1000 lines
43 KiB
C#
1000 lines
43 KiB
C#
using Common.Attributes;
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using Logger;
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using System;
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using System.Collections.Concurrent;
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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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namespace ZLGUSBCANFD
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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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// 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 volatile bool _isClosing = false; // 关闭流程标志：通知循环发送任务尽快退出
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private readonly List<Thread> _receiveThreads = new List<Thread>();
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// DBC 循环发送任务管理：Key = (通道号, 帧ID)，Value = (CTS, Task)
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private readonly ConcurrentDictionary<(uint 通道号, uint 帧ID), (CancellationTokenSource Cts, Task SendTask)> _cyclicSenders = new ConcurrentDictionary<(uint, uint), (CancellationTokenSource, Task)>();
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// 信号值持久化覆盖表：Key = (通道号, 帧ID)，Value = 信号名 → 物理值
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// 每次 设置报文 会累积写入此表，发送时以 DBC 初始值为底再叠加此表覆盖值
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private readonly ConcurrentDictionary<(uint 通道号, uint 帧ID), Dictionary<string, double>> _signalOverrides = new ConcurrentDictionary<(uint, uint), Dictionary<string, double>>();
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// 动态硬件参数
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private readonly uint _deviceType; // 76: 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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// 通道波特率与终端电阻配置（构造时传入，所有通道共用）
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private readonly string _abitBaud;
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private readonly string _dbitBaud;
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private readonly bool _enableTerminalResistance;
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/// <summary>
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/// 当前 CAN 卡专属的 DBC 解析器，按通道隔离报文数据库。
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/// </summary>
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public ZLGDBCParser DBCParser { get; }
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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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/// <summary>
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/// 事件：当接收到任意 CAN/CANFD 原始报文时触发（不依赖 DBC，自定义报文也能收到）
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/// 参数：通道号, 帧ID, 数据, 时间戳(微秒), 是否FD, 数据长度
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/// </summary>
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public event Action<uint, uint, byte[], ulong, bool, byte>? OnRawMessageReceived;
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public ZLGCANFD(uint deviceType = 76, uint deviceIndex = 0, int maxChannels = 4,
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string abitBaud = "500000", string dbitBaud = "2000000", bool enableTerminalResistance = true)
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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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_abitBaud = abitBaud;
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_dbitBaud = dbitBaud;
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_enableTerminalResistance = enableTerminalResistance;
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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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DBCParser = new ZLGDBCParser(_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(ZLGCAN.ZCAN_USBCANFD_400U, _deviceIndex, 0);
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return _deviceHandle != IntPtr.Zero;
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}
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/// <summary>
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/// 针对特定通道进行参数初始化并启动（使用构造时传入的波特率与终端电阻配置）
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/// </summary>
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public virtual bool 初始化并启动通道(uint 通道号)
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{
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_isClosing = false; // 重置关闭标志，允许循环发送
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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，直接退出
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if (_channelHandles[通道号] != IntPtr.Zero)
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{
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return true;
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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 = _enableTerminalResistance ? "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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_isClosing = true; // 通知循环发送任务尽快退出
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_isRunning = false; // 通知接收轮询线程退出
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停止所有循环发送(); // 内部会等待所有循环发送 Task 退出
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// 等待所有接收轮询线程真正退出（每个最多 1 秒）
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foreach (var thread in _receiveThreads)
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{
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if (thread.IsAlive)
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thread.Join(1000);
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}
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_receiveThreads.Clear();
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// 动态复位所有通道并释放 DBC（使用 TryEnter 防止死锁）
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for (uint i = 0; i < _maxChannels; i++)
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{
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if (Monitor.TryEnter(_channelLocks[i], TimeSpan.FromSeconds(2)))
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{
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try
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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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finally
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{
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Monitor.Exit(_channelLocks[i]);
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}
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}
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else
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{
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// 锁超时：循环发送 Task 可能仍阻塞在原生 API 调用中，强制清理
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LoggerHelper.Info($"[ZLGCANFD] 关闭通道 {i} 时获取锁超时，强制清理");
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if (_channelHandles[i] != IntPtr.Zero)
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{
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try { ZLGCAN.ZCAN_ResetCAN(_channelHandles[i]); } catch { }
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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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_isClosing = false;
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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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/// 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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//加载前先卸载
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释放通道DBC(通道号);
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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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DBCParser.ParseAndLoadToDatabase(chDbcHandle, (int)通道号);
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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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DBCParser.MsgDatabase[(int)通道号].Clear();
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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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// 触发原始报文事件（不依赖 DBC，自定义报文也能收到）
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var rawData = (ZLGCAN.ZCAN_Receive_Data)Marshal.PtrToStructure(framePtr, typeof(ZLGCAN.ZCAN_Receive_Data))!;
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OnRawMessageReceived?.Invoke(channelIndex, rawData.frame.can_id, rawData.frame.data, rawData.timestamp, false, rawData.frame.can_dlc);
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// 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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// 触发原始报文事件（不依赖 DBC，自定义报文也能收到）
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var rawFdData = (ZLGCAN.ZCAN_ReceiveFD_Data)Marshal.PtrToStructure(framePtr, typeof(ZLGCAN.ZCAN_ReceiveFD_Data))!;
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OnRawMessageReceived?.Invoke(channelIndex, rawFdData.frame.can_id, rawFdData.frame.data, rawFdData.timestamp, true, rawFdData.frame.len);
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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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/// <summary>
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/// 发送一条 DBC 定义报文。
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/// </summary>
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/// <param name="通道号">通道号</param>
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/// <param name="帧ID">DBC 中定义的帧 ID</param>
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/// <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>
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/// <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>
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/// <param name="是否使用CANFD">1 = CANFD，0 = CAN</param>
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/// <returns>是否成功启动/发送</returns>
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[Browsable(false)]
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public virtual bool 发送DBC定义报文(
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uint 通道号,
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uint 帧ID,
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Dictionary<string, double> 信号物理值字典,
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int 循环间隔毫秒 = 0,
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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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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。");
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if (信号物理值字典 == null || 信号物理值字典.Count == 0)
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throw new ArgumentException("信号物理值字典不能为空。", nameof(信号物理值字典));
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if (循环间隔毫秒 == 0)
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{
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// 单次发送：同步执行
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lock (_channelLocks[通道号])
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{
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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);
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}
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}
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// 循环发送：先停止同通道同帧 ID 的旧循环，再启动新循环
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停止循环发送(通道号, 帧ID);
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var cts = new CancellationTokenSource();
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var sendTask = Task.Run(async () =>
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{
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while (!cts.Token.IsCancellationRequested)
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{
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if (_isClosing) break; // 关闭流程中立即退出
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try
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{
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lock (_channelLocks[通道号])
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{
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if (_channelHandles[通道号] == IntPtr.Zero || _isClosing) break;
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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);
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}
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await Task.Delay(循环间隔毫秒, cts.Token);
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}
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||
catch (OperationCanceledException)
|
||
{
|
||
break;
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Logger.LoggerHelper.Error($"[ZLGCANFD] 循环发送 DBC 报文失败: {ex.Message}");
|
||
break;
|
||
}
|
||
}
|
||
|
||
// 清理：仅当字典中存的仍然是本任务创建的 CTS 时才移除，避免误删新任务的 CTS
|
||
if (_cyclicSenders.TryGetValue((通道号, 帧ID), out var current) && ReferenceEquals(current.Cts, cts))
|
||
{
|
||
_cyclicSenders.TryRemove((通道号, 帧ID), out _);
|
||
}
|
||
cts.Dispose();
|
||
}, cts.Token);
|
||
|
||
_cyclicSenders[(通道号, 帧ID)] = (cts, sendTask);
|
||
|
||
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 entry))
|
||
{
|
||
entry.Cts.Cancel();
|
||
// 不在这里 Dispose，由 Task 的清理代码负责释放，避免 Task 仍在使用已释放的 Token
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 停止所有 DBC 循环发送任务。
|
||
/// </summary>
|
||
public virtual void 停止所有循环发送()
|
||
{
|
||
var entries = _cyclicSenders.ToArray();
|
||
|
||
// 1. 取消所有 CTS（不 Dispose，由 Task 清理代码负责）
|
||
foreach (var kvp in entries)
|
||
{
|
||
kvp.Value.Cts.Cancel();
|
||
}
|
||
|
||
// 2. 等待所有循环发送 Task 退出（最多 3 秒）
|
||
var tasks = new List<Task>();
|
||
foreach (var kvp in entries)
|
||
{
|
||
if (!kvp.Value.SendTask.IsCompleted)
|
||
tasks.Add(kvp.Value.SendTask);
|
||
}
|
||
if (tasks.Count > 0)
|
||
{
|
||
try
|
||
{
|
||
Task.WaitAll(tasks.ToArray(), TimeSpan.FromSeconds(3));
|
||
}
|
||
catch { /* 忽略等待异常 */ }
|
||
}
|
||
|
||
_cyclicSenders.Clear();
|
||
}
|
||
|
||
/// <summary>
|
||
/// 清除指定通道、指定帧 ID 的信号覆盖值，恢复为 DBC 初始值。
|
||
/// </summary>
|
||
public virtual void 清除信号覆盖(uint 通道号, uint 帧ID)
|
||
{
|
||
if (_signalOverrides.TryRemove((通道号, 帧ID), out var dict))
|
||
{
|
||
lock (dict) dict.Clear();
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 清除指定通道所有帧的信号覆盖值。
|
||
/// </summary>
|
||
public virtual void 清除通道信号覆盖(uint 通道号)
|
||
{
|
||
foreach (var key in _signalOverrides.Keys)
|
||
{
|
||
if (key.通道号 == 通道号 && _signalOverrides.TryRemove(key, out var dict))
|
||
{
|
||
lock (dict) dict.Clear();
|
||
}
|
||
}
|
||
}
|
||
|
||
|
||
|
||
/// <summary>
|
||
/// 单次发送 DBC 报文（调用方已持有通道锁）。
|
||
/// </summary>
|
||
[Browsable(false)]
|
||
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 = 2 };
|
||
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 = 2 };
|
||
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 报文设置与发送 (支持智能进制转换)
|
||
/// <summary>
|
||
/// 设置并发送指定信号值（帧 ID 支持 string 兼容模式）。
|
||
/// 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IDStr">对应报文的帧 ID（可以是 "26"、"0x1A"、"1A"）</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, string 帧IDStr, string 信号名称, double 物理值, int 循环发送间隔毫秒 = 0, bool 直接发送 = false)
|
||
{
|
||
if (!TryParseFrameId(帧IDStr, out uint 帧ID))
|
||
{
|
||
Console.WriteLine($"[ZLGCANFD] 设置报文失败: 无法解析的帧 ID '{帧IDStr}'");
|
||
return false;
|
||
}
|
||
|
||
if (通道号 >= _maxChannels || _channelHandles[通道号] == IntPtr.Zero) return false;
|
||
if (!_isDbcLoadedArray[通道号]) return false;
|
||
if (string.IsNullOrWhiteSpace(信号名称)) return false;
|
||
|
||
// 将本次设置的信号值写入持久化覆盖表（累积，不会丢失之前设置的值）
|
||
var overrides = _signalOverrides.GetOrAdd((通道号, 帧ID), _ => new Dictionary<string, double>(StringComparer.OrdinalIgnoreCase));
|
||
lock (overrides)
|
||
{
|
||
overrides[信号名称] = 物理值;
|
||
}
|
||
|
||
// 构建发送字典：DBC 初始值 + 持久化覆盖表（已包含本次设置）
|
||
var merged = 构建报文发送字典(通道号, 帧ID);
|
||
|
||
if (直接发送) return 发送DBC定义报文(通道号, 帧ID, merged, 循环发送间隔毫秒);
|
||
else return true;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 发送报文：以 DBC 中所有信号的初始值作为默认值发送（帧 ID 支持 string 兼容模式）。
|
||
/// 如果之前调用 设置报文 保存过覆盖值，则会优先使用覆盖值。
|
||
/// </summary>
|
||
/// <param name="通道号">CAN/CANFD 通道索引</param>
|
||
/// <param name="帧IDStr">DBC 中定义的帧 ID（可以是 "26"、"0x1A"、"1A"）</param>
|
||
/// <param name="循环发送间隔毫秒">0 = 单次发送；>0 = 周期循环发送（毫秒）</param>
|
||
/// <param name="是否使用CANFD">1 = 以 CANFD 格式发送；0 = 经典 CAN 格式</param>
|
||
public virtual bool 发送报文(uint 通道号, string 帧IDStr, int 循环发送间隔毫秒 = 0, int 是否使用CANFD = 1)
|
||
{
|
||
if (!TryParseFrameId(帧IDStr, out uint 帧ID))
|
||
{
|
||
Console.WriteLine($"[ZLGCANFD] 发送报文失败: 无法解析的帧 ID '{帧IDStr}'");
|
||
return false;
|
||
}
|
||
|
||
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，帧 ID 支持 string 兼容模式）。
|
||
/// </summary>
|
||
/// <param name="通道号">CAN/CANFD 通道索引</param>
|
||
/// <param name="帧IDStr">帧 ID（可以是 "26"、"0x1A"、"1A"）；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,
|
||
string 帧IDStr,
|
||
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 (!TryParseFrameId(帧IDStr, out uint 帧ID))
|
||
{
|
||
Console.WriteLine($"[ZLGCANFD] 发送自定义报文失败: 无法解析的帧 ID '{帧IDStr}'");
|
||
return false;
|
||
}
|
||
|
||
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 = 2 };
|
||
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 = 2 };
|
||
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>
|
||
/// 直接发送 8 字节原始报文（经典 CAN 或 CANFD 均可）。
|
||
/// 无需加载 DBC，适合手动构造简单报文。
|
||
/// </summary>
|
||
/// <param name="通道号">通道号（0 ~ MaxChannels-1）</param>
|
||
/// <param name="帧ID">帧 ID（标准 11 位，扩展帧自动置位 0x80000000）</param>
|
||
/// <param name="data">原始数据；超过 8 字节会自动截断，不足 8 字节自动补零</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 格式；false = 经典 CAN 格式</param>
|
||
/// <param name="开启波特率加速BRS">CANFD 是否开启波特率加速（经典 CAN 忽略此参数）</param>
|
||
/// <returns>是否发送成功</returns>
|
||
public virtual bool 发送原始报文(
|
||
uint 通道号,
|
||
uint 帧ID,
|
||
byte[] data,
|
||
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;
|
||
|
||
byte[] buffer = new byte[8];
|
||
if (data != null)
|
||
{
|
||
Array.Copy(data, 0, buffer, 0, Math.Min(data.Length, 8));
|
||
}
|
||
|
||
uint canId = 帧ID & 0x7FFFFFFF;
|
||
if (是否是扩展帧) canId |= 0x80000000;
|
||
|
||
lock (_channelLocks[通道号])
|
||
{
|
||
if (是否是CANFD)
|
||
{
|
||
ZLGCAN.canfd_frame fdFrame = new ZLGCAN.canfd_frame
|
||
{
|
||
can_id = canId,
|
||
len = 8,
|
||
flags = (byte)((是否是扩展帧 ? 0x01 : 0x00) | (开启波特率加速BRS ? 0x02 : 0x00) | 0x20),
|
||
data = new byte[64]
|
||
};
|
||
Array.Copy(buffer, 0, fdFrame.data, 0, 8);
|
||
|
||
ZLGCAN.ZCAN_TransmitFD_Data txFdData = new ZLGCAN.ZCAN_TransmitFD_Data { frame = fdFrame, transmit_type = 2 };
|
||
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 = 8,
|
||
__pad = 0x20,
|
||
data = new byte[8]
|
||
};
|
||
Array.Copy(buffer, 0, standardFrame.data, 0, 8);
|
||
|
||
ZLGCAN.ZCAN_Transmit_Data txData = new ZLGCAN.ZCAN_Transmit_Data { frame = standardFrame, transmit_type = 2 };
|
||
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);
|
||
|
||
// 1. DBC 初始值打底
|
||
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)
|
||
{
|
||
dict[signalName] = signal.initialValue;
|
||
}
|
||
}
|
||
|
||
// 2. 叠加持久化覆盖表（之前 设置报文 累积的值）
|
||
if (_signalOverrides.TryGetValue((通道号, 帧ID), out var persisted))
|
||
{
|
||
lock (persisted)
|
||
{
|
||
foreach (var kvp in persisted)
|
||
dict[kvp.Key] = kvp.Value;
|
||
}
|
||
}
|
||
|
||
// 3. 叠加本次调用传入的额外覆盖（优先级最高）
|
||
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>
|
||
/// <summary>
|
||
/// 智能解析帧 ID 字符串，兼容 10 进制、16 进制（如 "0x1A", "1A", "26"）
|
||
/// </summary>
|
||
/// <param name="idStr">输入的帧 ID 字符串</param>
|
||
/// <param name="frameId">解析成功后的 uint 帧 ID</param>
|
||
/// <returns>是否解析成功</returns>
|
||
[Browsable(false)]
|
||
public static bool TryParseFrameId(string idStr, out uint frameId)
|
||
{
|
||
frameId = 0;
|
||
if (string.IsNullOrWhiteSpace(idStr)) return false;
|
||
|
||
idStr = idStr.Trim();
|
||
|
||
try
|
||
{
|
||
// 1. 处理带 0x 或 0X 的标准 16 进制
|
||
if (idStr.StartsWith("0x", StringComparison.OrdinalIgnoreCase))
|
||
{
|
||
frameId = Convert.ToUInt32(idStr.Substring(2), 16);
|
||
return true;
|
||
}
|
||
|
||
// 2. 尝试当做纯 10 进制解析（如 "26"）
|
||
if (uint.TryParse(idStr, out frameId))
|
||
{
|
||
return true;
|
||
}
|
||
|
||
// 3. 如果不是纯数字，但符合 16 进制特征（如 "1A"、"ABC"），尝试按 16 进制解析
|
||
// 使用 System.Globalization.NumberStyles.HexNumber
|
||
if (uint.TryParse(idStr, System.Globalization.NumberStyles.HexNumber, null, out frameId))
|
||
{
|
||
return true;
|
||
}
|
||
}
|
||
catch
|
||
{
|
||
return false;
|
||
}
|
||
|
||
return false;
|
||
}
|
||
|
||
[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();
|
||
}
|
||
}
|
||
} |