CanLink 6.2.0

CanLink

CanLink 是一个用于 .NET 8 的高性能 CAN（Controller Area Network）通信库，采用现代化设计，支持多种 CAN 硬件适配器和 CAN FD 协议。

功能特性

现代化架构

• 精简接口：ICanDevice + ICanChannel 双接口，职责清晰
• 真实异步：ValueTask + CancellationToken，非 Task.Run 伪异步
• 背压控制：基于 System.Threading.Channels 的接收缓冲，支持 Wait/DropOldest/DropNewest 策略
• 异常驱动：摒弃 CanOperateResult，失败直接抛异常，符合 .NET 惯例

异步流消费

• 流模式：await foreach (var frame in channel.ReadAllAsync())，高性能，天然支持背压
• 调用端可基于流自行实现事件分发或多路广播

波特率枚举与查询

• CanBaudRate 枚举：类型安全的波特率配置，避免裸 uint 魔法数字
• GetSupportedBaudRates()：运行前查询设备实际支持的波特率列表

多设备与 CAN FD 支持

串口/网口 CAN 扩展正在规划中。

安装

dotnet add package CanLink          # 广成/图莫斯/创芯
dotnet add package CanLink.PCan     # PEAK-System（可选）

快速开始

1. 查询设备支持的波特率

using CanLink.Core;
using CanLink.Devices.GuangCheng;

var device = new GuangChengCanDevice(0,
    new CanChannelConfig { Index = 0, BaudRate = CanBaudRate.Baud250K });

// 连接前查询设备支持哪些波特率
var rates = device.GetSupportedBaudRates();
Console.WriteLine($"支持的波特率: {string.Join(", ", rates)}");
// 输出: 支持的波特率: Baud5K, Baud10K, Baud20K, Baud40K, Baud50K ...

2. 连接设备并发送消息

using CanLink.Core;
using CanLink.Devices.GuangCheng;

// 创建设备，配置通道
await using var device = new GuangChengCanDevice(0,
    new CanChannelConfig { Index = 0, BaudRate = CanBaudRate.Baud250K },
    new CanChannelConfig { Index = 1, BaudRate = CanBaudRate.Baud500K });

// 连接
await device.ConnectAsync();
Console.WriteLine($"已连接: {device.DeviceName}, SN={device.SerialNumber}");

// 启动通道接收
var ch0 = device.Channels[0];
await ch0.StartAsync();

// 发送一帧
var frame = CanFrame.Create(0x123, new byte[] { 0x01, 0x02, 0x03, 0x04 }, isExtended: true);
await ch0.SendAsync(frame);

3. 异步流模式接收数据

var cts = new CancellationTokenSource();
var channel = device.Channels[0];
await channel.StartAsync();

await foreach (var frame in channel.ReadAllAsync(cts.Token))
{
    Console.WriteLine($"[流式] {frame}");
}

4. 并发压力测试

var frame = CanFrame.Create(0x100, new byte[] { 0xAA });
var stopwatch = Stopwatch.StartNew();

var tasks = device.Channels.Select(ch =>
    Task.Run(async () =>
    {
        for (int i = 0; i < 1000; i++)
            await ch.SendAsync(frame);
    })
).ToArray();

await Task.WhenAll(tasks);
stopwatch.Stop();
Console.WriteLine($"{tasks.Length * 1000} 帧 / {stopwatch.ElapsedMilliseconds}ms");

5. CAN FD 发送（PCAN）

using CanLink.PCan.Devices.PCan;

await using var pcan = new PeakCanDevice(0,
    new CanChannelConfig { Index = 0, BaudRate = CanBaudRate.Baud500K, IsCanFd = true, FdDataBaudRate = CanBaudRate.Baud1000K });

await pcan.ConnectAsync();

var fdFrame = CanFrame.CreateCanFd(0x123, new byte[64], isExtended: false);
await pcan.Channels[0].SendAsync(fdFrame);

6. 动态波特率切换

var channel = device.Channels[0];

// 部分设备（如 PCAN）支持运行时切换波特率
await channel.UpdateBaudRateAsync(CanBaudRate.Baud500K);
Console.WriteLine($"当前波特率已切换为: {channel.Config.BaudRate}");

// 切换后可立即恢复收发，无需断开重连

API 参考

核心模型

// 统一消息帧（值类型）
public readonly record struct CanFrame
{
    public uint Id { get; init; }
    public ReadOnlyMemory<byte> Data { get; init; }
    public bool IsExtended { get; init; }
    public bool IsRemote { get; init; }
    public bool IsCanFd { get; init; }
    public DateTimeOffset Timestamp { get; init; }
}

// 通道配置
public sealed class CanChannelConfig
{
    public required uint Index { get; init; }
    public required CanBaudRate BaudRate { get; init; }   // 如 CanBaudRate.Baud250K
    public bool IsCanFd { get; init; }
    public CanBaudRate FdDataBaudRate { get; init; }
    public bool AutoStart { get; init; } = true;
    public int ReceiveBufferCapacity { get; init; } = 1000;
    public BufferFullMode FullMode { get; init; } = BufferFullMode.DropOldest;
}

ICanDevice

public interface ICanDevice : IAsyncDisposable
{
    string DeviceName { get; }
    string? SerialNumber { get; }
    bool IsConnected { get; }
    IReadOnlyList<ICanChannel> Channels { get; }

    ValueTask ConnectAsync(CancellationToken cancellationToken = default);
    ValueTask DisconnectAsync(CancellationToken cancellationToken = default);
    ValueTask<CanDeviceInfo> GetDeviceInfoAsync(CancellationToken cancellationToken = default);

    /// <summary>
    /// 获取设备支持的所有波特率列表
    /// </summary>
    IReadOnlyList<CanBaudRate> GetSupportedBaudRates();
}

ICanChannel

public interface ICanChannel
{
    uint Index { get; }
    CanChannelConfig Config { get; }
    bool IsRunning { get; }

    IAsyncEnumerable<CanFrame> ReadAllAsync(CancellationToken cancellationToken = default);

    ValueTask StartAsync(CancellationToken cancellationToken = default);
    ValueTask StopAsync(CancellationToken cancellationToken = default);
    ValueTask SendAsync(CanFrame frame, CancellationToken cancellationToken = default);
    ValueTask ClearBufferAsync(CancellationToken cancellationToken = default);
    ValueTask UpdateBaudRateAsync(CanBaudRate baudRate, CancellationToken cancellationToken = default);
}

异常体系

设备初始化

广成科技 (ZLG)

using CanLink.Devices.GuangCheng;

var device = new GuangChengCanDevice(
    deviceType: 4,      // 设备类型
    deviceIndex: 0,     // 设备索引
    new CanChannelConfig { Index = 0, BaudRate = CanBaudRate.Baud250K },
    new CanChannelConfig { Index = 1, BaudRate = CanBaudRate.Baud250K }
);

图莫斯 (Toomoss)

using CanLink.Devices.Toomoss;

var device = new ToomossCanDevice(0,
    new CanChannelConfig { Index = 0, BaudRate = CanBaudRate.Baud250K });

创芯 (ChuangXin)

using CanLink.Devices.ChuangXin;

var device = new ChuangXinCanDevice(0,
    new CanChannelConfig { Index = 0, BaudRate = CanBaudRate.Baud250K });

PEAK-System (PCAN)

using CanLink.PCan.Devices.PCan;

var device = new PeakCanDevice(0,
    new CanChannelConfig { Index = 0, BaudRate = CanBaudRate.Baud250K });

项目结构

CanLink/
├── CanLink.Core/       # 核心抽象（net8.0）
├── CanLink/            # 广成/图莫斯/创芯（net8.0）
├── CanLink.PCan/       # PCAN（net8.0）
└── NetConsoleDemo/     # 控制台示例

系统要求

• .NET 8.0 或更高版本
• Windows 操作系统
• 对应厂商的 CAN 设备驱动程序

许可证

MIT License