using System; using System.Runtime.InteropServices; namespace ZLGCAN.Basic { [StructLayout(LayoutKind.Sequential)] public struct ZCAN { public uint acc_code; public uint acc_mask; public uint reserved; public byte filter; public byte timing0; public byte timing1; public byte mode; }; [StructLayout(LayoutKind.Sequential)] public struct CANFD { public uint acc_code; public uint acc_mask; public uint abit_timing; public uint dbit_timing; public uint brp; public byte filter; public byte mode; public UInt16 pad; public uint reserved; }; [StructLayout(LayoutKind.Sequential)] public struct can_frame { public uint can_id; /* 32 bit MAKE_CAN_ID + EFF/RTR/ERR flags */ public byte can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */ public byte __pad; /* padding */ public byte __res0; /* reserved / padding */ public byte __res1; /* reserved / padding */ [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)] public byte[] data/* __attribute__((aligned(8)))*/; }; [StructLayout(LayoutKind.Sequential)] public struct canfd_frame { public uint can_id; /* 32 bit MAKE_CAN_ID + EFF/RTR/ERR flags */ public byte len; /* frame payload length in byte */ public byte flags; /* additional flags for CAN FD,i.e error code */ public byte __res0; /* reserved / padding */ public byte __res1; /* reserved / padding */ [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public byte[] data/* __attribute__((aligned(8)))*/; }; [StructLayout(LayoutKind.Explicit)] public struct ZCAN_CHANNEL_INIT_CONFIG { [FieldOffset(0)] public uint can_type; //type:TYPE_CAN TYPE_CANFD [FieldOffset(4)] public ZCAN can; [FieldOffset(4)] public CANFD canfd; }; [StructLayout(LayoutKind.Sequential)] public struct ZCAN_Transmit_Data { public can_frame frame; public uint transmit_type; }; [StructLayout(LayoutKind.Sequential)] public struct ZCAN_Receive_Data { public can_frame frame; public UInt64 timestamp;//us }; [StructLayout(LayoutKind.Sequential)] public struct ZCAN_TransmitFD_Data { public canfd_frame frame; public uint transmit_type; }; [StructLayout(LayoutKind.Sequential)] public struct ZCAN_AUTO_TRANSMIT_OBJ //CAN定时发送帧结构体 { public ushort enable; //0-禁用，1-使能 public ushort index; //定时报文索引 public uint interval; //定时周期 public ZCAN_Transmit_Data obj; }; [StructLayout(LayoutKind.Sequential)] public struct ZCANFD_AUTO_TRANSMIT_OBJ //CANFD定时发送帧结构体 { public ushort enable; //0-禁用，1-使能 public ushort index; //定时报文索引 public uint interval; //定时周期 public ZCAN_TransmitFD_Data obj; }; [StructLayout(LayoutKind.Sequential, Pack = 1)] public struct ZCANLINEventData { public UInt64 timeStamp; public byte type; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 7)] public byte[] reserved; } public struct DeviceInfo { public uint device_type; //设备类型 public uint channel_count;//设备的通道个数 public DeviceInfo(uint type, uint count) { device_type = type; channel_count = count; } }; [StructLayout(LayoutKind.Sequential)] public struct ZCAN_ReceiveFD_Data { public canfd_frame frame; public UInt64 timestamp;//us }; [StructLayout(LayoutKind.Sequential)] public struct ZCAN_CHANNEL_ERROR_INFO { public uint error_code; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] public byte[] passive_ErrData; public byte arLost_ErrData; }; //for zlg cloud [StructLayout(LayoutKind.Sequential)] public struct ZCLOUD_CHNINFO { public byte enable; public byte type; public byte isUpload; public byte isDownload; }; //for zlg cloud [StructLayout(LayoutKind.Sequential)] public struct ZCLOUD_DEVINFO { public int devIndex; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public char[] type; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public char[] id; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public char[] name; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public char[] owner; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public char[] model; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)] public char[] fwVer; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)] public char[] hwVer; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public char[] serial; public int status; // 0:online, 1:offline //[MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)] public byte bGpsUploads; public byte channelCnt; // each channel enable can upload [MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)] public ZCLOUD_CHNINFO[] channels; }; //[StructLayout(LayoutKind.Sequential)] //public struct ZCLOUD_DEV_GROUP_INFO //{ // [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] // public char[] groupName; // [MarshalAs(UnmanagedType.ByValArray, SizeConst = 128)] // public char[] desc; // [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] // public char[] groupId; // //public ZCLOUD_DEVINFO *pDevices; // public IntPtr pDevices; // public uint devSize; //}; [StructLayout(LayoutKind.Sequential)] public struct ZCLOUD_USER_DATA { [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public char[] username; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public char[] mobile; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)] public char[] dllVer; public uint devCnt; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 100)] public ZCLOUD_DEVINFO[] devices; }; //LIN_init_config [StructLayout(LayoutKind.Sequential)] public struct ZCAN_LIN_INIT_CONFIG { public byte linMode; //0-slave,1-master public byte chkSumMode; //1-经典校验，2-增强校验 3-自动(对应eZLINChkSumMode的模式) public UInt16 reserved; public uint libBaud; //波特率，取值1000~20000 }; //ZCAN_LIN_PUBLISH_CFG，注册从站响应报文 [StructLayout(LayoutKind.Sequential)] public struct ZCAN_LIN_PUBLISH_CFG { public byte ID; //受保护的ID（ID取值范围为0-63） public byte datelen; //范围1~8 [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)] //数据段内容 public byte[] data; public byte chkSumMode; //校验方式：0-默认，启动时配置 1-经典校验 2-增强校验(对应eZLINChkSumMode的模式) [MarshalAs(UnmanagedType.ByValArray, SizeConst = 5)] public byte[] reserved; }; /////////////////////LIN收发报文结构体//////////////// //LIN收发的ID [StructLayout(LayoutKind.Sequential, Pack = 1)] public struct PID { public byte rawVal; } //LIN收发的数据段部分 [StructLayout(LayoutKind.Sequential, Pack = 1)] public struct RxData { public UInt64 timeStamp; public byte datalen; public byte dir; public byte chkSum; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 13)] public byte[] reserved; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)] public byte[] data; } //LIN收发的报文部分结构体 [StructLayout(LayoutKind.Sequential, Pack = 1)] public struct ZCANLINData { public PID pid; public RxData rxData; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 13)] public byte[] reserved; } [StructLayout(LayoutKind.Sequential, Pack = 1)] public struct Reserved { [MarshalAs(UnmanagedType.ByValArray, SizeConst = 46)] public byte[] reserved; } //ZCAN_LIN_MSG，发送/接收LIN的结构体 [StructLayout(LayoutKind.Sequential, Pack = 1)] public struct ZCAN_LIN_MSG { public byte chnl; //数据通道 public byte dataType; //0-LIN，1-ErrLIN public ZCANLINData zcanLINData; //数据段内容，共40字节 //FieldOffset(2)] // public ZCAN_AUTO_TRANSMIT_OBJ ZCAN_OBJ; }; //////////////////合并发送/接收的结构体//////////////////////////////////// public class flag { public const uint CANFD_FLAG = 0x1; //1代表CANFD报文，0代表CAN报文 public const uint TXDELAY_FLAG = 0x4; //发送有效，队列发送标志位 public const uint TRANSMIT_TYPE_FLAG = 0x0; //正常发送 public const uint TXECHOREQUEST_FLAG = 0x100; //发送回显请求，发送有效 public const uint TXECHOED_FLAG = 0x200; //发送回显标志，接收有效 } [StructLayout(LayoutKind.Sequential, Pack = 1)] public struct ZCANCANFDData { public UInt64 timeStamp; public UInt32 flag; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)] public byte[] extraData; //未使用 public canfd_frame frame; //实际报文结构体 } [StructLayout(LayoutKind.Sequential, Pack = 1)] public struct ZCANDataObj { public byte dataType; //1-can/canfd数据。 public byte chnl; //数据通道 public UInt16 flag; //未使用 [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)] public byte[] extraData; //未使用 public ZCANCANFDData zcanCANFDData; //报文结构体 [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)] public byte[] reserve; //用于字节对齐 } public class Define { public const int TYPE_CAN = 0; public const int TYPE_CANFD = 1; public const int ZCAN_USBCAN1 = 3; public const int ZCAN_USBCAN2 = 4; public const int ZCAN_PCI9820I = 16; public const int ZCAN_CANETUDP = 12; public const int ZCAN_CANETTCP = 17; public const int ZCAN_CANWIFI_TCP = 25; public const int ZCAN_USBCAN_E_U = 20; public const int ZCAN_USBCAN_2E_U = 21; public const int ZCAN_USBCAN_4E_U = 31; public const int ZCAN_PCIECANFD_100U = 38; public const int ZCAN_PCIECANFD_200U = 39; public const int ZCAN_PCIECANFD_200U_EX = 62; public const int ZCAN_PCIECANFD_400U = 61; public const int ZCAN_USBCANFD_200U = 41; public const int ZCAN_USBCANFD_400U = 76; public const int ZCAN_USBCANFD_100U = 42; public const int ZCAN_USBCANFD_MINI = 43; public const int ZCAN_USBCANFD_800U = 59; public const int ZCAN_CLOUD = 46; public const int ZCAN_CANFDNET_200U_TCP = 48; public const int ZCAN_CANFDNET_200U_UDP = 49; public const int ZCAN_CANFDNET_400U_TCP = 52; public const int ZCAN_CANFDNET_400U_UDP = 53; public const int ZCAN_CANFDNET_800U_TCP = 57; public const int ZCAN_CANFDNET_800U_UDP = 58; public const int STATUS_ERR = 0; public const int STATUS_OK = 1; }; public class Method { [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern IntPtr ZCAN_OpenDevice(uint device_type, uint device_index, uint reserved); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCAN_CloseDevice(IntPtr device_handle); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] // pInitConfig -> ZCAN_CHANNEL_INIT_CONFIG public static extern IntPtr ZCAN_InitCAN(IntPtr device_handle, uint can_index, IntPtr pInitConfig); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCAN_SetValue(IntPtr device_handle, string path, byte[] value); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCAN_SetValue(IntPtr device_handle, string path, IntPtr value); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern IntPtr ZCAN_GetValue(IntPtr device_handle, string path); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCAN_StartCAN(IntPtr channel_handle); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCAN_ResetCAN(IntPtr channel_handle); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCAN_ClearBuffer(IntPtr channel_handle); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] // pTransmit -> ZCAN_Transmit_Data public static extern uint ZCAN_Transmit(IntPtr channel_handle, IntPtr pTransmit, uint len); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] // pTransmit -> ZCAN_TransmitFD_Data public static extern uint ZCAN_TransmitFD(IntPtr channel_handle, IntPtr pTransmit, uint len); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] // pTransmit -> ZCAN_TransmitFD_Data public static extern uint ZCAN_TransmitData(IntPtr device_handle, IntPtr pTransmit, uint len); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCAN_GetReceiveNum(IntPtr channel_handle, byte type); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCAN_Receive(IntPtr channel_handle, IntPtr data, uint len, int wait_time = -1); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCAN_ReceiveFD(IntPtr channel_handle, IntPtr data, uint len, int wait_time = -1); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCAN_ReceiveData(IntPtr device_handle, IntPtr data, uint len, int wait_time = -1); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] // pErrInfo -> ZCAN_CHANNEL_ERROR_INFO public static extern uint ZCAN_ReadChannelErrInfo(IntPtr channel_handle, IntPtr pErrInfo); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern IntPtr GetIProperty(IntPtr device_handle); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern bool ZCLOUD_IsConnected(); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern void ZCLOUD_SetServerInfo(string httpAddr, ushort httpPort, string mqttAddr, ushort mqttPort); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCLOUD_ConnectServer(string username, string password); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCLOUD_DisconnectServer(); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern IntPtr ZCLOUD_GetUserData(int updata); ///////////LIN相关接口函数//////// [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern IntPtr ZCAN_InitLIN(IntPtr device_handle, uint lin_index, IntPtr pLINinitConfig); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCAN_StartLIN(IntPtr channel_handle); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCAN_ResetLIN(IntPtr channel_handle); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCAN_TransmitLIN(IntPtr channel_handle, IntPtr pTransmit, uint len); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCAN_ReceiveLIN(IntPtr channel_handle, IntPtr data, uint len, int wait_time); [DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)] public static extern uint ZCAN_SetLINPublish(IntPtr channel_handle, IntPtr data, uint nPublishCount); //注册响应报文 } [UnmanagedFunctionPointer(CallingConvention.Cdecl)] public delegate int SetValueFunc(string path, byte[] value); [UnmanagedFunctionPointer(CallingConvention.Cdecl)] public delegate IntPtr GetValueFunc(string path); [UnmanagedFunctionPointer(CallingConvention.Cdecl)] public delegate IntPtr GetPropertysFunc(string path, string value); public struct IProperty { public SetValueFunc SetValue; public GetValueFunc GetValue; public GetPropertysFunc GetPropertys; }; }