WindowsFormsTest/CanOpenSlaveTest/SlaveTestForm.cs

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

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 Label lblHeartbeat;
        private System.ComponentModel.IContainer components;
        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.components = new System.ComponentModel.Container();
            this.grpDeviceInfo = new System.Windows.Forms.GroupBox();
            this.lblNodeId = new System.Windows.Forms.Label();
            this.lblState = new System.Windows.Forms.Label();
            this.lblStatus = new System.Windows.Forms.Label();
            this.grpControl = new System.Windows.Forms.GroupBox();
            this.btnStart = new System.Windows.Forms.Button();
            this.btnStop = new System.Windows.Forms.Button();
            this.btnSendTpdo1 = new System.Windows.Forms.Button();
            this.btnSendTpdo2 = new System.Windows.Forms.Button();
            this.btnSendAllTpdos = new System.Windows.Forms.Button();
            this.grpHeartbeat = new System.Windows.Forms.GroupBox();
            this.lblHeartbeat = new System.Windows.Forms.Label();
            this.nudHeartbeatTime = new System.Windows.Forms.NumericUpDown();
            this.btnConfigureHeartbeat = new System.Windows.Forms.Button();
            this.txtLog = new System.Windows.Forms.TextBox();
            this.m_updateTimer = new System.Windows.Forms.Timer(this.components);
            this.grpDeviceInfo.SuspendLayout();
            this.grpControl.SuspendLayout();
            this.grpHeartbeat.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.nudHeartbeatTime)).BeginInit();
            this.SuspendLayout();
            // 
            // grpDeviceInfo
            // 
            this.grpDeviceInfo.Controls.Add(this.lblNodeId);
            this.grpDeviceInfo.Controls.Add(this.lblState);
            this.grpDeviceInfo.Controls.Add(this.lblStatus);
            this.grpDeviceInfo.Location = new System.Drawing.Point(10, 10);
            this.grpDeviceInfo.Name = "grpDeviceInfo";
            this.grpDeviceInfo.Size = new System.Drawing.Size(380, 100);
            this.grpDeviceInfo.TabIndex = 0;
            this.grpDeviceInfo.TabStop = false;
            this.grpDeviceInfo.Text = "设备信息";
            // 
            // lblNodeId
            // 
            this.lblNodeId.AutoSize = true;
            this.lblNodeId.Location = new System.Drawing.Point(10, 25);
            this.lblNodeId.Name = "lblNodeId";
            this.lblNodeId.Size = new System.Drawing.Size(77, 15);
            this.lblNodeId.TabIndex = 0;
            this.lblNodeId.Text = "节点ID: -";
            // 
            // lblState
            // 
            this.lblState.AutoSize = true;
            this.lblState.Location = new System.Drawing.Point(10, 50);
            this.lblState.Name = "lblState";
            this.lblState.Size = new System.Drawing.Size(61, 15);
            this.lblState.TabIndex = 1;
            this.lblState.Text = "状态: -";
            // 
            // lblStatus
            // 
            this.lblStatus.AutoSize = true;
            this.lblStatus.Location = new System.Drawing.Point(10, 75);
            this.lblStatus.Name = "lblStatus";
            this.lblStatus.Size = new System.Drawing.Size(128, 15);
            this.lblStatus.TabIndex = 2;
            this.lblStatus.Text = "运行状态: 未启动";
            // 
            // grpControl
            // 
            this.grpControl.Controls.Add(this.btnStart);
            this.grpControl.Controls.Add(this.btnStop);
            this.grpControl.Controls.Add(this.btnSendTpdo1);
            this.grpControl.Controls.Add(this.btnSendTpdo2);
            this.grpControl.Controls.Add(this.btnSendAllTpdos);
            this.grpControl.Location = new System.Drawing.Point(400, 10);
            this.grpControl.Name = "grpControl";
            this.grpControl.Size = new System.Drawing.Size(380, 100);
            this.grpControl.TabIndex = 1;
            this.grpControl.TabStop = false;
            this.grpControl.Text = "控制";
            // 
            // btnStart
            // 
            this.btnStart.Location = new System.Drawing.Point(10, 25);
            this.btnStart.Name = "btnStart";
            this.btnStart.Size = new System.Drawing.Size(100, 30);
            this.btnStart.TabIndex = 0;
            this.btnStart.Text = "启动从站";
            this.btnStart.Click += new System.EventHandler(this.BtnStart_Click);
            // 
            // btnStop
            // 
            this.btnStop.Enabled = false;
            this.btnStop.Location = new System.Drawing.Point(120, 25);
            this.btnStop.Name = "btnStop";
            this.btnStop.Size = new System.Drawing.Size(100, 30);
            this.btnStop.TabIndex = 1;
            this.btnStop.Text = "停止从站";
            this.btnStop.Click += new System.EventHandler(this.BtnStop_Click);
            // 
            // btnSendTpdo1
            // 
            this.btnSendTpdo1.Enabled = false;
            this.btnSendTpdo1.Location = new System.Drawing.Point(10, 60);
            this.btnSendTpdo1.Name = "btnSendTpdo1";
            this.btnSendTpdo1.Size = new System.Drawing.Size(100, 30);
            this.btnSendTpdo1.TabIndex = 2;
            this.btnSendTpdo1.Text = "发送TPDO1";
            this.btnSendTpdo1.Click += new System.EventHandler(this.BtnSendTpdo1_Click);
            // 
            // btnSendTpdo2
            // 
            this.btnSendTpdo2.Enabled = false;
            this.btnSendTpdo2.Location = new System.Drawing.Point(120, 60);
            this.btnSendTpdo2.Name = "btnSendTpdo2";
            this.btnSendTpdo2.Size = new System.Drawing.Size(100, 30);
            this.btnSendTpdo2.TabIndex = 3;
            this.btnSendTpdo2.Text = "发送TPDO2";
            this.btnSendTpdo2.Click += new System.EventHandler(this.BtnSendTpdo2_Click);
            // 
            // btnSendAllTpdos
            // 
            this.btnSendAllTpdos.Enabled = false;
            this.btnSendAllTpdos.Location = new System.Drawing.Point(230, 60);
            this.btnSendAllTpdos.Name = "btnSendAllTpdos";
            this.btnSendAllTpdos.Size = new System.Drawing.Size(120, 30);
            this.btnSendAllTpdos.TabIndex = 4;
            this.btnSendAllTpdos.Text = "发送所有TPDO";
            this.btnSendAllTpdos.Click += new System.EventHandler(this.BtnSendAllTpdos_Click);
            // 
            // grpHeartbeat
            // 
            this.grpHeartbeat.Controls.Add(this.lblHeartbeat);
            this.grpHeartbeat.Controls.Add(this.nudHeartbeatTime);
            this.grpHeartbeat.Controls.Add(this.btnConfigureHeartbeat);
            this.grpHeartbeat.Location = new System.Drawing.Point(10, 120);
            this.grpHeartbeat.Name = "grpHeartbeat";
            this.grpHeartbeat.Size = new System.Drawing.Size(770, 60);
            this.grpHeartbeat.TabIndex = 2;
            this.grpHeartbeat.TabStop = false;
            this.grpHeartbeat.Text = "心跳配置";
            // 
            // lblHeartbeat
            // 
            this.lblHeartbeat.AutoSize = true;
            this.lblHeartbeat.Location = new System.Drawing.Point(10, 25);
            this.lblHeartbeat.Name = "lblHeartbeat";
            this.lblHeartbeat.Size = new System.Drawing.Size(107, 15);
            this.lblHeartbeat.TabIndex = 0;
            this.lblHeartbeat.Text = "心跳时间(ms):";
            // 
            // nudHeartbeatTime
            // 
            this.nudHeartbeatTime.Location = new System.Drawing.Point(110, 22);
            this.nudHeartbeatTime.Maximum = new decimal(new int[] {
            10000,
            0,
            0,
            0});
            this.nudHeartbeatTime.Name = "nudHeartbeatTime";
            this.nudHeartbeatTime.Size = new System.Drawing.Size(100, 25);
            this.nudHeartbeatTime.TabIndex = 1;
            this.nudHeartbeatTime.Value = new decimal(new int[] {
            100,
            0,
            0,
            0});
            // 
            // btnConfigureHeartbeat
            // 
            this.btnConfigureHeartbeat.Enabled = false;
            this.btnConfigureHeartbeat.Location = new System.Drawing.Point(220, 20);
            this.btnConfigureHeartbeat.Name = "btnConfigureHeartbeat";
            this.btnConfigureHeartbeat.Size = new System.Drawing.Size(100, 30);
            this.btnConfigureHeartbeat.TabIndex = 2;
            this.btnConfigureHeartbeat.Text = "配置心跳";
            this.btnConfigureHeartbeat.Click += new System.EventHandler(this.BtnConfigureHeartbeat_Click);
            // 
            // txtLog
            // 
            this.txtLog.BackColor = System.Drawing.Color.White;
            this.txtLog.Font = new System.Drawing.Font("微软雅黑", 9F);
            this.txtLog.ForeColor = System.Drawing.Color.Black;
            this.txtLog.Location = new System.Drawing.Point(10, 190);
            this.txtLog.Multiline = true;
            this.txtLog.Name = "txtLog";
            this.txtLog.ReadOnly = true;
            this.txtLog.ScrollBars = System.Windows.Forms.ScrollBars.Vertical;
            this.txtLog.Size = new System.Drawing.Size(770, 360);
            this.txtLog.TabIndex = 3;
            // 
            // m_updateTimer
            // 
            this.m_updateTimer.Enabled = true;
            this.m_updateTimer.Interval = 500;
            // 
            // SlaveTestForm
            // 
            this.ClientSize = new System.Drawing.Size(782, 553);
            this.Controls.Add(this.grpDeviceInfo);
            this.Controls.Add(this.grpControl);
            this.Controls.Add(this.grpHeartbeat);
            this.Controls.Add(this.txtLog);
            this.Name = "SlaveTestForm";
            this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
            this.Text = "CANopen从站设备测试";
            this.grpDeviceInfo.ResumeLayout(false);
            this.grpDeviceInfo.PerformLayout();
            this.grpControl.ResumeLayout(false);
            this.grpHeartbeat.ResumeLayout(false);
            this.grpHeartbeat.PerformLayout();
            ((System.ComponentModel.ISupportInitialize)(this.nudHeartbeatTime)).EndInit();
            this.ResumeLayout(false);
            this.PerformLayout();

        }
        
        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);
        }
    }
}