsg.Dlc = ByteArrayLib.GetByteArrayFromInt(GlobalVar.agreementMsgVM.FrameLen)[0];//报文数据长度
                sendMsg.Type = GlobalVar.agreementMsgVM.FrameType == "EXTEND" ? (byte)MFCan_MSG.CAN_MSG_TYPE_ED : (byte)MFCan_MSG.CAN_MSG_TYPE_SD;//息帧类型 0:标准数据帧  2：扩展数据帧
                switch (GlobalVar.stepEnum)
                {
                    case StepEnum.idling:
                        string idlingHex = GlobalVar.agreementMsgVM.IdlingHex;
                        if (!string.IsNullOrEmpty(idlingHex))
                        {
                            sendMsg.Dat = ByteArrayLib.GetByteArrayFromHexString(idlingHex);
                        }
                        break;
                    case StepEnum.speed1:
                        string speed1Hex = GlobalVar.agreementMsgVM.Speed1Hex;
                        if (!string.IsNullOrEmpty(speed1Hex))
                        {
                            sendMsg.Dat = ByteArrayLib.GetByteArrayFromHexString(speed1Hex);
                        }
                        break;
                    case StepEnum.speed2:
                        string speed2Hex = GlobalVar.agreementMsgVM.Speed2Hex;
                        if (!string.IsNullOrEmpty(speed2Hex))
                        {
                            sendMsg.Dat = ByteArrayLib.GetByteArrayFromHexString(speed2Hex);
                        }
                        break;
                    case StepEnum.speed3:
                        string speed3Hex = GlobalVar.agreementMsgVM.Speed3Hex;
                        if (!string.IsNullOrEmpty(speed3Hex))
                        {
                            sendMsg.Dat = ByteArrayLib.GetByteArrayFromHexString(speed3Hex);
                        }
                        break;
                    case StepEnum.endolead:
                        string endoleadHex = GlobalVar.agreementMsgVM.EndoleadHex;
                        if (string.IsNullOrEmpty(endoleadHex))
                        {
                            sendMsg.Dat = ByteArrayLib.GetByteArrayFromHexString(endoleadHex);
                        }
                        break;
                    case StepEnum.singleDriver:
                        string singleDriverHex = GlobalVar.agreementMsgVM.SingleDriverHex;
                        if (!string.IsNullOrEmpty(singleDriverHex))
                        {
                            sendMsg.Dat = ByteArrayLib.GetByteArrayFromHexString(singleDriverHex);
                        }
                        break;
                }
                mfser.CanSendOne(sendMsg);
                //附加报文
                if (!string.IsNullOrEmpty(GlobalVar.agreementMsgVM.SendAdditionalRules.AdditionalSendId))
                {
                    sendMsg.Ch = 0;
                    sendMsg.Id = Convert.ToUInt32(GlobalVar.agreementMsgVM.SendAdditionalRules.AdditionalSendId, 16);
                    sendMsg.Dlc = 8;//报文数据长度
                    sendMsg.Type = MFCan_MSG.CAN_MSG_TYPE_SD;//息帧类型 0:标准数据帧  2：扩展数据帧
                    sendMsg.Dat = ByteArrayLib.GetByteArrayFromHexString(GlobalVar.agreementMsgVM.SendAdditionalRules.AdditionalContent);
                    mfser.CanSendOne(sendMsg);
                }
                Thread.Sleep(GlobalVar.agreementMsgVM.SendPeriod);
            }
        }

        /// <summary>
        /// 接收CAN报文
        /// </summary>
        public static void ReadCanMsgThread()
        {
            MFCan_MSG[] r_msg = new MFCan_MSG[10000];
            int num;
            while (mfser.Can_Is_Opened && GlobalVar.CAN_ReadMsgFlag)
            {
                num = mfser.MFCanGetMsg(r_msg, 10000);
                for (int i = 0; i < num; i++)
                {
                    //判断获取的是不是目标报文
                    if (r_msg[i].Id == Convert.ToUInt32(GlobalVar.agreementMsgVM.ReciveId, 16) && r_msg[i].Dlc == 8)
                    {
                        GetCANReciveValHelper.GetReciveVal(r_msg[i].Dat);//从接收报文中解析实际值
                    }
                }
            }
        }
    }
}