mirror of
https://github.com/jie65535/Helpers.git
synced 2025-06-01 17:29:12 +08:00
363 lines
14 KiB
C#
363 lines
14 KiB
C#
using System;
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using System.Collections.Concurrent;
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using System.Collections.Generic;
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using System.Runtime.InteropServices;
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using System.Threading;
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namespace USBCAN
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{
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/// <summary>
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/// CAN帮助类
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/// </summary>
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/// <example>
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/// 使用方法：
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/// <code>
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/// CANHelper.Instance.Initialize(); // 在首次使用时需要初始化，初始化失败时会抛出异常
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/// CANHelper.Instance.ConsumptionFrameEvent += (CAN_API.VCI_CAN_OBJ frame){ /* TODO:在这里消费掉数据帧，注意，这里是异步调用 */ }
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/// CANHelper.Instance.SendData(0x1111, data); // 向CAN发送数据，具体方法参阅注释
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/// </code>
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/// </example>
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public sealed class CANHelper : IDisposable
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{
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/// <summary>
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/// CAN实例
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/// </summary>
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public static readonly CANHelper Instance = new CANHelper();
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#region 公开属性
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/// <summary>
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/// CAN是否打开
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/// </summary>
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public bool IsOpen { private set; get; } = false;
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#endregion
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#region 构造
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private CANHelper()
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{
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}
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#endregion
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#region 释放
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/// <summary>
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/// Flag: 标识Disposed是否已经被调用
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/// </summary>
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private bool _IsDisposed = false;
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/// <summary>
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/// 公开的Dispose方法
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/// </summary>
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public void Dispose()
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{
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Dispose(true);
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GC.SuppressFinalize(this);
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}
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/// <summary>
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/// 实际Dispose方法
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/// </summary>
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/// <param name="disposing">是否由用户调用</param>
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private void Dispose(bool disposing)
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{
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if (_IsDisposed)
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return;
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if (disposing)
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{
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// 释放托管成员
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_FrameBuffer.Dispose();
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}
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// 释放非托管成员
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// 关闭CAN设备
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CloseDevice();
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// 标识为已执行Dispose
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_IsDisposed = true;
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}
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/// <summary>
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/// 析构
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/// </summary>
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~CANHelper()
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{
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// 释放非托管内存
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Dispose(false);
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}
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#endregion
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#region 打开与关闭
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/// <summary>
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/// 初始化并打开CAN设备
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/// </summary>
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public void Initialize(CAN_API.CAN_BaudRate baudRate)
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{
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// 如果已经打开，直接返回
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if (IsOpen)
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return;
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// 打开设备
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if (CAN_API.VCI_OpenDevice(_DeviceType, _DeviceInd, _CANInd) == CAN_API.STATUS_ERR)
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throw new Exception("CAN设备打开失败，错误信息：" + ReadErrorMessage());
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// 构造CAN配置信息
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CAN_API.VCI_INIT_CONFIG pInitConfig = new CAN_API.VCI_INIT_CONFIG
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{
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AccCode = 0x00000000, // 表示全部接收（全部接收: AccCode:0x00000000)
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AccMask = 0xFFFFFFFF, // ( AccMask:0xFFFFFFFF）
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Reserved = 0x00, // 保留，填0
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Filter = 0x01, // 滤波方式 01
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Timing0 = CAN_API.VCI_INIT_CONFIG_Timing0[(int)baudRate], // ( 波特率查表 )
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Timing1 = CAN_API.VCI_INIT_CONFIG_Timing1[(int)baudRate], // ( 波特率查表 )
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Mode = 0x00 // 正常模式； 0:正常模式，可以IO。 1：表示只听模式（只接收，不影响总线）
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};
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// 初始化CAN
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if (CAN_API.VCI_InitCAN(_DeviceType, _DeviceInd, _CANInd, ref pInitConfig) == CAN_API.STATUS_ERR)
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throw new Exception("CAN初始化失败，错误信息：" + ReadErrorMessage());
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// 启动CAN
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if (CAN_API.VCI_StartCAN(_DeviceType, _DeviceInd, _CANInd) == CAN_API.STATUS_ERR)
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throw new Exception("CAN启动失败，错误信息：" + ReadErrorMessage());
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// 若未出错，标识打开
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IsOpen = true;
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// 初始化消息帧缓冲区，上限为128帧报文，若满了还未消费则阻塞
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_FrameBuffer = new BlockingCollection<CAN_API.VCI_CAN_OBJ>(128);
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// 生产者消费者开始工作
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StartWork();
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}
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/// <summary>
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/// 关闭CAN设备
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/// </summary>
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public void CloseDevice()
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{
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if (IsOpen)
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{
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// 关闭设备
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if (CAN_API.VCI_CloseDevice(_DeviceType, _DeviceInd) == CAN_API.STATUS_ERR)
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throw new Exception("CAN设备关闭失败，错误信息：" + ReadErrorMessage());
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IsOpen = false;
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}
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}
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#endregion
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#region 公开方法
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/// <summary>
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/// 读取错误信息
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/// </summary>
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/// <returns></returns>
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public string ReadErrorMessage()
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{
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CAN_API.VCI_ERR_INFO errInfo = new CAN_API.VCI_ERR_INFO();
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try
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{
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// 尝试读取错误信息
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if (CAN_API.VCI_ReadErrInfo(_DeviceType, _DeviceInd, _CANInd, ref errInfo) == CAN_API.STATUS_ERR)
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return "读取错误信息失败";
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}
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catch (Exception ex)
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{
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return string.Format("读取错误信息时发生异常（{0}）", ex.Message);
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}
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if (errInfo.ErrCode == 0x00)
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{
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// 若无错误信息，则返回‘无错误信息’
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return "无错误信息";
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}
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// 由于可能同时出现多种错误，使用按位与的方式读取错误信息
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List<string> errMsgList = new List<string>();
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if ((errInfo.ErrCode & (uint)CAN_API.ErrorType.ERR_CAN_OVERFLOW) != 0)
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errMsgList.Add("CAN控制器内部FIFO溢出");
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if ((errInfo.ErrCode & (uint)CAN_API.ErrorType.ERR_CAN_ERRALARM) != 0)
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errMsgList.Add("CAN控制器错误报警");
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if ((errInfo.ErrCode & (uint)CAN_API.ErrorType.ERR_CAN_PASSIVE) != 0)
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errMsgList.Add("CAN控制器消极错误");
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if ((errInfo.ErrCode & (uint)CAN_API.ErrorType.ERR_CAN_LOSE) != 0)
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errMsgList.Add("CAN控制器仲裁丢失");
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if ((errInfo.ErrCode & (uint)CAN_API.ErrorType.ERR_CAN_BUSERR) != 0)
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errMsgList.Add("CAN控制器总线错误");
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if ((errInfo.ErrCode & (uint)CAN_API.ErrorType.ERR_DEVICEOPENED) != 0)
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errMsgList.Add("设备已经打开");
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if ((errInfo.ErrCode & (uint)CAN_API.ErrorType.ERR_DEVICEOPEN) != 0)
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errMsgList.Add("打开设备错误");
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if ((errInfo.ErrCode & (uint)CAN_API.ErrorType.ERR_DEVICENOTOPEN) != 0)
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errMsgList.Add("设备没有打开");
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if ((errInfo.ErrCode & (uint)CAN_API.ErrorType.ERR_BUFFEROVERFLOW) != 0)
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errMsgList.Add("缓冲区溢出");
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if ((errInfo.ErrCode & (uint)CAN_API.ErrorType.ERR_DEVICENOTEXIST) != 0)
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errMsgList.Add("此设备不存在");
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if ((errInfo.ErrCode & (uint)CAN_API.ErrorType.ERR_LOADKERNELDLL) != 0)
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errMsgList.Add("装载动态库失败");
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if ((errInfo.ErrCode & (uint)CAN_API.ErrorType.ERR_CMDFAILED) != 0)
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errMsgList.Add("执行命令失败");
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if ((errInfo.ErrCode & (uint)CAN_API.ErrorType.ERR_BUFFERCREATE) != 0)
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errMsgList.Add("内存不足");
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if (errMsgList.Count == 0)
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{
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// 若未检测到错误信息，则返回‘未知错误’
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return "未知错误";
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}
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else if (errMsgList.Count == 1)
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{
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return errMsgList[0];
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}
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else
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{
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// 否则将错误信息以'|'拼接返回
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return string.Join("|", errMsgList);
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}
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}
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/// <summary>
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/// 向CAN发送数据帧
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/// </summary>
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/// <param name="frameID">发送帧ID</param>
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/// <param name="data">数据数组（数组长度必须为8）</param>
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public void SendData(uint frameID, byte[] data)
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{
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CAN_API.VCI_CAN_OBJ frameInfo = new CAN_API.VCI_CAN_OBJ
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{
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ID = frameID, // 帧ID
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SendType = 0, // 正常发送
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RemoteFlag = 0, // 非远程帧
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ExternFlag = 0, // 非扩展帧
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DataLen = 8, // 数据长度
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Data = data, // 数据
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Reserved = new byte[3] // 预留
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};
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SendData(frameInfo);
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}
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/// <summary>
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/// 向CAN发送数据帧
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/// </summary>
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/// <param name="frameInfo">帧信息</param>
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public void SendData(CAN_API.VCI_CAN_OBJ frameInfo)
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{
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// 发送一帧数据
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if (CAN_API.VCI_Transmit(_DeviceType, _DeviceInd, _CANInd, ref frameInfo, 1) == CAN_API.STATUS_ERR)
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throw new Exception("数据发送失败，错误信息：" + ReadErrorMessage());
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}
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#endregion
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#region 公开事件与委托
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/// <summary>
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/// 消费帧事件委托
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/// </summary>
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/// <param name="frame">报文帧</param>
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public delegate void ConsumptionFrameEventHandler(CAN_API.VCI_CAN_OBJ frame);
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/// <summary>
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/// 消费帧事件 每读取一帧数据发生一次消费帧事件
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/// </summary>
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public event ConsumptionFrameEventHandler ConsumptionFrameEvent;
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#endregion
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#region 生产者消费者模式 - 生产数据帧，发出事件消费数据帧
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/// <summary>
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/// 帧缓冲区（生产者消费者队列）
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/// </summary>
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private BlockingCollection<CAN_API.VCI_CAN_OBJ> _FrameBuffer;
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/// <summary>
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/// 生产者线程
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/// </summary>
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private Thread _ProducerThread;
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/// <summary>
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/// 消费者线程
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/// </summary>
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private Thread _ConsumerThread;
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/// <summary>
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/// 开始工作线程
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/// </summary>
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private void StartWork()
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{
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// 启动生产者与消费者线程
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// 优先级设置为高
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_ProducerThread = new Thread(new ThreadStart(Producer))
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{
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IsBackground = true,
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Priority = ThreadPriority.Highest
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};
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_ConsumerThread = new Thread(new ThreadStart(Consumer))
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{
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IsBackground = true,
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Priority = ThreadPriority.Highest
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};
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_ProducerThread.Start();
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_ConsumerThread.Start();
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}
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/// <summary>
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/// 生产者
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/// </summary>
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private void Producer()
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{
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// 分配一个缓冲区，最大能同时容纳100帧数据
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IntPtr readBuffer = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(CAN_API.VCI_CAN_OBJ)) * 100); ;
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while (IsOpen)
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{
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// var n = CAN_API.VCI_GetReceiveNum(_DeviceType, _DeviceInd, _CANInd);
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// 接收数据，超时时间100ms，最大接收100个
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uint len = CAN_API.VCI_Receive(_DeviceType, _DeviceInd, _CANInd, readBuffer, 100, 100);
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if (len == 0)
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{
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// 如果未读到数据，读取错误信息
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ReadErrorMessage();
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}
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else
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{
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// 将读取到的每一帧数据构造帧对象VCI_CAN_OBJ，装入帧缓冲区中（生产产品到库存）
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for (int i = 0; i < len; i++)
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{
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// 实例化帧对象，装入帧缓冲区
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//_FrameBuffer.Add((CAN_API.VCI_CAN_OBJ)Marshal.PtrToStructure((IntPtr)((uint)readBuffer + i * Marshal.SizeOf(typeof(CAN_API.VCI_CAN_OBJ))), typeof(CAN_API.VCI_CAN_OBJ)));
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_FrameBuffer.Add(Marshal.PtrToStructure<CAN_API.VCI_CAN_OBJ>((IntPtr)((uint)readBuffer + i * Marshal.SizeOf(typeof(CAN_API.VCI_CAN_OBJ)))));
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}
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}
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}
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Marshal.FreeHGlobal(readBuffer);
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}
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/// <summary>
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/// 消费者
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/// </summary>
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private void Consumer()
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{
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while (IsOpen)
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{
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// 从队列中获取帧（该方法会线程安全的阻塞，当有数据装入时立刻返回）
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var frame = _FrameBuffer.Take();
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// 消费帧
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if (ConsumptionFrameEvent != null)
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ConsumptionFrameEvent(frame);
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}
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}
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#endregion
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#region 私有成员
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/// <summary>
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/// 设备类型
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/// </summary>
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private const uint _DeviceType = (uint)CAN_API.PCIDeviceType.VCI_USBCAN1;
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/// <summary>
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/// 设备ID
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/// </summary>
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private const uint _DeviceInd = 0;
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/// <summary>
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/// 第几路CAN
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/// </summary>
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private const uint _CANInd = 0;
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#endregion
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}
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}
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