现场优化2

CANModule/ViewModels/ZLGCANFDViewModel.cs

@@ -347,6 +347,7 @@ namespace CANModule.ViewModels
             DeleteDcAutoLoadCommand = new DelegateCommand(DeleteDcAutoLoad);
             SendCustomMessageCommand = new DelegateCommand(SendCustomMessage);
             _canfd.OnDbcMessageDecoded += OnDbcMessageDecoded;
+            _canfd.OnRawMessageReceived += OnRawMessageReceived;
             LoadCommand = new DelegateCommand(Load);
         }
 
@@ -368,6 +369,7 @@ namespace CANModule.ViewModels
             if (_canfd != null)
             {
                 _canfd.OnDbcMessageDecoded -= OnDbcMessageDecoded;
+                _canfd.OnRawMessageReceived -= OnRawMessageReceived;
             }
             _refreshCts?.Cancel();
         }
@@ -627,6 +629,32 @@ namespace CANModule.ViewModels
             });
         }
 
+        private void OnRawMessageReceived(uint channel, uint canId, byte[] data, ulong timestamp, bool isFD, byte dlcLength)
+        {
+            // 原始报文回调：不依赖 DBC，自定义报文也能收到
+            Application.Current.Dispatcher.BeginInvoke(() =>
+            {
+                // 提取实际 CAN ID（去掉扩展帧标志位）
+                int actualId = (int)(canId & 0x1FFFFFFF);
+                var find = CanMessageList.FirstOrDefault(s => s.报文ID == actualId && s.通道 == channel);
+                if (find != null)
+                {
+                    find.时间戳 = (ulong)DateTimeOffset.Now.ToUnixTimeMilliseconds();
+                    find.长度 = dlcLength;
+                }
+                else
+                {
+                    CanMessageList.Add(new CanMessageShowVM
+                    {
+                        通道 = (byte)channel,
+                        报文ID = actualId,
+                        时间戳 = (ulong)DateTimeOffset.Now.ToUnixTimeMilliseconds(),
+                        长度 = dlcLength
+                    });
+                }
+            });
+        }
+
         private string 十六进制字符串转换(System.Span<byte> s)
         {
             if (s == null || s.Length == 0)