CAN驱动修改优化

UIShare/GlobalVariable/CANMonitoringService.cs

@@ -0,0 +1,106 @@
+using System;
+using System.Buffers;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using TSMasterCAN;
+using TSMaster;
+namespace UIShare.GlobalVariable
+{
+    public class CANMonitoringService
+    {
+        public bool IsStopped { get; set; } = false;
+        public bool IsInitialized { get; set; } = false;
+        public bool IsRegistered { get; set; } = false;
+        private SystemConfig _systemConfig { get; set; } 
+        public CANMonitoringService(SystemConfig systemConfig)
+        {
+            _systemConfig = systemConfig;
+            CANSignalBroadcaster.RegisterService(this);
+            IsRegistered = true;
+        }
+        public int Init(CancellationToken ct = default)
+        {
+            int re = 0;
+            if (IsInitialized == false)
+            {
+                re = CAN.Init(_systemConfig.TSMasterName);
+            }
+            if (IsInitialized == false)
+            {
+                re = CAN.RegisterListener(MonitorEvent);
+                if (re == 0) IsInitialized = true;
+            }
+            return re;
+        }
+        public ConcurrentDictionary<string, TLIBCANFD> RealTimeMessages { get; set; } = new();
+        public ConcurrentDictionary<string, double> RealTimeSignals { get; set; } = new();
+        public void MonitorEvent(ref int AObj, ref TLIBCANFD AData)
+        {
+            if (IsStopped) return;
+            byte[] oldbytes = null;
+
+            //记录至实时报文数据库
+            var cpAData = AData;
+            cpAData.FData = ArrayPool<byte>.Shared.Rent(64);
+            Array.Copy(AData.FData, 0, cpAData.FData, 0, cpAData.FData.Length);
+            var MessageName = $"{AData.FIdxChn}/{AData.FIdentifier}";
+            if (RealTimeMessages.TryGetValue(MessageName, out var v))
+            {
+                oldbytes = v.FData;
+            }
+            RealTimeMessages[MessageName] = cpAData;
+
+            //记录至DBC数据库
+            var dbcfind = DBCParse.MsgDatabase[AData.FIdxChn].FirstOrDefault(s => s.msg_id == cpAData.FIdentifier);
+            if (dbcfind != null)
+            {
+                Array.Copy(cpAData.FData, 0, dbcfind.ACANFD.FData, 0, cpAData.FData.Length);
+                dbcfind.ACANFD.FTimeUS = cpAData.FTimeUS;
+                dbcfind.ACANFD.FIsFD = cpAData.FIsFD;
+                dbcfind.ACANFD.FIsBRS = cpAData.FIsBRS;
+                dbcfind.ACANFD.FIsESI = cpAData.FIsESI;
+                dbcfind.ACANFD.FIsError = cpAData.FIsError;
+                dbcfind.ACANFD.FIsRemote = cpAData.FIsRemote;
+                dbcfind.ACANFD.FIsExt = cpAData.FIsExt;
+            }
+
+            if (oldbytes is not null) ArrayPool<byte>.Shared.Return(oldbytes);
+
+            var id = AData.FIdentifier;
+            var ch = AData.FIdxChn;
+
+            var canSignalList = _systemConfig.ConfigurationList.Where(s => s.MessageID == id && s.Channel == ch).ToArray();
+
+            if (canSignalList.Length > 0)
+            {
+                var find = DBCParse.MsgDatabase[ch].First(s => s.msg_id == id);
+                foreach (var item in canSignalList)
+                {
+                    double Signalre = double.NaN;
+                    var re = CAN.GetSignalValue(ref cpAData, item.MessageName, item.SignalName, ref Signalre);
+                    //Debug.Assert(re == 0);
+                    var SinalName = $"{AData.FIdxChn}/{item.MessageName}/{item.SignalName}";
+                    RealTimeSignals[SinalName] = Signalre;
+                }
+            }
+        }
+
+        /// <summary>
+        /// 停止监测：从广播器注销并清理实时数据。
+        /// </summary>
+        public void Stop()
+        {
+            IsStopped = true;
+            if (IsRegistered)
+            {
+                CANSignalBroadcaster.UnregisterService(this);
+                IsRegistered = false;
+            }
+            RealTimeSignals.Clear();
+            RealTimeMessages.Clear();
+        }
+    }
+}

UIShare/GlobalVariable/CANSignalBroadcaster.cs

@@ -1,131 +1,191 @@
 using Model.Models;
 using Prism.Events;
 using System;
+using System.Collections.Concurrent;
 using System.Collections.Generic;
 using System.Linq;
-using System.Text;
-using TSMasterCAN;
+using System.Threading;
+using System.Threading.Tasks;
 using UIShare.PubEvent;
+using UIShare.UIViewModel;
 
 namespace UIShare.GlobalVariable
 {
     /// <summary>
     /// CAN 信号广播器（全局单例）：
-    /// 统一订阅 GlobalInfo.CanPool 中所有已实例化的 ZLGCANFD 设备，
-    /// 将 DBC 解码后的信号值广播给所有引用该 CAN 设备的作用域，
-    /// 并同步检查各作用域 ValueLimitList 的超限报警。
+    /// 不再订阅 CAN 实体实例的事件，改为从所有已注册的 <see cref="CANMonitoringService"/> 
+    /// 的 RealTimeSignals 字典中轮询读取信号值，并通过 <see cref="HardwareDataReportedEvent"/> 广播。
     /// </summary>
-    public class CANSignalBroadcaster : IDisposable
+    public class CANSignalBroadcaster
     {
         private readonly IEventAggregator _eventAggregator;
-        private readonly GlobalInfo _globalInfo;
-        private bool _disposed;
+        private readonly SystemConfig _systemConfig;
 
-        /// <summary>已订阅解码事件的 CANFD 实例 → 委托 映射</summary>
-        private readonly Dictionary<CAN, Action<uint, DBCMessage>> _handlers = new();
-        public CANSignalBroadcaster(GlobalInfo globalInfo, IEventAggregator eventAggregator)
+        /// <summary>全局已注册的 CANMonitoringService 实例列表（静态，跨作用域共享）</summary>
+        private static readonly ConcurrentDictionary<CANMonitoringService, byte> _registeredServices = new();
+
+        private CancellationTokenSource? _cts;
+        private Task? _broadcastTask;
+
+        /// <summary>广播轮询间隔（毫秒）</summary>
+        public int PollingIntervalMs { get; set; } = 100;
+
+        public CANSignalBroadcaster(SystemConfig systemConfig, IEventAggregator eventAggregator)
         {
-            _globalInfo = globalInfo;
+            _systemConfig = systemConfig;
             _eventAggregator = eventAggregator;
         }
 
-        /// <summary>
-        /// 扫描 GlobalInfo.CanPool 中已创建的 CANFD 实例并订阅解码事件。
-        /// 幂等：已订阅的实例不会重复订阅。
-        /// </summary>
-        public void Discover()
+        #region 服务注册（供 CANMonitoringService 调用）
+
+        /// <summary>注册一个 CANMonitoringService，使其信号纳入广播</summary>
+        public static void RegisterService(CANMonitoringService service)
         {
-            if (_disposed) return;
-
-            foreach (var kvp in _globalInfo.CanPool)
-            {
-                string fingerprint = kvp.Key;
-                var lazy = kvp.Value;
-                if (!lazy.IsValueCreated || lazy.Value == null) continue;
-
-                var canfd = lazy.Value;
-                if (_handlers.ContainsKey(canfd)) continue;
-
-                // 使用闭包捕获指纹，回调时即可区分不同 CAN 卡
-                Action<uint, DBCMessage> handler = (channel, msg) => OnDbcMessageDecoded(fingerprint, channel, msg);
-                canfd.OnDbcMessageDecoded += handler;
-                _handlers[canfd] = handler;
-            }
+            _registeredServices.TryAdd(service, 0);
         }
 
-        /// <summary>
-        /// 启动广播器（目前 Discover 已完成订阅，此处保留以兼容 HardwareDataBroadcaster 的使用模式）。
-        /// </summary>
+        /// <summary>注销一个 CANMonitoringService</summary>
+        public static void UnregisterService(CANMonitoringService service)
+        {
+            _registeredServices.TryRemove(service, out _);
+        }
+
+        #endregion
+
+        #region 启动 / 停止
+
+        /// <summary>启动广播（幂等：多次调用只启动一次）</summary>
         public void Start()
         {
-            Discover();
+            if (_broadcastTask != null && !_broadcastTask.IsCompleted) return;
+
+            _cts = new CancellationTokenSource();
+            _broadcastTask = Task.Run(() => BroadcastLoop(_cts.Token));
         }
 
-        /// <summary>
-        /// DBC 解码回调：提取所有信号，向引用该 CAN 设备的作用域广播，并检查报警。
-        /// </summary>
-        private void OnDbcMessageDecoded(string canFingerprint, uint channel, DBCMessage msg)
+        /// <summary>停止广播</summary>
+        public void Stop()
         {
-            if (_disposed) return;
+            _cts?.Cancel();
+            _broadcastTask = null;
+        }
 
-            string signalFingerprint = BuildFingerprint(canFingerprint, channel);
-            var now = DateTime.Now;
+        /// <summary>兼容旧接口：Discover 已无需执行任何操作</summary>
+        public void Discover() { }
 
-            // 获取引用该 CAN 设备的所有作用域
-            var scopes = GetScopesForFingerprint(canFingerprint);
-            if (scopes.Count == 0) return;
+        #endregion
 
-            for (int i = 0; i < msg.nSignalCount; i++)
+        #region 广播核心逻辑
+
+        /// <summary>
+        /// 轮询所有已注册的 CANMonitoringService 的 RealTimeSignals，
+        /// 结合 ConfigurationList 映射出 MessageID/Channel，广播 HardwareDataReportedEvent。
+        /// </summary>
+        private async Task BroadcastLoop(CancellationToken ct)
+        {
+            while (!ct.IsCancellationRequested)
             {
-                var signal = msg.vSignals[i];
-                string signalName = Encoding.Default.GetString(signal.strName).TrimEnd('\0');
-                if (string.IsNullOrEmpty(signalName)) continue;
-
-                double physicalValue = signal.nRawvalue * signal.nFactor + signal.nOffset;
-                string methodName = BuildMethodName(msg.nID, signalName);
-
-                foreach (var scope in scopes)
+                try
                 {
-                    _eventAggregator.GetEvent<HardwareDataReportedEvent>().Publish(new HardwareReportArgs
-                    {
-                        Scope = scope,
-                        HardwareFingerprint = signalFingerprint,
-                        MethodName = methodName,
-                        Value = physicalValue,
-                        Time = now
-                    });
+                    // 预构建信号名 → 配置 的映射（避免内层循环重复查找）
+                    var configMap = BuildConfigMap();
 
-                    string MonitorStatus = ValueLimitAlarmHelper.CheckAlarm(scope, signalFingerprint, methodName, physicalValue, _globalInfo);
-                    if (MonitorStatus != "" && MonitorStatus != "未报警")
+                    string scope = _systemConfig.Title;
+
+                    foreach (var service in _registeredServices.Keys)
                     {
-                        _eventAggregator.GetEvent<AlarmEvent>().Publish((scope,canFingerprint, MonitorStatus));
+                        if (service.IsStopped) continue;
+
+                        foreach (var kvp in service.RealTimeSignals)
+                        {
+                            if (ct.IsCancellationRequested) return;
+
+                            // 信号 Key 格式: "{channel}/{MessageName}/{SignalName}"
+                            if (!TryParseSignalKey(kvp.Key, out int channel, out string? messageName, out string? signalName))
+                                continue;
+
+                            // 从配置映射中查找对应的 MessageID
+                            if (!configMap.TryGetValue($"{channel}/{messageName}/{signalName}", out var cfg))
+                                continue;
+
+                            string canFingerprint = $"CAN:{channel}";
+                            string fingerprint = BuildFingerprint(canFingerprint, (uint)channel);
+                            string methodName = BuildMethodName((uint)cfg.MessageID, signalName);
+
+                            // 广播信号值
+                            _eventAggregator.GetEvent<HardwareDataReportedEvent>().Publish(new HardwareReportArgs
+                            {
+                                Scope = scope,
+                                HardwareFingerprint = fingerprint,
+                                MethodName = methodName,
+                                Value = kvp.Value,
+                                Time = DateTime.Now
+                            });
+
+                            // 报警检查
+                            string alarmStatus = ValueLimitAlarmHelper.CheckAlarm(fingerprint, methodName, kvp.Value, _systemConfig);
+                            if (!string.IsNullOrEmpty(alarmStatus) && alarmStatus != "未报警")
+                            {
+                                _eventAggregator.GetEvent<AlarmEvent>().Publish((scope, canFingerprint, alarmStatus));
+                            }
+                        }
                     }
+
+                    await Task.Delay(PollingIntervalMs, ct);
+                }
+                catch (OperationCanceledException) { break; }
+                catch (Exception ex)
+                {
+                    Logger.LoggerHelper.Error($"CANSignalBroadcaster 广播异常: {ex.Message}");
+                    await Task.Delay(1000, ct); // 异常后等待一段时间再重试
                 }
             }
         }
 
-        /// <summary>获取指定硬件指纹当前被哪些作用域引用</summary>
-        private List<string> GetScopesForFingerprint(string fingerprint)
+        /// <summary>
+        /// 从 SystemConfig.ConfigurationList 构建 "channel/MessageName/SignalName" → CANSignalConfig 的映射
+        /// </summary>
+        private Dictionary<string, CANSignalConfig> BuildConfigMap()
         {
-            if (_globalInfo.DeviceAndScopeDic.TryGetValue(fingerprint, out var lazy))
+            var map = new Dictionary<string, CANSignalConfig>(StringComparer.OrdinalIgnoreCase);
+            if (_systemConfig?.ConfigurationList == null) return map;
+
+            foreach (var cfg in _systemConfig.ConfigurationList)
             {
-                var scopeList = lazy.Value;
-                lock (scopeList) return scopeList.ToList();
+                if (string.IsNullOrEmpty(cfg.SignalName) || string.IsNullOrEmpty(cfg.MessageName)) continue;
+                string key = $"{cfg.Channel}/{cfg.MessageName}/{cfg.SignalName}";
+                map.TryAdd(key, cfg); // 第一个匹配的优先
             }
-            return new List<string>();
+            return map;
         }
 
-        /// <summary>
-        /// 生成 CAN 信号的 DisplayName 格式："{MessageName}.{SignalName}"
-        /// </summary>
+        /// <summary>解析信号 Key: "{channel}/{MessageName}/{SignalName}"</summary>
+        private static bool TryParseSignalKey(string key, out int channel, out string? messageName, out string? signalName)
+        {
+            channel = 0;
+            messageName = null;
+            signalName = null;
+
+            var parts = key.Split('/');
+            if (parts.Length < 3) return false;
+
+            if (!int.TryParse(parts[0], out channel)) return false;
+            messageName = parts[1];
+            signalName = parts[2];
+            return !string.IsNullOrEmpty(messageName) && !string.IsNullOrEmpty(signalName);
+        }
+
+        #endregion
+
+        #region 静态工具方法（保持向后兼容）
+
+        /// <summary>生成 CAN 信号的 DisplayName 格式："{MessageName}.{SignalName}"</summary>
         public static string BuildDisplayName(string messageName, string signalName)
         {
             return $"{messageName}.{signalName}";
         }
 
-        /// <summary>
-        /// 生成 CAN 信号的 MethodName 格式："{MessageId:X}.{SignalName}"
-        /// </summary>
+        /// <summary>生成 CAN 信号的 MethodName 格式："{MessageId:X}.{SignalName}"</summary>
         public static string BuildMethodName(uint messageId, string signalName)
         {
             return $"{messageId:X}.{signalName}";
@@ -140,17 +200,6 @@ namespace UIShare.GlobalVariable
             return $"{canDeviceFingerprint}:{channel}";
         }
 
-        public void Dispose()
-        {
-            if (_disposed) return;
-            _disposed = true;
-
-            foreach (var kvp in _handlers)
-            {
-                if (kvp.Key != null)
-                    kvp.Key.OnDbcMessageDecoded -= kvp.Value;
-            }
-            _handlers.Clear();
-        }
+        #endregion
     }
 }

UIShare/GlobalVariable/DeviceManager.cs

@@ -13,7 +13,6 @@ using System.Reflection;
 using TSMasterCAN;
 using UIShare.PubEvent;
 using UIShare.UIViewModel;
-using TSMasterCAN;
 
 namespace UIShare.GlobalVariable
 {
@@ -25,6 +24,7 @@ namespace UIShare.GlobalVariable
     {
         private object _lockObj = new object();
         public SystemConfig _systemConfig { get; set; }
+        public CANMonitoringService _CANMonitoringService { get; set; }
         private readonly GlobalInfo _globalInfo;
         private readonly string _scopeName;
         private readonly IEventAggregator _eventAggregator;
@@ -35,7 +35,6 @@ namespace UIShare.GlobalVariable
 
         /// <summary>类名 → Type 的反射缓存（仅扫描一次）。</summary>
         private static readonly IReadOnlyDictionary<string, Type> _deviceTypeMap = BuildDeviceTypeMap();
-        public CAN CANFD { get; set; }
         public IOBoardGroup IOGroup { get; set; }
 
         public DeviceManager(SystemConfig systemConfig, GlobalInfo globalInfo, IEventAggregator eventAggregator)
@@ -43,11 +42,17 @@ namespace UIShare.GlobalVariable
             _systemConfig = systemConfig;
             _globalInfo = globalInfo;
             _eventAggregator = eventAggregator;
+            _CANMonitoringService=new CANMonitoringService(_systemConfig);
             // 用 SystemConfig.Title 作为作用域唯一标识，无需反查 ConfigDic
             _scopeName =  _systemConfig.Title;
             InitDevices();
+            InitCAN();
         }
 
+        public void InitCAN()
+        {
+            var re1 = _CANMonitoringService.Init();
+        }
         /// <summary>
         /// 根据设备配置提取唯一的硬件指纹字符串。
         /// <para>Tcp → "Tcp:IP:Port"；Serial → "Serial:PortName"；无法识别则返回空字符串。</para>
@@ -98,55 +103,6 @@ namespace UIShare.GlobalVariable
             {
                 if (config == null || !config.IsEnabled) continue;
 
-                // CAN 设备：ZLGCANFD 不实现 IBaseInterface，通过 SystemConfig.CANFD 单独管理，
-                // 按指纹从全局 CanPool 创建/复用实例，并注册作用域引用计数。
-                if (string.Equals(config.ConnectionType, "CAN", StringComparison.OrdinalIgnoreCase))
-                {
-                    var fingerprint = ExtractHardwareFingerprint(config);
-                    if (string.IsNullOrEmpty(fingerprint))
-                    {
-                        LoggerHelper.Warn($"设备 [{config.DeviceName}] 无法提取硬件指纹（连接方式={config.ConnectionType}），已跳过。");
-                        continue;
-                    }
-
-                    if (config.CANConfig == null)
-                    {
-                        LoggerHelper.Warn($"设备 [{config.DeviceName}] 缺少 CAN 连接参数，已跳过。");
-                        continue;
-                    }
-
-                    try
-                    {
-                        // 按指纹全局唯一创建同星 CAN 实例（maxChannels 默认 4，对应 USBCANFD-400U）
-                        // 波特率与终端电阻从 CANConfigVM 传入，初始化并启动通道 时直接使用
-                        var canLazy = _globalInfo.CanPool.GetOrAdd(fingerprint, key => new Lazy<CAN>(() =>
-                            new CAN(config.CANConfig.DeviceType, config.CANConfig.DeviceIndex, 4,
-                                config.CANConfig.ABitBaud, config.CANConfig.DBitBaud, config.CANConfig.EnableTerminalResistance)));
-
-                        _systemConfig.CANFD = canLazy.Value;
-                        CANFD = canLazy.Value;
-
-                        // 注册作用域引用计数
-                        if (!string.IsNullOrEmpty(_scopeName))
-                        {
-                            var scopeList = _globalInfo.DeviceAndScopeDic.GetOrAdd(fingerprint,
-                                _ => new Lazy<List<string>>(() => new List<string>())).Value;
-                            lock (scopeList)
-                            {
-                                if (!scopeList.Contains(_scopeName))
-                                    scopeList.Add(_scopeName);
-                            }
-                        }
-
-                        LoggerHelper.Info($"已加载 CAN 设备 [{config.DeviceName}] 指纹={fingerprint}（通过 SystemConfig.CANFD 管理）");
-                    }
-                    catch (Exception ex)
-                    {
-                        LoggerHelper.ErrorWithNotify(_scopeName, $"CAN 设备 [{config.DeviceName}] 实例化失败：{ex.Message}");
-                    }
-                    continue;
-                }
-
                 if (string.IsNullOrWhiteSpace(config.DeviceType) ||
                     !_deviceTypeMap.TryGetValue(config.DeviceType, out var deviceType))
                 {
@@ -302,7 +258,7 @@ namespace UIShare.GlobalVariable
             // CAN 设备：直接关闭 CAN 卡
             if (info != null && string.Equals(info.ConnectionType, "CAN", StringComparison.OrdinalIgnoreCase))
             {
-                await CloseCanAsync(info);
+                CloseCan();
                 return;
             }
 
@@ -325,7 +281,7 @@ namespace UIShare.GlobalVariable
 
             lock (_lockObj)
             {
-                if (DeviceMap.Count == 0 && (CANFD == null)) return;
+                if (DeviceMap.Count == 0 ) return;
 
                 foreach (var kvp in DeviceMap)
                 {
@@ -338,17 +294,7 @@ namespace UIShare.GlobalVariable
                 }
             }
 
-            // CAN 设备：直接关闭 CAN 卡
-            if (CANFD != null)
-            {
-                var canInfo = _systemConfig?.DeviceList?
-                    .FirstOrDefault(d => d != null && string.Equals(d.ConnectionType, "CAN", StringComparison.OrdinalIgnoreCase));
-                if (canInfo != null)
-                {
-                    tasks.Add(CloseCanAsync(canInfo));
-                }
-            }
-
+            CAN.DisConnect();
             await Task.WhenAll(tasks);
             LoggerHelper.Info("所有设备已执行关闭操作。");
         }
@@ -456,26 +402,11 @@ namespace UIShare.GlobalVariable
         /// </summary>
         private async Task<bool> ConnectCanAsync(DeviceInfoVM info)
         {
-            string name = info.DeviceName ?? "CAN";
 
             try
             {
-                if (CANFD == null)
-                {
-                    LoggerHelper.Warn($"CAN 设备 [{name}] 尚未实例化，无法连接。");
-                    info.IsConnected = false;
-                    return false;
-                }
-
-                if (info.IsConnected)
-                {
-                    LoggerHelper.Info($"CAN 设备 [{name}] 已连接，跳过。");
-                    return true;
-                }
-
                 bool ok = await Task.Run(() =>
                 {
-                    if (!CANFD.打开设备()) return false;
                     // 自动加载 DBC 文件
                     if (_systemConfig?.DBCAutoLoadList != null)
                     {
@@ -495,8 +426,7 @@ namespace UIShare.GlobalVariable
                                 LoggerHelper.Warn($"CAN 通道 {item.DBCChannel} 自动加载 DBC 失败：文件不存在 [{item.DBCFilePath}]");
                                 continue;
                             }
-                            CANFD.初始化并启动通道((uint)item.DBCChannel);
-                            bool loadOk = CANFD.加载通道DBC文件((uint)item.DBCChannel, item.DBCFilePath);
+                            bool loadOk = CAN.LoadDBC(item.DBCFilePath,new int[] { item.DBCChannel },out _ )==0;
                             if (loadOk)
                             {
                                 LoggerHelper.Info($"CAN 通道 {item.DBCChannel} 已自动加载 DBC：{item.DBCFilePath}");
@@ -518,16 +448,16 @@ namespace UIShare.GlobalVariable
                             }
                         }
                     }
-
+                    if (CAN.Connect() != 0) return false;
                     return true;
                 });
 
                 info.IsConnected = ok;
 
                 if (ok)
-                    LoggerHelper.Info($"CAN 设备 [{name}] 连接成功，已初始化 {CANFD.DBCParser.MaxChannels} 个通道。");
+                    LoggerHelper.Info($"CAN 设备 连接成功");
                 else
-                    LoggerHelper.Warn($"CAN 设备 [{name}] 连接失败。");
+                    LoggerHelper.Warn($"CAN 设备连接失败。");
 
                 return ok;
             }
@@ -535,7 +465,7 @@ namespace UIShare.GlobalVariable
             {
                 info.IsConnected = false;
                 var inner = ex.InnerException?.Message ?? ex.Message;
-                LoggerHelper.ErrorWithNotify(_scopeName, $"CAN 设备 [{name}] 连接异常：{inner}");
+                LoggerHelper.ErrorWithNotify(_scopeName, $"CAN 设备 连接异常：{inner}");
                 return false;
             }
         }
@@ -543,36 +473,9 @@ namespace UIShare.GlobalVariable
         /// <summary>
         /// 关闭 CAN 卡
         /// </summary>
-        private async Task CloseCanAsync(DeviceInfoVM info)
+        private void CloseCan()
         {
-            string name = info.DeviceName ?? "CAN";
-
-            try
-            {
-                if (CANFD == null)
-                {
-                    info.IsConnected = false;
-                    return;
-                }
-
-                if (!info.IsConnected)
-                {
-                    LoggerHelper.Info($"CAN 设备 [{name}] 本就处于断开状态。");
-                    return;
-                }
-
-                await Task.Run(() => CANFD.关闭CAN卡设备());
-                LoggerHelper.Info($"CAN 设备 [{name}] 已成功关闭连接。");
-            }
-            catch (Exception ex)
-            {
-                var inner = ex.InnerException?.Message ?? ex.Message;
-                LoggerHelper.Error($"CAN 设备 [{name}] 关闭连接时出现异常: {inner}");
-            }
-            finally
-            {
-                info.IsConnected = false;
-            }
+            CAN.DisConnect();
         }
 
         private static IReadOnlyDictionary<string, Type> BuildDeviceTypeMap()
@@ -620,6 +523,9 @@ namespace UIShare.GlobalVariable
 
         public void Dispose()
         {
+            // 停止 CAN 信号监测服务
+            _CANMonitoringService?.Stop();
+
             if (string.IsNullOrEmpty(_scopeName)) return;
 
             // 遍历当前作用域用到的所有指纹，逐一移除本作用域的引用
@@ -655,16 +561,6 @@ namespace UIShare.GlobalVariable
                     }
                 }
 
-                // 尝试从 CanPool 取出并销毁
-                if (_globalInfo.CanPool.TryRemove(fingerprint, out var canLazy))
-                {
-                    if (canLazy.IsValueCreated)
-                    {
-                        try { canLazy.Value.Dispose(); }
-                        catch { /* 销毁时忽略异常 */ }
-                        LoggerHelper.Info($"指纹 [{fingerprint}] 无作用域引用，已销毁 CAN 设备实例。");
-                    }
-                }
 
                 // 同步清除 DeviceAndScopeDic 中的空条目
                 _globalInfo.DeviceAndScopeDic.TryRemove(fingerprint, out _);

UIShare/GlobalVariable/StepRunning.cs

@@ -578,11 +578,7 @@ namespace UIShare
                 {
                     try
                     {
-                        if(targetType.Name== "ZLGCANFD")
-                        {
-                            instance = _deviceManager.CANFD;
-                        }
-                        else if (targetType.Name == "IOBoardGroup")
+                        if (targetType.Name == "IOBoardGroup")
                         {
                             instance = _deviceManager.IOGroup;
                         }

UIShare/GlobalVariable/ValueLimitAlarmHelper.cs

@@ -20,12 +20,22 @@ namespace UIShare.GlobalVariable
         {
             if (globalInfo?.ConfigDic == null) return "";
             if (!globalInfo.ConfigDic.TryGetValue(scope, out var systemConfig)) return "";
-            if (systemConfig.ValueLimitList == null) return "";
+            return CheckAlarm(fingerprint, methodName, value, systemConfig);
+        }
+
+        /// <summary>
+        /// 直接根据 SystemConfig 的 ValueLimitList 检查当前值是否超限。
+        /// 适用于不持有 GlobalInfo 引用的场景（如 CANSignalBroadcaster）。
+        /// </summary>
+        public static string CheckAlarm(string fingerprint, string methodName, double value, SystemConfig systemConfig)
+        {
+            if (systemConfig?.ValueLimitList == null) return "";
 
             var limit = systemConfig.ValueLimitList.FirstOrDefault(x =>
                 x.Fingerprint == fingerprint && x.MethodName == methodName);
             if (limit == null) return "";
-             if (value > limit.UpperExtreme)
+
+            if (value > limit.UpperExtreme)
             {
                 limit.IsAlarm = true;
                 limit.AlarmSatus = AlarmStatus.超上极限;