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