Aotecar-CAN/CompressorXN_Communication/TuMos/TMSCANFDHelper.cs

using CompressorXN_Common;
using CompressorXN_Log;
using CompressorXN_Model.Enums;
using HslCommunication;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using thinger.DataConvertLib;
using USB2XXX;
using static USB2XXX.USB2CAN;

namespace CompressorXN_Communication.TuMos
{
    public class TMSCANFDHelper : BaseTMS
    {

        private static Int32 SendMsgNum = 0;
        private static Int32 ret = 0;

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

        /// <summary>
        /// 启动线程
        /// </summary>
        public static void SendCanFDMsgThread()
        {
            while (true)
            {
                if (!GlobalVar.CAN_SendMsgFlag)
                {
                    Thread.Sleep(10);
                    continue;
                }
                //USB2CAN.CAN_MSG[] CanMsg = new USB2CAN.CAN_MSG[1];
                //CanMsg[0] = new USB2CAN.CAN_MSG
                //{
                //    ExternFlag = GlobalVar.agreementMsgVM.FrameType == "EXTEND" ? (byte)1 : (byte)0, //bit[0] - 是否是扩展帧,bit[7] - 当前帧为错误帧
                //    RemoteFlag = 0,//bit[0]-是否是远程帧,bit[6..5]-当前帧通道号，bit[7]-发送帧标志
                //    ID = Convert.ToUInt32(GlobalVar.agreementMsgVM.SendId, 16),//报文ID
                //    DataLen = (byte)(GlobalVar.agreementMsgVM.FrameLen & 0xFF)//数据长度(<=8)，即Data中有效数据长度
                //};
                USB2CANFD.CANFD_MSG[] CanMsg = new USB2CANFD.CANFD_MSG[1];
                CanMsg[0] = new USB2CANFD.CANFD_MSG
                {
                    //ExternFlag = GlobalVar.agreementMsgVM.FrameType == "EXTEND" ? (byte)1 : (byte)0, //bit[0] - 是否是扩展帧,bit[7] - 当前帧为错误帧
                    //RemoteFlag = 0,//bit[0]-是否是远程帧,bit[6..5]-当前帧通道号，bit[7]-发送帧标志
                    ID = Convert.ToUInt32(GlobalVar.agreementMsgVM.SendId, 16),//报文ID
                    DLC = (byte)(GlobalVar.agreementMsgVM.FrameLen & 0xFF),//数据长度(<=8)，即Data中有效数据长度
                };
                CanMsg[0].Flags |= USB2CANFD.CANFD_MSG_FLAG_FDF;
                switch (GlobalVar.stepEnum)
                {
                    case StepEnum.idling:
                        string idlingHex = GlobalVar.agreementMsgVM.IdlingHex;
                        if (!string.IsNullOrEmpty(idlingHex))
                        {
                            CanMsg[0].Data = ByteArrayLib.GetByteArrayFromHexString(idlingHex);
                        }
                        break;
                    case StepEnum.speed1:
                        string speed1Hex = GlobalVar.agreementMsgVM.Speed1Hex;
                        if (!string.IsNullOrEmpty(speed1Hex))
                        {

                            Console.WriteLine($"{DateTime.Now.ToString("mm:ss fff")}：speed1Hex=={speed1Hex}");
                            CanMsg[0].Data = ByteArrayLib.GetByteArrayFromHexString(speed1Hex);
                        }
                        break;
                    case StepEnum.speed2:
                        string speed2Hex = GlobalVar.agreementMsgVM.Speed2Hex;
                        if (!string.IsNullOrEmpty(speed2Hex))
                        {
                            Console.WriteLine($"{DateTime.Now.ToString("mm:ss fff")}：speed2Hex=={speed2Hex}");
                            CanMsg[0].Data = ByteArrayLib.GetByteArrayFromHexString(speed2Hex);
                        }
                        break;
                    case StepEnum.speed3:
                        string speed3Hex = GlobalVar.agreementMsgVM.Speed3Hex;
                        if (!string.IsNullOrEmpty(speed3Hex))
                        {
                            Console.WriteLine($"{DateTime.Now.ToString("mm:ss fff")}：speed3Hex=={speed3Hex}");
                            CanMsg[0].Data = ByteArrayLib.GetByteArrayFromHexString(speed3Hex);
                        }
                        break;
                    case StepEnum.endolead:
                        string endoleadHex = GlobalVar.agreementMsgVM.EndoleadHex;
                        if (string.IsNullOrEmpty(endoleadHex))
                        {
                            CanMsg[0].Data = ByteArrayLib.GetByteArrayFromHexString(endoleadHex);
                        }
                        break;
                    case StepEnum.singleDriver:
                        string singleDriverHex = GlobalVar.agreementMsgVM.SingleDriverHex;
                        if (!string.IsNullOrEmpty(singleDriverHex))
                        {
                            CanMsg[0].Data = ByteArrayLib.GetByteArrayFromHexString(singleDriverHex);
                        }
                        break;
                }
                CanMsgDataCatch(CanMsg, out IntPtr pCanSendMsg);
                int SendedNum = USB2CANFD.CANFD_SendMsg(DevHandle, WriteCANIndex, pCanSendMsg, CanMsg.Length);
                if (SendedNum >= 0)
                {
                    SendMsgNum += SendedNum;
                    Console.WriteLine($"{DateTime.Now.ToString("mm:ss fff")}：Success send frames:{SendMsgNum}");
                }
                else
                {
                    Console.WriteLine("Send CAN data failed!");
                    break;
                }
                Marshal.FreeHGlobal(pCanSendMsg);//释放缓冲区
                //附加报文
                if (!string.IsNullOrEmpty(GlobalVar.agreementMsgVM.SendAdditionalRules.AdditionalSendId))
                {
                    Thread.Sleep(GlobalVar.agreementMsgVM.SendAdditionalRules.AdditionalPeriod);
                    USB2CANFD.CANFD_MSG[] additionalCanMsg = new USB2CANFD.CANFD_MSG[1];
                    additionalCanMsg[0] = new USB2CANFD.CANFD_MSG
                    {
                        ID = Convert.ToUInt32(GlobalVar.agreementMsgVM.SendAdditionalRules.AdditionalSendId, 16),//报文ID
                        DLC = 8,//数据长度(<=8)，即Data中有效数据长度
                        Data = ByteArrayLib.GetByteArrayFromHexString(GlobalVar.agreementMsgVM.SendAdditionalRules.AdditionalContent)
                    };
                    CanMsg[0].Flags |= USB2CANFD.CANFD_MSG_FLAG_FDF;
                    CanMsgDataCatch(CanMsg, out pCanSendMsg);
                    SendedNum = USB2CANFD.CANFD_SendMsg(DevHandle, WriteCANIndex, pCanSendMsg, additionalCanMsg.Length);
                    if (SendedNum >= 0)
                    {
                        SendMsgNum += SendedNum;
                        Console.WriteLine("Success send frames:{0}", SendMsgNum);
                    }
                    else
                    {
                        Console.WriteLine("Send CAN data failed!");
                        break;
                    }
                }
                //Thread.Sleep(45);
                Thread.Sleep(GlobalVar.agreementMsgVM.SendPeriod);
            }
        }

        /// <summary>
        /// 接收CANFD数据
        /// </summary>
        public static void ReadCanFDMsgThread()
        {
            while (true)
            {
                if (!GlobalVar.CAN_ReadMsgFlag)
                {
                    Thread.Sleep(10);
                    continue;
                }

                USB2CANFD.CANFD_MSG[] CanMsgBuffer = new USB2CANFD.CANFD_MSG[1024];
                //申请数据缓冲区
                IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)) * CanMsgBuffer.Length);

                int CanNum = USB2CANFD.CANFD_GetMsg(DevHandle, ReadCANIndex, pt, CanMsgBuffer.Length);
                if (CanNum > 0)
                {
                    for (int i = 0; i < CanNum; i++)
                    {
                        //从缓冲区中获取数据
                        CanMsgBuffer[i] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)pt + i * Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG))), typeof(USB2CANFD.CANFD_MSG));

                        //判断获取的是不是目标报文
                        if (CanMsgBuffer[i].ID == Convert.ToUInt32(GlobalVar.agreementMsgVM.ReciveId, 16))
                        {
                            //如果信号值不为空，要过滤信号值
                            if (!string.IsNullOrEmpty(GlobalVar.agreementMsgVM.ReciveSignalVal))
                            {
                                Console.WriteLine("接收目标报文");
                                if (Convert.ToUInt32(GlobalVar.agreementMsgVM.ReciveSignalVal, 16) == CanMsgBuffer[i].Data[0])
                                {
                                    //记录日志
                                    //LogHelper.Error(null,$"CanMsgBuffer[{i}].ID={CanMsgBuffer[i].ID}；CanMsgBuffer[{i}].Data=" + StringLib.GetHexStringFromByteArray(CanMsgBuffer[i].Data));
                                    GetCANReciveValHelper.GetReciveVal(CanMsgBuffer[i].Data);//从接收报文中解析实际值
                                }
                            }
                            else
                            {
                                GetCANReciveValHelper.GetReciveVal(CanMsgBuffer[i].Data);//从接收报文中解析实际值
                            }
                        }
                    }
                }
                else if (CanNum < 0)
                {
                    Console.WriteLine("Get CAN data error!");
                    LogHelper.Error(null, "Get CAN data error!");
                    break;
                }
                //释放数据缓冲区，必须释放，否则程序运行一段时间后会报内存不足
                Marshal.FreeHGlobal(pt);
                //Thread.Sleep(GlobalVar.agreementMsgVM.RecivePeriod);
                Thread.Sleep(50);
            }
        }

        /// <summary>
        /// 数据复制到数据缓冲区中
        /// </summary>
        /// <returns></returns>
        private static void CanMsgDataCatch(USB2CANFD.CANFD_MSG[] CanMsg, out IntPtr pCanSendMsg)
        {
            pCanSendMsg = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)) * CanMsg.Length);//申请缓冲区
            IntPtr pPonitor = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)));
            Marshal.StructureToPtr(CanMsg[0], pPonitor, true);
            byte[] buffer = new byte[Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG))];
            Marshal.Copy(pPonitor, buffer, 0, Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)));
            Marshal.Copy(buffer, 0, (IntPtr)(UInt32)pCanSendMsg, Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)));
            Marshal.FreeHGlobal(pPonitor);//释放缓冲区
        }
    }
}