Initial commit: BMS CAN monitor

2026-09-16 13:26:51 +08:00
commit 2b92f10a0c
23 changed files with 965 additions and 0 deletions
@@ -0,0 +1,98 @@
+namespace BmsMonitor.App.Can;
+
+public sealed class ControlCanReceiver : ICanReceiver
+{
+    private CancellationTokenSource? _cts;
+    private Task? _receiveTask;
+    private uint _deviceIndex;
+    private uint _channelIndex;
+
+    public bool IsOpen { get; private set; }
+    public event EventHandler<CanFrame>? FrameReceived;
+    public event EventHandler<string>? ReceiveError;
+
+    public void Open(uint deviceIndex, uint channelIndex, CanBaudRate baudRate = CanBaudRate.Kbps250)
+    {
+        if (IsOpen) return;
+
+        _deviceIndex = deviceIndex;
+        _channelIndex = channelIndex;
+        if (ControlCanNative.VCI_OpenDevice(ControlCanNative.VciUsbCan2, deviceIndex, 0) != ControlCanNative.StatusOk)
+            throw new InvalidOperationException("打开 USBCAN-II 失败，请检查驱动、设备索引及 ControlCAN.dll。");
+
+        var (timing0, timing1) = baudRate.ToTiming();
+        var config = new ControlCanNative.VciInitConfig
+        {
+            AccCode = 0,
+            AccMask = 0xFFFFFFFF,
+            Filter = 1,
+            Timing0 = timing0,
+            Timing1 = timing1,
+            Mode = 1 // 硬件只听模式：仅接收，不发送 ACK
+        };
+
+        var initResult = ControlCanNative.VCI_InitCAN(ControlCanNative.VciUsbCan2, deviceIndex, channelIndex, ref config);
+        if (initResult != ControlCanNative.StatusOk)
+        {
+            ControlCanNative.VCI_CloseDevice(ControlCanNative.VciUsbCan2, deviceIndex);
+            throw new InvalidOperationException($"VCI_InitCAN 失败（返回 {initResult}，通道 CAN{channelIndex + 1}，{baudRate.ToDisplayText()}，只听模式）。");
+        }
+
+        var startResult = ControlCanNative.VCI_StartCAN(ControlCanNative.VciUsbCan2, deviceIndex, channelIndex);
+        if (startResult != ControlCanNative.StatusOk)
+        {
+            ControlCanNative.VCI_ResetCAN(ControlCanNative.VciUsbCan2, deviceIndex, channelIndex);
+            ControlCanNative.VCI_CloseDevice(ControlCanNative.VciUsbCan2, deviceIndex);
+            throw new InvalidOperationException($"VCI_StartCAN 失败（返回 {startResult}，通道 CAN{channelIndex + 1}）。");
+        }
+
+        IsOpen = true;
+        _cts = new CancellationTokenSource();
+        _receiveTask = Task.Run(() => ReceiveLoop(_cts.Token));
+    }
+
+    private void ReceiveLoop(CancellationToken token)
+    {
+        var buffer = Enumerable.Range(0, 100).Select(_ => new ControlCanNative.VciCanObj
+        {
+            Data = new byte[8], Reserved = new byte[3]
+        }).ToArray();
+
+        try
+        {
+            while (!token.IsCancellationRequested)
+            {
+                var count = ControlCanNative.VCI_Receive(ControlCanNative.VciUsbCan2, _deviceIndex, _channelIndex,
+                    buffer, (uint)buffer.Length, 50);
+                if (count == 0 || count == uint.MaxValue) continue;
+
+                for (var i = 0; i < Math.Min(count, (uint)buffer.Length); i++)
+                {
+                    var item = buffer[i];
+                    if (item.RemoteFlag != 0) continue;
+                    var length = Math.Min(item.DataLen, (byte)8);
+                    FrameReceived?.Invoke(this, new CanFrame(item.Id, item.ExternFlag != 0,
+                        item.Data.Take(length).ToArray(), DateTime.Now));
+                }
+            }
+        }
+        catch (Exception ex) when (!token.IsCancellationRequested)
+        {
+            ReceiveError?.Invoke(this, ex.Message);
+        }
+    }
+
+    public void Close()
+    {
+        if (!IsOpen) return;
+        _cts?.Cancel();
+        _receiveTask?.Wait(300);
+        ControlCanNative.VCI_ResetCAN(ControlCanNative.VciUsbCan2, _deviceIndex, _channelIndex);
+        ControlCanNative.VCI_CloseDevice(ControlCanNative.VciUsbCan2, _deviceIndex);
+        _cts?.Dispose();
+        _cts = null;
+        IsOpen = false;
+    }
+
+    public void Dispose() => Close();
+}