using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
using canlibCLSNET;
using Kvaser.Kvadblib;
namespace PointCollection
{
/// <summary>
/// MainWindow.xaml 的交互逻辑
/// </summary>
public partial class MainWindow : Window
{
BackgroundWorker CanReceive = new BackgroundWorker();
BackgroundWorker Display = new BackgroundWorker();
Kvadblib.Hnd dbhandle;//dbc文件操作句柄
ConcurrentQueue<General> DispQueue = new ConcurrentQueue<General>();//用于显示采集到的object数据
int DispFlagOccNum = 0;
ObservableCollection<General> DispGeneralList = new ObservableCollection<General>();
ObservableCollection<PointDisp> pointDispList = new ObservableCollection<PointDisp>();
ObservableCollection<General> GeneralList = new ObservableCollection<General>();//用于存储采集到的数据,binding 到datagrid显示控件
List<string> currenttimeB = new List<string>();
List<string> currenttimeA = new List<string>();
List<float> timeWork = new List<float>();
public MainWindow()
{
Canlib.canInitializeLibrary();
InitializeComponent();
CanReceive.DoWork += CanReceive_DoWork;
CanReceive.WorkerReportsProgress = true;
CanReceive.ProgressChanged += CanReceive_ProgressChanged;
CanReceive.RunWorkerAsync();
Display.DoWork += Display_DoWork;
Display.WorkerReportsProgress = true;
Display.ProgressChanged += Display_ProgressChanged;
Display.RunWorkerAsync();
string filename = System.IO.Path.Combine(System.AppDomain.CurrentDomain.BaseDirectory, @"Data\radar CAN20190627.dbc"); ;//dbc文件的路径
dbhandle = new Kvadblib.Hnd();
Kvadblib.Status dbstatus;
dbstatus = Kvadblib.Open(out dbhandle);
dbstatus = Kvadblib.ReadFile(dbhandle, filename);
dgDetailData.ItemsSource = GeneralList;
}
private void Display_ProgressChanged(object sender, ProgressChangedEventArgs e)
{
try
{
//b = b + 1;
//List<General> GeneralListTemp = new List<General>();
List<General> GeneralListTemp = e.UserState as List<General>;
if (true)
{
string ct = DateTime.Now.ToString("yyyy/MM/dd HH:mm:ss fff");
currenttimeA.Add(ct);
if (GeneralListTemp.Count != 0)
{
GeneralList.Clear();
Stopwatch watch = Stopwatch.StartNew();//创建一个监听器
for (int i = 0; i < GeneralListTemp.Count; i++)
{
GeneralList.Add(GeneralListTemp[i]);
}
watch.Stop();
float sec = watch.ElapsedMilliseconds;
timeWork.Add(sec);
//Disp.CreatePointandLine(pointDispList);
pointDispList.Clear();
}
else
MessageBox.Show("Error");
}
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
}
}
private void Display_DoWork(object sender, DoWorkEventArgs e)
{
while (true)
{
if (!DispQueue.IsEmpty)//一旦队列中有数据就逐个显示
{
General temp = new General();
bool success = DispQueue.TryDequeue(out temp);
if (success)//只显示数据，开始标志不显示
{
if (temp.ID == 0x60A || temp.ID == 0x600)
{
DispFlagOccNum = DispFlagOccNum + 1;
if (DispFlagOccNum == 1)
{
DispGeneralList.Clear();
}
else
{
if (DispGeneralList.Count > 1)
{
List<General> datatemp = new List<General>();
for(var i=0;i<DispGeneralList.Count;i++)
{
datatemp.Add(DispGeneralList[i]);
}
//Stopwatch watch = Stopwatch.StartNew();//创建一个监听器
Display.ReportProgress(0, datatemp);
string ct = DateTime.Now.ToString("yyyy/MM/dd HH:mm:ss fff");
currenttimeB.Add(ct);
DispGeneralList.Clear();
//watch.Stop();
//float sec = watch.ElapsedMilliseconds;
//timeWork.Add(sec);
}
}
}
else
{
DispGeneralList.Add(temp);
}
}
}
}
}
private void CanReceive_ProgressChanged(object sender, ProgressChangedEventArgs e)
{
throw new NotImplementedException();
}
private void CanReceive_DoWork(object sender, DoWorkEventArgs e)
{
int channel = 0;
int readHandle = Canlib.canOpenChannel(channel, Canlib.canOPEN_ACCEPT_VIRTUAL);
Canlib.canStatus status = Canlib.canSetBusParams(readHandle, Canlib.BAUD_500K, 0, 0, 0, 0, 0);
bool noError = true;
status = Canlib.canBusOn(readHandle);
int id;
int dlc;
int flags;
long time;
string msg;
while ((status == Canlib.canStatus.canOK) && noError && readHandle >= 0)
{
try
{
byte[] receiveData = new byte[8];
status = Canlib.canReadWait(readHandle, out id, receiveData, out dlc, out flags, out time, 10000);
if (status == Canlib.canStatus.canOK)
{
if (id == 0x60B || id == 0x60A || id == 0x701 || id == 0x600)
{
General General = new General();
if (id == 0x60A || id == 0x600)
{
General.ID = id;
DispQueue.Enqueue(General);
//string ct = DateTime.Now.ToString("yyyy/MM/dd HH:mm:ss fff");
//currenttimeA.Add(ct);
}
else
{
General = DumpGeneralMessage(id, receiveData, dlc, flags, time);
try
{
//Stopwatch watch = Stopwatch.StartNew();//创建一个监听器
//CSVQueue.Enqueue(General);
//watch.Stop();
//float sec = watch.ElapsedMilliseconds;
DispQueue.Enqueue(General);//用于数据显示
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
}
}
}
}
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
System.Environment.Exit(0);
}
}
Canlib.canBusOff(readHandle);
MessageBox.Show("TimeOut");
}
private General DumpGeneralMessage(int id, byte[] data, int dlc, int flags, long time)
{
Kvadblib.Status status;
Kvadblib.MessageHnd mh = new Kvadblib.MessageHnd();
Kvadblib.SignalHnd sh = new Kvadblib.SignalHnd();
//Flips the EXT bit if the EXT flag is set
if ((flags & Canlib.canMSG_EXT) != 0)
{
id ^= -2147483648;
}
//Find the database message whose id matches the one
//from the incoming message
status = Kvadblib.GetMsgById(dbhandle, id, out mh);
//Console.WriteLine("Reading message with id " + id);
//DisplayDBError(status, "Reading message with id " + id);
//Print the message info
General Data = new General();
if (status == Kvadblib.Status.OK)
{
string msgName;
status = Kvadblib.GetMsgName(mh, out msgName);
//Console.WriteLine("Message received: {0}", msgName);
//StatusUpdate("", "Message received: " + msgName);
int msgId;
Kvadblib.MESSAGE msgFlags;
status = Kvadblib.GetMsgId(mh, out msgId, out msgFlags);
//Console.WriteLine("Id: {0}, flags: {1}", msgId, msgFlags);
//StatusUpdate("", "Id: " + msgId + "flags: " + msgFlags);
//Iterate through all the signals and print their name, value and unit
status = Kvadblib.GetFirstSignal(mh, out sh);
while (status == Kvadblib.Status.OK)
{
Data.TimeStamp= DateTime.Now.ToString("yyyy/MM/dd HH:mm:ss fff");
//Data.TimeStamp = DateTime.Now.ToString("yyyy/MM/dd HH:mm:ss") + " " + DataProcess.ConvertLongToDateTime(time).ToString("fff");
string signalname;
status = Kvadblib.GetSignalName(sh, out signalname);
string unit;
status = Kvadblib.GetSignalUnit(sh, out unit);
double value;
status = Kvadblib.GetSignalValueFloat(sh, out value, data, dlc);
switch (signalname)
{
case "Object_ID_60B":
{
Data.ID = Convert.ToInt16(value);
break;
}
case "Cluster_ID_701":
{
Data.ID = Convert.ToInt32(value);
break;
}
case "Object_DistLog":
{
Data.DistLong = Convert.ToSingle(value);
DataProcess.UpdateGeneralData(Data);
break;
}
case "Cluster_DistLong":
{
Data.DistLong = Convert.ToSingle(value);
DataProcess.UpdateGeneralData(Data);
break;
}
case "Object_DistLat":
{
Data.DistLat = Convert.ToSingle(value);
DataProcess.UpdateGeneralData(Data);
break;
}
case "Cluster_DistLat":
{
Data.DistLat = Convert.ToSingle(value);
DataProcess.UpdateGeneralData(Data);
break;
}
case "Object_VrelLog":
{
Data.VrelLong = Convert.ToSingle(value);
DataProcess.UpdateGeneralData(Data);
break;
}
case "Cluster_VrelLong":
{
Data.VrelLong = Convert.ToSingle(value);
DataProcess.UpdateGeneralData(Data);
break;
}
case "Object_DynProp":
{
Data.DynProp = (DynProp)value;
break;
}
case "Cluster_DynProp":
{
Data.DynProp = (DynProp)value;
break;
}
case "Object_VrelLat":
{
Data.VrelLat = Convert.ToSingle(value);
DataProcess.UpdateGeneralData(Data);
break;
}
case "Cluster_VrelLat":
{
Data.VrelLat = Convert.ToSingle(value);
DataProcess.UpdateGeneralData(Data);
break;
}
case "Object_RCS":
{
Data.RCS = Convert.ToSingle(value);
break;
}
case "Cluster_RCS":
{
Data.RCS = Convert.ToSingle(value);
break;
}
}
//Console.WriteLine("Signal - {0}: {1} {2}", signalname, value, unit);
//StatusUpdate("", "Signal: " + signalname + " " + value+" "+unit);
status = Kvadblib.GetNextSignal(mh, out sh);
}
return Data;
}
else
{
MessageBox.Show(status.ToString());
return null;
}
}
public class PointDisp : INotifyPropertyChanged
{
public event PropertyChangedEventHandler PropertyChanged;
private int id;
public int ID
{
get
{
return id;
}
set
{
id = value;
if (this.PropertyChanged != null)
{
this.PropertyChanged.Invoke(this, new PropertyChangedEventArgs("ID"));
}
}
}
private Point position;
public Point Position
{
get
{
return position;
}
set
{
position = value;
if (this.PropertyChanged != null)
{
this.PropertyChanged.Invoke(this, new PropertyChangedEventArgs("Position"));
}
}
}
}
}
}
代码中几个函数的作用：
1.CanReceive_DoWork：一直从下位机接受Can报文，将接受到的报文传入一个队列
2.Display_DoWork：从队列里取数据，然后处理，满足64个就通过reportprogress 传入到progresschanged中显示
3.Display_ProgressChanged：就是不停的将数据add到绑定的集合里，绑定之前要先将集合clear掉显示最新的数据(我刚刚试验，如果不clear，不停的添加，就不会出现内存增加和界面卡顿的现象，但是我解释不了其中的原因)
4.主要就是这三个函数，其他函数没什么关系。
谢谢
WPF 绘制XY坐标
