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同星CAN卡驱动

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This commit is contained in:
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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6
ADP.sln
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@@ -35,6 +35,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "UpdateInfoMoudle", "UpdateI
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "MonitorModule", "MonitorModule\MonitorModule.csproj", "{850A5BE8-0BC1-4D6A-8351-DD812C9C4427}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "CAN驱动", "CAN驱动\CAN驱动.csproj", "{D1868672-0132-4B1A-A393-C2CF49A25E74}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
@@ -101,6 +103,10 @@ Global
{850A5BE8-0BC1-4D6A-8351-DD812C9C4427}.Debug|Any CPU.Build.0 = Debug|Any CPU
{850A5BE8-0BC1-4D6A-8351-DD812C9C4427}.Release|Any CPU.ActiveCfg = Release|Any CPU
{850A5BE8-0BC1-4D6A-8351-DD812C9C4427}.Release|Any CPU.Build.0 = Release|Any CPU
{D1868672-0132-4B1A-A393-C2CF49A25E74}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{D1868672-0132-4B1A-A393-C2CF49A25E74}.Debug|Any CPU.Build.0 = Debug|Any CPU
{D1868672-0132-4B1A-A393-C2CF49A25E74}.Release|Any CPU.ActiveCfg = Release|Any CPU
{D1868672-0132-4B1A-A393-C2CF49A25E74}.Release|Any CPU.Build.0 = Release|Any CPU
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE

1
ADP/ADP.csproj
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@@ -9,6 +9,7 @@
</PropertyGroup>
<ItemGroup>
<ProjectReference Include="..\CAN驱动\CAN驱动.csproj" />
<ProjectReference Include="..\Command\Command.csproj" />
<ProjectReference Include="..\DeviceCommand\DeviceCommand.csproj" />
<ProjectReference Include="..\LoginModule\LoginModule.csproj" />

417
CAN驱动/CAN.cs Normal file
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@@ -0,0 +1,417 @@
using Common.Attributes;
using System.Collections.Generic;
using System.ComponentModel;
using System.Diagnostics;
using System.IO;
using System.Runtime.InteropServices;
using System.Text.Json;
using TSMaster;
namespace CAN驱动
{
[ADPCommand]
public class CAN
{
public static event Action ConnectEvent;
public static event Action DisConnectEvent;
public static bool ConnectFlag { get; set; } = false;
/// <summary>
/// 初始化CAN驱动
/// </summary>
/// <param name="ProjectName"></param>
/// <param name="filePath"></param>
/// <returns></returns>
[Browsable(false)]
public static int Init(string ProjectName, string? filePath = null)
{
if (string.IsNullOrEmpty(filePath))
{
return TsMasterApi.initialize_lib_tsmaster(ProjectName);
}
else
{
return TsMasterApi.initialize_lib_tsmaster_with_project(ProjectName, Path.GetFullPath(filePath));
}
}
/// <summary>
/// 释放CAN驱动
/// </summary>
[Browsable(false)]
public static void Release()
{
TsMasterApi.finalize_lib_tsmaster();
}
public static int obj = 0;
public static TCANFDQueueEvent_Win32 listener;
[Browsable(false)]
public static int RegisterListener(TCANFDQueueEvent_Win32 listenEvent)
{
listener = listenEvent;
var re = TsMasterApi.tsapp_register_event_canfd(ref obj, listener);
Debug.Assert(re == 0);
return re;
}
[Browsable(false)]
public static int UnRegisterListener(TCANFDQueueEvent_Win32 listenEvent = null)
{
if (listenEvent is not null)
{
listener = listenEvent;
}
var re = TsMasterApi.tsapp_unregister_event_canfd(ref obj, listener);
Debug.Assert(re == 0);
return re;
}
/// <summary>
/// 连接
/// </summary>
/// <returns></returns>
public static int Connect()
{
var re = TsMasterApi.tsapp_connect();
if (re == 0)
{
re = TsMasterApi.tscom_can_rbs_start();
if (re == 0)
{
ConnectFlag = true;
Task.Run(() => ConnectEvent?.Invoke());
}
else
{
Debug.WriteLine($"CAN_RBS启动失败,错误代码：{re}");
}
}
else
{
Debug.WriteLine($"CAN连接失败,错误代码：{re}");
return re;
}
return re;
}
/// <summary>
/// 断开
/// </summary>
/// <returns></returns>
public static int DisConnect()
{
var re = TsMasterApi.tsapp_disconnect();
//Debug.Assert(re == 0);
if (re == 0)
{
ConnectFlag = false;
Task.Run(() => DisConnectEvent?.Invoke());
}
else
{
Debug.WriteLine($"断开CAN连接失败,错误代码：{re}");
}
return re;
}
/// <summary>
/// 加载DBC
/// </summary>
/// <param name="filePath"></param>
/// <param name="channel"></param>
/// <param name="databaseID"></param>
/// <returns></returns>
[Browsable(false)]
public static int LoadDBC(string filePath, int[] channel, out uint databaseID)
{
databaseID = 0;
var re = TsMasterApi.tsdb_load_can_db(Path.GetFullPath(filePath), string.Join(",", channel), ref databaseID);
foreach (var item in channel)
{
DBCParse.parse(databaseID, item);
DBCParse.rbs_parse(databaseID, item);
}
return re;
}
/// <summary>
/// 卸载DBC
/// </summary>
/// <param name="databaseID"></param>
/// <returns></returns>
[Browsable(false)]
public static int UnLoadDBC(uint? databaseID = null)
{
if (databaseID == null)
{
return TsMasterApi.tsdb_unload_can_dbs();
}
else
{
return TsMasterApi.tsdb_unload_can_db(databaseID.Value);
}
}
/// <summary>
/// 开始记录日志
/// </summary>
/// <param name="filePath"></param>
/// <returns></returns>
public static int StartLogging(string filePath)
{
return TsMasterApi.tsapp_start_logging(Path.GetFullPath(filePath));
}
/// <summary>
/// 结束记录日志
/// </summary>
/// <returns></returns>
public static int StopLogging()
{
return TsMasterApi.tsapp_stop_logging();
}
/// <summary>
/// 弹出通道映射窗口
/// </summary>
/// <param name="isWait"></param>
/// <returns></returns>
[Browsable(false)]
public static int ShowChannelMappingWindow(bool isWait = false)
{
return TsMasterApi.tsapp_show_tsmaster_window("Hardware", isWait);
}
/// <summary>
/// 获取信号值
/// </summary>
/// <param name="channel"></param>
/// <param name="AMsgName"></param>
/// <param name="ASgnName"></param>
/// <returns></returns>
public static double GetSignalValue(byte channel, string AMsgName, string ASgnName)
{
double value = double.NaN;
var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
var re = TsMasterApi.tsdb_get_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, ref value);
return value;
}
/// <summary>
/// 获取信号值
/// </summary>
/// <param name="channel"></param>
/// <param name="AMsgName"></param>
/// <param name="ASgnName"></param>
/// <param name="value"></param>
/// <returns></returns>
[Browsable(false)]
public static int GetSignalValue(byte channel, string AMsgName, string ASgnName, ref double value)
{
var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
return TsMasterApi.tsdb_get_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, ref value);
}
/// <summary>
/// 获取信号值
/// </summary>
/// <param name="ACANFD"></param>
/// <param name="AMsgName"></param>
/// <param name="ASgnName"></param>
/// <param name="value"></param>
/// <returns></returns>
[Browsable(false)]
public static int GetSignalValue(ref TLIBCANFD ACANFD, string AMsgName, string ASgnName, ref double value)
{
return TsMasterApi.tsdb_get_signal_value_canfd(ref ACANFD, AMsgName, ASgnName, ref value);
}
/// <summary>
/// 设置信号值
/// </summary>
/// <param name="channel"></param>
/// <param name="AMsgName"></param>
/// <param name="ASgnName"></param>
/// <param name="AValue"></param>
/// <param name="isSend"></param>
/// <param name="sendPeriod"></param>
/// <returns></returns>
/// <exception cref="Exception"></exception>
public static int SetSignalValue(byte channel, string AMsgName, string ASgnName, double AValue, bool isSend = false, float sendPeriod = 0)
{
var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
find.ACANFD.FIdxChn = channel;
var re = TsMasterApi.tsdb_set_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, AValue);
Debug.Assert(re == 0);
if (re != 0) throw new Exception($"设置报文失败!返回代码{re}");
if (re != 0) return re;
if (isSend)
{
if (sendPeriod == 0)
{
return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
}
else
{
return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
}
}
return 0;
}
/// <summary>
/// 设置信号值
/// </summary>
/// <param name="channel"></param>
/// <param name="AMsgName"></param>
/// <param name="sendPeriod"></param>
/// <returns></returns>
public static int SetSignalValue(APP_CHANNEL channel, string AMsgName, float sendPeriod = 0)
{
var find = DBCParse.MsgDatabase[(byte)channel].First(s => s.msg_name == AMsgName);
find.ACANFD.FIdxChn = (byte)channel;
if (sendPeriod == 0)
{
return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
}
else
{
return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
}
}
/// <summary>
/// 发送自定义报文
/// </summary>
/// <returns></returns>
[Browsable(false)]
public static int SetMsg(TLIBCANFD msg)
{
return TsMasterApi.tsapp_transmit_canfd_async(ref msg);
}
/// <summary>
/// 设置报文
/// </summary>
/// <param name="channel">通道</param>
/// <param name="ID">DBC数据库ID</param>
/// <param name="bytes">报文数组</param>
public static void SetMsg(APP_CHANNEL channel, int ID, byte[] bytes)
{
var find = DBCParse.MsgDatabase[(byte)channel].FirstOrDefault(s => s.ACANFD.FIdentifier == ID);
if (find != null)
{
Array.Copy(bytes, 0, find.ACANFD.FData, 0, Math.Min(bytes.Length, find.ACANFD.FData.Length));
}
}
/// <summary>
/// 发送自定义报文
/// </summary>
/// <param name="AIdxChn"></param>
/// <param name="AID"></param>
/// <param name="AIsTx"></param>
/// <param name="AIsExt"></param>
/// <param name="AIsRemote"></param>
/// <param name="ADLC"></param>
/// <param name="ADataArray"></param>
/// <param name="AIsFD"></param>
/// <param name="AIsBRS"></param>
/// <param name="isUpdateDBCDatabase"></param>
/// <param name="sendPeriod"></param>
/// <returns></returns>
public static int SendMsg(APP_CHANNEL AIdxChn, int AID, bool AIsTx, bool AIsExt,
bool AIsRemote, byte ADLC, byte[] ADataArray, bool AIsFD = true, bool AIsBRS = false,
bool isUpdateDBCDatabase = false, float sendPeriod = 0)
{
var send = new TLIBCANFD
{
FIdxChn = (byte)AIdxChn,
FProperties = 0,
FIdentifier = AID,
FDLC = ADLC,
FTimeUS = 0uL,
FData = new byte[64],
FFDProperties = 0,
FIsTx = AIsTx,
FIsError = false,
FIsExt = AIsExt,
FIsRemote = AIsRemote,
FIsFD = AIsFD,
FIsBRS = AIsBRS
};
int length = Math.Min(ADataArray.Length, 64);
Array.Copy(ADataArray, 0, send.FData, 0, length);
int re;
if (sendPeriod == 0)
{
re = TsMasterApi.tsapp_transmit_canfd_async(ref send);
}
else
{
re = TsMasterApi.tsapp_add_cyclic_msg_canfd(ref send, sendPeriod);
}
if (isUpdateDBCDatabase)
{
var find = DBCParse.MsgDatabase[(byte)AIdxChn].FirstOrDefault(s => s.ACANFD.FIdentifier == send.FIdentifier);
if (find != null)
{
Array.Copy(send.FData, 0, find.ACANFD.FData, 0, Math.Min(ADataArray.Length, find.ACANFD.FData.Length));
}
}
return re;
}
/// <summary>
/// 添加循环发送报文
/// </summary>
/// <param name="channel"></param>
/// <param name="AMsgName"></param>
/// <param name="sendPeriod"></param>
/// <returns></returns>
public static int AddCyclicMsg(byte channel, string AMsgName, float sendPeriod)
{
var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
find.ACANFD.FIdxChn = channel;
return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
}
/// <summary>
/// 清除循环发送的报文
/// </summary>
/// <returns></returns>
public static int DeleteCyclicMsgs()
{
return TsMasterApi.tsapp_delete_cyclic_msgs();
}
/// <summary>
/// 获取错误提示
/// </summary>
/// <param name="errorCode">错误代码</param>
/// <returns></returns>
public static string GetErrorDescription(int errorCode)
{
IntPtr ADesc = IntPtr.Zero;
TsMasterApi.tsapp_get_error_description(errorCode, ref ADesc);
if (ADesc == IntPtr.Zero) return $"未知错误代码: {errorCode}";
// 假设返回的是 ANSI 字符串（如 C 的 char*）
string? description = Marshal.PtrToStringAnsi(ADesc);
return description ?? $"未知错误代码: {errorCode}";
}
}
}

20
CAN驱动/CAN驱动.csproj Normal file
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@@ -0,0 +1,20 @@
<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<TargetFramework>net8.0</TargetFramework>
<Nullable>enable</Nullable>
<UseWPF>false</UseWPF>
<ImplicitUsings>enable</ImplicitUsings>
</PropertyGroup>
<ItemGroup>
<ProjectReference Include="..\Common\Common.csproj" />
</ItemGroup>
<ItemGroup>
<Reference Include="Interop.TSMasterAPI">
<HintPath>..\CanDriver\bin\Debug\net8.0\Interop.TSMasterAPI.dll</HintPath>
</Reference>
</ItemGroup>
</Project>

269
CAN驱动/DBCParse.cs Normal file
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@@ -0,0 +1,269 @@
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);
}
}
}
}
}
}

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