CAN驱动修改优化

2026-08-07 09:06:43 +08:00
parent deb3544143
commit 062582e238
18 changed files with 583 additions and 558 deletions
@@ -18,6 +18,7 @@ using UIShare.GlobalVariable;
 using UIShare.PubEvent;
 using UIShare.UIViewModel;
 using SqlSugar;
+using TSMasterCAN;

 namespace ACP.ViewModels
 {
@@ -155,6 +156,7 @@ namespace ACP.ViewModels
        public ICommand MonitorValueSettingCommand { get; set; }
        public ICommand GetFileStringCommand { get; set; }
        public ICommand SilenceBuzzerCommand { get; set; }
+        public ICommand SettingChannelCommand { get; set; }
        #endregion

        public ShellViewModel(IContainerProvider containerProvider)
@@ -204,7 +206,8 @@ namespace ACP.ViewModels
            MonitorValueSettingCommand = new DelegateCommand(MonitorValueSetting);
            GetFileStringCommand = new DelegateCommand(GetFileString);
            SilenceBuzzerCommand = new AsyncDelegateCommand(SilenceBuzzer);
-
+            SettingChannelCommand = new AsyncDelegateCommand(SilenceBuzzer);
+            SettingChannelCommand = new DelegateCommand(SettingChannel);
            _globalInfo.ContextDic.Add("default", new ScopedContext());

            _eventAggregator.GetEvent<LoginSuccessEvent>().Subscribe(() =>
@@ -237,7 +240,16 @@ namespace ACP.ViewModels
        }

        #region 命令处理与事件
-
+        private void SettingChannel()
+        {
+            var re = CAN.ShowChannelMappingWindow(true);
+            if (re != 0)
+            {
+                var msg = CAN.GetErrorDescription(re);
+                if(CurrentConfig!=null)
+                LoggerHelper.ErrorWithNotify(CurrentConfig.Title,$"同星通道映射界面打开失败：{msg}");
+            }
+        }
        private async Task SilenceBuzzer()
        {
            _eventAggregator.GetEvent<SilenceBuzzerEvent>().Publish(_globalInfo.CurrentScope);
@@ -190,15 +190,19 @@
                                     Foreground="Black" />
                                </MenuItem.Icon>
                            </MenuItem>
-                            <!-- CAN信号监控 -->
-                            <MenuItem Header="CAN信号监控"
-Foreground="Black"
-Command="{Binding SelectCANSignalMonitorCommand}">
-                                <MenuItem.Icon>
-                                    <materialDesign:PackIcon Kind="Message"
-                       Foreground="Black" />
-                                </MenuItem.Icon>
+                            <MenuItem Header="同星CAN"
+          Foreground="Black">
+                                <MenuItem Header="通道映射"
+              Command="{Binding SettingChannelCommand}"
+              Foreground="Black" />
+                                <MenuItem Header="CAN信号采集设置"
+              Command="{Binding SelectCANSignalMonitorCommand}"
+              Foreground="Black" />
+                                <MenuItem Header="CAN报文字符串获取"
+              Command="{Binding SelectCANMessageCommand}"
+              Foreground="Black" />
                            </MenuItem>
+                          
                            <!-- 监控设置 -->
                            <MenuItem Header="监控设置"
 Foreground="Black"
@@ -208,14 +212,6 @@ Command="{Binding MonitorValueSettingCommand}">
                       Foreground="Black" />
                                </MenuItem.Icon>
                            </MenuItem>
-                            <MenuItem Header="CAN报文选择"
-Foreground="Black"
-Command="{Binding SelectCANMessageCommand}">
-                                <MenuItem.Icon>
-                                    <materialDesign:PackIcon Kind="Message"
-                       Foreground="Black" />
-                                </MenuItem.Icon>
-                            </MenuItem>

                            <!-- 获得文件路径字符串 -->
                            <MenuItem Header="获得文件路径字符串"
@@ -1,3 +1,4 @@
+using CANModule.ViewModels;
 using CANModule.Views;

 namespace CANModule
@@ -12,7 +13,9 @@ namespace CANModule
        {
            containerRegistry.RegisterDialog<SelectCanMessageView>("SelectCanMessageView");
            containerRegistry.RegisterDialog<CollectCANSignalSettingView>("CollectCANSignalSettingView");
+            containerRegistry.RegisterDialog<DBCInfoView>("DBCInfo");
            containerRegistry.RegisterForNavigation<CANView>("CANView");
+            containerRegistry.Register<CANViewModel>();
        }
    }
 }
@@ -18,10 +18,11 @@ using System.Windows.Threading;
 using TSMasterCAN;
 using UIShare.GlobalVariable;
 using UIShare.UIViewModel;
+using UIShare.ViewModelBase;

 namespace CANModule.ViewModels
 {
-    public class CANViewModel : BindableBase, IDialogAware
+    public class CANViewModel : NavigateViewModelBase
    {

        #region 属性
@@ -269,17 +270,15 @@ namespace CANModule.ViewModels

        #endregion
        private IEventAggregator _eventAggregator { get; set; }
-        private CAN? _canfd;
        private SystemConfig? _systemConfig;
        private readonly DeviceManager _deviceManager;
        private IDialogService _dialogService { get; set; }
        CancellationTokenSource cts = new CancellationTokenSource();
-        public CANViewModel(IContainerProvider containerProvider)
+        public CANViewModel(IContainerProvider containerProvider) : base(containerProvider)
        {
            _eventAggregator = containerProvider.Resolve<IEventAggregator>();
            _systemConfig = containerProvider.Resolve<SystemConfig>();
            _deviceManager = containerProvider.Resolve<DeviceManager>();
-            _canfd = _deviceManager.CANFD;
            _dialogService = containerProvider.Resolve<IDialogService>();
            SelectBLFPathCommand = new DelegateCommand(SelectBLFPath);
            SaveBLFPathCommand = new DelegateCommand(SaveBLFPath);
@@ -299,6 +298,7 @@ namespace CANModule.ViewModels
            LoadMessageCommand = new DelegateCommand(LoadMessage);
            DeleteDcAutoLoadCommand = new DelegateCommand(DeleteDcAutoLoad);
            SendCustomMessageCommand = new DelegateCommand(SendCustomMessage);
+            Task.Run(() => Refresh(cts.Token), cts.Token);
        }

        #region 命令
@@ -496,7 +496,7 @@ namespace CANModule.ViewModels
        {
            while (ct.IsCancellationRequested == false)
            {
-                var temp = CAN.RealTimeMessages.Select(s => s.Value).ToArray();
+                var temp = _deviceManager._CANMonitoringService.RealTimeMessages.Select(s => s.Value).ToArray();
                foreach (var item in temp)
                {
                    var find = CanMessageList.FirstOrDefault(s => s.报文ID == item.FIdentifier);
@@ -571,6 +571,10 @@ namespace CANModule.ViewModels
        }

        public void OnDialogOpened(IDialogParameters parameters)
+        {
+            
+        }
+        public override void OnNavigatedTo(NavigationContext context)
        {
            Task.Run(() => Refresh(cts.Token), cts.Token);
        }
@@ -0,0 +1,138 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Configuration;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Input;
+using Model;
+using Model.Models;
+using TSMasterCAN;
+using UIShare.GlobalVariable;
+using UIShare.PubEvent;
+using UIShare.UIViewModel;
+
+namespace CANModule.ViewModels
+{
+    public class DBCInfoViewModel :BindableBase, IDialogAware
+    {
+        private can_network _can_Network;
+
+        public required can_network can_Network
+        {
+            get { return _can_Network; }
+            set { SetProperty(ref _can_Network, value); }
+        }
+        private List<_Msg_> _MessageInfo;
+
+        public required List<_Msg_> MessageInfo
+        {
+            get { return _MessageInfo; }
+            set { SetProperty(ref _MessageInfo, value); }
+        }
+        private ObservableCollection<InstructionNode> _CanNetWorkNode = new();
+        public ObservableCollection<InstructionNode> CanNetWorkNode
+        {
+            get => _CanNetWorkNode;
+            set => SetProperty(ref _CanNetWorkNode, value);
+        }
+        private ObservableCollection<InstructionNode> _MessgaeNode = new();
+        public ObservableCollection<InstructionNode> MessgaeNode
+        {
+            get => _MessgaeNode;
+            set => SetProperty(ref _MessgaeNode, value);
+        }
+        public ICommand CloseCommand { get; set; }
+        public DialogCloseListener RequestClose { get; set; }
+        public DBCInfoViewModel()
+        {
+            CloseCommand = new DelegateCommand(Close);
+        }
+
+        private void Close()
+        {
+            RequestClose.Invoke();
+        }
+
+        public bool CanCloseDialog()
+        {
+            return true;
+        }
+
+        public void OnDialogClosed()
+        {
+           
+        }
+
+        public void OnDialogOpened(IDialogParameters parameters)
+        {
+            if (parameters.ContainsKey("can_Network"))
+            {
+                can_Network = parameters.GetValue<can_network>("can_Network");
+            }
+
+            if (parameters.ContainsKey("MsgDatabase"))
+            {
+                MessageInfo = parameters.GetValue<List<_Msg_>>("MsgDatabase");
+            }
+            InitTreeNode();
+        }
+
+        private void InitTreeNode()
+        {
+            foreach(var item in can_Network.can_nodes)
+            {
+                var tx = new ObservableCollection<InstructionNode>();
+                var rx = new ObservableCollection<InstructionNode>();
+                foreach (var can_Message in item.rx_can_Messages)
+                {
+                    rx.Add(new InstructionNode
+                    {
+                        Name = can_Message.message_name
+                    });
+                }
+                foreach (var can_Message in item.tx_can_Messages)
+                {
+                    tx.Add(new InstructionNode
+                    {
+                        Name = can_Message.message_name
+                    });
+                }
+                var children = new ObservableCollection<InstructionNode>();
+                children.Add(new InstructionNode
+                {
+                    Name = "TX",
+                    Children = tx
+                });
+                children.Add(new InstructionNode
+                {
+                    Name = "RX",
+                    Children = rx
+                });
+                CanNetWorkNode.Add(new InstructionNode
+                {
+                    Name = item.node_name,
+                    Children = children
+                });
+            }
+            foreach(var item in MessageInfo)
+            {
+                var children = new ObservableCollection<InstructionNode>();
+                foreach(var Signalname in item.signal_Name)
+                {
+                    children.Add(new InstructionNode
+                    {
+                        Name = Signalname
+                    });
+                }
+                string hexValue = "[0x" + item.msg_id.ToString("X") + "]"; 
+                MessgaeNode.Add(new InstructionNode
+                {
+                    Name = hexValue+item.msg_name,
+                    Children=children
+                });
+            }
+        }
+    }
+}
@@ -34,12 +34,12 @@
                           Foreground="White"
                           VerticalAlignment="Center"
                           Margin="5,0,10,0" />
-                <Button Content="关闭"
+                <!--<Button Content="关闭"
                        Grid.Column="2"
                        Margin="150 0 0 0"
                        Width="60"
                        Command="{Binding CloseCommand}"
-                        Height="25" />
+                        Height="25" />-->
            </Grid>
        </GroupBox.Header>
        <Grid>
@@ -0,0 +1,76 @@
+<UserControl x:Class="CANModule.Views.DBCInfoView"
+                                     xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+xmlns:oxy="http://oxyplot.org/wpf"
+xmlns:i="http://schemas.microsoft.com/xaml/behaviors"
+xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
+mc:Ignorable="d"
+xmlns:prism="http://prismlibrary.com/"
+xmlns:cons="clr-namespace:UIShare.Converters;assembly=UIShare"
+Background="White"
+xmlns:model="clr-namespace:Model.Models;assembly=Model"          
+prism:ViewModelLocator.AutoWireViewModel="True"
+Height="400"
+Width="800">
+    <prism:Dialog.WindowStyle>
+        <Style BasedOn="{StaticResource DialogUserManageStyle}"
+               TargetType="Window" />
+    </prism:Dialog.WindowStyle>
+    <GroupBox MouseLeftButtonDown="MouseLeftButtonDown">
+        <GroupBox.Header>
+            <Grid  Margin="0">
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition />
+                    <ColumnDefinition Width="*"/>
+                    <ColumnDefinition />
+                </Grid.ColumnDefinitions>
+                <TextBlock Text="CAN报文查看"
+                          
+                           Foreground="White"
+                           VerticalAlignment="Center"
+                           Margin="5,0,10,0" />
+                <Button Content="关闭"
+                        Grid.Column="2"
+                        Margin="150 0 0 0"
+                        Width="60" 
+                        Command="{Binding CloseCommand}"
+                        Height="25"
+                         />
+            </Grid>
+        </GroupBox.Header>
+        <Grid>
+            <Grid.ColumnDefinitions>
+                <ColumnDefinition Width="2*" />
+                <ColumnDefinition Width="5" />
+                <!-- Splitter 列 -->
+                <ColumnDefinition Width="2*" />
+            </Grid.ColumnDefinitions>
+            <TreeView ItemsSource="{Binding MessgaeNode}">
+                <TreeView.Resources>
+                    <HierarchicalDataTemplate DataType="{x:Type model:InstructionNode}"
+                                              ItemsSource="{Binding Children}">
+                        <TextBlock Text="{Binding Name}" />
+                    </HierarchicalDataTemplate>
+                </TreeView.Resources>
+            </TreeView>
+            <GridSplitter Grid.Column="1"
+                          Width="5"
+                          Background="Gray"
+                          HorizontalAlignment="Stretch"
+                          VerticalAlignment="Stretch"
+                          ResizeBehavior="PreviousAndNext"
+                          ShowsPreview="True" />
+            <TreeView Grid.Column="2"
+                      ItemsSource="{Binding CanNetWorkNode}">
+                <TreeView.Resources>
+                    <HierarchicalDataTemplate DataType="{x:Type model:InstructionNode}"
+                                              ItemsSource="{Binding Children}">
+                        <TextBlock Text="{Binding Name}" />
+                    </HierarchicalDataTemplate>
+                </TreeView.Resources>
+            </TreeView>
+        </Grid>
+    </GroupBox>
+</UserControl>
@@ -0,0 +1,36 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace CANModule.Views
+{
+    /// <summary>
+    /// DBCInfoView.xaml 的交互逻辑
+    /// </summary>
+    public partial class DBCInfoView : UserControl
+    {
+        public DBCInfoView()
+        {
+            InitializeComponent();
+        }
+
+        private void MouseLeftButtonDown(object sender, MouseButtonEventArgs e)
+        {
+            if (e.LeftButton == MouseButtonState.Pressed)
+            {
+                Window.GetWindow(this)?.DragMove();
+            }
+        }
+    }
+}
@@ -197,7 +197,6 @@ namespace MonitorModule.ViewModels.Dialogs
        /// </summary>
        private IEnumerable<(string DisplayName, string Fingerprint, string MethodName)> DiscoverCanSignals()
        {
-            if (_deviceManager?.CANFD == null) yield break;
            if (_systemConfig?.ConfigurationList == null) yield break;

            var msgDb = DBCParse.MsgDatabase;
@@ -331,7 +330,6 @@ namespace MonitorModule.ViewModels.Dialogs
        private void OnDbcLoaded(DBCLoadedArgs args)
        {
            if (args.Scope != _systemConfig?.Title) return;
-            if (_deviceManager?.CANFD == null) return;

            int channel = (int)args.Channel;
            var msgDb = DBCParse.MsgDatabase;
@@ -535,7 +535,6 @@ namespace MonitorModule.ViewModels
        private void RefreshConfiguredCanSignals()
        {
            if (_systemConfig?.ConfigurationList == null || _systemConfig.ConfigurationList.Count == 0) return;
-            if (_deviceManager?.CANFD == null) return;

            var msgDb = DBCParse.MsgDatabase;
            foreach (var channel in _systemConfig.ConfigurationList.Select(c => c.Channel).Distinct())
@@ -633,7 +632,6 @@ namespace MonitorModule.ViewModels
        private void OnDbcLoaded(DBCLoadedArgs args)
        {
            if (args.Scope != TestStatus) return;
-            if (_deviceManager?.CANFD == null) return;
            int channel = (int)args.Channel;
            var msgDb = DBCParse.MsgDatabase;
            if (channel < 0 || channel >= msgDb.Count) return;
@@ -11,275 +11,15 @@ using TSMaster;
 namespace TSMasterCAN
 {
    [ACPCommand]
-    public class CAN : IDisposable
+    public class CAN
    {
-        #region 静态成员

-        public static event Action? ConnectEvent;
-        public static event Action? DisConnectEvent;
+        public static event Action ConnectEvent;
+        public static event Action DisConnectEvent;
        public static bool ConnectFlag { get; set; } = false;

        /// <summary>
-        /// 实时接收到的 CAN 报文缓存（按报文 ID 索引，保留最新帧）。
-        /// 供 CANViewModel.Refresh 等界面轮询读取。
-        /// </summary>
-        public static ConcurrentDictionary<int, TLIBCANFD> RealTimeMessages { get; } = new();
-
-        #endregion
-
-        #region 实例字段与属性
-
-        /// <summary>设备类型号（43 = USBCANFD-400U 等，TSMaster 中作为配置参考保留）</summary>
-        public uint DeviceType { get; }
-        /// <summary>设备索引</summary>
-        public uint DeviceIndex { get; }
-        /// <summary>最大通道数</summary>
-        public int MaxChannels { get; }
-        /// <summary>仲裁域波特率</summary>
-        public string ABitBaud { get; }
-        /// <summary>数据域波特率</summary>
-        public string DBitBaud { get; }
-        /// <summary>是否开启终端电阻</summary>
-        public bool EnableTerminalResistance { get; }
-
-        /// <summary>DBC 解析器（提供 MsgDatabase、MaxChannels 等访问）</summary>
-        public DBCParse DBCParser => DBCParse.Instance;
-
-        /// <summary>
-        /// DBC 报文解码事件：当接收到 CAN 帧并通过 DBC 解码后触发。
-        /// 参数：(通道号, 解码后的报文信息)
-        /// </summary>
-        public event Action<uint, DBCMessage>? OnDbcMessageDecoded;
-
-        private bool _disposed;
-        private bool _isOpened;
-        private TCANFDQueueEvent_Win32? _instanceListener;
-
-        #endregion
-
-        #region 构造函数
-
-        /// <summary>默认构造函数（兼容 SystemConfig.CANFD = new() 等场景）</summary>
-        public CAN() : this(43, 0, 4, "500000", "2000000", true) { }
-
-        /// <summary>
-        /// 带配置参数的构造函数（兼容原 ZLG 设备管理流程）。
-        /// </summary>
-        /// <param name="deviceType">设备类型号</param>
-        /// <param name="deviceIndex">设备索引</param>
-        /// <param name="maxChannels">最大通道数</param>
-        /// <param name="aBitBaud">仲裁域波特率</param>
-        /// <param name="dBitBaud">数据域波特率</param>
-        /// <param name="enableTerminalResistance">是否开启终端电阻</param>
-        public CAN(uint deviceType, uint deviceIndex, int maxChannels, string aBitBaud, string dBitBaud, bool enableTerminalResistance)
-        {
-            DeviceType = deviceType;
-            DeviceIndex = deviceIndex;
-            MaxChannels = maxChannels;
-            ABitBaud = aBitBaud;
-            DBitBaud = dBitBaud;
-            EnableTerminalResistance = enableTerminalResistance;
-        }
-
-        #endregion
-
-        #region 实例方法 — 设备管理（替代原 ZLG 实例方法）
-
-        /// <summary>
-        /// 打开设备：初始化 TSMaster 库 → 设置通道数 → 配置波特率 → 连接 → 启动 RBS → 注册监听。
-        /// </summary>
-        /// <returns>true 表示成功</returns>
-        public bool 打开设备()
-        {
-            if (_isOpened) return true;
-            if (ConnectFlag) { _isOpened = true; return true; }
-
-            try
-            {
-                // 1. 初始化 TSMaster 库
-                var re = Init("ACP");
-                if (re != 0)
-                {
-                    Debug.WriteLine($"TSMaster 初始化失败,错误代码：{re}");
-                    return false;
-                }
-
-                // 2. 设置通道数
-                TsMasterApi.tsapp_set_can_channel_count(MaxChannels);
-
-                // 3. 配置各通道波特率
-                float arbKbps = float.Parse(ABitBaud) / 1000f;
-                float dataKbps = float.Parse(DBitBaud) / 1000f;
-                for (int ch = 0; ch < MaxChannels; ch++)
-                {
-                    TsMasterApi.tsapp_configure_baudrate_canfd(
-                        ch, arbKbps, dataKbps,
-                        TLIBCANFDControllerType.lfdtISOCAN,
-                        TLIBCANFDControllerMode.lfdmNormal,
-                        EnableTerminalResistance);
-                }
-
-                // 4. 连接硬件
-                re = Connect();
-                if (re != 0)
-                {
-                    Debug.WriteLine($"CAN 连接失败,错误代码：{re}");
-                    return false;
-                }
-
-                // 5. 注册接收监听（用于 DBC 信号解码广播）
-                _instanceListener = new TCANFDQueueEvent_Win32(OnCanFdReceived);
-                RegisterListener(_instanceListener);
-
-                _isOpened = true;
-                return true;
-            }
-            catch (Exception ex)
-            {
-                Debug.WriteLine($"打开设备异常：{ex.Message}");
-                return false;
-            }
-        }
-
-        /// <summary>
-        /// 关闭 CAN 卡设备：注销监听 → 断开连接。
-        /// </summary>
-        public void 关闭CAN卡设备()
-        {
-            if (!_isOpened && !ConnectFlag) return;
-
-            try
-            {
-                if (_instanceListener != null)
-                {
-                    UnRegisterListener(_instanceListener);
-                    _instanceListener = null;
-                }
-                DisConnect();
-            }
-            catch (Exception ex)
-            {
-                Debug.WriteLine($"关闭CAN卡设备异常：{ex.Message}");
-            }
-            finally
-            {
-                _isOpened = false;
-            }
-        }
-
-        /// <summary>
-        /// 初始化并启动指定通道（配置波特率，TSMaster 在 Connect 时已自动启动所有通道）。
-        /// </summary>
-        /// <param name="channel">通道号</param>
-        public void 初始化并启动通道(uint channel)
-        {
-            if (channel >= MaxChannels) return;
-            try
-            {
-                float arbKbps = float.Parse(ABitBaud) / 1000f;
-                float dataKbps = float.Parse(DBitBaud) / 1000f;
-                TsMasterApi.tsapp_configure_baudrate_canfd(
-                    (int)channel, arbKbps, dataKbps,
-                    TLIBCANFDControllerType.lfdtISOCAN,
-                    TLIBCANFDControllerMode.lfdmNormal,
-                    EnableTerminalResistance);
-            }
-            catch (Exception ex)
-            {
-                Debug.WriteLine($"初始化通道 {channel} 异常：{ex.Message}");
-            }
-        }
-
-        /// <summary>
-        /// 加载通道 DBC 文件。
-        /// </summary>
-        /// <param name="channel">通道号</param>
-        /// <param name="filePath">DBC 文件路径</param>
-        /// <returns>true 表示加载成功</returns>
-        public bool 加载通道DBC文件(uint channel, string filePath)
-        {
-            try
-            {
-                var re = LoadDBC(filePath, [(int)channel], out _);
-                return re == 0;
-            }
-            catch (Exception ex)
-            {
-                Debug.WriteLine($"加载通道 {channel} DBC 文件异常：{ex.Message}");
-                return false;
-            }
-        }
-
-        /// <summary>
-        /// CAN FD 接收回调：接收原始帧 → 查找 DBC → 解码信号 → 触发 OnDbcMessageDecoded 事件。
-        /// </summary>
-        private void OnCanFdReceived(ref int AObj, ref TLIBCANFD AData)
-        {
-            if (_disposed) return;
-
-            // 始终缓存最新报文，供界面轮询刷新
-            int identifier = AData.FIdentifier;
-            var canfdCopy = AData;
-            RealTimeMessages[identifier] = canfdCopy;
-
-            if (OnDbcMessageDecoded == null) return;
-
-            try
-            {
-                uint channel = AData.FIdxChn;
-                if (channel >= DBCParse.MsgDatabase.Count) return;
-
-                // 在 DBC 数据库中查找匹配的报文
-                var msgList = DBCParse.MsgDatabase[(int)channel];
-                var match = msgList.FirstOrDefault(m => m.msg_id == identifier);
-                if (match == null || match.signal_Name == null || match.signal_Name.Length == 0) return;
-
-                // 解码各信号值
-                var signals = new DBCSignal[match.signal_Name.Length];
-                for (int i = 0; i < match.signal_Name.Length; i++)
-                {
-                    double value = 0;
-                    TsMasterApi.tsdb_get_signal_value_canfd(ref canfdCopy, match.msg_name, match.signal_Name[i], ref value);
-                    signals[i] = new DBCSignal
-                    {
-                        strName = Encoding.Default.GetBytes(match.signal_Name[i]),
-                        nRawvalue = value,
-                        nFactor = 1,
-                        nOffset = 0
-                    };
-                }
-
-                var decoded = new DBCMessage
-                {
-                    nID = (uint)identifier,
-                    nSignalCount = signals.Length,
-                    vSignals = signals
-                };
-
-                OnDbcMessageDecoded?.Invoke(channel, decoded);
-            }
-            catch (Exception ex)
-            {
-                Debug.WriteLine($"DBC 信号解码异常：{ex.Message}");
-            }
-        }
-
-        #endregion
-
-        #region IDisposable
-
-        public void Dispose()
-        {
-            if (_disposed) return;
-            _disposed = true;
-            关闭CAN卡设备();
-            GC.SuppressFinalize(this);
-        }
-
-        #endregion
-
-        /// <summary>
-        /// 初始化TSMasterCAN
+        /// 初始化CAN驱动
        /// </summary>
        /// <param name="ProjectName"></param>
        /// <param name="filePath"></param>
@@ -298,7 +38,7 @@ namespace TSMasterCAN
        }

        /// <summary>
-        /// 释放TSMasterCAN
+        /// 释放CAN驱动
        /// </summary>
        [Browsable(false)]
        public static void Release()
@@ -391,7 +131,7 @@ namespace TSMasterCAN
        public static int LoadDBC(string filePath, int[] channel, out uint databaseID)
        {
            databaseID = 0;
-
+            if (!Path.Exists(filePath)) return -1;
            var re = TsMasterApi.tsdb_load_can_db(Path.GetFullPath(filePath), string.Join(",", channel), ref databaseID);
            foreach (var item in channel)
            {
@@ -120,44 +120,8 @@ namespace TSMasterCAN
        NODE_RX_CANFD_MESSAGE_INDEX = 110,
    }

-    /// <summary>
-    /// DBC 解码后的信号信息（替代原 ZLG ZDBC.DBCSignal）。
-    /// </summary>
-    public struct DBCSignal
-    {
-        /// <summary>信号名称（原始字节，兼容 Encoding.Default 解码）</summary>
-        public byte[] strName;
-        /// <summary>原始值（TSMaster tsdb_get_signal_value_canfd 返回的物理值）</summary>
-        public double nRawvalue;
-        /// <summary>因子（TSMaster 返回物理值，因子固定为 1）</summary>
-        public double nFactor;
-        /// <summary>偏移（TSMaster 返回物理值，偏移固定为 0）</summary>
-        public double nOffset;
-    }
-
-    /// <summary>
-    /// DBC 解码后的报文信息（替代原 ZLG ZDBC.DBCMessage）。
-    /// 在 CAN 接收回调中对原始 TLIBCANFD 帧解码后构建此对象并触发 OnDbcMessageDecoded 事件。
-    /// </summary>
-    public class DBCMessage
-    {
-        /// <summary>报文 ID</summary>
-        public uint nID;
-        /// <summary>信号数量</summary>
-        public int nSignalCount;
-        /// <summary>信号数组</summary>
-        public DBCSignal[] vSignals;
-    }
-
    public class DBCParse
    {
-        private static DBCParse? _instance;
-        /// <summary>单例实例，供 CAN.DBCParser 属性使用（MsgDatabase 等成员为 static，实例仅用于属性访问兼容）。</summary>
-        public static DBCParse Instance => _instance ??= new DBCParse();
-
-        /// <summary>最大通道数（等于 MsgDatabase 的维度）</summary>
-        public int MaxChannels => MsgDatabase.Count;
-
        public static List<List<_Msg_>> MsgDatabase { get; set; } =
            [.. Enumerable.Range(0, 12).Select(_ => new List<_Msg_>())];
        public static can_network can_Network;
@@ -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();
+        }
+    }
+}
@@ -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
    }
 }
@@ -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 _);
@@ -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;
                        }
@@ -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;
@@ -1,4 +1,4 @@
-<Project Sdk="Microsoft.NET.Sdk">
+<Project Sdk="Microsoft.NET.Sdk">

  <PropertyGroup>
    <TargetFramework>net8.0-windows</TargetFramework>
@@ -25,7 +25,10 @@
 	  <ProjectReference Include="..\ORM\ORM.csproj" />
 	  <ProjectReference Include="..\Service\Service.csproj" />
 	  <ProjectReference Include="..\TSMasterCAN\TSMasterCAN.csproj" />
-	  <ProjectReference Include="..\TSMasterFlexRay\TSMasterFlexRay.csproj" />
-	  <ProjectReference Include="..\TSMasterLIN\TSMasterLIN.csproj" />
+	</ItemGroup>
+	<ItemGroup>
+		<Reference Include="Interop.TSMasterAPI">
+			<HintPath>..\TSMasterCAN\Interop.TSMasterAPI.dll</HintPath>
+		</Reference>
 	</ItemGroup>
 </Project>