ACP/TSMasterFlexRay/FlexRay.cs

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 TSMasterFlexRay
{

    [ACPCommand]
    public class FlexRay : 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 FlexRay 报文缓存（按 SlotId 索引，保留最新帧）。
        /// 供界面轮询读取。
        /// </summary>
        public static ConcurrentDictionary<int, TLIBFlexRay> RealTimeMessages { get; } = new();

        #endregion

        #region 实例字段与属性

        /// <summary>设备类型号（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>工程路径（FlexRay 需通过 TSMaster 工程文件加载 Cluster 配置）</summary>
        public string ProjectPath { get; }

        /// <summary>数据库解析器</summary>
        public FlexRayDBParse DBParser => FlexRayDBParse.Instance;

        /// <summary>
        /// FlexRay 帧解码事件：当接收到帧并通过数据库解码后触发。
        /// 参数：(通道号, 解码后的报文信息)
        /// </summary>
        public event Action<uint, FlexRayDBMessage>? OnFrameDecoded;

        private bool _disposed;
        private bool _isOpened;
        private TFlexRayQueueEvent_Win32? _instanceListener;
        private TFlexRayQueueEvent_Win32? _preTxListener;

        #endregion

        #region 构造函数

        /// <summary>默认构造函数（使用默认工程路径）</summary>
        public FlexRay() : this(43, 0, 2, "") { }

        /// <summary>
        /// 带配置参数的构造函数。
        /// </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="projectPath">TSMaster 工程路径（FlexRay 必须加载工程）</param>
        public FlexRay(uint deviceType, uint deviceIndex, int maxChannels, string projectPath)
        {
            DeviceType = deviceType;
            DeviceIndex = deviceIndex;
            MaxChannels = maxChannels;
            ProjectPath = projectPath;
        }

        #endregion

        #region 实例方法 — 设备管理

        /// <summary>
        /// 打开设备：加载工程 → 连接 → 启动 RBS → 注册监听。
        /// FlexRay 的硬件配置（波特率、集群参数等）由 TSMaster 工程统一管理，
        /// 代码中无法直接设置，需通过 ShowChannelMappingWindow 或工程本身配置。
        /// </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. 通过工程文件初始化（FlexRay 必须依赖工程）
                var re = Init("TSMasterFlexRay", ProjectPath);
                if (re != 0)
                {
                    Debug.WriteLine($"TSMaster FlexRay 工程加载失败,错误代码：{re}");
                    return false;
                }

                // 2. 使能接收 FIFO（可选，用于批量拉取模式）
                TsMasterApi.tsfifo_enable_receive_fifo();

                // 3. 连接硬件
                re = Connect();
                if (re != 0)
                {
                    Debug.WriteLine($"FlexRay 连接失败,错误代码：{re}");
                    return false;
                }

                // 4. 注册接收监听
                _instanceListener = new TFlexRayQueueEvent_Win32(OnFlexRayReceived);
                RegisterListener(_instanceListener);

                _isOpened = true;
                return true;
            }
            catch (Exception ex)
            {
                Debug.WriteLine($"打开 FlexRay 设备异常：{ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 关闭 FlexRay 设备：注销监听 → 停止 RBS → 断开连接。
        /// </summary>
        public void 关闭FlexRay设备()
        {
            if (!_isOpened && !ConnectFlag) return;

            try
            {
                if (_preTxListener != null)
                {
                    UnRegisterPreTxListener(_preTxListener);
                    _preTxListener = null;
                }
                if (_instanceListener != null)
                {
                    UnRegisterListener(_instanceListener);
                    _instanceListener = null;
                }
                DisConnect();
            }
            catch (Exception ex)
            {
                Debug.WriteLine($"关闭FlexRay设备异常：{ex.Message}");
            }
            finally
            {
                _isOpened = false;
            }
        }

        /// <summary>
        /// FlexRay 接收回调：接收原始帧 → 缓存 → 触发 OnFrameDecoded 事件。
        /// </summary>
        private void OnFlexRayReceived(ref int AObj, ref TLIBFlexRay AData)
        {
            if (_disposed) return;

            // 始终缓存最新帧（按 SlotId）
            RealTimeMessages[AData.FSlotId] = AData;

            if (OnFrameDecoded == null) return;

            try
            {
                var decoded = new FlexRayDBMessage
                {
                    nSlotId = AData.FSlotId,
                    nCycleNumber = AData.FCycleNumber,
                    nChannelMask = AData.FChannelMask,
                    nDataLength = AData.FActualPayloadLength,
                    Data = new byte[AData.FActualPayloadLength]
                };
                Array.Copy(AData.FData, decoded.Data, AData.FActualPayloadLength);

                OnFrameDecoded?.Invoke(AData.FIdxChn, decoded);
            }
            catch (Exception ex)
            {
                Debug.WriteLine($"FlexRay 帧解码异常：{ex.Message}");
            }
        }

        #endregion

        #region IDisposable

        public void Dispose()
        {
            if (_disposed) return;
            _disposed = true;
            关闭FlexRay设备();
            GC.SuppressFinalize(this);
        }

        #endregion

        /// <summary>
        /// 初始化 TSMaster FlexRay（必须加载工程文件）
        /// </summary>
        /// <param name="ProjectName">应用名</param>
        /// <param name="filePath">工程路径，为空则仅初始化库</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 TSMaster
        /// </summary>
        [Browsable(false)]
        public static void Release()
        {
            TsMasterApi.finalize_lib_tsmaster();
        }

        [Browsable(false)]
        public static int RegisterListener(TFlexRayQueueEvent_Win32 listenEvent)
        {
            int obj = 0;
            var re = TsMasterApi.tsapp_register_event_flexray(ref obj, listenEvent);
            Debug.Assert(re == 0);
            return re;
        }

        [Browsable(false)]
        public static int UnRegisterListener(TFlexRayQueueEvent_Win32 listenEvent)
        {
            int obj = 0;
            var re = TsMasterApi.tsapp_unregister_event_flexray(ref obj, listenEvent);
            Debug.Assert(re == 0);
            return re;
        }

        /// <summary>
        /// 注册发送前回调（FlexRay 特有，可用于发送前修改帧内容）
        /// </summary>
        /// <param name="preTxEvent"></param>
        /// <returns></returns>
        [Browsable(false)]
        public static int RegisterPreTxListener(TFlexRayQueueEvent_Win32 preTxEvent)
        {
            int obj = 0;
            return TsMasterApi.tsapp_register_pretx_event_flexray(ref obj, preTxEvent);
        }

        [Browsable(false)]
        public static int UnRegisterPreTxListener(TFlexRayQueueEvent_Win32 preTxEvent)
        {
            int obj = 0;
            return TsMasterApi.tsapp_unregister_pretx_event_flexray(ref obj, preTxEvent);
        }

        /// <summary>
        /// 连接（含 RBS 启动）
        /// </summary>
        /// <returns></returns>
        public static int Connect()
        {
            var re = TsMasterApi.tsapp_connect();
            if (re == 0)
            {
                // FlexRay RBS 需先 enable 再 start
                TsMasterApi.tscom_flexray_rbs_enable(true);
                re = TsMasterApi.tscom_flexray_rbs_start();
                if (re == 0)
                {
                    ConnectFlag = true;
                    Task.Run(() => ConnectEvent?.Invoke());
                }
                else
                {
                    Debug.WriteLine($"FlexRay RBS 启动失败,错误代码：{re}");
                }
            }
            else
            {
                Debug.WriteLine($"FlexRay 连接失败,错误代码：{re}");
            }
            return re;
        }

        /// <summary>
        /// 断开（含 RBS 停止）
        /// </summary>
        /// <returns></returns>
        public static int DisConnect()
        {
            var re = TsMasterApi.tsapp_disconnect();
            if (re == 0)
            {
                TsMasterApi.tscom_flexray_rbs_enable(false);
                TsMasterApi.tscom_flexray_rbs_stop();
                ConnectFlag = false;
                Task.Run(() => DisConnectEvent?.Invoke());
            }
            else
            {
                Debug.WriteLine($"断开 FlexRay 连接失败,错误代码：{re}");
            }
            return re;
        }

        /// <summary>
        /// 获取工程中 FlexRay 数据库数量
        /// </summary>
        /// <returns></returns>
        public static int GetDBCount()
        {
            int count = 0;
            TsMasterApi.tsdb_get_flexray_db_count(ref count);
            return count;
        }

        /// <summary>
        /// 弹出通道映射窗口（FlexRay 硬件配置推荐通过此窗口完成）
        /// </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>
        /// 发送一帧 FlexRay（异步）
        /// </summary>
        /// <param name="msg"></param>
        /// <returns></returns>
        [Browsable(false)]
        public static int SendMsg(TLIBFlexRay msg)
        {
            return tsapp_transmit_flexray_async(ref msg);
        }

        /// <summary>
        /// 发送一帧 FlexRay（按参数构造）
        /// </summary>
        /// <param name="AIdxChn">通道索引（0-based）</param>
        /// <param name="AChannelMask">通道掩码：1=A, 2=B, 3=AB</param>
        /// <param name="ADLC">有效负载长度</param>
        /// <param name="ABaseCycle">基准循环号</param>
        /// <param name="ASlotId">时隙号</param>
        /// <param name="AData">数据数组</param>
        /// <returns></returns>
        public static int SendMsg(byte AIdxChn, byte AChannelMask, byte ADLC,
            byte ABaseCycle, ushort ASlotId, byte[] AData)
        {
            var send = new TLIBFlexRay(AIdxChn, AChannelMask, ADLC, ABaseCycle, ASlotId, AData);
            return tsapp_transmit_flexray_async(ref send);
        }

        /// <summary>
        /// 通过 FIFO 批量拉取已接收的 FlexRay 消息
        /// </summary>
        /// <param name="bufferSize">缓冲区大小</param>
        /// <param name="AChn">通道号（0-based）</param>
        /// <param name="ATxRx">true=TX, false=RX</param>
        /// <returns></returns>
        public static TLIBFlexRay[] ReceiveMsgs(ref int bufferSize, byte AChn, bool ATxRx)
        {
            TLIBFlexRay[] buffer = new TLIBFlexRay[bufferSize];
            TsMasterApi.tsfifo_receive_flexray_msgs_list(ref buffer, ref bufferSize, AChn, ATxRx);
            return buffer;
        }

        /// <summary>
        /// 通过 RBS 地址获取信号值（地址格式：通道/Cluster/ECU/Frame/Signal）
        /// </summary>
        /// <param name="address"></param>
        /// <returns></returns>
        public static double GetSignalValue(string address)
        {
            double value = 0;
            TsMasterApi.tscom_flexray_rbs_get_signal_value_by_address(address, ref value);
            return value;
        }

        /// <summary>
        /// 通过 RBS 地址设置信号值
        /// </summary>
        /// <param name="address"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        public static int SetSignalValue(string address, double value)
        {
            TsMasterApi.tscom_flexray_rbs_set_signal_value_by_address(address, value);
            return 0;
        }

        /// <summary>
        /// 按名称激活 Cluster（RBS 仿真）
        /// </summary>
        /// <param name="chnIdx">通道索引</param>
        /// <param name="enable">true=激活</param>
        /// <param name="clusterName">Cluster 名称</param>
        /// <returns></returns>
        public static int ActivateCluster(int chnIdx, bool enable, string clusterName)
        {
            return TsMasterApi.tscom_flexray_rbs_activate_cluster_by_name(chnIdx, enable, clusterName, false);
        }

        /// <summary>
        /// 按名称激活 ECU（RBS 仿真）
        /// </summary>
        public static int ActivateECU(int chnIdx, bool enable, string clusterName, string ecuName)
        {
            return TsMasterApi.tscom_flexray_rbs_activate_ecu_by_name(chnIdx, enable, clusterName, ecuName, false);
        }

        /// <summary>
        /// 按名称激活 Frame（RBS 仿真）
        /// </summary>
        public static int ActivateFrame(int chnIdx, bool enable, string clusterName, string ecuName, string frameName)
        {
            return TsMasterApi.tscom_flexray_rbs_activate_frame_by_name(chnIdx, enable, clusterName, ecuName, frameName);
        }

        /// <summary>
        /// 开始记录日志
        /// </summary>
        public static int StartLogging(string filePath)
        {
            return TsMasterApi.tsapp_start_logging(Path.GetFullPath(filePath));
        }

        /// <summary>
        /// 结束记录日志
        /// </summary>
        public static int StopLogging()
        {
            return TsMasterApi.tsapp_stop_logging();
        }

        /// <summary>
        /// 获取错误提示
        /// </summary>
        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}";
            string? description = Marshal.PtrToStringAnsi(ADesc);
            return description ?? $"未知错误代码: {errorCode}";
        }

        // FlexRay 发送函数（TSMaster.dll 中 StdCall 导出，需手动声明）
        [DllImport(".\\TSMaster.dll", CallingConvention = CallingConvention.StdCall, CharSet = CharSet.Ansi)]
        public static extern int tsapp_transmit_flexray_async(ref TLIBFlexRay AMsg);
    }
}