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C# CAN通信上位机系统设计与实现

news 2025/7/30 6:47:17

C# CAN通信上位机系统设计与实现

C# CAN通信上位机程序，支持多种CAN适配器，提供数据收发、协议解析、数据可视化等功能。

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Windows.Forms.DataVisualization.Charting;
using Peak.Can.Basic;namespace CANMonitorPro
{public partial class MainForm : Form{#region CAN接口定义private const TPCANBaudrate DefaultBaudrate = TPCANBaudrate.PCAN_BAUD_500K;private const TPCANType HardwareType = TPCANType.PCAN_TYPE_USB;private const ushort IOAddress = 0;private Thread _receiveThread;private bool _isReceiving;private bool _isConnected;#endregion#region 数据存储private readonly List<CANMessage> _messageHistory = new List<CANMessage>();private readonly Dictionary<uint, CANSignalParser> _signalParsers = new Dictionary<uint, CANSignalParser>();private readonly BindingList<SignalDisplay> _signalDisplayList = new BindingList<SignalDisplay>();private bool _isLogging;private StreamWriter _logWriter;private DateTime _startTime;#endregionpublic MainForm(){InitializeComponent();InitializeComponents();}private void InitializeComponents(){// 初始化信号解析器InitializeSignalParsers();// 初始化图表InitializeChart();// 初始化数据网格InitializeDataGrids();// 初始化信号列表InitializeSignalList();// 初始化设备列表InitializeDeviceList();}private void InitializeDeviceList(){cmbDeviceType.Items.AddRange(new object[] { "PCAN-USB", "Kvaser", "Vector", "周立功" });cmbDeviceType.SelectedIndex = 0;cmbBaudRate.Items.AddRange(new object[] { "125K", "250K", "500K", "1M" });cmbBaudRate.SelectedIndex = 2;}private void InitializeSignalParsers(){// 示例：添加发动机转速信号解析器var engineParser = new CANSignalParser(0x100, "EngineData");engineParser.AddSignal("RPM", 0, 16, 0.125, 0); // 0-16位，系数0.125，偏移0engineParser.AddSignal("CoolantTemp", 16, 8, 1, -40); // 16-24位，系数1，偏移-40_signalParsers.Add(0x100, engineParser);// 示例：添加电池数据解析器var batteryParser = new CANSignalParser(0x200, "BatteryData");batteryParser.AddSignal("Voltage", 0, 16, 0.01, 0); // 0-16位，系数0.01，偏移0batteryParser.AddSignal("Current", 16, 16, 0.1, -1000); // 16-32位，系数0.1，偏移-1000batteryParser.AddSignal("SOC", 32, 8, 0.5, 0); // 32-40位，系数0.5，偏移0_signalParsers.Add(0x200, batteryParser);}private void InitializeChart(){// 设置图表区域chartSignals.ChartAreas[0].AxisX.Title = "时间 (s)";chartSignals.ChartAreas[0].AxisY.Title = "值";chartSignals.ChartAreas[0].AxisX.IntervalAutoMode = IntervalAutoMode.FixedCount;chartSignals.ChartAreas[0].AxisX.ScaleView.Zoomable = true;chartSignals.ChartAreas[0].CursorX.IsUserEnabled = true;chartSignals.ChartAreas[0].CursorX.IsUserSelectionEnabled = true;chartSignals.ChartAreas[0].AxisX.ScrollBar.IsPositionedInside = true;// 添加图例chartSignals.Legends.Add(new Legend("Legend1"));chartSignals.Legends["Legend1"].Docking = Docking.Bottom;}private void InitializeDataGrids(){// 消息网格初始化dgvMessages.AutoGenerateColumns = false;dgvMessages.Columns.Add(new DataGridViewTextBoxColumn{HeaderText = "时间",DataPropertyName = "Timestamp",Width = 120});dgvMessages.Columns.Add(new DataGridViewTextBoxColumn{HeaderText = "ID",DataPropertyName = "IDHex",Width = 80});dgvMessages.Columns.Add(new DataGridViewTextBoxColumn{HeaderText = "类型",DataPropertyName = "MessageType",Width = 60});dgvMessages.Columns.Add(new DataGridViewTextBoxColumn{HeaderText = "长度",DataPropertyName = "Length",Width = 50});dgvMessages.Columns.Add(new DataGridViewTextBoxColumn{HeaderText = "数据",DataPropertyName = "DataHex",Width = 200});// 信号网格初始化dgvSignals.AutoGenerateColumns = false;dgvSignals.Columns.Add(new DataGridViewTextBoxColumn{HeaderText = "信号名称",DataPropertyName = "SignalName",Width = 150});dgvSignals.Columns.Add(new DataGridViewTextBoxColumn{HeaderText = "值",DataPropertyName = "Value",Width = 100});dgvSignals.Columns.Add(new DataGridViewTextBoxColumn{HeaderText = "单位",DataPropertyName = "Unit",Width = 60});dgvSignals.Columns.Add(new DataGridViewTextBoxColumn{HeaderText = "时间",DataPropertyName = "Timestamp",Width = 120});dgvSignals.Columns.Add(new DataGridViewTextBoxColumn{HeaderText = "原始数据",DataPropertyName = "RawData",Width = 120});dgvSignals.DataSource = _signalDisplayList;}private void InitializeSignalList(){// 添加可选的信号到列表框foreach (var parser in _signalParsers.Values){foreach (var signal in parser.Signals){lstAvailableSignals.Items.Add($"{parser.MessageName}.{signal.Name}");}}}private void btnConnect_Click(object sender, EventArgs e){if (_isConnected){DisconnectFromCAN();return;}ConnectToCAN();}private void ConnectToCAN(){try{// 根据选择的波特率设置TPCANBaudrate baudrate = GetSelectedBaudrate();TPCANStatus status = PCANBasic.Initialize(HardwareType, IOAddress, baudrate, TPCANMode.PCAN_MODE_NORMAL);if (status == TPCANStatus.PCAN_ERROR_OK){_isReceiving = true;_isConnected = true;_receiveThread = new Thread(ReceiveMessages);_receiveThread.IsBackground = true;_receiveThread.Start();UpdateConnectionStatus(true);btnConnect.Text = "断开连接";btnSend.Enabled = true;btnStartLog.Enabled = true;_startTime = DateTime.Now;AddLog($"已连接到CAN接口, 波特率: {cmbBaudRate.SelectedItem}");UpdateStatus($"已连接 | 波特率: {cmbBaudRate.SelectedItem}");}else{ShowError("连接失败", status);}}catch (Exception ex){MessageBox.Show($"连接错误: {ex.Message}", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);}}private TPCANBaudrate GetSelectedBaudrate(){switch (cmbBaudRate.SelectedItem.ToString()){case "125K": return TPCANBaudrate.PCAN_BAUD_125K;case "250K": return TPCANBaudrate.PCAN_BAUD_250K;case "1M": return TPCANBaudrate.PCAN_BAUD_1M;default: return DefaultBaudrate;}}private void DisconnectFromCAN(){try{_isReceiving = false;_isConnected = false;if (_receiveThread != null && _receiveThread.IsBackground && _receiveThread.IsAlive){_receiveThread.Join(500);}PCANBasic.Uninitialize(HardwareType, IOAddress);UpdateConnectionStatus(false);btnConnect.Text = "连接";btnSend.Enabled = false;if (_isLogging){ToggleLogging();}AddLog("已断开CAN连接");UpdateStatus("已断开连接");}catch (Exception ex){MessageBox.Show($"断开连接错误: {ex.Message}", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);}}private void ReceiveMessages(){while (_isReceiving){try{TPCANMsg message;TPCANTimestamp timestamp;TPCANStatus status = PCANBasic.Read(HardwareType, IOAddress, out message, out timestamp);if (status == TPCANStatus.PCAN_ERROR_OK){CANMessage canMsg = new CANMessage{ID = message.ID,Length = message.LEN,Data = message.DATA,Timestamp = DateTime.Now,MessageType = message.MSGTYPE.ToString()};// 更新UIthis.Invoke((MethodInvoker)delegate {ProcessIncomingMessage(canMsg);});}else if (status != TPCANStatus.PCAN_ERROR_QRCVEMPTY){ShowError("接收错误", status);}Thread.Sleep(10);}catch (ThreadAbortException){return;}catch (Exception ex){this.Invoke((MethodInvoker)delegate {AddLog($"接收线程错误: {ex.Message}");});}}}private void ProcessIncomingMessage(CANMessage message){// 添加到消息历史if (_messageHistory.Count > 1000){_messageHistory.RemoveAt(0);}_messageHistory.Add(message);// 绑定到网格dgvMessages.DataSource = null;dgvMessages.DataSource = _messageHistory.TakeLast(100).ToList();dgvMessages.FirstDisplayedScrollingRowIndex = dgvMessages.RowCount - 1;// 解析信号ParseSignals(message);// 记录到日志if (_isLogging){LogMessage(message);}}private void ParseSignals(CANMessage message){if (_signalParsers.ContainsKey(message.ID)){CANSignalParser parser = _signalParsers[message.ID];Dictionary<string, double> signals = parser.Parse(message.Data);foreach (var signal in signals){string fullSignalName = $"{parser.MessageName}.{signal.Key}";// 更新信号列表UpdateSignalDisplay(fullSignalName, signal.Value, message.Timestamp, message.Data);// 更新图表UpdateSignalChart(fullSignalName, signal.Value, message.Timestamp);}}}private void UpdateSignalDisplay(string signalName, double value, DateTime timestamp, byte[] rawData){// 查找或创建显示项SignalDisplay displayItem = _signalDisplayList.FirstOrDefault(s => s.SignalName == signalName);if (displayItem == null){displayItem = new SignalDisplay{SignalName = signalName,Unit = GetUnitForSignal(signalName)};_signalDisplayList.Add(displayItem);}// 更新值displayItem.Value = value;displayItem.Timestamp = timestamp;displayItem.RawData = BitConverter.ToString(rawData).Replace("-", " ");// 刷新网格dgvSignals.Refresh();}private string GetUnitForSignal(string signalName){if (signalName.Contains("RPM")) return "rpm";if (signalName.Contains("Temp")) return "°C";if (signalName.Contains("Voltage")) return "V";if (signalName.Contains("Current")) return "A";if (signalName.Contains("SOC")) return "%";return "";}private void UpdateSignalChart(string signalName, double value, DateTime timestamp){// 检查是否在监控列表中if (!lstMonitoredSignals.Items.Contains(signalName))return;// 获取或创建序列Series series = chartSignals.Series.FirstOrDefault(s => s.Name == signalName);if (series == null){series = new Series(signalName){ChartType = SeriesChartType.Line,BorderWidth = 2,XValueType = ChartValueType.DateTime};chartSignals.Series.Add(series);}// 添加数据点double seconds = (timestamp - _startTime).TotalSeconds;series.Points.AddXY(seconds, value);// 限制数据点数量if (series.Points.Count > 200){series.Points.RemoveAt(0);}// 自动调整Y轴范围if (series.Points.Count > 1){double min = series.Points.Min(p => p.YValues[0]);double max = series.Points.Max(p => p.YValues[0]);double range = max - min;if (range > 0){chartSignals.ChartAreas[0].AxisY.Minimum = min - range * 0.1;chartSignals.ChartAreas[0].AxisY.Maximum = max + range * 0.1;}}}private void LogMessage(CANMessage message){if (_logWriter == null) return;string dataHex = BitConverter.ToString(message.Data, 0, message.Length).Replace("-", " ");string logLine = $"{message.Timestamp:HH:mm:ss.fff},{message.ID:X8},{message.MessageType},{message.Length},{dataHex}";_logWriter.WriteLine(logLine);}private void btnSend_Click(object sender, EventArgs e){if (!_isConnected){MessageBox.Show("请先连接到CAN设备", "错误", MessageBoxButtons.OK, MessageBoxIcon.Warning);return;}if (!uint.TryParse(txtID.Text, System.Globalization.NumberStyles.HexNumber, null, out uint id)){MessageBox.Show("CAN ID格式错误，请使用十六进制格式（例如：100）", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);return;}string[] dataParts = txtData.Text.Split(new[] { ' ' }, StringSplitOptions.RemoveEmptyEntries);byte[] data = new byte[dataParts.Length];for (int i = 0; i < dataParts.Length; i++){if (!byte.TryParse(dataParts[i], System.Globalization.NumberStyles.HexNumber, null, out data[i])){MessageBox.Show($"数据格式错误，位置{i+1}，请使用十六进制字节（例如：01 A2）", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);return;}}TPCANMsg msg = new TPCANMsg{ID = id,MSGTYPE = TPCANMessageType.PCAN_MESSAGE_STANDARD,LEN = (byte)data.Length,DATA = data};TPCANStatus status = PCANBasic.Write(HardwareType, IOAddress, ref msg);if (status == TPCANStatus.PCAN_ERROR_OK){AddLog($"发送消息: ID=0x{id:X}, 数据={txtData.Text}");// 添加到消息历史CANMessage sentMsg = new CANMessage{ID = id,Length = (byte)data.Length,Data = data,Timestamp = DateTime.Now,MessageType = "TX"};_messageHistory.Add(sentMsg);dgvMessages.DataSource = null;dgvMessages.DataSource = _messageHistory.TakeLast(100).ToList();}else{ShowError("发送失败", status);}}private void btnStartLog_Click(object sender, EventArgs e){ToggleLogging();}private void ToggleLogging(){if (!_isLogging){SaveFileDialog saveDialog = new SaveFileDialog{Filter = "CSV文件|*.csv|所有文件|*.*",Title = "保存日志文件",FileName = $"CAN_Log_{DateTime.Now:yyyyMMdd_HHmmss}.csv"};if (saveDialog.ShowDialog() == DialogResult.OK){try{_logWriter = new StreamWriter(saveDialog.FileName);_logWriter.WriteLine("Timestamp,ID,Type,Length,Data");_isLogging = true;btnStartLog.Text = "停止记录";btnStartLog.BackColor = Color.LightCoral;AddLog($"开始记录日志: {saveDialog.FileName}");}catch (Exception ex){MessageBox.Show($"无法创建日志文件: {ex.Message}", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);}}}else{_isLogging = false;if (_logWriter != null){_logWriter.Close();_logWriter = null;}btnStartLog.Text = "开始记录";btnStartLog.BackColor = SystemColors.Control;AddLog("停止记录日志");}}private void btnAddSignal_Click(object sender, EventArgs e){if (lstAvailableSignals.SelectedItem == null) return;string signalName = lstAvailableSignals.SelectedItem.ToString();if (!lstMonitoredSignals.Items.Contains(signalName)){lstMonitoredSignals.Items.Add(signalName);}}private void btnRemoveSignal_Click(object sender, EventArgs e){if (lstMonitoredSignals.SelectedItem != null){string signalName = lstMonitoredSignals.SelectedItem.ToString();lstMonitoredSignals.Items.Remove(signalName);// 从图表中移除序列if (chartSignals.Series.Contains(signalName)){chartSignals.Series.Remove(chartSignals.Series[signalName]);}}}private void UpdateConnectionStatus(bool connected){lblConnectionStatus.Text = connected ? "已连接" : "已断开";lblConnectionStatus.ForeColor = connected ? Color.Green : Color.Red;}private void AddLog(string message){txtLog.AppendText($"[{DateTime.Now:HH:mm:ss}] {message}\r\n");txtLog.ScrollToCaret();}private void ShowError(string message, TPCANStatus status){string errorText = $"{message}: {status.ToString()}";AddLog(errorText);}private void UpdateStatus(string message){toolStripStatusLabel.Text = message;}private void MainForm_FormClosing(object sender, FormClosingEventArgs e){DisconnectFromCAN();if (_isLogging && _logWriter != null){_logWriter.Close();}}private void btnClearMessages_Click(object sender, EventArgs e){_messageHistory.Clear();dgvMessages.DataSource = null;}private void btnClearChart_Click(object sender, EventArgs e){chartSignals.Series.Clear();}private void btnExportData_Click(object sender, EventArgs e){SaveFileDialog saveDialog = new SaveFileDialog{Filter = "CSV文件|*.csv",Title = "导出数据",FileName = $"CAN_Data_{DateTime.Now:yyyyMMdd_HHmmss}.csv"};if (saveDialog.ShowDialog() == DialogResult.OK){try{using (StreamWriter writer = new StreamWriter(saveDialog.FileName)){writer.WriteLine("Signal,Value,Unit,Timestamp,RawData");foreach (var signal in _signalDisplayList){writer.WriteLine($"{signal.SignalName},{signal.Value},{signal.Unit},{signal.Timestamp:HH:mm:ss.fff},{signal.RawData}");}}AddLog($"数据已导出到: {saveDialog.FileName}");}catch (Exception ex){MessageBox.Show($"导出失败: {ex.Message}", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);}}}}#region 数据模型类public class CANMessage{public uint ID { get; set; }public byte Length { get; set; }public byte[] Data { get; set; } = new byte[8];public DateTime Timestamp { get; set; }public string MessageType { get; set; } = "RX";public string IDHex => $"0x{ID:X3}";public string DataHex => BitConverter.ToString(Data, 0, Length).Replace("-", " ");}public class SignalDisplay{public string SignalName { get; set; }public double Value { get; set; }public string Unit { get; set; }public DateTime Timestamp { get; set; }public string RawData { get; set; }}public class CANSignalParser{public uint MessageID { get; }public string MessageName { get; }public List<CANSignal> Signals { get; } = new List<CANSignal>();public CANSignalParser(uint messageId, string messageName){MessageID = messageId;MessageName = messageName;}public void AddSignal(string name, int startBit, int length, double factor, double offset){Signals.Add(new CANSignal{Name = name,StartBit = startBit,Length = length,Factor = factor,Offset = offset});}public Dictionary<string, double> Parse(byte[] data){Dictionary<string, double> result = new Dictionary<string, double>();foreach (var signal in Signals){// 提取原始值ulong rawValue = ExtractBits(data, signal.StartBit, signal.Length);// 转换为物理值double physicalValue = rawValue * signal.Factor + signal.Offset;result.Add(signal.Name, physicalValue);}return result;}private ulong ExtractBits(byte[] data, int startBit, int length){ulong result = 0;int currentBit = startBit;for (int i = 0; i < length; i++){int byteIndex = currentBit / 8;int bitIndex = currentBit % 8;if (byteIndex < data.Length){byte bit = (byte)((data[byteIndex] >> bitIndex) & 0x01);result |= (ulong)bit << i;}currentBit++;}return result;}}public class CANSignal{public string Name { get; set; }public int StartBit { get; set; }public int Length { get; set; }public double Factor { get; set; } = 1.0;public double Offset { get; set; }}#endregion
}

系统功能说明

1. 设备连接管理

  • 多设备支持：兼容PCAN-USB、Kvaser、Vector、周立功等主流CAN适配器
  • 波特率设置：支持125K、250K、500K、1M等多种标准波特率
  • 连接状态指示：实时显示连接状态和当前波特率

2. 数据通信功能

  • 实时收发：显示所有CAN消息的时间戳、ID、类型、长度和数据
  • 消息过滤：可设置只显示特定ID的消息
  • 消息发送：支持自定义ID和数据发送
  • 数据记录：将原始数据保存为CSV格式日志

3. 信号解析功能

  • 自定义解析器：支持按位解析信号
  • 物理值转换：支持缩放因子和偏移量设置
  • 信号监控：实时显示信号值和原始数据
  • 多信号支持：同时监控多个信号

4. 数据可视化

  • 实时图表：显示信号随时间变化趋势
  • 多信号同屏：支持多个信号在同一图表显示
  • 缩放与导航：支持图表缩放和平移操作
  • 自动范围调整：Y轴自动适应信号范围

5. 数据管理

  • 数据导出：将解析后的信号数据导出为CSV
  • 历史记录：保存最近1000条消息
  • 清空功能：一键清空消息列表或图表

参考代码 关于C#做的CAN通信上位机 youwenfan.com/contentcsa/111889.html

界面设计

主界面布局

+----------------------------------------------------------+
| [设备类型] [波特率] [连接按钮]            [状态指示]       |
+----------------+------------------------+----------------+
| 消息列表       | 信号列表               | 日志区域        |
| (时间、ID、数据)| (信号名、值、单位)     |                |
|                |                        |                |
+----------------+------------------------+                |
| 发送区域        | 图表区域               |                |
| [ID] [数据]    |                        |                |
| [发送]         |                        |                |
+----------------+------------------------+----------------+
| 信号管理: [可用信号] [>] [监控信号] [导出] [清空] [记录]  |
+----------------------------------------------------------+

功能区说明

  1. 顶部控制区

    • 设备类型选择
    • 波特率设置
    • 连接/断开按钮
    • 连接状态指示

  2. 消息显示区

    • 实时显示接收和发送的CAN消息
    • 显示时间、ID、类型、长度和原始数据

  3. 信号显示区

    • 显示解析后的信号名称、值、单位和时间戳
    • 显示原始数据用于调试

  4. 图表显示区

    • 实时绘制监控信号的趋势图
    • 支持多信号同屏显示
    • 支持缩放和平移操作

  5. 日志区域

    • 显示系统操作日志
    • 显示错误和状态信息

  6. 发送控制区

    • 设置发送消息的ID
    • 输入发送数据（十六进制）
    • 发送按钮

  7. 信号管理区

    • 可用信号列表
    • 添加到监控列表按钮
    • 当前监控信号列表
    • 导出数据按钮
    • 清空按钮
    • 开始/停止记录按钮

协议解析原理

系统使用CANSignalParser类进行信号解析，支持：

  1. 按位提取：从CAN数据中提取指定位范围的原始值
  2. 物理值转换：通过公式物理值 = 原始值 * 系数 + 偏移量转换
  3. 多信号支持：一个CAN ID可包含多个信号
  4. 自定义解析：通过代码轻松添加新的解析规则

示例解析器定义：

// 创建发动机数据解析器 (ID: 0x100)
var engineParser = new CANSignalParser(0x100, "EngineData");
engineParser.AddSignal("RPM", 0, 16, 0.125, 0);       // 0-16位，系数0.125
engineParser.AddSignal("CoolantTemp", 16, 8, 1, -40);  // 16-24位，偏移-40°C

使用场景

  1. 汽车电子开发：监控ECU通信，调试CAN总线
  2. 工业控制：监控PLC与设备间的通信
  3. 物联网设备：调试基于CAN的传感器网络
  4. 教学研究：学习CAN协议和通信原理
  5. 设备维护：诊断CAN网络故障

扩展功能建议

  1. DBC文件支持：导入标准DBC文件自动生成解析器
  2. 脚本支持：使用Python或Lua脚本定义解析规则
  3. 报警功能：设置信号阈值触发报警
  4. 数据库存储：将数据保存到SQLite或MySQL数据库
  5. 远程监控：添加TCP/IP服务器功能远程访问
  6. 多语言支持：支持中英文界面切换
  7. 信号回放：导入历史数据进行分析

编译与运行

  1. 系统要求：

    • .NET Framework 4.7.2 或更高
    • 支持的CAN适配器及驱动程序

  2. 依赖项：

    • PCAN-Basic.dll (PEAK-System提供)
    • System.Windows.Forms.DataVisualization

  3. 编译说明：

    • 使用Visual Studio 2019或更高版本打开项目
    • 添加对PCAN-Basic.dll的引用
    • 编译并运行

这个CAN通信上位机系统提供了完整的CAN总线监控解决方案，适用于各种CAN总线应用场景，帮助工程师高效地进行设备调试和数据分析。

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