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791
LFP_Manager_PRM/Threads/csCanThread.cs
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791
LFP_Manager_PRM/Threads/csCanThread.cs
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Runtime.InteropServices;
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using System.Threading;
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using System.IO;
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using System.IO.Ports;
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using System.Windows.Forms;
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using LFP_Manager.DataStructure;
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using LFP_Manager.Function;
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using LFP_Manager.Utils;
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namespace LFP_Manager.Threads
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{
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public delegate void CanDataUpdate(object sender, ref DeviceSystemData aSystemData);
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public delegate void CanDataRecv(UInt32 hdr, byte[] data);
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public delegate void CanDataPrint(object sender, string msg);
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class csCanThread
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{
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#region DLL FUNCTION
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[DllImport("library\\controlcan.dll")]
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static extern UInt32 VCI_OpenDevice(UInt32 DeviceType, UInt32 DeviceInd, UInt32 Reserved);
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[DllImport("library\\controlcan.dll")]
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static extern UInt32 VCI_CloseDevice(UInt32 DeviceType, UInt32 DeviceInd);
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[DllImport("library\\controlcan.dll")]
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static extern UInt32 VCI_InitCAN(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_INIT_CONFIG pInitConfig);
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[DllImport("library\\controlcan.dll")]
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static extern UInt32 VCI_ReadBoardInfo(UInt32 DeviceType, UInt32 DeviceInd, ref VCI_BOARD_INFO pInfo);
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[DllImport("library\\controlcan.dll")]
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static extern UInt32 VCI_ReadErrInfo(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_ERR_INFO pErrInfo);
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[DllImport("library\\controlcan.dll")]
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static extern UInt32 VCI_ReadCANStatus(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_CAN_STATUS pCANStatus);
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[DllImport("library\\controlcan.dll")]
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static extern UInt32 VCI_GetReference(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, UInt32 RefType, ref byte pData);
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[DllImport("library\\controlcan.dll")]
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//static extern UInt32 VCI_SetReference(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, UInt32 RefType, ref byte pData);
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unsafe static extern UInt32 VCI_SetReference(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, UInt32 RefType, byte* pData);
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[DllImport("library\\controlcan.dll")]
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static extern UInt32 VCI_GetReceiveNum(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd);
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[DllImport("library\\controlcan.dll")]
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static extern UInt32 VCI_ClearBuffer(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd);
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[DllImport("library\\controlcan.dll")]
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static extern UInt32 VCI_StartCAN(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd);
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[DllImport("library\\controlcan.dll")]
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static extern UInt32 VCI_ResetCAN(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd);
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[DllImport("library\\controlcan.dll")]
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static extern UInt32 VCI_Transmit(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_CAN_OBJ pSend, UInt32 Len);
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//[DllImport("library\\controlcan.dll")]
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//static extern UInt32 VCI_Receive(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_CAN_OBJ pReceive, UInt32 Len, Int32 WaitTime);
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[DllImport("library\\controlcan.dll", CharSet = CharSet.Ansi)]
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static extern UInt32 VCI_Receive(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, IntPtr pReceive, UInt32 Len, Int32 WaitTime);
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#endregion
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#region VARIABLES
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public delegate void invokeDelegate();
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CommConfig Config;
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DeviceSystemData SystemData;
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TCanTxBuff CanTxBuf;
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int SystemId = 0;
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Thread canCommTx = null;
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Thread canCommRx = null;
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//string Msg = "";
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static UInt32 can_devtype = 21; //USBCAN-2e-u
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////////////////////////////////////////
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const UInt32 STATUS_OK = 1;
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bool can_bOpen = false;
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UInt32 can_devind = 0;
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UInt32 can_canind = 0;
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bool CanTxThreadEnd = true;
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bool CanRxThreadEnd = true;
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bool CanPolling = false;
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bool AutoCanTx = true;
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int dcp = 0; // Data Control Parameter
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public event CanDataUpdate OnUpdate = null;
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public event CanDataPrint OnPrint = null;
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public event CanDataRecv OnDataRecv = null;
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private object lockObject = new object();
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#endregion
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#region CONSTRUCTORS
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public csCanThread(int sId, CommConfig aConfig, ref DeviceSystemData aSystemData)
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{
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SystemId = sId;
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Config = aConfig;
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SystemData = aSystemData;
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CanTxBuf = new TCanTxBuff();
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canCommTx = new Thread(CanTxThread);
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canCommRx = new Thread(CanRxThread);
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}
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public void disposeThread()
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{
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CanTxThreadEnd = true;
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if (canCommTx != null)
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{
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if (canCommTx.IsAlive)
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{
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canCommTx.Abort();
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}
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canCommTx = null;
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}
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CanRxThreadEnd = true;
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if (canCommRx != null)
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{
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if (canCommRx.IsAlive)
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{
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canCommRx.Abort();
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}
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canCommRx = null;
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}
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if (can_bOpen == true)
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{
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_ = VCI_CloseDevice(can_devtype, can_devind);
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}
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}
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public unsafe bool Start(ref CommConfig aConfig, int sId, bool aPolling)
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{
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bool result = false;
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SystemId = sId;
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CanPolling = aPolling;
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Config = aConfig;
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can_devtype = (UInt32)csCanConstData.CanDeviceInfo.DeviceIds[Config.CanDevice];
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can_devind = (UInt32)Config.CanIndex;
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can_canind = (UInt32)Config.CanNo;
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try
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{
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if (VCI_OpenDevice(can_devtype, can_devind, 0) == 0)
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throw new System.InvalidOperationException("Failed to open the device, please check if the device type and device index number are correct.");
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//USB-E-U Code
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UInt32 baud;
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VCI_INIT_CONFIG config = new VCI_INIT_CONFIG();
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if (can_devtype == csCanConstData.CanDeviceInfo.VCI_USBCAN_2E_U)
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{
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baud = (UInt32)csCanConstData.BaudRate.BaudRates[aConfig.CanBaudrate];
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config.Timing0 = 0x00;
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config.Timing1 = 0x14;
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if (VCI_SetReference(can_devtype, can_devind, can_canind, 0, (byte*)&baud) != STATUS_OK)
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{
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VCI_CloseDevice(can_devtype, can_devind);
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throw new System.InvalidOperationException("Set baud rate error, failed to open device!");
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}
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}
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else
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{
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baud = (UInt32)csCanConstData.BaudRate.BaudRatesOther[aConfig.CanBaudrate];
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config.Timing0 = (byte)(baud >> 8);
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config.Timing1 = (byte)(baud & 0xFF);
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}
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can_bOpen = true;
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//Config setting
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config.AccCode = 0x00000000;
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config.AccMask = 0xFFFFFFFF;
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config.Filter = 1;
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config.Mode = 0;
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VCI_InitCAN(can_devtype, can_devind, can_canind, ref config);
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////Filter setting
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//Int32 filterMode = comboBox_e_u_Filter.SelectedIndex;
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//if (2 != filterMode)//Not disabled
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//{
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// VCI_FILTER_RECORD filterRecord = new VCI_FILTER_RECORD();
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// filterRecord.ExtFrame = (UInt32)filterMode;
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// filterRecord.Start = System.Convert.ToUInt32("0x" + textBox_e_u_startid.Text, 16);
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// filterRecord.End = System.Convert.ToUInt32("0x" + textBox_e_u_endid.Text, 16);
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// //Fill filter table
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// VCI_SetReference(m_devtype, m_devind, m_canind, 1, (byte*)&filterRecord);
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// //Make the filter table take effect
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// byte tm = 0;
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// if (VCI_SetReference(m_devtype, m_devind, m_canind, 2, &tm) != STATUS_OK)
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// {
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// MessageBox.Show("Set filter failed", "Error", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
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// VCI_CloseDevice(m_devtype, m_devind);
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// return;
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// }
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//}
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////////////////////////////////////////////////////////////////////////////
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////buttonConnect.Text = m_bOpen == 1 ? "DISCONNECT" : "CONNECT";
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////timer_rec.Enabled = m_bOpen == 1 ? true : false;
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UInt32 res;
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res = VCI_StartCAN(can_devtype, can_devind, can_canind);
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CanTxThreadEnd = false;
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CanRxThreadEnd = false;
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canCommTx.Start();
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canCommRx.Start();
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result = true;
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}
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catch (Exception ex)
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{
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System.Exception Ex = new System.Exception(ex.Message, ex);
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throw Ex;
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}
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return result;
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}
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#endregion
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#region TX FUNCTION
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public void SetAutoTx(bool autoTx)
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{
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AutoCanTx = autoTx;
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}
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public void SetDcp(int aDcp)
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{
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dcp = aDcp;
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}
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//public void SendProcessFromApp(int sId, int mode, int index, int flag, ref DeviceParamData aParam, ref DeviceCalibration aCalib, int type)
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//{
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// if (can_bOpen == true)
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// {
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// TCanTRxData[] CanTRxData = csCanCommFunction.SendProcessFromAppPacket(sId, mode, index, flag, ref aParam, ref aCalib);
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// if (CanTRxData != null)
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// {
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// for (int i = 0; i < CanTRxData.Length; i++)
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// {
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// CanTRxData[i].type = type;
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// CanTxBuf.PutBuff(CanTRxData[i]);
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// }
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// }
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// }
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//}
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public void SendDataFromApp(uint header, byte[] data, int type)
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{
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if (can_bOpen == true)
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{
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TCanTRxData CanTRxData = new TCanTRxData
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{
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exid = header
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};
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for (int i = 0; i < data.Length; i++)
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{
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CanTRxData.data[i] = data[i];
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}
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CanTxBuf.PutBuff(CanTRxData);
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}
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}
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unsafe public void SendDataFromAppA(UInt32 header, byte[] data)
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{
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if (can_bOpen == false) return;
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VCI_CAN_OBJ sendobj = new VCI_CAN_OBJ();
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sendobj.SendType = csCanConstData.SendType.Normal;
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sendobj.ExternFlag = csCanConstData.FrameType.Extended;
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sendobj.RemoteFlag = csCanConstData.FrameFormat.Data_Frame;
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sendobj.ID = header; // 0x1815c9c8
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int len = 8;
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sendobj.DataLen = System.Convert.ToByte(len);
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for (int i = 0; i < len; i++)
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sendobj.Data[i] = data[i];
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//int nTimeOut = 3000;
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//if (can_devtype == csCanConstData.CanDeviceInfo.VCI_USBCAN_2E_U)
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//{
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// VCI_SetReference(can_devtype, can_devind, can_canind, 3, (byte*)&nTimeOut);
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//}
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if (VCI_Transmit(can_devtype, can_devind, can_canind, ref sendobj, 1) == 0)
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{
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throw new Exception("Failed to send");
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}
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OnPrint?.Invoke(this, csCanCommFunction.PacketToMsg(sendobj, 1));
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}
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public void SetPolling(bool flag, int sId, ref DeviceSystemData aSystemData)
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{
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SystemId = sId;
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CanPolling = flag;
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SystemData = aSystemData;
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SystemData.mNo = SystemId;
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}
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unsafe public void SendData()
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{
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if (can_bOpen == false) return;
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VCI_CAN_OBJ sendobj = new VCI_CAN_OBJ();
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sendobj.SendType = csCanConstData.SendType.Normal;
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sendobj.ExternFlag = csCanConstData.FrameType.Extended;
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sendobj.RemoteFlag = csCanConstData.FrameFormat.Data_Frame;
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sendobj.ID = 0x1815c9c8; // 0x1815c9c8
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int len = 8;
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sendobj.DataLen = Convert.ToByte(len);
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sendobj.Data[0] = 0xff;
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sendobj.Data[1] = 0xff;
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sendobj.Data[2] = 0xff;
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sendobj.Data[3] = 0xff;
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sendobj.Data[4] = 0xff;
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sendobj.Data[5] = 0xff;
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sendobj.Data[6] = 0xff;
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sendobj.Data[7] = 0xff;
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//int nTimeOut = 3000;
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//if (can_devtype == csCanConstData.CanDeviceInfo.VCI_USBCAN_2E_U)
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//{
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// VCI_SetReference(can_devtype, can_devind, can_canind, 3, (byte*)&nTimeOut);
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//}
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if (VCI_Transmit(can_devtype, can_devind, can_canind, ref sendobj, 1) == 0)
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{
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throw new Exception("Failed to send");
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}
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}
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public void SendProcessFromApp(int sId, int mode, int flag, int dcp, ref DeviceParamData aParam, ref DeviceCalibration aCalib)
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{
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switch (mode)
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{
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case 5: // Cell Volatge Parameter
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SendData(sId, 5, flag, dcp, ref aParam, ref aCalib);
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SendData(sId, 23, flag, dcp, ref aParam, ref aCalib);
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break;
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case 7:
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SendData(sId, 7, flag, dcp, ref aParam, ref aCalib);
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SendData(sId, 23, flag, dcp, ref aParam, ref aCalib);
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break;
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case 6:
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SendData(sId, 6, flag, dcp, ref aParam, ref aCalib);
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SendData(sId, 24, flag, dcp, ref aParam, ref aCalib);
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break;
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case 22:
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SendData(sId, 22, flag, dcp, ref aParam, ref aCalib);
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SendData(sId, 24, flag, dcp, ref aParam, ref aCalib);
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break;
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case 14:
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SendData(sId, 14, flag, dcp, ref aParam, ref aCalib);
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break;
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case 99: // All param read
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SendData(sId, 5, flag, dcp, ref aParam, ref aCalib);
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SendData(sId, 6, flag, dcp, ref aParam, ref aCalib);
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SendData(sId, 7, flag, dcp, ref aParam, ref aCalib);
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SendData(sId, 14, flag, dcp, ref aParam, ref aCalib);
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SendData(sId, 22, flag, dcp, ref aParam, ref aCalib);
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SendData(sId, 23, flag, dcp, ref aParam, ref aCalib);
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SendData(sId, 24, flag, dcp, ref aParam, ref aCalib);
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SendData(sId, 2, flag, dcp, ref aParam, ref aCalib);
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break;
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case 9: // Cell Voltage Calibration
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SendData(sId, 9, flag, dcp, ref aParam, ref aCalib);
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break;
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case 1: // Cell Balancing Flag Set
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SendData(sId, 1, flag, dcp, ref aParam, ref aCalib);
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break;
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case 12: // Cell Voltage Calibration
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SendData(sId, 12, flag, dcp, ref aParam, ref aCalib);
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break;
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case 8: // Battery Parameter Setting
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SendData(sId, 8, flag, dcp, ref aParam, ref aCalib);
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break;
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case 17: // Cell Balancing Parameter - 240531
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SendData(sId, 17, flag, dcp, ref aParam, ref aCalib);
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break;
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case 21: // System Information (Device Address)
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SendData(sId, 21, flag, dcp, ref aParam, ref aCalib);
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break;
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case 13: // Soc Calibration
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SendData(sId, 13, flag, dcp, ref aParam, ref aCalib);
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break;
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case 15: // Default Parameter
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SendData(sId, 15, flag, dcp, ref aParam, ref aCalib);
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break;
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case 16: // Default Parameter
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if (aParam.DefalutParamAll == 1)
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SendData(0xFF, 16, flag, dcp, ref aParam, ref aCalib);
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else
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SendData(sId, 16, flag, dcp, ref aParam, ref aCalib);
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break;
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case 2: // Cell Voltage Difference Parameter
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SendData(sId, 2, flag, dcp, ref aParam, ref aCalib);
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break;
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case 25:
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SendData(sId, 25, flag, dcp, ref aParam, ref aCalib);
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break;
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// Inventory Data Control
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case 900: // Manufacturer Cmd
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SendData(sId, 900, flag, dcp, ref aParam, ref aCalib);
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break;
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case 901: // Serial Number #1 Cmd
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SendData(sId, 901, flag, dcp, ref aParam, ref aCalib);
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break;
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case 902: // Serial Number #2 Cmd
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SendData(sId, 902, flag, dcp, ref aParam, ref aCalib);
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break;
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}
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}
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//unsafe void SendData(int sId, int mode, int flag, ref DeviceParamData aParam, ref DeviceCalibration aCalib)
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//{
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// if (can_bOpen == 0) return;
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// VCI_CAN_OBJ sendobj = MakeTxData(sId, mode, flag, ref aParam, ref aCalib);
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// Monitor.Enter(lockObject);
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// try
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// {
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// OnPrint?.Invoke(this, csCanCommFunction.PacketToMsg(sendobj, 1));
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// if (VCI_Transmit(can_devtype, can_devind, can_canind, ref sendobj, 1) == 0)
|
||||
// {
|
||||
// throw new Exception("Failed to send");
|
||||
// }
|
||||
// }
|
||||
// catch (Exception)
|
||||
// {
|
||||
// //throw new Exception(String.Format("CAN Transmit Exception", ex.Message));
|
||||
// }
|
||||
// finally
|
||||
// {
|
||||
// Monitor.Exit(lockObject);
|
||||
// }
|
||||
//}
|
||||
|
||||
void SendData(int sid, int mode, int flag, int dcp, ref DeviceParamData aParam, ref DeviceCalibration aCalib)
|
||||
{
|
||||
UInt32 exID;
|
||||
byte[] sendData = new byte[8];
|
||||
|
||||
exID = MakeTxData(sid, mode, flag, dcp, ref aParam, ref aCalib, ref sendData);
|
||||
|
||||
SendDataFromApp(exID, sendData, 0);
|
||||
//SendCAN(exID, sendData);
|
||||
}
|
||||
|
||||
unsafe void SendCAN(UInt32 exID, byte[] data)
|
||||
{
|
||||
if (can_bOpen == false) return;
|
||||
|
||||
VCI_CAN_OBJ sendobj = new VCI_CAN_OBJ();
|
||||
|
||||
sendobj.SendType = csCanConstData.SendType.Normal;
|
||||
sendobj.RemoteFlag = csCanConstData.FrameFormat.Data_Frame;
|
||||
sendobj.ExternFlag = csCanConstData.FrameType.Extended;
|
||||
|
||||
sendobj.ID = exID;
|
||||
sendobj.DataLen = (byte)data.Length;
|
||||
for (int i = 0; i < data.Length; i++)
|
||||
sendobj.Data[i] = data[i];
|
||||
|
||||
//Monitor.Enter(lockObject);
|
||||
if (Monitor.TryEnter(lockObject, 2000))
|
||||
{
|
||||
try
|
||||
{
|
||||
if (VCI_Transmit(can_devtype, can_devind, can_canind, ref sendobj, 1) == 0)
|
||||
{
|
||||
throw new Exception("Failed to send");
|
||||
}
|
||||
OnPrint?.Invoke(this, csCanCommFunction.PacketToMsg(sendobj, 1));
|
||||
|
||||
//OnPrint?.Invoke(this, csCanCommFunction.PacketToMsg(sendobj, 1));
|
||||
}
|
||||
catch (Exception)
|
||||
{
|
||||
//throw new Exception(String.Format("CAN Transmit Exception", ex.Message));
|
||||
}
|
||||
finally
|
||||
{
|
||||
Monitor.Exit(lockObject);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
//OnPrint?.Invoke(this, "CAN SEND FAIL");
|
||||
throw new Exception("CAN SEND FAIL");
|
||||
}
|
||||
//try
|
||||
//{
|
||||
// if (VCI_Transmit(can_devtype, can_devind, can_canind, ref sendobj, 1) == 0)
|
||||
// {
|
||||
// throw new Exception("Failed to send");
|
||||
// }
|
||||
// OnPrint?.Invoke(this, csCanCommFunction.PacketToMsg(sendobj, 1));
|
||||
//}
|
||||
//catch (Exception)
|
||||
//{
|
||||
// //throw new Exception(String.Format("CAN Transmit Exception", ex.Message));
|
||||
//}
|
||||
//finally
|
||||
//{
|
||||
// Monitor.Exit(lockObject);
|
||||
//}
|
||||
}
|
||||
|
||||
private UInt32 MakeID(int sId, int mode)
|
||||
{
|
||||
UInt32 result = 0;
|
||||
PACKET_HEADER hdr = new PACKET_HEADER();
|
||||
|
||||
hdr.Index = 6; // Fixed 6
|
||||
hdr.R = 0; // Fixed 0
|
||||
hdr.DP = 0; // Fixed 0
|
||||
hdr.PF = (byte)mode; // Command
|
||||
if (sId == 0xFF) hdr.PS = (byte)(sId); // PDU SPECIFIC
|
||||
else hdr.PS = (byte)(sId + 200); // PDU SPECIFIC
|
||||
hdr.SA = 200; // SOURCE ADDRESS
|
||||
|
||||
result = csCanCommFunction.CovertHtoP(hdr);
|
||||
return result;
|
||||
}
|
||||
|
||||
private UInt32 MakeInvID(int sId, int mode)
|
||||
{
|
||||
UInt32 result = 0;
|
||||
PACKET_HEADER hdr = new PACKET_HEADER();
|
||||
|
||||
hdr.Index = 1; // Fixed 1 for Inventory Data
|
||||
hdr.R = 0; // Fixed 0
|
||||
hdr.DP = 0; // Fixed 0
|
||||
hdr.PF = (byte)((mode % 900) + 1); // Command
|
||||
if (sId == 0xFF) hdr.PS = (byte)(sId); // PDU SPECIFIC
|
||||
else hdr.PS = (byte)(sId + 200); // PDU SPECIFIC
|
||||
hdr.SA = 200; // SOURCE ADDRESS
|
||||
|
||||
result = csCanCommFunction.CovertHtoP(hdr);
|
||||
return result;
|
||||
}
|
||||
|
||||
unsafe private VCI_CAN_OBJ MakeTxData(int sId, int mode, int flag, int dcp, ref DeviceParamData aParam, ref DeviceCalibration aCalib)
|
||||
{
|
||||
VCI_CAN_OBJ sendobj = new VCI_CAN_OBJ();
|
||||
|
||||
sendobj.SendType = csCanConstData.SendType.Normal;
|
||||
sendobj.RemoteFlag = csCanConstData.FrameFormat.Data_Frame;
|
||||
sendobj.ExternFlag = csCanConstData.FrameType.Extended;
|
||||
if (mode < 900)
|
||||
{ sendobj.ID = MakeID(sId, mode); }
|
||||
else
|
||||
{ sendobj.ID = MakeInvID(sId, mode); }
|
||||
sendobj.DataLen = (byte)(8);
|
||||
|
||||
byte[] aData = csCanCommFunction.MakeCanData(mode, flag, dcp, ref aParam, ref aCalib);
|
||||
for (int i = 0; i < 8; i++)
|
||||
{ sendobj.Data[i] = aData[i]; }
|
||||
|
||||
return sendobj;
|
||||
}
|
||||
|
||||
private UInt32 MakeTxData(int sId, int mode, int flag, int dcp, ref DeviceParamData aParam, ref DeviceCalibration aCalib, ref byte[] wData)
|
||||
{
|
||||
UInt32 result = 0;
|
||||
|
||||
if (mode < 900)
|
||||
{ result = MakeID(sId, mode); }
|
||||
else
|
||||
{ result = MakeInvID(sId, mode); }
|
||||
|
||||
wData = csCanCommFunction.MakeCanData(mode, flag, dcp, ref aParam, ref aCalib);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region COMM TX THREAD
|
||||
int current_cmd = 0;
|
||||
int RxSystemId = 0;
|
||||
|
||||
public int GetCommSystemId()
|
||||
{
|
||||
return RxSystemId;
|
||||
}
|
||||
|
||||
unsafe private void CanTxThread()
|
||||
{
|
||||
while (CanTxThreadEnd == false)
|
||||
{
|
||||
TCanTRxData tData = CanTxBuf.GetBuff();
|
||||
if (tData != null)
|
||||
{
|
||||
SendCanPacket(tData, tData.type);
|
||||
//Thread.Sleep(1);
|
||||
}
|
||||
else
|
||||
{
|
||||
if ((CanPolling) && (AutoCanTx))
|
||||
{
|
||||
int flag = 0;
|
||||
|
||||
TxProcess(ref flag);
|
||||
RxSystemId = SystemId;
|
||||
SendData(SystemId, current_cmd, flag, dcp, ref SystemData.ParamData, ref SystemData.CalibriationData);
|
||||
}
|
||||
Thread.Sleep(50);
|
||||
}
|
||||
Thread.Sleep(1);
|
||||
}
|
||||
}
|
||||
|
||||
int TxFlag = 0;
|
||||
void TxProcess(ref int aflag)
|
||||
{
|
||||
switch (TxFlag)
|
||||
{
|
||||
case 0:
|
||||
current_cmd = 900;
|
||||
TxFlag = 1;
|
||||
break;
|
||||
case 1:
|
||||
current_cmd = 901;
|
||||
TxFlag = 2;
|
||||
break;
|
||||
case 2:
|
||||
current_cmd = 902;
|
||||
TxFlag = 3;
|
||||
break;
|
||||
default:
|
||||
switch (current_cmd)
|
||||
{
|
||||
case 900: current_cmd = 901; break; // INV Manufacture Date
|
||||
case 901: current_cmd = 902; break; // INV pcb sn MSB
|
||||
case 902: current_cmd = 9; break; // INV pcb sn LSB
|
||||
|
||||
case 9: current_cmd = 20; break; // Module Address get
|
||||
|
||||
case 20: current_cmd = 1; break;
|
||||
|
||||
case 1: current_cmd = 19; break; // Status
|
||||
case 19: current_cmd = 3; break;
|
||||
case 3: current_cmd = 4; break;
|
||||
case 4: current_cmd = 11; break;
|
||||
case 10: current_cmd = 11; break;
|
||||
case 11: current_cmd = 15; break;
|
||||
case 15: current_cmd = 16; break;
|
||||
case 16: current_cmd = 900; break;
|
||||
default: current_cmd = 900; break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
private unsafe void SendCanPacket(TCanTRxData CanTxData, int type)
|
||||
{
|
||||
VCI_CAN_OBJ sendobj = new VCI_CAN_OBJ();
|
||||
|
||||
sendobj.SendType = csCanConstData.SendType.Normal;
|
||||
sendobj.RemoteFlag = csCanConstData.FrameFormat.Data_Frame;
|
||||
sendobj.ExternFlag = csCanConstData.FrameType.Extended;
|
||||
sendobj.ID = CanTxData.exid;
|
||||
sendobj.DataLen = (byte)(8);
|
||||
|
||||
for (int i = 0; i < 8; i++)
|
||||
{
|
||||
sendobj.Data[i] = CanTxData.data[i];
|
||||
}
|
||||
|
||||
Monitor.Enter(lockObject);
|
||||
try
|
||||
{
|
||||
if (VCI_Transmit(can_devtype, can_devind, can_canind, ref sendobj, 1) == 0)
|
||||
{
|
||||
throw new Exception("Failed to send");
|
||||
}
|
||||
//OnPrint?.Invoke(this, csCanConstData.PacketToMsg(CanTxData.exid, CanTxData.data, 1, type));
|
||||
}
|
||||
catch (Exception)
|
||||
{
|
||||
}
|
||||
finally
|
||||
{
|
||||
Monitor.Exit(lockObject);
|
||||
}
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region COMM RX THREAD
|
||||
unsafe private void CanRxThread()
|
||||
{
|
||||
DateTime aTime;
|
||||
|
||||
while (CanRxThreadEnd == false)
|
||||
{
|
||||
UInt32 res = new UInt32();
|
||||
aTime = DateTime.Now;
|
||||
|
||||
res = VCI_GetReceiveNum(can_devtype, can_devind, can_canind);
|
||||
if (res > 0)
|
||||
{
|
||||
// Received data
|
||||
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(VCI_CAN_OBJ)) * (Int32)res);
|
||||
res = VCI_Receive(can_devtype, can_devind, can_canind, pt, res, 100);
|
||||
|
||||
for (UInt32 i = 0; i < res; i++)
|
||||
{
|
||||
VCI_CAN_OBJ obj = (VCI_CAN_OBJ)Marshal.PtrToStructure((IntPtr)((UInt32)pt + i * Marshal.SizeOf(typeof(VCI_CAN_OBJ))),
|
||||
typeof(VCI_CAN_OBJ));
|
||||
OnPrint?.Invoke(this, csCanCommFunction.PacketToMsg(obj, 0));
|
||||
|
||||
UInt32 exID = obj.ID;
|
||||
byte[] adata = new byte[obj.DataLen];
|
||||
for (int j = 0; j < obj.DataLen; j++) adata[j] = obj.Data[j];
|
||||
|
||||
PACKET_HEADER pHeader = csCanCommFunction.CovertPtoH(exID);
|
||||
|
||||
switch (pHeader.Index)
|
||||
{
|
||||
case 0x01: // Inventory Data Packet
|
||||
if ((pHeader.SA == (200 + SystemId)))
|
||||
{
|
||||
RxSystemId = pHeader.SA - 200;
|
||||
csCanCommFunction.CanInvRxProcess(RxSystemId, exID, adata, ref SystemData, aTime);
|
||||
OnUpdate?.Invoke(this, ref SystemData);
|
||||
}
|
||||
break;
|
||||
case 0x04: // Firmware Update Packet
|
||||
OnDataRecv?.Invoke(exID, adata);
|
||||
break;
|
||||
case 0x06: // Normal Packet
|
||||
if (pHeader.SA == (200 + SystemId))
|
||||
{
|
||||
RxSystemId = pHeader.SA - 200;
|
||||
csCanCommFunction.CanRxProcess(ref Config, RxSystemId, exID, adata, ref SystemData, aTime);
|
||||
|
||||
OnUpdate?.Invoke(this, ref SystemData);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
Marshal.FreeHGlobal(pt);
|
||||
|
||||
Thread.Sleep(1);
|
||||
}
|
||||
else if (res == 0)
|
||||
{
|
||||
TimeSpan dTime = DateTime.Now - SystemData.LastRxTime;
|
||||
if (SystemData.ShelfCommFail == false)
|
||||
{
|
||||
if (dTime.TotalSeconds > 3)
|
||||
{
|
||||
SystemData.ShelfCommFail = true;
|
||||
DataInit();
|
||||
}
|
||||
}
|
||||
OnUpdate?.Invoke(this, ref SystemData);
|
||||
Thread.Sleep(100);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endregion
|
||||
|
||||
#region DATA INIT
|
||||
private void DataInit()
|
||||
{
|
||||
DataFunction.DataInit(ref SystemData, ref Config);
|
||||
}
|
||||
#endregion
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user