motor-debug/Welling_Motor_Debug_Tool/Serial_Process.cs

using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace Welling_Motor_Debug_Tool
{
    internal class Serial_Process
    {
        #region 串口相关
        public SerialPort mySerial = new SerialPort();
        public List<byte> buffer = new List<byte>(4096);
        private bool Listening = false;// 侦听串口是否是接收数据标志位

        public static string m_strDataBits = "8";
        public static string m_strStopBits = "1";
        public static string m_strCheckBits = "None";
        #endregion

        #region CDL在线检测延时
        public ushort CDL_OnlineCheck_Cnt = 0;
        public bool CDL_Online_Flag = true;
        #endregion

        #region 初始化
        public void Init()
        {
            mySerial.DataReceived += new SerialDataReceivedEventHandler(DataReceived);
            mySerial.Parity = (Parity)Enum.Parse(typeof(Parity), "None");
            mySerial.DataBits = Int32.Parse("8");
            mySerial.StopBits = (StopBits)Enum.Parse(typeof(StopBits), "1");
        }

        #endregion

        #region 打开串口
        public bool SerialOpen(string portNum, string baudRate, bool AutoPowerOn, bool CheckOnline)
        {
            byte[] Data = new byte[1];

            try
            {
                if (!mySerial.IsOpen)
                {
                    mySerial.PortName = portNum;
                    mySerial.BaudRate = int.Parse(baudRate);
                    
                    mySerial.Open();

                    //发送指令检测CDL是否在线
                    if (CheckOnline == true)
                    {
                        SendCmd((ushort)0x7FF, (byte)0x11, (ushort)0x1100, null);
                        CDL_OnlineCheck_Cnt = 0;
                        CDL_Online_Flag = false;
                    }

                    //开机
                    if (AutoPowerOn == true)
                    {
                        Data[0] = 0xF1;
                        SendCmd(0x7FF, 0x16, 0x2201, Data);
                    }                    

                    return true;
                }
            }
            catch (System.Exception ex)
            {
                System.Windows.Forms.MessageBox.Show(ex.Message);
                return false;
            }
            return false;
        }
        #endregion

        #region 关闭串口
        public bool SerialClose(bool AutoPowerOff)
        {
            byte[] Data = new byte[1];

            try
            {
                if (mySerial.IsOpen)
                {
                    //关机
                    if (AutoPowerOff == true)
                    {
                        Data[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Data);
                    }                    

                    //打开时点击，则关闭串口
                    mySerial.Close();
                    CDL_Online_Flag = true;

                    return true;
                }
            }
            catch (System.Exception ex)
            {
                System.Windows.Forms.MessageBox.Show(ex.Message);
                return false;
            }
            return false;
        }
        #endregion

        #region 刷新端口号
        public string[] refreshPort()
        {
            return SerialPort.GetPortNames();
        }
        #endregion

        #region 字符串转换为字节流
        public byte[] HexStringToBytes(string hexStr, bool Flag_Space)
        {
            if (string.IsNullOrEmpty(hexStr))
            {
                return new byte[0];
            }
            if (hexStr.StartsWith("0x"))
            {
                hexStr = hexStr.Remove(0, 2);
            }

            var count = hexStr.Length;
            var byteCount = 0;
            if (Flag_Space == true)//相邻字节含空格
            {
                if ((count % 3) == 0)//最后字节含空格
                {
                    byteCount = count / 3;
                }
                else if ((count % 3) == 2)//最后字节不含空格
                {
                    byteCount = (count + 1) / 3;
                }
                else//数据无效
                {
                    MessageBox.Show("相邻字节请插入空格！", "提示");
                }
                var result = new byte[byteCount];
                for (int ii = 0; ii < byteCount; ++ii)
                {
                    var tempBytes = Byte.Parse(hexStr.Substring(3 * ii, 2), System.Globalization.NumberStyles.HexNumber);
                    result[ii] = tempBytes;
                }
                return result;
            }
            else if (Flag_Space == false)//相邻字节不含空格
            {
                if (count % 2 == 1)
                {
                    MessageBox.Show("请删除相邻字节之间空格！", "提示");
                }
                byteCount = count / 2;
                var result = new byte[byteCount];
                for (int ii = 0; ii < byteCount; ++ii)
                {
                    var tempBytes = Byte.Parse(hexStr.Substring(2 * ii, 2), System.Globalization.NumberStyles.HexNumber);
                    result[ii] = tempBytes;
                }
                return result;
            }
            else
            {
                return new byte[0];
            }
        }
        #endregion

        #region 数据发送
        public bool SendCmd(ushort ID, byte Mode, ushort Cmd, byte[] Data)
        {
            if (!mySerial.IsOpen)
            {
                System.Windows.Forms.MessageBox.Show("串口未连接");
                return false;
            }

            ushort DataLength = (ushort)(Cmd & 0xFF);

            var SendCmdTmp = new byte[DataLength + 13];

            //帧头
            SendCmdTmp[0] = 0x55;
            SendCmdTmp[1] = 0xAA;
            //ID
            SendCmdTmp[2] = (byte)(ID >> 8);
            SendCmdTmp[3] = (byte)(ID & 0xFF);
            //MODE
            SendCmdTmp[4] = Mode;
            //长度
            SendCmdTmp[5] = (byte)((Cmd & 0xFF) + 2);
            //命令字
            SendCmdTmp[6] = (byte)(Cmd >> 8);
            SendCmdTmp[7] = (byte)(Cmd & 0xFF);
            //数据段
            for (UInt16 i = 0; i < (Cmd & 0xFF); i++)
            {
                SendCmdTmp[8 + i] = Data[i];
            }
            //校验
            UInt32 CRC_Result = crc32_cal(SendCmdTmp, (ushort)(DataLength + 8));
            SendCmdTmp[DataLength + 8] = Convert.ToByte(CRC_Result >> 24);
            SendCmdTmp[DataLength + 9] = Convert.ToByte((CRC_Result >> 16) % 256);
            SendCmdTmp[DataLength + 10] = Convert.ToByte((CRC_Result >> 8) % 256);
            SendCmdTmp[DataLength + 11] = Convert.ToByte(CRC_Result % 256);
            //帧尾
            SendCmdTmp[DataLength + 12] = 0xF0;

            //发送数据
            mySerial.Write(SendCmdTmp, 0, SendCmdTmp.Length);

            //串口发送的数据显示在子窗口
            if (mainForm.mainform1.DebugWindowIsOpen && mainForm.mainform1.DebugDataDisplayEnable)
            {
                string strTemp = String.Empty;
                strTemp += System.DateTimeOffset.Now.ToString("HH:mm:ss.fff") + " --> ";
                for (int i = 0; i < SendCmdTmp.Length; i++)
                {
                    strTemp += (SendCmdTmp[i].ToString("X2") + " ");
                }
                DebugForm.debug1.richTextBox_DebugSend.Text += strTemp;
                DebugForm.debug1.richTextBox_DebugSend.Text += "\r\n";
            }
            
            return true;
        }
        #endregion 

        #region 数据发送无提示
        public bool SendCmdWithoutNotice(ushort ID, byte Mode, ushort Cmd, byte[] Data)
        {
            if (!mySerial.IsOpen)
            {
                return false;
            }

            ushort DataLength = (ushort)(Cmd & 0xFF);

            var SendCmdTmp = new byte[DataLength + 13];

            //帧头
            SendCmdTmp[0] = 0x55;
            SendCmdTmp[1] = 0xAA;
            //ID
            SendCmdTmp[2] = (byte)(ID >> 8);
            SendCmdTmp[3] = (byte)(ID & 0xFF);
            //MODE
            SendCmdTmp[4] = Mode;
            //长度
            SendCmdTmp[5] = (byte)((Cmd & 0xFF) + 2);
            //命令字
            SendCmdTmp[6] = (byte)(Cmd >> 8);
            SendCmdTmp[7] = (byte)(Cmd & 0xFF);
            //数据段
            for (UInt16 i = 0; i < (Cmd & 0xFF); i++)
            {
                SendCmdTmp[8 + i] = Data[i];
            }
            //校验
            UInt32 CRC_Result = crc32_cal(SendCmdTmp, (ushort)(DataLength + 8));
            SendCmdTmp[DataLength + 8] = Convert.ToByte(CRC_Result >> 24);
            SendCmdTmp[DataLength + 9] = Convert.ToByte((CRC_Result >> 16) % 256);
            SendCmdTmp[DataLength + 10] = Convert.ToByte((CRC_Result >> 8) % 256);
            SendCmdTmp[DataLength + 11] = Convert.ToByte(CRC_Result % 256);
            //帧尾
            SendCmdTmp[DataLength + 12] = 0xF0;

            //发送数据
            mySerial.Write(SendCmdTmp, 0, SendCmdTmp.Length);

            //串口发送的数据显示在子窗口
            if (mainForm.mainform1.DebugWindowIsOpen && mainForm.mainform1.DebugDataDisplayEnable)
            {
                string strTemp = String.Empty;
                strTemp += System.DateTimeOffset.Now.ToString("HH:mm:ss.fff") + " --> ";
                for (int i = 0; i < SendCmdTmp.Length; i++)
                {
                    strTemp += (SendCmdTmp[i].ToString("X2") + " ");
                }
                DebugForm.debug1.richTextBox_DebugSend.Text += strTemp;
                DebugForm.debug1.richTextBox_DebugSend.Text += "\r\n";
            }

            return true;
        }

        #endregion

        #region 串口数据接收
        private void DataReceived(object sender, SerialDataReceivedEventArgs e)
        {
            try
            {
                Listening = true;

                int n = mySerial.BytesToRead;
                byte[] buf = new byte[n];//将一次串口事件中接收到的数据暂存于buf中（注：对于超过8个字节的数据，C#的
                //串口接收事件将按每次处理8个字节的方式多次处理
                mySerial.Read(buf, 0, n);//将接收到的数据读入buf

/*                this.Invoke((EventHandler)delegate
                {

                });

*/               
                buffer.AddRange(buf);//将读取的数据放入buffer中   
            }
            catch (Exception)
            {
                return;
            }
            finally
            {
                Listening = false;
            }
        }

        private void Invoke(EventHandler eventHandler)
        {
            throw new NotImplementedException();
        }
        #endregion

        #region crc32计算
        static UInt32[] crc32_table = new UInt32[256]
        {
            0x00000000, 0x04C11DB7, 0x09823B6E, 0x0D4326D9, 0x130476DC, 0x17C56B6B,
            0x1A864DB2, 0x1E475005, 0x2608EDB8, 0x22C9F00F, 0x2F8AD6D6, 0x2B4BCB61,
            0x350C9B64, 0x31CD86D3, 0x3C8EA00A, 0x384FBDBD, 0x4C11DB70, 0x48D0C6C7,
            0x4593E01E, 0x4152FDA9, 0x5F15ADAC, 0x5BD4B01B, 0x569796C2, 0x52568B75,
            0x6A1936C8, 0x6ED82B7F, 0x639B0DA6, 0x675A1011, 0x791D4014, 0x7DDC5DA3,
            0x709F7B7A, 0x745E66CD, 0x9823B6E0, 0x9CE2AB57, 0x91A18D8E, 0x95609039,
            0x8B27C03C, 0x8FE6DD8B, 0x82A5FB52, 0x8664E6E5, 0xBE2B5B58, 0xBAEA46EF,
            0xB7A96036, 0xB3687D81, 0xAD2F2D84, 0xA9EE3033, 0xA4AD16EA, 0xA06C0B5D,
            0xD4326D90, 0xD0F37027, 0xDDB056FE, 0xD9714B49, 0xC7361B4C, 0xC3F706FB,
            0xCEB42022, 0xCA753D95, 0xF23A8028, 0xF6FB9D9F, 0xFBB8BB46, 0xFF79A6F1,
            0xE13EF6F4, 0xE5FFEB43, 0xE8BCCD9A, 0xEC7DD02D, 0x34867077, 0x30476DC0,
            0x3D044B19, 0x39C556AE, 0x278206AB, 0x23431B1C, 0x2E003DC5, 0x2AC12072,
            0x128E9DCF, 0x164F8078, 0x1B0CA6A1, 0x1FCDBB16, 0x018AEB13, 0x054BF6A4,
            0x0808D07D, 0x0CC9CDCA, 0x7897AB07, 0x7C56B6B0, 0x71159069, 0x75D48DDE,
            0x6B93DDDB, 0x6F52C06C, 0x6211E6B5, 0x66D0FB02, 0x5E9F46BF, 0x5A5E5B08,
            0x571D7DD1, 0x53DC6066, 0x4D9B3063, 0x495A2DD4, 0x44190B0D, 0x40D816BA,
            0xACA5C697, 0xA864DB20, 0xA527FDF9, 0xA1E6E04E, 0xBFA1B04B, 0xBB60ADFC,
            0xB6238B25, 0xB2E29692, 0x8AAD2B2F, 0x8E6C3698, 0x832F1041, 0x87EE0DF6,
            0x99A95DF3, 0x9D684044, 0x902B669D, 0x94EA7B2A, 0xE0B41DE7, 0xE4750050,
            0xE9362689, 0xEDF73B3E, 0xF3B06B3B, 0xF771768C, 0xFA325055, 0xFEF34DE2,
            0xC6BCF05F, 0xC27DEDE8, 0xCF3ECB31, 0xCBFFD686, 0xD5B88683, 0xD1799B34,
            0xDC3ABDED, 0xD8FBA05A, 0x690CE0EE, 0x6DCDFD59, 0x608EDB80, 0x644FC637,
            0x7A089632, 0x7EC98B85, 0x738AAD5C, 0x774BB0EB, 0x4F040D56, 0x4BC510E1,
            0x46863638, 0x42472B8F, 0x5C007B8A, 0x58C1663D, 0x558240E4, 0x51435D53,
            0x251D3B9E, 0x21DC2629, 0x2C9F00F0, 0x285E1D47, 0x36194D42, 0x32D850F5,
            0x3F9B762C, 0x3B5A6B9B, 0x0315D626, 0x07D4CB91, 0x0A97ED48, 0x0E56F0FF,
            0x1011A0FA, 0x14D0BD4D, 0x19939B94, 0x1D528623, 0xF12F560E, 0xF5EE4BB9,
            0xF8AD6D60, 0xFC6C70D7, 0xE22B20D2, 0xE6EA3D65, 0xEBA91BBC, 0xEF68060B,
            0xD727BBB6, 0xD3E6A601, 0xDEA580D8, 0xDA649D6F, 0xC423CD6A, 0xC0E2D0DD,
            0xCDA1F604, 0xC960EBB3, 0xBD3E8D7E, 0xB9FF90C9, 0xB4BCB610, 0xB07DABA7,
            0xAE3AFBA2, 0xAAFBE615, 0xA7B8C0CC, 0xA379DD7B, 0x9B3660C6, 0x9FF77D71,
            0x92B45BA8, 0x9675461F, 0x8832161A, 0x8CF30BAD, 0x81B02D74, 0x857130C3,
            0x5D8A9099, 0x594B8D2E, 0x5408ABF7, 0x50C9B640, 0x4E8EE645, 0x4A4FFBF2,
            0x470CDD2B, 0x43CDC09C, 0x7B827D21, 0x7F436096, 0x7200464F, 0x76C15BF8,
            0x68860BFD, 0x6C47164A, 0x61043093, 0x65C52D24, 0x119B4BE9, 0x155A565E,
            0x18197087, 0x1CD86D30, 0x029F3D35, 0x065E2082, 0x0B1D065B, 0x0FDC1BEC,
            0x3793A651, 0x3352BBE6, 0x3E119D3F, 0x3AD08088, 0x2497D08D, 0x2056CD3A,
            0x2D15EBE3, 0x29D4F654, 0xC5A92679, 0xC1683BCE, 0xCC2B1D17, 0xC8EA00A0,
            0xD6AD50A5, 0xD26C4D12, 0xDF2F6BCB, 0xDBEE767C, 0xE3A1CBC1, 0xE760D676,
            0xEA23F0AF, 0xEEE2ED18, 0xF0A5BD1D, 0xF464A0AA, 0xF9278673, 0xFDE69BC4,
            0x89B8FD09, 0x8D79E0BE, 0x803AC667, 0x84FBDBD0, 0x9ABC8BD5, 0x9E7D9662,
            0x933EB0BB, 0x97FFAD0C, 0xAFB010B1, 0xAB710D06, 0xA6322BDF, 0xA2F33668,
            0xBCB4666D, 0xB8757BDA, 0xB5365D03, 0xB1F740B4
        };

        static UInt32 crc32_cal(byte[] pData, UInt16 Length)
        {
            UInt32 nReg;
            UInt32 nTemp = 0;
            UInt16 i, n;

            nReg = 0xFFFFFFFF;
            for (n = 0; n < Length; n++)
            {
                nReg ^= (UInt32)pData[n];
                for (i = 0; i < 4; i++)
                {
                    nTemp = crc32_table[((nReg >> 24) & 0xFF)];
                    nReg <<= 8;
                    nReg ^= nTemp;
                }
            }
            return nReg;
        }
        #endregion

    }
}