680 lines
23 KiB
C#
680 lines
23 KiB
C#
using Common.Attributes;
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using System.Collections.Concurrent;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Diagnostics;
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using System.IO;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Text.Json;
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using TSMaster;
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namespace TSMasterCAN
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{
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[ACPCommand]
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public class CAN : IDisposable
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{
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#region 静态成员
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public static event Action? ConnectEvent;
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public static event Action? DisConnectEvent;
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public static bool ConnectFlag { get; set; } = false;
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/// <summary>
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/// 实时接收到的 CAN 报文缓存（按报文 ID 索引，保留最新帧）。
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/// 供 CANViewModel.Refresh 等界面轮询读取。
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/// </summary>
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public static ConcurrentDictionary<int, TLIBCANFD> RealTimeMessages { get; } = new();
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#endregion
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#region 实例字段与属性
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/// <summary>设备类型号（43 = USBCANFD-400U 等，TSMaster 中作为配置参考保留）</summary>
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public uint DeviceType { get; }
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/// <summary>设备索引</summary>
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public uint DeviceIndex { get; }
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/// <summary>最大通道数</summary>
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public int MaxChannels { get; }
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/// <summary>仲裁域波特率</summary>
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public string ABitBaud { get; }
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/// <summary>数据域波特率</summary>
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public string DBitBaud { get; }
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/// <summary>是否开启终端电阻</summary>
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public bool EnableTerminalResistance { get; }
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/// <summary>DBC 解析器（提供 MsgDatabase、MaxChannels 等访问）</summary>
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public DBCParse DBCParser => DBCParse.Instance;
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/// <summary>
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/// DBC 报文解码事件：当接收到 CAN 帧并通过 DBC 解码后触发。
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/// 参数：(通道号, 解码后的报文信息)
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/// </summary>
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public event Action<uint, DBCMessage>? OnDbcMessageDecoded;
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private bool _disposed;
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private bool _isOpened;
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private TCANFDQueueEvent_Win32? _instanceListener;
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#endregion
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#region 构造函数
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/// <summary>默认构造函数（兼容 SystemConfig.CANFD = new() 等场景）</summary>
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public CAN() : this(43, 0, 4, "500000", "2000000", true) { }
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/// <summary>
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/// 带配置参数的构造函数（兼容原 ZLG 设备管理流程）。
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/// </summary>
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/// <param name="deviceType">设备类型号</param>
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/// <param name="deviceIndex">设备索引</param>
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/// <param name="maxChannels">最大通道数</param>
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/// <param name="aBitBaud">仲裁域波特率</param>
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/// <param name="dBitBaud">数据域波特率</param>
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/// <param name="enableTerminalResistance">是否开启终端电阻</param>
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public CAN(uint deviceType, uint deviceIndex, int maxChannels, string aBitBaud, string dBitBaud, bool enableTerminalResistance)
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{
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DeviceType = deviceType;
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DeviceIndex = deviceIndex;
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MaxChannels = maxChannels;
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ABitBaud = aBitBaud;
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DBitBaud = dBitBaud;
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EnableTerminalResistance = enableTerminalResistance;
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}
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#endregion
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#region 实例方法 — 设备管理（替代原 ZLG 实例方法）
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/// <summary>
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/// 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。
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/// </summary>
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/// <returns>true 表示成功</returns>
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public bool 打开设备()
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{
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if (_isOpened) return true;
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if (ConnectFlag) { _isOpened = true; return true; }
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try
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{
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// 1. 初始化 TSMaster 库
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var re = Init("ACP");
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if (re != 0)
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{
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Debug.WriteLine($"TSMaster 初始化失败,错误代码：{re}");
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return false;
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}
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// 2. 设置通道数
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TsMasterApi.tsapp_set_can_channel_count(MaxChannels);
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// 3. 配置各通道波特率
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float arbKbps = float.Parse(ABitBaud) / 1000f;
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float dataKbps = float.Parse(DBitBaud) / 1000f;
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for (int ch = 0; ch < MaxChannels; ch++)
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{
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TsMasterApi.tsapp_configure_baudrate_canfd(
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ch, arbKbps, dataKbps,
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TLIBCANFDControllerType.lfdtISOCAN,
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TLIBCANFDControllerMode.lfdmNormal,
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EnableTerminalResistance);
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}
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// 4. 连接硬件
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re = Connect();
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if (re != 0)
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{
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Debug.WriteLine($"CAN 连接失败,错误代码：{re}");
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return false;
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}
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// 5. 注册接收监听（用于 DBC 信号解码广播）
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_instanceListener = new TCANFDQueueEvent_Win32(OnCanFdReceived);
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RegisterListener(_instanceListener);
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_isOpened = true;
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return true;
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}
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catch (Exception ex)
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{
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Debug.WriteLine($"打开设备异常：{ex.Message}");
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return false;
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}
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}
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/// <summary>
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/// 关闭 CAN 卡设备：注销监听 → 断开连接。
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/// </summary>
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public void 关闭CAN卡设备()
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{
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if (!_isOpened && !ConnectFlag) return;
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try
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{
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if (_instanceListener != null)
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{
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UnRegisterListener(_instanceListener);
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_instanceListener = null;
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}
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DisConnect();
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}
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catch (Exception ex)
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{
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Debug.WriteLine($"关闭CAN卡设备异常：{ex.Message}");
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}
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finally
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{
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_isOpened = false;
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}
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}
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/// <summary>
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/// 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）。
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/// </summary>
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/// <param name="channel">通道号</param>
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public void 初始化并启动通道(uint channel)
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{
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if (channel >= MaxChannels) return;
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try
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{
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float arbKbps = float.Parse(ABitBaud) / 1000f;
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float dataKbps = float.Parse(DBitBaud) / 1000f;
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TsMasterApi.tsapp_configure_baudrate_canfd(
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(int)channel, arbKbps, dataKbps,
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TLIBCANFDControllerType.lfdtISOCAN,
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TLIBCANFDControllerMode.lfdmNormal,
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EnableTerminalResistance);
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}
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catch (Exception ex)
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{
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Debug.WriteLine($"初始化通道 {channel} 异常：{ex.Message}");
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}
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}
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/// <summary>
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/// 加载通道 DBC 文件。
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/// </summary>
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/// <param name="channel">通道号</param>
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/// <param name="filePath">DBC 文件路径</param>
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/// <returns>true 表示加载成功</returns>
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public bool 加载通道DBC文件(uint channel, string filePath)
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{
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try
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{
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var re = LoadDBC(filePath, [(int)channel], out _);
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return re == 0;
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}
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catch (Exception ex)
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{
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Debug.WriteLine($"加载通道 {channel} DBC 文件异常：{ex.Message}");
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return false;
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}
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}
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/// <summary>
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/// CAN FD 接收回调：接收原始帧 → 查找 DBC → 解码信号 → 触发 OnDbcMessageDecoded 事件。
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/// </summary>
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private void OnCanFdReceived(ref int AObj, ref TLIBCANFD AData)
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{
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if (_disposed) return;
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// 始终缓存最新报文，供界面轮询刷新
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int identifier = AData.FIdentifier;
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var canfdCopy = AData;
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RealTimeMessages[identifier] = canfdCopy;
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if (OnDbcMessageDecoded == null) return;
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try
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{
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uint channel = AData.FIdxChn;
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if (channel >= DBCParse.MsgDatabase.Count) return;
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// 在 DBC 数据库中查找匹配的报文
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var msgList = DBCParse.MsgDatabase[(int)channel];
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var match = msgList.FirstOrDefault(m => m.msg_id == identifier);
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if (match == null || match.signal_Name == null || match.signal_Name.Length == 0) return;
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// 解码各信号值
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var signals = new DBCSignal[match.signal_Name.Length];
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for (int i = 0; i < match.signal_Name.Length; i++)
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{
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double value = 0;
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TsMasterApi.tsdb_get_signal_value_canfd(ref canfdCopy, match.msg_name, match.signal_Name[i], ref value);
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signals[i] = new DBCSignal
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{
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strName = Encoding.Default.GetBytes(match.signal_Name[i]),
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nRawvalue = value,
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nFactor = 1,
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nOffset = 0
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};
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}
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var decoded = new DBCMessage
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{
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nID = (uint)identifier,
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nSignalCount = signals.Length,
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vSignals = signals
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};
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OnDbcMessageDecoded?.Invoke(channel, decoded);
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}
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catch (Exception ex)
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{
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Debug.WriteLine($"DBC 信号解码异常：{ex.Message}");
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}
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}
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#endregion
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#region IDisposable
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public void Dispose()
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{
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if (_disposed) return;
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_disposed = true;
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关闭CAN卡设备();
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GC.SuppressFinalize(this);
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}
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#endregion
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/// <summary>
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/// 初始化TSMasterCAN
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/// </summary>
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/// <param name="ProjectName"></param>
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/// <param name="filePath"></param>
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/// <returns></returns>
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[Browsable(false)]
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public static int Init(string ProjectName, string? filePath = null)
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{
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if (string.IsNullOrEmpty(filePath))
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{
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return TsMasterApi.initialize_lib_tsmaster(ProjectName);
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}
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else
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{
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return TsMasterApi.initialize_lib_tsmaster_with_project(ProjectName, Path.GetFullPath(filePath));
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}
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}
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/// <summary>
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/// 释放TSMasterCAN
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/// </summary>
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[Browsable(false)]
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public static void Release()
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{
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TsMasterApi.finalize_lib_tsmaster();
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}
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public static int obj = 0;
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public static TCANFDQueueEvent_Win32 listener;
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[Browsable(false)]
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public static int RegisterListener(TCANFDQueueEvent_Win32 listenEvent)
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{
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listener = listenEvent;
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var re = TsMasterApi.tsapp_register_event_canfd(ref obj, listener);
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Debug.Assert(re == 0);
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return re;
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}
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[Browsable(false)]
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public static int UnRegisterListener(TCANFDQueueEvent_Win32 listenEvent = null)
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{
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if (listenEvent is not null)
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{
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listener = listenEvent;
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}
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var re = TsMasterApi.tsapp_unregister_event_canfd(ref obj, listener);
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Debug.Assert(re == 0);
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return re;
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}
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/// <summary>
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/// 连接
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/// </summary>
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/// <returns></returns>
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public static int Connect()
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{
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var re = TsMasterApi.tsapp_connect();
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if (re == 0)
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{
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re = TsMasterApi.tscom_can_rbs_start();
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if (re == 0)
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{
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ConnectFlag = true;
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Task.Run(() => ConnectEvent?.Invoke());
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}
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else
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{
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Debug.WriteLine($"CAN_RBS启动失败,错误代码：{re}");
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}
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}
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else
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{
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Debug.WriteLine($"CAN连接失败,错误代码：{re}");
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return re;
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}
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return re;
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}
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/// <summary>
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/// 断开
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/// </summary>
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/// <returns></returns>
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public static int DisConnect()
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{
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var re = TsMasterApi.tsapp_disconnect();
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//Debug.Assert(re == 0);
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if (re == 0)
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{
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ConnectFlag = false;
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Task.Run(() => DisConnectEvent?.Invoke());
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}
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else
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{
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Debug.WriteLine($"断开CAN连接失败,错误代码：{re}");
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}
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return re;
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}
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/// <summary>
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/// 加载DBC
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/// </summary>
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/// <param name="filePath"></param>
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/// <param name="channel"></param>
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/// <param name="databaseID"></param>
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/// <returns></returns>
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[Browsable(false)]
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public static int LoadDBC(string filePath, int[] channel, out uint databaseID)
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{
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databaseID = 0;
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var re = TsMasterApi.tsdb_load_can_db(Path.GetFullPath(filePath), string.Join(",", channel), ref databaseID);
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foreach (var item in channel)
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{
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DBCParse.parse(databaseID, item);
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DBCParse.rbs_parse(databaseID, item);
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}
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return re;
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}
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/// <summary>
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/// 卸载DBC
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/// </summary>
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/// <param name="databaseID"></param>
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/// <returns></returns>
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[Browsable(false)]
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public static int UnLoadDBC(uint? databaseID = null)
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{
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if (databaseID == null)
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{
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return TsMasterApi.tsdb_unload_can_dbs();
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}
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else
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{
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return TsMasterApi.tsdb_unload_can_db(databaseID.Value);
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}
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}
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/// <summary>
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/// 开始记录日志
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/// </summary>
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/// <param name="filePath"></param>
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/// <returns></returns>
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public static int StartLogging(string filePath)
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{
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return TsMasterApi.tsapp_start_logging(Path.GetFullPath(filePath));
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}
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/// <summary>
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/// 结束记录日志
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/// </summary>
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/// <returns></returns>
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public static int StopLogging()
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{
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return TsMasterApi.tsapp_stop_logging();
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}
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/// <summary>
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/// 弹出通道映射窗口
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/// </summary>
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/// <param name="isWait"></param>
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/// <returns></returns>
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[Browsable(false)]
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public static int ShowChannelMappingWindow(bool isWait = false)
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{
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return TsMasterApi.tsapp_show_tsmaster_window("Hardware", isWait);
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}
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/// <summary>
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/// 获取信号值
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/// </summary>
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/// <param name="channel"></param>
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/// <param name="AMsgName"></param>
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/// <param name="ASgnName"></param>
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/// <returns></returns>
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public static double GetSignalValue(byte channel, string AMsgName, string ASgnName)
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{
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double value = double.NaN;
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var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
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var re = TsMasterApi.tsdb_get_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, ref value);
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return value;
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}
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/// <summary>
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/// 获取信号值
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/// </summary>
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/// <param name="channel"></param>
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/// <param name="AMsgName"></param>
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/// <param name="ASgnName"></param>
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/// <param name="value"></param>
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/// <returns></returns>
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[Browsable(false)]
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public static int GetSignalValue(byte channel, string AMsgName, string ASgnName, ref double value)
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{
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var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
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return TsMasterApi.tsdb_get_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, ref value);
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}
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/// <summary>
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/// 获取信号值
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/// </summary>
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/// <param name="ACANFD"></param>
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/// <param name="AMsgName"></param>
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/// <param name="ASgnName"></param>
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/// <param name="value"></param>
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/// <returns></returns>
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[Browsable(false)]
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public static int GetSignalValue(ref TLIBCANFD ACANFD, string AMsgName, string ASgnName, ref double value)
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{
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return TsMasterApi.tsdb_get_signal_value_canfd(ref ACANFD, AMsgName, ASgnName, ref value);
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}
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/// <summary>
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/// 设置信号值
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/// </summary>
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/// <param name="channel"></param>
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/// <param name="AMsgName"></param>
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/// <param name="ASgnName"></param>
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/// <param name="AValue"></param>
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/// <param name="isSend"></param>
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/// <param name="sendPeriod"></param>
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/// <returns></returns>
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/// <exception cref="Exception"></exception>
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public static int SetSignalValue(byte channel, string AMsgName, string ASgnName, double AValue, bool isSend = false, float sendPeriod = 0)
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{
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var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
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find.ACANFD.FIdxChn = channel;
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var re = TsMasterApi.tsdb_set_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, AValue);
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Debug.Assert(re == 0);
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if (re != 0) throw new Exception($"设置报文失败!返回代码{re}");
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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}";
|
||
}
|
||
|
||
}
|
||
}
|