C# WPF实现读写CAN数据

using microsoft.visualbasic;
using system;
using system.collections.generic;
using system.linq;
using system.runtime.interopservices;
using system.text;
using system.threading.tasks;
using system.windows;
using system.windows.threading;

namespace can_test.tool
{

    /*------------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;
    //}

    //以下为简易定义与调用方式，在项目属性->生成->勾选使用不安全代码即可
    unsafe public struct vci_board_info//使用不安全代码
    {
        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 fixed byte str_serial_num[20];
        public fixed byte str_hw_type[40];
        public fixed byte reserved[8];
    }

    /
    //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;
    }

    /*------------数据结构描述完成---------------------------------*/

    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 class can_tool
    {
        const int dev_usbcan = 3;
        const int dev_usbcan2 = 4;
        /// <summary>
        /// 
        /// </summary>
        /// <param name="devicetype"></param>
        /// <param name="deviceind"></param>
        /// <param name="reserved"></param>
        /// <returns></returns>
        /*------------兼容zlg的函数描述---------------------------------*/
        /*------------兼容zlg的函数描述---------------------------------*/
        [dllimport("controlcan.dll")]
        public static extern uint32 vci_opendevice(uint32 devicetype, uint32 deviceind, uint32 reserved);
        [dllimport("controlcan.dll")]
        public static extern uint32 vci_closedevice(uint32 devicetype, uint32 deviceind);
        [dllimport("controlcan.dll")]
        public static extern uint32 vci_initcan(uint32 devicetype, uint32 deviceind, uint32 canind, ref vci_init_config pinitconfig);

        [dllimport("controlcan.dll")]
        public static extern uint32 vci_readboardinfo(uint32 devicetype, uint32 deviceind, ref vci_board_info pinfo);

        [dllimport("controlcan.dll")]
        public static extern uint32 vci_getreceivenum(uint32 devicetype, uint32 deviceind, uint32 canind);
        [dllimport("controlcan.dll")]
        public static extern uint32 vci_clearbuffer(uint32 devicetype, uint32 deviceind, uint32 canind);

        [dllimport("controlcan.dll")]
        public static extern uint32 vci_startcan(uint32 devicetype, uint32 deviceind, uint32 canind);
        [dllimport("controlcan.dll")]
        public static extern uint32 vci_resetcan(uint32 devicetype, uint32 deviceind, uint32 canind);

        [dllimport("controlcan.dll")]
        public static extern uint32 vci_transmit(uint32 devicetype, uint32 deviceind, uint32 canind, ref vci_can_obj psend, uint32 len);

        [dllimport("controlcan.dll")]
        public 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")]
        public static extern uint32 vci_connectdevice(uint32 devtype, uint32 devindex);
        [dllimport("controlcan.dll")]
        public static extern uint32 vci_usbdevicereset(uint32 devtype, uint32 devindex, uint32 reserved);
        [dllimport("controlcan.dll")]
        public static extern uint32 vci_findusbdevice2(ref vci_board_info pinfo);
        /*------------函数描述结束---------------------------------*/


        static uint32 m_bopen = 0;
        static uint32 m_devind = 0;
        static uint32 m_canind = 0;
        static uint32[] m_arrdevtype = new uint32[20];

        static vci_can_obj[] m_recobj = new vci_can_obj[1000];

        static uint32 m_devtype = 4;//usbcan2

        //this.timer_rec = new system.windows.forms.timer(this.components);

        public static void init()
        {
            m_arrdevtype[2] = 3;
            m_arrdevtype[3] = 4;
        }
        public static void close_can()
        {
            can_tool.vci_closedevice(m_devtype, m_devind);
            m_bopen = 0;
        }

        public static void start_can()
        {
            if (m_bopen == 0)
                return;
            can_tool.vci_startcan(m_devtype, m_devind, m_canind);
        }

        unsafe public static string can_send(string can_data_idtext,string can_send_data)
        {
            if (m_bopen == 0)
            {
                messagebox.show("can断开连接", "错误");
                return null;
            }

            vci_can_obj sendobj = new vci_can_obj();
            //sendobj.init();
            sendobj.remoteflag = (byte)0;
            sendobj.externflag = (byte)0;

            sendobj.id = system.convert.touint32("0x" + can_data_idtext, 16);
            int len = (can_send_data.length + 1) / 3;
            sendobj.datalen = system.convert.tobyte(len);
            string strdata = can_send_data;

            //messagebox.show(strdata);

            int i = -1;
            if (i++ < len - 1)
                sendobj.data[0] = system.convert.tobyte("0x" + strdata.substring(i * 3, 2), 16);
            if (i++ < len - 1)
                sendobj.data[1] = system.convert.tobyte("0x" + strdata.substring(i * 3, 2), 16);
            if (i++ < len - 1)
                sendobj.data[2] = system.convert.tobyte("0x" + strdata.substring(i * 3, 2), 16);
            if (i++ < len - 1)
                sendobj.data[3] = system.convert.tobyte("0x" + strdata.substring(i * 3, 2), 16);
            if (i++ < len - 1)
                sendobj.data[4] = system.convert.tobyte("0x" + strdata.substring(i * 3, 2), 16);
            if (i++ < len - 1)
                sendobj.data[5] = system.convert.tobyte("0x" + strdata.substring(i * 3, 2), 16);
            if (i++ < len - 1)
                sendobj.data[6] = system.convert.tobyte("0x" + strdata.substring(i * 3, 2), 16);
            if (i++ < len - 1)
                sendobj.data[7] = system.convert.tobyte("0x" + strdata.substring(i * 3, 2), 16);

            if (can_tool.vci_transmit(m_devtype, m_devind, m_canind, ref sendobj, 1) == 0)
            {
                messagebox.show("发送失败", "错误");
                return null;
            }
            else
            {
                return "tx   帧id:" + can_data_idtext + " 数据:  " + can_send_data;
            }
        }

        public static string connect_can(int can_type, int can_id,int run_mod)
        {
            //以下两行为多卡同机测试代码，用来获取序列号与对应的设备索引号，单卡可以不使用。
            vci_board_info[] vbi2 = new vci_board_info[50];
            uint num1 = can_tool.vci_findusbdevice2(ref vbi2[0]);

            m_devtype = m_arrdevtype[can_type + 2];
            m_devind = 0;
            m_canind = (uint32)can_id;

            if (can_tool.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");
                m_bopen = 0;
                return "";
            }

            m_bopen = 1;

            vci_init_config config = new vci_init_config();
            config.acccode = system.convert.touint32("0x" + "00000000", 16);
            config.accmask = system.convert.touint32("0x" + "ffffffff", 16);
            config.timing0 = system.convert.tobyte("0x" + "00", 16);
            config.timing1 = system.convert.tobyte("0x" + "1c", 16);
            config.filter = (byte)(0 + 1);
            config.mode = (byte)run_mod;

            can_tool.vci_initcan(m_devtype, m_devind, m_canind, ref config);

            return m_bopen == 0 ? "断开" : "连接";

        }


        unsafe public static string timerrectick()
        {
            uint32 res = new uint32();
            res = can_tool.vci_receive(m_devtype, m_devind, m_canind, ref m_recobj[0], 1000, 100);

            /
            //intptr[] ptarray = new intptr[1];
            //ptarray[0] = marshal.allochglobal(marshal.sizeof(typeof(vci_can_obj)) * 50);
            //intptr pt = marshal.allochglobal(marshal.sizeof(typeof(intptr)) * 1);

            //marshal.copy(ptarray, 0, pt, 1);
            //messagebox.show(res+"");

            //res = vci_receive(m_devtype, m_devind, m_canind, pt, 50/*50*/, 100);
            
            if (res == 0xffffffff) res = 0;//当设备未初始化时，返回0xffffffff，不进行列表显示。
            string str = "";
            for (uint32 i = 0; i < res; i++)
            {
                //vci_can_obj obj = (vci_can_obj)marshal.ptrtostructure((intptr)((uint32)pt + i * marshal.sizeof(typeof(vci_can_obj))), typeof(vci_can_obj));

                str = "rx: ";
                str += "  帧id:0x" + system.convert.tostring(m_recobj[i].id, 16);
                str += "  帧格式:";
                if (m_recobj[i].remoteflag == 0)
                    str += "数据帧 ";
                else
                    str += "远程帧 ";
                if (m_recobj[i].externflag == 0)
                    str += "标准帧 ";
                else
                    str += "扩展帧 ";

                //
                if (m_recobj[i].remoteflag == 0)
                {
                    str += "数据: ";
                    byte len = (byte)(m_recobj[i].datalen % 9);
                    byte j = 0;
                    fixed (vci_can_obj* m_recobj1 = &m_recobj[i])
                    {
                        if (j++ < len)
                            str += " " + system.convert.tostring(m_recobj1->data[0], 16);
                        if (j++ < len)
                            str += " " + system.convert.tostring(m_recobj1->data[1], 16);
                        if (j++ < len)
                            str += " " + system.convert.tostring(m_recobj1->data[2], 16);
                        if (j++ < len)
                            str += " " + system.convert.tostring(m_recobj1->data[3], 16);
                        if (j++ < len)
                            str += " " + system.convert.tostring(m_recobj1->data[4], 16);
                        if (j++ < len)
                            str += " " + system.convert.tostring(m_recobj1->data[5], 16);
                        if (j++ < len)
                            str += " " + system.convert.tostring(m_recobj1->data[6], 16);
                        if (j++ < len)
                            str += " " + system.convert.tostring(m_recobj1->data[7], 16);
                    }
                }
                return str + "\n";
            }
            return null;
        }
    }
}

<window x:class="can_test.mainwindow"
        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
        mc:ignorable="d"
        title="can测试" height="600" width="400">
    <grid>
        <stackpanel>
            <stackpanel orientation="horizontal" height="30" margin="0,20,0,0">
                <button margin="10,0,0,0" click="connect_can" width="100">连接分析仪</button>
                <button margin="20,0,0,0" click="close_can"  width="100">断开分析仪</button>
                <button margin="20,0,0,0" click="start_can"  width="100">启动can</button>
            </stackpanel>

            <stackpanel orientation="horizontal" height="30" margin="0,20,0,0">
                <stackpanel orientation="horizontal" margin="20,0,0,0">
                    <textblock>can类型</textblock>
                    <combobox horizontalalignment="center" width="100" margin="20,0,0,0" x:name="can_type">
                        <comboboxitem>usbcan v1</comboboxitem>
                        <comboboxitem>usbcan v2</comboboxitem>
                    </combobox>
                </stackpanel>

                <stackpanel orientation="horizontal" margin="20,0,0,0">
                    <textblock>can通道</textblock>
                    <combobox horizontalalignment="center" width="100" margin="20,0,0,0"  x:name="can_id">
                        <comboboxitem>can1</comboboxitem>
                        <comboboxitem>can2</comboboxitem>
                    </combobox>
                </stackpanel>
            </stackpanel>


            <stackpanel orientation="horizontal" height="30" margin="0,20,0,0">
                <stackpanel orientation="horizontal" margin="20,0,0,0">
                    <textblock>can运行模式</textblock>
                    <combobox horizontalalignment="center" width="100" margin="20,0,0,0"  x:name="run_mod">
                        <comboboxitem>正常</comboboxitem>
                        <comboboxitem>只听</comboboxitem>
                        <comboboxitem>自测</comboboxitem>
                    </combobox>
                </stackpanel>

                <textblock margin="20,0,0,0">连接状态：</textblock>
                <textblock text="断开" x:name="can_statustext"></textblock>
            </stackpanel>

            <stackpanel orientation="horizontal">

                <stackpanel orientation="vertical"  width="300"  margin="0,10,0,0">
                    <textblock textalignment="center">数据发送</textblock>

                    <stackpanel orientation="horizontal" margin="0,10,0,0">
                        <textblock  textalignment="center" margin="20,0,0,0">帧id:</textblock>
                        <textbox width="200" margin="33,0,0,0"  x:name="can_data_id" text="00000123"></textbox>
                    </stackpanel>

                    <stackpanel orientation="horizontal" margin="0,10,0,0">
                        <textblock  textalignment="center" margin="20,0,0,0">发送数据:</textblock>
                        <textbox width="200" margin="10,0,0,0"  x:name="can_send_data" text="00 01 02 03 04 05 06 07 "></textbox>
                    </stackpanel>

                    <button width="50"  margin="0,10,0,0" click="can_send">发送</button>
                </stackpanel>
            </stackpanel>


            <stackpanel orientation="horizontal">
                <textblock textalignment="center">数据接收</textblock>
            </stackpanel>


            <stackpanel orientation="horizontal">
                <textbox 
                         width="350" 
                         height="200" 
                         margin="10,0,0,0" 
                         verticalscrollbarvisibility="visible" 
                         maxlines="5" 
                         x:name="resdata" 
                         textwrapping="wrap">
                  </textbox>
            </stackpanel>
        </stackpanel>
    </grid>
</window>

using can_test.tool;
using system.collections.objectmodel;
using system.componentmodel;
using system.configuration;
using system.runtime.interopservices;
using system.text;
using system.timers;
using system.windows;
using system.windows.controls;
using system.windows.data;
using system.windows.documents;
using system.windows.input;
using system.windows.media;
using system.windows.media.imaging;
using system.windows.navigation;
using system.windows.shapes;
using system.windows.threading;
using static can_test.mainwindow;

namespace hzfm_test
{
    /// <summary>
    /// interaction logic for mainwindow.xaml
    /// </summary>
    public partial class mainwindow : window
    {
        dispatchertimer m_timer = new dispatchertimer();

        public mainwindow()
        {
            initializecomponent();
			
            // 初始化can
            can_tool.init();
            // 启动定时器
            m_timer.interval = timespan.fromseconds(0.2);
            m_timer.tick += new system.eventhandler(timer_rec_tick);
        }

        private void close_can(object sender, routedeventargs e)
        {
            // 关闭can
            can_tool.close_can();
        }

        private void start_can(object sender, routedeventargs e)
        {
            // 启动can
            can_tool.start_can();
        }

        private void connect_can(object sender, routedeventargs e)
        {	
            // 连接can分析仪
            string outdata = can_tool.connect_can(can_type.selectedindex,  can_id.selectedindex, run_mod.selectedindex);
            if(outdata.length > 0)
            {
                m_timer.start();
            }
            can_statustext.text = outdata;
        }

		// 定时收数据任务
        unsafe private void timer_rec_tick(object sender, eventargs e)
        {
            string res = can_tool.timerrectick();
            if(res != null)
            {
                resdata.appendtext(res + "\r\n");
            }
        }
        
		// 发送惨数据
        unsafe private void can_send(object sender, routedeventargs e)
        {
            string res = can_tool.can_send(can_data_id.text, can_send_data.text);

            if (res != null)
            {
                resdata.appendtext(res + "\r\n");
            }
        }
		
        // 读取数据
        private void read_data(object sender, routedeventargs e)
        {
            button btn = sender as button;
            int id = int.parse(btn.commandparameter.tostring()) + 1;

            string res = can_tool.can_send("01800300", can_send_data.text);

            if (res != null)
            {
                resdata.appendtext(res + "\r\n");
            }
        }
    }
}