418 lines
14 KiB
C#
418 lines
14 KiB
C#
using Common.Attributes;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Diagnostics;
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using System.IO;
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using System.Runtime.InteropServices;
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using System.Text.Json;
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using TSMaster;
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namespace CAN驱动
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{
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[ADPCommand]
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public class CAN
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{
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public static event Action ConnectEvent;
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public static event Action DisConnectEvent;
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public static bool ConnectFlag { get; set; } = false;
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/// <summary>
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/// 初始化CAN驱动
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/// </summary>
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/// <param name="ProjectName"></param>
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/// <param name="filePath"></param>
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/// <returns></returns>
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[Browsable(false)]
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public static int Init(string ProjectName, string? filePath = null)
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{
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if (string.IsNullOrEmpty(filePath))
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{
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return TsMasterApi.initialize_lib_tsmaster(ProjectName);
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}
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else
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{
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return TsMasterApi.initialize_lib_tsmaster_with_project(ProjectName, Path.GetFullPath(filePath));
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}
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}
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/// <summary>
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/// 释放CAN驱动
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/// </summary>
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[Browsable(false)]
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public static void Release()
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{
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TsMasterApi.finalize_lib_tsmaster();
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}
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public static int obj = 0;
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public static TCANFDQueueEvent_Win32 listener;
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[Browsable(false)]
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public static int RegisterListener(TCANFDQueueEvent_Win32 listenEvent)
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{
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listener = listenEvent;
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var re = TsMasterApi.tsapp_register_event_canfd(ref obj, listener);
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Debug.Assert(re == 0);
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return re;
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}
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[Browsable(false)]
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public static int UnRegisterListener(TCANFDQueueEvent_Win32 listenEvent = null)
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{
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if (listenEvent is not null)
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{
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listener = listenEvent;
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}
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var re = TsMasterApi.tsapp_unregister_event_canfd(ref obj, listener);
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Debug.Assert(re == 0);
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return re;
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}
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/// <summary>
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/// 连接
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/// </summary>
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/// <returns></returns>
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public static int Connect()
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{
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var re = TsMasterApi.tsapp_connect();
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if (re == 0)
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{
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re = TsMasterApi.tscom_can_rbs_start();
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if (re == 0)
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{
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ConnectFlag = true;
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Task.Run(() => ConnectEvent?.Invoke());
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}
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else
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{
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Debug.WriteLine($"CAN_RBS启动失败,错误代码：{re}");
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}
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}
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else
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{
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Debug.WriteLine($"CAN连接失败,错误代码：{re}");
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return re;
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}
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return re;
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}
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/// <summary>
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/// 断开
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/// </summary>
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/// <returns></returns>
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public static int DisConnect()
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{
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var re = TsMasterApi.tsapp_disconnect();
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//Debug.Assert(re == 0);
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if (re == 0)
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{
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ConnectFlag = false;
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Task.Run(() => DisConnectEvent?.Invoke());
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}
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else
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{
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Debug.WriteLine($"断开CAN连接失败,错误代码：{re}");
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}
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return re;
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}
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/// <summary>
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/// 加载DBC
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/// </summary>
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/// <param name="filePath"></param>
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/// <param name="channel"></param>
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/// <param name="databaseID"></param>
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/// <returns></returns>
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[Browsable(false)]
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public static int LoadDBC(string filePath, int[] channel, out uint databaseID)
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{
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databaseID = 0;
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var re = TsMasterApi.tsdb_load_can_db(Path.GetFullPath(filePath), string.Join(",", channel), ref databaseID);
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foreach (var item in channel)
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{
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DBCParse.parse(databaseID, item);
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DBCParse.rbs_parse(databaseID, item);
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}
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return re;
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}
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/// <summary>
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/// 卸载DBC
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/// </summary>
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/// <param name="databaseID"></param>
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/// <returns></returns>
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[Browsable(false)]
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public static int UnLoadDBC(uint? databaseID = null)
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{
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if (databaseID == null)
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{
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return TsMasterApi.tsdb_unload_can_dbs();
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}
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else
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{
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return TsMasterApi.tsdb_unload_can_db(databaseID.Value);
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}
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}
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/// <summary>
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/// 开始记录日志
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/// </summary>
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/// <param name="filePath"></param>
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/// <returns></returns>
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public static int StartLogging(string filePath)
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{
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return TsMasterApi.tsapp_start_logging(Path.GetFullPath(filePath));
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}
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/// <summary>
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/// 结束记录日志
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/// </summary>
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/// <returns></returns>
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public static int StopLogging()
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{
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return TsMasterApi.tsapp_stop_logging();
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}
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/// <summary>
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/// 弹出通道映射窗口
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/// </summary>
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/// <param name="isWait"></param>
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/// <returns></returns>
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[Browsable(false)]
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public static int ShowChannelMappingWindow(bool isWait = false)
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{
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return TsMasterApi.tsapp_show_tsmaster_window("Hardware", isWait);
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}
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/// <summary>
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/// 获取信号值
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/// </summary>
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/// <param name="channel"></param>
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/// <param name="AMsgName"></param>
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/// <param name="ASgnName"></param>
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/// <returns></returns>
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public static double GetSignalValue(byte channel, string AMsgName, string ASgnName)
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{
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double value = double.NaN;
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var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
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var re = TsMasterApi.tsdb_get_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, ref value);
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return value;
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}
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/// <summary>
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/// 获取信号值
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/// </summary>
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/// <param name="channel"></param>
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/// <param name="AMsgName"></param>
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/// <param name="ASgnName"></param>
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/// <param name="value"></param>
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/// <returns></returns>
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[Browsable(false)]
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public static int GetSignalValue(byte channel, string AMsgName, string ASgnName, ref double value)
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{
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var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
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return TsMasterApi.tsdb_get_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, ref value);
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}
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/// <summary>
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/// 获取信号值
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/// </summary>
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/// <param name="ACANFD"></param>
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/// <param name="AMsgName"></param>
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/// <param name="ASgnName"></param>
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/// <param name="value"></param>
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/// <returns></returns>
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[Browsable(false)]
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public static int GetSignalValue(ref TLIBCANFD ACANFD, string AMsgName, string ASgnName, ref double value)
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{
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return TsMasterApi.tsdb_get_signal_value_canfd(ref ACANFD, AMsgName, ASgnName, ref value);
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}
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/// <summary>
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/// 设置信号值
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/// </summary>
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/// <param name="channel"></param>
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/// <param name="AMsgName"></param>
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/// <param name="ASgnName"></param>
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/// <param name="AValue"></param>
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/// <param name="isSend"></param>
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/// <param name="sendPeriod"></param>
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/// <returns></returns>
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/// <exception cref="Exception"></exception>
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public static int SetSignalValue(byte channel, string AMsgName, string ASgnName, double AValue, bool isSend = false, float sendPeriod = 0)
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{
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var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
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find.ACANFD.FIdxChn = channel;
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var re = TsMasterApi.tsdb_set_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, AValue);
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Debug.Assert(re == 0);
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if (re != 0) throw new Exception($"设置报文失败!返回代码{re}");
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if (re != 0) return re;
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if (isSend)
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{
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if (sendPeriod == 0)
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{
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return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
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}
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else
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{
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return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
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}
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}
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return 0;
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}
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/// <summary>
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/// 设置信号值
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/// </summary>
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/// <param name="channel"></param>
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/// <param name="AMsgName"></param>
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/// <param name="sendPeriod"></param>
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/// <returns></returns>
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public static int SetSignalValue(APP_CHANNEL channel, string AMsgName, float sendPeriod = 0)
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{
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var find = DBCParse.MsgDatabase[(byte)channel].First(s => s.msg_name == AMsgName);
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find.ACANFD.FIdxChn = (byte)channel;
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if (sendPeriod == 0)
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{
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return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
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}
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else
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{
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return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
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}
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}
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/// <summary>
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/// 发送自定义报文
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/// </summary>
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/// <returns></returns>
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[Browsable(false)]
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public static int SetMsg(TLIBCANFD msg)
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{
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return TsMasterApi.tsapp_transmit_canfd_async(ref msg);
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}
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/// <summary>
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/// 设置报文
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/// </summary>
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/// <param name="channel">通道</param>
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/// <param name="ID">DBC数据库ID</param>
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/// <param name="bytes">报文数组</param>
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public static void SetMsg(APP_CHANNEL channel, int ID, byte[] bytes)
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{
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var find = DBCParse.MsgDatabase[(byte)channel].FirstOrDefault(s => s.ACANFD.FIdentifier == ID);
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if (find != null)
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{
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Array.Copy(bytes, 0, find.ACANFD.FData, 0, Math.Min(bytes.Length, find.ACANFD.FData.Length));
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}
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}
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/// <summary>
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/// 发送自定义报文
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/// </summary>
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/// <param name="AIdxChn"></param>
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/// <param name="AID"></param>
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/// <param name="AIsTx"></param>
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/// <param name="AIsExt"></param>
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/// <param name="AIsRemote"></param>
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/// <param name="ADLC"></param>
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/// <param name="ADataArray"></param>
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/// <param name="AIsFD"></param>
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/// <param name="AIsBRS"></param>
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/// <param name="isUpdateDBCDatabase"></param>
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/// <param name="sendPeriod"></param>
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/// <returns></returns>
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public static int SendMsg(APP_CHANNEL AIdxChn, int AID, bool AIsTx, bool AIsExt,
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bool AIsRemote, byte ADLC, byte[] ADataArray, bool AIsFD = true, bool AIsBRS = false,
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bool isUpdateDBCDatabase = false, float sendPeriod = 0)
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{
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var send = new TLIBCANFD
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{
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FIdxChn = (byte)AIdxChn,
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FProperties = 0,
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FIdentifier = AID,
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FDLC = ADLC,
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FTimeUS = 0uL,
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FData = new byte[64],
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FFDProperties = 0,
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FIsTx = AIsTx,
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FIsError = false,
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FIsExt = AIsExt,
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FIsRemote = AIsRemote,
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FIsFD = AIsFD,
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FIsBRS = AIsBRS
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};
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int length = Math.Min(ADataArray.Length, 64);
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Array.Copy(ADataArray, 0, send.FData, 0, length);
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int re;
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if (sendPeriod == 0)
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{
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re = TsMasterApi.tsapp_transmit_canfd_async(ref send);
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}
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else
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{
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re = TsMasterApi.tsapp_add_cyclic_msg_canfd(ref send, sendPeriod);
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}
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if (isUpdateDBCDatabase)
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{
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var find = DBCParse.MsgDatabase[(byte)AIdxChn].FirstOrDefault(s => s.ACANFD.FIdentifier == send.FIdentifier);
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if (find != null)
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{
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Array.Copy(send.FData, 0, find.ACANFD.FData, 0, Math.Min(ADataArray.Length, find.ACANFD.FData.Length));
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}
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}
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return re;
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}
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/// <summary>
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/// 添加循环发送报文
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/// </summary>
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/// <param name="channel"></param>
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/// <param name="AMsgName"></param>
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/// <param name="sendPeriod"></param>
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/// <returns></returns>
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public static int AddCyclicMsg(byte channel, string AMsgName, float sendPeriod)
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{
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var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
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find.ACANFD.FIdxChn = channel;
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return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
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}
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/// <summary>
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/// 清除循环发送的报文
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/// </summary>
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/// <returns></returns>
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public static int DeleteCyclicMsgs()
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{
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return TsMasterApi.tsapp_delete_cyclic_msgs();
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}
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/// <summary>
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/// 获取错误提示
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/// </summary>
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/// <param name="errorCode">错误代码</param>
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/// <returns></returns>
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public static string GetErrorDescription(int errorCode)
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{
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IntPtr ADesc = IntPtr.Zero;
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TsMasterApi.tsapp_get_error_description(errorCode, ref ADesc);
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if (ADesc == IntPtr.Zero) return $"未知错误代码: {errorCode}";
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// 假设返回的是 ANSI 字符串（如 C 的 char*）
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string? description = Marshal.PtrToStringAnsi(ADesc);
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return description ?? $"未知错误代码: {errorCode}";
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}
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}
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}
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