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TSMasterCAN/CAN.cs

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+using Common.Attributes;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Diagnostics;
+using System.IO;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Text.Json;
+using TSMaster;
+namespace TSMasterCAN
+{
+    [ACPCommand]
+    public class CAN : IDisposable
+    {
+        #region 静态成员
+
+        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
+        /// </summary>
+        /// <param name="ProjectName"></param>
+        /// <param name="filePath"></param>
+        /// <returns></returns>
+        [Browsable(false)]
+        public static int Init(string ProjectName, string? filePath = null)
+        {
+            if (string.IsNullOrEmpty(filePath))
+            {
+                return TsMasterApi.initialize_lib_tsmaster(ProjectName);
+            }
+            else
+            {
+                return TsMasterApi.initialize_lib_tsmaster_with_project(ProjectName, Path.GetFullPath(filePath));
+            }
+        }
+
+        /// <summary>
+        /// 释放TSMasterCAN
+        /// </summary>
+        [Browsable(false)]
+        public static void Release()
+        {
+            TsMasterApi.finalize_lib_tsmaster();
+        }
+
+        public static int obj = 0;
+        public static TCANFDQueueEvent_Win32 listener;
+        [Browsable(false)]
+        public static int RegisterListener(TCANFDQueueEvent_Win32 listenEvent)
+        {
+            listener = listenEvent;
+            var re = TsMasterApi.tsapp_register_event_canfd(ref obj, listener);
+            Debug.Assert(re == 0);
+            return re;
+        }
+
+        [Browsable(false)]
+        public static int UnRegisterListener(TCANFDQueueEvent_Win32 listenEvent = null)
+        {
+            if (listenEvent is not null)
+            {
+                listener = listenEvent;
+            }
+            var re = TsMasterApi.tsapp_unregister_event_canfd(ref obj, listener);
+            Debug.Assert(re == 0);
+            return re;
+        }
+
+        /// <summary>
+        /// 连接
+        /// </summary>
+        /// <returns></returns>
+        public static int Connect()
+        {
+
+            var re = TsMasterApi.tsapp_connect();
+            if (re == 0)
+            {
+                re = TsMasterApi.tscom_can_rbs_start();
+                if (re == 0)
+                {
+                    ConnectFlag = true;
+                    Task.Run(() => ConnectEvent?.Invoke());
+                }
+                else
+                {
+                    Debug.WriteLine($"CAN_RBS启动失败,错误代码：{re}");
+                }
+            }
+            else
+            {
+                Debug.WriteLine($"CAN连接失败,错误代码：{re}");
+                return re;
+            }
+            return re;
+        }
+
+        /// <summary>
+        /// 断开
+        /// </summary>
+        /// <returns></returns>
+        public static int DisConnect()
+        {
+            var re = TsMasterApi.tsapp_disconnect();
+            //Debug.Assert(re == 0);
+            if (re == 0)
+            {
+                ConnectFlag = false;
+                Task.Run(() => DisConnectEvent?.Invoke());
+            }
+            else
+            {
+                Debug.WriteLine($"断开CAN连接失败,错误代码：{re}");
+            }
+
+
+            return re;
+        }
+
+        /// <summary>
+        /// 加载DBC
+        /// </summary>
+        /// <param name="filePath"></param>
+        /// <param name="channel"></param>
+        /// <param name="databaseID"></param>
+        /// <returns></returns>
+        [Browsable(false)]
+        public static int LoadDBC(string filePath, int[] channel, out uint databaseID)
+        {
+            databaseID = 0;
+
+            var re = TsMasterApi.tsdb_load_can_db(Path.GetFullPath(filePath), string.Join(",", channel), ref databaseID);
+            foreach (var item in channel)
+            {
+                DBCParse.parse(databaseID, item);
+                DBCParse.rbs_parse(databaseID, item);
+            }
+
+            return re;
+        }
+
+        /// <summary>
+        /// 卸载DBC
+        /// </summary>
+        /// <param name="databaseID"></param>
+        /// <returns></returns>
+        [Browsable(false)]
+        public static int UnLoadDBC(uint? databaseID = null)
+        {
+            if (databaseID == null)
+            {
+                return TsMasterApi.tsdb_unload_can_dbs();
+            }
+            else
+            {
+                return TsMasterApi.tsdb_unload_can_db(databaseID.Value);
+            }
+        }
+
+        /// <summary>
+        /// 开始记录日志
+        /// </summary>
+        /// <param name="filePath"></param>
+        /// <returns></returns>
+        public static int StartLogging(string filePath)
+        {
+            return TsMasterApi.tsapp_start_logging(Path.GetFullPath(filePath));
+        }
+
+        /// <summary>
+        /// 结束记录日志
+        /// </summary>
+        /// <returns></returns>
+        public static int StopLogging()
+        {
+            return TsMasterApi.tsapp_stop_logging();
+        }
+
+        /// <summary>
+        /// 弹出通道映射窗口
+        /// </summary>
+        /// <param name="isWait"></param>
+        /// <returns></returns>
+        [Browsable(false)]
+        public static int ShowChannelMappingWindow(bool isWait = false)
+        {
+            return TsMasterApi.tsapp_show_tsmaster_window("Hardware", isWait);
+        }
+
+        /// <summary>
+        /// 获取信号值
+        /// </summary>
+        /// <param name="channel"></param>
+        /// <param name="AMsgName"></param>
+        /// <param name="ASgnName"></param>
+        /// <returns></returns>
+        public static double GetSignalValue(byte channel, string AMsgName, string ASgnName)
+        {
+            double value = double.NaN;
+            var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
+            var re = TsMasterApi.tsdb_get_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, ref value);
+
+            return value;
+        }
+
+        /// <summary>
+        /// 获取信号值
+        /// </summary>
+        /// <param name="channel"></param>
+        /// <param name="AMsgName"></param>
+        /// <param name="ASgnName"></param>
+        /// <param name="value"></param>
+        /// <returns></returns>
+        [Browsable(false)]
+        public static int GetSignalValue(byte channel, string AMsgName, string ASgnName, ref double value)
+        {
+            var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
+            return TsMasterApi.tsdb_get_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, ref value);
+        }
+
+        /// <summary>
+        /// 获取信号值
+        /// </summary>
+        /// <param name="ACANFD"></param>
+        /// <param name="AMsgName"></param>
+        /// <param name="ASgnName"></param>
+        /// <param name="value"></param>
+        /// <returns></returns>
+
+        [Browsable(false)]
+        public static int GetSignalValue(ref TLIBCANFD ACANFD, string AMsgName, string ASgnName, ref double value)
+        {
+            return TsMasterApi.tsdb_get_signal_value_canfd(ref ACANFD, AMsgName, ASgnName, ref value);
+        }
+
+        /// <summary>
+        /// 设置信号值
+        /// </summary>
+        /// <param name="channel"></param>
+        /// <param name="AMsgName"></param>
+        /// <param name="ASgnName"></param>
+        /// <param name="AValue"></param>
+        /// <param name="isSend"></param>
+        /// <param name="sendPeriod"></param>
+        /// <returns></returns>
+        /// <exception cref="Exception"></exception>
+        public static int SetSignalValue(byte channel, string AMsgName, string ASgnName, double AValue, bool isSend = false, float sendPeriod = 0)
+        {
+            var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
+            find.ACANFD.FIdxChn = channel;
+            var re = TsMasterApi.tsdb_set_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, AValue);
+            Debug.Assert(re == 0);
+            if (re != 0) throw new Exception($"设置报文失败!返回代码{re}");
+            if (re != 0) return re;
+            if (isSend)
+            {
+                if (sendPeriod == 0)
+                {
+                    return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
+                }
+                else
+                {
+                    return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
+                }
+            }
+            return 0;
+        }
+
+        
+        /// <summary>
+        /// 设置信号值
+        /// </summary>
+        /// <param name="channel"></param>
+        /// <param name="AMsgName"></param>
+        /// <param name="sendPeriod"></param>
+        /// <returns></returns>
+        public static int SetSignalValue(APP_CHANNEL channel, string AMsgName, float sendPeriod = 0)
+        {
+            var find = DBCParse.MsgDatabase[(byte)channel].First(s => s.msg_name == AMsgName);
+            find.ACANFD.FIdxChn = (byte)channel;
+            if (sendPeriod == 0)
+            {
+                return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
+            }
+            else
+            {
+                return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
+            }
+        }
+
+        /// <summary>
+        /// 发送自定义报文
+        /// </summary>
+        /// <returns></returns>
+        [Browsable(false)]
+        public static int SetMsg(TLIBCANFD msg)
+        {
+            return TsMasterApi.tsapp_transmit_canfd_async(ref msg);
+        }
+
+        /// <summary>
+        /// 设置报文
+        /// </summary>
+        /// <param name="channel">通道</param>
+        /// <param name="ID">DBC数据库ID</param>
+        /// <param name="bytes">报文数组</param>
+        public static void SetMsg(APP_CHANNEL channel, int ID, byte[] bytes)
+        {
+            var find = DBCParse.MsgDatabase[(byte)channel].FirstOrDefault(s => s.ACANFD.FIdentifier == ID);
+            if (find != null)
+            {
+                Array.Copy(bytes, 0, find.ACANFD.FData, 0, Math.Min(bytes.Length, find.ACANFD.FData.Length));
+            }
+        }
+
+        /// <summary>
+        /// 发送自定义报文
+        /// </summary>
+        /// <param name="AIdxChn"></param>
+        /// <param name="AID"></param>
+        /// <param name="AIsTx"></param>
+        /// <param name="AIsExt"></param>
+        /// <param name="AIsRemote"></param>
+        /// <param name="ADLC"></param>
+        /// <param name="ADataArray"></param>
+        /// <param name="AIsFD"></param>
+        /// <param name="AIsBRS"></param>
+        /// <param name="isUpdateDBCDatabase"></param>
+        /// <param name="sendPeriod"></param>
+        /// <returns></returns>
+        public static int SendMsg(APP_CHANNEL AIdxChn, int AID, bool AIsTx, bool AIsExt,
+            bool AIsRemote, byte ADLC, byte[] ADataArray, bool AIsFD = true, bool AIsBRS = false,
+            bool isUpdateDBCDatabase = false, float sendPeriod = 0)
+        {
+            var send = new TLIBCANFD
+            {
+                FIdxChn = (byte)AIdxChn,
+                FProperties = 0,
+                FIdentifier = AID,
+                FDLC = ADLC,
+                FTimeUS = 0uL,
+                FData = new byte[64],
+                FFDProperties = 0,
+                FIsTx = AIsTx,
+                FIsError = false,
+                FIsExt = AIsExt,
+                FIsRemote = AIsRemote,
+                FIsFD = AIsFD,
+                FIsBRS = AIsBRS
+            };
+            int length = Math.Min(ADataArray.Length, 64);
+            Array.Copy(ADataArray, 0, send.FData, 0, length);
+            int re;
+            if (sendPeriod == 0)
+            {
+                re = TsMasterApi.tsapp_transmit_canfd_async(ref send);
+            }
+            else
+            {
+                re = TsMasterApi.tsapp_add_cyclic_msg_canfd(ref send, sendPeriod);
+            }
+
+            if (isUpdateDBCDatabase)
+            {
+                var find = DBCParse.MsgDatabase[(byte)AIdxChn].FirstOrDefault(s => s.ACANFD.FIdentifier == send.FIdentifier);
+                if (find != null)
+                {
+                    Array.Copy(send.FData, 0, find.ACANFD.FData, 0, Math.Min(ADataArray.Length, find.ACANFD.FData.Length));
+                }
+            }
+            return re;
+        }
+
+        /// <summary>
+        /// 添加循环发送报文
+        /// </summary>
+        /// <param name="channel"></param>
+        /// <param name="AMsgName"></param>
+        /// <param name="sendPeriod"></param>
+        /// <returns></returns>
+        public static int AddCyclicMsg(byte channel, string AMsgName, float sendPeriod)
+        {
+            var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
+            find.ACANFD.FIdxChn = channel;
+            return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
+        }
+
+        /// <summary>
+        /// 清除循环发送的报文
+        /// </summary>
+        /// <returns></returns>
+        public static int DeleteCyclicMsgs()
+        {
+            return TsMasterApi.tsapp_delete_cyclic_msgs();
+        }
+
+        /// <summary>
+        /// 获取错误提示
+        /// </summary>
+        /// <param name="errorCode">错误代码</param>
+        /// <returns></returns>
+        public static string GetErrorDescription(int errorCode)
+        {
+            IntPtr ADesc = IntPtr.Zero;
+            TsMasterApi.tsapp_get_error_description(errorCode, ref ADesc);
+
+            if (ADesc == IntPtr.Zero) return $"未知错误代码: {errorCode}";
+
+            // 假设返回的是 ANSI 字符串（如 C 的 char*）
+            string? description = Marshal.PtrToStringAnsi(ADesc);
+
+            return description ?? $"未知错误代码: {errorCode}";
+        }
+
+    }
+}

TSMasterCAN/DBCParse.cs

@@ -0,0 +1,305 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Security.Cryptography;
+using System.Text;
+using System.Text.Json.Serialization;
+using System.Threading.Tasks;
+using TSMaster;
+
+namespace TSMasterCAN
+{
+    public struct can_network
+    {
+        [JsonInclude]
+        public string network_name;
+        [JsonInclude]
+        public can_node[] can_nodes;
+
+    }
+    public struct can_node
+    {
+        [JsonInclude]
+        public string node_name;
+        [JsonInclude]
+        public can_message[] tx_can_Messages;
+        [JsonInclude]
+        public can_message[] rx_can_Messages;
+    }
+    public struct can_message
+    {
+        [JsonInclude]
+        public string message_name;
+        [JsonInclude]
+        public string[] signals;
+    }
+
+    public class _Msg_
+    {
+        public int msg_type { get; set; }
+        public int msg_id { get; set; }
+        public int msg_cyclic { get; set; }
+        public byte msg_dlc { get; set; }
+        public string msg_name { get; set; }
+        public string[] signal_Name { get; set; }
+        public int msg_brs { get; set; }
+        public TLIBCANFD ACANFD;
+    }
+    public enum Msg_Type
+    {
+        CAN = 0,
+        CANFD = 1,
+    }
+    /// <summary>
+    /// DBC 文件信息类型枚举，用于指定 tsdb_get_can_db_info 查询的内容类型。
+    /// </summary>
+    public enum DBCINFO
+    {
+        /// <summary>网络名称</summary>
+        NETWORK_Name = 0,
+
+        /// <summary>CAN 报文总数</summary>
+        CAN_MSG_COUNT = 11,
+        /// <summary>CAN FD 报文总数</summary>
+        CANFD_MSG_COUNT = 12,
+        /// <summary>节点总数</summary>
+        NODE_COUNT = 14,
+
+        /// <summary>信号名称</summary>
+        SIGNAL_NAME = 33,
+
+        /// <summary>CAN 报文类型</summary>
+        CAN_MSG_TYPE = 40,
+        /// <summary>CAN 报文 DLC（数据长度码）</summary>
+        CAN_MSG_DLC = 41,
+        /// <summary>CAN 报文 ID</summary>
+        CAN_MSG_ID = 42,
+        /// <summary>CAN 报文周期</summary>
+        CAN_MSG_CYCLIC = 43,
+        /// <summary>CAN 报文名称</summary>
+        CAN_MSG_NAME = 44,
+        /// <summary>CAN 报文信号数量</summary>
+        CAN_MSG_SIGNAL_COUNT = 47,
+        /// <summary>CAN 报文信号名称索引</summary>
+        CAN_MSG_SIGNAL_NAME_INDEX = 48,
+
+        /// <summary>CAN FD 报文类型</summary>
+        CANFD_MSG_TYPE = 60,
+        /// <summary>CAN FD 报文 DLC（数据长度码）</summary>
+        CANFD_MSG_DLC = 61,
+        /// <summary>CAN FD 报文 ID</summary>
+        CANFD_MSG_ID = 62,
+        /// <summary>CAN FD 报文周期</summary>
+        CANFD_MSG_CYCLIC = 63,
+        /// <summary>CAN FD 报文名称</summary>
+        CANFD_MSG_NAME = 64,
+        /// <summary>CAN FD 报文信号数量</summary>
+        CANFD_MSG_SIGNAL_COUNT = 67,
+        /// <summary>CAN FD 报文信号名称索引</summary>
+        CANFD_MSG_SIGNAL_NAME_INDEX = 68,
+
+        /// <summary>节点名称</summary>
+        NODE_Name = 101,
+        /// <summary>节点发送 CAN 报文数量</summary>
+        NODE_TX_CAN_COUNT = 103,
+        /// <summary>节点发送 CAN 报文索引</summary>
+        NODE_TX_CAN_MESSAGE_INDEX = 104,
+        /// <summary>节点接收 CAN 报文数量</summary>
+        NODE_RX_CAN_COUNT = 105,
+        /// <summary>节点接收 CAN 报文索引</summary>
+        NODE_RX_CAN_MESSAGE_INDEX = 106,
+        /// <summary>节点发送 CAN FD 报文数量</summary>
+        NODE_TX_CANFD_COUNT = 107,
+        /// <summary>节点发送 CAN FD 报文索引</summary>
+        NODE_TX_CANFD_MESSAGE_INDEX = 108,
+        /// <summary>节点接收 CAN FD 报文数量</summary>
+        NODE_RX_CANFD_COUNT = 109,
+        /// <summary>节点接收 CAN FD 报文索引</summary>
+        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;
+        public static string tsdb_get_can_db_info(uint ADatabaseId, int AType, int AIndex, int ASubIndex)
+        {
+            nint tmpInt = new nint();
+            int ret = TsMasterApi.tsdb_get_can_db_info(ADatabaseId, AType, AIndex, ASubIndex, ref tmpInt);
+            if (ret == 0)
+            {
+                return Marshal.PtrToStringAnsi(tmpInt) ?? "";
+            }
+            else
+                return "";
+        }
+
+        public static void parse(uint Aid, int channel)
+        {
+            int CANcount = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_COUNT, 0, 0));
+            for (int i = 0; i < CANcount; i++)
+            {
+                _Msg_ temp = new _Msg_();
+                temp.msg_type = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_TYPE, i, 0));
+                temp.msg_dlc = byte.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_DLC, i, 0));
+                temp.msg_id = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_ID, i, 0));
+                temp.msg_name = tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_NAME, i, 0);
+                temp.msg_cyclic = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_CYCLIC, i, 0));
+                temp.signal_Name = new string[int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_SIGNAL_COUNT, i, 0))];
+                for (int signalcount = 0; signalcount < temp.signal_Name.Length; signalcount++)
+                {
+                    temp.signal_Name[signalcount] = tsdb_get_can_db_info(Aid, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_SIGNAL_NAME_INDEX, i, signalcount)), 0);
+                }
+                temp.msg_brs = 0;
+                temp.ACANFD = new TLIBCANFD(APP_CHANNEL.CHN1,
+                    temp.msg_id,
+                    true,
+                    temp.msg_type == 1 || temp.msg_type == 4 ? true : false,
+                    false, temp.msg_dlc,
+                    temp.msg_type < 2 ? false : true,
+                    false);
+                MsgDatabase[channel].Add(temp);
+
+            }
+
+            CANcount = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_COUNT, 0, 0));
+            for (int i = 0; i < CANcount; i++)
+            {
+                _Msg_ temp = new _Msg_();
+                temp.msg_type = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_TYPE, i, 0));
+                temp.msg_dlc = byte.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_DLC, i, 0));
+                temp.msg_id = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_ID, i, 0));
+                temp.msg_name = tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_NAME, i, 0);
+                temp.msg_cyclic = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_CYCLIC, i, 0));
+                temp.signal_Name = new string[int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_SIGNAL_COUNT, i, 0))];
+                for (int signalcount = 0; signalcount < temp.signal_Name.Length; signalcount++)
+                {
+                    temp.signal_Name[signalcount] = tsdb_get_can_db_info(Aid, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_SIGNAL_NAME_INDEX, i, signalcount)), 0);
+                }
+                temp.msg_brs = int.Parse(tsdb_get_can_db_info(Aid, 69, i, 0));
+                temp.ACANFD = new TLIBCANFD(APP_CHANNEL.CHN1, temp.msg_id, true, temp.msg_type == 1 || temp.msg_type == 4 ? true : false, false, temp.msg_dlc, temp.msg_type < 2 ? false : true, temp.msg_brs == 1 ? true : false);
+                MsgDatabase[channel].Add(temp);
+            }
+            MsgDatabase[channel].Sort((a, b) => a.msg_id.CompareTo(b.msg_id));
+        }
+
+        public static void rbs_parse(uint AID, int channel)
+        {
+            can_Network = new can_network();
+            can_Network.network_name = tsdb_get_can_db_info(AID, (int)DBCINFO.NETWORK_Name, 0, 0);
+            int Node_count = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_COUNT, 0, 0));
+            can_Network.can_nodes = new can_node[Node_count];
+            for (int i = 0; i < Node_count; i++)
+            {
+                can_Network.can_nodes[i].node_name = tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_Name, i, 0);
+                int tx_can_count = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_TX_CAN_COUNT, i, 0));
+                int tx_canfd_count = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_TX_CANFD_COUNT, i, 0));
+
+                int rx_can_count = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_RX_CAN_COUNT, i, 0));
+                int rx_canfd_count = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_RX_CANFD_COUNT, i, 0));
+
+                //获取tx_can结构体
+                can_Network.can_nodes[i].tx_can_Messages = new can_message[tx_can_count + tx_canfd_count];
+
+                can_Network.can_nodes[i].rx_can_Messages = new can_message[rx_can_count + rx_canfd_count];
+                //获取报文名以及信号名
+                //1 get can_message idnex
+                //2 get can message name 
+                //3 get signal count
+                //4 get signal name
+                int tx_index = -1;
+                for (int tx_can = 0; tx_can < tx_can_count; tx_can++)
+                {
+                    int can_message_idnex = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_TX_CAN_MESSAGE_INDEX, i, tx_can));
+                    can_Network.can_nodes[i].tx_can_Messages[tx_can].message_name = tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_NAME, can_message_idnex, 0);
+
+                    can_Network.can_nodes[i].tx_can_Messages[tx_can].signals = new string[int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_SIGNAL_COUNT, can_message_idnex, 0))];
+                    for (int signalcount = 0; signalcount < can_Network.can_nodes[i].tx_can_Messages[tx_can].signals.Length; signalcount++)
+                    {
+                        can_Network.can_nodes[i].tx_can_Messages[tx_can].signals[signalcount] = tsdb_get_can_db_info(AID, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_SIGNAL_NAME_INDEX, can_message_idnex, signalcount)), 0);
+                    }
+
+                    tx_index = tx_can;
+                }
+                for (int tx_can = 0; tx_can < tx_canfd_count; tx_can++, tx_index++)
+                {
+                    int can_message_idnex = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_TX_CANFD_MESSAGE_INDEX, i, tx_can));
+                    can_Network.can_nodes[i].tx_can_Messages[tx_index + 1].message_name = tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_NAME, can_message_idnex, 0);
+
+                    can_Network.can_nodes[i].tx_can_Messages[tx_index + 1].signals = new string[int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_SIGNAL_COUNT, can_message_idnex, 0))];
+                    for (int signalcount = 0; signalcount < can_Network.can_nodes[i].tx_can_Messages[tx_index + 1].signals.Length; signalcount++)
+                    {
+                        can_Network.can_nodes[i].tx_can_Messages[tx_index + 1].signals[signalcount] = tsdb_get_can_db_info(AID, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_SIGNAL_NAME_INDEX, can_message_idnex, signalcount)), 0);
+                    }
+                }
+
+                int rx_index = -1;
+                for (int tx_can = 0; tx_can < rx_can_count; tx_can++)
+                {
+                    int can_message_idnex = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_RX_CAN_MESSAGE_INDEX, i, tx_can));
+                    can_Network.can_nodes[i].rx_can_Messages[tx_can].message_name = tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_NAME, can_message_idnex, 0);
+
+                    can_Network.can_nodes[i].rx_can_Messages[tx_can].signals = new string[int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_SIGNAL_COUNT, can_message_idnex, 0))];
+                    for (int signalcount = 0; signalcount < can_Network.can_nodes[i].rx_can_Messages[tx_can].signals.Length; signalcount++)
+                    {
+                        can_Network.can_nodes[i].rx_can_Messages[tx_can].signals[signalcount] = tsdb_get_can_db_info(AID, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_SIGNAL_NAME_INDEX, can_message_idnex, signalcount)), 0);
+                    }
+
+                    rx_index = tx_can;
+                }
+                for (int tx_can = 0; tx_can < rx_canfd_count; tx_can++, rx_index++)
+                {
+                    int can_message_idnex = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_RX_CANFD_MESSAGE_INDEX, i, tx_can));
+                    can_Network.can_nodes[i].rx_can_Messages[rx_index + 1].message_name = tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_NAME, can_message_idnex, 0);
+
+                    can_Network.can_nodes[i].rx_can_Messages[rx_index + 1].signals = new string[int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_SIGNAL_COUNT, can_message_idnex, 0))];
+                    for (int signalcount = 0; signalcount < can_Network.can_nodes[i].rx_can_Messages[rx_index + 1].signals.Length; signalcount++)
+                    {
+                        can_Network.can_nodes[i].rx_can_Messages[rx_index + 1].signals[signalcount] = tsdb_get_can_db_info(AID, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_SIGNAL_NAME_INDEX, can_message_idnex, signalcount)), 0);
+                    }
+                }
+            }
+        }
+    }
+
+
+}

TSMasterCAN/TSMasterCAN.csproj

@@ -0,0 +1,20 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net8.0</TargetFramework>
+    <Nullable>enable</Nullable>
+    <UseWPF>false</UseWPF>
+    <ImplicitUsings>enable</ImplicitUsings>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\Common\Common.csproj" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <Reference Include="Interop.TSMasterAPI">
+      <HintPath>..\CanDriver\bin\Debug\net8.0\Interop.TSMasterAPI.dll</HintPath>
+    </Reference>
+  </ItemGroup>
+
+</Project>