WindowsFormsTest/CanTest/Program.cs

using System;
using System.Collections.Generic;
using System.Data;
using System.Diagnostics;
using System.Linq;
using System.Runtime.InteropServices;
using System.Runtime.InteropServices.ComTypes;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using CCDCount.DLL.CanBus;

namespace CanTest
{
    internal class Program
    {
        static UInt32 m_devtype = 4;//USBCAN2
        static UInt32 m_devind = 0;
        static UInt32 m_canind = 0;
        unsafe static void Main(string[] args)
        {
            // 示例：运行CANopen主站程序
            //RunCanOpenMaster();

            ConnectCan();
            SendTest();
            //GetTest();
            //MessageTest();
        }

        /// <summary>
        /// 运行CANopen主站示例
        /// </summary>
        static void RunCanOpenMaster()
        {
            Console.WriteLine("=== CANopen主站示例 ===\n");

            // 创建主站
            using (CanOpenMaster master = new CanOpenMaster(4, 0, 0))
            {
                // 注册事件回调
                master.OnTpdoReceived += Master_OnTpdoReceived;
                master.OnHeartbeatReceived += Master_OnHeartbeatReceived;
                master.OnEmergencyReceived += Master_OnEmergencyReceived;
                master.OnLogMessage += Master_OnLogMessage;

                // 初始化主站(波特率500kbps)
                if (!master.Initialize(CanBaudRate.BaudRate_500K))
                {
                    Console.WriteLine("主站初始化失败!");
                    return;
                }

                Console.WriteLine("\n主站初始化成功!\n");

                // 方式1: 不使用EDS文件(直接添加节点)
                Console.WriteLine("=== 方式1: 不使用EDS文件 ===");
                master.AddNode(1, "IO_Module_1");
                //master.AddNode(2, "IO_Module_2");
                
                // 方式2: 使用EDS文件(推荐用于第三方设备)
                //Console.WriteLine("\n=== 方式2: 使用EDS文件 ===");
                //string edsPath1 = @"D:\EDS\servo_drive.eds";
                //string edsPath2 = @"D:\EDS\io_module.eds";
                
                // 如果EDS文件存在,加载它们
                //if (System.IO.File.Exists(edsPath1))
                //{
                //    master.AddNode(3, "Servo_Drive", edsPath1);
                    
                //    // 自动配置PDO映射
                //    master.AutoConfigurePdoFromEds(3);
                //}
                //else
                //{
                //    master.AddNode(3, "Servo_Drive");
                //    Console.WriteLine($"EDS文件不存在: {edsPath1}, 使用默认配置");
                //}
                
                //if (System.IO.File.Exists(edsPath2))
                //{
                //    master.AddNode(5, "Custom_Device", edsPath2);
                //    master.AutoConfigurePdoFromEds(5);
                //}
                //else
                //{
                //    master.AddNode(5, "Custom_Device");
                //    Console.WriteLine($"EDS文件不存在: {edsPath2}, 使用默认配置");
                //}

                Console.WriteLine($"\n已添加 {master.NodeIds.Count} 个节点\n");
                
                // 显示EDS信息
                foreach (var nodeId in master.NodeIds)
                {
                    var edsInfo = master.GetEdsInfo(nodeId);
                    if (edsInfo != null)
                    {
                        Console.WriteLine($"节点{nodeId}: {edsInfo}");
                    }
                }
                Console.WriteLine();

                // 等待从站上线
                Console.WriteLine("等待从站心跳...\n");
                Thread.Sleep(2000);

                // 扫描所有节点的设备信息
                ScanAllNodes(master);

                // 启动所有节点
                Console.WriteLine("\n=== 启动所有节点 ===");
                master.StartAllNodes();
                Thread.Sleep(1000);

                // 启用周期性SYNC(10ms周期)
                Console.WriteLine("\n=== 启用SYNC ===");
                Console.WriteLine("注意: SYNC用于触发从站自动发送TPDO数据");
                Console.WriteLine("      RPDO仍可由主站手动发送（事件驱动模式）");
                master.EnableSync(10);

                // 主循环 - 处理PDO数据
                Console.WriteLine("\n=== 进入主循环 (按任意键退出) ===\n");
                Console.WriteLine("工作原理:");
                Console.WriteLine("  1. SYNC每10ms发送一次 → 从站自动发送TPDO → OnTpdoReceived事件触发");
                Console.WriteLine("  2. RPDO由主站主动调用SendRpdo()发送（不依赖SYNC）");
                Console.WriteLine("  3. SDO读写用于配置和非实时数据传输\n");
                
                bool running = true;
                Task.Run(() =>
                {
                    Console.ReadKey();
                    running = false;
                });

                int loopCount = 0;
                while (running && master.IsRunning)
                {
                    loopCount++;
                    
                    // 每100次循环打印一次状态
                    if (loopCount % 100 == 0)
                    {
                        PrintNodeStatus(master);
                    }

                    // 示例:定期读取某个节点的SDO数据（非实时配置）
                    if (loopCount % 500 == 0)
                    {
                        ReadNodeParameters(master, 1);
                    }

                    // 示例:向节点写入控制命令(SDO方式 - 低速但可靠)
                    if (loopCount % 1000 == 0)
                    {
                        WriteControlCommand(master, 1);
                    }
                    
                    // 示例:通过RPDO发送控制数据(PDO方式 - 高速实时控制)
                    // 注意: 这里的RPDO发送是"事件驱动"模式，不依赖SYNC
                    // 如果要实现同步RPDO，需要在从站配置RPDO为同步触发类型
                    if (loopCount % 200 == 0)
                    {
                        SendRpdoControl(master, 1);
                    }

                    Thread.Sleep(10);
                }

                // 停止SYNC
                master.DisableSync();

                // 停止所有节点
                Console.WriteLine("\n=== 停止所有节点 ===");
                master.StopAllNodes();

                Console.WriteLine("\n主站程序结束");
            }
        }

        /// <summary>
        /// 演示如何使用EDS文件的完整示例
        /// </summary>
        static void EdsFileUsageExample()
        {
            Console.WriteLine("=== EDS文件使用示例 ===\n");
            
            using (CanOpenMaster master = new CanOpenMaster(4, 0, 0))
            {
                master.Initialize(CanBaudRate.BaudRate_500K);
                
                // 场景1: 加载伺服驱动器的EDS文件
                Console.WriteLine("场景1: 加载伺服驱动器EDS");
                string servoEds = @"C:\Devices\ServoDrive.eds";
                
                if (System.IO.File.Exists(servoEds))
                {
                    master.AddNode(1, "Servo_X", servoEds);
                    
                    // 查看EDS信息
                    var edsInfo = master.GetEdsInfo(1);
                    if (edsInfo != null)
                    {
                        Console.WriteLine($"  厂商: {edsInfo.VendorName}");
                        Console.WriteLine($"  产品: {edsInfo.ProductName}");
                        Console.WriteLine($"  TPDO映射数: {edsInfo.TpdoMappings.Count}");
                        
                        // 自动配置PDO
                        master.AutoConfigurePdoFromEds(1);
                    }
                }
                else
                {
                    Console.WriteLine("  EDS文件不存在,跳过此场景");
                }
                
                // 场景2: 不使用EDS文件(硬编码方式)
                Console.WriteLine("\n场景2: 不使用EDS文件");
                master.AddNode(2, "Simple_IO");
                
                // 手动读写已知对象
                master.SdoWriteAndWait(2, 0x6200, 0x01, 0x000000FF);
                var response = master.SdoReadAndWait(2, 0x6000, 0x01);
                
                if (response != null)
                {
                    uint value = BitConverter.ToUInt32(response, 4);
                    Console.WriteLine($"  读取值: 0x{value:X8}");
                }
                
                // 场景3: 混合使用
                Console.WriteLine("\n场景3: 混合使用(部分节点用EDS,部分不用)");
                master.AddNode(3, "Device_A", servoEds);  // 有EDS
                master.AddNode(4, "Device_B");             // 无EDS
                
                Console.WriteLine("\n完成!");
            }
        }

        /// <summary>
        /// 简单的CANopen主站测试
        /// </summary>
        static void SimpleCanOpenMasterTest()
        {
            Console.WriteLine("=== 简单CANopen主站测试 ===\n");

            using (CanOpenMaster master = new CanOpenMaster(4, 0, 0))
            {
                // 注册基本事件
                master.OnHeartbeatReceived += (nodeId, status) =>
                {
                    Console.WriteLine($"[HB] 节点{nodeId}: 0x{status:X2}");
                };

                master.OnTpdoReceived += (nodeId, data) =>
                {
                    string dataStr = BitConverter.ToString(data).Replace("-", " ");
                    Console.WriteLine($"[TPDO] 节点{nodeId}: [{dataStr}]");
                };

                // 初始化
                if (!master.Initialize(CanBaudRate.BaudRate_500K))
                {
                    Console.WriteLine("初始化失败");
                    return;
                }

                // 添加一个节点
                master.AddNode(1);

                Console.WriteLine("等待2秒接收心跳...");
                Thread.Sleep(2000);

                // 尝试读取设备类型
                Console.WriteLine("\n读取设备类型...");
                uint deviceType = master.ReadDeviceType(1);
                Console.WriteLine($"设备类型: 0x{deviceType:X8}");

                // 启动节点
                Console.WriteLine("\n启动节点...");
                master.NmtStartNode(1);
                Thread.Sleep(500);

                // 发送几次SYNC
                Console.WriteLine("\n发送SYNC...");
                for (int i = 0; i < 5; i++)
                {
                    master.SendSync((byte)(i + 1));
                    Thread.Sleep(100);
                }

                Console.WriteLine("\n测试完成");
            }
        }

        /// <summary>
        /// TPDO接收事件处理
        /// </summary>
        private static void Master_OnTpdoReceived(byte nodeId, byte[] data)
        {
            string dataStr = BitConverter.ToString(data).Replace("-", " ");
            Console.WriteLine($"[TPDO] 节点{nodeId}: 数据=[{dataStr}]");
        }

        /// <summary>
        /// 心跳接收事件处理
        /// </summary>
        private static void Master_OnHeartbeatReceived(byte nodeId, byte status)
        {
            string statusStr = GetNodeStatusString(status);
            Console.WriteLine($"[Heartbeat] 节点{nodeId}: 状态={statusStr} (0x{status:X2})");
        }

        /// <summary>
        /// 紧急消息事件处理
        /// </summary>
        private static void Master_OnEmergencyReceived(byte nodeId, ushort errorCode)
        {
            Console.WriteLine($"[EMERGENCY] 节点{nodeId}: 错误代码=0x{errorCode:X4}");
        }

        /// <summary>
        /// 日志消息事件处理
        /// </summary>
        private static void Master_OnLogMessage(string message)
        {
            // 可以选择性地输出日志,避免过多输出
            // Console.WriteLine(message);
        }

        /// <summary>
        /// 扫描所有节点的设备信息
        /// </summary>
        static void ScanAllNodes(CanOpenMaster master)
        {
            Console.WriteLine("=== 扫描节点设备信息 ===");
            
            foreach (var nodeId in master.NodeIds)
            {
                Console.WriteLine($"\n--- 节点 {nodeId} ---");
                
                try
                {
                    // 读取设备类型
                    uint deviceType = master.ReadDeviceType(nodeId);
                    Console.WriteLine($"  设备类型: 0x{deviceType:X8}");
                    
                    // 读取厂商ID
                    uint vendorId = master.ReadVendorId(nodeId);
                    Console.WriteLine($"  厂商ID: 0x{vendorId:X8}");
                    
                    // 读取产品代码
                    uint productCode = master.ReadProductCode(nodeId);
                    Console.WriteLine($"  产品代码: 0x{productCode:X8}");
                    
                    // 读取序列号
                    uint serialNumber = master.ReadSerialNumber(nodeId);
                    Console.WriteLine($"  序列号: 0x{serialNumber:X8}");
                    
                    // 更新节点信息
                    var node = master.GetNode(nodeId);
                    if (node != null)
                    {
                        Console.WriteLine($"  状态: {node.GetStateString()}");
                        Console.WriteLine($"  在线: {(node.IsOnline() ? "是" : "否")}");
                    }
                }
                catch (Exception ex)
                {
                    Console.WriteLine($"  读取失败: {ex.Message}");
                }
                
                Thread.Sleep(50); // 避免总线拥塞
            }
        }

        /// <summary>
        /// 读取节点参数
        /// </summary>
        static void ReadNodeParameters(CanOpenMaster master, byte nodeId)
        {
            var node = master.GetNode(nodeId);
            if (node == null) return;
            
            // 示例:读取对象字典中的某个参数
            // 这里读取0x6000:01 (假设是数字输入状态)
            var response = master.SdoReadAndWait(nodeId, 0x6000, 0x01, 500);
            
            if (response != null && response.Length >= 5)
            {
                uint value = BitConverter.ToUInt32(response, 4);
                Console.WriteLine($"[SDO Read] 节点{nodeId}, 索引0x6000:01 = 0x{value:X8}");
            }
        }

        /// <summary>
        /// 写入控制命令(SDO方式)
        /// </summary>
        static void WriteControlCommand(CanOpenMaster master, byte nodeId)
        {
            var node = master.GetNode(nodeId);
            if (node == null) return;
            
            // 示例:写入对象字典中的某个参数
            // 这里写入0x6200:01 (假设是数字输出控制)
            uint controlValue = 0x00000001; // 设置第1位
            bool success = master.SdoWriteAndWait(nodeId, 0x6200, 0x01, controlValue, 500);
            
            if (success)
            {
                Console.WriteLine($"[SDO Write] 节点{nodeId}, 索引0x6200:01 = 0x{controlValue:X8} - 成功");
            }
            else
            {
                Console.WriteLine($"[SDO Write] 节点{nodeId}, 索引0x6200:01 = 0x{controlValue:X8} - 失败");
            }
        }
        
        /// <summary>
        /// 通过RPDO发送控制数据(PDO方式 - 高速)
        /// </summary>
        static int rpdoCount = 0;
        
        static void SendRpdoControl(CanOpenMaster master, byte nodeId)
        {
            var node = master.GetNode(nodeId);
            if (node == null) return;
            
            // 准备RPDO数据(根据映射配置)
            // 假设RPDO1映射: 0x6200:01 (DO1, 8位), 0x6200:02 (DO2, 8位)
            byte[] rpdoData = new byte[2];
            rpdoData[0] = 0xFF;  // DO1全部置ON
            rpdoData[1] = 0x00;  // DO2全部置OFF
            
            // 发送RPDO
            bool success = master.SendRpdo(nodeId, 1, rpdoData);
            
            if (success)
            {
                // 每50次打印一次,避免刷屏
                rpdoCount++;
                if (rpdoCount % 50 == 0)
                {
                    Console.WriteLine($"[RPDO Write] 节点{nodeId}, RPDO1: DO1=0x{rpdoData[0]:X2}, DO2=0x{rpdoData[1]:X2}");
                }
            }
        }
        
        /// <summary>
        /// 演示PDO映射配置
        /// </summary>
        static void PdoMappingExample(CanOpenMaster master, byte nodeId)
        {
            Console.WriteLine($"\n=== 配置节点{nodeId}的PDO映射 ===");
            
            // 配置RPDO1映射
            var rpdo1Mapping = new List<MappedObject>
            {
                new MappedObject { Index = 0x6200, SubIndex = 0x01, BitLength = 8 },  // DO1
                new MappedObject { Index = 0x6200, SubIndex = 0x02, BitLength = 8 }   // DO2
            };
            
            bool success = master.ConfigureRpdoMapping(nodeId, 1, rpdo1Mapping);
            Console.WriteLine($"RPDO1映射配置: {(success ? "成功" : "失败")}");
            
            // 配置TPDO1映射
            var tpdo1Mapping = new List<MappedObject>
            {
                new MappedObject { Index = 0x6400, SubIndex = 0x01, BitLength = 16 },  // AI1
                new MappedObject { Index = 0x6400, SubIndex = 0x02, BitLength = 16 }   // AI2
            };
            
            success = master.ConfigureTpdoMapping(nodeId, 1, tpdo1Mapping);
            Console.WriteLine($"TPDO1映射配置: {(success ? "成功" : "失败")}");
        }

        /// <summary>
        /// 打印节点状态
        /// </summary>
        static void PrintNodeStatus(CanOpenMaster master)
        {
            Console.WriteLine("\n--- 节点状态 ---");
            foreach (var nodeId in master.NodeIds)
            {
                var node = master.GetNode(nodeId);
                if (node != null)
                {
                    Console.WriteLine(node.ToString());
                }
            }
            Console.WriteLine();
        }

        /// <summary>
        /// 获取节点状态字符串
        /// </summary>
        static string GetNodeStatusString(byte status)
        {
            switch (status & 0x7F)
            {
                case 0x00: return "启动中";
                case 0x04: return "停止";
                case 0x05: return "运行";
                case 0x7F: return "预操作";
                default: return "未知";
            }
        }


        static void ConnectCan()
        {
            //string SendId = "0x0000000f";
            //开启设备
            if (CanLibraryClass.VCI_OpenDevice(m_devtype, m_devind, 0) == 0)
            {
                Console.WriteLine("打开设备失败,请检查设备类型和设备索引号是否正确");
                return;
            }
            //初始化CAN
            VCI_INIT_CONFIG config = new VCI_INIT_CONFIG();
            config.AccCode = Convert.ToUInt32("0x00000000", 16);
            config.AccMask = Convert.ToUInt32("0xFFFFFFFF", 16);
            config.Timing0 = Convert.ToByte("0x00", 16);
            config.Timing1 = Convert.ToByte("0x14", 16);
            config.Filter = (Byte)1;
            config.Mode = (Byte)0;
            if (CanLibraryClass.VCI_InitCAN(m_devtype, m_devind, m_canind, ref config) == 0)
            {
                Console.WriteLine("初始化Can失败");
                return;
            }
            if (CanLibraryClass.VCI_StartCAN(m_devtype, m_devind, m_canind) == 0)
            {
                Console.WriteLine("开启Can失败");
                return;
            }
        }

        unsafe static void SendTest()
        {
            int DataLen = 1;
            int SendCount = 0;
            int sendnum = 0;
            int InSendCount = 0;
            TimeSpan WhileSleepTime = TimeSpan.FromTicks(10000 * 4);
            Stopwatch SW = new Stopwatch();
            Stopwatch RunTime = new Stopwatch();
            Console.WriteLine("请输入循环次数");
            InSendCount = Convert.ToInt32(Console.ReadLine());
            RunTime.Start();
            while (SendCount < InSendCount)
            {
                SW.Restart();
                VCI_CAN_OBJ sendobj = new VCI_CAN_OBJ();
                sendobj.RemoteFlag = (byte)(0);
                sendobj.ExternFlag = (byte)(0);
                sendobj.ID = Convert.ToUInt32(Convert.ToString(2, 16), 16);
                sendobj.DataLen = Convert.ToByte(DataLen);
                for (int i = 1; i < DataLen + 1; i++)
                {
                    sendobj.Data[i - 1] = BitConverter.GetBytes(sendnum % 256)[0];
                    sendnum++;
                }

                if (CanLibraryClass.VCI_Transmit(m_devtype, m_devind, m_canind, ref sendobj, 1) == 0)
                {
                    Console.WriteLine("发送失败");
                    continue;
                }
                SendCount++;
                Console.WriteLine("运行时常：{0}，帧ID：{1},帧发送耗时：{2}\n" +
                    "Data0:{3},Data0:{4},Data0:{5},Data0:{6},\n" +
                    "Data0:{7},Data0:{8},Data0:{9},Data0:{10},",
                    RunTime.Elapsed, SendCount, SW.Elapsed,
                    sendobj.Data[0], sendobj.Data[1], sendobj.Data[2], sendobj.Data[3],
                    sendobj.Data[4], sendobj.Data[5], sendobj.Data[6], sendobj.Data[7]);
                while (SW.Elapsed <= WhileSleepTime)
                {

                }
                if (SendCount == InSendCount)
                {
                    RunTime.Stop();
                    Console.WriteLine("总耗时：{0}", RunTime.Elapsed);
                    Console.WriteLine("输入新的循环数（输入0结束）：");
                    int newnum = Convert.ToInt32(Console.ReadLine());
                    if (newnum != 0)
                    {
                        SendCount = 0;
                        InSendCount = newnum;
                        RunTime.Restart();
                    }
                }
            }

            CanLibraryClass.VCI_ResetCAN(m_devtype, m_devind, m_canind);
            Console.WriteLine("流程完成");
            Console.ReadKey();
        }

        unsafe static void GetTest()
        {
            UInt32 res = new UInt32();
            VCI_CAN_OBJ[] m_recobj = new VCI_CAN_OBJ[1000];
            Console.WriteLine("请输入运行时长（单位：分钟）");
            int runtimeLength = Convert.ToInt32(Console.ReadLine());
            DateTime StartTime = DateTime.Now;
            int getCount = 0;
            Task SetTask = new Task(() =>
            {
                while ((DateTime.Now - StartTime).TotalMilliseconds < runtimeLength * 60 * 1000)
                {
                    res = CanLibraryClass.VCI_Receive(m_devtype, m_devind, m_canind, ref m_recobj[0], 1000, 100);
                    getCount++;
                    if (res == 0xFFFFFFFF) res = 0;
                    if (res != 0)
                    {
                        for (UInt32 i = 0; i < res; i++)
                        {
                            string str = "";
                            str = "接收到数据: ";
                            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)
                            {
                                fixed (VCI_CAN_OBJ* m_recobj1 = &m_recobj[i])
                                {
                                    str += "数据:";
                                    for (byte k = 0; k < 8; k++)
                                    {
                                        str += " " + m_recobj1->Data[k].ToString("X2");
                                    }
                                }
                            }
                            Console.WriteLine(str);
                        }
                    }
                }
                Console.WriteLine("运行结束,运行次数{0}", getCount);
                CanLibraryClass.VCI_ResetCAN(m_devtype, m_devind, m_canind);
            });
            SetTask.Start();

            Console.ReadKey();
        }

        unsafe static void MessageTest()
        {
            UInt32 res = new UInt32();
            VCI_CAN_OBJ[] m_recobj = new VCI_CAN_OBJ[1000];
            Console.WriteLine("请输入运行时长（单位：分钟）");
            int runtimeLength = Convert.ToInt32(Console.ReadLine());
            DateTime StartTime = DateTime.Now;
            int getCount = 0;
            int DataLen = 8;
            int SendCount = 0;
            //Stopwatch SW = new Stopwatch();
            Stopwatch InterValSW = new Stopwatch();
            TimeSpan WhileSleepTime = TimeSpan.FromTicks(10000 * 1);
            TimeSpan MaxTime = TimeSpan.MinValue;
            TimeSpan MinTime = TimeSpan.MaxValue;
            int num04 = 0;
            int num48 = 0;
            int num8p = 0;
            Task SetTask = new Task(() =>
            {
                int previousWriteDone = 0;
                while ((DateTime.Now - StartTime).TotalMilliseconds < runtimeLength * 60 * 1000)
                {
                    //SW.Restart();
                    InterValSW.Restart();
                    res = CanLibraryClass.VCI_Receive(m_devtype, m_devind, m_canind, ref m_recobj[0], 1000, 100);
                    if (res == 0xFFFFFFFF) res = 0;
                    //if (res == 0) Console.WriteLine("res=0");
                    if (res != 0)
                    {
                        for (UInt32 i = 0; i < res; i++)
                        {
                            string str = "";
                            if (m_recobj[i].RemoteFlag == 0)
                            {
                                getCount++;
                                int writeDone = -1;
                                fixed (VCI_CAN_OBJ* m_recobj1 = &m_recobj[i])
                                {
                                    writeDone = m_recobj1->Data[6] & 0x01;
                                    //if(true)
                                    if (writeDone != previousWriteDone)
                                    {
                                        str = DateTime.Now.ToString("HH mm ss ffffff:");
                                        str += "运行次数：" + getCount;
                                        str += "接收到数据: ";
                                        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 ";
                                        str += "数据:";
                                        for (byte k = 0; k < 8; k++)
                                        {
                                            str += " " + m_recobj1->Data[k].ToString("X2");
                                        }
                                    }
                                }
                                if ((writeDone == 1 && previousWriteDone == 0) || (writeDone == 0 && previousWriteDone == 1))
                                {
                                    VCI_CAN_OBJ sendobj = new VCI_CAN_OBJ();
                                    sendobj.RemoteFlag = (byte)(0);
                                    sendobj.ExternFlag = (byte)(0);
                                    sendobj.ID = Convert.ToUInt32(Convert.ToString(2, 16), 16);
                                    sendobj.DataLen = Convert.ToByte(DataLen);
                                    byte SendMessage0 = new byte();
                                    SendMessage0 |= (byte)(1 << SendCount % 8);
                                    //SendMessage0 |= (byte)(1 << 0);
                                    sendobj.Data[0] = SendMessage0;

                                    byte SendMessage1 = new byte();
                                    SendMessage1 |= (byte)(1 << SendCount % 8);
                                    //SendMessage1 |= (byte)(1 << 0);
                                    sendobj.Data[1] = SendMessage1;

                                    byte SendMessage6 = new byte();
                                    SendMessage6 = (byte)(1 << 0);
                                    sendobj.Data[6] = SendMessage6;

                                    byte SendMessage7 = new byte();
                                    if (SendCount % 10 == 0)
                                        SendMessage7 |= (byte)(1 << 0);
                                    if (SendCount % 11 == 0)
                                        SendMessage7 |= (byte)(1 << 1);
                                    sendobj.Data[7] = SendMessage7;

                                    str += "发送数据：";
                                    str += string.Format("byte0:{0},byte1:{1},byte6:{2},byte7:{3}",
                                        SendMessage0.ToString("000"), SendMessage1.ToString("000"),
                                        SendMessage6.ToString("000"), SendMessage7.ToString("000"));
                                    if (CanLibraryClass.VCI_Transmit(m_devtype, m_devind, m_canind, ref sendobj, 1) == 0)
                                    {
                                        Console.WriteLine("发送失败");
                                        continue;
                                    }
                                    InterValSW.Stop();
                                    if (SendCount != 0)
                                    {
                                        MaxTime = InterValSW.Elapsed > MaxTime ? InterValSW.Elapsed : MaxTime;
                                        MinTime = InterValSW.Elapsed < MinTime ? InterValSW.Elapsed : MinTime;
                                        if (InterValSW.Elapsed <= TimeSpan.FromMilliseconds(4))
                                        {
                                            num04++;
                                        }
                                        else if (InterValSW.Elapsed <= TimeSpan.FromMilliseconds(8))
                                        {
                                            num48++;
                                        }
                                        else
                                        {
                                            num8p++;
                                        }
                                    }
                                    SendCount++;
                                }
                                previousWriteDone = writeDone;
                            }
                            if (!string.IsNullOrEmpty(str))
                                Console.WriteLine(str);
                        }
                    }
                    //while (SW.Elapsed <= WhileSleepTime)
                    //{

                    //}
                }
                Console.WriteLine("运行结束,运行次数{0},发送次数{1},最小耗时{2}，最大耗时{3}",
                    getCount, SendCount, MinTime.TotalMilliseconds, MaxTime.TotalMilliseconds);
                Console.WriteLine("运行耗时统计，0-4:{0},4-8:{1},8+:{2}", num04, num48, num8p);
                CanLibraryClass.VCI_ResetCAN(m_devtype, m_devind, m_canind);
            });
            SetTask.Start();

            Console.ReadKey();
        }
    }
}