ERDS_UC/WindowsFormsApplication1/Form1.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;

/*------------兼容ZLG的数据类型---------------------------------*/

//1.ZLGCAN系列接口卡信息的数据类型。
public struct VCI_BOARD_INFO
{
    public UInt16 hw_Version;
    public UInt16 fw_Version;
    public UInt16 dr_Version;
    public UInt16 in_Version;
    public UInt16 irq_Num;
    public byte can_Num;
    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 20)]
    public byte[] str_Serial_Num;
    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 40)]
    public byte[] str_hw_Type;
    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)]
    public byte[] Reserved;
}

/////////////////////////////////////////////////////
//2.定义CAN信息帧的数据类型。
unsafe public struct VCI_CAN_OBJ  //使用不安全代码
{
    public uint ID;
    public uint TimeStamp;        //时间标识
    public byte TimeFlag;         //是否使用时间标识
    public byte SendType;         //发送标志。保留，未用
    public byte RemoteFlag;       //是否是远程帧
    public byte ExternFlag;       //是否是扩展帧
    public byte DataLen;          //数据长度
    public fixed byte Data[8];    //数据
    public fixed byte Reserved[3];//保留位

}

//3.定义初始化CAN的数据类型
public struct VCI_INIT_CONFIG
{
    public UInt32 AccCode;
    public UInt32 AccMask;
    public UInt32 Reserved;
    public byte Filter;   //0或1接收所有帧。2标准帧滤波，3是扩展帧滤波。
    public byte Timing0;  //波特率参数，具体配置，请查看二次开发库函数说明书。
    public byte Timing1;
    public byte Mode;     //模式，0表示正常模式，1表示只听模式,2自测模式
}

/*------------其他数据结构描述---------------------------------*/
//4.USB-CAN总线适配器板卡信息的数据类型1，该类型为VCI_FindUsbDevice函数的返回参数。
public struct VCI_BOARD_INFO1
{
    public UInt16 hw_Version;
    public UInt16 fw_Version;
    public UInt16 dr_Version;
    public UInt16 in_Version;
    public UInt16 irq_Num;
    public byte can_Num;
    public byte Reserved;
    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
    public byte[] str_Serial_Num;
    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)]
    public byte[] str_hw_Type;
    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)]
    public byte[] str_Usb_Serial;
}


public struct CHGDESIPANDPORT
{
    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 10)]
    public byte[] szpwd;
    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 20)]
    public byte[] szdesip;
    public Int32 desport;

    public void Init()
    {
        szpwd = new byte[10];
        szdesip = new byte[20];
    }
}

public unsafe struct UdsAppMsgInfo
{
    public UInt32 xUdsId;
    public UInt32 xDataLen;
    public byte xUdsRequest;
    public fixed byte aDataBuf[150];
}

public unsafe struct UdsAppResponseInfo
{
    public bool isPositiveResponse;
    public byte responseDataLength;
    public fixed byte responseData[100];
}

public struct UdsDID
{
    public byte DID_High;
    public byte DID_Low;
}

public struct UdsDIDList
{
    public UdsDID fingerPrint;
    public UdsDID eraseFlash;
    public UdsDID checkProgramIndependence;
    public UdsDID checkCRCofBlock;
}

public struct FileDownloadDataType
{
    public bool isDownloadFlag;
    public UInt32 memoryStartAddr;
    public UInt32 memorySize;
    public UInt16 fileBlockCRC16;
    public byte[] fileDownloadDataBuff;
}

namespace WindowsFormsApplication1
{

    public partial class Form1 : Form
    {
        const int DEV_USBCAN = 3;
        const int DEV_USBCAN2 = 4;
        UInt32 receCount = new UInt32();  
        /// <summary>
        /// 
        /// </summary>
        /// <param name="DeviceType"></param>
        /// <param name="DeviceInd"></param>
        /// <param name="Reserved"></param>
        /// <returns></returns>
        /*------------兼容ZLG的函数描述---------------------------------*/
        [DllImport("controlcan.dll")]
        static extern UInt32 VCI_OpenDevice(UInt32 DeviceType, UInt32 DeviceInd, UInt32 Reserved);
        [DllImport("controlcan.dll")]
        static extern UInt32 VCI_CloseDevice(UInt32 DeviceType, UInt32 DeviceInd);
        [DllImport("controlcan.dll")]
        static extern UInt32 VCI_InitCAN(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_INIT_CONFIG pInitConfig);

        [DllImport("controlcan.dll")]
        static extern UInt32 VCI_ReadBoardInfo(UInt32 DeviceType, UInt32 DeviceInd, ref VCI_BOARD_INFO pInfo);

        [DllImport("controlcan.dll")]
        static extern UInt32 VCI_GetReceiveNum(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd);
        [DllImport("controlcan.dll")]
        static extern UInt32 VCI_ClearBuffer(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd);

        [DllImport("controlcan.dll")]
        static extern UInt32 VCI_StartCAN(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd);
        [DllImport("controlcan.dll")]
        static extern UInt32 VCI_ResetCAN(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd);

        [DllImport("controlcan.dll")]
        static extern UInt32 VCI_Transmit(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_CAN_OBJ pSend, UInt32 Len);

        [DllImport("controlcan.dll")]
        static extern UInt32 VCI_Receive(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_CAN_OBJ pReceive, UInt32 Len, Int32 WaitTime);

        /*------------其他函数描述---------------------------------*/

        [DllImport("controlcan.dll")]
        static extern UInt32 VCI_ConnectDevice(UInt32 DevType, UInt32 DevIndex);
        [DllImport("controlcan.dll")]
        static extern UInt32 VCI_UsbDeviceReset(UInt32 DevType, UInt32 DevIndex, UInt32 Reserved);
        [DllImport("controlcan.dll")]
        static extern UInt32 VCI_FindUsbDevice(ref VCI_BOARD_INFO1 pInfo);

        private delegate void CrossThreadOperationControl();
        /*------------函数描述结束---------------------------------*/


        /*------------全局变量声明---------------------------------*/
        //private float X;//当前窗体的宽度
        //private float Y;//当前窗体的高度
        //private bool IsFirst = true;

        bool isForm1Colsed = false;
        byte controllerChooseFlag = 0xFF;

        static UInt32 m_devtype = 4;//USBCAN2
        UInt32 m_devind = 0;
        UInt32 m_canind = 0;
        UInt32[] m_arrdevtype = new UInt32[20];

        bool UpdateServiceSwitch = false;


        VCI_CAN_OBJ[] receobj = new VCI_CAN_OBJ[20];
        bool buttStartCan = false;
        bool buttStartDownload = false;

        public Form1()
        {

            InitializeComponent();

        }


        private void button1_Click(object sender, EventArgs e)
        {

        }



        private void Form1_Load(object sender, EventArgs e)
        {

            Int32 curindex = 0;
            comboBox_devtype.Items.Clear();

            curindex = comboBox_devtype.Items.Add("DEV_USBCAN");
            m_arrdevtype[curindex] = DEV_USBCAN;
            //comboBox_devtype.Items[2] = "VCI_USBCAN1";
            //m_arrdevtype[2]=  VCI_USBCAN1 ;

            curindex = comboBox_devtype.Items.Add("DEV_USBCAN2");
            m_arrdevtype[curindex] = DEV_USBCAN2;

            //comboBox_devtype.Items[3] = "VCI_USBCAN2";
            //m_arrdevtype[3]=  VCI_USBCAN2 ;
            comboBox_BoardIndex.SelectedIndex = 0;
            comboBox_CANIndex.SelectedIndex = 0;
            comboBox_DeviceIndex.SelectedIndex = 0;
            comboBox_CANIndex.SelectedIndex = 0;
            comboBox_MsgType.SelectedIndex = 1;
            comboBox_UC_TMSMod.SelectedIndex = 0;
            //comboBox_ControllerChoose.SelectedIndex = 0x00;
            //comboBox_MsgType.SelectedIndex = 0x01;
            //canMsgType = (byte)(comboBox_MsgType.SelectedIndex);
            //controllerChooseFlag = (byte)(comboBox_ControllerChoose.SelectedIndex + 1);

            //


            comboBox_devtype.SelectedIndex = 1;
           
            comboBox_devtype.MaxDropDownItems = comboBox_devtype.Items.Count;

            setBoxAndButtonEnalbe(true);
            isForm1Colsed = false;



        }
        private void setBoxAndButtonEnalbe(bool trueOrfalse)
        {

            comboBox_CANIndex.Enabled = trueOrfalse;
            comboBox_devtype.Enabled = trueOrfalse;
            comboBox_BoardIndex.Enabled = trueOrfalse;
            comboBox_DeviceIndex.Enabled = trueOrfalse;



        }
        private void Form1_FormClosed(object sender, FormClosedEventArgs e)
        {
            if (buttStartCan == true)
            {
                //VCI_CloseDevice(m_devtype, m_devind);
            }
            //autoSaveFile();
            //UpdateStep = 0xFF;
            isForm1Colsed = true;
            //setBoxAndButtonEnalbe(false);
        }
         
        private void button_StartCAN_Click(object sender, EventArgs e)
        {
            if (buttStartCan == true)
            {
                buttStartCan = false;
                timer_rec.Enabled = buttStartCan == true ? true : false;
                timer_send.Enabled = buttStartCan == true ? true : false;

            }
            else
            {
                canMsgType = (byte)(comboBox_MsgType.SelectedIndex);
                m_devtype = m_arrdevtype[comboBox_devtype.SelectedIndex];

                m_devind = 0;
                m_canind = (UInt32)comboBox_CANIndex.SelectedIndex;
                m_devind = (UInt32)comboBox_DeviceIndex.SelectedIndex;
                if (VCI_OpenDevice(m_devtype, m_devind, 0) == 0)
                {
                    MessageBox.Show("打开设备失败,请检查设备类型和设备索引号是否正确", "错误",
                            MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
                    return;
                }


                buttStartCan = true;
                timer_rec.Interval = 10;
                timer_rec.Enabled = buttStartCan == true ? true : false;
                timer_send.Enabled = buttStartCan == true ? true : false;

                VCI_INIT_CONFIG config = new VCI_INIT_CONFIG();
                if (comboBox_MsgType.Text == "标准帧")
                {
                    config.AccCode = 0;
                    config.AccMask = 0xffffffff;
                    //config.AccCode = Convert.ToUInt32(textBox_responseAddr.Text, 16) << 21;
                    //config.AccMask = 0x1FFFFF;
                     config.Filter = 0x02;//只接收符合要求的标准帧
                                          //0或1接收所有帧。2标准帧滤波，3是扩展帧滤波。
                }
                else if (comboBox_MsgType.Text == "扩展帧")
                {
                    config.AccCode = 0;
                    config.AccMask = 0xffffffff;

                    //config.AccCode = Convert.ToUInt32(textBox_responseAddr.Text, 16) << 3;
                    //config.AccMask = 0x07;
                    config.Filter = 0x03;//只接收符合要求的扩展帧
                }

                //波特率设置为250K
                switch (comboBox_BoardIndex.Text)
                {
                    case "250K":
                        config.Timing0 = 0x01;
                        config.Timing1 = 0x1C;
                        break;
                    case "500K":
                        config.Timing0 = 0x00;
                        config.Timing1 = 0x1C;
                        break;

                    default:  //250K
                        config.Timing0 = 0x01;
                        config.Timing1 = 0x1C;
                        break;
                }
                //config.Filter = 0x00;//接收所有报文
                config.Mode = (Byte)0x00;  //正常工作模式
                VCI_InitCAN(m_devtype, m_devind, m_canind, ref config);
            }
            button_StartCAN.Text = buttStartCan == true ? "停止CAN" : "启动CAN";
            button_StartCAN.BackColor = buttStartCan == true ? Color.GreenYellow : SystemColors.Control;


            if (buttStartCan == false)
            {
                VCI_ResetCAN(m_devtype, m_devind, m_canind);
                comboBox_devtype.Enabled = true;
                comboBox_CANIndex.Enabled = true;
                comboBox_DeviceIndex.Enabled = true;
                comboBox_BoardIndex.Enabled = true;
                comboBox_MsgType.Enabled = true;
                //comboBox_ControllerChoose.Enabled = true;
                return;
            }
            VCI_StartCAN(m_devtype, m_devind, m_canind);
            comboBox_devtype.Enabled = false;
            comboBox_CANIndex.Enabled = false;
            comboBox_DeviceIndex.Enabled = false;
            comboBox_BoardIndex.Enabled = false;
            comboBox_MsgType.Enabled = false;
            //comboBox_ControllerChoose.Enabled = false;
        }
        private void  timer_rec_Tick(object sender, EventArgs e)
        {

            if (receCount == 0)
            {
                uint res = VCI_GetReceiveNum(m_devtype, m_devind, m_canind);

                if (res > 0)
                {
                    receobj = new VCI_CAN_OBJ[20];
                    receCount = 0;
                    receCount = VCI_Receive(m_devtype, m_devind, m_canind, ref receobj[0], 15, 0);
                    if (receCount == 0xFFFFFFFF)
                    {
                        receCount = 0;
                    }
                    for (int i = 0; i < receCount; i++)
                    {
                        CAN_Receive_Decode(receobj[i]);
                        //strCanMsg += CANMsgRecord(receobj[i], "rx");
                    }
                    receCount = 0;

                }
                else
                {

                }
            }
        }
        
        int getTwoByte(Byte data, int position)
        {
            return ((0X03 << position) & data) >> position;
        }
        private void CAN_Receive_Decode(VCI_CAN_OBJ data)
        {
            int bypassRelay = 0;
            byte RCB_bypass_rad = 0;
            byte RCB_bypass_HE = 0;
            byte RCB_pump = 0;
            byte RCB_fan = 0;
            byte RCB_PTC = 0;
            byte RCB_modTMax = 0;
            byte RCB_modTMin = 0;
            byte RCB_battery_inT = 0;
            byte RCB_battery_outT = 0;
            byte RCB_pdu_inT = 0;
            byte RCB_pdu_outT = 0;
            byte RCB_motor_outT = 0;
            byte RCB_rad_outT = 0;
            byte RCB_HE_outT = 0;
            byte RCB_EvT = 0;
            int RCB_battU = 0;
            int RCB_battCurr = 0;
            byte RCB_fltCode = 0;
            byte RCB_battSt = 0;
            UInt32 RCB_flowmeter1 = 0;
            UInt32 RCB_flowmeter2 = 0;
            byte RCB_T1 = 0;
            byte RCB_T2 = 0;
            byte RCB_T3 = 0;
            byte RCB_T4 = 0;
            unsafe
            {
                switch (data.ID)
                {
                    case 0X1810EECB:

                        bypassRelay = getTwoByte(data.Data[0], 2);
                        if (1 == bypassRelay)
                        {
                            textBox_RCB_relay.Text = "开";
                        }
                        else
                        {
                            textBox_RCB_relay.Text = "关";
                        }

                        RCB_bypass_rad = data.Data[1];
                        RCB_bypass_HE = data.Data[2];
                        RCB_pump = data.Data[3];
                        RCB_fan = data.Data[4];
                        RCB_PTC = data.Data[5];
                       
                        textBox_RCB_bypass_rad.Text = RCB_bypass_rad.ToString();
                        textBox_RCB_bypass_HE.Text = RCB_bypass_HE.ToString();
                        textBox_RCB_pump.Text = RCB_pump.ToString();
                        textBox_RCB_fan.Text = RCB_fan.ToString();
                        textBox_RCB_PTC.Text = RCB_PTC.ToString();

                        byte RCB_TMSMod = data.Data[6];
                        byte RCB_SOC = data.Data[7];
                        string[] tmsMod = { "关机模式","制冷模式","制热模式","自循环模式","ERROR"};
                        if(RCB_TMSMod < 4)
                        {
                            textBox_RCB_TMSMod.Text = tmsMod[RCB_TMSMod];
                        }
                        else
                            textBox_RCB_TMSMod.Text = tmsMod[4];
                        textBox_RCB_SOC.Text = ((RCB_SOC + 0.0) * 0.4).ToString();
                        break;
                    case 0X1811EECB:

                        RCB_modTMax = data.Data[0];
                        RCB_modTMin = data.Data[1];
                        RCB_battery_inT = data.Data[2];
                        RCB_battery_outT = data.Data[3];
                        RCB_pdu_inT = data.Data[4];
                        RCB_pdu_outT = data.Data[5];
                        RCB_motor_outT = data.Data[6];
                        RCB_rad_outT = data.Data[7];

                        textBox_RCB_modTMax.Text = (RCB_modTMax - 40).ToString();
                        textBox_RCB_modTMin.Text = (RCB_modTMin - 40).ToString();
                        textBox_RCB_battery_inT.Text = (RCB_battery_inT  -  40).ToString();
                        textBox_RCB_battery_outT.Text = (RCB_battery_outT  -  40).ToString();
                        textBox_RCB_pdu_inT.Text = (RCB_pdu_inT  -  40).ToString();
                        textBox_RCB_pdu_outT.Text = (RCB_pdu_outT  -  40).ToString();
                        textBox_RCB_motor_outT.Text = (RCB_motor_outT  -  40).ToString();
                        textBox_RCB_rad_outT.Text = (RCB_rad_outT -  40).ToString();
                        break;
                    case 0X1812EECB:
                        RCB_HE_outT = data.Data[0];
                        RCB_EvT = data.Data[1];
                        RCB_battU = data.Data[3] + (data.Data[2] << 8);
                        RCB_battCurr = data.Data[5] + (data.Data[4] << 8);
                        RCB_fltCode = data.Data[6];
                        RCB_battSt = data.Data[7];

                        textBox_RCB_HE_outT.Text = (RCB_HE_outT - 40).ToString();
                        textBox_RCB_EvT.Text = (RCB_EvT - 40).ToString();
                        textBox_RCB_battU.Text = ((RCB_battU + 0.0)/10.0).ToString();
                        textBox_RCB_battCurr.Text = ((RCB_battCurr + 0.0)/10.0 - 1000.0).ToString();
                        textBox_RCB_fltCode.Text = (RCB_fltCode).ToString();
                        textBox_RCB_battSt.Text = (RCB_battSt).ToString();

                        break;
                    case 0X1813EECB:
                        byte[] tmp = new byte[8];
                        for (int i = 0; i < 8; i++)
                            tmp[i] = data.Data[i];
                        RCB_flowmeter1 = BitConverter.ToUInt32(tmp, 0);
                        RCB_flowmeter2 = BitConverter.ToUInt32(tmp, 4);

                        textBox_RCB_flowmeter1.Text = ((RCB_flowmeter1 + 0.0)/100.0).ToString();
                        textBox_RCB_flowmeter2.Text = ((RCB_flowmeter2 + 0.0) / 100.0).ToString();
                        break;

                    default:break;
                }
            }

        }
        byte twoByteMove( int position, bool ENABLE)
        {
            byte src = 0;
            if (true == ENABLE)
                src = 1;
            else
                src = 0;

            return (byte)(src << position);
        }
        byte canMsgType;
        private void CAN_Send_Decode_100ms()
        {
            byte tmp = 0;
            VCI_CAN_OBJ data = new VCI_CAN_OBJ();
            unsafe
            {
                //0X1801CBEE
                data.ID = 0X1801CBEE;
                data.DataLen = 8;
                data.ExternFlag = canMsgType;

                tmp += twoByteMove(0, comboBox_HandControlEnable.Text.Equals("使能"));
                tmp += twoByteMove(2, comboBox_RelayControlEnable.Text.Equals("开"));

                data.Data[0] = tmp;
                if (numericUpDown_RaThreeSet.Text != "")
                    data.Data[1] = (byte)numericUpDown_RaThreeSet.Value;// Convert.ToByte(numericUpDown_RaThreeSet.Text);
                if (numericUpDown_ExThreeSet.Text != "")
                    data.Data[2] = (byte)numericUpDown_ExThreeSet.Value;// Convert.ToByte(numericUpDown_ExThreeSet.Text);
                for(int i = 1; i < 3; i++)
                {
                    data.Data[i] = data.Data[i] > (byte)180 ? (byte)180 : data.Data[i];
                }
                if (numericUpDown_WaPuSpConEnable.Text != "")
                    data.Data[3] = (byte)numericUpDown_WaPuSpConEnable.Value;// Convert.ToByte(numericUpDown_WaPuSpConEnable.Text);
                if (numericUpDown_FanSpeedEnable.Text != "")
                    data.Data[4] = (byte)numericUpDown_FanSpeedEnable.Value;// Convert.ToByte(numericUpDown_FanSpeedEnable.Text);
                if (numericUpDown_PTC_ControlEnable.Text != "")
                    data.Data[5] = (byte)numericUpDown_FanSpeedEnable.Value;// Convert.ToByte(numericUpDown_PTC_ControlEnable.Text);
                for (int i = 3; i < 6; i++)
                {
                    data.Data[i] = data.Data[i] > (byte)100 ? (byte)100 : data.Data[i];
                }
                data.Data[6] = (byte)comboBox_UC_TMSMod.SelectedIndex;

                VCI_Transmit(m_devtype, m_devind, m_canind,ref data, 1);
            }


        }

        private void timer_send_Tick(object sender, EventArgs e)
        {
            CAN_Send_Decode_100ms();
        }
    }
}