MTB_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)
        {

        }

        static int SubBoardsNUM = 6;
        static int P_ALL_U_NUM = 34;
        static int P_ALL_T_NUM = 10;
        TextBox[] textboxs_U = new TextBox[SubBoardsNUM * P_ALL_U_NUM];
        Label[] lables_U = new Label[SubBoardsNUM * P_ALL_U_NUM];
        TextBox[] textboxs_T = new TextBox[SubBoardsNUM * P_ALL_T_NUM];
        Label[] lables_T = new Label[SubBoardsNUM * P_ALL_T_NUM];
        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 = 0;


            comboBox_VCU_BMSHVOnOffReq.SelectedIndex = 0;
            comboBox_VCU_AllowChgCtrl.SelectedIndex = 0;
            comboBox_VCU_BMSCutOffLV.SelectedIndex = 0;

            comboBox_LockingPinStsFB.SelectedIndex = 0;
            comboBox_Change_BattConSts.SelectedIndex = 0;

            comboBox_BTMS_WorkSts.SelectedIndex = 0;
            comboBox_BTMS_ConnStsFb.SelectedIndex = 0;
            comboBox_BTMS_FltLevel.SelectedIndex = 0;

            comboBox_encryptionEnable.SelectedIndex = 0;
            //comboBox_ControllerChoose.SelectedIndex = 0x00;
            //comboBox_MsgType.SelectedIndex = 0x01;
            //canMsgType = (byte)(comboBox_MsgType.SelectedIndex);
            //controllerChooseFlag = (byte)(comboBox_ControllerChoose.SelectedIndex + 1);

            //

            FlowLayoutPanel[] flowLayoutPanelS = { flowLayoutPanel_1, flowLayoutPanel_2, flowLayoutPanel_3, flowLayoutPanel_4, flowLayoutPanel_5, flowLayoutPanel_6 };
            flowLayoutPanel_1.Dock = DockStyle.Fill;
            //flowLayoutPanel_1.FlowDirection = FlowDirection.TopDown;
           

            // 循环生成50个lable控件和50个textbox控件
            for (int i = 0; i < SubBoardsNUM; i++)
            {
                flowLayoutPanelS[i].WrapContents = true;
                for (int j = 0; j < P_ALL_U_NUM; j++)
                {
                    // 创建lable控件和textbox控件
                    Label label = new Label();
                    TextBox textbox = new TextBox();
                    // 设置lable控件的文本和位置

                    label.Text = "U" + (j + 1).ToString();
                    label.Location = new Point(0, 0);
                    label.Size = new Size(25, 15);
                    // 设置textbox控件的位置和大小
                    textbox.Location = new Point(label.Width, 0);
                    textbox.Size = new Size(50, 25);

                    // 创建一个容器控件，用于存放每对lable控件和textbox控件
                    Panel container = new Panel();
                    container.Size = new Size(textbox.Width + label.Width + 20, textbox.Height);
                    container.Controls.Add(label);
                    container.Controls.Add(textbox);
                    //container.Margin = new Padding(2,2,2,2);
                    // 将容器控件添加到FlowLayoutPanel中
                    flowLayoutPanelS[i].Controls.Add(container);

                    // 每行有五个控件，如果已经添加了五个控件，就换行
                    if ((j+1) % 7 == 0 || j  == 33)
                    {
                        flowLayoutPanelS[i].SetFlowBreak(container, true);
                    }

                    lables_U[i * 34 + j] = label;
                    textboxs_U[i * 34 + j] = textbox;

                }
                for (int j = 0; j < P_ALL_T_NUM; j++)
                {
                    // 创建lable控件和textbox控件
                    Label label = new Label();
                    TextBox textbox = new TextBox();
                    // 设置lable控件的文本和位置

                    label.Text = "T" + (j + 1).ToString();
                    label.Location = new Point(0, 0);
                    label.Size = new Size(25, 15);
                    // 设置textbox控件的位置和大小
                    textbox.Location = new Point(label.Width, 0);
                    textbox.Size = new Size(50, 25);

                    // 创建一个容器控件，用于存放每对lable控件和textbox控件
                    Panel container = new Panel();
                    container.Size = new Size(textbox.Width + label.Width + 20, textbox.Height);
                    container.Controls.Add(label);
                    container.Controls.Add(textbox);
                    //container.Margin = new Padding(2,2,2,2);
                    // 将容器控件添加到FlowLayoutPanel中
                    flowLayoutPanelS[i].Controls.Add(container);

                    // 每行有五个控件，如果已经添加了五个控件，就换行
                    if ((j + 1) % 7 == 0)
                    {
                        flowLayoutPanelS[i].SetFlowBreak(container, true);
                    }

                    lables_T[i * 10 + j] = label;
                    textboxs_T[i * 10 + j] = textbox;
                }
               
            }

            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;

                VCI_CloseDevice(m_devtype, m_devind);
            }
            else
            {
                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;

                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;
                timer_rec.Enabled = false;
                timer_send.Enabled = false;
                //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;

            timer_rec.Interval = 10;
            timer_send.Interval = 100;
            timer_rec.Enabled = true;
            timer_send.Enabled = true;
            //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++)
                    {
                        //strCanMsg += CANMsgRecord(receobj[i], "rx");
                        byte[] tmp = new byte[8];

                        CANRec(receobj[i].ID, receobj[i]);
                    }
                    receCount = 0;

                }
                else
                {

                }
            }
        }

        private void timer_send_Tick(object sender, EventArgs e)
        {
            VCI_CAN_OBJ sendObj = new VCI_CAN_OBJ();
            CANTx(0x1802F3D0, sendObj);
            CANTx(0x18F5C13A, sendObj);
            CANTx(0x18FF42D8, sendObj);
            CANTx(0x18FFCBF3, sendObj);
            CANTx(0x18FFF8A7, sendObj);
        }
        void CANTx(UInt32 ID, VCI_CAN_OBJ sendObj)
        {
            sendObj.ID = ID;
            sendObj.ExternFlag = 0X01;
            sendObj.DataLen = 0x08;
            unsafe
            {
                for (int i = 0; i < 8; i++)
                {
                    sendObj.Data[i] = 0;
                }
                switch (ID)
                {
                    //vcu
                    case 0x1802F3D0:
                        int VCU_V2B_CMD_Checksum = 0;

                        int VCU_BMSHVOnOffReq = 0;
                        int VCU_VehSpd = 0;
                        int VCU_BMSCutOffLV = 0;
                        int VCU_AllowChgCtrl = 0;


                        VCU_BMSHVOnOffReq = comboBox_VCU_BMSHVOnOffReq.SelectedIndex;

                        sendObj.Data[1] = (byte)((((VCU_V2B_CMD_AliveConter >> 0) & 0xF) << 0) | (((VCU_BMSHVOnOffReq >> 0) & 0x3) << 4));
                        VCU_VehSpd = Convert.ToInt32(numericUpDown_VCU_VehSpd.Value);
                        sendObj.Data[2] = (byte)(((VCU_VehSpd >> 0) & 0xFF) << 0);

                        VCU_AllowChgCtrl = comboBox_VCU_AllowChgCtrl.SelectedIndex;
                        VCU_BMSCutOffLV = comboBox_VCU_BMSCutOffLV.SelectedIndex;
                        sendObj.Data[7] = (byte)((((VCU_BMSCutOffLV >> 0) & 0x1) << 0) | ((VCU_AllowChgCtrl >> 0) & 0x3) << 1);

                        for (int i = 1; i < 8; i++)
                        {
                            VCU_V2B_CMD_Checksum ^= sendObj.Data[i];
                        }
                        sendObj.Data[0] = (byte)(((VCU_V2B_CMD_Checksum >> 0) & 0xFF) << 0);
                        if (++VCU_V2B_CMD_AliveConter >= 15)
                            VCU_V2B_CMD_AliveConter = 0;
                        break;
                    //tms
                    case 0x18F5C13A:
                        int BTMS_WorkSts = 0;
                        int BTMS_ConnStsFb = 0;
                        int BTMS_BattPackInCoolTemp = 0;
                        int BTMS_BattPackoutCoolTemp = 0;
                        int BTMS_ActPower = 0;
                        int BTMS_DTC = 0;
                        int BTMS_FltLevel = 0;


                        BTMS_WorkSts = comboBox_BTMS_WorkSts.SelectedIndex;
                        BTMS_ConnStsFb = comboBox_BTMS_ConnStsFb.SelectedIndex;
                        BTMS_BattPackInCoolTemp = Convert.ToByte(numericUpDown_BTMS_BattPackInCoolTemp.Value + 40);
                        BTMS_BattPackoutCoolTemp = Convert.ToByte(numericUpDown_BTMS_BattPackoutCoolTemp.Value + 40);
                        BTMS_ActPower = Convert.ToInt32(numericUpDown_BTMS_ActPower.Value * 10);
                        BTMS_DTC = Convert.ToByte(numericUpDown_BTMS_DTC.Value);
                        BTMS_FltLevel = comboBox_BTMS_FltLevel.SelectedIndex;

                        sendObj.Data[0] = (byte)((((BTMS_WorkSts >> 0) & 0x3) << 0) | (((BTMS_ConnStsFb >> 0) & 0xF) << 2));
                        sendObj.Data[1] = (byte)(((BTMS_BattPackInCoolTemp >> 0) & 0xFF) << 0);
                        sendObj.Data[2] = (byte)(((BTMS_BattPackoutCoolTemp >> 0) & 0xFF) << 0);
                        sendObj.Data[5] = (byte)(((BTMS_ActPower >> 0) & 0xFF) << 0);
                        sendObj.Data[6] = (byte)(((BTMS_ActPower >> 8) & 0xFF) << 0);
                        sendObj.Data[7] = (byte)((((BTMS_DTC >> 0) & 0x3F) << 0) | (((BTMS_FltLevel >> 0) & 0x3) << 6));
                        break;
                    case 0x18FF42D8:
                        /*
                        sendObj.Data[0] = (byte)(((TBOX_Second >> 0) & 0xFF) << 0);
                        sendObj.Data[1] = (byte)(((TBOX_Minute >> 0) & 0xFF) << 0);
                        sendObj.Data[2] = (byte)(((TBOX_Hour >> 0) & 0xFF) << 0);
                        sendObj.Data[3] = (byte)(((TBOX_Day >> 0) & 0xFF) << 0);
                        sendObj.Data[4] = (byte)(((TBOX_Month >> 0) & 0xFF) << 0);
                        sendObj.Data[5] = (byte)(((TBOX_Year >> 0) & 0xFF) << 0);*/
                        break;
                    //rcb
                    case 0x18FFCBF3:
                        UInt16 RCB_encryp1 = (UInt16)BMS_encryp1;
                        UInt16 RCB_encryp2 = (UInt16)BMS_encryp2;
                        UInt16 RCB_encryp3 = (UInt16)BMS_encryp3;
                        UInt16 RCB_encryp4 = (UInt16)BMS_encryp4;
                        if(comboBox_encryptionEnable.SelectedIndex == 0)
                        {
                            RCB_encryp1 = encryptionAlgorithm(RCB_encryp1);
                            RCB_encryp2 = encryptionAlgorithm(RCB_encryp2);
                            RCB_encryp3 = encryptionAlgorithm(RCB_encryp3);
                            RCB_encryp4 = encryptionAlgorithm(RCB_encryp4);
                        }


                        sendObj.Data[0] = (byte)(((RCB_encryp1 >> 0) & 0xFF) << 0);
                        sendObj.Data[1] = (byte)(((RCB_encryp1 >> 8) & 0xFF) << 0);
                        sendObj.Data[2] = (byte)(((RCB_encryp2 >> 0) & 0xFF) << 0);
                        sendObj.Data[3] = (byte)(((RCB_encryp2 >> 8) & 0xFF) << 0);
                        sendObj.Data[4] = (byte)(((RCB_encryp3 >> 0) & 0xFF) << 0);
                        sendObj.Data[5] = (byte)(((RCB_encryp3 >> 8) & 0xFF) << 0);
                        sendObj.Data[6] = (byte)(((RCB_encryp4 >> 0) & 0xFF) << 0);
                        sendObj.Data[7] = (byte)(((RCB_encryp4 >> 8) & 0xFF) << 0);
                        break;
                    //EBC
                    case 0x18FFF8A7:

                        int LockingPinStsFB = 0;
                        int Change_BattConSts = 0;

                        int Message_Checksum = 0;

                        Message_Checksum = Message_Counter;
                        LockingPinStsFB = comboBox_LockingPinStsFB.SelectedIndex;
                        Change_BattConSts = comboBox_Change_BattConSts.SelectedIndex;

                        sendObj.Data[1] = (byte)((((LockingPinStsFB >> 0) & 0x3) << 0) | (((Change_BattConSts >> 0) & 0x3) << 2));
                        sendObj.Data[7] = (byte)((((Message_Counter >> 0) & 0xF) << 0) | (((Message_Checksum >> 0) & 0xF) << 4));
                        if (++Message_Counter >= 15)
                            Message_Counter = 0;
                        break;
                    default:
                        break;
                }
                VCI_Transmit(m_devtype, m_devind, m_canind, ref sendObj, 1);
            }

        }
        int BMS_encryp1 = 0;
        int BMS_encryp2 = 0;
        int BMS_encryp3 = 0;
        int BMS_encryp4 = 0;
        void CANRec(UInt32 ID, VCI_CAN_OBJ sendObj)
        {
            unsafe
            {
                switch (ID)
                {

                    case 0x1801D0F3:
                        string[] strs_BMS_CutOffHVReq = { "预留 ","请求下高压","不请求下高压","无效 "};
                        int BMS_CutOffHVReq = (byte)((((sendObj.Data[0] >> 2) & 0x3) << 0));        //是否请求下高压
                        BMS_CutOffHVReq = BMS_CutOffHVReq < strs_BMS_CutOffHVReq.Length ? BMS_CutOffHVReq : strs_BMS_CutOffHVReq.Length - 1;
                        textBox_BMS_CutOffHVReq.Text = strs_BMS_CutOffHVReq[BMS_CutOffHVReq];
                        //int BMS_PmtCutoffLVFb = (byte)((((sendObj.Data[0]>>4)&0x3)<<0));       //BMS允许下低压
                        //int BMS_EmergCutoffHVReq = (byte)((((sendObj.Data[0]>>6)&0x3)<<0));    //BMS紧急下高压请求
                        //int BMS_HeatNegRelaySts = (byte)((((sendObj.Data[1]>>0)&0x3)<<0));    //加热负继电器状态
                        // int BMS_HeatPosRelaySts = (byte)((((sendObj.Data[1]>>2)&0x3)<<0));    //加热正继电器状态
                        //int BMS_SelfChkSts = (byte)((((sendObj.Data[1]>>4)&0x3)<<0));         //BMS自检状态


                        break;
                    case 0x1880D0F3:
                        /*
                        int BMS_BattSysNum = (byte)((((sendObj.Data[0]>>0)&0xF)<<0));    //可充电装置系统序号
                        int BMS_MainPosRelayWeldedFlt = (byte)((((sendObj.Data[0]>>4)&0x1)<<0));    //主正继电器粘连故障
                        int BMS_MainNegRelayWeldedFlt = (byte)((((sendObj.Data[0]>>5)&0x1)<<0));    //主负继电器粘连故障
                        int BMS_ChgPosWeldedFlt1 = (byte)((((sendObj.Data[0]>>6)&0x1)<<0));    //充电正1继电器粘连故障
                        int BMS_ChgNegWeldedFlt1 = (byte)((((sendObj.Data[0]>>7)&0x1)<<0));    //充电负1继电器粘连故障
                        int BMS_ChgPosWeldedFlt2 = (byte)((((sendObj.Data[1]>>0)&0x1)<<0));    //充电正2继电器粘连故障
                        int BMS_ChgNegWeldedFlt2 = (byte)((((sendObj.Data[1]>>1)&0x1)<<0));    //充电负2继电器粘连故障
                        int BMS_HeatNegWeldedFlt = (byte)((((sendObj.Data[1]>>2)&0x1)<<0));    //加热负继电器粘连故障
                        int BMS_HeatPosWeldedFlt1 = (byte)((((sendObj.Data[1]>>3)&0x1)<<0));    //加热正继电器粘连故障
                        */
                        string[] BMS_ConnSts = { "预留" , "开启" ,"闭合" , "无效" };
                        int BMS_MainPosConnSts = (byte)((((sendObj.Data[1] >> 4) & 0x3) << 0));    //主正继电器状态反馈
                        int BMS_MainNegConnSts = (byte)((((sendObj.Data[1] >> 6) & 0x3) << 0));    //主ds负继电器状态反馈
                        int BMS_PreChgConnSts = (byte)((((sendObj.Data[2] >> 0) & 0x3) << 0));    //预充继电器状态反馈

                        int BMS_ChgPosConnSts1 = (byte)((((sendObj.Data[2] >> 2) & 0x3) << 0));    //充电正1继电器状态
                        int BMS_ChgNegConnSts1 = (byte)((((sendObj.Data[2] >> 4) & 0x3) << 0));    //充电负1继电器状态
                        int BMS_ChgPosConnSts2 = (byte)((((sendObj.Data[2] >> 6) & 0x3) << 0));    //充电正2继电器状态
                        int BMS_ChgNegConnSts2 = (byte)((((sendObj.Data[3] >> 0) & 0x3) << 0));    //充电负2继电器状态

                        BMS_MainPosConnSts = BMS_MainPosConnSts < BMS_ConnSts.Length ? BMS_MainPosConnSts : BMS_ConnSts.Length - 1;
                        BMS_MainNegConnSts = BMS_MainNegConnSts < BMS_ConnSts.Length ? BMS_MainNegConnSts : BMS_ConnSts.Length - 1;
                        BMS_ChgPosConnSts1 = BMS_ChgPosConnSts1 < BMS_ConnSts.Length ? BMS_ChgPosConnSts1 : BMS_ConnSts.Length - 1;
                        BMS_PreChgConnSts = BMS_PreChgConnSts < BMS_ConnSts.Length ? BMS_PreChgConnSts : BMS_ConnSts.Length - 1;
                        BMS_ChgNegConnSts1 = BMS_ChgNegConnSts1 < BMS_ConnSts.Length ? BMS_ChgNegConnSts1 : BMS_ConnSts.Length - 1;
                        BMS_ChgPosConnSts2 = BMS_ChgPosConnSts2 < BMS_ConnSts.Length ? BMS_ChgPosConnSts2 : BMS_ConnSts.Length - 1;
                        BMS_ChgNegConnSts2 = BMS_ChgNegConnSts2 < BMS_ConnSts.Length ? BMS_ChgNegConnSts2 : BMS_ConnSts.Length - 1;

                        textBox_BMS_MainPosConnSts.Text = BMS_ConnSts[BMS_MainPosConnSts];
                        textBox_BMS_MainNegConnSts.Text = BMS_ConnSts[BMS_MainNegConnSts];
                        textBox_BMS_PreChgConnSts.Text = BMS_ConnSts[BMS_PreChgConnSts];
                        textBox_BMS_ChgPosConnSts1.Text = BMS_ConnSts[BMS_ChgPosConnSts1];
                        textBox_BMS_ChgNegConnSts1.Text = BMS_ConnSts[BMS_ChgNegConnSts1];
                        textBox_BMS_ChgPosConnSts2.Text = BMS_ConnSts[BMS_ChgPosConnSts2];
                        textBox_BMS_ChgNegConnSts2.Text = BMS_ConnSts[BMS_ChgNegConnSts2];

                        int BMS_ErrorCode = (byte)((((sendObj.Data[7] >> 0) & 0xFF) << 0));    //电池系统故障码
                        textBox_BMS_ErrorCode.Text = BMS_ErrorCode.ToString();
                        /*
                        int BMS_BranchCircuitFlt = (byte)((((sendObj.Data[3]>>3)&0x1)<<0));    //支路断路故障
                        int BMS_ChgCircuitOverLimtFlt = (byte)((((sendObj.Data[3]>>4)&0x3)<<0));    //回充电流超限故障
                        int BMS_MainPosNotConnFlt = (byte)((((sendObj.Data[3]>>6)&0x1)<<0));    //主正继电器无法闭合报警
                        int BMS_MainNegNotConnFlt = (byte)((((sendObj.Data[3]>>7)&0x1)<<0));    //主负继电器无法闭合报警
                        int BMS_ChgPosNotConnFlt1 = (byte)((((sendObj.Data[4]>>0)&0x1)<<0));    //充电正1继电器无法闭合报警
                        int BMS_ChgPosNotConnFlt2 = (byte)((((sendObj.Data[4]>>1)&0x1)<<0));    //充电正2继电器无法闭合报警
                        int BMS_ChgNegNotConnFlt1 = (byte)((((sendObj.Data[4]>>2)&0x1)<<0));    //充电负1继电器无法闭合报警
                        int BMS_ChgNegNotConnFlt2 = (byte)((((sendObj.Data[4]>>3)&0x1)<<0));    //充电负2继电器无法闭合报警
                        int BMS_HeatBTMSConnNotOpenFlt = (byte)((((sendObj.Data[4]>>4)&0x1)<<0));    //加热膜或BTMS继电器无法断开故障
                        int BMS_HeatBTMSNotConnFlt = (byte)((((sendObj.Data[4]>>5)&0x1)<<0));    //加热膜或 BTMS 继电器无法闭合故障
                        int BMS_HeatMgSysFlt = (byte)((((sendObj.Data[4]>>6)&0x1)<<0));    //热管理系统故障
                        int BMS_SupBattFlt = (byte)((((sendObj.Data[4]>>7)&0x1)<<0));    //BMS 24V供电异常报警
                        int BMS_BattSelfProtAlm = (byte)((((sendObj.Data[5]>>0)&0x1)<<0));    //电池包自保护报警
                        int BMS_PreChgRelayWeldedFlt = (byte)((((sendObj.Data[5]>>3)&0x1)<<0));    //预充继电器粘连故障
                        int BMS_PreChgNotConnFlt = (byte)((((sendObj.Data[5]>>4)&0x1)<<0));    //预充继电器无法闭合报警
                        int BMS_HeatPosNotConnFlt1 = (byte)((((sendObj.Data[5]>>5)&0x1)<<0));    //加热正继电器无法闭合故障
                        int BMS_HeatNegNotConnFlt = (byte)((((sendObj.Data[5]>>6)&0x1)<<0));    //加热负继电器无法闭合故障
                        int BMS_SysNum = (byte)((((sendObj.Data[6]>>0)&0xF)<<0));    //可充电储能子系统总数
                        */


                        break;
                    case 0x1881D0F3:

                        string[] strs_BMS_FaultLevel = { "无故障", "1级故障", "2级故障", "3级故障" };
                        string[] sts_BMS_BattCurrentSts = { "高压开启", "预先充电", "高压关断", "高压上电故障" };
                        int BMS_FaultLevel = (byte)((((sendObj.Data[2] >> 5) & 0x3) << 0));    //最高报警等级
                        int BMS_GBT32960FltNum = (byte)((((sendObj.Data[7] >> 3) & 0x1F) << 0));    //故障数目
                        int BMS_BattCurrentSts = (byte)((((sendObj.Data[1] >> 4) & 0x3) << 0));    //BMS当前工作状态

                        BMS_FaultLevel = BMS_FaultLevel < strs_BMS_FaultLevel.Length ? BMS_FaultLevel : strs_BMS_FaultLevel.Length - 1;
                        textBox_BMS_FaultLevel.Text = strs_BMS_FaultLevel[BMS_FaultLevel];

                        textBox_BMS_GBT32960FltNum.Text = BMS_GBT32960FltNum.ToString();
                        BMS_BattCurrentSts = BMS_BattCurrentSts < sts_BMS_BattCurrentSts.Length ? BMS_BattCurrentSts : sts_BMS_BattCurrentSts.Length - 1;
                        textBox_BMS_BattCurrentSts.Text = sts_BMS_BattCurrentSts[BMS_BattCurrentSts];
                        /*
                        int BMS_B2V_ST1Checksum = (byte)((((sendObj.Data[0]>>0)&0xFF)<<0));    //校验
                        int BMS_B2V_ST2AliveCounter = (byte)((((sendObj.Data[1]>>0)&0xF)<<0));    //计数

                        

                        int BMS_AssisConnSts = (byte)((((sendObj.Data[1]>>6)&0x1)<<0));    //附件继电器状态
                        int BMS_BattEqualizationSts = (byte)((((sendObj.Data[1]>>7)&0x1)<<0));    //BMS当前均衡状态
                        int BMS_CellTempDiffFault = (byte)((((sendObj.Data[3]>>0)&0x3)<<0));    //电芯温差异常报警
                        int BMS_BattTempHighFault = (byte)((((sendObj.Data[3]>>2)&0x3)<<0));    //电芯温度过高报警
                        int BMS_BattPackVolHighFault = (byte)((((sendObj.Data[3]>>4)&0x3)<<0));    //PACK过压报警
                        int BMS_BattPackVolLowFault = (byte)((((sendObj.Data[3]>>6)&0x3)<<0));    //PACK欠压报警
                        int BMS_BattSOCLowFault = (byte)((((sendObj.Data[4]>>0)&0x3)<<0));    //SOC过低报警
                        int BMS_BattCellVolHighFault = (byte)((((sendObj.Data[4]>>2)&0x3)<<0));    //单体电压过高报警
                        int BMS_BattCellVolLowFault = (byte)((((sendObj.Data[4]>>4)&0x3)<<0));    //单体电压欠压报警
                        int BMS_BattIsolationFault = (byte)((((sendObj.Data[4]>>6)&0x3)<<0));    //绝缘报警
                        int BMS_CellVolDiffFault = (byte)((((sendObj.Data[5]>>0)&0x3)<<0));    //单体压差过大
                        int BMS_ChgCurrHighFlt = (byte)((((sendObj.Data[5]>>2)&0x3)<<0));    //充电电流过大报警
                        int BMS_DisChgCurrHighFlt = (byte)((((sendObj.Data[5]>>4)&0x3)<<0));    //放电电流过大报警
                        int BMS_BattTempLowFault = (byte)((((sendObj.Data[5]>>6)&0x3)<<0));    //电芯温度过低报警
                        int BMS_BranchCircuitDiffFault = (byte)((((sendObj.Data[6]>>0)&0x3)<<0));    //支路压差过大报警
                        int BMS_ST1_Flt_HW = (byte)((((sendObj.Data[6]>>2)&0x3)<<0));    //BMS 硬件故障
                        int BMS_BattSOCHighFault = (byte)((((sendObj.Data[6]>>4)&0x1)<<0));    //SOC过高报警
                        int BMS_SOCJumpFault = (byte)((((sendObj.Data[6]>>5)&0x1)<<0));    //SOC跳变报警
                        int BMS_CANComFault = (byte)((((sendObj.Data[6]>>6)&0x1)<<0));    //BMS内部通讯故障
                        int BMS_BattPackMatchFault = (byte)((((sendObj.Data[6]>>7)&0x1)<<0));    //BMS系统不匹配报警
                        int BMS_ST1_Flt_HVIL = (byte)((((sendObj.Data[7]>>0)&0x1)<<0));    //高压互锁报警
                        int BMS_SmokeAlarm = (byte)((((sendObj.Data[7]>>1)&0x1)<<0));    //烟雾报警
                        int BMS_FireAlarm = (byte)((((sendObj.Data[7]>>2)&0x1)<<0));    //火灾报警
                        */

                        break;
                    case 0x1882D0F3:
                        int BMS_BattSOC = (byte)((((sendObj.Data[0] >> 0) & 0xFF) << 0));    //电池包SOC
                        int BMS_BattSOH = (byte)((((sendObj.Data[1] >> 0) & 0xFF) << 0));    //电池包SOH
                        int BMS_BattCurr = (UInt16)((((sendObj.Data[2] >> 0) & 0xFF) << 0) | (((sendObj.Data[3] >> 0) & 0xFF) << 8));    //动力电池组电流
                         //int BMS_MaxPmtEnyRecoCurr = (UInt16)((((sendObj.Data[4]>>0)&0xFF)<<0)|(((sendObj.Data[5]>>0)&0xFF)<<8));    //电池包允许最大回充电电流值 (脉冲)
                        int BMS_MaxPmtDischgCurr = (UInt16)((((sendObj.Data[6] >> 0) & 0xFF) << 0) | (((sendObj.Data[7] >> 0) & 0xFF) << 8));    //电池包允许最大放电电流值(脉冲)

                        textBox_BMS_BattSOC.Text = ((BMS_BattSOC + 0.0) * 0.4).ToString("F2");
                        textBox_BMS_BattSOH.Text = ((BMS_BattSOH + 0.0) * 0.4).ToString("F2");
                        textBox_BMS_BattCurr.Text = ((BMS_BattCurr + 0.0) * 0.1 - 2000.0).ToString("F2");
                        textBox_BMS_MaxPmtDischgCurr.Text = ((BMS_MaxPmtDischgCurr + 0.0) * 0.1).ToString();

                        break;
                    case 0x1883D0F3:
                        int BMS_PosIsolationRes = (UInt16)((((sendObj.Data[0] >> 0) & 0xFF) << 0) | (((sendObj.Data[1] >> 0) & 0xFF) << 8));    //电池包正极绝缘值
                        int BMS_NegIsolationRes = (UInt16)((((sendObj.Data[2] >> 0) & 0xFF) << 0) | (((sendObj.Data[3] >> 0) & 0xFF) << 8));    //电池包负极绝缘值


                        int BMS_BattTermVolINMainPos = (UInt16)((((sendObj.Data[4] >> 0) & 0xFF) << 0) | (((sendObj.Data[5] >> 0) & 0xFF) << 8));    //主正继电器内侧电池端电压 总压
                        int BMS_BattBusVolOutMainPos = (UInt16)((((sendObj.Data[6] >> 0) & 0xFF) << 0) | (((sendObj.Data[7] >> 0) & 0xFF) << 8));    //主正继电器外侧母线电压

                        textBox_BMS_PosIsolationRes.Text = ((BMS_PosIsolationRes)).ToString();
                        textBox_BMS_NegIsolationRes.Text = ((BMS_NegIsolationRes)).ToString();
                        textBox_BMS_BattTermVolINMainPos.Text = ((BMS_BattTermVolINMainPos + 0.0) * 0.1).ToString("F2");
                        textBox_BMS_BattBusVolOutMainPos.Text = ((BMS_BattBusVolOutMainPos + 0.0) * 0.1).ToString("F2");
                        break;
                    case 0x1884D0F3:
                        int BMS_BattMaxTemp = (byte)((((sendObj.Data[0] >> 0) & 0xFF) << 0));    //电芯温度最大值
                        int BMS_BattMinTemp = (byte)((((sendObj.Data[1] >> 0) & 0xFF) << 0));    //电芯温度最小值

                        textBox_BMS_BattMaxTemp.Text = (BMS_BattMaxTemp - 40).ToString();
                        textBox_BMS_BattMinTemp.Text = (BMS_BattMinTemp - 40).ToString();
                        /*int BMS_Cell_Avg_Temp = (byte)((((sendObj.Data[2]>>0)&0xFF)<<0));    //电芯温度平均值
                        int BMS_MaxTemp1PackNum = (byte)((((sendObj.Data[3]>>0)&0xFF)<<0));    //电芯温度最大值所在CSC编号
                        int BMS_MaxTemp1SnsNum = (byte)((((sendObj.Data[4]>>0)&0xFF)<<0));    //电芯温度最大值所在CSC内温度探针编号
                        int BMS_MinTemp1PackNum = (byte)((((sendObj.Data[5]>>0)&0xFF)<<0));    //电芯温度最小值所在CSC内温度探针编号
                        int BMS_MinTemp1SnsNum = (byte)((((sendObj.Data[6]>>0)&0xFF)<<0));    //电芯温度最小值所在CSC内温度探针编号*/
                        break;
                    case 0x1885D0F3:
                        int BMS_MaxCellVolt = (UInt16)((((sendObj.Data[0] >> 0) & 0xFF) << 0) | (((sendObj.Data[1] >> 0) & 0xFF) << 8));    //电芯电压值最大值
                        /*int BMS_MaxCellVoltPackNum = (byte)((((sendObj.Data[2]>>0)&0xFF)<<0));    //电芯电压最大值所在CSC编号
                        int BMS_MaxCellVoltSnsNum = (byte)((((sendObj.Data[3]>>0)&0xFF)<<0));    //电芯电压最大值所在CSC内单体编号
                        int BMS_Cell_Avg_Volt = (UInt16)((((sendObj.Data[4]>>0)&0xFF)<<0)|(((sendObj.Data[5]>>0)&0xFF)<<8));    //电芯电压值平均值*/
                        textBox_BMS_MaxCellVolt.Text = ((BMS_MaxCellVolt + 0.0) * 0.001).ToString("F3");
                        break;
                    case 0x1886D0F3:
                        int BMS_MinCellVolt = (UInt16)((((sendObj.Data[0] >> 0) & 0xFF) << 0) | (((sendObj.Data[1] >> 0) & 0xFF) << 8));    //电芯电压值最小值
                        //int BMS_MinCellVoltSnsNum = (byte)((((sendObj.Data[2]>>0)&0xFF)<<0));    //电芯电压最小值所在CSC内单体编号
                        //int BMS_MinCellVoltPackNum = (byte)((((sendObj.Data[3]>>0)&0xFF)<<0));    //电芯电压最小值所在CSC编号
                        textBox_BMS_MinCellVolt.Text = ((BMS_MinCellVolt + 0.0) * 0.001).ToString("F3");
                        break;
                    case 0x1888D0F3:
                        //int BMS_BattTermVolOutMainPos = (UInt16)((((sendObj.Data[0]>>0)&0xFF)<<0)|(((sendObj.Data[1]>>0)&0xFF)<<8));    //主正继电器外侧电池端电压
                        //int BMS_BattTermVolOutMainNeg = (UInt16)((((sendObj.Data[2]>>0)&0xFF)<<0)|(((sendObj.Data[3]>>0)&0xFF)<<8));    //主负继电器外侧电池端电压
                        string[] strs_BMS_DCChgPlugSts = { "未连接", "仅充电口A连接", "仅充电口B连接", "充电口A和B充都连接", "ERROR"};
                        string[] strs_BMS_ChgSts = { "可以充电", "正在充电", "充电结束", "充电故障" , "ERROR"};
                        string[] strs_BMS_CnctSt = { "车", "站" , "ERROR"};
                        string[] strs_BMS_chrgIReq = { "30s", "60s" , "ERROR"};

                        int BMS_DCChgPlugSts = (byte)((((sendObj.Data[4] >> 0) & 0x7) << 0));    //充电枪连接状态
                        int BMS_ChgSts = (byte)((((sendObj.Data[4] >> 5) & 0x7) << 0));    //充电状态

                        //int BMS_ChgMode = (byte)((((sendObj.Data[4]>>3)&0x3)<<0));    //充电模式

                        int BMS_CnctSt = (byte)((((sendObj.Data[5] >> 4) & 0x1) << 0));    //BMS连接状态
                        //int BMS_BattPulseTime = (byte)((((sendObj.Data[5]>>5)&0x7)<<0));    //脉冲时间
                        int BMS_chrgIReq = (UInt16)((((sendObj.Data[6] >> 0) & 0xFF) << 0) | (((sendObj.Data[7] >> 0) & 0xFF) << 8));    //充电需求电流

                        BMS_DCChgPlugSts = BMS_DCChgPlugSts < strs_BMS_DCChgPlugSts.Length ? BMS_DCChgPlugSts : strs_BMS_DCChgPlugSts.Length - 1;
                        textBox_BMS_DCChgPlugSts.Text = strs_BMS_DCChgPlugSts[BMS_DCChgPlugSts];
                        BMS_ChgSts = BMS_ChgSts < strs_BMS_ChgSts.Length ? BMS_ChgSts : strs_BMS_ChgSts.Length - 1;
                        textBox_BMS_ChgSts.Text = strs_BMS_ChgSts[BMS_ChgSts];
                        BMS_CnctSt = BMS_CnctSt < strs_BMS_CnctSt.Length ? BMS_CnctSt : strs_BMS_CnctSt.Length - 1;
                        textBox_BMS_CnctSt.Text = strs_BMS_CnctSt[BMS_CnctSt];

                        textBox_BMS_chrgIReq.Text = ((BMS_chrgIReq + 0.0) * 0.1 - 2000).ToString("F2"); ;
                        break;
                    case 0x18C1D0F3:
                        int BMS_CellVolMsgCode = (byte)((((sendObj.Data[0] >> 0) & 0xFF) << 0));    //帧序号
                        int BMS_CellVolCSCNum = (byte)((((sendObj.Data[1] >> 0) & 0xFF) << 0));    //CSC 编号
                        
                        int BMS_CellVolt1 = (UInt16)((((sendObj.Data[2] >> 0) & 0xFF) << 0) | (((sendObj.Data[3] >> 0) & 0xFF) << 8));    //单体电池电压（V1）
                        int BMS_CellVolt2 = (UInt16)((((sendObj.Data[4] >> 0) & 0xFF) << 0) | (((sendObj.Data[5] >> 0) & 0xFF) << 8));    //单体电池电压（V2）
                        int BMS_CellVolt3 = (UInt16)((((sendObj.Data[6] >> 0) & 0xFF) << 0) | (((sendObj.Data[7] >> 0) & 0xFF) << 8));    //单体电池电压（V3）
                        int[] bmsValue = { BMS_CellVolt1, BMS_CellVolt2, BMS_CellVolt3 };
                        if (BMS_CellVolMsgCode < ((SubBoardsNUM * P_ALL_U_NUM) / 3))
                        {
                            for (int i = 0; i < 3; i++)
                            {
                                textboxs_U[BMS_CellVolMsgCode * 3 + i].Text = (((bmsValue[i] + 0.0) * 0.001)).ToString("F3");
                            }
                        }
                        else if(BMS_CellVolMsgCode < (SubBoardsNUM * P_ALL_U_NUM) / 3 + (((SubBoardsNUM * P_ALL_U_NUM)) % 3 > 0 ? 1 : 0))
                        {
                            for(int i = 0; i < (((SubBoardsNUM * P_ALL_U_NUM)) % 3); i++)
                            {
                                textboxs_U[((SubBoardsNUM * P_ALL_U_NUM) / 3 * 3) + i].Text = (((bmsValue[i] + 0.0) * 0.001)).ToString("F3");
                            }
                        }
                            
                        //int BCUCellU[BMS_CellVolMsgCode * 3 - 3]=BMS_CellVolt1*0.001;
                        //int BCUCellU[BMS_CellVolMsgCode * 3 - 2]=BMS_CellVolt2*0.001;
                        //int BCUCellU[BMS_CellVolMsgCode * 3 - 1]=BMS_CellVolt3*0.001;
                        break;
                    case 0x18C2D0F3:
                        int BMS_TempMsgCode = (byte)((((sendObj.Data[0] >> 0) & 0xFF) << 0));    //帧序号
                        int BMS_CSCNum = (byte)((((sendObj.Data[1] >> 0) & 0xFF) << 0));    //CSC 编号
                        int BMS_BattTemp1 = (byte)((((sendObj.Data[2] >> 0) & 0xFF) << 0));    //温度探针1对应的温度值
                        int BMS_BattTemp2 = (byte)((((sendObj.Data[3] >> 0) & 0xFF) << 0));    //温度探针2对应的温度值
                        int BMS_BattTemp3 = (byte)((((sendObj.Data[4] >> 0) & 0xFF) << 0));    //温度探针3对应的温度值
                        int BMS_BattTemp4 = (byte)((((sendObj.Data[5] >> 0) & 0xFF) << 0));    //温度探针4对应的温度值
                        int BMS_BattTemp5 = (byte)((((sendObj.Data[6] >> 0) & 0xFF) << 0));    //温度探针5对应的温度值
                        int BMS_BattTemp6 = (byte)((((sendObj.Data[7] >> 0) & 0xFF) << 0));    //温度探针6对应的温度值

                        int[] tempValue = { BMS_BattTemp1, BMS_BattTemp2, BMS_BattTemp3, BMS_BattTemp4, BMS_BattTemp5, BMS_BattTemp6 };
                        if (BMS_TempMsgCode < ((SubBoardsNUM * P_ALL_T_NUM) / 6))
                        {
                            for (int i = 0; i < 6; i++)
                            {
                                textboxs_T[BMS_TempMsgCode * 6 + i].Text = (tempValue[i] - 40).ToString();
                            }
                        }
                        else if (BMS_TempMsgCode < (SubBoardsNUM * P_ALL_T_NUM) / 6 + (((SubBoardsNUM * P_ALL_T_NUM)) % 6 > 0 ? 1 : 0))
                        {
                            for (int i = 0; i < (((SubBoardsNUM * P_ALL_T_NUM)) % 6); i++)
                            {
                                textboxs_T[((SubBoardsNUM * P_ALL_T_NUM) / 6 * 6) + i].Text = (tempValue[i] - 40).ToString();
                            }
                        }
                        // int BCUModT[BMS_TempMsgCode * 6 - 6]=BMS_BattTemp1-40;
                        // int BCUModT[BMS_TempMsgCode * 6 - 5]=BMS_BattTemp1-40;
                        // int BCUModT[BMS_TempMsgCode * 6 - 4]=BMS_BattTemp1-40;
                        //  int BCUModT[BMS_TempMsgCode * 6 - 3]=BMS_BattTemp1-40;
                        //  int BCUModT[BMS_TempMsgCode * 6 - 2]=BMS_BattTemp1-40;
                        // int BCUModT[BMS_TempMsgCode * 6 - 1]=BMS_BattTemp1-40;
                        break;
                    case 0x18F4D0F3:
                        /*int BMS_SingleChgEnergy = (UInt16)((((sendObj.Data[0]>>0)&0xFF)<<0)|(((sendObj.Data[1]>>0)&0xFF)<<8));    //单次充电电量（充电枪插入）
                        int BMS_SingleDisChgEny = (UInt16)((((sendObj.Data[2]>>0)&0xFF)<<0)|(((sendObj.Data[3]>>0)&0xFF)<<8));    //单次放电电量
                        int BMS_SingleEnergy = (UInt16)((((sendObj.Data[4]>>0)&0xFF)<<0)|(((sendObj.Data[5]>>0)&0xFF)<<8));    //单次充电电量（制动能量回收）*/
                        break;
                    case 0x18FEF8F3:
                        /*int BMS_ConTempDC1Pos = (byte)((((sendObj.Data[0]>>0)&0xFF)<<0));    //行车换电连接器功率端子DC1+的温度
                        int BMS_ConTempDC1Neg = (byte)((((sendObj.Data[1]>>0)&0xFF)<<0));    //行车换电连接器功率端子DC1-的温度
                        int BMS_ConTempDC2Pos = (byte)((((sendObj.Data[2]>>0)&0xFF)<<0));    //行车换电连接器功率端子DC2+的温度
                        int BMS_ConTempDC2Neg = (byte)((((sendObj.Data[3]>>0)&0xFF)<<0));    //行车换电连接器功率端子DC2-的温度
                        int BMS_ChgConTempDC1Pos = (byte)((((sendObj.Data[4]>>0)&0xFF)<<0));    //充电换电连接器功率端子DC1+的温度
                        int BMS_ChgConTempDC1Neg = (byte)((((sendObj.Data[5]>>0)&0xFF)<<0));    //充电换电连接器功率端子DC1-的温度
                        int BMS_ChgConTempDC2Pos = (byte)((((sendObj.Data[6]>>0)&0xFF)<<0));    //充电换电连接器功率端子DC2+的温度
                        int BMS_ChgConTempDC2Neg = (byte)((((sendObj.Data[7]>>0)&0xFF)<<0));    //充电换电连接器功率端子DC2-的温度*/

                        break;
                    case 0x18FFF3CB:

                         BMS_encryp1 = (byte)((((sendObj.Data[0] >> 0) & 0xFF) << 0));    //BMS认证数据1
                         BMS_encryp2 = (byte)((((sendObj.Data[1] >> 0) & 0xFF) << 0));    //BMS认证数据2
                         BMS_encryp3 = (byte)((((sendObj.Data[2] >> 0) & 0xFF) << 0));    //BMS认证数据3
                         BMS_encryp4 = (byte)((((sendObj.Data[3] >> 0) & 0xFF) << 0));    //BMS认证数据4
                        break;
                    default:
                        break;
                }
            }
            
        }
        int VCU_V2B_CMD_AliveConter = 0;
        UInt16 encryptionAlgorithm(UInt16 plainText)
        {
            UInt16 cipherText = 1;
            UInt32 privateKeyE = 207521;
            UInt16 privateKeyN = 54127;
            byte c = 1;
            plainText = (UInt16)(plainText % privateKeyN);
            while (privateKeyE > 0)
            {
                if (privateKeyE % 2 == 1)
                {
                    cipherText = (UInt16)((cipherText * plainText) % privateKeyN);
                }
                privateKeyE = privateKeyE / 2;
                plainText = (UInt16)((plainText * plainText) % privateKeyN);
                c++;
            }

            return cipherText;
        }


        int Message_Counter = 0;


        void textChecker(object sender, KeyPressEventArgs e)
        {   //判断输入是否符合规范
            if ((!char.IsDigit(e.KeyChar)) && e.KeyChar != 8 && e.KeyChar != (char)('.') && e.KeyChar != (char)('-'))
            {//允许输入数字、退格符、小数点、删除键和负号  
                MessageBox.Show("请输入正确的数字");
                e.Handled = true;
            }
            if (e.KeyChar == (char)('-'))
            {
                
                if (Form.ActiveForm.ActiveControl.Text != "")
                {//这里的txt1需要改成应用处的TextBox的名称，或者可以给这个函数多传递一个参数，再在此处添加一个switch来判断
                    MessageBox.Show("负号位置错误");
                    e.Handled = true;
                }
            }
            if (e.KeyChar == (char)('.') && ((TextBox)sender).Text == "")
            {
                MessageBox.Show("第一位不能为小数点");
                e.Handled = true;
            }
            if (e.KeyChar == (char)('.') && ((TextBox)sender).Text.IndexOf('.') != -1)
            {
                MessageBox.Show("小数点只能输入一次");
                e.Handled = true;
            }
            if (e.KeyChar != (char)('.') && ((TextBox)sender).Text == "0" && (e.KeyChar != 8))
            {//这里要注意退格符是可以输入的
                MessageBox.Show("第一位是0，第二位必须为小数点");
                e.Handled = true;
            }
            if (((TextBox)sender).Text == "-" && e.KeyChar == (char)('.'))
            {
                MessageBox.Show("第一位是负号，第二位不能为小数点 ");
                e.Handled = true;
            }
        }
    }
}