426 lines
12 KiB
C#
426 lines
12 KiB
C#
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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.Threading.Tasks;
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namespace UDS
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{
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public enum UDSFrameType
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{
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SingleFrame = 0,
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FirstFrame = 1,
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ConsecutiveFrames = 2,
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FlowControlFrame = 3,
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};
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public delegate void ReceivePackageEventHandler(byte[] data, int len);
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public delegate void SendMessageEventHandler(UInt32 id, byte[] data, int len);
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public class UDSBase
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{
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public UInt32 CANPhyDevRxId;
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public UInt32 CANPhyDevTxId;
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public UInt32 CANFuncDevRxId;
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//是否是功能寻址
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protected bool IsFunc;
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protected int CANDL;
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//发送的数据
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protected byte[] SendData;
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//发送包的大小
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protected int SendPackageSize;
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protected int NowSendDataIndex;
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//用于判断接收到流控后 是否需要发送连续帧
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protected bool IsSendFirstFrame;
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//接收到的数据
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protected byte[] ReceiveData;
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//接收到包的大小
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protected int ReceivePackageSize;
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//当前接收到数据的在整个接收包的下标
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protected int NowReceiveDataIndex;
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protected byte ConsecutiveFramesHead;
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//发送和接受事件
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public event ReceivePackageEventHandler ReceivedPackage;
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public event SendMessageEventHandler SendMessage;
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//设置ID
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public void SetId(UInt32 phyDevRxId, UInt32 phyDevTxId, UInt32 funcDevRxId)
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{
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this.CANPhyDevRxId = phyDevRxId;
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this.CANPhyDevTxId = phyDevTxId;
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this.CANFuncDevRxId = funcDevRxId;
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}
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public void SetCANDL(int canDL)
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{
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this.CANDL = canDL;
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}
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//触发发送报文事件
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protected void SendMessageInvoke(byte[] data, int len)
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{
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UInt32 id;
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if (this.IsFunc)
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{
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id = this.CANFuncDevRxId;
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}
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else
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{
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id = this.CANPhyDevRxId;
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}
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if (null != this.SendMessage)
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{
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this.SendMessage.Invoke(id, data, len);
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}
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}
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//触发事件
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protected void ReceivedPackageInvoke()
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{
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if (null != this.ReceivedPackage)
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{
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this.ReceivedPackage.Invoke(this.ReceiveData, this.ReceivePackageSize);
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}
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}
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//发送一个包
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virtual public void SendPackage(byte[] data, int len, bool isFunc)
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{
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}
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//将数据插入接受缓存中
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virtual public int InsertReceiveData(UInt32 id, byte[] data)
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{
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return 1;
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}
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//注册发送报文的事件
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public void RegisterSendMessageEvent(SendMessageEventHandler func)
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{
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this.SendMessage += func;
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}
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//删除发送报文的事件
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public void UnregisterSendMessageEvent(SendMessageEventHandler func)
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{
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this.SendMessage -= func;
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}
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//删除所有发送报文的事件
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public void UnregisterSendMessageEventAll()
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{
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this.SendMessage = null;
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}
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//注册接收完成一个包的事件
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public void RegisterReceivedPackageEvent(ReceivePackageEventHandler func)
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{
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this.ReceivedPackage += func;
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}
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//删除接收完成一个包的事件
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public void UnregisterReceivedPackageEvent(ReceivePackageEventHandler func)
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{
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this.ReceivedPackage -= func;
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}
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//删除所有接收完成一个包的事件
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public void UnregisterReceivedPackageEventAll()
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{
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this.ReceivedPackage = null;
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}
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}
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public class UDSInfo : UDSBase
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{
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public UDSInfo(UInt32 phyDevRxId = 0, UInt32 phyDevTxId = 0, UInt32 funcDevRxId = 0, int canDL = 8)
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{
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//设置ID
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this.SetId(phyDevRxId, phyDevTxId, funcDevRxId);
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this.CANDL = canDL;
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IsFunc = false;
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IsSendFirstFrame = false;
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//加一帧数据的大小 防止填充溢出
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this.SendData = new byte[65535 + 64];
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this.ReceiveData = new byte[65535 + 64];
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}
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//发送一个包 需要多帧则发送首帧后等待流控
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override public void SendPackage(byte[] data, int len, bool isFunc)
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{
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byte[] dataFrame = new byte[8];
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//byte[] dataFrame_64 = new byte[64];
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this.SendPackageSize = len;
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//是否发送首帧 先置false
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IsSendFirstFrame = false;
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//拷贝数据到缓存中
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Array.Copy(data, 0, this.SendData, 0, len);
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/*************************ISO15765-2******************************/
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//8字节内单帧
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//if ((this.CANDL <= 8)&& (len <= (this.CANDL - 1)))
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if (len > 7)
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{
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//填充
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for (int i = len; i < len + (7 - (len - 6 % 7)); i++)
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{
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this.SendData[i] = 0xAA;
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}
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//设置头数据
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dataFrame[0] = (byte)(0x10 | ((len >> 8) & 0x0f));
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dataFrame[1] = (byte)(len & 0xff);
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Array.Copy(this.SendData, 0, dataFrame, 2, 6);
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//发送了首帧
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IsSendFirstFrame = true;
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NowSendDataIndex = 6;
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}
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else
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{
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//填充
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for (int i = len; i < 8; i++)
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{
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this.SendData[i] = 0xAA;
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}
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//设置头数据
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dataFrame[0] = (byte)(len & 0xff);
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Array.Copy(this.SendData, 0, dataFrame, 1, 7);
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}
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this.IsFunc = isFunc;
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SendMessageInvoke(dataFrame, 8/*this.CANDL*/);
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}
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//发送连续帧
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//内部调用
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private void SendConsecutiveFrames()
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{
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byte[] dataFrame = new byte[this.CANDL];
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int frameHead = 0x21;
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//计算需要发送的连续帧数量
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int framesNum = (this.SendPackageSize - this.NowSendDataIndex) / (this.CANDL - 1) + 1;
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//未发送首帧 不应发送连续帧
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if (!this.IsSendFirstFrame)
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{
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return;
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}
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//发送连续帧
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for (int i = 0; i < framesNum; i++)
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{
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dataFrame[0] = (byte)frameHead;
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Array.Copy(SendData, this.NowSendDataIndex, dataFrame, 1, this.CANDL - 1);
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frameHead++;
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if (0x30 == frameHead)
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{
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frameHead = 0x20;
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}
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this.NowSendDataIndex += this.CANDL - 1;
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SendMessageInvoke(dataFrame, this.CANDL);
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}
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//发送完成后 将发送首帧标志置0
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this.IsSendFirstFrame = false;
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}
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//发送流控帧
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private void SendFlowControlFrame()
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{
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byte[] data = new byte[8] { 0x30, 0x00, 0x0A, 0x00, 0x00, 0x00, 0x00, 0x00 };
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this.IsFunc = false;
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SendMessageInvoke(data, 8);
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}
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//插入单帧
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//内部调用
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private void InsertSingleFrameData(byte[] data)
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{
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//获取大小
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this.ReceivePackageSize = data[1];
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//判断单帧格式
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if (0 != data[0])
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{
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this.ReceivePackageSize = data[0];
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//拷贝数据
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Array.Copy(data, 1, this.ReceiveData, 0, this.ReceivePackageSize);
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}
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else
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{
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this.ReceivePackageSize = data[1];
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//拷贝数据
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Array.Copy(data, 2, this.ReceiveData, 0, this.ReceivePackageSize);
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}
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//方便字符串截取
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this.ReceiveData[this.ReceivePackageSize] = 0;
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//触发事件
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this.ReceivedPackageInvoke();
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}
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//插入首帧
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//内部调用
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private void InsertFirstFrameData(byte[] data)
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{
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//获取大小
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this.ReceivePackageSize = (((int)data[0] & 0x0f) << 8) | (int)data[1];
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if (0 != ReceivePackageSize)
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{
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//拷贝首帧数据
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Array.Copy(data, 2, this.ReceiveData, 0, this.CANDL - 2);
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NowReceiveDataIndex = this.CANDL - 2;
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}
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else
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{
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//拷贝首帧数据
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Array.Copy(data, 6, this.ReceiveData, 0, this.CANDL - 6);
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NowReceiveDataIndex = this.CANDL - 6;
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}
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//连续帧头设置为0x20方便后面累加计算
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ConsecutiveFramesHead = 0x20;
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//发送流控帧
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this.SendFlowControlFrame();
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}
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//插入的是连续帧
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//内部调用
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private int InsertConsecutiveFramesData(byte[] data)
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{
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int ret = 0;
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int readDataLen;
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//对上一次的头累加
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ConsecutiveFramesHead++;
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if (0x30 == ConsecutiveFramesHead)
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{
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ConsecutiveFramesHead = 0x20;
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}
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//判断是否连续
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if (data[0] == ConsecutiveFramesHead)
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{
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//判断需要读取的长度
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if ((this.NowReceiveDataIndex + this.CANDL - 1) > this.ReceivePackageSize)
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{
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readDataLen = this.ReceivePackageSize - this.NowReceiveDataIndex;
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}
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else
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{
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readDataLen = this.CANDL - 1;
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}
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Array.Copy(data, 1, this.ReceiveData, this.NowReceiveDataIndex, readDataLen);
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this.NowReceiveDataIndex += readDataLen;
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//判断接收一个包是否完成
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if (this.NowReceiveDataIndex == this.ReceivePackageSize)
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{
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//方便字符串截取
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this.ReceiveData[this.ReceivePackageSize] = 0;
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//触发事件
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this.ReceivedPackageInvoke();
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}
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ret = 0;
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}
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else
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{
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ret = 1;
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}
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return ret;
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}
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//插入接收数据解析
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//在接收到数据时使用 传入一帧的数据 完成一包的接收后触发事件
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override public int InsertReceiveData(UInt32 id, byte[] data)
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{
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int ret = 0;
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|||
|
|
if (id != this.CANPhyDevTxId)
|
|||
|
|
{
|
|||
|
|
return 1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
//取出帧类型
|
|||
|
|
UDSFrameType frameType = (UDSFrameType)((uint)data[0] >> 4);
|
|||
|
|
|
|||
|
|
//判断帧类型
|
|||
|
|
switch (frameType)
|
|||
|
|
{
|
|||
|
|
case UDSFrameType.SingleFrame://收到单帧
|
|||
|
|
InsertSingleFrameData(data);
|
|||
|
|
break;
|
|||
|
|
case UDSFrameType.FirstFrame://收到首帧
|
|||
|
|
InsertFirstFrameData(data);
|
|||
|
|
break;
|
|||
|
|
case UDSFrameType.ConsecutiveFrames://收到连续帧
|
|||
|
|
ret = InsertConsecutiveFramesData(data);
|
|||
|
|
break;
|
|||
|
|
case UDSFrameType.FlowControlFrame://收到流控帧
|
|||
|
|
//发送连续帧
|
|||
|
|
this.SendConsecutiveFrames();
|
|||
|
|
break;
|
|||
|
|
default:
|
|||
|
|
ret = 1;
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return ret;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
}
|