合并冲突

ADP.sln

@@ -35,10 +35,12 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "UpdateInfoMoudle", "UpdateI
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "MonitorModule", "MonitorModule\MonitorModule.csproj", "{850A5BE8-0BC1-4D6A-8351-DD812C9C4427}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "CAN驱动", "CAN驱动\CAN驱动.csproj", "{D1868672-0132-4B1A-A393-C2CF49A25E74}"
-EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DeviceEditModule", "DeviceEditModule\DeviceEditModule.csproj", "{170AD4C1-189D-4FBE-B10D-2A4304527834}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ZLGUSBCANFD", "ZLGUSBCANFD\ZLGUSBCANFD.csproj", "{542FE380-2344-4343-9AC6-F0C587C13B88}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BenchMovementModule", "BenchMovementModule\BenchMovementModule.csproj", "{31F84D0E-3634-4C70-A830-21AF412E3BBF}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -105,14 +107,18 @@ Global
 		{850A5BE8-0BC1-4D6A-8351-DD812C9C4427}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{850A5BE8-0BC1-4D6A-8351-DD812C9C4427}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{850A5BE8-0BC1-4D6A-8351-DD812C9C4427}.Release|Any CPU.Build.0 = Release|Any CPU
-		{D1868672-0132-4B1A-A393-C2CF49A25E74}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{D1868672-0132-4B1A-A393-C2CF49A25E74}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{D1868672-0132-4B1A-A393-C2CF49A25E74}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{D1868672-0132-4B1A-A393-C2CF49A25E74}.Release|Any CPU.Build.0 = Release|Any CPU
 		{170AD4C1-189D-4FBE-B10D-2A4304527834}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{170AD4C1-189D-4FBE-B10D-2A4304527834}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{170AD4C1-189D-4FBE-B10D-2A4304527834}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{170AD4C1-189D-4FBE-B10D-2A4304527834}.Release|Any CPU.Build.0 = Release|Any CPU
+		{542FE380-2344-4343-9AC6-F0C587C13B88}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{542FE380-2344-4343-9AC6-F0C587C13B88}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{542FE380-2344-4343-9AC6-F0C587C13B88}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{542FE380-2344-4343-9AC6-F0C587C13B88}.Release|Any CPU.Build.0 = Release|Any CPU
+		{31F84D0E-3634-4C70-A830-21AF412E3BBF}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{31F84D0E-3634-4C70-A830-21AF412E3BBF}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{31F84D0E-3634-4C70-A830-21AF412E3BBF}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{31F84D0E-3634-4C70-A830-21AF412E3BBF}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -125,5 +131,6 @@ Global
 		{3456C3AC-E7FF-45F8-A68F-BEED9969812C} = {1E92D601-68FC-45F6-8251-BD0F39226E5B}
 		{850A5BE8-0BC1-4D6A-8351-DD812C9C4427} = {1E92D601-68FC-45F6-8251-BD0F39226E5B}
 		{170AD4C1-189D-4FBE-B10D-2A4304527834} = {1E92D601-68FC-45F6-8251-BD0F39226E5B}
+		{31F84D0E-3634-4C70-A830-21AF412E3BBF} = {1E92D601-68FC-45F6-8251-BD0F39226E5B}
 	EndGlobalSection
 EndGlobal

ADP/ADP.csproj

@@ -19,7 +19,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <ProjectReference Include="..\CAN驱动\CAN驱动.csproj" />
+    <ProjectReference Include="..\BenchMovementModule\BenchMovementModule.csproj" />
     <ProjectReference Include="..\Command\Command.csproj" />
     <ProjectReference Include="..\DeviceCommand\DeviceCommand.csproj" />
     <ProjectReference Include="..\DeviceEditModule\DeviceEditModule.csproj" />
@@ -31,6 +31,7 @@
     <ProjectReference Include="..\TestingModule\TestingModule.csproj" />
     <ProjectReference Include="..\UIShare\UIShare.csproj" />
     <ProjectReference Include="..\UpdateInfoMoudle\UpdateInfoMoudle.csproj" />
+    <ProjectReference Include="..\ZLGUSBCANFD\ZLGUSBCANFD.csproj" />
   </ItemGroup>
 
   <ItemGroup>

ADP/App.xaml.cs

@@ -64,10 +64,10 @@ namespace ADP
             LoggerHelper.Progress = new ScopeLogDispatcher(globalInfo);
 
             //初始化数据库
-            //DatabaseConfig.SetTenant(10001);
-            //DatabaseConfig.InitSqlite("127.0.0.1", 3306, "ADP", "root", "123456");
-            //DatabaseConfig.CreateDatabaseAndCheckConnection(createDatabase: true, checkConnection: true);
-            //SqlSugarContext.InitDatabase();
+            DatabaseConfig.SetTenant(10001);
+            DatabaseConfig.InitSqlite();
+            DatabaseConfig.CreateDatabaseAndCheckConnection(createDatabase: true, checkConnection: true);
+            SqlSugarContext.InitDatabase();
             //显示登录窗口
             var login = Container.Resolve<LoginModuleView>();
             var re = Container.Resolve<IRegionManager>();
@@ -84,6 +84,7 @@ namespace ADP
             containerRegistry.RegisterScoped<ScopedContext>();
             containerRegistry.RegisterScoped<DeviceManager>();
             containerRegistry.RegisterSingleton<GlobalInfo>();
+            containerRegistry.RegisterSingleton<HardwareDataBroadcaster>();
             //注册AutoMapper
             var config = new MapperConfiguration(
                  cfg => cfg.AddProfile<AutoMapperProfile>(),
@@ -100,6 +101,8 @@ namespace ADP
             containerRegistry.RegisterInstance<INotificationManager>(NotificationManager);
             // 注册仓储
             containerRegistry.RegisterScoped(typeof(SqlSugarRepository<>));
+            //注册服务
+            containerRegistry.Register<IMonitorValueService, MonitorValueService>();
         }
         //指定模块加载方式(需要手动将模块生成的dll放入Modules文件夹中)
         protected override IModuleCatalog CreateModuleCatalog()

ADP/ViewModels/ShellViewModel.cs

@@ -762,8 +762,9 @@ namespace ADP.ViewModels
                     _regionManager.RequestNavigate(settingRegion, "SettingView", settingParameters);
                     IsLeftDrawerOpen = false;
                     break;
-                case "更新界面":
-                    _regionManager.RequestNavigate("ShellViewManager", "UpdateInfoView");
+                case "台架移动界面":
+                    if (_globalInfo.CurrentScope != "default") return;
+                    _regionManager.RequestNavigate("ShellViewManager", "BenchMovementView");
                     break;
             }
         }

ADP/Views/ShellView.xaml

@@ -61,11 +61,11 @@
                         Style="{StaticResource MaterialDesignFlatButton}"
                         Margin="8" /> 
 
-                <!--<Button Content="更新界面"
+                <Button Content="台架移动界面"
                         Command="{Binding NavigateCommand}"
                         CommandParameter="{Binding Content, RelativeSource={RelativeSource Self}}"
                         Style="{StaticResource MaterialDesignFlatButton}"
-                        Margin="8" />-->
+                        Margin="8" />
             </StackPanel>
         </materialDesign:DrawerHost.LeftDrawerContent>
         <Grid>

BenchMovementModule/BenchMovementModule.cs

@@ -0,0 +1,19 @@
+using System.Reflection;
+using BenchMovementModule.Views;
+
+namespace BenchMovementModule
+{
+    public class BenchMovementModule : IModule
+    {
+        public void OnInitialized(IContainerProvider containerProvider)
+        {
+            IRegionManager regionManager = containerProvider.Resolve<IRegionManager>();
+            regionManager.RegisterViewWithRegion("ShellViewManager", typeof(BenchMovementView));
+        }
+
+        public void RegisterTypes(IContainerRegistry containerRegistry)
+        {
+            containerRegistry.RegisterForNavigation<BenchMovementView>("BenchMovementView");
+        }
+    }
+}

BenchMovementModule/BenchMovementModule.csproj

@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net8.0-windows</TargetFramework>
+    <Nullable>enable</Nullable>
+    <UseWPF>true</UseWPF>
+    <ImplicitUsings>enable</ImplicitUsings>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\UIShare\UIShare.csproj" />
+  </ItemGroup>
+
+</Project>

BenchMovementModule/ViewModels/BenchMovementViewModel.cs

@@ -0,0 +1,413 @@
+using System;
+using System.Windows.Input;
+using UIShare.ViewModelBase;
+
+namespace BenchMovementModule.ViewModels
+{
+    public class BenchMovementViewModel : NavigateViewModelBase, IRegionMemberLifetime, IDisposable
+    {
+        #region 属性与通知字段
+
+        public bool KeepAlive => true;
+
+        // --- 1. 台架位置区 ---
+        private double _posX;
+        public double PosX
+        {
+            get => _posX;
+            set => SetProperty(ref _posX, value);
+        }
+
+        private double _posY;
+        public double PosY
+        {
+            get => _posY;
+            set => SetProperty(ref _posY, value);
+        }
+
+        private double _posZ;
+        public double PosZ
+        {
+            get => _posZ;
+            set => SetProperty(ref _posZ, value);
+        }
+
+        // --- 2. 信号回读区 ---
+        private double _pos1X;
+        public double Pos1X
+        {
+            get => _pos1X;
+            set => SetProperty(ref _pos1X, value);
+        }
+
+        private int _pos1Quality;
+        public int Pos1Quality
+        {
+            get => _pos1Quality;
+            set => SetProperty(ref _pos1Quality, value);
+        }
+
+        private double _pos2X;
+        public double Pos2X
+        {
+            get => _pos2X;
+            set => SetProperty(ref _pos2X, value);
+        }
+
+        private int _pos2Quality;
+        public int Pos2Quality
+        {
+            get => _pos2Quality;
+            set => SetProperty(ref _pos2Quality, value);
+        }
+
+        private double _pos1Y;
+        public double Pos1Y
+        {
+            get => _pos1Y;
+            set => SetProperty(ref _pos1Y, value);
+        }
+
+        private double _pos2Y;
+        public double Pos2Y
+        {
+            get => _pos2Y;
+            set => SetProperty(ref _pos2Y, value);
+        }
+
+        // --- 3. 扫描参数区 ---
+        private double _scanStepX = 10;
+        public double ScanStepX
+        {
+            get => _scanStepX;
+            set => SetProperty(ref _scanStepX, value);
+        }
+
+        private double _scanStartX = -120;
+        public double ScanStartX
+        {
+            get => _scanStartX;
+            set => SetProperty(ref _scanStartX, value);
+        }
+
+        private double _scanEndX = 120;
+        public double ScanEndX
+        {
+            get => _scanEndX;
+            set => SetProperty(ref _scanEndX, value);
+        }
+
+        private double _scanStepY = 10;
+        public double ScanStepY
+        {
+            get => _scanStepY;
+            set => SetProperty(ref _scanStepY, value);
+        }
+
+        private double _scanStartY = -120;
+        public double ScanStartY
+        {
+            get => _scanStartY;
+            set => SetProperty(ref _scanStartY, value);
+        }
+
+        private double _scanEndY = 120;
+        public double ScanEndY
+        {
+            get => _scanEndY;
+            set => SetProperty(ref _scanEndY, value);
+        }
+
+        private double _scanStepZ = 1;
+        public double ScanStepZ
+        {
+            get => _scanStepZ;
+            set => SetProperty(ref _scanStepZ, value);
+        }
+
+        private double _scanStartZ = 0;
+        public double ScanStartZ
+        {
+            get => _scanStartZ;
+            set => SetProperty(ref _scanStartZ, value);
+        }
+
+        private double _scanEndZ = 0;
+        public double ScanEndZ
+        {
+            get => _scanEndZ;
+            set => SetProperty(ref _scanEndZ, value);
+        }
+
+        // --- 4. 寸动参数区 ---
+        private double _jogX;
+        public double JogX
+        {
+            get => _jogX;
+            set => SetProperty(ref _jogX, value);
+        }
+
+        private double _jogY;
+        public double JogY
+        {
+            get => _jogY;
+            set => SetProperty(ref _jogY, value);
+        }
+
+        private double _jogZ;
+        public double JogZ
+        {
+            get => _jogZ;
+            set => SetProperty(ref _jogZ, value);
+        }
+
+        // --- 5. 设置页：网络及PLC参数 ---
+        private string _plcIp = "192.168.0.30";
+        public string PlcIp
+        {
+            get => _plcIp;
+            set => SetProperty(ref _plcIp, value);
+        }
+
+        private int _plcPort = 502;
+        public int PlcPort
+        {
+            get => _plcPort;
+            set => SetProperty(ref _plcPort, value);
+        }
+
+        // --- 6. 设置页：速度与零点设定 ---
+        private double _speedX;
+        public double SpeedX
+        {
+            get => _speedX;
+            set => SetProperty(ref _speedX, value);
+        }
+
+        private double _speedY;
+        public double SpeedY
+        {
+            get => _speedY;
+            set => SetProperty(ref _speedY, value);
+        }
+
+        private double _speedZ;
+        public double SpeedZ
+        {
+            get => _speedZ;
+            set => SetProperty(ref _speedZ, value);
+        }
+
+        private double _zeroX;
+        public double ZeroX
+        {
+            get => _zeroX;
+            set => SetProperty(ref _zeroX, value);
+        }
+
+        private double _zeroY;
+        public double ZeroY
+        {
+            get => _zeroY;
+            set => SetProperty(ref _zeroY, value);
+        }
+
+        private double _zeroZ;
+        public double ZeroZ
+        {
+            get => _zeroZ;
+            set => SetProperty(ref _zeroZ, value);
+        }
+
+        // --- 7. 设置页：CAN设定信号映射 ---
+        private int _canChannel = 0;
+        public int CanChannel
+        {
+            get => _canChannel;
+            set => SetProperty(ref _canChannel, value);
+        }
+
+        private string _canMsgId = "0X0";
+        public string CanMsgId
+        {
+            get => _canMsgId;
+            set => SetProperty(ref _canMsgId, value);
+        }
+
+        private string _canMsgName = string.Empty;
+        public string CanMsgName
+        {
+            get => _canMsgName;
+            set => SetProperty(ref _canMsgName, value);
+        }
+
+        private string _sigPos1X = string.Empty;
+        public string SigPos1X
+        {
+            get => _sigPos1X;
+            set => SetProperty(ref _sigPos1X, value);
+        }
+
+        private string _sigPos2X = string.Empty;
+        public string SigPos2X
+        {
+            get => _sigPos2X;
+            set => SetProperty(ref _sigPos2X, value);
+        }
+
+        private string _sigPos1Y = string.Empty;
+        public string SigPos1Y
+        {
+            get => _sigPos1Y;
+            set => SetProperty(ref _sigPos1Y, value);
+        }
+
+        private string _sigPos2Y = string.Empty;
+        public string SigPos2Y
+        {
+            get => _sigPos2Y;
+            set => SetProperty(ref _sigPos2Y, value);
+        }
+
+        private string _sigPos1Quality = string.Empty;
+        public string SigPos1Quality
+        {
+            get => _sigPos1Quality;
+            set => SetProperty(ref _sigPos1Quality, value);
+        }
+
+        private string _sigPos2Quality = string.Empty;
+        public string SigPos2Quality
+        {
+            get => _sigPos2Quality;
+            set => SetProperty(ref _sigPos2Quality, value);
+        }
+
+        #endregion
+
+        #region 命令
+        // 扫描控制面板命令
+        public ICommand StartScanCommand { get; }
+        public ICommand StopScanCommand { get; }
+        public ICommand GoHomeCommand { get; }
+
+        // 寸动执行单轴移动
+        public ICommand MoveXCommand { get; }
+        public ICommand MoveYCommand { get; }
+        public ICommand MoveZCommand { get; }
+
+        // 全局控制
+        public ICommand EmergencyStopCommand { get; }
+
+        // 参数设置应用命令
+        public ICommand ApplyNetworkCommand { get; }
+        public ICommand SetSpeedCommand { get; }
+        public ICommand SetZeroCommand { get; }
+        #endregion
+
+        #region 私有字段
+        private readonly IContainerProvider _containerProvider;
+        private bool _isInitiated = false;
+        private string _testStatus = string.Empty;
+        #endregion
+
+        public BenchMovementViewModel(IContainerProvider containerProvider) : base(containerProvider)
+        {
+            _containerProvider = containerProvider;
+
+            // 初始化扫描控制命令绑定
+            StartScanCommand = new DelegateCommand(OnStartScan);
+            StopScanCommand = new DelegateCommand(OnStopScan);
+            GoHomeCommand = new DelegateCommand(OnGoHome);
+
+            // 初始化寸动命令绑定
+            MoveXCommand = new DelegateCommand(OnMoveX);
+            MoveYCommand = new DelegateCommand(OnMoveY);
+            MoveZCommand = new DelegateCommand(OnMoveZ);
+
+            // 急停与设置保存
+            EmergencyStopCommand = new DelegateCommand(OnEmergencyStop);
+            ApplyNetworkCommand = new DelegateCommand(OnApplyNetwork);
+            SetSpeedCommand = new DelegateCommand(OnSetSpeed);
+            SetZeroCommand = new DelegateCommand(OnSetZero);
+        }
+
+        #region 命令处理方法
+
+        private void OnStartScan()
+        {
+            // TODO: 等协议到了处理开始扫描
+        }
+
+        private void OnStopScan()
+        {
+            // TODO: 等协议到了处理停止扫描
+        }
+
+        private void OnGoHome()
+        {
+            // TODO: 等协议到了处理台架回原点逻辑
+        }
+
+        private void OnMoveX()
+        {
+            // TODO: 执行单轴X向绝对位置寸动
+        }
+
+        private void OnMoveY()
+        {
+            // TODO: 执行单轴Y向绝对位置寸动
+        }
+
+        private void OnMoveZ()
+        {
+            // TODO: 执行单轴Z向绝对位置寸动
+        }
+
+        private void OnEmergencyStop()
+        {
+            // TODO: 全局急停高优先级报文/IO发送
+        }
+
+        private void OnApplyNetwork()
+        {
+            // TODO: 应用PLC的IP和端口网络连接配置
+        }
+
+        private void OnSetSpeed()
+        {
+            // TODO: 发送三轴移动速度设定参数
+        }
+
+        private void OnSetZero()
+        {
+            // TODO: 发送台架绝对位置零点校准设定
+        }
+
+        #endregion
+
+        #region 重写方法与生命周期导航
+
+        public override void OnNavigatedTo(NavigationContext navigationContext)
+        {
+            base.OnNavigatedTo(navigationContext);
+
+            if (!_isInitiated && navigationContext.Parameters.ContainsKey("Name"))
+            {
+                _testStatus = navigationContext.Parameters.GetValue<string>("Name");
+
+                // TODO: 若后续需要从全局环境 Scope 字典中加载参数配置，可以在此处对齐获取：
+                // var scope = _globalInfo.ScopeDic[_testStatus];
+
+                _isInitiated = true;
+            }
+        }
+
+        public void Dispose()
+        {
+            // 用于界面关闭或Region注销时的资源释放（例如解除事件订阅、断开临时Socket通道、清空通信缓冲）
+        }
+
+        #endregion
+    }
+}

BenchMovementModule/Views/BenchMovementView.xaml

@@ -0,0 +1,533 @@
+<UserControl x:Class="BenchMovementModule.Views.BenchMovementView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+             xmlns:i="http://schemas.microsoft.com/xaml/behaviors"
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+             mc:Ignorable="d"
+             xmlns:prism="http://prismlibrary.com/"
+             xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
+             prism:ViewModelLocator.AutoWireViewModel="True"
+             d:DesignHeight="1080" d:DesignWidth="1920">
+
+    <UserControl.Resources>
+        <Style TargetType="TextBlock" x:Key="HeaderStyle">
+            <Setter Property="Foreground" Value="#333333"/>
+            <Setter Property="FontSize" Value="18"/>
+            <Setter Property="FontWeight" Value="Bold"/>
+            <Setter Property="Margin" Value="2,2,2,5"/>
+        </Style>
+
+        <Style TargetType="TextBlock" x:Key="LabelStyle">
+            <Setter Property="Foreground" Value="#555555"/>
+            <Setter Property="FontSize" Value="14"/>
+            <Setter Property="VerticalAlignment" Value="Center"/>
+            <Setter Property="Margin" Value="5"/>
+        </Style>
+
+        <Style TargetType="TextBlock" x:Key="ValueStyle">
+            <Setter Property="Foreground" Value="#0056B3"/>
+            <Setter Property="FontSize" Value="26"/>
+            <Setter Property="FontWeight" Value="Bold"/>
+            <Setter Property="HorizontalAlignment" Value="Center"/>
+            <Setter Property="VerticalAlignment" Value="Center"/>
+        </Style>
+
+        <Style TargetType="TextBox">
+            <Setter Property="Background" Value="White"/>
+            <Setter Property="Foreground" Value="#333333"/>
+            <Setter Property="BorderBrush" Value="#CCCCCC"/>
+            <Setter Property="BorderThickness" Value="1"/>
+            <Setter Property="FontSize" Value="14"/>
+            <Setter Property="Padding" Value="4,2"/>
+            <Setter Property="Height" Value="28"/>
+            <Setter Property="VerticalContentAlignment" Value="Center"/>
+        </Style>
+
+        <!-- 极具机械/按钮交互感的现代工业 Button 样式 -->
+        <Style TargetType="Button">
+            <Setter Property="Background" Value="#F5F5F5"/>
+            <Setter Property="Foreground" Value="#333333"/>
+            <Setter Property="BorderBrush" Value="#B8B8B8"/>
+            <Setter Property="BorderThickness" Value="1"/>
+            <Setter Property="Padding" Value="12,5"/>
+            <Setter Property="FontSize" Value="14"/>
+            <Setter Property="Height" Value="34"/>
+            <Setter Property="Margin" Value="0,0,0,8"/>
+            <Setter Property="Template">
+                <Setter.Value>
+                    <ControlTemplate TargetType="Button">
+                        <Border x:Name="btnBorder" 
+                                Background="{TemplateBinding Background}" 
+                                BorderBrush="{TemplateBinding BorderBrush}" 
+                                BorderThickness="{TemplateBinding BorderThickness}" 
+                                CornerRadius="3">
+                            <ContentPresenter HorizontalAlignment="Center" VerticalAlignment="Center"/>
+                        </Border>
+                        <ControlTemplate.Triggers>
+                            <!-- 鼠标悬停：变亮并加深边框 -->
+                            <Trigger Property="IsMouseOver" Value="True">
+                                <Setter TargetName="btnBorder" Property="Background" Value="#EAEAEA"/>
+                                <Setter TargetName="btnBorder" Property="BorderBrush" Value="#4A90E2"/>
+                            </Trigger>
+                            <!-- 鼠标按下：明显的下凹和变暗交互感 -->
+                            <Trigger Property="IsPressed" Value="True">
+                                <Setter TargetName="btnBorder" Property="Background" Value="#DCDCDC"/>
+                                <Setter TargetName="btnBorder" Property="BorderBrush" Value="#2A6099"/>
+                            </Trigger>
+                        </ControlTemplate.Triggers>
+                    </ControlTemplate>
+                </Setter.Value>
+            </Setter>
+        </Style>
+
+        <!-- 针对特殊控制按钮单独定制的样式 -->
+        <Style TargetType="Button" x:Key="StopButtonStyle" BasedOn="{StaticResource {x:Type Button}}">
+            <Setter Property="Background" Value="#FFF0F0"/>
+            <Setter Property="Foreground" Value="#C00000"/>
+            <Setter Property="BorderBrush" Value="#E0A0A0"/>
+            <Setter Property="Template">
+                <Setter.Value>
+                    <ControlTemplate TargetType="Button">
+                        <Border x:Name="btnBorder" Background="{TemplateBinding Background}" BorderBrush="{TemplateBinding BorderBrush}" BorderThickness="1" CornerRadius="3">
+                            <ContentPresenter HorizontalAlignment="Center" VerticalAlignment="Center"/>
+                        </Border>
+                        <ControlTemplate.Triggers>
+                            <Trigger Property="IsMouseOver" Value="True">
+                                <Setter TargetName="btnBorder" Property="Background" Value="#FFE0E0"/>
+                            </Trigger>
+                            <Trigger Property="IsPressed" Value="True">
+                                <Setter TargetName="btnBorder" Property="Background" Value="#F0C0C0"/>
+                            </Trigger>
+                        </ControlTemplate.Triggers>
+                    </ControlTemplate>
+                </Setter.Value>
+            </Setter>
+        </Style>
+
+        <Style TargetType="Button" x:Key="EmergencyButtonStyle" BasedOn="{StaticResource {x:Type Button}}">
+            <Setter Property="Background" Value="#D9534F"/>
+            <Setter Property="Foreground" Value="White"/>
+            <Setter Property="BorderBrush" Value="#D43F3A"/>
+            <Setter Property="Template">
+                <Setter.Value>
+                    <ControlTemplate TargetType="Button">
+                        <Border x:Name="btnBorder" Background="{TemplateBinding Background}" BorderBrush="{TemplateBinding BorderBrush}" BorderThickness="1" CornerRadius="4">
+                            <ContentPresenter HorizontalAlignment="Center" VerticalAlignment="Center"/>
+                        </Border>
+                        <ControlTemplate.Triggers>
+                            <Trigger Property="IsMouseOver" Value="True">
+                                <Setter TargetName="btnBorder" Property="Background" Value="#C9302C"/>
+                            </Trigger>
+                            <Trigger Property="IsPressed" Value="True">
+                                <Setter TargetName="btnBorder" Property="Background" Value="#AC2925"/>
+                            </Trigger>
+                        </ControlTemplate.Triggers>
+                    </ControlTemplate>
+                </Setter.Value>
+            </Setter>
+        </Style>
+
+        <Style TargetType="GroupBox">
+            <Setter Property="BorderBrush" Value="#D0D0D0"/>
+            <Setter Property="BorderThickness" Value="1"/>
+            <Setter Property="Margin" Value="6"/>
+            <Setter Property="Padding" Value="10"/>
+        </Style>
+    </UserControl.Resources>
+
+    <!-- 浅灰、偏白色工业背景 -->
+    <Grid Background="#F0F2F5">
+        <TabControl Background="Transparent" BorderThickness="0">
+            <TabControl.Resources>
+                <Style TargetType="TabItem">
+                    <Setter Property="Background" Value="#E0E4E8"/>
+                    <Setter Property="Foreground" Value="#333333"/>
+                    <Setter Property="FontSize" Value="15"/>
+                    <Setter Property="FontWeight" Value="SemiBold"/>
+                    <Setter Property="Padding" Value="25,6"/>
+                    <Setter Property="Margin" Value="2,0,2,0"/>
+                </Style>
+            </TabControl.Resources>
+
+            <!-- ======================= 1. 主页标签页 ======================= -->
+            <TabItem Header="标签">
+                <Grid Margin="10">
+                    <Grid.RowDefinitions>
+                        <RowDefinition Height="2*"/>
+                        <RowDefinition Height="3*"/>
+                        <RowDefinition Height="2*"/>
+                    </Grid.RowDefinitions>
+                    <Grid.ColumnDefinitions>
+                        <ColumnDefinition Width="4*"/>
+                        <ColumnDefinition Width="1*"/>
+                    </Grid.ColumnDefinitions>
+
+                    <!-- 左上：台架位置 & 信号回读 -->
+                    <Grid Grid.Row="0" Grid.Column="0">
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition Width="1*"/>
+                            <ColumnDefinition Width="1.5*"/>
+                        </Grid.ColumnDefinitions>
+
+                        <!-- 台架位置 -->
+                        <GroupBox Grid.Column="0">
+                            <GroupBox.Header>
+                                <TextBlock Text="台架位置" Style="{StaticResource HeaderStyle}"/>
+                            </GroupBox.Header>
+                            <Grid>
+                                <Grid.RowDefinitions>
+                                    <RowDefinition/>
+                                    <RowDefinition/>
+                                    <RowDefinition/>
+                                </Grid.RowDefinitions>
+                                <Grid.ColumnDefinitions>
+                                    <ColumnDefinition Width="Auto"/>
+                                    <ColumnDefinition Width="*"/>
+                                </Grid.ColumnDefinitions>
+                                <TextBlock Grid.Row="0" Grid.Column="0" Text="X (mm)" Style="{StaticResource LabelStyle}"/>
+                                <TextBlock Grid.Row="0" Grid.Column="1" Text="{Binding PosX}" Style="{StaticResource ValueStyle}"/>
+
+                                <TextBlock Grid.Row="1" Grid.Column="0" Text="Y (mm)" Style="{StaticResource LabelStyle}"/>
+                                <TextBlock Grid.Row="1" Grid.Column="1" Text="{Binding PosY}" Style="{StaticResource ValueStyle}"/>
+
+                                <TextBlock Grid.Row="2" Grid.Column="0" Text="Z (mm)" Style="{StaticResource LabelStyle}"/>
+                                <TextBlock Grid.Row="2" Grid.Column="1" Text="{Binding PosZ}" Style="{StaticResource ValueStyle}"/>
+                            </Grid>
+                        </GroupBox>
+
+                        <!-- 信号回读 -->
+                        <GroupBox Grid.Column="1">
+                            <GroupBox.Header>
+                                <TextBlock Text="信号回读" Style="{StaticResource HeaderStyle}"/>
+                            </GroupBox.Header>
+                            <UniformGrid Columns="2">
+                                <StackPanel Orientation="Horizontal" Margin="5">
+                                    <TextBlock Text="POS1_X(mm): " Style="{StaticResource LabelStyle}"/>
+                                    <TextBlock Text="{Binding Pos1X}" Foreground="#0056B3" FontSize="18" FontWeight="Bold" VerticalAlignment="Center"/>
+                                </StackPanel>
+                                <StackPanel Orientation="Horizontal" Margin="5">
+                                    <TextBlock Text="POS1_Quality: " Style="{StaticResource LabelStyle}"/>
+                                    <TextBlock Text="{Binding Pos1Quality}" Foreground="#0056B3" FontSize="18" FontWeight="Bold" VerticalAlignment="Center"/>
+                                </StackPanel>
+                                <StackPanel Orientation="Horizontal" Margin="5">
+                                    <TextBlock Text="POS2_X(mm): " Style="{StaticResource LabelStyle}"/>
+                                    <TextBlock Text="{Binding Pos2X}" Foreground="#0056B3" FontSize="18" FontWeight="Bold" VerticalAlignment="Center"/>
+                                </StackPanel>
+                                <StackPanel Orientation="Horizontal" Margin="5">
+                                    <TextBlock Text="POS2_Quality: " Style="{StaticResource LabelStyle}"/>
+                                    <TextBlock Text="{Binding Pos2Quality}" Foreground="#0056B3" FontSize="18" FontWeight="Bold" VerticalAlignment="Center"/>
+                                </StackPanel>
+                                <StackPanel Orientation="Horizontal" Margin="5">
+                                    <TextBlock Text="POS1_Y(mm): " Style="{StaticResource LabelStyle}"/>
+                                    <TextBlock Text="{Binding Pos1Y}" Foreground="#0056B3" FontSize="18" FontWeight="Bold" VerticalAlignment="Center"/>
+                                </StackPanel>
+                                <StackPanel Orientation="Horizontal" Margin="5">
+                                    <TextBlock Text="POS2_Y(mm): " Style="{StaticResource LabelStyle}"/>
+                                    <TextBlock Text="{Binding Pos2Y}" Foreground="#0056B3" FontSize="18" FontWeight="Bold" VerticalAlignment="Center"/>
+                                </StackPanel>
+                            </UniformGrid>
+                        </GroupBox>
+                    </Grid>
+
+                    <!-- 左中：扫描参数 -->
+                    <GroupBox Grid.Row="1" Grid.Column="0">
+                        <GroupBox.Header>
+                            <TextBlock Text="扫描参数" Style="{StaticResource HeaderStyle}"/>
+                        </GroupBox.Header>
+                        <Grid>
+                            <Grid.RowDefinitions>
+                                <RowDefinition/>
+                                <RowDefinition/>
+                                <RowDefinition/>
+                            </Grid.RowDefinitions>
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition Width="Auto"/>
+                                <ColumnDefinition Width="*"/>
+                                <ColumnDefinition Width="Auto"/>
+                                <ColumnDefinition Width="*"/>
+                                <ColumnDefinition Width="Auto"/>
+                                <ColumnDefinition Width="*"/>
+                            </Grid.ColumnDefinitions>
+
+                            <!-- X轴 -->
+                            <TextBlock Grid.Row="0" Grid.Column="0" Text="X移动步长(mm)" Style="{StaticResource LabelStyle}"/>
+                            <TextBox Grid.Row="0" Grid.Column="1" Text="{Binding ScanStepX}" Margin="5"/>
+                            <TextBlock Grid.Row="0" Grid.Column="2" Text="X起始位置(mm)" Style="{StaticResource LabelStyle}"/>
+                            <TextBox Grid.Row="0" Grid.Column="3" Text="{Binding ScanStartX}" Margin="5"/>
+                            <TextBlock Grid.Row="0" Grid.Column="4" Text="X终止位置(mm)" Style="{StaticResource LabelStyle}"/>
+                            <TextBox Grid.Row="0" Grid.Column="5" Text="{Binding ScanEndX}" Margin="5"/>
+
+                            <!-- Y轴 -->
+                            <TextBlock Grid.Row="1" Grid.Column="0" Text="Y移动步长(mm)" Style="{StaticResource LabelStyle}"/>
+                            <TextBox Grid.Row="1" Grid.Column="1" Text="{Binding ScanStepY}" Margin="5"/>
+                            <TextBlock Grid.Row="1" Grid.Column="2" Text="Y起始位置(mm)" Style="{StaticResource LabelStyle}"/>
+                            <TextBox Grid.Row="1" Grid.Column="3" Text="{Binding ScanStartY}" Margin="5"/>
+                            <TextBlock Grid.Row="1" Grid.Column="4" Text="Y终止位置(mm)" Style="{StaticResource LabelStyle}"/>
+                            <TextBox Grid.Row="1" Grid.Column="5" Text="{Binding ScanEndY}" Margin="5"/>
+
+                            <!-- Z轴 -->
+                            <TextBlock Grid.Row="2" Grid.Column="0" Text="Z移动步长(mm)" Style="{StaticResource LabelStyle}"/>
+                            <TextBox Grid.Row="2" Grid.Column="1" Text="{Binding ScanStepZ}" Margin="5"/>
+                            <TextBlock Grid.Row="2" Grid.Column="2" Text="Z起始位置(mm)" Style="{StaticResource LabelStyle}"/>
+                            <TextBox Grid.Row="2" Grid.Column="3" Text="{Binding ScanStartZ}" Margin="5"/>
+                            <TextBlock Grid.Row="2" Grid.Column="4" Text="Z终止位置(mm)" Style="{StaticResource LabelStyle}"/>
+                            <TextBox Grid.Row="2" Grid.Column="5" Text="{Binding ScanEndZ}" Margin="5"/>
+                        </Grid>
+                    </GroupBox>
+
+                    <!-- 左下：寸动参数与雷达位置图 -->
+                    <Grid Grid.Row="2" Grid.Column="0">
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition Width="1*"/>
+                            <ColumnDefinition Width="1*"/>
+                        </Grid.ColumnDefinitions>
+
+                        <!-- 寸动参数 -->
+                        <GroupBox Grid.Column="0">
+                            <GroupBox.Header>
+                                <TextBlock Text="寸动参数" Style="{StaticResource HeaderStyle}"/>
+                            </GroupBox.Header>
+                            <Grid>
+                                <Grid.RowDefinitions>
+                                    <RowDefinition/>
+                                    <RowDefinition/>
+                                    <RowDefinition/>
+                                </Grid.RowDefinitions>
+                                <Grid.ColumnDefinitions>
+                                    <ColumnDefinition Width="Auto"/>
+                                    <ColumnDefinition Width="*"/>
+                                </Grid.ColumnDefinitions>
+                                <TextBlock Grid.Row="0" Grid.Column="0" Text="X移动位置(mm)" Style="{StaticResource LabelStyle}"/>
+                                <TextBox Grid.Row="0" Grid.Column="1" Text="{Binding JogX}" Margin="5"/>
+
+                                <TextBlock Grid.Row="1" Grid.Column="0" Text="Y移动位置(mm)" Style="{StaticResource LabelStyle}"/>
+                                <TextBox Grid.Row="1" Grid.Column="1" Text="{Binding JogY}" Margin="5"/>
+
+                                <TextBlock Grid.Row="2" Grid.Column="0" Text="Z移动位置(mm)" Style="{StaticResource LabelStyle}"/>
+                                <TextBox Grid.Row="2" Grid.Column="1" Text="{Binding JogZ}" Margin="5"/>
+                            </Grid>
+                        </GroupBox>
+
+                        <!-- 坐标示意图 -->
+                        <GroupBox Grid.Column="1">
+                            <GroupBox.Header>
+                                <TextBlock Text="台架现在位置" Style="{StaticResource HeaderStyle}"/>
+                            </GroupBox.Header>
+                            <Grid Margin="5" Background="White">
+                                <!-- 十字坐标轴 -->
+                                <Line X1="0" Y1="50" X2="200" Y2="50" Stroke="#B0B0B0" StrokeThickness="1" HorizontalAlignment="Center" VerticalAlignment="Center" Width="200" Height="100"/>
+                                <Line X1="100" Y1="0" X2="100" Y2="100" Stroke="#B0B0B0" StrokeThickness="1" HorizontalAlignment="Center" VerticalAlignment="Center" Width="200" Height="100"/>
+                                <!-- 轴向文本标签 -->
+                                <TextBlock Text="X+" HorizontalAlignment="Center" VerticalAlignment="Top" Foreground="#666666" Margin="0,2,0,0"/>
+                                <TextBlock Text="X-" HorizontalAlignment="Center" VerticalAlignment="Bottom" Foreground="#666666" Margin="0,0,0,2"/>
+                                <TextBlock Text="Y+" HorizontalAlignment="Left" VerticalAlignment="Center" Foreground="#666666" Margin="2,0,0,0"/>
+                                <TextBlock Text="Y-" HorizontalAlignment="Right" VerticalAlignment="Center" Foreground="#666666" Margin="0,0,2,0"/>
+
+                                <!-- 台架模拟中心点 -->
+                                <Border Width="65" Height="35" Background="#E9ECEF" BorderBrush="#999999" BorderThickness="1" HorizontalAlignment="Center" VerticalAlignment="Center" CornerRadius="2">
+                                    <TextBlock Text="台架位置" Foreground="#333333" FontSize="11" HorizontalAlignment="Center" VerticalAlignment="Center"/>
+                                </Border>
+                            </Grid>
+                        </GroupBox>
+                    </Grid>
+
+                    <!-- 右侧：控制面板（除去Spacing，增加Margin防粘连） -->
+                    <Grid Grid.Row="0" Grid.RowSpan="3" Grid.Column="1" Margin="6,6,0,6">
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="Auto"/>
+                            <RowDefinition Height="*"/>
+                            <RowDefinition Height="Auto"/>
+                        </Grid.RowDefinitions>
+
+                        <!-- 扫描路径操作 -->
+                        <StackPanel Grid.Row="0">
+                            <Button Content="▶ 开始扫描" Command="{Binding StartScanCommand}"/>
+                            <Button Content="■ 停止扫描" Style="{StaticResource StopButtonStyle}" Command="{Binding StopScanCommand}"/>
+                            <Button Content="↩ 回原点" Command="{Binding GoHomeCommand}"/>
+                            <TextBlock Text="扫描路径" Style="{StaticResource LabelStyle}" Margin="0,10,0,4"/>
+                            <ComboBox Height="30" Background="White" Foreground="#333333" SelectedIndex="0" Margin="0,0,0,8" materialDesign:HintAssist.Hint="">
+                                <ComboBoxItem Content="配置文件1.xml"/>
+                            </ComboBox>
+                        </StackPanel>
+
+                        <!-- 寸动单轴移动按钮组 -->
+                        <Grid Grid.Row="1">
+                            <StackPanel VerticalAlignment="Center">
+                                <Button Content="↕ X 移动" Command="{Binding MoveXCommand}"/>
+                                <Button Content="↔ Y 移动" Command="{Binding MoveYCommand}"/>
+                                <Button Content="↕ Z 移动" Command="{Binding MoveZCommand}"/>
+                            </StackPanel>
+                        </Grid>
+
+                        <!-- 急停 -->
+                        <Button Grid.Row="2" Content="❌ 急 停" Style="{StaticResource EmergencyButtonStyle}" FontWeight="Bold" FontSize="18" Height="55" Margin="0" Command="{Binding EmergencyStopCommand}"/>
+                    </Grid>
+                </Grid>
+            </TabItem>
+
+            <!-- ======================= 2. 设置标签页 ======================= -->
+            <TabItem Header="设置">
+                <ScrollViewer VerticalScrollBarVisibility="Auto">
+                    <StackPanel Margin="10">
+
+                        <!-- 台架接口配置 -->
+                        <GroupBox>
+                            <GroupBox.Header>
+                                <TextBlock Text="台架接口" Style="{StaticResource HeaderStyle}"/>
+                            </GroupBox.Header>
+                            <StackPanel Orientation="Horizontal" Margin="5">
+                                <StackPanel Orientation="Horizontal" Margin="0,0,15,0">
+                                    <TextBlock Text="IP: " Style="{StaticResource LabelStyle}"/>
+                                    <TextBox Width="150" Text="{Binding PlcIp}"/>
+                                </StackPanel>
+                                <StackPanel Orientation="Horizontal" Margin="0,0,15,0">
+                                    <TextBlock Text="端口: " Style="{StaticResource LabelStyle}"/>
+                                    <TextBox Width="80" Text="{Binding PlcPort}"/>
+                                </StackPanel>
+                                <Button Content="应 用" Width="90" Margin="0" Command="{Binding ApplyNetworkCommand}"/>
+                            </StackPanel>
+                        </GroupBox>
+
+                        <!-- 移动速度与零点设定 -->
+                        <Grid>
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition Width="1*"/>
+                                <ColumnDefinition Width="1*"/>
+                            </Grid.ColumnDefinitions>
+
+                            <!-- 移动速度设定 -->
+                            <GroupBox Grid.Column="0">
+                                <GroupBox.Header>
+                                    <TextBlock Text="移动速度设定" Style="{StaticResource HeaderStyle}"/>
+                                </GroupBox.Header>
+                                <StackPanel Margin="5">
+                                    <Grid Margin="0,0,0,6">
+                                        <Grid.ColumnDefinitions>
+                                            <ColumnDefinition Width="140"/>
+                                            <ColumnDefinition Width="*"/>
+                                        </Grid.ColumnDefinitions>
+                                        <TextBlock Text="X移动速度(mm/s)" Style="{StaticResource LabelStyle}"/>
+                                        <TextBox Grid.Column="1" Text="{Binding SpeedX}"/>
+                                    </Grid>
+                                    <Grid Margin="0,0,0,6">
+                                        <Grid.ColumnDefinitions>
+                                            <ColumnDefinition Width="140"/>
+                                            <ColumnDefinition Width="*"/>
+                                        </Grid.ColumnDefinitions>
+                                        <TextBlock Text="Y移动速度(mm/s)" Style="{StaticResource LabelStyle}"/>
+                                        <TextBox Grid.Column="1" Text="{Binding SpeedY}"/>
+                                    </Grid>
+                                    <Grid Margin="0,0,0,10">
+                                        <Grid.ColumnDefinitions>
+                                            <ColumnDefinition Width="140"/>
+                                            <ColumnDefinition Width="*"/>
+                                        </Grid.ColumnDefinitions>
+                                        <TextBlock Text="Z移动速度(mm/s)" Style="{StaticResource LabelStyle}"/>
+                                        <TextBox Grid.Column="1" Text="{Binding SpeedZ}"/>
+                                    </Grid>
+                                    <Button Content="速度设定" Width="110" HorizontalAlignment="Left" Margin="0" Command="{Binding SetSpeedCommand}"/>
+                                </StackPanel>
+                            </GroupBox>
+
+                            <!-- 零点设定 -->
+                            <GroupBox Grid.Column="1">
+                                <GroupBox.Header>
+                                    <TextBlock Text="零点设定" Style="{StaticResource HeaderStyle}"/>
+                                </GroupBox.Header>
+                                <StackPanel Margin="5">
+                                    <Grid Margin="0,0,0,6">
+                                        <Grid.ColumnDefinitions>
+                                            <ColumnDefinition Width="110"/>
+                                            <ColumnDefinition Width="*"/>
+                                        </Grid.ColumnDefinitions>
+                                        <TextBlock Text="X零点(mm)" Style="{StaticResource LabelStyle}"/>
+                                        <TextBox Grid.Column="1" Text="{Binding ZeroX}"/>
+                                    </Grid>
+                                    <Grid Margin="0,0,0,6">
+                                        <Grid.ColumnDefinitions>
+                                            <ColumnDefinition Width="110"/>
+                                            <ColumnDefinition Width="*"/>
+                                        </Grid.ColumnDefinitions>
+                                        <TextBlock Text="Y零点(mm)" Style="{StaticResource LabelStyle}"/>
+                                        <TextBox Grid.Column="1" Text="{Binding ZeroY}"/>
+                                    </Grid>
+                                    <Grid Margin="0,0,0,10">
+                                        <Grid.ColumnDefinitions>
+                                            <ColumnDefinition Width="110"/>
+                                            <ColumnDefinition Width="*"/>
+                                        </Grid.ColumnDefinitions>
+                                        <TextBlock Text="Z零点(mm)" Style="{StaticResource LabelStyle}"/>
+                                        <TextBox Grid.Column="1" Text="{Binding ZeroZ}"/>
+                                    </Grid>
+                                    <Button Content="零点设定" Width="110" HorizontalAlignment="Left" Margin="0" Command="{Binding SetZeroCommand}"/>
+                                </StackPanel>
+                            </GroupBox>
+                        </Grid>
+
+                        <!-- CAN设定 -->
+                        <GroupBox>
+                            <GroupBox.Header>
+                                <TextBlock Text="CAN设定" Style="{StaticResource HeaderStyle}"/>
+                            </GroupBox.Header>
+                            <Grid Margin="5">
+                                <Grid.RowDefinitions>
+                                    <RowDefinition Height="Auto"/>
+                                    <RowDefinition Height="Auto"/>
+                                    <RowDefinition Height="Auto"/>
+                                    <RowDefinition Height="Auto"/>
+                                    <RowDefinition Height="Auto"/>
+                                    <RowDefinition Height="Auto"/>
+                                    <RowDefinition Height="Auto"/>
+                                    <RowDefinition Height="Auto"/>
+                                    <RowDefinition Height="Auto"/>
+                                </Grid.RowDefinitions>
+                                <Grid.ColumnDefinitions>
+                                    <ColumnDefinition Width="170"/>
+                                    <ColumnDefinition Width="280"/>
+                                    <ColumnDefinition Width="70"/>
+                                    <ColumnDefinition Width="140"/>
+                                </Grid.ColumnDefinitions>
+
+                                <!-- 通道与模式 -->
+                                <TextBlock Grid.Row="0" Grid.Column="0" Text="应用程序CAN通道" Style="{StaticResource LabelStyle}"/>
+                                <TextBox Grid.Row="0" Grid.Column="1" Text="{Binding CanChannel}" Margin="3"/>
+
+                                <TextBlock Grid.Row="0" Grid.Column="2" Text="模式" Style="{StaticResource LabelStyle}" HorizontalAlignment="Center"/>
+                                <ComboBox Grid.Row="0" Grid.Column="3" Height="28" Background="White" Foreground="#333333" SelectedIndex="0" Margin="3" materialDesign:HintAssist.Hint="">
+                                    <ComboBoxItem Content="正常模式"/>
+                                </ComboBox>
+
+                                <!-- 报文ID -->
+                                <TextBlock Grid.Row="1" Grid.Column="0" Text="报文ID(16进制)" Style="{StaticResource LabelStyle}"/>
+                                <TextBox Grid.Row="1" Grid.Column="1" Text="{Binding CanMsgId}" Margin="3"/>
+
+                                <!-- 信号名称列表 -->
+                                <TextBlock Grid.Row="2" Grid.Column="0" Text="报文名称" Style="{StaticResource LabelStyle}"/>
+                                <TextBox Grid.Row="2" Grid.Column="1" Grid.ColumnSpan="3" Text="{Binding CanMsgName}" Margin="3"/>
+
+                                <TextBlock Grid.Row="3" Grid.Column="0" Text="POS1_X信号名称" Style="{StaticResource LabelStyle}"/>
+                                <TextBox Grid.Row="3" Grid.Column="1" Grid.ColumnSpan="3" Text="{Binding SigPos1X}" Margin="3"/>
+
+                                <TextBlock Grid.Row="4" Grid.Column="0" Text="POS2_X信号名称" Style="{StaticResource LabelStyle}"/>
+                                <TextBox Grid.Row="4" Grid.Column="1" Grid.ColumnSpan="3" Text="{Binding SigPos2X}" Margin="3"/>
+
+                                <TextBlock Grid.Row="5" Grid.Column="0" Text="POS1_Y信号名称" Style="{StaticResource LabelStyle}"/>
+                                <TextBox Grid.Row="5" Grid.Column="1" Grid.ColumnSpan="3" Text="{Binding SigPos1Y}" Margin="3"/>
+
+                                <TextBlock Grid.Row="6" Grid.Column="0" Text="POS2_Y信号名称" Style="{StaticResource LabelStyle}"/>
+                                <TextBox Grid.Row="6" Grid.Column="1" Grid.ColumnSpan="3" Text="{Binding SigPos2Y}" Margin="3"/>
+
+                                <TextBlock Grid.Row="7" Grid.Column="0" Text="POS1_Quality信号名称" Style="{StaticResource LabelStyle}"/>
+                                <TextBox Grid.Row="7" Grid.Column="1" Grid.ColumnSpan="3" Text="{Binding SigPos1Quality}" Margin="3"/>
+
+                                <TextBlock Grid.Row="8" Grid.Column="0" Text="POS2_Quality信号名称" Style="{StaticResource LabelStyle}"/>
+                                <TextBox Grid.Row="8" Grid.Column="1" Grid.ColumnSpan="3" Text="{Binding SigPos2Quality}" Margin="3"/>
+                            </Grid>
+                        </GroupBox>
+                    </StackPanel>
+                </ScrollViewer>
+            </TabItem>
+        </TabControl>
+    </Grid>
+</UserControl>

BenchMovementModule/Views/BenchMovementView.xaml.cs

@@ -0,0 +1,28 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace BenchMovementModule.Views
+{
+    /// <summary>
+    /// BenchMovementView.xaml 的交互逻辑
+    /// </summary>
+    public partial class BenchMovementView : UserControl
+    {
+        public BenchMovementView()
+        {
+            InitializeComponent();
+        }
+    }
+}

CAN驱动/CAN.cs

@@ -1,417 +0,0 @@
-using Common.Attributes;
-using System.Collections.Generic;
-using System.ComponentModel;
-using System.Diagnostics;
-using System.IO;
-using System.Runtime.InteropServices;
-using System.Text.Json;
-using TSMaster;
-namespace CAN驱动
-{
-    [ADPCommand]
-    public class CAN
-    {
-
-        public static event Action ConnectEvent;
-        public static event Action DisConnectEvent;
-        public static bool ConnectFlag { get; set; } = false;
-
-        /// <summary>
-        /// 初始化CAN驱动
-        /// </summary>
-        /// <param name="ProjectName"></param>
-        /// <param name="filePath"></param>
-        /// <returns></returns>
-        [Browsable(false)]
-        public static int Init(string ProjectName, string? filePath = null)
-        {
-            if (string.IsNullOrEmpty(filePath))
-            {
-                return TsMasterApi.initialize_lib_tsmaster(ProjectName);
-            }
-            else
-            {
-                return TsMasterApi.initialize_lib_tsmaster_with_project(ProjectName, Path.GetFullPath(filePath));
-            }
-        }
-
-        /// <summary>
-        /// 释放CAN驱动
-        /// </summary>
-        [Browsable(false)]
-        public static void Release()
-        {
-            TsMasterApi.finalize_lib_tsmaster();
-        }
-
-        public static int obj = 0;
-        public static TCANFDQueueEvent_Win32 listener;
-        [Browsable(false)]
-        public static int RegisterListener(TCANFDQueueEvent_Win32 listenEvent)
-        {
-            listener = listenEvent;
-            var re = TsMasterApi.tsapp_register_event_canfd(ref obj, listener);
-            Debug.Assert(re == 0);
-            return re;
-        }
-
-        [Browsable(false)]
-        public static int UnRegisterListener(TCANFDQueueEvent_Win32 listenEvent = null)
-        {
-            if (listenEvent is not null)
-            {
-                listener = listenEvent;
-            }
-            var re = TsMasterApi.tsapp_unregister_event_canfd(ref obj, listener);
-            Debug.Assert(re == 0);
-            return re;
-        }
-
-        /// <summary>
-        /// 连接
-        /// </summary>
-        /// <returns></returns>
-        public static int Connect()
-        {
-
-            var re = TsMasterApi.tsapp_connect();
-            if (re == 0)
-            {
-                re = TsMasterApi.tscom_can_rbs_start();
-                if (re == 0)
-                {
-                    ConnectFlag = true;
-                    Task.Run(() => ConnectEvent?.Invoke());
-                }
-                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;
-        }
-
-        /// <summary>
-        /// 断开
-        /// </summary>
-        /// <returns></returns>
-        public static int DisConnect()
-        {
-            var re = TsMasterApi.tsapp_disconnect();
-            //Debug.Assert(re == 0);
-            if (re == 0)
-            {
-                ConnectFlag = false;
-                Task.Run(() => DisConnectEvent?.Invoke());
-            }
-            else
-            {
-                Debug.WriteLine($"断开CAN连接失败,错误代码：{re}");
-            }
-
-
-            return re;
-        }
-
-        /// <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;
-
-            var re = TsMasterApi.tsdb_load_can_db(Path.GetFullPath(filePath), string.Join(",", channel), ref databaseID);
-            foreach (var item in channel)
-            {
-                DBCParse.parse(databaseID, item);
-                DBCParse.rbs_parse(databaseID, item);
-            }
-
-            return re;
-        }
-
-        /// <summary>
-        /// 卸载DBC
-        /// </summary>
-        /// <param name="databaseID"></param>
-        /// <returns></returns>
-        [Browsable(false)]
-        public static int UnLoadDBC(uint? databaseID = null)
-        {
-            if (databaseID == null)
-            {
-                return TsMasterApi.tsdb_unload_can_dbs();
-            }
-            else
-            {
-                return TsMasterApi.tsdb_unload_can_db(databaseID.Value);
-            }
-        }
-
-        /// <summary>
-        /// 开始记录日志
-        /// </summary>
-        /// <param name="filePath"></param>
-        /// <returns></returns>
-        public static int StartLogging(string filePath)
-        {
-            return TsMasterApi.tsapp_start_logging(Path.GetFullPath(filePath));
-        }
-
-        /// <summary>
-        /// 结束记录日志
-        /// </summary>
-        /// <returns></returns>
-        public static int StopLogging()
-        {
-            return TsMasterApi.tsapp_stop_logging();
-        }
-
-        /// <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>
-        /// 获取信号值
-        /// </summary>
-        /// <param name="channel"></param>
-        /// <param name="AMsgName"></param>
-        /// <param name="ASgnName"></param>
-        /// <returns></returns>
-        public static double GetSignalValue(byte channel, string AMsgName, string ASgnName)
-        {
-            double value = double.NaN;
-            var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
-            var re = TsMasterApi.tsdb_get_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, ref value);
-
-            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].First(s => s.msg_name == AMsgName);
-            return TsMasterApi.tsdb_get_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, ref value);
-        }
-
-        /// <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>
-        /// 设置信号值
-        /// </summary>
-        /// <param name="channel"></param>
-        /// <param name="AMsgName"></param>
-        /// <param name="ASgnName"></param>
-        /// <param name="AValue"></param>
-        /// <param name="isSend"></param>
-        /// <param name="sendPeriod"></param>
-        /// <returns></returns>
-        /// <exception cref="Exception"></exception>
-        public static int SetSignalValue(byte channel, string AMsgName, string ASgnName, double AValue, bool isSend = false, float sendPeriod = 0)
-        {
-            var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
-            find.ACANFD.FIdxChn = channel;
-            var re = TsMasterApi.tsdb_set_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, AValue);
-            Debug.Assert(re == 0);
-            if (re != 0) throw new Exception($"设置报文失败!返回代码{re}");
-            if (re != 0) return re;
-            if (isSend)
-            {
-                if (sendPeriod == 0)
-                {
-                    return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
-                }
-                else
-                {
-                    return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
-                }
-            }
-            return 0;
-        }
-
-        
-        /// <summary>
-        /// 设置信号值
-        /// </summary>
-        /// <param name="channel"></param>
-        /// <param name="AMsgName"></param>
-        /// <param name="sendPeriod"></param>
-        /// <returns></returns>
-        public static int SetSignalValue(APP_CHANNEL channel, string AMsgName, float sendPeriod = 0)
-        {
-            var find = DBCParse.MsgDatabase[(byte)channel].First(s => s.msg_name == AMsgName);
-            find.ACANFD.FIdxChn = (byte)channel;
-            if (sendPeriod == 0)
-            {
-                return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
-            }
-            else
-            {
-                return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
-            }
-        }
-
-        /// <summary>
-        /// 发送自定义报文
-        /// </summary>
-        /// <returns></returns>
-        [Browsable(false)]
-        public static int SetMsg(TLIBCANFD msg)
-        {
-            return TsMasterApi.tsapp_transmit_canfd_async(ref msg);
-        }
-
-        /// <summary>
-        /// 设置报文
-        /// </summary>
-        /// <param name="channel">通道</param>
-        /// <param name="ID">DBC数据库ID</param>
-        /// <param name="bytes">报文数组</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>
-        /// 发送自定义报文
-        /// </summary>
-        /// <param name="AIdxChn"></param>
-        /// <param name="AID"></param>
-        /// <param name="AIsTx"></param>
-        /// <param name="AIsExt"></param>
-        /// <param name="AIsRemote"></param>
-        /// <param name="ADLC"></param>
-        /// <param name="ADataArray"></param>
-        /// <param name="AIsFD"></param>
-        /// <param name="AIsBRS"></param>
-        /// <param name="isUpdateDBCDatabase"></param>
-        /// <param name="sendPeriod"></param>
-        /// <returns></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;
-            if (sendPeriod == 0)
-            {
-                re = TsMasterApi.tsapp_transmit_canfd_async(ref send);
-            }
-            else
-            {
-                re = TsMasterApi.tsapp_add_cyclic_msg_canfd(ref send, sendPeriod);
-            }
-
-            if (isUpdateDBCDatabase)
-            {
-                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>
-        /// 添加循环发送报文
-        /// </summary>
-        /// <param name="channel"></param>
-        /// <param name="AMsgName"></param>
-        /// <param name="sendPeriod"></param>
-        /// <returns></returns>
-        public static int AddCyclicMsg(byte channel, string AMsgName, float sendPeriod)
-        {
-            var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
-            find.ACANFD.FIdxChn = channel;
-            return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
-        }
-
-        /// <summary>
-        /// 清除循环发送的报文
-        /// </summary>
-        /// <returns></returns>
-        public static int DeleteCyclicMsgs()
-        {
-            return TsMasterApi.tsapp_delete_cyclic_msgs();
-        }
-
-        /// <summary>
-        /// 获取错误提示
-        /// </summary>
-        /// <param name="errorCode">错误代码</param>
-        /// <returns></returns>
-        public static string GetErrorDescription(int errorCode)
-        {
-            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}";
-        }
-
-    }
-}

CAN驱动/DBCParse.cs

@@ -1,269 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Reflection;
-using System.Runtime.InteropServices;
-using System.Security.Cryptography;
-using System.Text;
-using System.Text.Json.Serialization;
-using System.Threading.Tasks;
-using TSMaster;
-
-namespace CAN驱动
-{
-    public struct can_network
-    {
-        [JsonInclude]
-        public string network_name;
-        [JsonInclude]
-        public can_node[] can_nodes;
-
-    }
-    public struct can_node
-    {
-        [JsonInclude]
-        public string node_name;
-        [JsonInclude]
-        public can_message[] tx_can_Messages;
-        [JsonInclude]
-        public can_message[] rx_can_Messages;
-    }
-    public struct can_message
-    {
-        [JsonInclude]
-        public string message_name;
-        [JsonInclude]
-        public string[] signals;
-    }
-
-    public class _Msg_
-    {
-        public int msg_type { get; set; }
-        public int msg_id { get; set; }
-        public int msg_cyclic { get; set; }
-        public byte msg_dlc { get; set; }
-        public string msg_name { get; set; }
-        public string[] signal_Name { get; set; }
-        public int msg_brs { get; set; }
-        public TLIBCANFD ACANFD;
-    }
-    public enum Msg_Type
-    {
-        CAN = 0,
-        CANFD = 1,
-    }
-    /// <summary>
-    /// DBC 文件信息类型枚举，用于指定 tsdb_get_can_db_info 查询的内容类型。
-    /// </summary>
-    public enum DBCINFO
-    {
-        /// <summary>网络名称</summary>
-        NETWORK_Name = 0,
-
-        /// <summary>CAN 报文总数</summary>
-        CAN_MSG_COUNT = 11,
-        /// <summary>CAN FD 报文总数</summary>
-        CANFD_MSG_COUNT = 12,
-        /// <summary>节点总数</summary>
-        NODE_COUNT = 14,
-
-        /// <summary>信号名称</summary>
-        SIGNAL_NAME = 33,
-
-        /// <summary>CAN 报文类型</summary>
-        CAN_MSG_TYPE = 40,
-        /// <summary>CAN 报文 DLC（数据长度码）</summary>
-        CAN_MSG_DLC = 41,
-        /// <summary>CAN 报文 ID</summary>
-        CAN_MSG_ID = 42,
-        /// <summary>CAN 报文周期</summary>
-        CAN_MSG_CYCLIC = 43,
-        /// <summary>CAN 报文名称</summary>
-        CAN_MSG_NAME = 44,
-        /// <summary>CAN 报文信号数量</summary>
-        CAN_MSG_SIGNAL_COUNT = 47,
-        /// <summary>CAN 报文信号名称索引</summary>
-        CAN_MSG_SIGNAL_NAME_INDEX = 48,
-
-        /// <summary>CAN FD 报文类型</summary>
-        CANFD_MSG_TYPE = 60,
-        /// <summary>CAN FD 报文 DLC（数据长度码）</summary>
-        CANFD_MSG_DLC = 61,
-        /// <summary>CAN FD 报文 ID</summary>
-        CANFD_MSG_ID = 62,
-        /// <summary>CAN FD 报文周期</summary>
-        CANFD_MSG_CYCLIC = 63,
-        /// <summary>CAN FD 报文名称</summary>
-        CANFD_MSG_NAME = 64,
-        /// <summary>CAN FD 报文信号数量</summary>
-        CANFD_MSG_SIGNAL_COUNT = 67,
-        /// <summary>CAN FD 报文信号名称索引</summary>
-        CANFD_MSG_SIGNAL_NAME_INDEX = 68,
-
-        /// <summary>节点名称</summary>
-        NODE_Name = 101,
-        /// <summary>节点发送 CAN 报文数量</summary>
-        NODE_TX_CAN_COUNT = 103,
-        /// <summary>节点发送 CAN 报文索引</summary>
-        NODE_TX_CAN_MESSAGE_INDEX = 104,
-        /// <summary>节点接收 CAN 报文数量</summary>
-        NODE_RX_CAN_COUNT = 105,
-        /// <summary>节点接收 CAN 报文索引</summary>
-        NODE_RX_CAN_MESSAGE_INDEX = 106,
-        /// <summary>节点发送 CAN FD 报文数量</summary>
-        NODE_TX_CANFD_COUNT = 107,
-        /// <summary>节点发送 CAN FD 报文索引</summary>
-        NODE_TX_CANFD_MESSAGE_INDEX = 108,
-        /// <summary>节点接收 CAN FD 报文数量</summary>
-        NODE_RX_CANFD_COUNT = 109,
-        /// <summary>节点接收 CAN FD 报文索引</summary>
-        NODE_RX_CANFD_MESSAGE_INDEX = 110,
-    }
-
-    public class DBCParse
-    {
-        public static List<List<_Msg_>> MsgDatabase { get; set; } =
-            [.. Enumerable.Range(0, 12).Select(_ => new List<_Msg_>())];
-        public static can_network can_Network;
-        public static string tsdb_get_can_db_info(uint ADatabaseId, int AType, int AIndex, int ASubIndex)
-        {
-            nint tmpInt = new nint();
-            int ret = TsMasterApi.tsdb_get_can_db_info(ADatabaseId, AType, AIndex, ASubIndex, ref tmpInt);
-            if (ret == 0)
-            {
-                return Marshal.PtrToStringAnsi(tmpInt) ?? "";
-            }
-            else
-                return "";
-        }
-
-        public static void parse(uint Aid, int channel)
-        {
-            int CANcount = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_COUNT, 0, 0));
-            for (int i = 0; i < CANcount; i++)
-            {
-                _Msg_ temp = new _Msg_();
-                temp.msg_type = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_TYPE, i, 0));
-                temp.msg_dlc = byte.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_DLC, i, 0));
-                temp.msg_id = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_ID, i, 0));
-                temp.msg_name = tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_NAME, i, 0);
-                temp.msg_cyclic = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_CYCLIC, i, 0));
-                temp.signal_Name = new string[int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_SIGNAL_COUNT, i, 0))];
-                for (int signalcount = 0; signalcount < temp.signal_Name.Length; signalcount++)
-                {
-                    temp.signal_Name[signalcount] = tsdb_get_can_db_info(Aid, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CAN_MSG_SIGNAL_NAME_INDEX, i, signalcount)), 0);
-                }
-                temp.msg_brs = 0;
-                temp.ACANFD = new TLIBCANFD(APP_CHANNEL.CHN1,
-                    temp.msg_id,
-                    true,
-                    temp.msg_type == 1 || temp.msg_type == 4 ? true : false,
-                    false, temp.msg_dlc,
-                    temp.msg_type < 2 ? false : true,
-                    false);
-                MsgDatabase[channel].Add(temp);
-
-            }
-
-            CANcount = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_COUNT, 0, 0));
-            for (int i = 0; i < CANcount; i++)
-            {
-                _Msg_ temp = new _Msg_();
-                temp.msg_type = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_TYPE, i, 0));
-                temp.msg_dlc = byte.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_DLC, i, 0));
-                temp.msg_id = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_ID, i, 0));
-                temp.msg_name = tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_NAME, i, 0);
-                temp.msg_cyclic = int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_CYCLIC, i, 0));
-                temp.signal_Name = new string[int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_SIGNAL_COUNT, i, 0))];
-                for (int signalcount = 0; signalcount < temp.signal_Name.Length; signalcount++)
-                {
-                    temp.signal_Name[signalcount] = tsdb_get_can_db_info(Aid, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(Aid, (int)DBCINFO.CANFD_MSG_SIGNAL_NAME_INDEX, i, signalcount)), 0);
-                }
-                temp.msg_brs = int.Parse(tsdb_get_can_db_info(Aid, 69, i, 0));
-                temp.ACANFD = new TLIBCANFD(APP_CHANNEL.CHN1, temp.msg_id, true, temp.msg_type == 1 || temp.msg_type == 4 ? true : false, false, temp.msg_dlc, temp.msg_type < 2 ? false : true, temp.msg_brs == 1 ? true : false);
-                MsgDatabase[channel].Add(temp);
-            }
-            MsgDatabase[channel].Sort((a, b) => a.msg_id.CompareTo(b.msg_id));
-        }
-
-        public static void rbs_parse(uint AID, int channel)
-        {
-            can_Network = new can_network();
-            can_Network.network_name = tsdb_get_can_db_info(AID, (int)DBCINFO.NETWORK_Name, 0, 0);
-            int Node_count = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_COUNT, 0, 0));
-            can_Network.can_nodes = new can_node[Node_count];
-            for (int i = 0; i < Node_count; i++)
-            {
-                can_Network.can_nodes[i].node_name = tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_Name, i, 0);
-                int tx_can_count = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_TX_CAN_COUNT, i, 0));
-                int tx_canfd_count = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_TX_CANFD_COUNT, i, 0));
-
-                int rx_can_count = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_RX_CAN_COUNT, i, 0));
-                int rx_canfd_count = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_RX_CANFD_COUNT, i, 0));
-
-                //获取tx_can结构体
-                can_Network.can_nodes[i].tx_can_Messages = new can_message[tx_can_count + tx_canfd_count];
-
-                can_Network.can_nodes[i].rx_can_Messages = new can_message[rx_can_count + rx_canfd_count];
-                //获取报文名以及信号名
-                //1 get can_message idnex
-                //2 get can message name 
-                //3 get signal count
-                //4 get signal name
-                int tx_index = -1;
-                for (int tx_can = 0; tx_can < tx_can_count; tx_can++)
-                {
-                    int can_message_idnex = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_TX_CAN_MESSAGE_INDEX, i, tx_can));
-                    can_Network.can_nodes[i].tx_can_Messages[tx_can].message_name = tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_NAME, can_message_idnex, 0);
-
-                    can_Network.can_nodes[i].tx_can_Messages[tx_can].signals = new string[int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_SIGNAL_COUNT, can_message_idnex, 0))];
-                    for (int signalcount = 0; signalcount < can_Network.can_nodes[i].tx_can_Messages[tx_can].signals.Length; signalcount++)
-                    {
-                        can_Network.can_nodes[i].tx_can_Messages[tx_can].signals[signalcount] = tsdb_get_can_db_info(AID, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_SIGNAL_NAME_INDEX, can_message_idnex, signalcount)), 0);
-                    }
-
-                    tx_index = tx_can;
-                }
-                for (int tx_can = 0; tx_can < tx_canfd_count; tx_can++, tx_index++)
-                {
-                    int can_message_idnex = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_TX_CANFD_MESSAGE_INDEX, i, tx_can));
-                    can_Network.can_nodes[i].tx_can_Messages[tx_index + 1].message_name = tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_NAME, can_message_idnex, 0);
-
-                    can_Network.can_nodes[i].tx_can_Messages[tx_index + 1].signals = new string[int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_SIGNAL_COUNT, can_message_idnex, 0))];
-                    for (int signalcount = 0; signalcount < can_Network.can_nodes[i].tx_can_Messages[tx_index + 1].signals.Length; signalcount++)
-                    {
-                        can_Network.can_nodes[i].tx_can_Messages[tx_index + 1].signals[signalcount] = tsdb_get_can_db_info(AID, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_SIGNAL_NAME_INDEX, can_message_idnex, signalcount)), 0);
-                    }
-                }
-
-                int rx_index = -1;
-                for (int tx_can = 0; tx_can < rx_can_count; tx_can++)
-                {
-                    int can_message_idnex = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_RX_CAN_MESSAGE_INDEX, i, tx_can));
-                    can_Network.can_nodes[i].rx_can_Messages[tx_can].message_name = tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_NAME, can_message_idnex, 0);
-
-                    can_Network.can_nodes[i].rx_can_Messages[tx_can].signals = new string[int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_SIGNAL_COUNT, can_message_idnex, 0))];
-                    for (int signalcount = 0; signalcount < can_Network.can_nodes[i].rx_can_Messages[tx_can].signals.Length; signalcount++)
-                    {
-                        can_Network.can_nodes[i].rx_can_Messages[tx_can].signals[signalcount] = tsdb_get_can_db_info(AID, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CAN_MSG_SIGNAL_NAME_INDEX, can_message_idnex, signalcount)), 0);
-                    }
-
-                    rx_index = tx_can;
-                }
-                for (int tx_can = 0; tx_can < rx_canfd_count; tx_can++, rx_index++)
-                {
-                    int can_message_idnex = int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.NODE_RX_CANFD_MESSAGE_INDEX, i, tx_can));
-                    can_Network.can_nodes[i].rx_can_Messages[rx_index + 1].message_name = tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_NAME, can_message_idnex, 0);
-
-                    can_Network.can_nodes[i].rx_can_Messages[rx_index + 1].signals = new string[int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_SIGNAL_COUNT, can_message_idnex, 0))];
-                    for (int signalcount = 0; signalcount < can_Network.can_nodes[i].rx_can_Messages[rx_index + 1].signals.Length; signalcount++)
-                    {
-                        can_Network.can_nodes[i].rx_can_Messages[rx_index + 1].signals[signalcount] = tsdb_get_can_db_info(AID, (int)DBCINFO.SIGNAL_NAME, int.Parse(tsdb_get_can_db_info(AID, (int)DBCINFO.CANFD_MSG_SIGNAL_NAME_INDEX, can_message_idnex, signalcount)), 0);
-                    }
-                }
-            }
-        }
-    }
-
-
-}

DeviceCommand/Devices/N36600.cs

@@ -172,7 +172,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 快捷设置电压电流(double 电压, double 电流, CancellationToken ct = default)
         {
-            string cmd = string.Format(CultureInfo.InvariantCulture, ":APPLY {0:F3},{1:F3}{2}", 电压, 电流, SCPIDelimiter);
+            // 修正：去除前缀冒号，规范应用 APPL 短格式
+            string cmd = string.Format(CultureInfo.InvariantCulture, "APPL {0:F3},{1:F3}{2}", 电压, 电流, SCPIDelimiter);
             await SendAsync(cmd, ct);
         }
 
@@ -181,7 +182,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task<string> 查询快捷电压电流设定(CancellationToken ct = default)
         {
-            return await WriteReadAsync($":APPLY?{SCPIDelimiter}", SCPIDelimiter, ct);
+            // 修正：去除前缀冒号
+            return await WriteReadAsync($"APPL?{SCPIDelimiter}", SCPIDelimiter, ct);
         }
 
         #endregion
@@ -194,7 +196,8 @@ namespace DeviceCommand.Device
         [Monitorable("低压直流电源电流")]
         public virtual async Task<string> 查询实际电流(CancellationToken ct = default)
         {
-            return await WriteReadAsync($":MEASure:CURRent?{SCPIDelimiter}", SCPIDelimiter, ct);
+            // 修正：去除前缀冒号，改用标准 MEAS:CURR?
+            return await WriteReadAsync($"MEAS:CURR?{SCPIDelimiter}", SCPIDelimiter, ct);
         }
 
         /// <summary>
@@ -203,16 +206,18 @@ namespace DeviceCommand.Device
         [Monitorable("低压直流电源功率")]
         public virtual async Task<string> 查询实际功率(CancellationToken ct = default)
         {
-            return await WriteReadAsync($":MEASure:POWer?{SCPIDelimiter}", SCPIDelimiter, ct);
+            // 修正：去除前缀冒号，改用标准 MEAS:POW?
+            return await WriteReadAsync($"MEAS:POW?{SCPIDelimiter}", SCPIDelimiter, ct);
         }
 
         /// <summary>
         /// 3.5.3 查询通道输出端子上测得的直流电压值 (V)
-        /// </summary
+        /// </summary>
         [Monitorable("低压直流电源电压")]
         public virtual async Task<string> 查询实际电压(CancellationToken ct = default)
         {
-            return await WriteReadAsync($":MEASure:VOLTage?{SCPIDelimiter}", SCPIDelimiter, ct);
+            // 修正：去除前缀冒号，改用标准 MEAS:VOLT?
+            return await WriteReadAsync($"MEAS:VOLT?{SCPIDelimiter}", SCPIDelimiter, ct);
         }
 
         /// <summary>
@@ -220,7 +225,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task<string> 查询电压电流功率数组(CancellationToken ct = default)
         {
-            return await WriteReadAsync($":MEASure:VAP?{SCPIDelimiter}", SCPIDelimiter, ct);
+            // 修正：去除前缀冒号
+            return await WriteReadAsync($"MEAS:VAP?{SCPIDelimiter}", SCPIDelimiter, ct);
         }
 
         /// <summary>
@@ -228,7 +234,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task<string> 查询测得电池容量(CancellationToken ct = default)
         {
-            return await WriteReadAsync($":MEASure:CAPAcity?{SCPIDelimiter}", SCPIDelimiter, ct);
+            // 修正：去除前缀冒号
+            return await WriteReadAsync($"MEAS:CAP?{SCPIDelimiter}", SCPIDelimiter, ct);
         }
 
         /// <summary>
@@ -236,7 +243,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task<string> 查询恒流输出时间长度(CancellationToken ct = default)
         {
-            return await WriteReadAsync($":MEASure:TIMEr:CC?{SCPIDelimiter}", SCPIDelimiter, ct);
+            // 修正：去除前缀冒号
+            return await WriteReadAsync($"MEAS:TIM:CC?{SCPIDelimiter}", SCPIDelimiter, ct);
         }
 
         /// <summary>
@@ -244,7 +252,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task<string> 查询总输出时间长度(CancellationToken ct = default)
         {
-            return await WriteReadAsync($":MEASure:TIME:OUTPut?{SCPIDelimiter}", SCPIDelimiter, ct);
+            // 修正：去除前缀冒号
+            return await WriteReadAsync($"MEAS:TIME:OUTP?{SCPIDelimiter}", SCPIDelimiter, ct);
         }
 
         #endregion
@@ -256,8 +265,9 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 设置DC输出(bool 开启, CancellationToken ct = default)
         {
+            // 修正：去除前缀冒号，改用 OUTP 短格式
             string 状态 = 开启 ? "ON" : "OFF";
-            await SendAsync($":OUTPut {状态}{SCPIDelimiter}", ct);
+            await SendAsync($"OUTP {状态}{SCPIDelimiter}", ct);
         }
 
         /// <summary>
@@ -265,7 +275,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task<string> 查询DC输出状态(CancellationToken ct = default)
         {
-            return await WriteReadAsync($":OUTPut?{SCPIDelimiter}", SCPIDelimiter, ct);
+            // 修正：去除前缀冒号
+            return await WriteReadAsync($"OUTP?{SCPIDelimiter}", SCPIDelimiter, ct);
         }
 
         /// <summary>
@@ -273,8 +284,9 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 设置定时器状态(bool 开启, CancellationToken ct = default)
         {
+            // 修正：去除前缀冒号
             string 状态 = 开启 ? "ON" : "OFF";
-            await SendAsync($":OUTPut:TIMEr {状态}{SCPIDelimiter}", ct);
+            await SendAsync($"OUTP:TIM {状态}{SCPIDelimiter}", ct);
         }
 
         /// <summary>
@@ -282,7 +294,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 设置定时器时间(double 秒数, CancellationToken ct = default)
         {
-            string cmd = string.Format(CultureInfo.InvariantCulture, ":OUTPut:TIMEr:DATA {0:F1}{1}", 秒数, SCPIDelimiter);
+            // 修正：去除前缀冒号
+            string cmd = string.Format(CultureInfo.InvariantCulture, "OUTP:TIM:DATA {0:F1}{1}", 秒数, SCPIDelimiter);
             await SendAsync(cmd, ct);
         }
 
@@ -291,8 +304,9 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 设置输出模式优先(bool 是CV优先, CancellationToken ct = default)
         {
+            // 修正：去除前缀冒号
             string 模式 = 是CV优先 ? "CV" : "CC";
-            await SendAsync($":OUTPut:MODE {模式}{SCPIDelimiter}", ct);
+            await SendAsync($"OUTP:MODE {模式}{SCPIDelimiter}", ct);
         }
 
         #endregion
@@ -304,7 +318,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 清除电流保护状态(CancellationToken ct = default)
         {
-            await SendAsync($":CURRent:PROTection:CLEar{SCPIDelimiter}", ct);
+            // 修正：去除前缀冒号
+            await SendAsync($"CURR:PROT:CLE{SCPIDelimiter}", ct);
         }
 
         /// <summary>
@@ -312,8 +327,9 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 设置电流保护使能(bool 启用, CancellationToken ct = default)
         {
+            // 修正：去除前缀冒号，将 STATE 改为更常用的 STAT 简写
             string 状态 = 启用 ? "ON" : "OFF";
-            await SendAsync($":CURRent:PROTection:STATE {状态}{SCPIDelimiter}", ct);
+            await SendAsync($"CURR:PROT:STAT {状态}{SCPIDelimiter}", ct);
         }
 
         /// <summary>
@@ -321,7 +337,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 设置过流保护值(double 电流, CancellationToken ct = default)
         {
-            string cmd = string.Format(CultureInfo.InvariantCulture, ":CURRent:PROTection {0:F3}{1}", 电流, SCPIDelimiter);
+            // 修正：去除前缀冒号。按 NGI 通用指令树，加上层级限制或者直接作用于 CURR:PROT
+            string cmd = string.Format(CultureInfo.InvariantCulture, "CURR:PROT {0:F3}{1}", 电流, SCPIDelimiter);
             await SendAsync(cmd, ct);
         }
 
@@ -330,7 +347,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 设置电流(double 电流, CancellationToken ct = default)
         {
-            string cmd = string.Format(CultureInfo.InvariantCulture, ":CURRent {0:F3}{1}", 电流, SCPIDelimiter);
+            // 修正：去除前缀冒号，改用标准 CURR 短格式
+            string cmd = string.Format(CultureInfo.InvariantCulture, "CURR {0:F3}{1}", 电流, SCPIDelimiter);
             await SendAsync(cmd, ct);
         }
 
@@ -339,7 +357,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 清除电压保护状态(CancellationToken ct = default)
         {
-            await SendAsync($":VOLTage:PROTection:CLEar{SCPIDelimiter}", ct);
+            // 修正：去除前缀冒号
+            await SendAsync($"VOLT:PROT:CLE{SCPIDelimiter}", ct);
         }
 
         /// <summary>
@@ -347,8 +366,9 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 设置电压保护使能(bool 启用, CancellationToken ct = default)
         {
+            // 修正：去除前缀冒号
             string 状态 = 启用 ? "ON" : "OFF";
-            await SendAsync($":VOLTage:PROTection:STATE {状态}{SCPIDelimiter}", ct);
+            await SendAsync($"VOLT:PROT:STAT {状态}{SCPIDelimiter}", ct);
         }
 
         /// <summary>
@@ -356,7 +376,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 设置过压保护值(double 电压, CancellationToken ct = default)
         {
-            string cmd = string.Format(CultureInfo.InvariantCulture, ":VOLTage:PROTection {0:F3}{1}", 电压, SCPIDelimiter);
+            // 修正：去除前缀冒号
+            string cmd = string.Format(CultureInfo.InvariantCulture, "VOLT:PROT {0:F3}{1}", 电压, SCPIDelimiter);
             await SendAsync(cmd, ct);
         }
 
@@ -365,7 +386,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 设置电压(double 电压, CancellationToken ct = default)
         {
-            string cmd = string.Format(CultureInfo.InvariantCulture, ":VOLTage {0:F3}{1}", 电压, SCPIDelimiter);
+            // 修正：去除前缀冒号，改用标准 VOLT 短格式
+            string cmd = string.Format(CultureInfo.InvariantCulture, "VOLT {0:F3}{1}", 电压, SCPIDelimiter);
             await SendAsync(cmd, ct);
         }
 
@@ -374,7 +396,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 设置电压上限限制(double 电压, CancellationToken ct = default)
         {
-            string cmd = string.Format(CultureInfo.InvariantCulture, ":VOLTage:LIMIT {0:F3}{1}", 电压, SCPIDelimiter);
+            // 修正：去除前缀冒号
+            string cmd = string.Format(CultureInfo.InvariantCulture, "VOLT:LIM {0:F3}{1}", 电压, SCPIDelimiter);
             await SendAsync(cmd, ct);
         }
 
@@ -383,7 +406,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 设置功率(double 功率, CancellationToken ct = default)
         {
-            string cmd = string.Format(CultureInfo.InvariantCulture, ":POWer {0:F3}{1}", 功率, SCPIDelimiter);
+            // 修正：去除前缀冒号，改用标准 POW 短格式
+            string cmd = string.Format(CultureInfo.InvariantCulture, "POW {0:F3}{1}", 功率, SCPIDelimiter);
             await SendAsync(cmd, ct);
         }
 
@@ -392,8 +416,9 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 设置恒功率输出使能(bool 启用, CancellationToken ct = default)
         {
+            // 修正：去除前缀冒号
             string 状态 = 启用 ? "ON" : "OFF";
-            await SendAsync($":POWer:STATE {状态}{SCPIDelimiter}", ct);
+            await SendAsync($"POW:STAT {状态}{SCPIDelimiter}", ct);
         }
 
         #endregion
@@ -405,8 +430,9 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 设置蜂鸣器状态(bool 开启, CancellationToken ct = default)
         {
+            // 修正：去除前缀冒号
             string 状态 = 开启 ? "ON" : "OFF";
-            await SendAsync($":SYSTem:BEEPer:STATE {状态}{SCPIDelimiter}", ct);
+            await SendAsync($"SYST:BEEP:STAT {状态}{SCPIDelimiter}", ct);
         }
 
         /// <summary>
@@ -414,7 +440,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 蜂鸣器鸣叫(CancellationToken ct = default)
         {
-            await SendAsync($":SYSTem:BEEPer{SCPIDelimiter}", ct);
+            // 修正：去除前缀冒号
+            await SendAsync($"SYST:BEEP{SCPIDelimiter}", ct);
         }
 
         /// <summary>
@@ -422,7 +449,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task<string> 查询错误记录数量(CancellationToken ct = default)
         {
-            return await WriteReadAsync($":SYSTem:ERRor:COUNT?{SCPIDelimiter}", SCPIDelimiter, ct);
+            // 修正：去除前缀冒号
+            return await WriteReadAsync($"SYST:ERR:COUN?{SCPIDelimiter}", SCPIDelimiter, ct);
         }
 
         /// <summary>
@@ -430,7 +458,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task<string> 查询错误信息(CancellationToken ct = default)
         {
-            return await WriteReadAsync($":SYSTem:ERRor?{SCPIDelimiter}", SCPIDelimiter, ct);
+            // 修正：去除前缀冒号
+            return await WriteReadAsync($"SYST:ERR?{SCPIDelimiter}", SCPIDelimiter, ct);
         }
 
         /// <summary>
@@ -438,7 +467,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 切换本地控制模式(CancellationToken ct = default)
         {
-            await SendAsync($":SYSTem:LOCal{SCPIDelimiter}", ct);
+            // 修正：去除前缀冒号
+            await SendAsync($"SYST:LOC{SCPIDelimiter}", ct);
         }
 
         /// <summary>
@@ -446,7 +476,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 切换远程控制模式(CancellationToken ct = default)
         {
-            await SendAsync($":SYSTem:REMote{SCPIDelimiter}", ct);
+            // 修正：去除前缀冒号
+            await SendAsync($"SYST:REM{SCPIDelimiter}", ct);
         }
 
         /// <summary>
@@ -454,7 +485,8 @@ namespace DeviceCommand.Device
         /// </summary>
         public virtual async Task 远程控制模式锁定(CancellationToken ct = default)
         {
-            await SendAsync($":SYSTem:RWLock{SCPIDelimiter}", ct);
+            // 修正：去除前缀冒号
+            await SendAsync($"SYST:RWL{SCPIDelimiter}", ct);
         }
 
         #endregion

Model/Entity/MonitorValueEntity.cs

@@ -1,4 +1,5 @@
-using System;
+using SqlSugar;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -8,7 +9,16 @@ namespace Model.Entity
 {
     public class MonitorValueEntity:BaseEntity
     {
-        public string MonitorName;
-        public double MonitorValue;
+        /// <summary>监测项名称</summary>
+        [SugarColumn(ColumnName = "MonitorName")]
+        public string MonitorName { get; set; } = string.Empty;
+
+        /// <summary>监测值</summary>
+        [SugarColumn(ColumnName = "MonitorValue")]
+        public double MonitorValue { get; set; }
+
+        /// <summary>作用域标识（台架名称）</summary>
+        [SugarColumn(ColumnName = "Scope")]
+        public string Scope { get; set; } = string.Empty;
     }
 }

Model/Models/AvailableMethodItem.cs

@@ -13,6 +13,8 @@ namespace Model.Models
     public class AvailableMethodItem
     {
         public string DeviceName { get; set; } = string.Empty;
+        /// <summary>硬件指纹（物理设备唯一标识）</summary>
+        public string Fingerprint { get; set; } = string.Empty;
         public string MethodName { get; set; } = string.Empty;
         public string DisplayName { get; set; } = string.Empty;
         public MethodInfo MethodInfo { get; set; } = null!;

Model/Models/HardwareReportArgs.cs

@@ -0,0 +1,26 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Model.Models
+{
+    public class HardwareReportArgs
+    {
+        /// <summary>作用域标识（台架名称）</summary>
+        public string Scope { get; set; } = string.Empty;
+
+        /// <summary>硬件指纹（物理设备唯一标识，如 "Tcp:192.168.1.1:5000"）</summary>
+        public string HardwareFingerprint { get; set; } = string.Empty;
+
+        /// <summary>方法名</summary>
+        public string MethodName { get; set; } = string.Empty;
+
+        /// <summary>采样值</summary>
+        public double Value { get; set; }
+
+        /// <summary>采样时间</summary>
+        public DateTime Time { get; set; } = DateTime.Now;
+    }
+}

MonitorModule/ViewModels/MonitorChannel.cs

@@ -16,6 +16,8 @@ namespace MonitorModule.ViewModels
     {
         // ===== 标识 =====
         public string DeviceName { get; init; } = string.Empty;
+        /// <summary>硬件指纹（物理设备唯一标识，用于匹配广播事件）</summary>
+        public string Fingerprint { get; init; } = string.Empty;
         public string MethodName { get; init; } = string.Empty;
         public string DisplayName { get; init; } = string.Empty;
 

MonitorModule/ViewModels/MonitorViewModel.cs

@@ -5,9 +5,12 @@ using OxyPlot;
 using OxyPlot.Axes;
 using OxyPlot.Legends;
 using OxyPlot.Series;
+using Service.Interface;
 using System;
+using System.Collections.Concurrent;
 using System.Collections.Generic;
 using System.Collections.ObjectModel;
+using System.Diagnostics;
 using System.Linq;
 using System.Reflection;
 using System.Threading;
@@ -24,10 +27,12 @@ namespace MonitorModule.ViewModels
     public class MonitorViewModel : NavigateViewModelBase, IRegionMemberLifetime, IDisposable
     {
         #region 属性
+        private IMonitorValueService _monitorValueService;
         public bool KeepAlive => true;
         public ScopedContext _scopedContext { get; set; } = null!;
         public GlobalInfo _globalInfo { get; set; }
 
+        private string _testStatus = string.Empty;
         public string TestStatus
         {
             get => _testStatus;
@@ -56,6 +61,7 @@ namespace MonitorModule.ViewModels
             set => SetProperty(ref _selectedAvailableMethod, value);
         }
 
+        private string _statusMessage = "图表已就绪，暂无监测项";
         public string StatusMessage
         {
             get => _statusMessage;
@@ -77,6 +83,7 @@ namespace MonitorModule.ViewModels
         private DeviceManager? _deviceManager;
         private CancellationTokenSource? _monitorCTS = new();
 
+        // 颜色调色盘
         private static readonly OxyColor[] _palette =
         {
             OxyColors.SteelBlue, OxyColors.IndianRed, OxyColors.SeaGreen,
@@ -85,50 +92,216 @@ namespace MonitorModule.ViewModels
         };
         private int _colorIndex;
 
-        private readonly DispatcherTimer _sampleTimer;
-        private double _sampleTime;
-        private const double _sampleInterval = 0.1; // 100ms
-        private string _testStatus = string.Empty;
-        private string _statusMessage = "图表已就绪，暂无监测项";
+        /// <summary>广播器（由 UIShare 层注入，每 Scope 一个实例）</summary>
+        private HardwareDataBroadcaster? _broadcaster;
 
-        /// <summary>反射方法缓存：Channel → (MethodInfo, DeviceInstance)</summary>
-        private readonly Dictionary<MonitorChannel, (MethodInfo Method, object Device)> _methodCache = new();
+        /// <summary>用于 OxyPlot X 轴相对秒数</summary>
+        private readonly Stopwatch _stopwatch = new();
+
+        /// <summary>OxyPlot 刷新定时器（仅负责滚动 X 轴 + InvalidatePlot）</summary>
+        private readonly DispatcherTimer _plotRefreshTimer;
+
+        /// <summary>事件订阅令牌，用于 Dispose 时取消订阅</summary>
+        private SubscriptionToken? _subscriptionToken;
+
+        // ==========================================
+        // 批量入库核心结构
+        // ==========================================
+        private readonly ConcurrentQueue<MonitorValueEntity> _insertQueue = new();
+        private Task? _dbFlushTask;
+        private const int BulkInsertThreshold = 50;
+        private int _isFlushing = 0;
         #endregion
 
         public MonitorViewModel(IContainerExtension container) : base(container)
         {
             _globalInfo = container.Resolve<GlobalInfo>();
+            _monitorValueService = container.Resolve<IMonitorValueService>();
+
             Plot = BuildEmptyPlot();
+
             AddChannelCommand = new DelegateCommand(OnAddChannel);
             DeleteChannelCommand = new DelegateCommand(OnDeleteChannel);
             ResetViewCommand = new DelegateCommand(OnResetView);
             RefreshDataCommand = new DelegateCommand(OnRefreshData);
             RefreshCommand = new DelegateCommand(OnExpand);
 
-            _sampleTimer = new DispatcherTimer { Interval = TimeSpan.FromSeconds(_sampleInterval) };
-            _sampleTimer.Tick += OnSampleTick;
+            // OxyPlot 刷新定时器（1000ms，只负责视觉更新）
+            _plotRefreshTimer = new DispatcherTimer(DispatcherPriority.Background)
+            {
+                Interval = TimeSpan.FromMilliseconds(1000)
+            };
+            _plotRefreshTimer.Tick += OnPlotRefreshTick;
         }
 
         public void Dispose()
         {
-            // 1. 率先掐断后台正在并行的所有硬件请求
             _monitorCTS?.Cancel();
             _monitorCTS?.Dispose();
             _monitorCTS = null;
 
-            // 2. 停掉定时器，停止触发 UI 刷新
-            _sampleTimer?.Stop();
+            _plotRefreshTimer.Stop();
+            _plotRefreshTimer.Tick -= OnPlotRefreshTick;
+            _stopwatch.Stop();
+
+            // 取消 EventAggregator 订阅
+            if (_subscriptionToken != null)
+                _eventAggregator.GetEvent<HardwareDataReportedEvent>().Unsubscribe(_subscriptionToken);
+
+            if (_dbFlushTask != null)
+            {
+                try { _dbFlushTask.Wait(TimeSpan.FromSeconds(1.5)); } catch { }
+            }
+
             _sampleTimer.Tick -= OnSampleTick;
 
             // 3. 释放容器作用域
             _scope?.Dispose();
-
-            // 4. 清理集合
             Channels.Clear();
             AvailableMethods.Clear();
-            _methodCache.Clear();
         }
 
+        #region 事件驱动：接收广播数据
+        /// <summary>
+        /// 由 HardwareDataBroadcaster 通过 EventAggregator 广播触发。
+        /// 已通过 ThreadOption.UIThread 确保在 UI 线程执行。
+        /// 通过 HardwareFingerprint + MethodName 匹配监测通道。
+        /// </summary>
+        private void OnHardwareDataReceived(HardwareReportArgs args)
+        {
+            // 仅处理属于当前 Scope 的事件
+            if (string.IsNullOrEmpty(TestStatus) || args.Scope != TestStatus) return;
+
+            // 以硬件指纹 + 方法名唯一匹配通道（与逻辑名解耦）
+            var channel = Channels.FirstOrDefault(c =>
+                c.Fingerprint == args.HardwareFingerprint &&
+                c.MethodName == args.MethodName &&
+                c.IsMonitored);
+
+            if (channel == null) return;
+
+            double time = _stopwatch.Elapsed.TotalSeconds;
+
+            // 记录数据点（线程安全：Record 内部 ConcurrentQueue + Series 操作）
+            channel.Record(time, args.Value);
+
+            // 入队数据库批量写入
+            // CreateTime 使用 args.Time（采样触发时刻），而不是 DateTime.Now（设备响应到达时刻），
+            // 这样即使设备响应有延迟，数据库里的时间戳仍然按设定采样间隔分布。
+            var entity = new MonitorValueEntity
+            {
+                MonitorName = channel.DisplayName,
+                MonitorValue = args.Value,
+                Scope = args.Scope,
+                CreateTime = args.Time,
+                IsDel = 0
+            };
+            _insertQueue.Enqueue(entity);
+
+            if (_insertQueue.Count >= BulkInsertThreshold)
+            {
+                _ = Task.Run(async () => await DoFlushWorkAsync().ConfigureAwait(false));
+            }
+        }
+        #endregion
+
+        #region OxyPlot 视觉刷新定时器
+        private void OnPlotRefreshTick(object? sender, EventArgs e)
+        {
+            if (!_stopwatch.IsRunning) return;
+
+            double elapsed = _stopwatch.Elapsed.TotalSeconds;
+            var xAxis = Plot.Axes.FirstOrDefault(a => a.Position == AxisPosition.Bottom);
+            if (xAxis != null)
+            {
+                double window = 10000 * 0.1; // 20s 视窗
+                xAxis.Minimum = Math.Max(0, elapsed - window);
+                xAxis.Maximum = elapsed + 0.5;
+            }
+            Plot.InvalidatePlot(true);
+        }
+        #endregion
+
+        #region 后台数据库批量入库
+        private void StartDbFlushWorker(CancellationToken token)
+        {
+            _dbFlushTask = Task.Run(async () =>
+            {
+                while (!token.IsCancellationRequested)
+                {
+                    try
+                    {
+                        await Task.Delay(TimeSpan.FromSeconds(1), token).ConfigureAwait(false);
+                        await DoFlushWorkAsync().ConfigureAwait(false);
+                    }
+                    catch (OperationCanceledException) { break; }
+                    catch (Exception ex)
+                    {
+                        System.Diagnostics.Debug.WriteLine($"[DB Worker Error] {ex.Message}");
+                    }
+                }
+                await DoFlushWorkAsync().ConfigureAwait(false);
+            }, token);
+        }
+
+        private async Task DoFlushWorkAsync()
+        {
+            if (_insertQueue.IsEmpty) return;
+            if (Interlocked.CompareExchange(ref _isFlushing, 1, 0) != 0) return;
+
+            try
+            {
+                var listToInsert = new List<MonitorValueEntity>();
+                while (_insertQueue.TryDequeue(out var entity)) listToInsert.Add(entity);
+
+                if (listToInsert.Count > 0)
+                {
+                    var result = await _monitorValueService.InsertRangeAsync(listToInsert).ConfigureAwait(false);
+                }
+            }
+            finally { Interlocked.Exchange(ref _isFlushing, 0); }
+        }
+        #endregion
+
+        #region Navigation 导航
+        public override void OnNavigatedTo(NavigationContext navigationContext)
+        {
+            base.OnNavigatedTo(navigationContext);
+            if (!IsInitiated && navigationContext.Parameters.ContainsKey("Name"))
+            {
+                TestStatus = navigationContext.Parameters.GetValue<string>("Name");
+                Plot.Title = $"监控 - {TestStatus}";
+                Plot.InvalidatePlot(false);
+
+                _scope = _globalInfo.ScopeDic[TestStatus];
+                _scopedContext = _scope.Resolve<ScopedContext>();
+                _deviceManager = _scope.Resolve<DeviceManager>();
+                _broadcaster = _scope.Resolve<HardwareDataBroadcaster>();
+                IsInitiated = true;
+
+                if (_monitorCTS == null) _monitorCTS = new CancellationTokenSource();
+
+                // 1. 启动后台数据库消费
+                StartDbFlushWorker(_monitorCTS.Token);
+
+                // 2. 扫描可监测方法（供 UI 选择）
+                DiscoverAvailableMethods();
+
+                // 3. 启动广播器（Discover + Start）
+                _broadcaster.Discover();
+                _broadcaster.Start();
+
+                // 4. 订阅 HardwareDataReportedEvent（UI 线程回调）
+                _subscriptionToken = _eventAggregator.GetEvent<HardwareDataReportedEvent>()
+                    .Subscribe(OnHardwareDataReceived, ThreadOption.UIThread);
+
+                // 5. 启动 OxyPlot 视觉刷新定时器
+                _stopwatch.Start();
+                _plotRefreshTimer.Start();
+            }
+        }
+        #endregion
+
         #region PlotModel 构建
         private static PlotModel BuildEmptyPlot()
         {
@@ -162,7 +335,22 @@ namespace MonitorModule.ViewModels
         }
         #endregion
 
-        #region 设备方法发现
+        #region 设备方法发现（仅用于 UI 展示可选项）
+        /// <summary>
+        /// 通过 GlobalInfo.HardwarePool 构建 设备实例引用→硬件指纹 的反向查找表。
+        /// </summary>
+        private Dictionary<object, string> BuildInstanceToFingerprint()
+        {
+            var map = new Dictionary<object, string>(ReferenceEqualityComparer.Instance);
+            foreach (var poolEntry in _globalInfo.HardwarePool)
+            {
+                var lazy = poolEntry.Value;
+                if (lazy.IsValueCreated && lazy.Value != null)
+                    map[lazy.Value] = poolEntry.Key;
+            }
+            return map;
+        }
+
         private void DiscoverAvailableMethods()
         {
             AvailableMethods.Clear();
@@ -172,26 +360,26 @@ namespace MonitorModule.ViewModels
                 return;
             }
 
+            var instanceToFp = BuildInstanceToFingerprint();
+
             foreach (var kvp in _deviceManager.DeviceMap)
             {
                 string deviceName = kvp.Key;
                 var device = kvp.Value;
                 var deviceType = device.GetType();
 
-                // 改用特性过滤：仅扫描带有 [Monitorable] 特性且签名正确的方法
+                // 反查该实例的硬件指纹
+                if (!instanceToFp.TryGetValue(device, out string? fingerprint))
+                    continue;
+
                 var methods = deviceType.GetMethods(BindingFlags.Public | BindingFlags.Instance)
                     .Where(m =>
                     {
-                        var attribute = m.GetCustomAttribute<MonitorableAttribute>();
-                        if (attribute == null) return false;
-
+                        if (m.GetCustomAttribute<MonitorableAttribute>() == null) return false;
                         if (m.ReturnType != typeof(Task<string>)) return false;
-
                         var parms = m.GetParameters();
-                        bool validParams = parms.Length == 0 ||
-                            (parms.Length == 1 && parms[0].ParameterType == typeof(CancellationToken));
-
-                        return validParams;
+                        return parms.Length == 0 ||
+                               (parms.Length == 1 && parms[0].ParameterType == typeof(CancellationToken));
                     });
 
                 foreach (var method in methods)
@@ -201,15 +389,15 @@ namespace MonitorModule.ViewModels
                         ? $"{deviceName}.{attr.Description}"
                         : $"{deviceName}.{method.Name}";
 
-                    var item = new AvailableMethodItem
+                    AvailableMethods.Add(new AvailableMethodItem
                     {
                         DeviceName = deviceName,
+                        Fingerprint = fingerprint,
                         MethodName = method.Name,
                         DisplayName = displayName,
                         MethodInfo = method,
                         Device = device
-                    };
-                    AvailableMethods.Add(item);
+                    });
                 }
             }
 
@@ -229,7 +417,8 @@ namespace MonitorModule.ViewModels
                 return;
             }
 
-            if (Channels.Any(c => c.DeviceName == method.DeviceName && c.MethodName == method.MethodName))
+            // 以指纹+方法名去重，防止同一物理设备重复添加
+            if (Channels.Any(c => c.Fingerprint == method.Fingerprint && c.MethodName == method.MethodName))
             {
                 StatusMessage = $"监测项 [{method.DisplayName}] 已存在";
                 return;
@@ -241,6 +430,7 @@ namespace MonitorModule.ViewModels
             var channel = new MonitorChannel
             {
                 DeviceName = method.DeviceName,
+                Fingerprint = method.Fingerprint,
                 MethodName = method.MethodName,
                 DisplayName = method.DisplayName,
                 Color = color,
@@ -256,8 +446,6 @@ namespace MonitorModule.ViewModels
             };
             Plot.Series.Add(channel.Series);
 
-            _methodCache[channel] = (method.MethodInfo, method.Device);
-
             channel.PropertyChanged += (s, e) =>
             {
                 if (e.PropertyName == nameof(MonitorChannel.IsDisplayed))
@@ -280,11 +468,7 @@ namespace MonitorModule.ViewModels
                 return;
             }
 
-            if (target.Series != null)
-            {
-                Plot.Series.Remove(target.Series);
-            }
-            _methodCache.Remove(target);
+            if (target.Series != null) Plot.Series.Remove(target.Series);
             Channels.Remove(target);
             SelectedChannel = Channels.LastOrDefault();
 
@@ -328,11 +512,9 @@ namespace MonitorModule.ViewModels
                     };
 
                     var recent = channel.DataPoints.ToArray();
-                    var startIdx = Math.Max(0, recent.Length - 200);
+                    var startIdx = Math.Max(0, recent.Length - 10000);
                     for (int i = startIdx; i < recent.Length; i++)
-                    {
                         channel.Series.Points.Add(new DataPoint(recent[i].Time, recent[i].DisplayValue));
-                    }
 
                     Plot.Series.Add(channel.Series);
                     Plot.InvalidatePlot(true);
@@ -352,121 +534,13 @@ namespace MonitorModule.ViewModels
         public void OnChannelMathChanged(MonitorChannel channel)
         {
             if (channel.Series == null) return;
-
             var points = channel.DataPoints.ToArray();
             channel.Series.Points.Clear();
-            var startIdx = Math.Max(0, points.Length - 200);
+            var startIdx = Math.Max(0, points.Length - 10000);
             for (int i = startIdx; i < points.Length; i++)
-            {
                 channel.Series.Points.Add(new DataPoint(points[i].Time, points[i].DisplayValue));
-            }
             Plot.InvalidatePlot(true);
         }
         #endregion
-
-        #region 采样定时器与高并发处理
-        private async void OnSampleTick(object? sender, EventArgs e)
-        {
-            _sampleTime += _sampleInterval;
-
-            if (Channels.Count == 0 || _methodCache.Count == 0) return;
-
-            var sampleTasks = new List<Task>();
-            var token = _monitorCTS?.Token ?? CancellationToken.None;
-
-            // 1. 并行发起所有通道的数据采集，防止单一通道硬件断连卡死全局采样
-            foreach (var channel in Channels)
-            {
-                if (!channel.IsMonitored) continue;
-                if (!_methodCache.TryGetValue(channel, out var entry)) continue;
-
-                sampleTasks.Add(Task.Run(async () =>
-                {
-                    try
-                    {
-                        var (method, device) = entry;
-
-                        // 动态分析方法签名准备反射参数
-                        var parmsInfo = method.GetParameters();
-                        object?[]? invokeArgs = parmsInfo.Length == 1 && parmsInfo[0].ParameterType == typeof(CancellationToken)
-                            ? new object[] { token }
-                            : null;
-
-                        if (method.Invoke(device, invokeArgs) is Task<string> task)
-                        {
-                            string raw = await task.ConfigureAwait(false);
-
-                            if (double.TryParse(raw, out double value))
-                            {
-                                channel.Record(_sampleTime, value);
-                                var entity = new MonitorValueEntity
-                                {
-                                    MonitorName = channel.DisplayName,
-                                    MonitorValue = value,
-                                    CreateTime = DateTime.Now,
-                                    IsDel = 0
-                                };
-                            }
-                        }
-                    }
-                    catch
-                    {
-                        // 某个硬件通道故障时不干扰其他通道
-                    }
-                }, token));
-            }
-
-            // 2. 批量等待并发采样，加入 2 秒强制超时保护兜底
-            if (sampleTasks.Count > 0)
-            {
-                try
-                {
-                    var delayTask = Task.Delay(TimeSpan.FromSeconds(2), token);
-                    await Task.WhenAny(Task.WhenAll(sampleTasks), delayTask).ConfigureAwait(true);
-                }
-                catch (OperationCanceledException)
-                {
-                    return;
-                }
-            }
-
-            // 3. 【回归UI线程】由于前面 ConfigureAwait(true)，这里直接执行 OxyPlot 坐标滚动与刷新
-            var xAxis = Plot.Axes.FirstOrDefault(a => a.Position == AxisPosition.Bottom);
-            if (xAxis != null)
-            {
-                double window = 200 * _sampleInterval;
-                xAxis.Minimum = Math.Max(0, _sampleTime - window);
-                xAxis.Maximum = _sampleTime + 0.5;
-            }
-
-            Plot.InvalidatePlot(true);
-        }
-        #endregion
-
-        #region 重写
-        public override void OnNavigatedTo(NavigationContext navigationContext)
-        {
-            base.OnNavigatedTo(navigationContext);
-            if (!IsInitiated && navigationContext.Parameters.ContainsKey("Name"))
-            {
-                TestStatus = navigationContext.Parameters.GetValue<string>("Name");
-                Plot.Title = $"监控 - {TestStatus}";
-                Plot.InvalidatePlot(false);
-                _scope = _globalInfo.ScopeDic[TestStatus];
-                _scopedContext = _scope.Resolve<ScopedContext>();
-                _deviceManager = _scope.Resolve<DeviceManager>();
-                IsInitiated = true;
-
-                // 初始化全新的取消信号源
-                if (_monitorCTS == null) _monitorCTS = new CancellationTokenSource();
-
-                // 扫描可用监测项
-                DiscoverAvailableMethods();
-
-                // 启动采样定时器
-                _sampleTimer.Start();
-            }
-        }
-        #endregion
     }
-}
+}

MonitorModule/ViewModels/RecordViewModel.cs

@@ -1,8 +1,13 @@
-using Logger;
+using Common.Attributes;
+using DeviceCommand.Base;
+using Logger;
+using Model.Entity;
+using ORM;
 using SqlSugar;
 using System.Collections.ObjectModel;
 using System.Data;
 using System.IO;
+using System.Reflection;
 using System.Text;
 using System.Windows.Input;
 using UIShare.GlobalVariable;
@@ -12,9 +17,9 @@ using UIShare.ViewModelBase;
 namespace MonitorModule.ViewModels
 {
     /// <summary>
-    /// 记录界面：用于查看运行目录下 SQL/ADP.db 中的数据。
-    /// 功能：表选择 / 关键字 WHERE 查询 / 分页 / 导出 CSV。
-    /// 仍延续 ScopedContext 隔离 + 双击展开 的范式，每个工位独立一份查询状态。
+    /// 记录界面：查询 MonitorValueEntity 表中的历史监测数据。
+    /// 功能：监测项筛选 / 台架筛选 / 日期筛选 / 分页 / 导出 CSV。
+    /// 使用 SqlSugarContext.DbContext 全局单例，与写入端共用同一数据库连接。
     /// </summary>
     public class RecordViewModel : NavigateViewModelBase, IRegionMemberLifetime, IDisposable
     {
@@ -30,30 +35,39 @@ namespace MonitorModule.ViewModels
             set => SetProperty(ref _testStatus, value);
         }
 
-        public ObservableCollection<string> TableNames
+        /// <summary>监测项名称下拉列表</summary>
+        public ObservableCollection<string> MonitorNames
         {
-            get => _tableNames;
-            set => SetProperty(ref _tableNames, value);
+            get => _monitorNames;
+            set => SetProperty(ref _monitorNames, value);
         }
 
-        public string? SelectedTable
+        /// <summary>选中的监测项（null = 全部）</summary>
+        public string? SelectedMonitorName
         {
-            get => _selectedTable;
-            set
-            {
-                if (SetProperty(ref _selectedTable, value))
-                {
-                    PageIndex = 1;
-                    Query();
-                }
-            }
+            get => _selectedMonitorName;
+            set => SetProperty(ref _selectedMonitorName, value);
         }
 
-        // 用户填写的 WHERE 子句（不带 WHERE 关键字），例如：Status='OK' AND Id>10
-        public string WhereClause
+        /// <summary>台架（作用域）下拉列表</summary>
+        public ObservableCollection<string> ScopeNames
         {
-            get => _whereClause;
-            set => SetProperty(ref _whereClause, value);
+            get => _scopeNames;
+            set => SetProperty(ref _scopeNames, value);
+        }
+
+        /// <summary>选中的台架（null = 全部）</summary>
+        public string? SelectedScope
+        {
+            get => _selectedScope;
+            set => SetProperty(ref _selectedScope, value);
+        }
+
+        /// <summary>查询日期（null = 全部日期）</summary>
+        public DateTime? SelectedDate
+        {
+            get => _selectedDate;
+            set => SetProperty(ref _selectedDate, value);
         }
 
         public DataTable ResultTable
@@ -111,40 +125,38 @@ namespace MonitorModule.ViewModels
 
         #region 命令
         public ICommand LoadedCommand { get; }
-        public ICommand RefreshTablesCommand { get; }
         public ICommand QueryCommand { get; }
+        public ICommand ClearFilterCommand { get; }
         public ICommand FirstPageCommand { get; }
         public ICommand PrevPageCommand { get; }
         public ICommand NextPageCommand { get; }
         public ICommand LastPageCommand { get; }
         public ICommand ExportCsvCommand { get; }
-        // 双击展开/折叠：与 MonitorView/AutomatedTestingView 共用
         public ICommand RefreshCommand { get; }
         #endregion
+
         #region 私有字段
-        // 数据库相对路径：运行目录\SQL\ADP.db（数据库未就绪时容错处理，不抛异常）
-        private static readonly string DbFolder = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "SQL");
-        private static readonly string DbPath = Path.Combine(DbFolder, "ADP.db");
-        private static readonly string ConnStr = $"Data Source={DbPath};Version=3;";
-        private bool IsInitiated = false;
         private IScopedProvider _scope;
         private string _testStatus = string.Empty;
-        private ObservableCollection<string> _tableNames = new();
-        private string? _selectedTable;
-        private string _whereClause = string.Empty;
+        private ObservableCollection<string> _monitorNames = new();
+        private string? _selectedMonitorName;
+        private ObservableCollection<string> _scopeNames = new(new[] { "全部", "TestCell1", "TestCell2", "TestCell3", "TestCell4", "TestCell5", "TestCell6", "TestCell7", "TestCell8" });
+        private string? _selectedScope = "全部";
+        private DateTime? _selectedDate;
         private DataTable _resultTable = new();
         private string _statusMessage = "未连接";
         private int _pageIndex = 1;
         private int _pageSize = 50;
         private long _totalCount;
+        private bool IsInitiated = false;
         #endregion
 
         public RecordViewModel(IContainerExtension container) : base(container)
         {
             _globalInfo = container.Resolve<GlobalInfo>();
-            LoadedCommand = new DelegateCommand(LoadTables);
-            RefreshTablesCommand = new DelegateCommand(LoadTables);
+            LoadedCommand = new DelegateCommand(LoadFilterOptions);
             QueryCommand = new DelegateCommand(() => { PageIndex = 1; Query(); });
+            ClearFilterCommand = new DelegateCommand(ClearFilter);
             FirstPageCommand = new DelegateCommand(() => { if (PageIndex > 1) { PageIndex = 1; Query(); } });
             PrevPageCommand = new DelegateCommand(() => { if (PageIndex > 1) { PageIndex--; Query(); } });
             NextPageCommand = new DelegateCommand(() => { if (PageIndex < TotalPages) { PageIndex++; Query(); } });
@@ -158,105 +170,136 @@ namespace MonitorModule.ViewModels
             _scope?.Dispose();
         }
 
-        #region 数据库操作
-        private SqlSugarClient CreateClient()
+        #region 筛选条件加载
+        /// <summary>
+        /// 加载筛选条件：监测项通过反射发现（与 MonitorViewModel 一致），台架从数据库查询。
+        /// </summary>
+        private void LoadFilterOptions()
         {
-            return new SqlSugarClient(new ConnectionConfig
-            {
-                DbType = SqlSugar.DbType.Sqlite,
-                ConnectionString = ConnStr,
-                IsAutoCloseConnection = true,
-                InitKeyType = InitKeyType.Attribute
-            });
+            // 监测项：反射发现当前作用域所有带 [Monitorable] 的设备方法
+            DiscoverMonitorNames();
+
+            Query();
         }
 
         /// <summary>
-        /// 读取数据库中的所有用户表。数据库不存在时不报错，仅在状态栏提示。
+        /// 反射扫描当前作用域 DeviceManager 中所有带 [Monitorable] 特性的设备方法，
+        /// 生成与 MonitorViewModel 完全一致的 DisplayName 列表，填充到下拉框。
+        /// 这样即使数据库还没数据，用户也能看到所有可筛选的监测项。
         /// </summary>
-        private void LoadTables()
+        private void DiscoverMonitorNames()
         {
+            MonitorNames = new ObservableCollection<string>();
+
+            if (_scope == null) return;
+
             try
             {
-                if (!Directory.Exists(DbFolder)) Directory.CreateDirectory(DbFolder);
-                if (!File.Exists(DbPath))
+                var deviceManager = _scope.Resolve<DeviceManager>();
+                if (deviceManager?.DeviceMap == null || deviceManager.DeviceMap.Count == 0)
                 {
-                    TableNames = new ObservableCollection<string>();
-                    SelectedTable = null;
-                    ResultTable = new DataTable();
-                    TotalCount = 0;
-                    StatusMessage = $"数据库尚未创建：{DbPath}";
+                    StatusMessage = "当前工位无可用设备";
                     return;
                 }
 
-                using var db = CreateClient();
-                var tables = db.DbMaintenance.GetTableInfoList(false)
-                    .Select(t => t.Name)
-                    .OrderBy(n => n)
-                    .ToList();
+                // 构建 设备实例 → 硬件指纹 的反向查找表
+                var instanceToFp = new Dictionary<object, string>(ReferenceEqualityComparer.Instance);
+                foreach (var poolEntry in _globalInfo.HardwarePool)
+                {
+                    var lazy = poolEntry.Value;
+                    if (lazy.IsValueCreated && lazy.Value != null)
+                        instanceToFp[lazy.Value] = poolEntry.Key;
+                }
 
-                TableNames = new ObservableCollection<string>(tables);
-                if (tables.Count == 0)
+                var names = new List<string>();
+
+                foreach (var kvp in deviceManager.DeviceMap)
                 {
-                    SelectedTable = null;
-                    ResultTable = new DataTable();
-                    TotalCount = 0;
-                    StatusMessage = "数据库已连接，但暂无数据表";
-                }
-                else
-                {
-                    StatusMessage = $"已连接：{DbPath}（{tables.Count} 张表）";
-                    if (string.IsNullOrEmpty(SelectedTable) || !tables.Contains(SelectedTable))
+                    string deviceName = kvp.Key;
+                    var device = kvp.Value;
+                    var deviceType = device.GetType();
+
+                    // 只列出在硬件指纹池中注册的设备
+                    if (!instanceToFp.ContainsKey(device))
+                        continue;
+
+                    var methods = deviceType.GetMethods(BindingFlags.Public | BindingFlags.Instance)
+                        .Where(m =>
+                        {
+                            if (m.GetCustomAttribute<MonitorableAttribute>() == null) return false;
+                            if (m.ReturnType != typeof(Task<string>)) return false;
+                            var parms = m.GetParameters();
+                            return parms.Length == 0 ||
+                                   (parms.Length == 1 && parms[0].ParameterType == typeof(CancellationToken));
+                        });
+
+                    foreach (var method in methods)
                     {
-                        SelectedTable = tables[0]; // setter 会触发 Query
-                    }
-                    else
-                    {
-                        Query();
+                        var attr = method.GetCustomAttribute<MonitorableAttribute>();
+                        string displayName = !string.IsNullOrEmpty(attr?.Description)
+                            ? $"{deviceName}.{attr.Description}"
+                            : $"{deviceName}.{method.Name}";
+                        names.Add(displayName);
                     }
                 }
+
+                names.Sort();
+                MonitorNames = new ObservableCollection<string>(names);
             }
             catch (Exception ex)
             {
-                LoggerHelper.ErrorWithNotify(_globalInfo.CurrentScope,$"加载数据表失败：{ex.Message}");
-                StatusMessage = $"加载失败：{ex.Message}";
+                LoggerHelper.ErrorWithNotify(_globalInfo.CurrentScope, $"反射发现监测项失败：{ex.Message}");
             }
         }
 
+        /// <summary>清除所有筛选条件</summary>
+        private void ClearFilter()
+        {
+            SelectedMonitorName = null;
+            SelectedScope = "全部";
+            SelectedDate = null;
+            PageIndex = 1;
+            Query();
+        }
+        #endregion
+
+        #region 查询
         /// <summary>
-        /// 执行分页查询。WHERE 为空则查询全部。
+        /// 按当前筛选条件分页查询 MonitorValueEntity。
         /// </summary>
         private void Query()
         {
-            if (string.IsNullOrEmpty(SelectedTable) || !File.Exists(DbPath))
-            {
-                ResultTable = new DataTable();
-                TotalCount = 0;
-                return;
-            }
-
             try
             {
-                using var db = CreateClient();
-                string table = $"[{SelectedTable}]";
-                string where = string.IsNullOrWhiteSpace(WhereClause) ? "1=1" : WhereClause;
+                var db = SqlSugarContext.DbContext;
 
-                // COUNT 总数
-                var countSql = $"SELECT COUNT(*) FROM {table} WHERE {where}";
-                TotalCount = db.Ado.GetLong(countSql);
+                // 预计算日期范围，避免在表达式树中访问可空属性
+                DateTime? dateStart = SelectedDate?.Date;
+                DateTime? dateEnd = dateStart?.AddDays(1);
+
+                var query = db.Queryable<MonitorValueEntity>()
+                    .WhereIF(!string.IsNullOrEmpty(SelectedMonitorName), x => x.MonitorName == SelectedMonitorName)
+                    .WhereIF(!string.IsNullOrEmpty(SelectedScope) && SelectedScope != "全部", x => x.Scope == SelectedScope)
+                    .WhereIF(dateStart.HasValue, x => x.CreateTime >= dateStart && x.CreateTime < dateEnd!.Value)
+                    .OrderBy(x => x.CreateTime, OrderByType.Desc);
+
+                TotalCount = query.Count();
 
                 // 修正越界
                 if (PageIndex > TotalPages) PageIndex = TotalPages;
                 if (PageIndex < 1) PageIndex = 1;
 
-                int offset = (PageIndex - 1) * PageSize;
-                var dataSql = $"SELECT * FROM {table} WHERE {where} LIMIT {PageSize} OFFSET {offset}";
-                ResultTable = db.Ado.GetDataTable(dataSql);
+                int skip = (PageIndex - 1) * PageSize;
+                ResultTable = query
+                    .Skip(skip)
+                    .Take(PageSize)
+                    .ToDataTable();
 
-                StatusMessage = $"表 [{SelectedTable}]  共 {TotalCount} 行  第 {PageIndex}/{TotalPages} 页";
+                StatusMessage = $"共 {TotalCount} 行  第 {PageIndex}/{TotalPages} 页";
             }
             catch (Exception ex)
             {
-                LoggerHelper.ErrorWithNotify(TestStatus,$"查询失败：{ex.Message}");
+                LoggerHelper.ErrorWithNotify(TestStatus, $"查询失败：{ex.Message}");
                 StatusMessage = $"查询失败：{ex.Message}";
                 ResultTable = new DataTable();
                 TotalCount = 0;
@@ -266,36 +309,42 @@ namespace MonitorModule.ViewModels
 
         #region 导出 CSV
         /// <summary>
-        /// 按当前 WHERE 条件导出全部结果到 CSV（不分页）。
+        /// 按当前筛选条件导出全部结果到 CSV（不分页）。
         /// </summary>
         private void ExportCsv()
         {
-            if (string.IsNullOrEmpty(SelectedTable) || !File.Exists(DbPath))
-            {
-                StatusMessage = "无可导出数据";
-                return;
-            }
-
-            var dlg = new Microsoft.Win32.SaveFileDialog
-            {
-                Filter = "CSV 文件 (*.csv)|*.csv|所有文件|*.*",
-                FileName = $"{SelectedTable}_{DateTime.Now:yyyyMMdd_HHmmss}.csv",
-                Title = $"导出 [{SelectedTable}] 为 CSV"
-            };
-            if (dlg.ShowDialog() != true) return;
-
             try
             {
-                using var db = CreateClient();
-                string table = $"[{SelectedTable}]";
-                string where = string.IsNullOrWhiteSpace(WhereClause) ? "1=1" : WhereClause;
-                var sql = $"SELECT * FROM {table} WHERE {where}";
-                var dt = db.Ado.GetDataTable(sql);
+                var db = SqlSugarContext.DbContext;
+
+                DateTime? dateStart = SelectedDate?.Date;
+                DateTime? dateEnd = dateStart?.AddDays(1);
+
+                var query = db.Queryable<MonitorValueEntity>()
+                    .WhereIF(!string.IsNullOrEmpty(SelectedMonitorName), x => x.MonitorName == SelectedMonitorName)
+                    .WhereIF(!string.IsNullOrEmpty(SelectedScope) && SelectedScope != "全部", x => x.Scope == SelectedScope)
+                    .WhereIF(dateStart.HasValue, x => x.CreateTime >= dateStart && x.CreateTime < dateEnd!.Value)
+                    .OrderBy(x => x.CreateTime, OrderByType.Desc);
+
+                var dt = query.ToDataTable();
+                if (dt.Rows.Count == 0)
+                {
+                    StatusMessage = "无可导出数据";
+                    return;
+                }
+
+                var dlg = new Microsoft.Win32.SaveFileDialog
+                {
+                    Filter = "CSV 文件 (*.csv)|*.csv|所有文件|*.*",
+                    FileName = $"MonitorData_{DateTime.Now:yyyyMMdd_HHmmss}.csv",
+                    Title = "导出监测数据为 CSV"
+                };
+                if (dlg.ShowDialog() != true) return;
 
                 WriteCsv(dlg.FileName, dt);
 
                 StatusMessage = $"导出完成：{dlg.FileName}（{dt.Rows.Count} 行）";
-                LoggerHelper.InfoWithNotify(TestStatus, $"工位 [{TestStatus}] 导出 [{SelectedTable}] 至 {dlg.FileName}，共 {dt.Rows.Count} 行");
+                LoggerHelper.InfoWithNotify(TestStatus, $"工位 [{TestStatus}] 导出监测数据至 {dlg.FileName}，共 {dt.Rows.Count} 行");
             }
             catch (Exception ex)
             {
@@ -333,7 +382,6 @@ namespace MonitorModule.ViewModels
             if (string.IsNullOrEmpty(TestStatus)) return;
             _globalInfo.CurrentScope = TestStatus;
             _eventAggregator.GetEvent<ExpandViewEvent>().Publish(TestStatus);
-         
         }
         #endregion
 
@@ -341,14 +389,14 @@ namespace MonitorModule.ViewModels
         public override void OnNavigatedTo(NavigationContext navigationContext)
         {
             base.OnNavigatedTo(navigationContext);
-            if (!IsInitiated&&navigationContext.Parameters.ContainsKey("Name"))
+            if (!IsInitiated && navigationContext.Parameters.ContainsKey("Name"))
             {
                 TestStatus = navigationContext.Parameters.GetValue<string>("Name");
                 _scope = _globalInfo.ScopeDic[TestStatus];
                 _scopedContext = _scope.Resolve<ScopedContext>();
                 IsInitiated = true;
             }
-            LoadTables();
+            LoadFilterOptions();
         }
         #endregion
     }

MonitorModule/Views/RecordView.xaml

@@ -39,7 +39,7 @@
                        FontSize="20" FontWeight="Bold"
                        Margin="4,0,0,8"/>
 
-            <!-- 工具栏：表选择 / WHERE 条件 / 查询 / 刷新表 / 导出 -->
+            <!-- 工具栏：监测项筛选 / 台架筛选 / 日期筛选 / 查询 / 清除 / 导出 -->
             <Border Grid.Row="1"
                     Background="White"
                     BorderBrush="#DDD" BorderThickness="1"
@@ -47,57 +47,71 @@
                 <Grid>
                     <Grid.ColumnDefinitions>
                         <ColumnDefinition Width="Auto"/>
-                        <ColumnDefinition Width="180"/>
+                        <ColumnDefinition Width="200"/>
+                        <ColumnDefinition Width="Auto"/>
+                        <ColumnDefinition Width="150"/>
+                        <ColumnDefinition Width="Auto"/>
+                        <ColumnDefinition Width="150"/>
+                        <ColumnDefinition Width="Auto"/>
+                        <ColumnDefinition Width="Auto"/>
                         <ColumnDefinition Width="Auto"/>
                         <ColumnDefinition Width="*"/>
-                        <ColumnDefinition Width="Auto"/>
-                        <ColumnDefinition Width="Auto"/>
-                        <ColumnDefinition Width="Auto"/>
                     </Grid.ColumnDefinitions>
 
+                    <!-- 监测项 -->
                     <TextBlock Grid.Column="0"
-                               Text="表："
+                               Text="监测项："
                                VerticalAlignment="Center"
                                Margin="0,0,4,0"/>
                     <ComboBox Grid.Column="1"
-                              materialDesign:HintAssist.Hint="数据表"
-                              ItemsSource="{Binding TableNames}"
-                              SelectedItem="{Binding SelectedTable}"
+                              materialDesign:HintAssist.Hint="全部"
+                              ItemsSource="{Binding MonitorNames}"
+                              SelectedItem="{Binding SelectedMonitorName}"
+                              IsEditable="True"
                               VerticalAlignment="Center"/>
 
+                    <!-- 台架 -->
                     <TextBlock Grid.Column="2"
-                               Text="WHERE："
+                               Text="台架："
                                VerticalAlignment="Center"
                                Margin="12,0,4,0"/>
-                    <TextBox Grid.Column="3"
-                             Text="{Binding WhereClause, UpdateSourceTrigger=PropertyChanged}"
-                             VerticalAlignment="Center"
-                             materialDesign:HintAssist.Hint="条件筛选"
-                             ToolTip="例如：Status='OK' AND Id>10。留空表示查询全部">
-                        <TextBox.InputBindings>
-                            <KeyBinding Key="Enter" Command="{Binding QueryCommand}"/>
-                        </TextBox.InputBindings>
-                    </TextBox>
+                    <ComboBox Grid.Column="3"
+                              materialDesign:HintAssist.Hint="全部"
+                              ItemsSource="{Binding ScopeNames}"
+                              SelectedItem="{Binding SelectedScope}"
+                              IsEditable="True"
+                              VerticalAlignment="Center"/>
 
-                    <Button Grid.Column="4"
+                    <!-- 日期 -->
+                    <TextBlock Grid.Column="4"
+                               Text="日期："
+                               VerticalAlignment="Center"
+                               Margin="12,0,4,0"/>
+                    <DatePicker Grid.Column="5"
+                                SelectedDate="{Binding SelectedDate}"
+                                materialDesign:HintAssist.Hint="全部"
+                                VerticalAlignment="Center"/>
+
+                    <!-- 按钮 -->
+                    <Button Grid.Column="6"
                             Content="查询"
                             Command="{Binding QueryCommand}"
-                            Padding="12,4" Margin="8,0,0,0"/>
-                    <Button Grid.Column="5"
-                            Content="刷新表"
-                            Command="{Binding RefreshTablesCommand}"
+                            Padding="12,4" Margin="12,0,0,0"/>
+                    <Button Grid.Column="7"
+                            Content="清除"
+                            Command="{Binding ClearFilterCommand}"
                             Padding="12,4" Margin="6,0,0,0"/>
-                    <Button Grid.Column="6"
+                    <Button Grid.Column="8"
                             Content="导出 CSV"
                             Command="{Binding ExportCsvCommand}"
                             Padding="12,4" Margin="6,0,0,0"/>
                 </Grid>
             </Border>
 
-            <!-- DataGrid：自动生成列，绑 DataTable.DefaultView 直显示 -->
+            <!-- DataGrid：显式列定义，隐藏 Id / IsDel -->
             <DataGrid Grid.Row="2"
                       ItemsSource="{Binding ResultTable}"
-                      AutoGenerateColumns="True"
+                      AutoGenerateColumns="False"
                       IsReadOnly="True"
                       CanUserAddRows="False"
                       CanUserDeleteRows="False"
@@ -106,7 +120,14 @@
                       AlternatingRowBackground="#F9FAFB"
                       RowBackground="White"
                       HorizontalScrollBarVisibility="Auto"
-                      VerticalScrollBarVisibility="Auto"/>
+                      VerticalScrollBarVisibility="Auto">
+                <DataGrid.Columns>
+                    <DataGridTextColumn Header="监测项" Binding="{Binding MonitorName}" Width="*"/>
+                    <DataGridTextColumn Header="监测值" Binding="{Binding MonitorValue}" Width="120"/>
+                    <DataGridTextColumn Header="台架" Binding="{Binding Scope}" Width="120"/>
+                    <DataGridTextColumn Header="记录时间" Binding="{Binding CreateTime, StringFormat=yyyy-MM-dd HH:mm:ss}" Width="180"/>
+                </DataGrid.Columns>
+            </DataGrid>
 
             <!-- 分页控件 -->
             <Border Grid.Row="3"

ORM/DatabaseConfig.cs

@@ -46,7 +46,7 @@ namespace ORM
 
             // 拼接数据库文件路径
             string DBPath = Path.Combine(folder, "SQL.db");
-            DbConnectionString = $"Data Source={DBPath};Version=3;";
+            DbConnectionString = $"Data Source={DBPath};";
         }
         public static void InitMySql(string Server, int Port, string Database, string Uid,string Pwd)
         {

SettingModule/SettingModule.cs

@@ -20,6 +20,7 @@ namespace SettingModule
             // 设备连接配置弹窗
             containerRegistry.RegisterDialog<TCPConfigView>("TCPConfig");
             containerRegistry.RegisterDialog<SerialPortConfigView>("SerialPortConfig");
+            containerRegistry.RegisterDialog<CANConfigView>("CANConfig");
         }
     }
 }

SettingModule/ViewModels/Dialogs/CANConfigViewModel.cs

@@ -0,0 +1,134 @@
+using System.Collections.ObjectModel;
+using System.Windows.Input;
+using UIShare.PubEvent;
+using UIShare.UIViewModel;
+using UIShare.ViewModelBase;
+
+namespace SettingModule.ViewModels.Dialogs
+{
+    /// <summary>
+    /// CAN 连接配置对话框 VM。
+    /// 通过 DialogParameters 接收宿主 DeviceInfoVM；保存时把副本写回宿主。
+    /// 参数对应 ZLGCANFD 构造函数 + 初始化并启动通道 方法。
+    /// </summary>
+    public class CANConfigViewModel : DialogViewModelBase
+    {
+        #region 属性
+
+        private string _title = "CAN 连接配置";
+        public string Title
+        {
+            get => _title;
+            set => SetProperty(ref _title, value);
+        }
+
+        /// <summary>编辑用的副本，取消时不会污染宿主对象。</summary>
+        private CANConfigVM _config = new();
+        public CANConfigVM Config
+        {
+            get => _config;
+            set => SetProperty(ref _config, value);
+        }
+
+        /// <summary>常用仲裁域波特率。</summary>
+        public ObservableCollection<string> CommonABitBauds { get; } = new()
+        {
+            "250000", "500000", "1000000"
+        };
+
+        /// <summary>常用数据域波特率。</summary>
+        public ObservableCollection<string> CommonDBitBauds { get; } = new()
+        {
+            "1000000", "2000000", "4000000", "5000000", "8000000"
+        };
+
+        private string _errorMessage = string.Empty;
+        public string ErrorMessage
+        {
+            get => _errorMessage;
+            set => SetProperty(ref _errorMessage, value);
+        }
+
+        #endregion
+
+        #region 命令
+        public ICommand SaveCommand { get; }
+        public ICommand CancelCommand { get; }
+        #endregion
+
+        // 用于保存时把副本回写到原对象
+        private DeviceInfoVM? _hostDevice;
+
+        public CANConfigViewModel(IContainerProvider containerProvider) : base(containerProvider)
+        {
+            SaveCommand = new DelegateCommand(OnSave);
+            CancelCommand = new DelegateCommand(OnCancel);
+        }
+
+        private bool Validate(out string error)
+        {
+            error = string.Empty;
+            if (Config.DeviceType == 0)
+            {
+                error = "设备类型号不能为 0";
+                return false;
+            }
+            if (string.IsNullOrWhiteSpace(Config.ABitBaud))
+            {
+                error = "仲裁域波特率不能为空";
+                return false;
+            }
+            if (string.IsNullOrWhiteSpace(Config.DBitBaud))
+            {
+                error = "数据域波特率不能为空";
+                return false;
+            }
+            return true;
+        }
+
+        private void OnSave()
+        {
+            if (!Validate(out var error))
+            {
+                ErrorMessage = error;
+                return;
+            }
+            ErrorMessage = string.Empty;
+
+            // 把副本写回宿主
+            if (_hostDevice != null)
+            {
+                _hostDevice.CANConfig ??= new CANConfigVM();
+                Config.CopyTo(_hostDevice.CANConfig);
+                _hostDevice.ConnectionType = "CAN";
+            }
+
+            RequestClose.Invoke(ButtonResult.OK);
+        }
+
+        private void OnCancel() => RequestClose.Invoke(ButtonResult.Cancel);
+
+        #region Prism Dialog 规范
+        public override void OnDialogOpened(IDialogParameters parameters)
+        {
+            _eventAggregator.GetEvent<OverlayEvent>().Publish(true);
+
+            if (parameters.ContainsKey("Device"))
+            {
+                _hostDevice = parameters.GetValue<DeviceInfoVM>("Device");
+                Title = $"CAN 连接配置 - {_hostDevice?.DeviceName}";
+                Config = new CANConfigVM(_hostDevice?.CANConfig);
+            }
+            else if (parameters.ContainsKey("Config"))
+            {
+                Config = new CANConfigVM(parameters.GetValue<CANConfigVM>("Config"));
+            }
+        }
+
+        public override void OnDialogClosed()
+        {
+            _eventAggregator.GetEvent<OverlayEvent>().Publish(false);
+        }
+        #endregion
+    }
+}

SettingModule/ViewModels/SettingViewModel.cs

@@ -59,10 +59,9 @@ namespace SettingModule.ViewModels
 
         public ObservableCollection<string> ConnectionTypes { get; } = new()
         {
-            "None", "Tcp", "Serial"
+            "None", "Tcp", "Serial", "CAN"
         };
         #endregion
-
         #region 命令
         public ICommand RefreshCommand { get; }
         public ICommand SaveCommand { get; }
@@ -165,6 +164,7 @@ namespace SettingModule.ViewModels
             {
                 "Tcp" => "TCPConfig",
                 "Serial" => "SerialPortConfig",
+                "CAN" => "CANConfig",
                 _ => string.Empty
             };
 
@@ -200,6 +200,7 @@ namespace SettingModule.ViewModels
                 _scope = _globalInfo.ScopeDic[TestStatus];
                 _scopedContext = _globalInfo.ContextDic[TestStatus];
                 SystemConfig = _scope.Resolve<SystemConfig>();
+                ConfigService.EnsureDefaultCanDevice(SystemConfig);
                 if (DeviceList != null && DeviceList.Count > 0)
                 {
                     SelectedDevice = DeviceList[0];

SettingModule/Views/Dialogs/CANConfigView.xaml

@@ -0,0 +1,131 @@
+<UserControl x:Class="SettingModule.Views.Dialogs.CANConfigView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+             xmlns:local="clr-namespace:SettingModule.Views.Dialogs"
+             xmlns:i="http://schemas.microsoft.com/xaml/behaviors"
+             xmlns:helpers="clr-namespace:UIShare.Helpers;assembly=UIShare"
+             xmlns:converters="clr-namespace:UIShare.Converters;assembly=UIShare"
+             mc:Ignorable="d"
+             xmlns:prism="http://prismlibrary.com/"
+             Background="White"
+             prism:ViewModelLocator.AutoWireViewModel="True"
+             Width="440"
+             Height="360">
+    <prism:Dialog.WindowStyle>
+        <Style BasedOn="{StaticResource DialogUserManageStyle}"
+            TargetType="Window" />
+    </prism:Dialog.WindowStyle>
+
+    <UserControl.Resources>
+        <converters:StringToVisibilityConverter x:Key="StringToVisibility"/>
+    </UserControl.Resources>
+
+    <GroupBox Padding="12,8,12,8"
+              helpers:WindowDragHelper.EnableWindowDrag="True">
+        <GroupBox.Header>
+            <Grid  Margin="0">
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition />
+                    <ColumnDefinition Width="*" />
+                    <ColumnDefinition />
+                </Grid.ColumnDefinitions>
+                <TextBlock Text="{Binding Title}"
+                       Foreground="White"
+                       VerticalAlignment="Center"
+                       Margin="5,0,10,0" />
+            </Grid>
+        </GroupBox.Header>
+        <Grid>
+            <Grid.RowDefinitions>
+                <RowDefinition Height="*"/>
+                <RowDefinition Height="Auto"/>
+                <RowDefinition Height="Auto"/>
+            </Grid.RowDefinitions>
+
+            <!-- 表单 -->
+            <Grid Grid.Row="0" Margin="0,4,0,0">
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition Width="120"/>
+                    <ColumnDefinition Width="*"/>
+                </Grid.ColumnDefinitions>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="Auto"/>
+                    <RowDefinition Height="Auto"/>
+                    <RowDefinition Height="Auto"/>
+                    <RowDefinition Height="Auto"/>
+                    <RowDefinition Height="Auto"/>
+                </Grid.RowDefinitions>
+
+                <!-- 设备类型号 -->
+                <TextBlock Grid.Row="0" Grid.Column="0"
+                           Text="设备类型号："
+                           VerticalAlignment="Center" Margin="0,6"/>
+                <TextBox Grid.Row="0" Grid.Column="1" Margin="0,6"
+                         materialDesign:HintAssist.Hint="43 = USBCANFD-400U"
+                         Text="{Binding Config.DeviceType, UpdateSourceTrigger=PropertyChanged}"/>
+
+                <!-- 设备索引 -->
+                <TextBlock Grid.Row="1" Grid.Column="0"
+                           Text="设备索引："
+                           VerticalAlignment="Center" Margin="0,6"/>
+                <TextBox Grid.Row="1" Grid.Column="1" Margin="0,6"
+                         materialDesign:HintAssist.Hint=""
+                         Text="{Binding Config.DeviceIndex, UpdateSourceTrigger=PropertyChanged}"/>
+
+                <!-- 仲裁域波特率 -->
+                <TextBlock Grid.Row="2" Grid.Column="0"
+                           Text="仲裁域波特率："
+                           VerticalAlignment="Center" Margin="0,6"/>
+                <ComboBox Grid.Row="2" Grid.Column="1" Margin="0,6"
+                          IsEditable="True"
+                          materialDesign:HintAssist.Hint=""
+                          ItemsSource="{Binding CommonABitBauds}"
+                          Text="{Binding Config.ABitBaud, UpdateSourceTrigger=PropertyChanged}"/>
+
+                <!-- 数据域波特率 -->
+                <TextBlock Grid.Row="3" Grid.Column="0"
+                           Text="数据域波特率："
+                           VerticalAlignment="Center" Margin="0,6"/>
+                <ComboBox Grid.Row="3" Grid.Column="1" Margin="0,6"
+                          IsEditable="True"
+                          materialDesign:HintAssist.Hint=""
+                          ItemsSource="{Binding CommonDBitBauds}"
+                          Text="{Binding Config.DBitBaud, UpdateSourceTrigger=PropertyChanged}"/>
+
+                <!-- 终端电阻 -->
+                <TextBlock Grid.Row="4" Grid.Column="0"
+                           Text="终端电阻："
+                           VerticalAlignment="Center" Margin="0,6"/>
+                <ToggleButton Grid.Row="4" Grid.Column="1" Margin="0,6"
+                              IsChecked="{Binding Config.EnableTerminalResistance}"
+                              Style="{StaticResource MaterialDesignSwitchToggleButton}"/>
+            </Grid>
+
+            <!-- 错误提示 -->
+            <TextBlock Grid.Row="1"
+                       Margin="0,8,0,0"
+                       Foreground="#D32F2F"
+                       TextWrapping="Wrap"
+                       Text="{Binding ErrorMessage}"
+                       Visibility="{Binding ErrorMessage, Converter={StaticResource StringToVisibility}}"/>
+
+            <!-- 按钮 -->
+            <StackPanel Grid.Row="2"
+                        Orientation="Horizontal"
+                        HorizontalAlignment="Right"
+                        Margin="0,12,0,0">
+                <Button Content="取消"
+                        Width="80" Padding="0,4"
+                        Command="{Binding CancelCommand}"/>
+                <Button Content="保存"
+                        Width="80" Padding="0,4"
+                        Margin="10,0,0,0"
+                        IsDefault="True"
+                        Command="{Binding SaveCommand}"/>
+            </StackPanel>
+        </Grid>
+    </GroupBox>
+</UserControl>

SettingModule/Views/Dialogs/CANConfigView.xaml.cs

@@ -0,0 +1,15 @@
+using System.Windows.Controls;
+
+namespace SettingModule.Views.Dialogs
+{
+    /// <summary>
+    /// CANConfigView.xaml 的交互逻辑
+    /// </summary>
+    public partial class CANConfigView : UserControl
+    {
+        public CANConfigView()
+        {
+            InitializeComponent();
+        }
+    }
+}

SettingModule/Views/SettingView.xaml

@@ -368,6 +368,33 @@
                                                             <Run Text="{Binding SelectedDevice.SerialPortConfig.Parity}"/>
                                                         </TextBlock>
                                                     </StackPanel>
+
+                                                    <!-- CAN 参数预览 -->
+                                                    <StackPanel Grid.Row="1" Grid.Column="1" Grid.ColumnSpan="2"
+                                                                Margin="0,4,0,0" Orientation="Horizontal">
+                                                        <StackPanel.Style>
+                                                            <Style TargetType="StackPanel">
+                                                                <Setter Property="Visibility" Value="Collapsed"/>
+                                                                <Style.Triggers>
+                                                                    <DataTrigger Binding="{Binding SelectedDevice.ConnectionType}" Value="CAN">
+                                                                        <Setter Property="Visibility" Value="Visible"/>
+                                                                    </DataTrigger>
+                                                                </Style.Triggers>
+                                                            </Style>
+                                                        </StackPanel.Style>
+                                                        <TextBlock Foreground="#666" FontSize="12">
+                                                            <Run Text="设备类型："/>
+                                                            <Run Text="{Binding SelectedDevice.CANConfig.DeviceType}"/>
+                                                            <Run Text="  设备索引："/>
+                                                            <Run Text="{Binding SelectedDevice.CANConfig.DeviceIndex}"/>
+                                                            <Run Text="  仲裁/数据波特率："/>
+                                                            <Run Text="{Binding SelectedDevice.CANConfig.ABitBaud}"/>
+                                                            <Run Text="/"/>
+                                                            <Run Text="{Binding SelectedDevice.CANConfig.DBitBaud}"/>
+                                                            <Run Text="  终端电阻："/>
+                                                            <Run Text="{Binding SelectedDevice.CANConfig.EnableTerminalResistance}"/>
+                                                        </TextBlock>
+                                                    </StackPanel>
                                                 </Grid>
                                             </StackPanel>
                                         </Border>

UIShare/GlobalVariable/ConfigService.cs

@@ -1,7 +1,10 @@
 using System;
+using System.Collections.ObjectModel;
 using System.IO;
+using System.Linq;
 using Newtonsoft.Json;
 using Logger;
+using UIShare.UIViewModel;
 
 namespace UIShare.GlobalVariable
 {
@@ -44,6 +47,7 @@ namespace UIShare.GlobalVariable
             {
                 // 如果不存在，创建一个带 Title 的默认配置并保存
                 var defaultConfig = new SystemConfig { Title = title };
+                EnsureDefaultCanDevice(defaultConfig);
                 Save(defaultConfig);
                 return defaultConfig;
             }
@@ -58,12 +62,16 @@ namespace UIShare.GlobalVariable
                         TypeNameHandling = TypeNameHandling.All
                     });
 
-                    return config ?? new SystemConfig { Title = title };
+                    config ??= new SystemConfig { Title = title };
+                    EnsureDefaultCanDevice(config);
+                    return config;
                 }
                 catch (Exception ex)
                 {
                     LoggerHelper.ErrorWithNotify(title, $"格子 [{title}] 配置加载失败: {ex.Message}");
-                    return new SystemConfig { Title = title };
+                    var fallback = new SystemConfig { Title = title };
+                    EnsureDefaultCanDevice(fallback);
+                    return fallback;
                 }
             }
         }
@@ -98,5 +106,34 @@ namespace UIShare.GlobalVariable
                 }
             }
         }
+
+        /// <summary>
+        /// 确保配置中至少包含一个 CAN 设备（对应 SystemConfig.CANFD）。
+        /// 旧配置或空配置会自动升级，使用户在设置界面能看到 CAN 设备。
+        /// </summary>
+        public static void EnsureDefaultCanDevice(SystemConfig config)
+        {
+            if (config.DeviceList == null)
+            {
+                config.DeviceList = new ObservableCollection<DeviceInfoVM>();
+            }
+
+            bool hasCan = config.DeviceList.Any(d =>
+                string.Equals(d?.ConnectionType, "CAN", StringComparison.OrdinalIgnoreCase) ||
+                string.Equals(d?.DeviceType, "ZLGCANFD", StringComparison.OrdinalIgnoreCase));
+
+            if (!hasCan)
+            {
+                config.DeviceList.Add(new DeviceInfoVM
+                {
+                    DeviceName = "CAN",
+                    DeviceType = "ZLGCANFD",
+                    Remark = "周立功 CANFD 接口卡",
+                    ConnectionType = "CAN",
+                    IsEnabled = true,
+                    IsConnected = false
+                });
+            }
+        }
     }
 }

UIShare/GlobalVariable/DeviceManager.cs

@@ -8,6 +8,7 @@ using System.IO.Ports;
 using System.Linq;
 using System.Reflection;
 using UIShare.UIViewModel;
+using ZLGUSBCANFD;
 
 namespace UIShare.GlobalVariable
 {
@@ -28,6 +29,7 @@ namespace UIShare.GlobalVariable
 
         /// <summary>类名 → Type 的反射缓存（仅扫描一次）。</summary>
         private static readonly IReadOnlyDictionary<string, Type> _deviceTypeMap = BuildDeviceTypeMap();
+        public ZLGCANFD CANFD { get; set; }
 
         public DeviceManager(SystemConfig systemConfig, GlobalInfo globalInfo)
         {
@@ -37,6 +39,7 @@ namespace UIShare.GlobalVariable
             _scopeName =  _systemConfig.Title;
             InitDevices();
         }
+
         /// <summary>
         /// 根据设备配置提取唯一的硬件指纹字符串。
         /// <para>Tcp → "Tcp:IP:Port"；Serial → "Serial:PortName"；无法识别则返回空字符串。</para>
@@ -55,9 +58,14 @@ namespace UIShare.GlobalVariable
                 return $"Serial:{config.SerialPortConfig.PortName}";
             }
 
+            if (string.Equals(config.ConnectionType, "CAN", StringComparison.OrdinalIgnoreCase)
+                && config.CANConfig != null)
+            {
+                return $"CAN:{config.CANConfig.DeviceIndex}";
+            }
+
             return string.Empty;
         }
-
         private void InitDevices()
         {
             DeviceMap = new Dictionary<string, IBaseInterface>(StringComparer.OrdinalIgnoreCase);
@@ -68,6 +76,53 @@ namespace UIShare.GlobalVariable
             {
                 if (config == null || !config.IsEnabled) continue;
 
+                // CAN 设备：ZLGCANFD 不实现 IBaseInterface，通过 SystemConfig.CANFD 单独管理，
+                // 按指纹从全局 CanPool 创建/复用实例，并注册作用域引用计数。
+                if (string.Equals(config.ConnectionType, "CAN", StringComparison.OrdinalIgnoreCase))
+                {
+                    var fingerprint = ExtractHardwareFingerprint(config);
+                    if (string.IsNullOrEmpty(fingerprint))
+                    {
+                        LoggerHelper.Warn($"设备 [{config.DeviceName}] 无法提取硬件指纹（连接方式={config.ConnectionType}），已跳过。");
+                        continue;
+                    }
+
+                    if (config.CANConfig == null)
+                    {
+                        LoggerHelper.Warn($"设备 [{config.DeviceName}] 缺少 CAN 连接参数，已跳过。");
+                        continue;
+                    }
+
+                    try
+                    {
+                        // 按指纹全局唯一创建 ZLGCANFD 实例（maxChannels 默认 4，对应 USBCANFD-400U）
+                        var canLazy = _globalInfo.CanPool.GetOrAdd(fingerprint, key => new Lazy<ZLGCANFD>(() =>
+                            new ZLGCANFD(config.CANConfig.DeviceType, config.CANConfig.DeviceIndex, 4)));
+
+                        _systemConfig.CANFD = canLazy.Value;
+                        CANFD = canLazy.Value;
+
+                        // 注册作用域引用计数
+                        if (!string.IsNullOrEmpty(_scopeName))
+                        {
+                            var scopeList = _globalInfo.DeviceAndScopeDic.GetOrAdd(fingerprint,
+                                _ => new Lazy<List<string>>(() => new List<string>())).Value;
+                            lock (scopeList)
+                            {
+                                if (!scopeList.Contains(_scopeName))
+                                    scopeList.Add(_scopeName);
+                            }
+                        }
+
+                        LoggerHelper.Info($"已加载 CAN 设备 [{config.DeviceName}] 指纹={fingerprint}（通过 SystemConfig.CANFD 管理）");
+                    }
+                    catch (Exception ex)
+                    {
+                        LoggerHelper.ErrorWithNotify(_scopeName, $"CAN 设备 [{config.DeviceName}] 实例化失败：{ex.Message}");
+                    }
+                    continue;
+                }
+
                 if (string.IsNullOrWhiteSpace(config.DeviceType) ||
                     !_deviceTypeMap.TryGetValue(config.DeviceType, out var deviceType))
                 {
@@ -391,6 +446,17 @@ namespace UIShare.GlobalVariable
                     }
                 }
 
+                // 尝试从 CanPool 取出并销毁
+                if (_globalInfo.CanPool.TryRemove(fingerprint, out var canLazy))
+                {
+                    if (canLazy.IsValueCreated)
+                    {
+                        try { canLazy.Value.Dispose(); }
+                        catch { /* 销毁时忽略异常 */ }
+                        LoggerHelper.Info($"指纹 [{fingerprint}] 无作用域引用，已销毁 CAN 设备实例。");
+                    }
+                }
+
                 // 同步清除 DeviceAndScopeDic 中的空条目
                 _globalInfo.DeviceAndScopeDic.TryRemove(fingerprint, out _);
             }

UIShare/GlobalVariable/GlobalInfo.cs

@@ -5,6 +5,7 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using ZLGUSBCANFD;
 
 namespace UIShare.GlobalVariable
 {
@@ -19,6 +20,9 @@ namespace UIShare.GlobalVariable
         /// <summary>硬件指纹 → 设备实例的并发池，确保同一物理硬件全局只创建一个驱动实例。</summary>
         public ConcurrentDictionary<string, Lazy<IBaseInterface>> HardwarePool { get; set; }
 
+        /// <summary>CAN 硬件指纹 → ZLGCANFD 实例的并发池，确保同一 CAN 卡全局只创建一个驱动实例。</summary>
+        public ConcurrentDictionary<string, Lazy<ZLGCANFD>> CanPool { get; set; }
+
         /// <summary>硬件指纹 → 正在使用该设备的作用域名称列表，用于引用计数与安全销毁。</summary>
         public ConcurrentDictionary<string, Lazy<List<string>>> DeviceAndScopeDic { get; set; }
 
@@ -45,6 +49,7 @@ namespace UIShare.GlobalVariable
             ConfigDic = new();
             ScopeDic = new();
             HardwarePool = new ConcurrentDictionary<string, Lazy<IBaseInterface>>(StringComparer.OrdinalIgnoreCase);
+            CanPool = new ConcurrentDictionary<string, Lazy<ZLGCANFD>>(StringComparer.OrdinalIgnoreCase);
             DeviceAndScopeDic = new ConcurrentDictionary<string, Lazy<List<string>>>(StringComparer.OrdinalIgnoreCase);
             CurrentScope = "default";
         }

UIShare/GlobalVariable/HardwareDataBroadcaster.cs

@@ -0,0 +1,207 @@
+using Common.Attributes;
+using DeviceCommand.Base;
+using Model.Models;
+using Prism.Events;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Linq.Expressions;
+using System.Reflection;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Windows.Threading;
+using UIShare.PubEvent;
+
+namespace UIShare.GlobalVariable
+{
+    /// <summary>
+    /// 硬件数据广播器（中间层，全局单例）：
+    /// 直接基于 GlobalInfo.HardwarePool 中的设备指纹字典进行统一采样，
+    /// 每个物理设备只采样一次，然后向所有引用该设备的作用域分别广播 HardwareDataReportedEvent。
+    /// 解决多作用域共享同一物理设备时的重复采样问题。
+    /// DeviceCommand 层无需引用 Prism，完全解耦。
+    /// </summary>
+    public class HardwareDataBroadcaster : IDisposable
+    {
+        private readonly IEventAggregator _eventAggregator;
+        private readonly GlobalInfo _globalInfo;
+
+        /// <summary>采样定时器</summary>
+        private readonly DispatcherTimer _sampleTimer;
+
+        /// <summary>
+        /// 已注册的采样项：(Fingerprint, MethodName, 编译后的委托, DeviceInstance)
+        /// 委托签名统一为 Func&lt;object, CancellationToken, Task&lt;string&gt;&gt;
+        ///   - 第一个参数 = 设备实例（open delegate 风格，编译时已做类型转换）
+        ///   - 第二个参数 = CancellationToken（无参方法会忽略它）
+        ///   - 返回值 = Task&lt;string&gt;
+        /// </summary>
+        private readonly List<(string Fingerprint, string MethodName, Func<object, CancellationToken, Task<string>> Invoker, object Device)> _registeredMethods = new();
+
+        private CancellationTokenSource? _cts;
+        private bool _disposed;
+
+        /// <summary>采样间隔（默认 1000ms）</summary>
+        public TimeSpan SampleInterval
+        {
+            get => _sampleTimer.Interval;
+            set => _sampleTimer.Interval = value;
+        }
+
+        public HardwareDataBroadcaster(GlobalInfo globalInfo, IEventAggregator eventAggregator)
+        {
+            _globalInfo = globalInfo;
+            _eventAggregator = eventAggregator;
+
+            _sampleTimer = new DispatcherTimer(DispatcherPriority.Normal)
+            {
+                Interval = TimeSpan.FromMilliseconds(1000)
+            };
+            _sampleTimer.Tick += OnSampleTick;
+        }
+
+        /// <summary>
+        /// 将 MethodInfo 编译为强类型委托，后续调用零反射开销。
+        /// 统一签名为 Func&lt;object, CancellationToken, Task&lt;string&gt;&gt;：
+        ///   - 无参方法：忽略 CancellationToken
+        ///   - 带 CancellationToken 方法：直接透传
+        /// </summary>
+        private static Func<object, CancellationToken, Task<string>> BuildInvoker(MethodInfo method)
+        {
+            var deviceParam = Expression.Parameter(typeof(object), "device");
+            var ctParam = Expression.Parameter(typeof(CancellationToken), "ct");
+
+            // 将 object 转型为方法的声明类型
+            var castDevice = Expression.Convert(deviceParam, method.DeclaringType!);
+
+            // 根据方法签名决定传参
+            var parms = method.GetParameters();
+            Expression[] callArgs = parms.Length == 1
+                ? new Expression[] { ctParam }
+                : Array.Empty<Expression>();
+
+            var call = Expression.Call(castDevice, method, callArgs);
+
+            return Expression.Lambda<Func<object, CancellationToken, Task<string>>>(
+                call, deviceParam, ctParam).Compile();
+        }
+
+        /// <summary>
+        /// 扫描 GlobalInfo.HardwarePool 中所有已创建的物理设备，
+        /// 反查可监测方法并编译为委托。每个指纹只注册一次，反射只执行一次。
+        /// </summary>
+        public void Discover()
+        {
+            _registeredMethods.Clear();
+
+            foreach (var poolEntry in _globalInfo.HardwarePool)
+            {
+                string fingerprint = poolEntry.Key;
+                var lazy = poolEntry.Value;
+
+                // 只监控已经实例化的设备
+                if (!lazy.IsValueCreated || lazy.Value == null) continue;
+
+                var device = lazy.Value;
+                var deviceType = device.GetType();
+
+                var methods = deviceType.GetMethods(BindingFlags.Public | BindingFlags.Instance)
+                    .Where(m =>
+                    {
+                        if (m.GetCustomAttribute<MonitorableAttribute>() == null) return false;
+                        if (m.ReturnType != typeof(Task<string>)) return false;
+                        var parms = m.GetParameters();
+                        return parms.Length == 0 ||
+                               (parms.Length == 1 && parms[0].ParameterType == typeof(CancellationToken));
+                    });
+
+                foreach (var method in methods)
+                {
+                    var invoker = BuildInvoker(method);
+                    _registeredMethods.Add((fingerprint, method.Name, invoker, device));
+                }
+            }
+        }
+
+        /// <summary>获取指定硬件指纹当前被哪些作用域引用</summary>
+        private List<string> GetScopesForFingerprint(string fingerprint)
+        {
+            if (_globalInfo.DeviceAndScopeDic.TryGetValue(fingerprint, out var lazy))
+            {
+                var scopeList = lazy.Value;
+                lock (scopeList) return scopeList.ToList();
+            }
+            return new List<string>();
+        }
+
+        /// <summary>启动采样广播（幂等）</summary>
+        public void Start()
+        {
+            if (_disposed) return;
+            _cts ??= new CancellationTokenSource();
+            if (!_sampleTimer.IsEnabled) _sampleTimer.Start();
+        }
+
+        /// <summary>停止采样</summary>
+        public void Stop()
+        {
+            _sampleTimer.Stop();
+        }
+
+        private void OnSampleTick(object? sender, EventArgs e)
+        {
+            if (_registeredMethods.Count == 0 || _disposed) return;
+
+            var token = _cts?.Token ?? CancellationToken.None;
+            var now = DateTime.Now;
+
+            foreach (var entry in _registeredMethods)
+            {
+                // fire-and-forget：每个通道独立采样，完成后自行广播
+                _ = Task.Run(async () =>
+                {
+                    try
+                    {
+                        // 直接委托调用，零反射开销
+                        string raw = await entry.Invoker(entry.Device, token).ConfigureAwait(false);
+
+                        if (!double.TryParse(raw, out double value)) return;
+
+                        // 向所有引用该物理设备的作用域分别广播
+                        var scopes = GetScopesForFingerprint(entry.Fingerprint);
+                        foreach (var scope in scopes)
+                        {
+                            _eventAggregator.GetEvent<HardwareDataReportedEvent>().Publish(new HardwareReportArgs
+                            {
+                                Scope = scope,
+                                HardwareFingerprint = entry.Fingerprint,
+                                MethodName = entry.MethodName,
+                                Value = value,
+                                Time = now
+                            });
+                        }
+                    }
+                    catch
+                    {
+                        // 单个通道故障不干扰其他通道
+                    }
+                }, token);
+            }
+
+            // 不在 UI 线程 await——任务在线程池上自行完成并广播事件，
+            // DispatcherTimer 按设定间隔准时触发下一次 Tick。
+        }
+
+        public void Dispose()
+        {
+            if (_disposed) return;
+            _disposed = true;
+            _sampleTimer.Stop();
+            _sampleTimer.Tick -= OnSampleTick;
+            try { _cts?.Cancel(); } catch { }
+            _cts?.Dispose();
+            _cts = null;
+            _registeredMethods.Clear();
+        }
+    }
+}

UIShare/GlobalVariable/StepRunning.cs

@@ -564,7 +564,11 @@ namespace UIShare
                 {
                     try
                     {
-                        instance = _deviceManager.DeviceMap[targetType.Name];
+                        if(targetType.Name== "ZLGCANFD")
+                        {
+                            instance = _deviceManager.CANFD;
+                        }
+                        else instance = _deviceManager.DeviceMap[targetType.Name];
                     }
                     catch (Exception ex)
                     {

UIShare/GlobalVariable/SystemConfig.cs

@@ -9,6 +9,7 @@ using System.Reflection;
 using System.Text;
 using System.Threading.Tasks;
 using UIShare.UIViewModel;
+using ZLGUSBCANFD;
 using static UIShare.UIViewModel.ParameterVM;
 
 namespace UIShare.GlobalVariable
@@ -29,6 +30,7 @@ namespace UIShare.GlobalVariable
         public string DefaultDBCFilePath { get; set; } = "";
         public ObservableCollection<DeviceInfoVM> DeviceList = new();
         public ObservableCollection<SharedParameter> SharedParameterList = new();
+        public ZLGCANFD CANFD = new();
         [JsonIgnore]
         public ObservableCollection<ParameterVM> ParameterList = new()
         {

UIShare/PubEvent/HardwareDataReportedEvent.cs

@@ -0,0 +1,13 @@
+using Model.Models;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace UIShare.PubEvent
+{
+    public class HardwareDataReportedEvent : PubSubEvent<HardwareReportArgs>
+    {
+    }
+}

UIShare/UIShare.csproj

@@ -20,5 +20,6 @@
 	  <ProjectReference Include="..\Common\Common.csproj" />
 	  <ProjectReference Include="..\DeviceCommand\DeviceCommand.csproj" />
 	  <ProjectReference Include="..\Logger\Logger.csproj" />
+	  <ProjectReference Include="..\ZLGUSBCANFD\ZLGUSBCANFD.csproj" />
 	</ItemGroup>
 </Project>

UIShare/UIViewModel/CANConfigVM.cs

@@ -0,0 +1,76 @@
+using Prism.Mvvm;
+
+namespace UIShare.UIViewModel
+{
+    /// <summary>
+    /// CAN 连接配置（对应 ZLGCANFD 构造函数 + 初始化并启动通道 参数）。
+    /// </summary>
+    public class CANConfigVM : BindableBase
+    {
+        // ===== ZLGCANFD 构造函数参数 =====
+
+        private uint _deviceType = 43;
+        /// <summary>设备类型号（43 = USBCANFD-400U）</summary>
+        public uint DeviceType
+        {
+            get => _deviceType;
+            set => SetProperty(ref _deviceType, value);
+        }
+
+        private uint _deviceIndex = 0;
+        /// <summary>设备索引</summary>
+        public uint DeviceIndex
+        {
+            get => _deviceIndex;
+            set => SetProperty(ref _deviceIndex, value);
+        }
+
+        private string _abitBaud = "500000";
+        /// <summary>仲裁域波特率</summary>
+        public string ABitBaud
+        {
+            get => _abitBaud;
+            set => SetProperty(ref _abitBaud, value);
+        }
+
+        private string _dbitBaud = "2000000";
+        /// <summary>数据域波特率</summary>
+        public string DBitBaud
+        {
+            get => _dbitBaud;
+            set => SetProperty(ref _dbitBaud, value);
+        }
+
+        private bool _enableTerminalResistance = true;
+        /// <summary>是否开启终端电阻</summary>
+        public bool EnableTerminalResistance
+        {
+            get => _enableTerminalResistance;
+            set => SetProperty(ref _enableTerminalResistance, value);
+        }
+
+        public CANConfigVM() { }
+
+        /// <summary>拷贝构造，用于对话框编辑副本。</summary>
+        public CANConfigVM(CANConfigVM? src)
+        {
+            if (src == null) return;
+            DeviceType = src.DeviceType;
+            DeviceIndex = src.DeviceIndex;
+            ABitBaud = src.ABitBaud;
+            DBitBaud = src.DBitBaud;
+            EnableTerminalResistance = src.EnableTerminalResistance;
+        }
+
+        /// <summary>把字段拷回目标对象（保存时用）。</summary>
+        public void CopyTo(CANConfigVM? dst)
+        {
+            if (dst == null) return;
+            dst.DeviceType = DeviceType;
+            dst.DeviceIndex = DeviceIndex;
+            dst.ABitBaud = ABitBaud;
+            dst.DBitBaud = DBitBaud;
+            dst.EnableTerminalResistance = EnableTerminalResistance;
+        }
+    }
+}

UIShare/UIViewModel/DeviceInfoVM.cs

@@ -65,5 +65,13 @@ namespace UIShare.UIViewModel
             get => _serialPortConfig;
             set => SetProperty(ref _serialPortConfig, value);
         }
+
+        /// <summary>CAN 连接参数（对应 ZLGCANFD 构造 + 通道初始化参数）。</summary>
+        private CANConfigVM _canConfig = new();
+        public CANConfigVM CANConfig
+        {
+            get => _canConfig;
+            set => SetProperty(ref _canConfig, value);
+        }
     }
 }

ZLGUSBCANFD/USBCANFD.cs

@@ -0,0 +1,729 @@
+using Common.Attributes;
+using System;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace ZLGUSBCANFD
+{
+    [ADPCommand]
+    public class ZLGCANFD : IDisposable
+    {
+        // 硬件设备与通道句柄
+        private IntPtr _deviceHandle = IntPtr.Zero;
+        private readonly IntPtr[] _channelHandles;
+
+        // 每个通道分配独立的 DBC 引擎句柄与锁，彻底解决台架间DBC冲突与锁竞争
+        private readonly uint[] _dbcHandles;
+        private readonly bool[] _isDbcLoadedArray;
+        private readonly object[] _channelLocks; // 通道级细粒度锁
+
+        // 异步高性能接收线程控制
+        private volatile bool _isRunning = false;
+        private readonly List<Thread> _receiveThreads = new List<Thread>();
+
+        // DBC 循环发送任务管理：Key = (通道号, 帧ID)
+        private readonly ConcurrentDictionary<(uint 通道号, uint 帧ID), CancellationTokenSource> _cyclicSenders = new ConcurrentDictionary<(uint, uint), CancellationTokenSource>();
+
+        // 动态硬件参数
+        private readonly uint _deviceType;   // 76: USBCANFD-400U
+        private readonly uint _deviceIndex;  // 设备索引
+        private readonly int _maxChannels;   // 动态通道数
+
+        /// <summary>
+        /// 事件：当接收到 CAN/CANFD 报文并且通过 DBC 成功解析后触发
+        /// 参数：uint 通道号 (0,1,2,3), ZDBC.DBCMessage 解析后的DBC消息结构体
+        /// </summary>
+        public event Action<uint, ZDBC.DBCMessage>? OnDbcMessageDecoded;
+
+        public ZLGCANFD(uint deviceType = 76, uint deviceIndex = 0, int maxChannels = 4)
+        {
+            _deviceType = deviceType;
+            _deviceIndex = deviceIndex;
+            _maxChannels = maxChannels;
+
+            // 初始化通道相关状态数组
+            _channelHandles = new IntPtr[_maxChannels];
+            _dbcHandles = new uint[_maxChannels];
+            _isDbcLoadedArray = new bool[_maxChannels];
+            _channelLocks = new object[_maxChannels];
+
+            for (int i = 0; i < _maxChannels; i++)
+            {
+                _channelHandles[i] = IntPtr.Zero;
+                _dbcHandles[i] = 0;
+                _isDbcLoadedArray[i] = false;
+                _channelLocks[i] = new object();
+            }
+        }
+
+        #region 1. 硬件连接与通道初始化
+
+        /// <summary>
+        /// 仅仅打开设备，不做具体的通道波特率配置（留给具体的台架去分别配置）
+        /// </summary>
+        public virtual bool 打开设备()
+        {
+            if (_deviceHandle != IntPtr.Zero) return true;
+            _deviceHandle = ZLGCAN.ZCAN_OpenDevice(ZLGCAN.ZCAN_USBCANFD_400U, _deviceIndex, 0);
+            return _deviceHandle != IntPtr.Zero;
+        }
+
+        /// <summary>
+        /// 针对特定通道进行参数初始化并启动
+        /// </summary>
+        public virtual bool 初始化并启动通道(uint 通道号, string abitBaud = "500000", string dbitBaud = "2000000", bool 开启终端电阻 = true)
+        {
+            if (_deviceHandle == IntPtr.Zero) throw new InvalidOperationException("请先调用 '打开设备()' 才能初始化通道。");
+            if (通道号 >= _maxChannels) return false;
+
+            lock (_channelLocks[通道号])
+            {
+                // 如果已经启动过，先复位
+                if (_channelHandles[通道号] != IntPtr.Zero)
+                {
+                    ZLGCAN.ZCAN_ResetCAN(_channelHandles[通道号]);
+                }
+
+                // 1. 设置该通道专属的仲裁域与数据域波特率
+                if (ZLGCAN.ZCAN_SetValue(_deviceHandle, $"{通道号}/canfd_abit_baud_rate", abitBaud) != 1) return false;
+                if (ZLGCAN.ZCAN_SetValue(_deviceHandle, $"{通道号}/canfd_dbit_baud_rate", dbitBaud) != 1) return false;
+
+                // 2. 设置该通道专属内部终端电阻状态
+                string resistanceStr = 开启终端电阻 ? "1" : "0";
+                if (ZLGCAN.ZCAN_SetValue(_deviceHandle, $"{通道号}/initenal_resistance", resistanceStr) != 1) return false;
+
+                // 3. 规范配置通道结构体
+                ZLGCAN.ZCAN_CHANNEL_INIT_CONFIG config = new ZLGCAN.ZCAN_CHANNEL_INIT_CONFIG();
+                config.can_type = 1;                 // 1 代表 CANFD 模式
+                config.config.canfd.mode = 0;        // 0 代表正常工作模式
+
+                IntPtr pConfig = Marshal.AllocHGlobal(Marshal.SizeOf(config));
+                Marshal.StructureToPtr(config, pConfig, true);
+                _channelHandles[通道号] = ZLGCAN.ZCAN_InitCAN(_deviceHandle, 通道号, pConfig);
+                Marshal.FreeHGlobal(pConfig);
+
+                if (_channelHandles[通道号] == IntPtr.Zero) return false;
+
+                // 4. 启动 CAN 通道
+                if (ZLGCAN.ZCAN_StartCAN(_channelHandles[通道号]) != 1) return false;
+
+                // 5. 为该通道启动专属的独立后台高性能轮询接收线程（如果尚未启动轮询）
+                if (!_isRunning) _isRunning = true;
+
+                int chnIdx = (int)通道号;
+                Thread rxThread = new Thread(() => 接收轮询核心(_channelHandles[chnIdx], (uint)chnIdx))
+                {
+                    IsBackground = true,
+                    Name = $"ZLGCANFD_Dev{_deviceIndex}_CH{chnIdx}_RxThread"
+                };
+                _receiveThreads.Add(rxThread);
+                rxThread.Start();
+
+                return true;
+            }
+        }
+
+        public virtual void 关闭CAN卡设备()
+        {
+            _isRunning = false;
+            停止所有循环发送();
+            Thread.Sleep(50); // 确保轮询线程安全退出
+            _receiveThreads.Clear();
+
+            // 动态复位所有通道并释放DBC
+            for (uint i = 0; i < _maxChannels; i++)
+            {
+                lock (_channelLocks[i])
+                {
+                    if (_channelHandles[i] != IntPtr.Zero)
+                    {
+                        ZLGCAN.ZCAN_ResetCAN(_channelHandles[i]);
+                        _channelHandles[i] = IntPtr.Zero;
+                    }
+                    释放通道DBC(i);
+                }
+            }
+
+            // 关闭设备主句柄
+            if (_deviceHandle != IntPtr.Zero)
+            {
+                ZLGCAN.ZCAN_CloseDevice(_deviceHandle);
+                _deviceHandle = IntPtr.Zero;
+            }
+        }
+
+        #endregion
+
+        #region 2. DBC 矩阵文件操作
+
+        /// <summary>
+        /// 指定通道加载特定的 DBC 文件（支持不同通道加载不同的DBC矩阵）
+        /// </summary>
+        public virtual bool 加载通道DBC文件(uint 通道号, string dbcFilePath)
+        {
+            if (通道号 >= _maxChannels) return false;
+
+            lock (_channelLocks[通道号])
+            {
+                try
+                {
+                    if (_isDbcLoadedArray[通道号]) return true;
+
+                    uint chDbcHandle = ZDBC.ZDBC_Init();
+                    if (chDbcHandle == 0) return false;
+
+                    IntPtr ptrPath = Marshal.StringToHGlobalAnsi(dbcFilePath);
+                    bool success = ZDBC.ZDBC_LoadFile(chDbcHandle, ptrPath);
+                    Marshal.FreeHGlobal(ptrPath);
+
+                    if (success)
+                    {
+                        _dbcHandles[通道号] = chDbcHandle;
+                        _isDbcLoadedArray[通道号] = true;
+                    }
+                    else
+                    {
+                        ZDBC.ZDBC_Release(chDbcHandle);
+                    }
+                    return success;
+                }
+                catch
+                {
+                    return false;
+                }
+            }
+        }
+
+        public virtual void 释放通道DBC(uint 通道号)
+        {
+            if (通道号 >= _maxChannels) return;
+
+            lock (_channelLocks[通道号])
+            {
+                if (_isDbcLoadedArray[通道号] && _dbcHandles[通道号] != 0)
+                {
+                    ZDBC.ZDBC_Release(_dbcHandles[通道号]);
+                    _dbcHandles[通道号] = 0;
+                    _isDbcLoadedArray[通道号] = false;
+                }
+            }
+        }
+
+        #endregion
+
+        #region 3. 轮询接收与实时自动化 DBC 解码
+
+        private void 接收轮询核心(IntPtr channelHandle, uint channelIndex)
+        {
+            const int bufferSize = 100;
+            int canStructSize = Marshal.SizeOf(typeof(ZLGCAN.ZCAN_Receive_Data));
+            int canfdStructSize = Marshal.SizeOf(typeof(ZLGCAN.ZCAN_ReceiveFD_Data));
+            int dbcMsgSize = Marshal.SizeOf(typeof(ZDBC.DBCMessage));
+
+            IntPtr ptrCanBuffer = Marshal.AllocHGlobal(canStructSize * bufferSize);
+            IntPtr ptrCanFDBuffer = Marshal.AllocHGlobal(canfdStructSize * bufferSize);
+            IntPtr ptrDbcMsg = Marshal.AllocHGlobal(dbcMsgSize);
+
+            try
+            {
+                while (_isRunning)
+                {
+                    bool currentTurnHasData = false;
+
+                    // 1. 自动提取并解析经典 CAN 帧
+                    uint canNum = ZLGCAN.ZCAN_GetReceiveNum(channelHandle, 0);
+                    if (canNum > 0)
+                    {
+                        uint actualRecv = ZLGCAN.ZCAN_Receive(channelHandle, ptrCanBuffer, bufferSize, 5);
+                        for (int i = 0; i < actualRecv; i++)
+                        {
+                            IntPtr framePtr = IntPtr.Add(ptrCanBuffer, i * canStructSize);
+
+                            // 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])
+                            {
+                                if (_isDbcLoadedArray[channelIndex] && ZDBC.ZDBC_Decode(_dbcHandles[channelIndex], ptrDbcMsg, framePtr, 1, 0))
+                                {
+                                    var msg = (ZDBC.DBCMessage)Marshal.PtrToStructure(ptrDbcMsg, typeof(ZDBC.DBCMessage));
+                                    OnDbcMessageDecoded?.Invoke(channelIndex, msg);
+                                }
+                            }
+                        }
+                        currentTurnHasData = true;
+                    }
+
+                    // 2. 自动提取并解析高速 CANFD 帧
+                    uint canfdNum = ZLGCAN.ZCAN_GetReceiveNum(channelHandle, 1);
+                    if (canfdNum > 0)
+                    {
+                        uint actualRecvFd = ZLGCAN.ZCAN_ReceiveFD(channelHandle, ptrCanFDBuffer, bufferSize, 5);
+                        for (int i = 0; i < actualRecvFd; i++)
+                        {
+                            IntPtr framePtr = IntPtr.Add(ptrCanFDBuffer, i * canfdStructSize);
+
+                            lock (_channelLocks[channelIndex])
+                            {
+                                if (_isDbcLoadedArray[channelIndex] && ZDBC.ZDBC_Decode(_dbcHandles[channelIndex], ptrDbcMsg, framePtr, 1, 1))
+                                {
+                                    var msg = (ZDBC.DBCMessage)Marshal.PtrToStructure(ptrDbcMsg, typeof(ZDBC.DBCMessage));
+                                    OnDbcMessageDecoded?.Invoke(channelIndex, msg);
+                                }
+                            }
+                        }
+                        currentTurnHasData = true;
+                    }
+
+                    if (!currentTurnHasData)
+                    {
+                        Thread.Sleep(2);
+                    }
+                }
+            }
+            finally
+            {
+                Marshal.FreeHGlobal(ptrCanBuffer);
+                Marshal.FreeHGlobal(ptrCanFDBuffer);
+                Marshal.FreeHGlobal(ptrDbcMsg);
+            }
+        }
+
+        #endregion
+
+        #region 4. DBC 自动打包与智能报文发送
+
+        /// <summary>
+        /// 发送一条 DBC 定义报文。
+        /// </summary>
+        /// <param name="通道号">通道号</param>
+        /// <param name="帧ID">DBC 中定义的帧 ID</param>
+        /// <param name="信号物理值字典">信号名称 → 物理值；只设置字典中包含的信号，其余信号保持 DBC 默认值</param>
+        /// <param name="循环间隔毫秒">0 = 只发送一次；>0 = 按指定间隔循环发送（毫秒）</param>
+        /// <param name="是否使用CANFD">1 = CANFD，0 = CAN</param>
+        /// <returns>是否成功启动/发送</returns>
+        public virtual bool 发送DBC定义报文(
+            uint 通道号,
+            uint 帧ID,
+            Dictionary<string, double> 信号物理值字典,
+            int 循环间隔毫秒 = 0,
+            int 是否使用CANFD = 1)
+        {
+            if (通道号 >= _maxChannels || _channelHandles[通道号] == IntPtr.Zero) return false;
+            if (!_isDbcLoadedArray[通道号]) throw new InvalidOperationException($"通道 {通道号} 的 DBC 协议未加载，无法执行打包发送指令。");
+            if (循环间隔毫秒 < 0) throw new ArgumentOutOfRangeException(nameof(循环间隔毫秒), "循环间隔必须大于或等于 0。");
+            if (信号物理值字典 == null || 信号物理值字典.Count == 0)
+                throw new ArgumentException("信号物理值字典不能为空。", nameof(信号物理值字典));
+
+            if (循环间隔毫秒 == 0)
+            {
+                // 单次发送：同步执行
+                lock (_channelLocks[通道号])
+                {
+                    return 发送DBC定义报文单次(通道号, 帧ID, 信号物理值字典, 是否使用CANFD);
+                }
+            }
+
+            // 循环发送：先停止同通道同帧 ID 的旧循环，再启动新循环
+            停止循环发送(通道号, 帧ID);
+
+            var cts = new CancellationTokenSource();
+            _cyclicSenders[(通道号, 帧ID)] = cts;
+
+            Task.Run(async () =>
+            {
+                while (!cts.Token.IsCancellationRequested)
+                {
+                    try
+                    {
+                        lock (_channelLocks[通道号])
+                        {
+                            if (_channelHandles[通道号] == IntPtr.Zero) break;
+                            发送DBC定义报文单次(通道号, 帧ID, 信号物理值字典, 是否使用CANFD);
+                        }
+
+                        await Task.Delay(循环间隔毫秒, cts.Token);
+                    }
+                    catch (OperationCanceledException)
+                    {
+                        break;
+                    }
+                    catch (Exception ex)
+                    {
+                        // 循环发送出错时退出，避免刷屏
+                        Console.WriteLine($"[ZLGCANFD] 循环发送 DBC 报文失败: {ex.Message}");
+                        break;
+                    }
+                }
+
+                _cyclicSenders.TryRemove((通道号, 帧ID), out var removedCts);
+                removedCts?.Dispose();
+            }, cts.Token);
+
+            return true;
+        }
+
+        /// <summary>
+        /// 停止指定通道、指定帧 ID 的循环发送。
+        /// </summary>
+        public virtual void 停止循环发送(uint 通道号, uint 帧ID)
+        {
+            if (_cyclicSenders.TryRemove((通道号, 帧ID), out var cts))
+            {
+                cts.Cancel();
+                cts.Dispose();
+            }
+        }
+
+        /// <summary>
+        /// 停止所有 DBC 循环发送任务。
+        /// </summary>
+        public virtual void 停止所有循环发送()
+        {
+            foreach (var kvp in _cyclicSenders)
+            {
+                kvp.Value.Cancel();
+                kvp.Value.Dispose();
+            }
+            _cyclicSenders.Clear();
+        }
+
+
+
+        /// <summary>
+        /// 单次发送 DBC 报文（调用方已持有通道锁）。
+        /// </summary>
+        private bool 发送DBC定义报文单次(uint 通道号, uint 帧ID, Dictionary<string, double> 信号物理值字典, int 是否使用CANFD)
+        {
+            uint chDbcHandle = _dbcHandles[通道号];
+
+            IntPtr ptrDbcMsg = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZDBC.DBCMessage)));
+            IntPtr ptrCount = Marshal.AllocHGlobal(sizeof(uint));
+            Marshal.WriteInt32(ptrCount, 1);
+
+            try
+            {
+                if (!ZDBC.ZDBC_GetMessageById(chDbcHandle, 帧ID, ptrDbcMsg)) return false;
+                var msg = (ZDBC.DBCMessage)Marshal.PtrToStructure(ptrDbcMsg, typeof(ZDBC.DBCMessage));
+
+                // 根据传入的物理值设置对应信号的原始值
+                for (int i = 0; i < msg.nSignalCount; i++)
+                {
+                    var signal = msg.vSignals[i];
+                    string signalName = Encoding.Default.GetString(signal.strName).TrimEnd('\0');
+                    if (信号物理值字典.TryGetValue(signalName, out double physicalValue))
+                    {
+                        signal.nRawvalue = 物理值转原始值(signal, physicalValue);
+                        msg.vSignals[i] = signal;
+                    }
+                }
+
+                Marshal.StructureToPtr(msg, ptrDbcMsg, true);
+
+                if (是否使用CANFD == 0)
+                {
+                    IntPtr ptrCanFrame = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZLGCAN.can_frame)));
+                    try
+                    {
+                        if (!ZDBC.ZDBC_Encode(chDbcHandle, ptrCanFrame, ptrCount, ptrDbcMsg, 0)) return false;
+
+                        ZLGCAN.can_frame canFrame = (ZLGCAN.can_frame)Marshal.PtrToStructure(ptrCanFrame, typeof(ZLGCAN.can_frame));
+                        canFrame.__pad |= 0x20;
+
+                        ZLGCAN.ZCAN_Transmit_Data txData = new ZLGCAN.ZCAN_Transmit_Data { frame = canFrame, transmit_type = 0 };
+                        IntPtr pTx = Marshal.AllocHGlobal(Marshal.SizeOf(txData));
+                        try
+                        {
+                            Marshal.StructureToPtr(txData, pTx, true);
+                            return ZLGCAN.ZCAN_Transmit(_channelHandles[通道号], pTx, 1) == 1;
+                        }
+                        finally
+                        {
+                            Marshal.FreeHGlobal(pTx);
+                        }
+                    }
+                    finally
+                    {
+                        Marshal.FreeHGlobal(ptrCanFrame);
+                    }
+                }
+                else
+                {
+                    IntPtr ptrCanFDFrame = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZLGCAN.canfd_frame)));
+                    try
+                    {
+                        if (!ZDBC.ZDBC_Encode(chDbcHandle, ptrCanFDFrame, ptrCount, ptrDbcMsg, 1)) return false;
+
+                        ZLGCAN.canfd_frame canfdFrame = (ZLGCAN.canfd_frame)Marshal.PtrToStructure(ptrCanFDFrame, typeof(ZLGCAN.canfd_frame));
+                        canfdFrame.flags |= 0x20;
+
+                        ZLGCAN.ZCAN_TransmitFD_Data txFdData = new ZLGCAN.ZCAN_TransmitFD_Data { frame = canfdFrame, transmit_type = 0 };
+                        IntPtr pTxFd = Marshal.AllocHGlobal(Marshal.SizeOf(txFdData));
+                        try
+                        {
+                            Marshal.StructureToPtr(txFdData, pTxFd, true);
+                            return ZLGCAN.ZCAN_TransmitFD(_channelHandles[通道号], pTxFd, 1) == 1;
+                        }
+                        finally
+                        {
+                            Marshal.FreeHGlobal(pTxFd);
+                        }
+                    }
+                    finally
+                    {
+                        Marshal.FreeHGlobal(ptrCanFDFrame);
+                    }
+                }
+            }
+            finally
+            {
+                Marshal.FreeHGlobal(ptrDbcMsg);
+                Marshal.FreeHGlobal(ptrCount);
+            }
+        }
+
+        /// <summary>
+        /// 不依赖通道锁的物理值到原始值转换。
+        /// </summary>
+        private static ulong 物理值转原始值(ZDBC.DBCSignal 信号定义, double 实际物理值)
+        {
+            IntPtr pSignal = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZDBC.DBCSignal)));
+            IntPtr pValue = Marshal.AllocHGlobal(sizeof(double));
+            try
+            {
+                Marshal.StructureToPtr(信号定义, pSignal, true);
+                Marshal.StructureToPtr(实际物理值, pValue, true);
+                return ZDBC.ZDBC_CalcRawValue(pSignal, pValue);
+            }
+            finally
+            {
+                Marshal.FreeHGlobal(pSignal);
+                Marshal.FreeHGlobal(pValue);
+            }
+        }
+
+        #endregion
+
+        #region 4.1 仿同星高性能智能报文/信号控制流 (新增扩展)
+
+        /// <summary>
+        /// 设置并发送指定信号值。
+        /// 其余未指定信号使用 DBC 中定义的初始值填充，避免总线数据被意外清零。
+        /// </summary>
+        /// <param name="通道号">CAN/CANFD 通道索引</param>
+        /// <param name="帧ID">对应报文的帧 ID</param>
+        /// <param name="信号名称">DBC 中定义的英文信号名称（不区分大小写）</param>
+        /// <param name="物理值">要写入的实际物理数值</param>
+        /// <param name="循环发送间隔毫秒">0 = 单次发送；>0 = 周期循环发送（单位毫秒）</param>
+        /// <returns>操作是否成功</returns>
+        public virtual bool 设置报文(uint 通道号, uint 帧ID, string 信号名称, double 物理值, int 循环发送间隔毫秒 = 0)
+        {
+            if (通道号 >= _maxChannels || _channelHandles[通道号] == IntPtr.Zero) return false;
+            if (!_isDbcLoadedArray[通道号]) return false;
+            if (string.IsNullOrWhiteSpace(信号名称)) return false;
+
+            var merged = 构建报文发送字典(通道号, 帧ID, new Dictionary<string, double>(StringComparer.OrdinalIgnoreCase)
+            {
+                { 信号名称, 物理值 }
+            });
+
+            return 发送DBC定义报文(通道号, 帧ID, merged, 循环发送间隔毫秒);
+        }
+
+        /// <summary>
+        /// 发送报文：以 DBC 中所有信号的初始值作为默认值发送。
+        /// 如果之前调用 设置报文 保存过覆盖值，则会优先使用覆盖值。
+        /// </summary>
+        /// <param name="通道号">CAN/CANFD 通道索引</param>
+        /// <param name="帧ID">DBC 中定义的帧 ID</param>
+        /// <param name="循环发送间隔毫秒">0 = 单次发送；>0 = 周期循环发送（毫秒）</param>
+        /// <param name="是否使用CANFD">1 = 以 CANFD 格式发送；0 = 经典 CAN 格式</param>
+        public virtual bool 发送报文(uint 通道号, uint 帧ID, int 循环发送间隔毫秒 = 0, int 是否使用CANFD = 1)
+        {
+            if (通道号 >= _maxChannels || _channelHandles[通道号] == IntPtr.Zero) return false;
+            if (!_isDbcLoadedArray[通道号]) return false;
+            if (循环发送间隔毫秒 < 0) throw new ArgumentOutOfRangeException(nameof(循环发送间隔毫秒));
+
+            var merged = 构建报文发送字典(通道号, 帧ID);
+            return 发送DBC定义报文(通道号, 帧ID, merged, 循环发送间隔毫秒, 是否使用CANFD);
+        }
+
+        /// <summary>
+        /// 发送自定义报文（原始字节）。
+        /// </summary>
+        /// <param name="通道号">CAN/CANFD 通道索引</param>
+        /// <param name="帧ID">帧 ID；扩展帧会自动置位 0x80000000</param>
+        /// <param name="原始数据">原始帧数据</param>
+        /// <param name="dlcLength">数据长度；CANFD 仅允许 0-8,12,16,20,24,32,48,64</param>
+        /// <param name="是否是扩展帧">是否为 29 位扩展帧</param>
+        /// <param name="是否是CANFD">true = CANFD；false = 经典 CAN</param>
+        /// <param name="开启波特率加速BRS">CANFD 是否开启波特率加速</param>
+        public virtual bool 发送自定义报文(
+            uint 通道号,
+            uint 帧ID,
+            byte[] 原始数据,
+            byte dlcLength,
+            bool 是否是扩展帧 = false,
+            bool 是否是CANFD = true,
+            bool 开启波特率加速BRS = true)
+        {
+            if (通道号 >= _maxChannels || _channelHandles[通道号] == IntPtr.Zero) return false;
+            if (原始数据 == null) return false;
+
+            // 扩展帧需要把最高位标志位置起来
+            uint canId = 帧ID & 0x7FFFFFFF;
+            if (是否是扩展帧) canId |= 0x80000000;
+
+            lock (_channelLocks[通道号])
+            {
+                if (是否是CANFD)
+                {
+                    // CANFD 有效 DLC 校验
+                    byte validFdDlc = 校验CANFD的Dlc(dlcLength);
+
+                    ZLGCAN.canfd_frame fdFrame = new ZLGCAN.canfd_frame
+                    {
+                        can_id = canId,
+                        len = validFdDlc,
+                        flags = (byte)((是否是扩展帧 ? 0x01 : 0x00) | (开启波特率加速BRS ? 0x02 : 0x00) | 0x20), // 0x20 本地回显
+                        data = new byte[64]
+                    };
+                    Array.Copy(原始数据, 0, fdFrame.data, 0, Math.Min(原始数据.Length, 64));
+
+                    ZLGCAN.ZCAN_TransmitFD_Data txFdData = new ZLGCAN.ZCAN_TransmitFD_Data { frame = fdFrame, transmit_type = 0 };
+                    IntPtr pTxFd = Marshal.AllocHGlobal(Marshal.SizeOf(txFdData));
+                    try
+                    {
+                        Marshal.StructureToPtr(txFdData, pTxFd, true);
+                        return ZLGCAN.ZCAN_TransmitFD(_channelHandles[通道号], pTxFd, 1) == 1;
+                    }
+                    finally { Marshal.FreeHGlobal(pTxFd); }
+                }
+                else
+                {
+                    ZLGCAN.can_frame standardFrame = new ZLGCAN.can_frame
+                    {
+                        can_id = canId,
+                        can_dlc = dlcLength > 8 ? (byte)8 : dlcLength,
+                        __pad = 0x20, // 发送回显
+                        data = new byte[8]
+                    };
+                    Array.Copy(原始数据, 0, standardFrame.data, 0, Math.Min(原始数据.Length, 8));
+
+                    ZLGCAN.ZCAN_Transmit_Data txData = new ZLGCAN.ZCAN_Transmit_Data { frame = standardFrame, transmit_type = 0 };
+                    IntPtr pTx = Marshal.AllocHGlobal(Marshal.SizeOf(txData));
+                    try
+                    {
+                        Marshal.StructureToPtr(txData, pTx, true);
+                        return ZLGCAN.ZCAN_Transmit(_channelHandles[通道号], pTx, 1) == 1;
+                    }
+                    finally { Marshal.FreeHGlobal(pTx); }
+                }
+            }
+        }
+
+        /// <summary>
+        /// 构建发送用信号字典：DBC 初始值 + 额外覆盖。
+        /// 调用方需自行保证通道已初始化且 DBC 已加载。
+        /// </summary>
+        private Dictionary<string, double> 构建报文发送字典(uint 通道号, uint 帧ID, Dictionary<string, double>? 额外覆盖 = null)
+        {
+            uint chDbcHandle = _dbcHandles[通道号];
+            IntPtr ptrDbcMsg = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZDBC.DBCMessage)));
+            try
+            {
+                lock (_channelLocks[通道号])
+                {
+                    if (!ZDBC.ZDBC_GetMessageById(chDbcHandle, 帧ID, ptrDbcMsg))
+                        return new Dictionary<string, double>(StringComparer.OrdinalIgnoreCase);
+
+                    var msg = (ZDBC.DBCMessage)Marshal.PtrToStructure(ptrDbcMsg, typeof(ZDBC.DBCMessage));
+                    var dict = new Dictionary<string, double>(StringComparer.OrdinalIgnoreCase);
+
+                    for (int i = 0; i < msg.nSignalCount; i++)
+                    {
+                        var signal = msg.vSignals[i];
+                        string signalName = Encoding.Default.GetString(signal.strName).TrimEnd('\0');
+                        if (!string.IsNullOrEmpty(signalName) && signal.initialValueValid != 0)
+                        {
+                            // ZDBC 文档标注 initialValue 为“原始值”，但实际按 DBC 规范这里存放的是物理值
+                            dict[signalName] = signal.initialValue;
+                        }
+                    }
+
+                    if (额外覆盖 != null)
+                    {
+                        foreach (var kvp in 额外覆盖)
+                        {
+                            dict[kvp.Key] = kvp.Value;
+                        }
+                    }
+
+                    return dict;
+                }
+            }
+            finally
+            {
+                Marshal.FreeHGlobal(ptrDbcMsg);
+            }
+        }
+
+        /// <summary>
+        /// CANFD 有效 DLC 校验，非法值自动就近取到下一个合法 DLC。
+        /// </summary>
+        private static byte 校验CANFD的Dlc(byte dlc)
+        {
+            if (dlc <= 8) return dlc;
+            if (dlc <= 12) return 12;
+            if (dlc <= 16) return 16;
+            if (dlc <= 20) return 20;
+            if (dlc <= 24) return 24;
+            if (dlc <= 32) return 32;
+            if (dlc <= 48) return 48;
+            return 64;
+        }
+
+        #endregion
+
+        #region 5. 辅助工具子系统
+
+        /// <summary>
+        /// 计算物理值也需要传入对应通道，使用通道专属的DBC句柄进行计算
+        /// </summary>
+
+        [Browsable(false)]
+        public ulong 物理值转原始寄存器值(uint 通道号, ZDBC.DBCSignal 信号定义, double 实际物理值)
+        {
+            if (通道号 >= _maxChannels) return 0;
+
+            IntPtr pSignal = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZDBC.DBCSignal)));
+            IntPtr pValue = Marshal.AllocHGlobal(sizeof(double));
+
+            try
+            {
+                Marshal.StructureToPtr(信号定义, pSignal, true);
+                Marshal.StructureToPtr(实际物理值, pValue, true);
+                lock (_channelLocks[通道号])
+                {
+                    return ZDBC.ZDBC_CalcRawValue(pSignal, pValue);
+                }
+            }
+            finally
+            {
+                Marshal.FreeHGlobal(pSignal);
+                Marshal.FreeHGlobal(pValue);
+            }
+        }
+
+        #endregion
+
+        [Browsable(false)]
+        public void Dispose()
+        {
+            关闭CAN卡设备();
+        }
+    }
+}

ZLGUSBCANFD/ZLGUSBCANFD.csproj

@@ -1,20 +1,13 @@
-<Project Sdk="Microsoft.NET.Sdk">
+<Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
     <TargetFramework>net8.0</TargetFramework>
-    <Nullable>enable</Nullable>
-    <UseWPF>false</UseWPF>
     <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
   </PropertyGroup>
 
   <ItemGroup>
     <ProjectReference Include="..\Common\Common.csproj" />
   </ItemGroup>
 
-  <ItemGroup>
-    <Reference Include="Interop.TSMasterAPI">
-      <HintPath>..\CanDriver\bin\Debug\net8.0\Interop.TSMasterAPI.dll</HintPath>
-    </Reference>
-  </ItemGroup>
-
 </Project>