HONGRI_uds_tools/CAN_Tool/CanDevice/ZLG/ZLG_CAN.cs

using System;
using System.Collections.Generic;
using System.Text;
using System.Runtime.InteropServices;
using System.Threading;
using ZLGCAN.Basic;
using System.Windows.Forms;
using USB2XXX;
using System.IO;
using System.Drawing;

namespace Can
{
    class ZLGCanDevice : CanDevice
    {
        const int NULL = 0;
        Thread ReadThread;
        IntPtr device_handle_;
        IntPtr channel_handle_;

        //标准CAN
        #region CAN
        //CAN初始化
        public override string CanInit()
        {
            string ret;

            uint device_type;   // 设备类型
            uint device_index;  // 设备号
            uint channel_index; // 通道
            uint reserved;
            uint temp_error;


            ZCAN_CHANNEL_INIT_CONFIG config_ = new ZCAN_CHANNEL_INIT_CONFIG();


            // 
            device_type = Define.ZCAN_USBCAN2;  // 设备类型 ：USBCANII / II + 、 MiniPCIeCAN II
            device_index = 0; // 设备
            channel_index = 0;// 通道号
            reserved = 0;
            temp_error = 0;

            //
            config_.can_type = Define.TYPE_CAN;
            config_.can.filter = 0;
            config_.can.acc_code = 0;
            config_.can.acc_mask = 0xFFFFFFFF;
            config_.can.mode = 0;


            // 打开设备
            device_handle_ = Method.ZCAN_OpenDevice(device_type, device_index, reserved);
            if(NULL == (int)device_handle_)
            {
                temp_error = 1;
            }

            // 设波特率
            string path = channel_index + "/baud_rate_custom";
            string baudrate = "500000";                       // 500K
            Method.ZCAN_SetValue(device_handle_, path, Encoding.ASCII.GetBytes(baudrate));

            //

            // 初始化设置
            IntPtr pConfig = Marshal.AllocHGlobal(Marshal.SizeOf(config_));
            Marshal.StructureToPtr(config_, pConfig, true);
            channel_handle_ = Method.ZCAN_InitCAN(device_handle_, (uint)channel_index, pConfig);
            if (NULL == (int)channel_handle_)
            {
                temp_error = 1;
            }

            // 启动对应的can
            if (Method.ZCAN_StartCAN((IntPtr)channel_index) != Define.STATUS_OK)
            {
                temp_error = 1;
            }

            if (temp_error == 1)
            {
                ret = "Error!";
            }
            else
            {
                ret = "OK";
            }

            return ret;
        }

        //CAN逆初始化
        public override string CanDeInit()
        {
            string ret;
            if(Method.ZCAN_CloseDevice(device_handle_) == Define.STATUS_OK)
            {
                ret = "OK";
            }
            else
            {
                ret = "断开连接失败";
            }

            return ret;
        }

        public override string CanReceiveEventEnable()
        {
            string ret;
            if (null == ReadThread)
            {

                ret = "线程为null";
            }
            else
            {
                ReadThread.Start();
                ret = "OK";
            }

            return ret;
        }


        public override string CanReceiveEventDisable()
        {
            string ret;
            if (null == ReadThread)
            {
                ret = "线程为null";
            }
            else
            {
                ReadThread.Abort();
                ret = "OK";
            }

            return ret;
        }

        // CAN发送一帧报文
        public override void CanSendMessage(UInt32 id, byte[] data, int len)
        {
            //uint temp_error;
            // temp_error = 0;

            ZCAN_Transmit_Data can_data = new ZCAN_Transmit_Data();
            can_data.frame.data = new byte[8];
            can_data.frame.can_id = id;
            for(int i = 0;i< len;i++)
            {
                can_data.frame.data[i] = data[i];
            }
            can_data.frame.can_dlc = (byte)len;
            can_data.transmit_type = 0; // 正常发送
            IntPtr ptr = Marshal.AllocHGlobal(Marshal.SizeOf(can_data));
            // Marshal.StructureToPtr(can_data, ptr, true);

            if(Method.ZCAN_Transmit(device_handle_, ptr, 1) != 1)
            {
                // temp_error = 1;
            }


        }

        //CAN从FIFO接收一帧报文
        public override bool CanReadMessage(ref UInt32 id, byte[] data, ref int len)
        {
            ZCAN_Receive_Data[] can_data = new ZCAN_Receive_Data[16];
            const int TYPE_CAN = 0;
            uint len_size;
            bool ret = false;
            len_size = Method.ZCAN_GetReceiveNum(channel_handle_, TYPE_CAN);
            if(len_size > 0)
            {
                int size = Marshal.SizeOf(typeof(ZCAN_Receive_Data));
                IntPtr ptr = Marshal.AllocHGlobal((int)100 * size);
                Method.ZCAN_Receive(channel_handle_, ptr, 100, 50);
                for (int i = 0; i < len_size; ++i)
                {
                    can_data[i] = (ZCAN_Receive_Data)Marshal.PtrToStructure(
                        (IntPtr)((Int64)ptr + i * size), typeof(ZCAN_Receive_Data));
                }
            }


            return ret;
        }

        //  设置过滤设置
        public override string CanSetFilter(UInt32 stratId, UInt32 endId)
        {



            return "OK";
        }

#endregion

        //CANFD
        #region CANFD

        //CANFD初始化
        public override string CanFdInit()
        {


            return "OK";
        }

        //CANFD初始化
        public override string CanFdDeInit()
        {
            // return this.CanDeInit();
            string ret;

            ret = "OK";

            return ret;
        }

        // CanFD 过滤器设置
        public override string CanFdSetFilter(UInt32 stratId, UInt32 endId)
        {
            //清除所有过滤器


            //设置过滤


            return "OK";
        }

        // 开接收
        public override string CanFdReceiveEventEnable()
        {
            return this.CanReceiveEventEnable();
        }

        // 关接收
        public override string CanFdReceiveEventDisable()
        {
            return this.CanReceiveEventDisable();
        }


        //CANFD发送一帧报文
        public override void CanFdSendMessage(UInt32 id, byte[] data, int len)
        {

        }

        //CANFD从FIFO接收一帧报文
        public override bool CanFdReadMessage(ref UInt32 id, byte[] data, ref int len)
        {
            bool ret = false;



            return ret;
        }

        #endregion

    }
}