972 lines
39 KiB
C#
972 lines
39 KiB
C#
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
|
||
{
|
||
/// <summary>
|
||
/// TSMaster CAN/CANFD 总线控制类，基于 TSMaster API 实现总线连接管理、
|
||
/// DBC 信号读写、报文发送（单次/循环）、日志记录等功能，暴露给命令树供测试步骤调用。
|
||
/// </summary>
|
||
[ACPCommand]
|
||
public class CAN
|
||
{
|
||
|
||
public static event Action ConnectEvent;
|
||
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>
|
||
/// 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>
|
||
/// <returns></returns>
|
||
[Browsable(false)]
|
||
public static int Init(string ProjectName, string? filePath = null)
|
||
{
|
||
try
|
||
{
|
||
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;
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
// 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($"CAN.Init 异常：{ex.Message}");
|
||
return -1;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 释放CAN驱动。
|
||
/// <para>释放后清除初始化缓存与回调注册状态，允许下一次 Init 重新初始化。</para>
|
||
/// </summary>
|
||
[Browsable(false)]
|
||
public static void Release()
|
||
{
|
||
try
|
||
{
|
||
lock (_nativeSendLock)
|
||
{
|
||
lock (_initLock)
|
||
{
|
||
TsMasterApi.finalize_lib_tsmaster();
|
||
_initResult = int.MinValue;
|
||
// 驱动释放后 TSMaster 内部 DBC 数据库全部失效：
|
||
// 本地加载记录与托管报文缓存都要清空，并标记需要重新下发 DBC，
|
||
// 否则后续发送会拿残留缓存去匹配空数据库，返回 93(message not found in database)
|
||
_loadedDbcPool.Clear();
|
||
DBCParse.ClearMsgDatabase();
|
||
NeedReloadDbc = true;
|
||
ResetListenerRegistration();
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Debug.WriteLine($"CAN.Release 异常：{ex.Message}");
|
||
}
|
||
}
|
||
|
||
public static int obj = 0;
|
||
|
||
#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)
|
||
{
|
||
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($"CAN.RegisterListener 异常：{ex.Message}");
|
||
return -1;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 注销 CANFD 报文回调。
|
||
/// <para>指定委托时只移除该订阅者；不指定时移除全部订阅者。所有订阅者移除后才反注册原生回调。</para>
|
||
/// </summary>
|
||
[Browsable(false)]
|
||
public static int UnRegisterListener(TCANFDQueueEvent_Win32? listenEvent = null)
|
||
{
|
||
try
|
||
{
|
||
lock (_listenerLock)
|
||
{
|
||
if (listenEvent is not null)
|
||
{
|
||
_listeners.Remove(listenEvent);
|
||
}
|
||
else
|
||
{
|
||
_listeners.Clear();
|
||
}
|
||
|
||
if (_listeners.Count > 0 || !_dispatcherRegistered) return 0;
|
||
|
||
var dispatcher = _dispatcher;
|
||
if (dispatcher is null) return 0;
|
||
|
||
var re = TsMasterApi.tsapp_unregister_event_canfd(ref obj, dispatcher);
|
||
Debug.Assert(re == 0);
|
||
if (re == 0) ResetListenerRegistrationCore();
|
||
return re;
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Debug.WriteLine($"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($"CAN 回调订阅者异常（已隔离）：{ex.Message}");
|
||
}
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 连接 TSMaster CAN 总线：建立总线连接并启动 RBS 仿真系统，
|
||
/// 成功后置位连接标志并触发 <see cref="ConnectEvent"/> 连接事件。
|
||
/// </summary>
|
||
/// <returns>返回代码，0 表示成功，非 0 表示失败（可用 <see cref="GetErrorDescription"/> 查询错误说明）</returns>
|
||
public static int Connect()
|
||
{
|
||
try
|
||
{
|
||
lock (_nativeSendLock)
|
||
{
|
||
// 多工位共用同一张 CAN 卡：任一工位已连接即复用，避免重复 tsapp_connect
|
||
if (ConnectFlag) return 0;
|
||
|
||
var re = TsMasterApi.tsapp_connect();
|
||
if (re == 0)
|
||
{
|
||
re = TsMasterApi.tscom_can_rbs_start();
|
||
if (re == 0)
|
||
{
|
||
ConnectFlag = true;
|
||
Task.Run(() =>
|
||
{
|
||
try { ConnectEvent?.Invoke(); }
|
||
catch (Exception ex) { Debug.WriteLine($"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;
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Debug.WriteLine($"CAN.Connect 异常：{ex.Message}");
|
||
return -1;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 断开 TSMaster CAN 总线连接，成功后清除连接标志并触发 <see cref="DisConnectEvent"/> 断开事件。
|
||
/// </summary>
|
||
/// <returns>返回代码，0 表示成功，非 0 表示失败（可用 <see cref="GetErrorDescription"/> 查询错误说明）</returns>
|
||
public static int DisConnect()
|
||
{
|
||
try
|
||
{
|
||
lock (_nativeSendLock)
|
||
{
|
||
// 已断开则直接返回：多工位场景下避免后续工位重复断开总线
|
||
if (!ConnectFlag) return 0;
|
||
|
||
var re = TsMasterApi.tsapp_disconnect();
|
||
if (re == 0)
|
||
{
|
||
ConnectFlag = false;
|
||
Task.Run(() =>
|
||
{
|
||
try { DisConnectEvent?.Invoke(); }
|
||
catch (Exception ex) { Debug.WriteLine($"CAN.DisConnectEvent 订阅者异常：{ex.Message}"); }
|
||
});
|
||
}
|
||
else
|
||
{
|
||
Debug.WriteLine($"断开CAN连接失败,错误代码：{re}");
|
||
}
|
||
|
||
return re;
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Debug.WriteLine($"CAN.DisConnect 异常：{ex.Message}");
|
||
return -1;
|
||
}
|
||
}
|
||
|
||
/// <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;
|
||
if (!Path.Exists(filePath)) return -1;
|
||
int re;
|
||
try
|
||
{
|
||
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>
|
||
/// <param name="filePath"></param>
|
||
/// <param name="channel"></param>
|
||
/// <returns></returns>
|
||
public static int LoadDBCToSingleChannel(string filePath, int channel)
|
||
{
|
||
uint databaseID = 0;
|
||
if (!Path.Exists(filePath)) return -1;
|
||
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($"CAN.LoadDBCToSingleChannel 解析失败（通道 {channel}）：{ex.Message}");
|
||
}
|
||
|
||
return re;
|
||
}
|
||
/// <summary>
|
||
/// 卸载DBC
|
||
/// </summary>
|
||
/// <param name="databaseID"></param>
|
||
/// <returns></returns>
|
||
[Browsable(false)]
|
||
public static int UnLoadDBC(uint? databaseID = null)
|
||
{
|
||
try
|
||
{
|
||
int re;
|
||
if (databaseID == null)
|
||
{
|
||
re = TsMasterApi.tsdb_unload_can_dbs();
|
||
}
|
||
else
|
||
{
|
||
re = TsMasterApi.tsdb_unload_can_db(databaseID.Value);
|
||
}
|
||
|
||
// TSMaster 内部数据库已卸载：本地加载记录与托管报文缓存必须同步失效，
|
||
// 否则再发送时会用残留的报文名去匹配空数据库，返回 93(message not found in database)
|
||
if (re == 0)
|
||
{
|
||
_loadedDbcPool.Clear();
|
||
DBCParse.ClearMsgDatabase();
|
||
NeedReloadDbc = true;
|
||
}
|
||
return re;
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Debug.WriteLine($"CAN.UnLoadDBC 异常：{ex.Message}");
|
||
return -1;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 开始记录总线日志，将总线上的报文数据记录到指定文件。
|
||
/// </summary>
|
||
/// <param name="filePath">日志文件保存路径（自动转换为绝对路径）</param>
|
||
/// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
|
||
public static int StartLogging(string filePath)
|
||
{
|
||
try
|
||
{
|
||
return TsMasterApi.tsapp_start_logging(Path.GetFullPath(filePath));
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Debug.WriteLine($"CAN.StartLogging 异常：{ex.Message}");
|
||
return -1;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 结束总线日志记录。
|
||
/// </summary>
|
||
/// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
|
||
public static int StopLogging()
|
||
{
|
||
try
|
||
{
|
||
return TsMasterApi.tsapp_stop_logging();
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Debug.WriteLine($"CAN.StopLogging 异常：{ex.Message}");
|
||
return -1;
|
||
}
|
||
}
|
||
|
||
/// <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 DBC 中定义信号的当前物理值（从总线接收报文中解析）。
|
||
/// </summary>
|
||
/// <param name="channel">通道号（0 起始）</param>
|
||
/// <param name="AMsgName">DBC 中的报文名称</param>
|
||
/// <param name="ASgnName">DBC 中的信号名称</param>
|
||
/// <returns>信号物理值，获取失败时返回 <see cref="double.NaN"/></returns>
|
||
public static double GetSignalValue(byte channel, string AMsgName, string ASgnName)
|
||
{
|
||
double value = double.NaN;
|
||
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($"CAN.GetSignalValue 异常：{ex.Message}");
|
||
}
|
||
|
||
return value;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取信号值
|
||
/// </summary>
|
||
/// <param name="channel"></param>
|
||
/// <param name="AMsgName"></param>
|
||
/// <param name="ASgnName"></param>
|
||
/// <param name="value"></param>
|
||
/// <returns></returns>
|
||
[Browsable(false)]
|
||
public static int GetSignalValue(byte channel, string AMsgName, string ASgnName, ref double value)
|
||
{
|
||
var find = DBCParse.MsgDatabase[channel].FirstOrDefault(s => s.msg_name == AMsgName);
|
||
if (find == null) return -1;
|
||
try
|
||
{
|
||
return TsMasterApi.tsdb_get_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, ref value);
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Debug.WriteLine($"CAN.GetSignalValue 异常：{ex.Message}");
|
||
return -1;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 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 DBC 中定义信号的值（按物理值编码进报文数据），可选择立即发送或周期发送。
|
||
/// </summary>
|
||
/// <param name="channel">通道号（0 起始）</param>
|
||
/// <param name="AMsgName">DBC 中的报文名称</param>
|
||
/// <param name="ASgnName">DBC 中的信号名称</param>
|
||
/// <param name="AValue">要设置的信号物理值</param>
|
||
/// <param name="isSend">是否发送：false 仅更新数据不发送，true 则发送</param>
|
||
/// <param name="sendPeriod">发送周期（毫秒）：0 = 只发送一次；>0 = 按该周期循环发送</param>
|
||
/// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
|
||
/// <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)
|
||
{
|
||
// 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);
|
||
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($"设置报文失败!返回代码{re}（{GetErrorDescription(re)}）");
|
||
}
|
||
if (isSend)
|
||
{
|
||
try
|
||
{
|
||
// 多工位共用同一个 TSMaster 实例，发送类原生 API 必须串行化，
|
||
// 并发调用会破坏原生内部循环发送表，表现为发报文瞬间闪退。
|
||
lock (_nativeSendLock)
|
||
{
|
||
if (sendPeriod == 0)
|
||
{
|
||
return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
|
||
}
|
||
else
|
||
{
|
||
return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Debug.WriteLine($"CAN.SetSignalValue 发送异常：{ex.Message}");
|
||
return -1;
|
||
}
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
|
||
/// <summary>
|
||
/// 按报文名称发送 DBC 中定义的报文（使用该报文在 DBC 数据库中的当前数据）。
|
||
/// </summary>
|
||
/// <param name="channel">通道号</param>
|
||
/// <param name="AMsgName">DBC 中的报文名称</param>
|
||
/// <param name="sendPeriod">发送周期（毫秒）：0 = 只发送一次；>0 = 按该周期循环发送</param>
|
||
/// <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].FirstOrDefault(s => s.msg_name == AMsgName);
|
||
if (find == null) return -1;
|
||
find.ACANFD.FIdxChn = (byte)channel;
|
||
try
|
||
{
|
||
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);
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Debug.WriteLine($"CAN.SetSignalValue 发送异常：{ex.Message}");
|
||
return -1;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 发送自定义报文
|
||
/// </summary>
|
||
/// <returns></returns>
|
||
[Browsable(false)]
|
||
public static int SetMsg(TLIBCANFD msg)
|
||
{
|
||
try
|
||
{
|
||
lock (_nativeSendLock)
|
||
{
|
||
return TsMasterApi.tsapp_transmit_canfd_async(ref msg);
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Debug.WriteLine($"CAN.SetMsg 发送异常：{ex.Message}");
|
||
return -1;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 按帧 ID 更新 DBC 数据库中指定报文的数据区（仅更新内存中的数据，不发送）。
|
||
/// </summary>
|
||
/// <param name="channel">通道号</param>
|
||
/// <param name="ID">报文帧 ID（DBC 中定义的 FIdentifier）</param>
|
||
/// <param name="bytes">要写入的报文数据数组，超出报文数据长度的部分会被截断</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>
|
||
/// 按帧 ID 构造并发送 CANFD 报文（不依赖 DBC 数据库与报文名），可选择单次发送或周期发送。
|
||
/// </summary>
|
||
/// <param name="channel">通道号</param>
|
||
/// <param name="ID">报文帧 ID</param>
|
||
/// <param name="bytes">报文数据数组（最多 64 字节，超出部分截断）</param>
|
||
/// <param name="sendPeriod">发送周期（毫秒）：0 = 只发送一次；>0 = 按该周期循环发送</param>
|
||
/// <param name="isExt">是否扩展帧（29 位 ID），默认标准帧</param>
|
||
/// <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 SendMsgById(APP_CHANNEL channel, int ID, byte[] bytes, float sendPeriod = 0, bool isExt = false)
|
||
{
|
||
var data = new byte[64];
|
||
Array.Copy(bytes, data, Math.Min(bytes.Length, 64));
|
||
return SendMsg(channel, ID, true, isExt, false, (byte)Math.Min(bytes.Length, 64),
|
||
data, true, false, false, sendPeriod);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 构造并发送自定义 CAN/CANFD 报文，可选择单次发送或周期发送，并可同步更新 DBC 数据库中同 ID 报文的数据。
|
||
/// </summary>
|
||
/// <param name="AIdxChn">通道号</param>
|
||
/// <param name="AID">报文帧 ID</param>
|
||
/// <param name="AIsTx">是否为发送帧</param>
|
||
/// <param name="AIsExt">是否为扩展帧（29 位 ID）</param>
|
||
/// <param name="AIsRemote">是否为远程帧</param>
|
||
/// <param name="ADLC">数据长度代码（数据字节数，最大 64）</param>
|
||
/// <param name="ADataArray">报文数据数组，超过 64 字节的部分会被截断</param>
|
||
/// <param name="AIsFD">是否为 CANFD 帧，默认 true</param>
|
||
/// <param name="AIsBRS">是否切换数据段波特率（仅 CANFD 有效），默认 false</param>
|
||
/// <param name="isUpdateDBCDatabase">是否同步更新 DBC 数据库中同帧 ID 报文的数据，默认 false</param>
|
||
/// <param name="sendPeriod">发送周期（毫秒）：0 = 只发送一次；>0 = 按该周期循环发送</param>
|
||
/// <returns>返回代码，0 表示成功，非 0 表示失败</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;
|
||
try
|
||
{
|
||
lock (_nativeSendLock)
|
||
{
|
||
if (sendPeriod == 0)
|
||
{
|
||
re = TsMasterApi.tsapp_transmit_canfd_async(ref send);
|
||
}
|
||
else
|
||
{
|
||
re = TsMasterApi.tsapp_add_cyclic_msg_canfd(ref send, sendPeriod);
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Debug.WriteLine($"CAN.SendMsg 发送异常（通道 {(byte)AIdxChn} ID 0x{AID:X}）：{ex.Message}");
|
||
return -1;
|
||
}
|
||
|
||
if (isUpdateDBCDatabase && (byte)AIdxChn < DBCParse.MsgDatabase.Count)
|
||
{
|
||
var find = DBCParse.MsgDatabase[(byte)AIdxChn].FirstOrDefault(s => s.ACANFD.FIdentifier == send.FIdentifier);
|
||
if (find != null)
|
||
{
|
||
Array.Copy(send.FData, 0, find.ACANFD.FData, 0, Math.Min(ADataArray.Length, find.ACANFD.FData.Length));
|
||
}
|
||
}
|
||
return re;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 将 DBC 中定义的报文加入循环发送列表，按指定周期持续发送。
|
||
/// </summary>
|
||
/// <param name="channel">通道号（0 起始）</param>
|
||
/// <param name="AMsgName">DBC 中的报文名称</param>
|
||
/// <param name="sendPeriod">发送周期（毫秒）</param>
|
||
/// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
|
||
public static int AddCyclicMsg(byte channel, string AMsgName, float sendPeriod)
|
||
{
|
||
var find = DBCParse.MsgDatabase[channel].FirstOrDefault(s => s.msg_name == AMsgName);
|
||
if (find == null) return -1;
|
||
find.ACANFD.FIdxChn = channel;
|
||
try
|
||
{
|
||
lock (_nativeSendLock)
|
||
{
|
||
return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Debug.WriteLine($"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()
|
||
{
|
||
try
|
||
{
|
||
lock (_nativeSendLock)
|
||
{
|
||
return TsMasterApi.tsapp_delete_cyclic_msgs();
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Debug.WriteLine($"CAN.DeleteCyclicMsgs 异常：{ex.Message}");
|
||
return -1;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 根据错误代码获取对应的错误文字描述，用于诊断 TSMaster API 返回码。
|
||
/// </summary>
|
||
/// <param name="errorCode">TSMaster API 返回的错误代码</param>
|
||
/// <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)
|
||
{
|
||
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}";
|
||
|
||
// 假设返回的是 ANSI 字符串（如 C 的 char*）
|
||
string? description = Marshal.PtrToStringAnsi(ADesc);
|
||
|
||
return description ?? $"未知错误代码: {errorCode}";
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Debug.WriteLine($"CAN.GetErrorDescription 异常：{ex.Message}");
|
||
return $"未知错误代码: {errorCode}";
|
||
}
|
||
}
|
||
|
||
}
|
||
}
|