用VB.NET写一个关于图莫斯CAN通讯的示例

以下是一个使用 VB.NET 和图莫斯CAN通讯的示例：

Imports TPCAN

Public Class Form1
    Private ReadOnly m_Reader As ICanReader
    Private ReadOnly m_Writer As ICanWriter

    Public Sub New()
        InitializeComponent()

        ' 创建读写器实例
        m_Reader = New CanReader()
        m_Writer = New CanWriter()

        ' 初始化 CAN 通讯
        m_Reader.Initialize("PCAN_USBBUS1", TPCANBaudrate.PCAN_BAUD_500K)
        m_Writer.Initialize("PCAN_USBBUS1", TPCANBaudrate.PCAN_BAUD_500K)

        ' 启动读取线程
        Dim readThread As New Threading.Thread(AddressOf ReadData)
        readThread.Start()
    End Sub

    Private Sub btnSend_Click(sender As Object, e As EventArgs) Handles btnSend.Click
        ' 构造 CAN 帧
        Dim frame As New TPCANMsg()
        frame.ID = Convert.ToUInt32(txtID.Text, 16)
        frame.LEN = Convert.ToByte(txtLen.Text)
        frame.DATA = New Byte(7) {}
        For i = 0 To frame.LEN - 1
            frame.DATA(i) = Convert.ToByte(txtData(i).Text, 16)
        Next

        ' 发送 CAN 帧
        m_Writer.Write(frame)
    End Sub

    Private Sub ReadData()
        While True
            ' 读取 CAN 帧
            Dim frame As New TPCANMsg()
            If m_Reader.Read(frame) Then
                ' 在 UI 线程更新 UI 控件
                BeginInvoke(New Action(Sub()
                                            txtIDRecv.Text = frame.ID.ToString("X")
                                            txtLenRecv.Text = frame.LEN.ToString()
                                            For i = 0 To frame.LEN - 1
                                                txtDataRecv(i).Text = frame.DATA(i).ToString("X2")
                                            Next
                                        End Sub))
            End If
        End While
    End Sub

    Private Sub Form1_FormClosing(sender As Object, e As FormClosingEventArgs) Handles MyBase.FormClosing
        ' 关闭 CAN 通讯
        m_Reader.Close()
        m_Writer.Close()
    End Sub
End Class

这个示例使用了 `TPCAN` 库，该库提供了与图莫斯CAN通讯的接口。在 `Form1` 类的构造函数中，我们创建了一个读写器实例，并初始化了 CAN 通讯。在 `btnSend_Click` 函数中，我们构造了一个 CAN 帧并发送出去。在 `ReadData` 函数中，我们使用一个循环不断地读取 CAN 帧，并在 UI 线程中更新 UI 控件。在 `Form1_FormClosing` 函数中，我们关闭了 CAN 通讯。