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2026-07-29 14:20:32 +08:00
parent d8a22a15b1
commit 3bf33bb561
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TSMasterCAN/CAN.cs Normal file
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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}";
}
}
}