现场优化2

ZLGUSBCANFD/USBCANFD.cs

@@ -56,6 +56,12 @@ namespace ZLGUSBCANFD
         /// </summary>
         public event Action<uint, ZDBC.DBCMessage>? OnDbcMessageDecoded;
 
+        /// <summary>
+        /// 事件：当接收到任意 CAN/CANFD 原始报文时触发（不依赖 DBC，自定义报文也能收到）
+        /// 参数：通道号, 帧ID, 数据, 时间戳(微秒), 是否FD, 数据长度
+        /// </summary>
+        public event Action<uint, uint, byte[], ulong, bool, byte>? OnRawMessageReceived;
+
         public ZLGCANFD(uint deviceType = 76, uint deviceIndex = 0, int maxChannels = 4,
             string abitBaud = "500000", string dbitBaud = "2000000", bool enableTerminalResistance = true)
         {
@@ -297,6 +303,10 @@ namespace ZLGUSBCANFD
                         {
                             IntPtr framePtr = IntPtr.Add(ptrCanBuffer, i * canStructSize);
 
+                            // 触发原始报文事件（不依赖 DBC，自定义报文也能收到）
+                            var rawData = (ZLGCAN.ZCAN_Receive_Data)Marshal.PtrToStructure(framePtr, typeof(ZLGCAN.ZCAN_Receive_Data))!;
+                            OnRawMessageReceived?.Invoke(channelIndex, rawData.frame.can_id, rawData.frame.data, rawData.timestamp, false, rawData.frame.can_dlc);
+
                             // 只锁定当前通道的DBC句柄进行解码，高并发完全不卡顿
                             lock (_channelLocks[channelIndex])
                             {
@@ -319,6 +329,10 @@ namespace ZLGUSBCANFD
                         {
                             IntPtr framePtr = IntPtr.Add(ptrCanFDBuffer, i * canfdStructSize);
 
+                            // 触发原始报文事件（不依赖 DBC，自定义报文也能收到）
+                            var rawFdData = (ZLGCAN.ZCAN_ReceiveFD_Data)Marshal.PtrToStructure(framePtr, typeof(ZLGCAN.ZCAN_ReceiveFD_Data))!;
+                            OnRawMessageReceived?.Invoke(channelIndex, rawFdData.frame.can_id, rawFdData.frame.data, rawFdData.timestamp, true, rawFdData.frame.len);
+
                             lock (_channelLocks[channelIndex])
                             {
                                 if (_isDbcLoadedArray[channelIndex] && ZDBC.ZDBC_Decode(_dbcHandles[channelIndex], ptrDbcMsg, framePtr, 1, 1))