WindowsFormsTest/CanOpenSlaveTest/SlaveTestForm.cs

using System;
using System.Windows.Forms;
using System.Drawing;
using CCDCount.DLL.CanBus;

namespace CanOpenSlaveTest
{
    /// <summary>
    /// CANopen从站设备测试界面
    /// </summary>
    public class SlaveTestForm : Form
    {
        private CanOpenSlaveDevice m_slaveDevice;
        
        // UI控件
        private GroupBox grpDeviceInfo;
        private Label lblNodeId;
        private Label lblState;
        private Label lblStatus;
        
        private GroupBox grpControl;
        private Button btnStart;
        private Button btnStop;
        private Button btnSendTpdo1;
        private Button btnSendTpdo2;
        private Button btnSendAllTpdos;
        
        private GroupBox grpHeartbeat;
        private NumericUpDown nudHeartbeatTime;
        private Button btnConfigureHeartbeat;
        
        private TextBox txtLog;
        
        private System.Windows.Forms.Timer m_updateTimer;
        
        public SlaveTestForm()
        {
            InitializeComponent();
            
            // 在构造函数中创建从站设备（避免设计器错误）
            if (!DesignMode)
            {
                m_slaveDevice = new CanOpenSlaveDevice(nodeId: 1);
                
                // 注册事件
                m_slaveDevice.OnRpdoReceived += SlaveDevice_OnRpdoReceived;
                m_slaveDevice.OnNmtStateChanged += SlaveDevice_OnNmtStateChanged;
                m_slaveDevice.OnSdoReadRequest += SlaveDevice_OnSdoReadRequest;
                m_slaveDevice.OnSdoWriteRequest += SlaveDevice_OnSdoWriteRequest;
                
                // 初始化日志
                AppendLog("CANopen从站测试程序已启动");
                AppendLog("节点ID: " + m_slaveDevice.NodeId.ToString());
                AppendLog("点击'启动从站'按钮开始测试\n");
            }
        }
        
        private void InitializeComponent()
        {
            this.Text = "CANopen从站设备测试";
            this.Size = new Size(800, 600);
            this.StartPosition = FormStartPosition.CenterScreen;
            
            // 设备信息组
            grpDeviceInfo = new GroupBox();
            grpDeviceInfo.Text = "设备信息";
            grpDeviceInfo.Location = new Point(10, 10);
            grpDeviceInfo.Size = new Size(380, 100);
            
            lblNodeId = new Label();
            lblNodeId.Text = "节点ID: -";
            lblNodeId.Location = new Point(10, 25);
            lblNodeId.AutoSize = true;
            
            lblState = new Label();
            lblState.Text = "状态: -";
            lblState.Location = new Point(10, 50);
            lblState.AutoSize = true;
            
            lblStatus = new Label();
            lblStatus.Text = "运行状态: 未启动";
            lblStatus.Location = new Point(10, 75);
            lblStatus.AutoSize = true;
            
            grpDeviceInfo.Controls.AddRange(new Control[] { lblNodeId, lblState, lblStatus });
            
            // 控制组
            grpControl = new GroupBox();
            grpControl.Text = "控制";
            grpControl.Location = new Point(400, 10);
            grpControl.Size = new Size(380, 100);
            
            btnStart = new Button();
            btnStart.Text = "启动从站";
            btnStart.Location = new Point(10, 25);
            btnStart.Size = new Size(100, 30);
            btnStart.Click += BtnStart_Click;
            
            btnStop = new Button();
            btnStop.Text = "停止从站";
            btnStop.Location = new Point(120, 25);
            btnStop.Size = new Size(100, 30);
            btnStop.Click += BtnStop_Click;
            btnStop.Enabled = false;
            
            btnSendTpdo1 = new Button();
            btnSendTpdo1.Text = "发送TPDO1";
            btnSendTpdo1.Location = new Point(10, 60);
            btnSendTpdo1.Size = new Size(100, 30);
            btnSendTpdo1.Click += BtnSendTpdo1_Click;
            btnSendTpdo1.Enabled = false;
            
            btnSendTpdo2 = new Button();
            btnSendTpdo2.Text = "发送TPDO2";
            btnSendTpdo2.Location = new Point(120, 60);
            btnSendTpdo2.Size = new Size(100, 30);
            btnSendTpdo2.Click += BtnSendTpdo2_Click;
            btnSendTpdo2.Enabled = false;
            
            btnSendAllTpdos = new Button();
            btnSendAllTpdos.Text = "发送所有TPDO";
            btnSendAllTpdos.Location = new Point(230, 60);
            btnSendAllTpdos.Size = new Size(120, 30);
            btnSendAllTpdos.Click += BtnSendAllTpdos_Click;
            btnSendAllTpdos.Enabled = false;
            
            grpControl.Controls.AddRange(new Control[] { 
                btnStart, btnStop, btnSendTpdo1, btnSendTpdo2, btnSendAllTpdos 
            });
            
            // 心跳配置组
            grpHeartbeat = new GroupBox();
            grpHeartbeat.Text = "心跳配置";
            grpHeartbeat.Location = new Point(10, 120);
            grpHeartbeat.Size = new Size(770, 60);
            
            Label lblHeartbeat = new Label();
            lblHeartbeat.Text = "心跳时间(ms):";
            lblHeartbeat.Location = new Point(10, 25);
            lblHeartbeat.AutoSize = true;
            
            nudHeartbeatTime = new NumericUpDown();
            nudHeartbeatTime.Location = new Point(110, 22);
            nudHeartbeatTime.Size = new Size(100, 25);
            nudHeartbeatTime.Minimum = 0;
            nudHeartbeatTime.Maximum = 10000;
            nudHeartbeatTime.Value = 100;
            
            btnConfigureHeartbeat = new Button();
            btnConfigureHeartbeat.Text = "配置心跳";
            btnConfigureHeartbeat.Location = new Point(220, 20);
            btnConfigureHeartbeat.Size = new Size(100, 30);
            btnConfigureHeartbeat.Click += BtnConfigureHeartbeat_Click;
            btnConfigureHeartbeat.Enabled = false;
            
            grpHeartbeat.Controls.AddRange(new Control[] { lblHeartbeat, nudHeartbeatTime, btnConfigureHeartbeat });
            
            // 日志显示
            txtLog = new TextBox();
            txtLog.Multiline = true;
            txtLog.ScrollBars = ScrollBars.Vertical;
            txtLog.ReadOnly = true;
            txtLog.Location = new Point(10, 190);
            txtLog.Size = new Size(770, 360);
            // 使用支持中文的字体（微软雅黑或宋体）
            txtLog.Font = new Font("Microsoft YaHei", 9);
            txtLog.ForeColor = Color.Black;
            txtLog.BackColor = Color.White;
            
            // 添加控件到窗体
            this.Controls.AddRange(new Control[] { 
                grpDeviceInfo, grpControl, grpHeartbeat, txtLog 
            });
            
            // 更新定时器
            m_updateTimer = new System.Windows.Forms.Timer();
            m_updateTimer.Interval = 500;
            m_updateTimer.Tick += UpdateTimer_Tick;
            m_updateTimer.Start();
        }
        
        private void BtnStart_Click(object sender, EventArgs e)
        {
            try
            {
                AppendLog("正在启动从站...");
                
                if (m_slaveDevice.Start(CanBaudRate.BaudRate_1M))
                {
                    AppendLog("✓ 从站启动成功");
                    
                    btnStart.Enabled = false;
                    btnStop.Enabled = true;
                    btnSendTpdo1.Enabled = true;
                    btnSendTpdo2.Enabled = true;
                    btnSendAllTpdos.Enabled = true;
                    btnConfigureHeartbeat.Enabled = true;
                    
                    UpdateDeviceInfo();
                }
                else
                {
                    AppendLog("✗ 从站启动失败");
                    MessageBox.Show("启动失败！请检查CAN设备连接。", "错误", 
                        MessageBoxButtons.OK, MessageBoxIcon.Error);
                }
            }
            catch (Exception ex)
            {
                AppendLog($"✗ 启动错误: {ex.Message}");
                MessageBox.Show(ex.Message, "错误", 
                    MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }
        
        private void BtnStop_Click(object sender, EventArgs e)
        {
            try
            {
                AppendLog("正在停止从站...");
                m_slaveDevice.Stop();
                AppendLog("✓ 从站已停止");
                
                btnStart.Enabled = true;
                btnStop.Enabled = false;
                btnSendTpdo1.Enabled = false;
                btnSendTpdo2.Enabled = false;
                btnSendAllTpdos.Enabled = false;
                btnConfigureHeartbeat.Enabled = false;
                
                UpdateDeviceInfo();
            }
            catch (Exception ex)
            {
                AppendLog($"✗ 停止错误: {ex.Message}");
            }
        }
        
        private void BtnSendTpdo1_Click(object sender, EventArgs e)
        {
            try
            {
                m_slaveDevice.SendTpdo(1);
                AppendLog("→ 已发送TPDO1");
            }
            catch (Exception ex)
            {
                AppendLog($"✗ 发送TPDO1失败: {ex.Message}");
            }
        }
        
        private void BtnSendTpdo2_Click(object sender, EventArgs e)
        {
            try
            {
                m_slaveDevice.SendTpdo(2);
                AppendLog("→ 已发送TPDO2");
            }
            catch (Exception ex)
            {
                AppendLog($"✗ 发送TPDO2失败: {ex.Message}");
            }
        }
        
        private void BtnSendAllTpdos_Click(object sender, EventArgs e)
        {
            try
            {
                m_slaveDevice.SendAllTpdos();
                AppendLog("→ 已发送所有TPDO");
            }
            catch (Exception ex)
            {
                AppendLog($"✗ 发送TPDO失败: {ex.Message}");
            }
        }
        
        private void BtnConfigureHeartbeat_Click(object sender, EventArgs e)
        {
            try
            {
                ushort heartbeatTime = (ushort)nudHeartbeatTime.Value;
                m_slaveDevice.ConfigureHeartbeat(heartbeatTime);
                AppendLog($"✓ 心跳已配置: {heartbeatTime}ms");
            }
            catch (Exception ex)
            {
                AppendLog($"✗ 配置心跳失败: {ex.Message}");
            }
        }
        
        private void SlaveDevice_OnRpdoReceived(byte nodeId, byte pdoNumber, byte[] data)
        {
            if (this.InvokeRequired)
            {
                this.Invoke(new Action(() => 
                    SlaveDevice_OnRpdoReceived(nodeId, pdoNumber, data)));
                return;
            }
            
            string dataStr = BitConverter.ToString(data).Replace("-", " ");
            AppendLog($"← 收到RPDO{pdoNumber} [节点{nodeId}]: {dataStr}");
        }
        
        private void SlaveDevice_OnNmtStateChanged(NmtState oldState, NmtState newState)
        {
            if (this.InvokeRequired)
            {
                this.Invoke(new Action(() => 
                    SlaveDevice_OnNmtStateChanged(oldState, newState)));
                return;
            }
            
            AppendLog($"⟳ NMT状态改变: {oldState} → {newState}");
            UpdateDeviceInfo();
        }
        
        private void SlaveDevice_OnSdoReadRequest(byte nodeId, ushort index, byte subIndex)
        {
            if (this.InvokeRequired)
            {
                this.Invoke(new Action(() => 
                    SlaveDevice_OnSdoReadRequest(nodeId, index, subIndex)));
                return;
            }
            
            AppendLog($"? SDO读取请求: 索引0x{index:X4}, 子索引{subIndex}");
        }
        
        private void SlaveDevice_OnSdoWriteRequest(byte nodeId, ushort index, byte subIndex, uint value)
        {
            if (this.InvokeRequired)
            {
                this.Invoke(new Action(() => 
                    SlaveDevice_OnSdoWriteRequest(nodeId, index, subIndex, value)));
                return;
            }
            
            AppendLog($"↓ SDO写入请求: 索引0x{index:X4}, 子索引{subIndex}, 值0x{value:X8}");
        }
        
        private void UpdateTimer_Tick(object sender, EventArgs e)
        {
            UpdateDeviceInfo();
        }
        
        private void UpdateDeviceInfo()
        {
            if (this.InvokeRequired)
            {
                this.Invoke(new Action(UpdateDeviceInfo));
                return;
            }
            
            lblNodeId.Text = $"节点ID: {m_slaveDevice.NodeId}";
            lblState.Text = $"状态: {m_slaveDevice.CurrentState}";
            lblStatus.Text = $"运行状态: {(m_slaveDevice.IsRunning ? "运行中" : "已停止")}";
        }
        
        private void AppendLog(string message)
        {
            if (this.InvokeRequired)
            {
                this.Invoke(new Action<string>(AppendLog), message);
                return;
            }
            
            string timestamp = DateTime.Now.ToString("HH:mm:ss.fff");
            // 使用字符串拼接而非插值，确保兼容性
            txtLog.AppendText("[" + timestamp + "] " + message + "\r\n");
            
            // 自动滚动到底部
            txtLog.SelectionStart = txtLog.Text.Length;
            txtLog.ScrollToCaret();
        }
        
        protected override void OnFormClosing(FormClosingEventArgs e)
        {
            if (m_slaveDevice != null)
            {
                m_slaveDevice.Stop();
                m_slaveDevice.Dispose();
            }
            
            m_updateTimer?.Stop();
            m_updateTimer?.Dispose();
            
            base.OnFormClosing(e);
        }
    }
}