425 lines
17 KiB
C#
425 lines
17 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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/// <summary>
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/// TSMaster CAN/CANFD 总线控制类，基于 TSMaster API 实现总线连接管理、
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/// 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。
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/// </summary>
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[ACPCommand]
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public class CAN
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{
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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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/// 初始化CAN驱动
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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CAN驱动
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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 TSMaster CAN 总线：建立总线连接并启动 RBS 仿真系统，
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/// 成功后置位连接标志并触发 <see cref="ConnectEvent"/> 连接事件。
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/// </summary>
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/// <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>
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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 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。
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/// </summary>
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/// <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>
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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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if (!Path.Exists(filePath)) return -1;
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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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/// 开始记录总线日志，将总线上的报文数据记录到指定文件。
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/// </summary>
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/// <param name="filePath">日志文件保存路径（自动转换为绝对路径）</param>
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/// <returns>返回代码，0 表示成功，非 0 表示失败</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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/// 结束总线日志记录。
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/// </summary>
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/// <returns>返回代码，0 表示成功，非 0 表示失败</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 DBC 中定义信号的当前物理值（从总线接收报文中解析）。
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/// </summary>
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/// <param name="channel">通道号（0 起始）</param>
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/// <param name="AMsgName">DBC 中的报文名称</param>
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/// <param name="ASgnName">DBC 中的信号名称</param>
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/// <returns>信号物理值，获取失败时返回 <see cref="double.NaN"/></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 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。
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/// </summary>
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/// <param name="channel">通道号（0 起始）</param>
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/// <param name="AMsgName">DBC 中的报文名称</param>
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/// <param name="ASgnName">DBC 中的信号名称</param>
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/// <param name="AValue">要设置的信号物理值</param>
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/// <param name="isSend">是否发送：false 仅更新数据不发送，true 则发送</param>
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/// <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>
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/// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
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/// <exception cref="Exception">信号编码写入报文失败时抛出</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;
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if (isSend)
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{
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if (sendPeriod == 0)
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{
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return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
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}
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else
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{
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return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
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}
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}
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return 0;
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}
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/// <summary>
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/// 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）。
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/// </summary>
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/// <param name="channel">通道号</param>
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/// <param name="AMsgName">DBC 中的报文名称</param>
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/// <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>
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/// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
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public static int SetSignalValue(APP_CHANNEL channel, string AMsgName, float sendPeriod = 0)
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{
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var find = DBCParse.MsgDatabase[(byte)channel].First(s => s.msg_name == AMsgName);
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find.ACANFD.FIdxChn = (byte)channel;
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if (sendPeriod == 0)
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{
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return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
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}
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else
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{
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return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
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}
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}
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/// <summary>
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/// 发送自定义报文
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/// </summary>
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/// <returns></returns>
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[Browsable(false)]
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public static int SetMsg(TLIBCANFD msg)
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{
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return TsMasterApi.tsapp_transmit_canfd_async(ref msg);
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}
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/// <summary>
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/// 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）。
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/// </summary>
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/// <param name="channel">通道号</param>
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/// <param name="ID">报文帧 ID（DBC 中定义的 FIdentifier）</param>
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/// <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>
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public static void SetMsg(APP_CHANNEL channel, int ID, byte[] bytes)
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{
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var find = DBCParse.MsgDatabase[(byte)channel].FirstOrDefault(s => s.ACANFD.FIdentifier == ID);
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if (find != null)
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{
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Array.Copy(bytes, 0, find.ACANFD.FData, 0, Math.Min(bytes.Length, find.ACANFD.FData.Length));
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}
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}
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/// <summary>
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/// 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。
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/// </summary>
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/// <param name="AIdxChn">通道号</param>
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/// <param name="AID">报文帧 ID</param>
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/// <param name="AIsTx">是否为发送帧</param>
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/// <param name="AIsExt">是否为扩展帧（29 位 ID）</param>
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/// <param name="AIsRemote">是否为远程帧</param>
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/// <param name="ADLC">数据长度代码（数据字节数，最大 64）</param>
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/// <param name="ADataArray">报文数据数组，超过 64 字节的部分会被截断</param>
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/// <param name="AIsFD">是否为 CANFD 帧，默认 true</param>
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/// <param name="AIsBRS">是否切换数据段波特率（仅 CANFD 有效），默认 false</param>
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/// <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>
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/// <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>
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/// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
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public static int SendMsg(APP_CHANNEL AIdxChn, int AID, bool AIsTx, bool AIsExt,
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bool AIsRemote, byte ADLC, byte[] ADataArray, bool AIsFD = true, bool AIsBRS = false,
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bool isUpdateDBCDatabase = false, float sendPeriod = 0)
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{
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var send = new TLIBCANFD
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{
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FIdxChn = (byte)AIdxChn,
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FProperties = 0,
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FIdentifier = AID,
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FDLC = ADLC,
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FTimeUS = 0uL,
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FData = new byte[64],
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FFDProperties = 0,
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FIsTx = AIsTx,
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FIsError = false,
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FIsExt = AIsExt,
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FIsRemote = AIsRemote,
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FIsFD = AIsFD,
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FIsBRS = AIsBRS
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};
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int length = Math.Min(ADataArray.Length, 64);
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Array.Copy(ADataArray, 0, send.FData, 0, length);
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int re;
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if (sendPeriod == 0)
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{
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re = TsMasterApi.tsapp_transmit_canfd_async(ref send);
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}
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else
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{
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re = TsMasterApi.tsapp_add_cyclic_msg_canfd(ref send, sendPeriod);
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}
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if (isUpdateDBCDatabase)
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{
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var find = DBCParse.MsgDatabase[(byte)AIdxChn].FirstOrDefault(s => s.ACANFD.FIdentifier == send.FIdentifier);
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if (find != null)
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{
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Array.Copy(send.FData, 0, find.ACANFD.FData, 0, Math.Min(ADataArray.Length, find.ACANFD.FData.Length));
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}
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}
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return re;
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}
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/// <summary>
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/// 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。
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/// </summary>
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/// <param name="channel">通道号（0 起始）</param>
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/// <param name="AMsgName">DBC 中的报文名称</param>
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/// <param name="sendPeriod">发送周期（毫秒）</param>
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/// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
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public static int AddCyclicMsg(byte channel, string AMsgName, float sendPeriod)
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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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return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
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}
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/// <summary>
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/// 清除所有循环发送的报文，停止全部周期发送任务。
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/// </summary>
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/// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
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public static int DeleteCyclicMsgs()
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{
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return TsMasterApi.tsapp_delete_cyclic_msgs();
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}
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/// <summary>
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/// 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。
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/// </summary>
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/// <param name="errorCode">TSMaster API 返回的错误代码</param>
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/// <returns>错误描述文本，未知错误代码时返回提示信息</returns>
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public static string GetErrorDescription(int errorCode)
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{
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IntPtr ADesc = IntPtr.Zero;
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TsMasterApi.tsapp_get_error_description(errorCode, ref ADesc);
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if (ADesc == IntPtr.Zero) return $"未知错误代码: {errorCode}";
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// 假设返回的是 ANSI 字符串（如 C 的 char*）
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string? description = Marshal.PtrToStringAnsi(ADesc);
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return description ?? $"未知错误代码: {errorCode}";
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}
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}
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}
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