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同星CAN卡驱动

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czj
2026-06-05 11:06:02 +08:00
parent 0c494bc132
commit 570c0be397
7 changed files with 713 additions and 0 deletions
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CAN驱动/DBCParse.cs Normal file
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Security.Cryptography;
using System.Text;
using System.Text.Json.Serialization;
using System.Threading.Tasks;
using TSMaster;
namespace CAN驱动
{
public struct can_network
{
[JsonInclude]
public string network_name;
[JsonInclude]
public can_node[] can_nodes;
}
public struct can_node
{
[JsonInclude]
public string node_name;
[JsonInclude]
public can_message[] tx_can_Messages;
[JsonInclude]
public can_message[] rx_can_Messages;
}
public struct can_message
{
[JsonInclude]
public string message_name;
[JsonInclude]
public string[] signals;
}
public class _Msg_
{
public int msg_type { get; set; }
public int msg_id { get; set; }
public int msg_cyclic { get; set; }
public byte msg_dlc { get; set; }
public string msg_name { get; set; }
public string[] signal_Name { get; set; }
public int msg_brs { get; set; }
public TLIBCANFD ACANFD;
}
public enum Msg_Type
{
CAN = 0,
CANFD = 1,
}
/// <summary>
/// DBC 文件信息类型枚举，用于指定 tsdb_get_can_db_info 查询的内容类型。
/// </summary>
public enum DBCINFO
{
/// <summary>网络名称</summary>
NETWORK_Name = 0,
/// <summary>CAN 报文总数</summary>
CAN_MSG_COUNT = 11,
/// <summary>CAN FD 报文总数</summary>
CANFD_MSG_COUNT = 12,
/// <summary>节点总数</summary>
NODE_COUNT = 14,
/// <summary>信号名称</summary>
SIGNAL_NAME = 33,
/// <summary>CAN 报文类型</summary>
CAN_MSG_TYPE = 40,
/// <summary>CAN 报文 DLC（数据长度码）</summary>
CAN_MSG_DLC = 41,
/// <summary>CAN 报文 ID</summary>
CAN_MSG_ID = 42,
/// <summary>CAN 报文周期</summary>
CAN_MSG_CYCLIC = 43,
/// <summary>CAN 报文名称</summary>
CAN_MSG_NAME = 44,
/// <summary>CAN 报文信号数量</summary>
CAN_MSG_SIGNAL_COUNT = 47,
/// <summary>CAN 报文信号名称索引</summary>
CAN_MSG_SIGNAL_NAME_INDEX = 48,
/// <summary>CAN FD 报文类型</summary>
CANFD_MSG_TYPE = 60,
/// <summary>CAN FD 报文 DLC（数据长度码）</summary>
CANFD_MSG_DLC = 61,
/// <summary>CAN FD 报文 ID</summary>
CANFD_MSG_ID = 62,
/// <summary>CAN FD 报文周期</summary>
CANFD_MSG_CYCLIC = 63,
/// <summary>CAN FD 报文名称</summary>
CANFD_MSG_NAME = 64,
/// <summary>CAN FD 报文信号数量</summary>
CANFD_MSG_SIGNAL_COUNT = 67,
/// <summary>CAN FD 报文信号名称索引</summary>
CANFD_MSG_SIGNAL_NAME_INDEX = 68,
/// <summary>节点名称</summary>
NODE_Name = 101,
/// <summary>节点发送 CAN 报文数量</summary>
NODE_TX_CAN_COUNT = 103,
/// <summary>节点发送 CAN 报文索引</summary>
NODE_TX_CAN_MESSAGE_INDEX = 104,
/// <summary>节点接收 CAN 报文数量</summary>
NODE_RX_CAN_COUNT = 105,
/// <summary>节点接收 CAN 报文索引</summary>
NODE_RX_CAN_MESSAGE_INDEX = 106,
/// <summary>节点发送 CAN FD 报文数量</summary>
NODE_TX_CANFD_COUNT = 107,
/// <summary>节点发送 CAN FD 报文索引</summary>
NODE_TX_CANFD_MESSAGE_INDEX = 108,
/// <summary>节点接收 CAN FD 报文数量</summary>
NODE_RX_CANFD_COUNT = 109,
/// <summary>节点接收 CAN FD 报文索引</summary>
NODE_RX_CANFD_MESSAGE_INDEX = 110,
}
public class DBCParse
{
public static List<List<_Msg_>> MsgDatabase { get; set; } =
[.. Enumerable.Range(0, 12).Select(_ => new List<_Msg_>())];
public static can_network can_Network;
public static string tsdb_get_can_db_info(uint ADatabaseId, int AType, int AIndex, int ASubIndex)
{
nint tmpInt = new nint();
int ret = TsMasterApi.tsdb_get_can_db_info(ADatabaseId, AType, AIndex, ASubIndex, ref tmpInt);
if (ret == 0)
{
return Marshal.PtrToStringAnsi(tmpInt) ?? "";
}
else
return "";
}
public static void parse(uint Aid, int channel)
{
int CANcount = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_COUNT, 0, 0));
for (int i = 0; i < CANcount; i++)
{
_Msg_ temp = new _Msg_();
temp.msg_type = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_TYPE, i, 0));
temp.msg_dlc = byte.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_DLC, i, 0));
temp.msg_id = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_ID, i, 0));
temp.msg_name = tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_NAME, i, 0);
temp.msg_cyclic = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_CYCLIC, i, 0));
temp.signal_Name = new string[int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_SIGNAL_COUNT, i, 0))];
for (int signalcount = 0; signalcount < temp.signal_Name.Length; signalcount++)
{
temp.signal_Name[signalcount] = tsdb_get_can_db_info(Aid, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_SIGNAL_NAME_INDEX, i, signalcount)), 0);
}
temp.msg_brs = 0;
temp.ACANFD = new TLIBCANFD(APP_CHANNEL.CHN1,
temp.msg_id,
true,
temp.msg_type == 1 || temp.msg_type == 4 ? true : false,
false, temp.msg_dlc,
temp.msg_type < 2 ? false : true,
false);
MsgDatabase[channel].Add(temp);
}
CANcount = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_COUNT, 0, 0));
for (int i = 0; i < CANcount; i++)
{
_Msg_ temp = new _Msg_();
temp.msg_type = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_TYPE, i, 0));
temp.msg_dlc = byte.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_DLC, i, 0));
temp.msg_id = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_ID, i, 0));
temp.msg_name = tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_NAME, i, 0);
temp.msg_cyclic = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_CYCLIC, i, 0));
temp.signal_Name = new string[int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_SIGNAL_COUNT, i, 0))];
for (int signalcount = 0; signalcount < temp.signal_Name.Length; signalcount++)
{
temp.signal_Name[signalcount] = tsdb_get_can_db_info(Aid, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_SIGNAL_NAME_INDEX, i, signalcount)), 0);
}
temp.msg_brs = int.Parse(tsdb_get_can_db_info(Aid, 69, i, 0));
temp.ACANFD = new TLIBCANFD(APP_CHANNEL.CHN1, temp.msg_id, true, temp.msg_type == 1 || temp.msg_type == 4 ? true : false, false, temp.msg_dlc, temp.msg_type < 2 ? false : true, temp.msg_brs == 1 ? true : false);
MsgDatabase[channel].Add(temp);
}
MsgDatabase[channel].Sort((a, b) => a.msg_id.CompareTo(b.msg_id));
}
public static void rbs_parse(uint AID, int channel)
{
can_Network = new can_network();
can_Network.network_name = tsdb_get_can_db_info(AID, (int)DBCINFO.NETWORK_Name, 0, 0);
int Node_count = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_COUNT, 0, 0));
can_Network.can_nodes = new can_node[Node_count];
for (int i = 0; i < Node_count; i++)
{
can_Network.can_nodes[i].node_name = tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_Name, i, 0);
int tx_can_count = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_TX_CAN_COUNT, i, 0));
int tx_canfd_count = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_TX_CANFD_COUNT, i, 0));
int rx_can_count = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_RX_CAN_COUNT, i, 0));
int rx_canfd_count = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_RX_CANFD_COUNT, i, 0));
//获取tx_can结构体
can_Network.can_nodes[i].tx_can_Messages = new can_message[tx_can_count + tx_canfd_count];
can_Network.can_nodes[i].rx_can_Messages = new can_message[rx_can_count + rx_canfd_count];
//获取报文名以及信号名
//1 get can_message idnex
//2 get can message name
//3 get signal count
//4 get signal name
int tx_index = -1;
for (int tx_can = 0; tx_can < tx_can_count; tx_can++)
{
int can_message_idnex = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_TX_CAN_MESSAGE_INDEX, i, tx_can));
can_Network.can_nodes[i].tx_can_Messages[tx_can].message_name = tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_NAME, can_message_idnex, 0);
can_Network.can_nodes[i].tx_can_Messages[tx_can].signals = new string[int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_SIGNAL_COUNT, can_message_idnex, 0))];
for (int signalcount = 0; signalcount < can_Network.can_nodes[i].tx_can_Messages[tx_can].signals.Length; signalcount++)
{
can_Network.can_nodes[i].tx_can_Messages[tx_can].signals[signalcount] = tsdb_get_can_db_info(AID, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_SIGNAL_NAME_INDEX, can_message_idnex, signalcount)), 0);
}
tx_index = tx_can;
}
for (int tx_can = 0; tx_can < tx_canfd_count; tx_can++, tx_index++)
{
int can_message_idnex = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_TX_CANFD_MESSAGE_INDEX, i, tx_can));
can_Network.can_nodes[i].tx_can_Messages[tx_index + 1].message_name = tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_NAME, can_message_idnex, 0);
can_Network.can_nodes[i].tx_can_Messages[tx_index + 1].signals = new string[int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_SIGNAL_COUNT, can_message_idnex, 0))];
for (int signalcount = 0; signalcount < can_Network.can_nodes[i].tx_can_Messages[tx_index + 1].signals.Length; signalcount++)
{
can_Network.can_nodes[i].tx_can_Messages[tx_index + 1].signals[signalcount] = tsdb_get_can_db_info(AID, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_SIGNAL_NAME_INDEX, can_message_idnex, signalcount)), 0);
}
}
int rx_index = -1;
for (int tx_can = 0; tx_can < rx_can_count; tx_can++)
{
int can_message_idnex = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_RX_CAN_MESSAGE_INDEX, i, tx_can));
can_Network.can_nodes[i].rx_can_Messages[tx_can].message_name = tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_NAME, can_message_idnex, 0);
can_Network.can_nodes[i].rx_can_Messages[tx_can].signals = new string[int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_SIGNAL_COUNT, can_message_idnex, 0))];
for (int signalcount = 0; signalcount < can_Network.can_nodes[i].rx_can_Messages[tx_can].signals.Length; signalcount++)
{
can_Network.can_nodes[i].rx_can_Messages[tx_can].signals[signalcount] = tsdb_get_can_db_info(AID, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_SIGNAL_NAME_INDEX, can_message_idnex, signalcount)), 0);
}
rx_index = tx_can;
}
for (int tx_can = 0; tx_can < rx_canfd_count; tx_can++, rx_index++)
{
int can_message_idnex = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_RX_CANFD_MESSAGE_INDEX, i, tx_can));
can_Network.can_nodes[i].rx_can_Messages[rx_index + 1].message_name = tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_NAME, can_message_idnex, 0);
can_Network.can_nodes[i].rx_can_Messages[rx_index + 1].signals = new string[int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_SIGNAL_COUNT, can_message_idnex, 0))];
for (int signalcount = 0; signalcount < can_Network.can_nodes[i].rx_can_Messages[rx_index + 1].signals.Length; signalcount++)
{
can_Network.can_nodes[i].rx_can_Messages[rx_index + 1].signals[signalcount] = tsdb_get_can_db_info(AID, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_SIGNAL_NAME_INDEX, can_message_idnex, signalcount)), 0);
}
}
}
}
}
}