实现与研华PCI采集卡通讯
如果使用过PCI采集卡的盆友应该对“研华”这个品牌不陌生，可以说研华还是很强大的。最近因为工作需要，使用一块研华的PCI1714UL型号的采集卡，去高速采集电压信号，学习了几天后分享给各位。
采集卡
首先介绍一下这块采集卡。品牌：研华Advantech，型号：PCI1714UL，基本参数：4通道，12位精度，采样频率：10MS/s，采样：8192/通道，可采集电压范围有：±5、±2.5、±1、±0.5，每个范围对应的绝对精度不同，所以视情况来决定需要什么样的采样范围。支持PCI总线控制DMA数据传输。
工作方式
这块采集卡有两种工作模式：BufferedAI、InstantAI。
BufferedAI：使用PC的一个存储块，可以实现总线控制数据采集，不需要占用CPU；
InstantAI：瞬时值，采样率相对没那么高，适合一些对数据要求不算太高的场合。
资料下载
驱动安装
研华提供了一款DAQNavi软件（见“资料下载”去官网下载），有一个Navigator，可以直接打开可以看到所有支持的卡，选中你需要的卡右键就可以安装驱动了。并且这款软件也提供数据采集展示。
软件二次开发：接口函数—Automation.BDaq4（见“资料下载”去官网下载）
一、使用研华提供的控件进行二次开发
研华提供了相关控件：
WaveformAiCtrl用于BufferedAI读取，InstantAiCtr用于InstantAI读取。
二、自己从底层开发
瞬时电压读取比较简单，直接创建InstantAiCtrl，传递一个设备名称：instantAiCtrl.SelectedDevice = new DeviceInformation(deviceCode);初始化：instantAiCtrl.Initialized，就可以开始读取数据了：instantAiCtrl.Read(channelIndex,out data[channelIndex])。
BufferedAI代码量多一点：首先需要创建一个线程，用于将采集卡数据读取到内存中，再开一个线程专门见内存中的数据往本地写入（因为数据量太大不能一下处理），最后开一个线程用于将本地的数据读取出来，进行数据处理、分析、展示。
代码展示
1. 创建一个AnalogCard父类，利于再添加采集卡型号的时候进行扩展
using System; using System.Collections.Generic; using System.Linq; using System.Text; using System.Threading; using System.Threading.Tasks; using System.IO; namespace AdvantechPCIDemo { /// <summary> /// 数据读取策略： /// 采集卡读取速度极快（10MS/s、30MS/s），因此现将采集卡数据保存至指定文件，多线程同步将数据读取 /// 再对数据进行处理、显示 /// </summary> public class AnalogCard { protected int channelCount;//通道数 protected uint readLength;//数据一次读取长度 protected uint readCount; protected ManualResetEventSlim readEvent = new ManualResetEventSlim(false); protected ManualResetEventSlim writeEvent = new ManualResetEventSlim(false); protected ManualResetEventSlim readADEvent = new ManualResetEventSlim(false); protected Task writeTask;//任务：将内存Queue数据写入指定文件 protected Task readTask;//任务：将指定文件数据读入内存Queue protected Task readADTask;//任务：将采集卡数据读取进内存Queue protected Queue<ushort[]> dataQueue = new Queue<ushort[]>(1000);//先进先出队列，定义初始长度，不足自动增长 protected CancellationTokenSource source = new CancellationTokenSource();//线程是否取消 protected string fileName = string.Format("Data\\Data-{0}.txt", DateTime.Now.ToString("yy-MM-dd-HH-mm-ss"));//定义数据保存与读取文件名 protected Action<ushort[][]> ChannelDataAction { get; set; } public AnalogCard() { //将内存Queue数据写入指定文件 writeTask = Task.Factory.StartNew(() => { using (FileStream fs = new FileStream(fileName, FileMode.OpenOrCreate, FileAccess.Write, FileShare.Read)) { while (true) { writeEvent.Wait(source.Token);//等待开启写入任务 if (source.IsCancellationRequested) return; if (dataQueue.Count == 0) continue; ; ushort[] us = dataQueue.Dequeue();//将第一个数据去除并移除 if (dataQueue.Count > 1000) { dataQueue.Clear(); } byte[] bt = new byte[readLength * 2]; for (int i = 0, j = 0; i < us.Length; i++) { ushort temp = us[i]; bt[j++] = (byte)(temp >> 8);//取高八位 bt[j++] = (byte)temp;//取低八位 } fs.Write(bt, 0, bt.Length); } } }, source.Token, TaskCreationOptions.LongRunning, TaskScheduler.Default); Thread.Sleep(500); //将指定文件的数据流写入内存队列Queue readTask = Task.Factory.StartNew(() => { using (FileStream fs = new FileStream(fileName, FileMode.Open, FileAccess.Read, FileShare.Write)) { int currentLength = 0; byte[] bt=null; while (true) { readEvent.Wait(source.Token);//等待开启读取 if (source.IsCancellationRequested) break;//任务被取消 if (bt == null) { bt = new byte[readLength * 2];//byte数组为需要读取数据的两倍：两个字节转换为一个字符 } if (currentLength < bt.Length) { currentLength = fs.Read(bt, currentLength, bt.Length - currentLength); } else { currentLength = 0; if (ChannelDataAction == null) throw new Exception("无通道数据接收方法！"); ushort[][] us; if (!GetChannelData(bt, out us)) throw new Exception(""); ChannelDataAction(us);//将读取到的数据向上传递 } } } }); } protected virtual void StartWriteReadTxt() { writeEvent.Set(); readEvent.Set(); readADEvent.Set(); dataQueue.Clear(); } protected virtual void StopWriteReadTxt() { writeEvent.Reset(); readEvent.Reset(); readADEvent.Reset(); } public virtual void CancelWriteReadTxt() { source.Cancel(); } /// <summary> /// 将读取的数据分到各通道 /// 数据顺序：temp[0]+temp[1]=ch1va1;temp[2]+temp[3]=ch2va1... /// </summary> /// <param name="temp"></param> /// <returns></returns> private bool GetChannelData(byte[] temp, out ushort[][] us) { us = new ushort[channelCount][]; int index = 0; for (int i = 0; i < temp.Length; i+=2*channelCount) { for (int j = 0; j < channelCount; j++) { if (us[j] == null) { us[j] = new ushort[readLength / channelCount]; } us[j][index] = (ushort)((temp[i + j * 2] << 8) + temp[i + j * 2 + 1]); } index++; } return true; } } }
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在父类设置卡的一些基本字段，并创建了两个线程：writeTask、readTask，分别是将内存Queue中数据写入本地txt，将本地txt文件读取进内存Queue。用ManualResetEventSlim对象现将该线程堵塞，等待开启。
2. 创建一个PCI1714UL子类
using System; using System.Collections.Generic; using System.Linq; using System.Text; using Automation.BDaq; using System.Threading; using System.Threading.Tasks; namespace AdvantechPCIDemo { public class PCI1714UL:AnalogCard { private string deviceCode = ""; private const int bufferLength = 2048; private int channelMax=0; private BufferedAiCtrl bufferedCtrl = null; private InstantAiCtrl instantAiCtrl = null; private ManualResetEventSlim readADInternal = new ManualResetEventSlim(false);//有数据再开启 private ushort[] data; private object locker = new object(); public PCI1714UL(string deviceCode):base() { this.deviceCode = deviceCode; } public void StartBufferedAI(int channelCount,Action<ushort[][]> channelDataAction) { bufferedCtrl = new BufferedAiCtrl(); bufferedCtrl.SelectedDevice = new DeviceInformation(deviceCode); this.channelCount = channelCount; this.readLength = (uint)(bufferLength * channelCount); this.readCount = bufferLength; this.data = new ushort[readLength]; this.ChannelDataAction = channelDataAction; ScanChannel channel = bufferedCtrl.ScanChannel; channel.ChannelCount = channelCount; channel.ChannelStart = 0; channel.IntervalCount = bufferLength; // each channel 触发DataReady事件的采样个数，即到了指定个数之后便触发DataReady事件，可以跟windows的定时器控件类似 channel.Samples = bufferLength;//采样的个数。例如，我设定采样个数为1024个，Rate是1024/s，那么也就是说采样经过了1秒 bufferedCtrl.DataReady += new EventHandler<BfdAiEventArgs>(BufferedReady); this.channelMax = bufferedCtrl.Features.ChannelCountMax; bufferedCtrl.Streaming = false; ErrorCode ret = bufferedCtrl.Prepare();//初始化所选设备，准备开始 if (ret != ErrorCode.Success) throw new InvalidOperationException("Failed to prepare AD!"); //将采集卡数据读取到Queue readADTask = Task.Factory.StartNew(() => { while (true) { readADEvent.Wait(source.Token);//等待开启 if (source.IsCancellationRequested) return; if (!StartDevice()) return;//查看设备是否已运行 readADInternal.Wait(source.Token);//先等待，有数据传递触发BufferedReady后再开启 if (dataQueue.Count > 1000) dataQueue.Clear(); dataQueue.Enqueue(data); } }, source.Token, TaskCreationOptions.LongRunning, TaskScheduler.Default); StartWriteReadTxt(); } public void StopBufferedAI() { bufferedCtrl.Stop(); //bufferedCtrl.Dispose(); StopWriteReadTxt(); } public double[] StartInstantAI() { instantAiCtrl = new InstantAiCtrl(); instantAiCtrl.SelectedDevice = new DeviceInformation(deviceCode); if (!instantAiCtrl.Initialized) { throw new Exception("No device be selected or device open failed!"); } double[] data=new double[4] ; ErrorCode er0 = instantAiCtrl.Read(0,out data[0]); ErrorCode er1 = instantAiCtrl.Read(1, out data[1]); ErrorCode er2 = instantAiCtrl.Read(2, out data[2]); ErrorCode er3 = instantAiCtrl.Read(3, out data[3]); return data; } public void StopInstantAI() { if (instantAiCtrl.State == ControlState.Running) { instantAiCtrl.Dispose(); ; } } private bool StartDevice() { ErrorCode ret; if (bufferedCtrl.State != ControlState.Running) { readADInternal.Reset(); ret = bufferedCtrl.Start(); //Thread.Sleep(500); if (ret != ErrorCode.Success) { //log.ErrorFormat("Failed to start PCI1714 first time! ErrorCode is {0}.", ret); ret = bufferedCtrl.Stop(); if (ret != ErrorCode.Success) { //log.ErrorFormat("Failed to stop PCI1714! ErrorCode is {0}.", ret); } Thread.Sleep(500); ret = bufferedCtrl.Start(); if (ret != ErrorCode.Success) { //log.ErrorFormat("Failed to start PCI1714 second time! ErrorCode is {0}.", ret); return false; } } } return true; } public void BufferedReady(object e,BfdAiEventArgs b) { short[] data = new short[b.Count]; ErrorCode ret = bufferedCtrl.GetData(b.Count, data);//data存放的是从采集卡得到的数据 if (ret != ErrorCode.Success) { lock (locker) { this.data = null; readADInternal.Set(); } } lock (locker) { this.data = data.Select(o => (ushort)o).ToArray(); readADInternal.Set(); } } } }
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在这个类里，先继承上面的AnalogCard，再设置一些板卡信息。并提供两种方式的数据读取：StartBufferedAI，StartInstantAI。
主要说明StartBufferedAI：
在这里需要再创建一个线程readADTask，用于将采集卡数据读取进内存Queue，同样现将该线程堵塞等待开启。定义一个BufferedReady事件，并进行绑定：bufferedCtrl.DataReady += new EventHandler<BfdAiEventArgs>(BufferedReady);这样采集卡有数据后会自动触发该事件，在该事件中将采集卡数据读取出来。
3. 桌面数据显示
参考研华的数据采集样式，根据数据实时画出数据曲线图。
using System; using System.Collections.Generic; using System.ComponentModel; using System.Data; using System.Drawing; using System.Linq; using System.Text; using System.Windows.Forms; using System.Windows.Forms.DataVisualization.Charting; using Automation.BDaq; namespace AdvantechPCIDemo { public partial class FrmMain : Form { private ushort[][] us;//接受PCI发生来的数据 private string deviceName = "PCI-1714UL,BID#13"; public FrmMain() { InitializeComponent(); OperateCustomBtn(false); DrawGrid(this.pbBuffCh1); DrawGrid(this.pbBuffCh2); DrawGrid(this.pbBuffCh3); DrawGrid(this.pbBuffCh4); DrawGrid(this.pbIstantCh1); DrawGrid(this.pbIstantCh2); DrawGrid(this.pbIstantCh3); DrawGrid(this.pbIstantCh4); } #region 数据列表定义 private List<Point[]> pointFromBuffAI = new List<Point[]>(); private List<double[]> dataFromBuffAI = new List<double[]>(); private List<Point[]> pointFromInstantAI = new List<Point[]>(); private List<double[]> dataFromInstantAI = new List<double[]>(); #endregion #region 画网格和曲线 /// <summary> /// 画网格 /// </summary> /// <param name="pb"></param> private void DrawGrid(PictureBox pb) { int width = pb.Width, height = pb.Height; int cellWidth = height / 4; Color color = Color.Green;//绿色线条 Bitmap bp = new Bitmap(width, height); Graphics objG = Graphics.FromImage(bp); objG.FillRectangle(new SolidBrush(Color.Black), 0, 0, width, height);//黑色背景 //网格列 for (int i = 0; i < width; i += cellWidth) { objG.DrawLine(new Pen(new SolidBrush(color)), i + cellWidth, 0, i + cellWidth, height); } //网格行 for (int i = 0; i < width; i += cellWidth) { objG.DrawLine(new Pen(new SolidBrush(color)), 0, i + cellWidth, width, i + cellWidth); } pb.Image = bp; } /// <summary> /// 画动态曲线 /// </summary> /// <param name="channelIndex"></param> /// <param name="pb"></param> private void DrawBufferedAICurve() { for (int channel = 0; channel < 4; channel++) { PictureBox pbTemp = null; switch (channel) { case 0: pbTemp = this.pbBuffCh1; break; case 1: pbTemp = this.pbBuffCh2; break; case 2: pbTemp = this.pbBuffCh3; break; case 3: pbTemp = this.pbBuffCh4; break; } int width = pbTemp.Width, height = pbTemp.Height; if (pointFromBuffAI.Count == 0) { for (int i = 0; i < 4; i++) { pointFromBuffAI.Add(new Point[width]); } } lock (locker) { while (dataFromBuffAI.Count >= width + 2) { dataFromBuffAI.RemoveAt(0); } } int count = dataFromBuffAI.Count; if (count != 0) { pointFromBuffAI[channel] = new Point[count]; } for (int i = 0; i < width + 1; i++) { if (i >= count) break; if (dataFromBuffAI[i] == null) continue; pointFromBuffAI[channel][i] = new Point(i, (int)(height - ((dataFromBuffAI[i][channel] + 5) * height) / 10));//从负到正 //prData[channelIndex][i] = new Point(i, (int)(((Math.Abs(showData[i][channelIndex])) * height) / 10));//全负数 } pbTemp.Refresh(); } } private void ClearBufferedAICurve() { Graphics g = Graphics.FromImage(this.pbBuffCh1.Image); g.Clear(this.pbBuffCh1.BackColor); //DrawGrid(this.pbBuffCh1); //DrawGrid(this.pbBuffCh2); //DrawGrid(this.pbBuffCh3); //DrawGrid(this.pbBuffCh4); } private void DrawInstantAICurve() { for (int channel = 0; channel < 4; channel++) { PictureBox pbTemp = null; switch (channel) { case 0: pbTemp = this.pbIstantCh1; break; case 1: pbTemp = this.pbIstantCh2; break; case 2: pbTemp = this.pbIstantCh3; break; case 3: pbTemp = this.pbIstantCh4; break; } int width = pbTemp.Width, height = pbTemp.Height; if (pointFromInstantAI.Count == 0) { for (int i = 0; i < 4; i++) { pointFromInstantAI.Add(new Point[width]); } } lock (locker) { while (dataFromInstantAI.Count >= width + 2) { dataFromInstantAI.RemoveAt(0); } } int count = dataFromInstantAI.Count; if (count != 0) { pointFromInstantAI[channel] = new Point[count]; } for (int i = 0; i < width + 1; i++) { if (i >= count) break; if (dataFromInstantAI[i] == null) continue; pointFromInstantAI[channel][i] = new Point(i, (int)(height - ((dataFromInstantAI[i][channel] + 5) * height) / 10));//从负到正 //prData[channelIndex][i] = new Point(i, (int)(((Math.Abs(showData[i][channelIndex])) * height) / 10));//全负数 } pbTemp.Refresh(); } } private List<int> data = new List<int>(); private Pen redPen = new Pen(Color.Red, 1); private void pBCh_Paint(object sender, PaintEventArgs e) { PictureBox pb = (PictureBox)sender; string pbName = pb.Name; if (pbName.Contains("pbBuffCh")) { if (pointFromBuffAI.Count == 4) { switch (pbName) { case "pbBuffCh1": if (pointFromBuffAI[0].Count() < 3) break;//画曲线至少需要三个点 e.Graphics.DrawCurve(redPen, pointFromBuffAI[0]); break; case "pbBuffCh2": if (pointFromBuffAI[1].Count() < 3) break; e.Graphics.DrawCurve(redPen, pointFromBuffAI[1]); break; case "pbBuffCh3": if (pointFromBuffAI[2].Count() < 3) break; e.Graphics.DrawCurve(redPen, pointFromBuffAI[2]); break; case "pbBuffCh4": if (pointFromBuffAI[3].Count() < 3) break; e.Graphics.DrawCurve(redPen, pointFromBuffAI[3]); break; } } } else if (pbName.Contains("pbIstantCh")) { if (pointFromInstantAI.Count == 4) { switch (pbName) { case "pbIstantCh1": if (pointFromInstantAI[0].Count() < 3) break;//画曲线至少需要三个点 e.Graphics.DrawCurve(redPen, pointFromInstantAI[0]); break; case "pbIstantCh2": if (pointFromInstantAI[1].Count() < 3) break; e.Graphics.DrawCurve(redPen, pointFromInstantAI[1]); break; case "pbIstantCh3": if (pointFromInstantAI[2].Count() < 3) break; e.Graphics.DrawCurve(redPen, pointFromInstantAI[2]); break; case "pbIstantCh4": if (pointFromInstantAI[3].Count() < 3) break; e.Graphics.DrawCurve(redPen, pointFromInstantAI[3]); break; } } } } #endregion #region 界面按钮控制 private void OperateCustomBtn(bool b) { this.btnCustomBufferedAI.Enabled = b; this.btnCustomInstantAI.Enabled = b; } private void OperateCtrBtn(bool b) { this.btnControlInstantAI.Enabled = b; this.btnControlBufferedAI.Enabled = b; } #endregion #region 自定义BufferedAI PCI1714UL objPCI1714 = null; private void btnConfirm_Click(object sender, EventArgs e) { try { objPCI1714 = new PCI1714UL(deviceName); OperateCustomBtn(true); } catch (Exception ex) { MessageBox.Show(ex.Message); } } private void btnStartRead_Click(object sender, EventArgs e) { try { //ClearBufferedAICurve(); objPCI1714.StartBufferedAI(4, ChannelDataAction); OperateCtrBtn(false); OperateCustomBtn(false); bufferedAITimer.Start(); } catch (Exception ex) { MessageBox.Show(ex.Message); } } private void btnStopCusBuffAI_Click(object sender, EventArgs e) { try { //if (objPCI1714 != null) //{ // objPCI1714.StopBufferedAI(); // //objPCI1714 = null; // bufferedAITimer.Stop(); // OperateCustomBtn(true); // OperateCtrBtn(true); //} } catch (Exception ex) { MessageBox.Show(ex.Message); } } private void ChannelDataAction(ushort[][] us)//动作方法：接受与处理数据，并交给数据展示列表 { this.us = us; if (us == null || us[0] == null) return; dataFromBuffAI.Add(this.us.Select(u1 => { return GetVoltage(u1.Select(u => (double)u).ToList().Average()); }).ToArray()); } private double GetVoltage(double data) { return data * 10 / 4095 - 5.0190516943459; } private void customBufferedAI_Tick(object sender, EventArgs e) { DrawBufferedAICurve(); } #endregion #region 自定义InstantAI private void btnCustomInstantAI_Click(object sender, EventArgs e) { try { customInstantAI.Start(); OperateCustomBtn(false); OperateCtrBtn(false); } catch (Exception ex) { MessageBox.Show(ex.Message); } } private void btnStopCusInstantAI_Click(object sender, EventArgs e) { try { //if (objPCI1714 != null) //{ // objPCI1714.StopInstantAI(); // objPCI1714 = null; // customInstantAI.Stop(); //} } catch (Exception ex) { MessageBox.Show(ex.Message); } } private void customInstantAI_Tick(object sender, EventArgs e) { dataFromInstantAI.Add(objPCI1714.StartInstantAI()); DrawInstantAICurve(); } #endregion #region 控件BufferedAI //private double[] d; private void btnControlBufferedAI_Click(object sender, EventArgs e) { try { waveformAiCtrl1.SelectedDevice = new DeviceInformation(deviceName); if (!waveformAiCtrl1.Initialized) { MessageBox.Show("No device be selected or device open failed!"); return; } int channelCount = waveformAiCtrl1.Conversion.ChannelCount; int sectionLength = waveformAiCtrl1.Record.SectionLength; //d = new double[channelCount*sectionLength]; waveformAiCtrl1.Prepare(); ErrorCode er=ErrorCode.Success; if (waveformAiCtrl1.State != ControlState.Running) { er = waveformAiCtrl1.Start(); } if (er != ErrorCode.Success) { MessageBox.Show("设备打开失败！"); return; } OperateCtrBtn(false); OperateCustomBtn(false); bufferedAITimer.Start(); } catch (Exception ex) { MessageBox.Show(ex.Message); } } private void btnStopCtrBuffAI_Click(object sender, EventArgs e) { //if (waveformAiCtrl1.State == ControlState.Idle) //{ // return;//has been disposed //} //waveformAiCtrl1.Stop(); //waveformAiCtrl1.Dispose(); } private object locker = new object(); private void waveformAiCtrl1_DataReady(object sender, BfdAiEventArgs e) { double[] data = new double[e.Count]; ErrorCode er = waveformAiCtrl1.GetData(e.Count, data); if (er != ErrorCode.Success) { return; } lock (locker) { for (int i = 0; i < data.Length; i += 4) { double[] temp = new double[4]; for (int j = 0; j < 4; j++) { temp[j] = data[i + j]; } dataFromBuffAI.Add(temp); } } } #endregion #region 控件InstantAI private void btnControlInstantAI_Click(object sender, EventArgs e) { try { instantAiCtrl1.SelectedDevice = new DeviceInformation(deviceName); if (!instantAiCtrl1.Initialized) { MessageBox.Show("No device be selected or device open failed!"); return; } OperateCtrBtn(false); OperateCustomBtn(false); ctrInstant.Start(); } catch (Exception ex) { MessageBox.Show(ex.Message); } } private void btnStopCtrInstantAI_Click(object sender, EventArgs e) { try { //ctrInstant.Stop(); } catch (Exception ex) { MessageBox.Show( ex.Message); } } private void ctrInstant_Tick(object sender, EventArgs e) { double[] data = new double[4]; ; ErrorCode er0 = instantAiCtrl1.Read(0, out data[0]); ErrorCode er1 = instantAiCtrl1.Read(1, out data[1]); ErrorCode er2 = instantAiCtrl1.Read(2, out data[2]); ErrorCode er3 = instantAiCtrl1.Read(3, out data[3]); dataFromInstantAI.Add(data); DrawInstantAICurve(); } #endregion } }
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样式如下图所示：
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