ACP/UIShare/GlobalVariable/CANMonitoringService.cs

using System;
using System.Buffers;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using TSMasterCAN;
using TSMaster;
using Logger;
namespace UIShare.GlobalVariable
{
    public class CANMonitoringService
    {
        public bool IsStopped { get; set; } = false;
        public bool IsInitialized { get; set; } = false;
        public bool IsRegistered { get; set; } = false;
        private SystemConfig _systemConfig { get; set; } 
        public CANMonitoringService(SystemConfig systemConfig)
        {
            _systemConfig = systemConfig;
            CANSignalBroadcaster.RegisterService(this);
            IsRegistered = true;
        }
        public int Init(CancellationToken ct = default)
        {
            // 多工位共用同一个 TSMaster 实例：首次工位已完成 initialize_lib_tsmaster，
            // 后续工位的 CAN.Init 会直接复用首次结果（返回 0），因此这里不能再用
            // “初始化未成功就跳过”的判断，否则第二个工位永远注册不到报文回调。
            var initRe = CAN.Init(_systemConfig.TSMasterName);
            if (initRe != 0)
            {
                LoggerHelper.Warn($"CAN 驱动初始化返回 {initRe}（{CAN.GetErrorDescription(initRe)}），继续注册报文回调。");
            }

            // RegisterListener 幂等：重复调用只补充订阅者；驱动被 Release 后再 Init 也能重新挂回原生回调
            var re = CAN.RegisterListener(MonitorEvent);
            if (re == 0) IsInitialized = true;
            return re;
        }
        public ConcurrentDictionary<string, TLIBCANFD> RealTimeMessages { get; set; } = new();
        public ConcurrentDictionary<string, double> RealTimeSignals { get; set; } = new();
        /// <summary>
        /// TSMaster 原生库收报文回调（原生线程直接调用）。
        /// 回调内抛出的异常一旦跨出原生边界会直接导致进程闪退，
        /// 因此整个方法体必须包裹异常隔离，且不做任何可能阻塞的调用。
        /// </summary>
        public void MonitorEvent(ref int AObj, ref TLIBCANFD AData)
        {
            try
            {
                if (IsStopped) return;

                // 通道越界防护：多通道/异常帧的 FIdxChn 可能超出 DBC 数据库（12 通道）范围
                if (AData.FIdxChn >= DBCParse.MsgDatabase.Count) return;
                if (AData.FData == null) return;

                byte[] oldbytes = null;

                //记录至实时报文数据库
                var cpAData = AData;
                cpAData.FData = ArrayPool<byte>.Shared.Rent(64);
                Array.Copy(AData.FData, 0, cpAData.FData, 0, Math.Min(AData.FData.Length, cpAData.FData.Length));
                var MessageName = $"{AData.FIdxChn}/{AData.FIdentifier}";
                if (RealTimeMessages.TryGetValue(MessageName, out var v))
                {
                    oldbytes = v.FData;
                }
                RealTimeMessages[MessageName] = cpAData;

                //记录至DBC数据库
                var dbcfind = DBCParse.MsgDatabase[AData.FIdxChn].FirstOrDefault(s => s.msg_id == cpAData.FIdentifier);
                if (dbcfind != null)
                {
                    Array.Copy(cpAData.FData, 0, dbcfind.ACANFD.FData, 0, Math.Min(cpAData.FData.Length, dbcfind.ACANFD.FData.Length));
                    dbcfind.ACANFD.FTimeUS = cpAData.FTimeUS;
                    dbcfind.ACANFD.FIsFD = cpAData.FIsFD;
                    dbcfind.ACANFD.FIsBRS = cpAData.FIsBRS;
                    dbcfind.ACANFD.FIsESI = cpAData.FIsESI;
                    dbcfind.ACANFD.FIsError = cpAData.FIsError;
                    dbcfind.ACANFD.FIsRemote = cpAData.FIsRemote;
                    dbcfind.ACANFD.FIsExt = cpAData.FIsExt;
                }

                if (oldbytes is not null) ArrayPool<byte>.Shared.Return(oldbytes);

                var id = AData.FIdentifier;
                var ch = AData.FIdxChn;

                var configList = _systemConfig.ConfigurationList;
                if (configList == null) return;

                var canSignalList = configList.Where(s => s.MessageID == id && s.Channel == ch).ToArray();

                if (canSignalList.Length > 0)
                {
                    // DBC 中查不到该报文时静默跳过（配置与 DBC 不一致不应导致进程崩溃）
                    var find = DBCParse.MsgDatabase[ch].FirstOrDefault(s => s.msg_id == id);
                    if (find == null) return;
                    foreach (var item in canSignalList)
                    {
                        double Signalre = double.NaN;
                        var re = CAN.GetSignalValue(ref cpAData, item.MessageName, item.SignalName, ref Signalre);
                        //Debug.Assert(re == 0);
                        var SinalName = $"{AData.FIdxChn}/{item.MessageName}/{item.SignalName}";
                        RealTimeSignals[SinalName] = Signalre;
                    }
                }
            }
            catch (Exception ex)
            {
                // 原生回调内绝不能向外抛异常：跨原生边界即进程闪退。
                LoggerHelper.Error($"CANMonitoringService.MonitorEvent 回调异常（已隔离）：{ex.Message}");
            }
        }

        /// <summary>
        /// 停止监测：注销原生报文回调、从广播器注销并清理实时数据。
        /// <para>必须先反注册回调再释放实例，否则原生线程仍会回调到已停止的工位。</para>
        /// </summary>
        public void Stop()
        {
            IsStopped = true;
            if (IsRegistered)
            {
                CAN.UnRegisterListener(MonitorEvent);
                CANSignalBroadcaster.UnregisterService(this);
                IsRegistered = false;
            }
            RealTimeSignals.Clear();
            RealTimeMessages.Clear();
        }
    }
}