400 lines
16 KiB
C#
400 lines
16 KiB
C#
using Common.Attributes;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using USBCANFD;
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namespace DeviceCommand.Device
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{
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[ADPCommand]
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public class ZLGCANFD : IDisposable
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{
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// 硬件设备与通道句柄
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private IntPtr _deviceHandle = IntPtr.Zero;
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private readonly IntPtr[] _channelHandles;
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// 【核心修改】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
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private readonly uint[] _dbcHandles;
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private readonly bool[] _isDbcLoadedArray;
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private readonly object[] _channelLocks; // 通道级细粒度锁
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// 异步高性能接收线程控制
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private volatile bool _isRunning = false;
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private readonly List<Thread> _receiveThreads = new List<Thread>();
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// 动态硬件参数
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private readonly uint _deviceType; // 43: USBCANFD-400U
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private readonly uint _deviceIndex; // 设备索引
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private readonly int _maxChannels; // 动态通道数
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/// <summary>
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/// 事件：当接收到 CAN/CANFD 报文并且通过 DBC 成功解析后触发
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/// 参数：uint 通道号 (0,1,2,3), ZDBC.DBCMessage 解析后的DBC消息结构体
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/// </summary>
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public event Action<uint, ZDBC.DBCMessage>? OnDbcMessageDecoded;
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public ZLGCANFD(uint deviceType = 43, uint deviceIndex = 0, int maxChannels = 4)
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{
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_deviceType = deviceType;
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_deviceIndex = deviceIndex;
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_maxChannels = maxChannels;
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// 初始化通道相关状态数组
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_channelHandles = new IntPtr[_maxChannels];
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_dbcHandles = new uint[_maxChannels];
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_isDbcLoadedArray = new bool[_maxChannels];
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_channelLocks = new object[_maxChannels];
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for (int i = 0; i < _maxChannels; i++)
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{
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_channelHandles[i] = IntPtr.Zero;
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_dbcHandles[i] = 0;
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_isDbcLoadedArray[i] = false;
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_channelLocks[i] = new object();
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}
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}
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#region 1. 硬件连接与通道初始化
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/// <summary>
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/// 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）
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/// </summary>
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public virtual bool 打开设备()
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{
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if (_deviceHandle != IntPtr.Zero) return true;
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_deviceHandle = ZLGCAN.ZCAN_OpenDevice(_deviceType, _deviceIndex, 0);
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return _deviceHandle != IntPtr.Zero;
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}
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/// <summary>
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/// 【核心修改】针对特定通道进行参数初始化并启动
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/// </summary>
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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)
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{
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if (_deviceHandle == IntPtr.Zero) throw new InvalidOperationException("请先调用 '打开设备()' 才能初始化通道。");
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if (通道号 >= _maxChannels) return false;
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lock (_channelLocks[通道号])
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{
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// 如果已经启动过，先复位
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if (_channelHandles[通道号] != IntPtr.Zero)
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{
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ZLGCAN.ZCAN_ResetCAN(_channelHandles[通道号]);
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}
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// 1. 设置该通道专属的仲裁域与数据域波特率
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if (ZLGCAN.ZCAN_SetValue(_deviceHandle, $"{通道号}/canfd_abit_baud_rate", abitBaud) != 1) return false;
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if (ZLGCAN.ZCAN_SetValue(_deviceHandle, $"{通道号}/canfd_dbit_baud_rate", dbitBaud) != 1) return false;
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// 2. 设置该通道专属内部终端电阻状态
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string resistanceStr = 开启终端电阻 ? "1" : "0";
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if (ZLGCAN.ZCAN_SetValue(_deviceHandle, $"{通道号}/initenal_resistance", resistanceStr) != 1) return false;
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// 3. 规范配置通道结构体
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ZLGCAN.ZCAN_CHANNEL_INIT_CONFIG config = new ZLGCAN.ZCAN_CHANNEL_INIT_CONFIG();
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config.can_type = 1; // 1 代表 CANFD 模式
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config.config.canfd.mode = 0; // 0 代表正常工作模式
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IntPtr pConfig = Marshal.AllocHGlobal(Marshal.SizeOf(config));
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Marshal.StructureToPtr(config, pConfig, true);
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_channelHandles[通道号] = ZLGCAN.ZCAN_InitCAN(_deviceHandle, 通道号, pConfig);
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Marshal.FreeHGlobal(pConfig);
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if (_channelHandles[通道号] == IntPtr.Zero) return false;
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// 4. 启动 CAN 通道
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if (ZLGCAN.ZCAN_StartCAN(_channelHandles[通道号]) != 1) return false;
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// 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）
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if (!_isRunning) _isRunning = true;
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int chnIdx = (int)通道号;
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Thread rxThread = new Thread(() => 接收轮询核心(_channelHandles[chnIdx], (uint)chnIdx))
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{
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IsBackground = true,
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Name = $"ZLGCANFD_Dev{_deviceIndex}_CH{chnIdx}_RxThread"
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};
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_receiveThreads.Add(rxThread);
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rxThread.Start();
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return true;
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}
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}
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public virtual void 关闭CAN卡设备()
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{
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_isRunning = false;
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Thread.Sleep(50); // 确保轮询线程安全退出
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_receiveThreads.Clear();
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// 动态复位所有通道并释放DBC
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for (uint i = 0; i < _maxChannels; i++)
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{
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lock (_channelLocks[i])
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{
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if (_channelHandles[i] != IntPtr.Zero)
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{
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ZLGCAN.ZCAN_ResetCAN(_channelHandles[i]);
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_channelHandles[i] = IntPtr.Zero;
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}
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释放通道DBC(i);
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}
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}
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// 关闭设备主句柄
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if (_deviceHandle != IntPtr.Zero)
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{
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ZLGCAN.ZCAN_CloseDevice(_deviceHandle);
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_deviceHandle = IntPtr.Zero;
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}
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}
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#endregion
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#region 2. DBC 矩阵文件操作
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/// <summary>
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/// 【核心修改】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）
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/// </summary>
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public virtual bool 加载通道DBC文件(uint 通道号, string dbcFilePath)
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{
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if (通道号 >= _maxChannels) return false;
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lock (_channelLocks[通道号])
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{
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try
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{
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if (_isDbcLoadedArray[通道号]) return true;
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uint chDbcHandle = ZDBC.ZDBC_Init();
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if (chDbcHandle == 0) return false;
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IntPtr ptrPath = Marshal.StringToHGlobalAnsi(dbcFilePath);
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bool success = ZDBC.ZDBC_LoadFile(chDbcHandle, ptrPath);
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Marshal.FreeHGlobal(ptrPath);
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if (success)
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{
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_dbcHandles[通道号] = chDbcHandle;
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_isDbcLoadedArray[通道号] = true;
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}
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else
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{
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ZDBC.ZDBC_Release(chDbcHandle);
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}
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return success;
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}
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catch
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{
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return false;
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}
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}
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}
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public virtual void 释放通道DBC(uint 通道号)
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{
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if (通道号 >= _maxChannels) return;
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lock (_channelLocks[通道号])
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{
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if (_isDbcLoadedArray[通道号] && _dbcHandles[通道号] != 0)
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{
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ZDBC.ZDBC_Release(_dbcHandles[通道号]);
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_dbcHandles[通道号] = 0;
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_isDbcLoadedArray[通道号] = false;
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}
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}
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}
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#endregion
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#region 3. 轮询接收与实时自动化 DBC 解码
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private void 接收轮询核心(IntPtr channelHandle, uint channelIndex)
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{
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const int bufferSize = 100;
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int canStructSize = Marshal.SizeOf(typeof(ZLGCAN.ZCAN_Receive_Data));
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int canfdStructSize = Marshal.SizeOf(typeof(ZLGCAN.ZCAN_ReceiveFD_Data));
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int dbcMsgSize = Marshal.SizeOf(typeof(ZDBC.DBCMessage));
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IntPtr ptrCanBuffer = Marshal.AllocHGlobal(canStructSize * bufferSize);
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IntPtr ptrCanFDBuffer = Marshal.AllocHGlobal(canfdStructSize * bufferSize);
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IntPtr ptrDbcMsg = Marshal.AllocHGlobal(dbcMsgSize);
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try
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{
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while (_isRunning)
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{
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bool currentTurnHasData = false;
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// 1. 自动提取并解析经典 CAN 帧
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uint canNum = ZLGCAN.ZCAN_GetReceiveNum(channelHandle, 0);
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if (canNum > 0)
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{
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uint actualRecv = ZLGCAN.ZCAN_Receive(channelHandle, ptrCanBuffer, bufferSize, 5);
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for (int i = 0; i < actualRecv; i++)
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{
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IntPtr framePtr = IntPtr.Add(ptrCanBuffer, i * canStructSize);
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// 【通道级业务隔离隔离】只锁定当前通道的DBC句柄进行解码，高并发完全不卡顿
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lock (_channelLocks[channelIndex])
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{
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if (_isDbcLoadedArray[channelIndex] && ZDBC.ZDBC_Decode(_dbcHandles[channelIndex], ptrDbcMsg, framePtr, 1, 0))
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{
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var msg = (ZDBC.DBCMessage)Marshal.PtrToStructure(ptrDbcMsg, typeof(ZDBC.DBCMessage));
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OnDbcMessageDecoded?.Invoke(channelIndex, msg);
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}
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}
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}
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currentTurnHasData = true;
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}
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// 2. 自动提取并解析高速 CANFD 帧
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uint canfdNum = ZLGCAN.ZCAN_GetReceiveNum(channelHandle, 1);
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if (canfdNum > 0)
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{
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uint actualRecvFd = ZLGCAN.ZCAN_ReceiveFD(channelHandle, ptrCanFDBuffer, bufferSize, 5);
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for (int i = 0; i < actualRecvFd; i++)
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{
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IntPtr framePtr = IntPtr.Add(ptrCanFDBuffer, i * canfdStructSize);
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lock (_channelLocks[channelIndex])
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{
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if (_isDbcLoadedArray[channelIndex] && ZDBC.ZDBC_Decode(_dbcHandles[channelIndex], ptrDbcMsg, framePtr, 1, 1))
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{
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var msg = (ZDBC.DBCMessage)Marshal.PtrToStructure(ptrDbcMsg, typeof(ZDBC.DBCMessage));
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OnDbcMessageDecoded?.Invoke(channelIndex, msg);
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}
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}
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}
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currentTurnHasData = true;
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}
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if (!currentTurnHasData)
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{
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Thread.Sleep(2);
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}
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}
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}
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finally
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{
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Marshal.FreeHGlobal(ptrCanBuffer);
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Marshal.FreeHGlobal(ptrCanFDBuffer);
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Marshal.FreeHGlobal(ptrDbcMsg);
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}
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}
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#endregion
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#region 4. DBC 自动打包与智能报文发送
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public virtual bool 发送DBC定义报文(uint 通道号, uint 帧ID, Action<ZDBC.DBCMessage> 配置信号动作, int 是否使用CANFD = 1)
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{
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if (通道号 >= _maxChannels || _channelHandles[通道号] == IntPtr.Zero) return false;
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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。");
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IntPtr ptrDbcMsg = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZDBC.DBCMessage)));
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IntPtr ptrCount = Marshal.AllocHGlobal(sizeof(uint));
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Marshal.WriteInt32(ptrCount, 1);
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try
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{
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// 使用通道级锁保护当前通道发送
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lock (_channelLocks[通道号])
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{
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uint chDbcHandle = _dbcHandles[通道号];
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if (!ZDBC.ZDBC_GetMessageById(chDbcHandle, 帧ID, ptrDbcMsg)) return false;
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var msg = (ZDBC.DBCMessage)Marshal.PtrToStructure(ptrDbcMsg, typeof(ZDBC.DBCMessage));
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配置信号动作(msg);
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Marshal.StructureToPtr(msg, ptrDbcMsg, true);
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if (是否使用CANFD == 0)
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{
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IntPtr ptrCanFrame = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZLGCAN.can_frame)));
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if (!ZDBC.ZDBC_Encode(chDbcHandle, ptrCanFrame, ptrCount, ptrDbcMsg, 0)) return false;
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ZLGCAN.can_frame canFrame = (ZLGCAN.can_frame)Marshal.PtrToStructure(ptrCanFrame, typeof(ZLGCAN.can_frame));
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canFrame.__pad |= 0x20;
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ZLGCAN.ZCAN_Transmit_Data txData = new ZLGCAN.ZCAN_Transmit_Data { frame = canFrame, transmit_type = 0 };
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IntPtr pTx = Marshal.AllocHGlobal(Marshal.SizeOf(txData));
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Marshal.StructureToPtr(txData, pTx, true);
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uint sendResult = ZLGCAN.ZCAN_Transmit(_channelHandles[通道号], pTx, 1);
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Marshal.FreeHGlobal(ptrCanFrame);
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Marshal.FreeHGlobal(pTx);
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return sendResult == 1;
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}
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else
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{
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IntPtr ptrCanFDFrame = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZLGCAN.canfd_frame)));
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if (!ZDBC.ZDBC_Encode(chDbcHandle, ptrCanFDFrame, ptrCount, ptrDbcMsg, 1)) return false;
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ZLGCAN.canfd_frame canfdFrame = (ZLGCAN.canfd_frame)Marshal.PtrToStructure(ptrCanFDFrame, typeof(ZLGCAN.canfd_frame));
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canfdFrame.flags |= 0x20;
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ZLGCAN.ZCAN_TransmitFD_Data txFdData = new ZLGCAN.ZCAN_TransmitFD_Data { frame = canfdFrame, transmit_type = 0 };
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IntPtr pTxFd = Marshal.AllocHGlobal(Marshal.SizeOf(txFdData));
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Marshal.StructureToPtr(txFdData, pTxFd, true);
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uint sendResult = ZLGCAN.ZCAN_TransmitFD(_channelHandles[通道号], pTxFd, 1);
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Marshal.FreeHGlobal(ptrCanFDFrame);
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Marshal.FreeHGlobal(pTxFd);
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return sendResult == 1;
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}
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}
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}
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finally
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{
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Marshal.FreeHGlobal(ptrDbcMsg);
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Marshal.FreeHGlobal(ptrCount);
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}
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}
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#endregion
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#region 5. 辅助工具子系统
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/// <summary>
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/// 【核心修改】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
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/// </summary>
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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)
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{
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if (通道号 >= _maxChannels) return 0;
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IntPtr pSignal = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZDBC.DBCSignal)));
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IntPtr pValue = Marshal.AllocHGlobal(sizeof(double));
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try
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{
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Marshal.StructureToPtr(信号定义, pSignal, true);
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Marshal.StructureToPtr(实际物理值, pValue, true);
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lock (_channelLocks[通道号])
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{
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return ZDBC.ZDBC_CalcRawValue(pSignal, pValue);
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}
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}
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finally
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{
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Marshal.FreeHGlobal(pSignal);
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Marshal.FreeHGlobal(pValue);
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}
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}
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#endregion
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[Browsable(false)]
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public void Dispose()
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{
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关闭CAN卡设备();
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}
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}
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} |