C#PCANBasic.cs使用例子

以下是使用 C# PCANBasic.cs 的示例代码：

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Runtime.InteropServices; // 导入 DLL 相关类库

namespace PCANBasicExample
{
    class Program
    {
        // 定义 PCANBasic 动态链接库中的函数
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Initialize", SetLastError = true)]
        private static extern TPCANStatus Initialize(UInt16 wBTR0BTR1, TPCANType dwHWType, UInt32 dwIOPort, UInt16 wInterrupt);

        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Reset", SetLastError = true)]
        private static extern TPCANStatus Reset(UInt32 dwHandle);

        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Uninitialize", SetLastError = true)]
        private static extern TPCANStatus Uninitialize(UInt32 dwHandle);

        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Write", SetLastError = true)]
        private static extern TPCANStatus Write(UInt32 dwHandle, ref TPCANMsg pMsgBuffer);

        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Read", SetLastError = true)]
        private static extern TPCANStatus Read(UInt32 dwHandle, out TPCANMsg pMsgBuffer, out TPCANTimestamp pTimestamp);

        [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetErrorText", SetLastError = true)]
        private static extern TPCANStatus GetErrorText(TPCANStatus dwError, UInt16 wLanguage, StringBuilder bufout);

        static void Main(string[] args)
        {
            TPCANMsg msg = new TPCANMsg();
            TPCANTimestamp timestamp = new TPCANTimestamp();
            TPCANStatus status;

            // 初始化 CAN 总线
            status = Initialize(0x0014, TPCANType.PCAN_TYPE_ISA, 0, 0);
            if (status != TPCANStatus.PCAN_ERROR_OK)
            {
                Console.WriteLine("CAN Bus initialization failed: " + status.ToString());
                return;
            }

            // 构造 CAN 数据帧
            msg.ID = 0x123;
            msg.LEN = 8;
            msg.DATA = new byte[] { 0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88 };

            // 发送 CAN 数据帧
            status = Write(0, ref msg);
            if (status != TPCANStatus.PCAN_ERROR_OK)
            {
                Console.WriteLine("CAN message transmission failed: " + status.ToString());
                return;
            }

            // 接收 CAN 数据帧
            status = Read(0, out msg, out timestamp);
            if (status != TPCANStatus.PCAN_ERROR_OK)
            {
                Console.WriteLine("CAN message reception failed: " + status.ToString());
                return;
            }

            // 输出接收到的 CAN 数据帧
            Console.WriteLine($"Received message: ID={msg.ID:X}, LEN={msg.LEN}, DATA={BitConverter.ToString(msg.DATA)}");

            // 关闭 CAN 总线
            status = Uninitialize(0);
            if (status != TPCANStatus.PCAN_ERROR_OK)
            {
                Console.WriteLine("CAN Bus uninitialization failed: " + status.ToString());
                return;
            }
        }
    }

    // 定义 PCANBasic 动态链接库中的数据类型
    public enum TPCANStatus : uint
    {
        PCAN_ERROR_OK = 0x00000,
        PCAN_ERROR_XMTFULL = 0x00001,
        PCAN_ERROR_OVERRUN = 0x00002,
        PCAN_ERROR_BUSLIGHT = 0x00004,
        PCAN_ERROR_BUSHEAVY = 0x00008,
        PCAN_ERROR_BUSOFF = 0x00010,
        PCAN_ERROR_ANYBUSERR = 0x00080,
        PCAN_ERROR_QRCVEMPTY = 0x00081,
        PCAN_ERROR_QOVERRUN = 0x00082,
        PCAN_ERROR_QXMTFULL = 0x00084,
        PCAN_ERROR_REGTEST = 0x00100,
        PCAN_ERROR_NODRIVER = 0x00200,
        PCAN_ERROR_HWINUSE = 0x00400,
        PCAN_ERROR_NETINUSE = 0x00800,
        PCAN_ERROR_ILLHW = 0x01400,
        PCAN_ERROR_ILLNET = 0x01800,
        PCAN_ERROR_ILLCLIENT = 0x01C00,
        PCAN_ERROR_ILLHANDLE = 0x02000,
        PCAN_ERROR_RESOURCE = 0x03000,
        PCAN_ERROR_ILLPARAMTYPE = 0x04000,
        PCAN_ERROR_ILLPARAMVAL = 0x08000,
        PCAN_ERROR_UNKNOWN = 0x10000,
        PCAN_ERROR_INITIALIZE = 0x40000,
        PCAN_ERROR_ILLOPERATION = 0x80000,
    };

    public enum TPCANType : uint
    {
        PCAN_TYPE_ISA = 0x01,    // PCAN-ISA 82C200
        PCAN_TYPE_ISA_SJA = 0x09,    // PCAN-ISA SJA1000
        PCAN_TYPE_ISA_PHYTEC = 0x04,    // PHYTEC ISA
        PCAN_TYPE_DNG = 0x02,    // PCAN-Dongle 82C200
        PCAN_TYPE_DNG_EPP = 0x03,    // PCAN-Dongle EPP 82C200
        PCAN_TYPE_DNG_SJA = 0x05,    // PCAN-Dongle SJA1000
        PCAN_TYPE_DNG_SJA_EPP = 0x06,    // PCAN-Dongle EPP SJA1000
        PCAN_TYPE_USB = 0x07,    // PCAN-USB
        PCAN_TYPE_USB_PRO = 0x08,    // PCAN-USB Pro
        PCAN_TYPE_PCI = 0x20,    // PCAN-PCI 82C200
        PCAN_TYPE_PCI_SJA = 0x21,    // PCAN-PCI SJA1000
        PCAN_TYPE_PC104_PLUS = 0x22,    // PCAN-PC104+ 82C200
        PCAN_TYPE_PC104_PLUS_SJA = 0x23,    // PCAN-PC104+ SJA1000
        PCAN_TYPE_PCI_1710 = 0x31,    // PCAN-PCI 1710
        PCAN_TYPE_PCI_1720 = 0x32,    // PCAN-PCI 1720
        PCAN_TYPE_PCI_1740 = 0x33,    // PCAN-PCI 1740
        PCAN_TYPE_PCI_1760 = 0x34,    // PCAN-PCI 1760
        PCAN_TYPE_PCI_1780 = 0x35,    // PCAN-PCI 1780
        PCAN_TYPE_PCI_1790 = 0x36,    // PCAN-PCI 1790
        PCAN_TYPE_CANLINK = 0x8000,    // PCAN-CanLink
        PCAN_TYPE_CANLINK_PROFIBUS = 0x0001,    // PCAN-CanLink Profs
    };

    [StructLayout(LayoutKind.Sequential)]
    public struct TPCANMsg
    {
        public uint ID;
        public byte MSGTYPE;
        public byte LEN;
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
        public byte[] DATA;
    }

    [StructLayout(LayoutKind.Sequential)]
    public struct TPCANTimestamp
    {
        public uint millis;
        public ushort millis_overflow;
        public ushort micros;
        public ushort micros_overflow;
    }
}

在上面的代码中，我们首先导入了 `PCANBasic.dll` 中的函数和数据类型。其中，`CAN_Initialize`、`CAN_Reset`、`CAN_Uninitialize`、`CAN_Write`、`CAN_Read`、`CAN_GetErrorText` 分别对应了 PCANBasic 动态链接库中的 `CAN_Initialize`、`CAN_Reset`、`CAN_Uninitialize`、`CAN_Write`、`CAN_Read`、`CAN_GetErrorText` 函数。

接着，我们定义了一个程序入口 `Main`，在 `Main` 方法中，我们执行了以下操作：

1. 调用 `Initialize` 函数初始化 CAN 总线，并检查初始化是否成功。
2. 构造一个 CAN 数据帧，并调用 `Write` 函数将数据帧发送到 CAN 总线上，并检查发送是否成功。
3. 调用 `Read` 函数接收从 CAN 总线上发来的数据帧，并检查接收是否成功。
4. 输出接收到的 CAN 数据帧内容。
5. 调用 `Uninitialize` 函数关闭 CAN 总线，并检查关闭是否成功。

最后，我们定义了 `TPCANStatus`、`TPCANType`、`TPCANMsg` 和 `TPCANTimestamp` 四个数据类型，它们分别对应了 PCANBasic 动态链接库中的 `TPCANStatus`、`TPCANType`、`TPCANMsg` 和 `TPCANTimestamp` 数据类型。