CAN修复

2026-10-26 10:46:44 +08:00
parent e877dc9a90
commit 9cb139b208
12 changed files with 1462 additions and 167 deletions
@@ -22,8 +22,28 @@ namespace TSMasterCAN
        public static event Action DisConnectEvent;
        public static bool ConnectFlag { get; set; } = false;

+        /// <summary>初始化互斥锁：TSMaster 原生库每个进程只允许初始化一次</summary>
+        private static readonly object _initLock = new object();
+        /// <summary>初始化结果缓存（0 表示已成功初始化，无需再次初始化）</summary>
+        private static int _initResult = int.MinValue;
+
        /// <summary>
-        /// 初始化CAN驱动
+        /// 驱动是否刚被释放、需要重新下发 DBC。
+        /// <para>
+        /// Release()/UnLoadDBC 成功后置 true，任一次 DBC 加载成功后置 false；
+        /// 上层（如 CANModule 点「初始化驱动」后）据此决定是否重载 DBC，
+        /// 避免拿残留的托管缓存去匹配已经清空的原生数据库（返回 93）。
+        /// </para>
+        /// </summary>
+        public static bool NeedReloadDbc { get; private set; }
+
+        /// <summary>
+        /// 初始化CAN驱动。
+        /// <para>
+        /// TSMaster 原生库每个进程只允许初始化一次：多工位（一拖三）各自调用时，
+        /// 重复 initialize_lib_tsmaster 会重建原生引擎，正在运行的循环发送表与回调队列随之失效，
+        /// 下一次发报文即触发原生访问冲突闪退。因此这里做进程级一次性保护，后续调用直接复用首次结果。
+        /// </para>
        /// </summary>
        /// <param name="ProjectName"></param>
        /// <param name="filePath"></param>
@@ -31,46 +51,264 @@ namespace TSMasterCAN
        [Browsable(false)]
        public static int Init(string ProjectName, string? filePath = null)
        {
-            if (string.IsNullOrEmpty(filePath))
+            try
            {
-                return TsMasterApi.initialize_lib_tsmaster(ProjectName);
+                lock (_initLock)
+                {
+                    // 已成功初始化则直接复用：重复 initialize 会重建原生引擎，
+                    // 正在循环发送的报文表随即失效。初始化失败则允许后续重试。
+                    if (_initResult == 0) return 0;
+
+                    _initResult = string.IsNullOrEmpty(filePath)
+                        ? TsMasterApi.initialize_lib_tsmaster(ProjectName)
+                        : TsMasterApi.initialize_lib_tsmaster_with_project(ProjectName, Path.GetFullPath(filePath));
+
+                    return _initResult;
+                }
            }
-            else
+            catch (Exception ex)
            {
-                return TsMasterApi.initialize_lib_tsmaster_with_project(ProjectName, Path.GetFullPath(filePath));
+                // 原生 API 异常统一转为返回码，不得向外传播导致进程闪退
+                Debug.WriteLine($"CAN.Init 异常：{ex.Message}");
+                return -1;
            }
        }

        /// <summary>
-        /// 释放CAN驱动
+        /// 释放CAN驱动。
+        /// <para>释放后清除初始化缓存与回调注册状态，允许下一次 Init 重新初始化。</para>
        /// </summary>
        [Browsable(false)]
        public static void Release()
        {
-            TsMasterApi.finalize_lib_tsmaster();
+            try
+            {
+                lock (_nativeSendLock)
+                {
+                    lock (_initLock)
+                    {
+                        TsMasterApi.finalize_lib_tsmaster();
+                        _initResult = int.MinValue;
+                        // 驱动释放后 TSMaster 内部 DBC 数据库全部失效：
+                        // 本地加载记录与托管报文缓存都要清空，并标记需要重新下发 DBC，
+                        // 否则后续发送会拿残留缓存去匹配空数据库，返回 93(message not found in database)
+                        _loadedDbcPool.Clear();
+                        DBCParse.ClearMsgDatabase();
+                        NeedReloadDbc = true;
+                        ResetListenerRegistration();
+                    }
+                }
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"CAN.Release 异常：{ex.Message}");
+            }
        }

        public static int obj = 0;
-        public static TCANFDQueueEvent_Win32 listener;
+
+        #region 一拖多引用计数
+
+        /// <summary>作用域名缺失时的兜底键</summary>
+        private const string DefaultScopeKey = "__default__";
+
+        /// <summary>
+        /// CAN 卡的作用域引用表（作用域名 → 引用计数）。
+        /// <para>
+        /// CAN 卡是一拖多共享硬件：多个工位共用同一个 TSMaster 实例，
+        /// 必须等最后一个工位销毁后才能停止循环报文、断开总线并释放原生驱动。
+        /// </para>
+        /// </summary>
+        private static readonly ConcurrentDictionary<string, int> _scopeRefs =
+            new ConcurrentDictionary<string, int>(StringComparer.OrdinalIgnoreCase);
+
+        /// <summary>当前仍持有 CAN 卡引用的作用域数量。</summary>
+        public static int ScopeRefCount => _scopeRefs.Count;
+
+        private static string NormalizeScopeKey(string? scopeName)
+            => string.IsNullOrWhiteSpace(scopeName) ? DefaultScopeKey : scopeName!;
+
+        /// <summary>
+        /// 登记一个作用域对 CAN 卡的引用，需与 <see cref="ReleaseScope"/> 成对调用。
+        /// </summary>
+        /// <param name="scopeName">作用域名（通常为 SystemConfig.Title）</param>
+        public static void AcquireScope(string? scopeName)
+        {
+            var key = NormalizeScopeKey(scopeName);
+            _scopeRefs.AddOrUpdate(key, 1, (_, count) => count + 1);
+            Debug.WriteLine($"CAN.AcquireScope：{key}，当前引用数 {_scopeRefs.Count}");
+        }
+
+        /// <summary>
+        /// 注销一个作用域对 CAN 卡的引用；最后一个引用移除时停止循环报文、断开总线并释放驱动。
+        /// </summary>
+        /// <param name="scopeName">作用域名（通常为 SystemConfig.Title）</param>
+        /// <returns>剩余引用数，0 表示已停止 CAN 卡</returns>
+        public static int ReleaseScope(string? scopeName)
+        {
+            var key = NormalizeScopeKey(scopeName);
+
+            while (true)
+            {
+                if (!_scopeRefs.TryGetValue(key, out var count)) return _scopeRefs.Count;
+
+                if (count > 1)
+                {
+                    if (_scopeRefs.TryUpdate(key, count - 1, count)) return _scopeRefs.Count;
+                    continue;
+                }
+
+                if (_scopeRefs.TryRemove(new KeyValuePair<string, int>(key, count)))
+                {
+                    Debug.WriteLine($"CAN.ReleaseScope：{key}，剩余引用数 {_scopeRefs.Count}");
+
+                    if (!_scopeRefs.IsEmpty) return _scopeRefs.Count;
+
+                    // 最后一个作用域已销毁：先停循环报文，再断开总线，最后释放原生驱动
+                    DeleteCyclicMsgs();
+                    DisConnect();
+                    Release();
+                    return 0;
+                }
+            }
+        }
+
+        #endregion
+
+        /// <summary>订阅者增删锁（仅保护列表本身，分发时不持锁，避免与原生回调线程死锁）</summary>
+        private static readonly object _listenerLock = new object();
+
+        /// <summary>
+        /// 发送类原生 API 串行锁：多工位共用同一个 TSMaster 实例，
+        /// 并发进入 tsapp_add_cyclic_msg_canfd / tsapp_transmit_canfd_async / tsapp_delete_cyclic_msgs 会破坏原生状态。
+        /// </summary>
+        private static readonly object _nativeSendLock = new object();
+
+        /// <summary>各工位注册的回调（在托管侧保根，原生库只持有唯一的 _dispatcher 函数指针）</summary>
+        private static readonly List<TCANFDQueueEvent_Win32> _listeners = new List<TCANFDQueueEvent_Win32>();
+
+        /// <summary>
+        /// 唯一注册到 TSMaster 的原生回调委托。
+        /// <para>
+        /// 必须由静态字段长期持有：原生库只保存函数指针，托管委托一旦被 GC 回收，
+        /// 原生线程回调到已释放的 thunk 就会直接访问冲突闪退（.NET 无法捕获）。
+        /// 多工位场景下原先每个工位各自覆盖 listener 静态字段，前一工位的委托随即失去根引用，
+        /// 这正是开两个工位发报文必闪退的原因。
+        /// </para>
+        /// </summary>
+        private static TCANFDQueueEvent_Win32? _dispatcher;
+
+        /// <summary>原生回调是否已注册（保证全进程只注册一次，避免同一个 obj 重复注册破坏 TSMaster 内部回调表）</summary>
+        private static bool _dispatcherRegistered = false;
+
+        /// <summary>
+        /// 注册 CANFD 报文回调（多工位安全）。
+        /// <para>首个订阅者触发原生注册，其余订阅者仅加入托管侧分发列表，从而避免重复注册与委托被回收。</para>
+        /// </summary>
        [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;
+            if (listenEvent == null) return -1;
+            try
+            {
+                lock (_listenerLock)
+                {
+                    if (!_listeners.Contains(listenEvent)) _listeners.Add(listenEvent);
+
+                    if (_dispatcherRegistered) return 0;
+
+                    _dispatcher = DispatchCanFdEvent;
+                    var re = TsMasterApi.tsapp_register_event_canfd(ref obj, _dispatcher);
+                    Debug.Assert(re == 0);
+                    if (re == 0) _dispatcherRegistered = true;
+                    return re;
+                }
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"CAN.RegisterListener 异常：{ex.Message}");
+                return -1;
+            }
        }

+        /// <summary>
+        /// 注销 CANFD 报文回调。
+        /// <para>指定委托时只移除该订阅者；不指定时移除全部订阅者。所有订阅者移除后才反注册原生回调。</para>
+        /// </summary>
        [Browsable(false)]
-        public static int UnRegisterListener(TCANFDQueueEvent_Win32 listenEvent = null)
+        public static int UnRegisterListener(TCANFDQueueEvent_Win32? listenEvent = null)
        {
-            if (listenEvent is not null)
+            try
            {
-                listener = listenEvent;
+                lock (_listenerLock)
+                {
+                    if (listenEvent is not null)
+                    {
+                        _listeners.Remove(listenEvent);
+                    }
+                    else
+                    {
+                        _listeners.Clear();
+                    }
+
+                    if (_listeners.Count > 0 || !_dispatcherRegistered) return 0;
+
+                    var dispatcher = _dispatcher;
+                    if (dispatcher is null) return 0;
+
+                    var re = TsMasterApi.tsapp_unregister_event_canfd(ref obj, dispatcher);
+                    Debug.Assert(re == 0);
+                    if (re == 0) ResetListenerRegistrationCore();
+                    return re;
+                }
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"CAN.UnRegisterListener 异常：{ex.Message}");
+                return -1;
+            }
+        }
+
+        /// <summary>清除回调注册状态（调用方需自行持有 <see cref="_listenerLock"/>）</summary>
+        private static void ResetListenerRegistrationCore()
+        {
+            _dispatcherRegistered = false;
+            _dispatcher = null;
+        }
+
+        /// <summary>清除回调注册状态与全部订阅者</summary>
+        private static void ResetListenerRegistration()
+        {
+            lock (_listenerLock)
+            {
+                _listeners.Clear();
+                ResetListenerRegistrationCore();
+            }
+        }
+
+        /// <summary>
+        /// 原生 CANFD 回调统一入口：向所有已注册工位分发同一帧数据。
+        /// <para>单个订阅者异常必须就地隔离，异常一旦跨出原生边界即进程闪退。</para>
+        /// </summary>
+        private static void DispatchCanFdEvent(ref int AObj, ref TLIBCANFD AData)
+        {
+            TCANFDQueueEvent_Win32[] snapshot;
+            lock (_listenerLock)
+            {
+                snapshot = _listeners.ToArray();
+            }
+
+            foreach (var listener in snapshot)
+            {
+                try
+                {
+                    listener(ref AObj, ref AData);
+                }
+                catch (Exception ex)
+                {
+                    Debug.WriteLine($"CAN 回调订阅者异常（已隔离）：{ex.Message}");
+                }
            }
-            var re = TsMasterApi.tsapp_unregister_event_canfd(ref obj, listener);
-            Debug.Assert(re == 0);
-            return re;
        }

        /// <summary>
@@ -80,27 +318,44 @@ namespace TSMasterCAN
        /// <returns>返回代码，0 表示成功，非 0 表示失败（可用 <see cref="GetErrorDescription"/> 查询错误说明）</returns>
        public static int Connect()
        {
+            try
+            {
+                lock (_nativeSendLock)
+                {
+                    // 多工位共用同一张 CAN 卡：任一工位已连接即复用，避免重复 tsapp_connect
+                    if (ConnectFlag) return 0;

-            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($"CAN_RBS启动失败,错误代码：{re}");
+                    var re = TsMasterApi.tsapp_connect();
+                    if (re == 0)
+                    {
+                        re = TsMasterApi.tscom_can_rbs_start();
+                        if (re == 0)
+                        {
+                            ConnectFlag = true;
+                            Task.Run(() =>
+                            {
+                                try { ConnectEvent?.Invoke(); }
+                                catch (Exception ex) { Debug.WriteLine($"CAN.ConnectEvent 订阅者异常：{ex.Message}"); }
+                            });
+                        }
+                        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;
                }
            }
-            else
+            catch (Exception ex)
            {
-                Debug.WriteLine($"CAN连接失败,错误代码：{re}");
-                return re;
+                Debug.WriteLine($"CAN.Connect 异常：{ex.Message}");
+                return -1;
            }
-            return re;
        }

        /// <summary>
@@ -109,20 +364,36 @@ namespace TSMasterCAN
        /// <returns>返回代码，0 表示成功，非 0 表示失败（可用 <see cref="GetErrorDescription"/> 查询错误说明）</returns>
        public static int DisConnect()
        {
-            var re = TsMasterApi.tsapp_disconnect();
-            //Debug.Assert(re == 0);
-            if (re == 0)
+            try
            {
-                ConnectFlag = false;
-                Task.Run(() => DisConnectEvent?.Invoke());
+                lock (_nativeSendLock)
+                {
+                    // 已断开则直接返回：多工位场景下避免后续工位重复断开总线
+                    if (!ConnectFlag) return 0;
+
+                    var re = TsMasterApi.tsapp_disconnect();
+                    if (re == 0)
+                    {
+                        ConnectFlag = false;
+                        Task.Run(() =>
+                        {
+                            try { DisConnectEvent?.Invoke(); }
+                            catch (Exception ex) { Debug.WriteLine($"CAN.DisConnectEvent 订阅者异常：{ex.Message}"); }
+                        });
+                    }
+                    else
+                    {
+                        Debug.WriteLine($"断开CAN连接失败,错误代码：{re}");
+                    }
+
+                    return re;
+                }
            }
-            else
+            catch (Exception ex)
            {
-                Debug.WriteLine($"断开CAN连接失败,错误代码：{re}");
+                Debug.WriteLine($"CAN.DisConnect 异常：{ex.Message}");
+                return -1;
            }
-
-
-            return re;
        }

        /// <summary>
@@ -137,15 +408,102 @@ namespace TSMasterCAN
        {
            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)
+            int re;
+            try
            {
-                DBCParse.parse(databaseID, item);
-                DBCParse.rbs_parse(databaseID, item);
+                re = TsMasterApi.tsdb_load_can_db(Path.GetFullPath(filePath), string.Join(",", channel), ref databaseID);
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"CAN.LoadDBC 异常：{ex.Message}");
+                return -1;
            }

+            if (re != 0)
+            {
+                // 加载失败时不再解析：databaseID 无效，解析只会把错误的报文混进托管缓存，
+                // 之后发送这些报文会得到 93(message not found in database)
+                Debug.WriteLine($"CAN.LoadDBC 失败：{filePath}，返回代码 {re}");
+                return re;
+            }
+
+            foreach (var item in channel)
+            {
+                try
+                {
+                    if (item < 0 || item >= DBCParse.MsgDatabase.Count) continue;
+                    DBCParse.parse(databaseID, item);
+                    DBCParse.rbs_parse(databaseID, item);
+                }
+                catch (Exception ex)
+                {
+                    Debug.WriteLine($"CAN.LoadDBC 解析失败（通道 {item}）：{ex.Message}");
+                }
+            }
+
+            // 原生库已重新装载报文，托管缓存与原生库重新对齐
+            NeedReloadDbc = false;
            return re;
        }
+
+        /// <summary>
+        /// 已加载过的 DBC 记录（键 = 通道集合 + 绝对路径，值 = TSMaster 数据库 ID）。
+        /// <para>
+        /// 一拖多场景下多个工位共用同一张 CAN 卡：DBC 只需下发并解析一次，
+        /// 重复加载会让 DBCParse 把同一批报文重复追加进 MsgDatabase。
+        /// </para>
+        /// </summary>
+        private static readonly ConcurrentDictionary<string, uint> _loadedDbcPool =
+            new ConcurrentDictionary<string, uint>(StringComparer.OrdinalIgnoreCase);
+
+        private static string BuildDbcKey(string filePath, int[] channels)
+            => $"{string.Join(",", channels.OrderBy(c => c))}|{Path.GetFullPath(filePath)}";
+
+        /// <summary>
+        /// 查询指定通道上的 DBC 是否已由其他工位加载过。
+        /// </summary>
+        /// <param name="filePath">DBC 文件路径</param>
+        /// <param name="channel">通道号数组</param>
+        [Browsable(false)]
+        public static bool IsDbcLoaded(string filePath, int[] channel)
+        {
+            if (!Path.Exists(filePath)) return false;
+            return _loadedDbcPool.ContainsKey(BuildDbcKey(filePath, channel));
+        }
+
+        /// <summary>
+        /// 加载DBC（同一通道 + 同一文件只加载一次）。
+        /// <para>
+        /// 供多工位自动加载使用：其他工位已加载过同一 DBC 时直接返回 0，
+        /// 不重复调用 tsdb_load_can_db，也不重复追加 DBCParse.MsgDatabase。
+        /// </para>
+        /// </summary>
+        /// <param name="filePath">DBC 文件路径</param>
+        /// <param name="channel">通道号数组</param>
+        /// <param name="databaseID">首次加载返回的数据库 ID；已加载过时返回首次的 ID</param>
+        /// <returns>返回代码，0 表示成功（含已加载跳过）</returns>
+        [Browsable(false)]
+        public static int LoadDBCOnce(string filePath, int[] channel, out uint databaseID)
+        {
+            databaseID = 0;
+            if (!Path.Exists(filePath)) return -1;
+
+            var key = BuildDbcKey(filePath, channel);
+            if (_loadedDbcPool.TryGetValue(key, out var loadedId))
+            {
+                databaseID = loadedId;
+                return 0;
+            }
+
+            var re = LoadDBC(filePath, channel, out databaseID);
+            if (re == 0) _loadedDbcPool[key] = databaseID;
+            return re;
+        }
+
+        /// <summary>清空 DBC 加载记录（卸载 DBC 或释放驱动时调用）。</summary>
+        [Browsable(false)]
+        public static void ClearDbcLoadRecords() => _loadedDbcPool.Clear();
+
        /// <summary>
        /// 加载DBC至单一通道
        /// </summary>
@@ -156,9 +514,28 @@ namespace TSMasterCAN
        {
            uint databaseID = 0;
            if (!Path.Exists(filePath)) return -1;
-            var re = TsMasterApi.tsdb_load_can_db(Path.GetFullPath(filePath), string.Join(",", channel), ref databaseID);
-            DBCParse.parse(databaseID, channel);
-            DBCParse.rbs_parse(databaseID, channel);
+            int re;
+            try
+            {
+                re = TsMasterApi.tsdb_load_can_db(Path.GetFullPath(filePath), string.Join(",", channel), ref databaseID);
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"CAN.LoadDBCToSingleChannel 异常：{ex.Message}");
+                return -1;
+            }
+            try
+            {
+                if (channel >= 0 && channel < DBCParse.MsgDatabase.Count)
+                {
+                    DBCParse.parse(databaseID, channel);
+                    DBCParse.rbs_parse(databaseID, channel);
+                }
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"CAN.LoadDBCToSingleChannel 解析失败（通道 {channel}）：{ex.Message}");
+            }

            return re;
        }
@@ -170,13 +547,32 @@ namespace TSMasterCAN
        [Browsable(false)]
        public static int UnLoadDBC(uint? databaseID = null)
        {
-            if (databaseID == null)
+            try
            {
-                return TsMasterApi.tsdb_unload_can_dbs();
+                int re;
+                if (databaseID == null)
+                {
+                    re = TsMasterApi.tsdb_unload_can_dbs();
+                }
+                else
+                {
+                    re = TsMasterApi.tsdb_unload_can_db(databaseID.Value);
+                }
+
+                // TSMaster 内部数据库已卸载：本地加载记录与托管报文缓存必须同步失效，
+                // 否则再发送时会用残留的报文名去匹配空数据库，返回 93(message not found in database)
+                if (re == 0)
+                {
+                    _loadedDbcPool.Clear();
+                    DBCParse.ClearMsgDatabase();
+                    NeedReloadDbc = true;
+                }
+                return re;
            }
-            else
+            catch (Exception ex)
            {
-                return TsMasterApi.tsdb_unload_can_db(databaseID.Value);
+                Debug.WriteLine($"CAN.UnLoadDBC 异常：{ex.Message}");
+                return -1;
            }
        }

@@ -187,7 +583,15 @@ namespace TSMasterCAN
        /// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
        public static int StartLogging(string filePath)
        {
-            return TsMasterApi.tsapp_start_logging(Path.GetFullPath(filePath));
+            try
+            {
+                return TsMasterApi.tsapp_start_logging(Path.GetFullPath(filePath));
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"CAN.StartLogging 异常：{ex.Message}");
+                return -1;
+            }
        }

        /// <summary>
@@ -196,7 +600,15 @@ namespace TSMasterCAN
        /// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
        public static int StopLogging()
        {
-            return TsMasterApi.tsapp_stop_logging();
+            try
+            {
+                return TsMasterApi.tsapp_stop_logging();
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"CAN.StopLogging 异常：{ex.Message}");
+                return -1;
+            }
        }

        /// <summary>
@@ -220,8 +632,16 @@ namespace TSMasterCAN
        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);
+            var find = DBCParse.MsgDatabase[channel].FirstOrDefault(s => s.msg_name == AMsgName);
+            if (find == null) return value;
+            try
+            {
+                TsMasterApi.tsdb_get_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, ref value);
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"CAN.GetSignalValue 异常：{ex.Message}");
+            }

            return value;
        }
@@ -237,8 +657,17 @@ namespace TSMasterCAN
        [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);
+            var find = DBCParse.MsgDatabase[channel].FirstOrDefault(s => s.msg_name == AMsgName);
+            if (find == null) return -1;
+            try
+            {
+                return TsMasterApi.tsdb_get_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, ref value);
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"CAN.GetSignalValue 异常：{ex.Message}");
+                return -1;
+            }
        }

        /// <summary>
@@ -269,21 +698,41 @@ namespace TSMasterCAN
        /// <exception cref="Exception">信号编码写入报文失败时抛出</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);
+            // MsgDatabase 只预分配 12 个通道，越界会让发送入口直接抛 IndexOutOfRange
+            if (channel >= DBCParse.MsgDatabase.Count) return -1;
+
+            var find = DBCParse.MsgDatabase[channel].FirstOrDefault(s => s.msg_name == AMsgName);
+            if (find == null) return -1;
            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($"设置报文失败!返回代码{re}");
-            if (re != 0) return re;
+            if (re != 0)
+            {
+                // 93 = message not found in database：原生库在该通道上找不到这个报文名。
+                // 常见成因：驱动被释放 / DBC 被卸载后托管缓存没同步，或 DBC 实际加载在别的通道。
+                throw new Exception($"设置报文失败!返回代码{re}（{GetErrorDescription(re)}）");
+            }
            if (isSend)
            {
-                if (sendPeriod == 0)
+                try
                {
-                    return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
+                    // 多工位共用同一个 TSMaster 实例，发送类原生 API 必须串行化，
+                    // 并发调用会破坏原生内部循环发送表，表现为发报文瞬间闪退。
+                    lock (_nativeSendLock)
+                    {
+                        if (sendPeriod == 0)
+                        {
+                            return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
+                        }
+                        else
+                        {
+                            return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
+                        }
+                    }
                }
-                else
+                catch (Exception ex)
                {
-                    return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
+                    Debug.WriteLine($"CAN.SetSignalValue 发送异常：{ex.Message}");
+                    return -1;
                }
            }
            return 0;
@@ -299,15 +748,27 @@ namespace TSMasterCAN
        /// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
        public static int SetSignalValue(APP_CHANNEL channel, string AMsgName, float sendPeriod = 0)
        {
-            var find = DBCParse.MsgDatabase[(byte)channel].First(s => s.msg_name == AMsgName);
+            var find = DBCParse.MsgDatabase[(byte)channel].FirstOrDefault(s => s.msg_name == AMsgName);
+            if (find == null) return -1;
            find.ACANFD.FIdxChn = (byte)channel;
-            if (sendPeriod == 0)
+            try
            {
-                return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
+                lock (_nativeSendLock)
+                {
+                    if (sendPeriod == 0)
+                    {
+                        return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
+                    }
+                    else
+                    {
+                        return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
+                    }
+                }
            }
-            else
+            catch (Exception ex)
            {
-                return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
+                Debug.WriteLine($"CAN.SetSignalValue 发送异常：{ex.Message}");
+                return -1;
            }
        }

@@ -318,7 +779,18 @@ namespace TSMasterCAN
        [Browsable(false)]
        public static int SetMsg(TLIBCANFD msg)
        {
-            return TsMasterApi.tsapp_transmit_canfd_async(ref msg);
+            try
+            {
+                lock (_nativeSendLock)
+                {
+                    return TsMasterApi.tsapp_transmit_canfd_async(ref msg);
+                }
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"CAN.SetMsg 发送异常：{ex.Message}");
+                return -1;
+            }
        }

        /// <summary>
@@ -391,16 +863,27 @@ namespace TSMasterCAN
            int length = Math.Min(ADataArray.Length, 64);
            Array.Copy(ADataArray, 0, send.FData, 0, length);
            int re;
-            if (sendPeriod == 0)
+            try
            {
-                re = TsMasterApi.tsapp_transmit_canfd_async(ref send);
+                lock (_nativeSendLock)
+                {
+                    if (sendPeriod == 0)
+                    {
+                        re = TsMasterApi.tsapp_transmit_canfd_async(ref send);
+                    }
+                    else
+                    {
+                        re = TsMasterApi.tsapp_add_cyclic_msg_canfd(ref send, sendPeriod);
+                    }
+                }
            }
-            else
+            catch (Exception ex)
            {
-                re = TsMasterApi.tsapp_add_cyclic_msg_canfd(ref send, sendPeriod);
+                Debug.WriteLine($"CAN.SendMsg 发送异常（通道 {(byte)AIdxChn} ID 0x{AID:X}）：{ex.Message}");
+                return -1;
            }

-            if (isUpdateDBCDatabase)
+            if (isUpdateDBCDatabase && (byte)AIdxChn < DBCParse.MsgDatabase.Count)
            {
                var find = DBCParse.MsgDatabase[(byte)AIdxChn].FirstOrDefault(s => s.ACANFD.FIdentifier == send.FIdentifier);
                if (find != null)
@@ -420,18 +903,42 @@ namespace TSMasterCAN
        /// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
        public static int AddCyclicMsg(byte channel, string AMsgName, float sendPeriod)
        {
-            var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
+            var find = DBCParse.MsgDatabase[channel].FirstOrDefault(s => s.msg_name == AMsgName);
+            if (find == null) return -1;
            find.ACANFD.FIdxChn = channel;
-            return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
+            try
+            {
+                lock (_nativeSendLock)
+                {
+                    return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
+                }
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"CAN.AddCyclicMsg 异常（通道 {channel} {AMsgName}）：{ex.Message}");
+                return -1;
+            }
        }

        /// <summary>
        /// 清除所有循环发送的报文，停止全部周期发送任务。
+        /// <para>注意：TSMaster 的循环发送表是全局的，此调用会同时清掉其他工位的循环发送。</para>
        /// </summary>
        /// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
        public static int DeleteCyclicMsgs()
        {
-            return TsMasterApi.tsapp_delete_cyclic_msgs();
+            try
+            {
+                lock (_nativeSendLock)
+                {
+                    return TsMasterApi.tsapp_delete_cyclic_msgs();
+                }
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"CAN.DeleteCyclicMsgs 异常：{ex.Message}");
+                return -1;
+            }
        }

        /// <summary>
@@ -441,15 +948,23 @@ namespace TSMasterCAN
        /// <returns>错误描述文本，未知错误代码时返回提示信息</returns>
        public static string GetErrorDescription(int errorCode)
        {
-            IntPtr ADesc = IntPtr.Zero;
-            TsMasterApi.tsapp_get_error_description(errorCode, ref ADesc);
+            try
+            {
+                IntPtr ADesc = IntPtr.Zero;
+                TsMasterApi.tsapp_get_error_description(errorCode, ref ADesc);

-            if (ADesc == IntPtr.Zero) return $"未知错误代码: {errorCode}";
+                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);
+                // 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}";
+                return description ?? $"未知错误代码: {errorCode}";
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"CAN.GetErrorDescription 异常：{ex.Message}");
+                return $"未知错误代码: {errorCode}";
+            }
        }

    }
@@ -125,6 +125,19 @@ namespace TSMasterCAN
        public static List<List<_Msg_>> MsgDatabase { get; set; } =
            [.. Enumerable.Range(0, 12).Select(_ => new List<_Msg_>())];
        public static can_network can_Network;
+
+        /// <summary>
+        /// 清空托管侧报文缓存。
+        /// <para>
+        /// TSMaster 原生数据库被卸载（tsdb_unload_can_dbs）或驱动被 finalize 后，
+        /// 这里的缓存必须同步清空，否则再次发送时会拿缓存里的报文去匹配空数据库，
+        /// tsdb_set_signal_value_canfd 会返回 93（message not found in database）。
+        /// </para>
+        /// </summary>
+        public static void ClearMsgDatabase()
+        {
+            foreach (var list in MsgDatabase) list.Clear();
+        }
        public static string tsdb_get_can_db_info(uint ADatabaseId, int AType, int AIndex, int ASubIndex)
        {
            nint tmpInt = new nint();