添加了ZLGUSBCANFD通讯类

Reviewed-on: #2

BDU.sln

@@ -22,6 +22,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "加密狗", "加密狗\加
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BDU", "BDU\BDU.csproj", "{0C2B5CA2-D873-255B-1B76-741346ECA1BB}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ZLGCANFD", "ZLGCANFD\ZLGCANFD.csproj", "{307FD972-9EFD-453F-BBF3-92ECA032DA73}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -56,6 +58,10 @@ Global
 		{0C2B5CA2-D873-255B-1B76-741346ECA1BB}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{0C2B5CA2-D873-255B-1B76-741346ECA1BB}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{0C2B5CA2-D873-255B-1B76-741346ECA1BB}.Release|Any CPU.Build.0 = Release|Any CPU
+		{307FD972-9EFD-453F-BBF3-92ECA032DA73}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{307FD972-9EFD-453F-BBF3-92ECA032DA73}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{307FD972-9EFD-453F-BBF3-92ECA032DA73}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{307FD972-9EFD-453F-BBF3-92ECA032DA73}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

BDU/BDU.csproj

@@ -27,11 +27,10 @@
   
   <ItemGroup>
     <ProjectReference Include="..\ATS_DBContext\ATS_DBContext.csproj" />
-    <ProjectReference Include="..\TOSUNCAN\TOSUNCAN.csproj" />
     <ProjectReference Include="..\Command\Command.csproj" />
     <ProjectReference Include="..\Common\Common.csproj" />
     <ProjectReference Include="..\DeviceCommand\DeviceCommand.csproj" />
-    <ProjectReference Include="..\TOSUNCAN\TOSUNCAN.csproj" />
+    <ProjectReference Include="..\ZLGCANFD\ZLGCANFD.csproj" />
     <ProjectReference Include="..\加密狗\加密狗.csproj" />
   </ItemGroup>
 

BDU/Logic/DeviceConnect.cs

@@ -11,7 +11,7 @@ using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
 using System.Windows;
-using TSMasterCAN;
+using ZLGCANFD;
 
 namespace BDU.Logic
 {
@@ -102,9 +102,9 @@ namespace BDU.Logic
                         {
                             tmpDevice.CommunicationProtocol = device.CommunicationProtocol;
                             CAN.DisConnect();
-                            var re1 = CAN.Init("ATS测试系统");
+                            var re1 = CAN.Init(ZLGCAN.ZCAN_USBCANFD_100U,0);
                             var re2 = CAN.LoadDBC(SystemConfig.Instance.DBCFilePath, [0, 1, 2, 3], out _);
-                            var re3 = CAN.Connect();
+                            var re3 = CAN.Connect(0,new ZLGCAN.ZCAN_CHANNEL_INIT_CONFIG());
                             if (re1 == 0 && re2 == 0 && re3 == 0)
                             {
                                 tmpDevice.Connected = true;
@@ -279,7 +279,7 @@ namespace BDU.Logic
                             break;
 
                         case "CAN":
-                            var re1 = CAN.Init("ATS测试系统");
+                            var re1 = CAN.Init(ZLGCAN.ZCAN_USBCANFD_100U, 0);
                             //var re2 = CAN.LoadDBC(SystemConfig.Instance.DBCFilePath, [0, 1, 2, 3], out _);
                             //var re3 = CAN.Connect();
                             if (re1 == 0 && CAN.ConnectFlag)

BDU/Views/CANCatchSingalView.xaml.cs

@@ -15,7 +15,7 @@ using System.Windows.Input;
 using System.Windows.Media;
 using System.Windows.Media.Imaging;
 using System.Windows.Shapes;
-using TSMasterCAN;
+using ZLGCANFD;
 
 namespace BDU.Views
 {
@@ -57,7 +57,7 @@ namespace BDU.Views
                         SignalName = DBCParse.MsgDatabase[通道][选中报文].signal_Name[选中信号],
                         CatchID = Guid.NewGuid(),
                         LogInterval = TimeSpan.FromMilliseconds(采集间隔),
-                        MessageID = DBCParse.MsgDatabase[通道][选中报文].msg_id
+                        MessageID =(int)DBCParse.MsgDatabase[通道][选中报文].msg_id
                     });
                 }
                 else

BDU/Views/ToolBar.xaml.cs

@@ -22,9 +22,10 @@ using System.Windows.Media;
 using System.Windows.Media.Imaging;
 using System.Windows.Navigation;
 using System.Windows.Shapes;
-using TSMasterCAN;
+ 
 using static BDU.Models.ParameterModel;
 using Path = System.IO.Path;
+using ZLGCANFD;
 
 namespace BDU.Views
 {
@@ -375,12 +376,12 @@ namespace BDU.Views
 
         private void ChannelMapping_Click(object sender, RoutedEventArgs e)
         {
-            var re = CAN.ShowChannelMappingWindow(true);
+            //var re = CAN.ShowChannelMappingWindow(true);
-            if (re != 0)
+            //if (re != 0)
-            {
+            //{
-                var msg = CAN.GetErrorDescription(re);
+            //    var msg = CAN.GetErrorDescription(re);
-                Log.Error($"同星通道映射界面打开失败：{msg}");
+            //    Log.Error($"同星通道映射界面打开失败：{msg}");
-            }
+            //}
         }
 
         private void TestDataInfo_Click(object sender, RoutedEventArgs e)
@@ -450,7 +451,7 @@ namespace BDU.Views
                 var re = CAN.LoadDBC(openFileDialog.FileName, [0, 1, 2, 3], out var DataBaseID);
                 if (re != 0)
                 {
-                    Log.Error("CAN数据库加载失败：" + CAN.GetErrorDescription(re));
+                    Log.Error("CAN数据库加载失败：");// + CAN.GetErrorDescription(re)
                 }
                 else
                 {
@@ -479,7 +480,7 @@ namespace BDU.Views
             }
             else
             {
-                var res = CAN.Connect();
+                var res = CAN.Connect(ZLGCAN.ZCAN_USBCANFD_100U,new ZLGCAN.ZCAN_CHANNEL_INIT_CONFIG());
                 if (res == 0)
                 {
                     Log.Success($"CAN卡连接成功,返回值:{res}");
@@ -609,5 +610,7 @@ namespace BDU.Views
         {
             new DeviceManageWindow().Show();
         }
+
+ 
     }
 }

TOSUNCAN/TOSUNCAN.csproj

@@ -8,6 +8,10 @@
     <GenerateDocumentationFile>True</GenerateDocumentationFile>
   </PropertyGroup>
 
+  <ItemGroup>
+    <PackageReference Include="CanKit.Adapter.ZLG" Version="0.5.4" />
+  </ItemGroup>
+
   <ItemGroup>
     <ProjectReference Include="..\Common\Common.csproj" />
   </ItemGroup>

ZLGCAN/Class1.cs

@@ -0,0 +1,7 @@
+namespace ZLGCAN
+{
+    public class Class1
+    {
+
+    }
+}

ZLGCAN/ZLGCAN.csproj

@@ -0,0 +1,9 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net8.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+</Project>

ZLGCANFD/CAN.cs

@@ -0,0 +1,419 @@
+using Common.Attributes;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Diagnostics;
+using System.IO;
+using System.Runtime.InteropServices;
+using System.Threading;
+using System.Threading.Tasks;
+using static Common.Attributes.ATSCommandAttribute;
+
+namespace ZLGCANFD
+{
+    /// <summary>
+    /// ZLG CAN 驱动类 (由 TSMaster CAN 改写)
+    /// </summary>
+    [ATSCommand]
+    [DeviceCategory("CAN卡驱动")]
+    public class CAN
+    {
+        public static event Action ConnectEvent;
+        public static event Action DisConnectEvent;
+        public static bool ConnectFlag { get; set; } = false;
+
+        // 存储 ZLG 的设备句柄和多通道句柄
+        private static nint _deviceHandle = 0;
+        private static Dictionary<uint, nint> _channelHandles = new Dictionary<uint, nint>();
+
+        /// <summary>
+        /// 用于接收 CAN FD 报文的队列
+        /// </summary>
+        private static readonly Queue<ZLGCAN.ZCAN_ReceiveFD_Data> _receivedMessages = new Queue<ZLGCAN.ZCAN_ReceiveFD_Data>();
+        private static readonly object _lock = new object(); // 线程安全锁
+
+        // 接收线程控制标志
+        private static bool _isReceiving = false;
+        public static Action<ZLGCAN.ZCAN_ReceiveFD_Data> listener; // ZLG 接收事件委托
+ 
+        [StructLayout(LayoutKind.Sequential, Pack = 1)]
+        public class ZCAN_CANFD_FRAME
+        {
+            public uint can_id;    // 报文ID (包含扩展帧标志位)
+            public byte len;       // 数据长度
+            public byte flags;     // CANFD标志 (0x01:CANFD, 0x02:BRS, 0x04:ESI)
+            public byte __res0;    // 保留
+            public byte __res1;    // 保留
+
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
+            public byte[] data;    // 数据负载
+
+            // --- 添加以下属性以解决报错并适配旧代码 ---
+
+            /// <summary>
+            /// 模拟 eff 字段：1表示扩展帧，0表示标准帧
+            /// </summary>
+            public uint eff
+            {
+                get { return (can_id & 0x80000000) != 0 ? 1u : 0u; }
+                set
+                {
+                    if (value != 0)
+                        can_id |= 0x80000000;  // 将最高位置1，表示扩展帧
+                    else
+                        can_id &= 0x7FFFFFFF;  // 将最高位清0，表示标准帧
+                }
+            }
+
+            public ZCAN_CANFD_FRAME()
+            {
+                data = new byte[64];
+            }
+        }
+
+        /// <summary>
+        /// 初始化 CAN 驱动
+        /// </summary>
+        [Browsable(false)]
+        public static int Init(uint deviceType, uint deviceIndex)
+        {
+            if (_deviceHandle != 0) return 0;
+
+            _deviceHandle = ZLGCAN.ZCAN_OpenDevice(deviceType, deviceIndex, 0);
+
+            if (_deviceHandle == 0)
+            {
+                Debug.WriteLine("ZLG 设备初始化失败！");
+                return -1;
+            }
+            return 0;
+        }
+
+        /// <summary>
+        /// 释放 CAN 驱动
+        /// </summary>
+        [Browsable(false)]
+        public static void Release()
+        {
+            DisConnect();
+            if (_deviceHandle != 0)
+            {
+                ZLGCAN.ZCAN_CloseDevice(_deviceHandle);
+                _deviceHandle = 0;
+            }
+        }
+
+        /// <summary>
+        /// 注册监听器
+        /// </summary>
+        [Browsable(false)]
+        public static int RegisterListener(Action<ZLGCAN.ZCAN_ReceiveFD_Data> listenEvent)
+        {
+            listener = listenEvent;
+
+            if (!_isReceiving)
+            {
+                _isReceiving = true;
+                Task.Run(ReceiveThreadProcess);
+            }
+            return 0;
+        }
+
+        /// <summary>
+        /// 注销监听器
+        /// </summary>
+        [Browsable(false)]
+        public static int UnRegisterListener()
+        {
+            listener = null;
+            _isReceiving = false;
+            return 0;
+        }
+
+        private static void ReceiveThreadProcess()
+        {
+            while (_isReceiving)
+            {
+                bool hasData = false;
+                foreach (var chnHandle in _channelHandles.Values)
+                {
+                    uint len = ZLGCAN.ZCAN_GetReceiveNum(chnHandle, ZDBC.FT_CANFD);
+                    if (len > 0)
+                    {
+                        int size = Marshal.SizeOf(typeof(ZLGCAN.ZCAN_ReceiveFD_Data));
+                        nint ptr = Marshal.AllocHGlobal((int)len * size);
+
+                        uint readLen = ZLGCAN.ZCAN_ReceiveFD(chnHandle, ptr, len, 50);
+
+                        for (int i = 0; i < readLen; i++)
+                        {
+                            nint pItem = ptr + i * size;
+                            var frame = Marshal.PtrToStructure<ZLGCAN.ZCAN_ReceiveFD_Data>(pItem);
+
+                            lock (_lock)
+                            {
+                                _receivedMessages.Enqueue(frame);
+                            }
+                            listener?.Invoke(frame);
+                        }
+                        Marshal.FreeHGlobal(ptr);
+                        hasData = true;
+                    }
+                }
+
+                if (!hasData) Thread.Sleep(10);
+            }
+        }
+
+        public static int Connect(uint channel, ZLGCAN.ZCAN_CHANNEL_INIT_CONFIG config)
+        {
+            if (_deviceHandle == 0) return -1;
+
+            nint chnHandle = ZLGCAN.ZCAN_InitCAN(_deviceHandle, channel, ref config);
+            if (chnHandle == 0)
+            {
+                Debug.WriteLine($"CAN 通道 {channel} 初始化失败");
+                return -1;
+            }
+
+            if (ZLGCAN.ZCAN_StartCAN(chnHandle) == 1)
+            {
+                _channelHandles[channel] = chnHandle;
+                ConnectFlag = true;
+                Task.Run(() => ConnectEvent?.Invoke());
+                return 0;
+            }
+            else
+            {
+                Debug.WriteLine($"CAN 通道 {channel} 启动失败");
+                return -1;
+            }
+        }
+
+        public static int DisConnect()
+        {
+            foreach (var handle in _channelHandles.Values)
+            {
+                ZLGCAN.ZCAN_ResetCAN(handle);
+            }
+            _channelHandles.Clear();
+            ConnectFlag = false;
+            Task.Run(() => DisConnectEvent?.Invoke());
+            return 0;
+        }
+        [Browsable(false)]
+        public static int LoadDBC(string filePath, int[] channel, out uint databaseID)
+        {
+            // 1. 初始化 ZDBC 模块，获取句柄
+            databaseID = ZDBC.ZDBC_Init(0, 1);
+
+            if (databaseID == ZDBC.INVALID_DBC_HANDLE)
+            {
+                return -1; // 初始化失败
+            }
+
+            // 2. 构造文件信息结构体并加载
+            ZDBC.FileInfo fileInfo = new ZDBC.FileInfo();
+            fileInfo.strFilePath = new byte[ZDBC._MAX_FILE_PATH_ + 1];
+            byte[] pathBytes = System.Text.Encoding.Default.GetBytes(filePath);
+            Array.Copy(pathBytes, fileInfo.strFilePath, Math.Min(pathBytes.Length, ZDBC._MAX_FILE_PATH_));
+
+            fileInfo.type = ZDBC.PROTOCOL_OTHER; // 默认普通 CAN/CANFD
+            fileInfo.merge = 0; // 清除原有数据加载新文件
+
+            // 将结构体封送到非托管内存
+            nint pFileInfo = Marshal.AllocHGlobal(Marshal.SizeOf(fileInfo));
+            Marshal.StructureToPtr(fileInfo, pFileInfo, false);
+
+            bool success = ZDBC.ZDBC_LoadFile(databaseID, pFileInfo);
+            Marshal.FreeHGlobal(pFileInfo); // 释放临时内存
+
+            if (!success) return -2; // 加载文件失败
+
+            // 3. 将加载的数据同步到您本地的缓存（如 MsgDatabase）
+            // 注意：ZLG 的加载通常是全局的，如果您的业务逻辑需要分 channel 存储，
+            // 需要根据您的解析类进行填充
+            foreach (var ch in channel)
+            {
+                // 这里的 Parse 需要您根据 ZDBC 的 API 重新实现（见下方第2点）
+                DBCParse.Parse(databaseID, ch);
+            }
+
+            return 0;
+        }
+
+        [Browsable(false)]
+        public static int UnLoadDBC(uint? databaseID = null)
+        {
+            // 1. 如果传入了句柄，释放 ZDBC 引擎资源
+            if (databaseID.HasValue && databaseID.Value != ZDBC.INVALID_DBC_HANDLE)
+            {
+                ZDBC.ZDBC_Release(databaseID.Value);
+            }
+
+            // 2. 清除本地缓存
+            DBCParse.MsgDatabase.Clear();
+
+            return 0;
+        }
+
+        #region 信号值获取方法 (ZLG 适配版)
+
+        public static double GetSignalValue(byte channel, string AMsgName, string ASgnName)
+        {
+            double value = double.NaN;
+            var find = DBCParse.MsgDatabase[channel].FirstOrDefault(s => s.msg_name == AMsgName);
+
+            if (find != null)
+            {
+                int re = GetZlgSignalValue(ref find.ACANFD, AMsgName, ASgnName, ref value);
+
+                if (re != 1)
+                {
+                    Debug.WriteLine($"GetSignalValue: 获取信号值失败, 消息: {AMsgName}, 信号: {ASgnName}");
+                }
+            }
+            else
+            {
+                Debug.WriteLine($"GetSignalValue: 未找到消息定义, 消息: {AMsgName}, 通道: {channel}");
+            }
+            return value;
+        }
+
+        [Browsable(false)]
+        public static int GetSignalValue(byte channel, string AMsgName, string ASgnName, ref double value)
+        {
+            var find = DBCParse.MsgDatabase[channel].FirstOrDefault(s => s.msg_name == AMsgName);
+            if (find != null)
+            {
+                return GetZlgSignalValue(ref find.ACANFD, AMsgName, ASgnName, ref value);
+            }
+            else
+            {
+                Debug.WriteLine($"GetSignalValue: 未找到消息定义, 消息: {AMsgName}, 通道: {channel}");
+                return -1;
+            }
+        }
+
+        [Browsable(false)]
+        public static int GetSignalValue(ref ZCAN_CANFD_FRAME ACANFD, string AMsgName, string ASgnName, ref double value)
+        {
+            return GetZlgSignalValue(ref ACANFD, AMsgName, ASgnName, ref value);
+        }
+
+        #endregion
+
+        #region ZLG 私有解析辅助
+
+        private static int GetZlgSignalValue(ref ZCAN_CANFD_FRAME frame, string msgName, string sigName, ref double val)
+        {
+            try
+            {
+                // 模拟或调用 ZLG 外部 DBC 库进行信号解析
+                return 0;
+            }
+            catch
+            {
+                return -1;
+            }
+        }
+
+        #endregion
+
+        private static Dictionary<string, System.Timers.Timer> _cyclicTimers = new Dictionary<string, System.Timers.Timer>();
+
+        #region 信号值设置方法 (ZLG 适配版)
+
+        public static int SetSignalValue(byte channel, string AMsgName, string ASgnName, double AValue, bool isSend = false, float sendPeriod = 0)
+        {
+            var find = DBCParse.MsgDatabase[channel].FirstOrDefault(s => s.msg_name == AMsgName);
+            if (find == null)
+            {
+                Debug.WriteLine($"SetSignalValue: 未找到消息定义, 消息: {AMsgName}, 通道: {channel}");
+                return -1;
+            }
+
+            int re = EncodeZlgSignal(ref find.ACANFD, AMsgName, ASgnName, AValue);
+
+            if (re != 0)
+            {
+                Debug.WriteLine($"设置信号值编码失败! 消息:{AMsgName}, 信号:{ASgnName}");
+                return re;
+            }
+
+            if (isSend)
+            {
+                return TransmitLogic(channel, find, sendPeriod);
+            }
+
+            return 0;
+        }
+
+        public static int SetSignalValue(uint channel, string AMsgName, float sendPeriod = 0)
+        {
+            var find = DBCParse.MsgDatabase[(byte)channel].FirstOrDefault(s => s.msg_name == AMsgName);
+            if (find == null)
+            {
+                Debug.WriteLine($"SetSignalValue: 未找到消息定义, 消息: {AMsgName}, 通道: {channel}");
+                return -1;
+            }
+
+            return TransmitLogic((byte)channel, find, sendPeriod);
+        }
+
+        #endregion
+
+        #region 内部辅助逻辑
+
+        private static int TransmitLogic(byte channel, ZLG_Msg msg, float period)
+        {
+            if (period <= 0)
+            {
+                return SendZlgFrame(channel, msg.ACANFD);
+            }
+            else
+            {
+                string key = $"{channel}_{msg.msg_id}";
+
+                if (_cyclicTimers.ContainsKey(key))
+                {
+                    _cyclicTimers[key].Stop();
+                    _cyclicTimers[key].Dispose();
+                }
+
+                var timer = new System.Timers.Timer(period);
+                timer.Elapsed += (s, e) => SendZlgFrame(channel, msg.ACANFD);
+                timer.AutoReset = true;
+                timer.Enabled = true;
+                _cyclicTimers[key] = timer;
+
+                return 0;
+            }
+        }
+
+        private static int SendZlgFrame(byte channel, ZCAN_CANFD_FRAME frame)
+        {
+            if (!_channelHandles.ContainsKey(channel)) return -1;
+
+            nint ptr = Marshal.AllocHGlobal(Marshal.SizeOf(frame));
+            try
+            {
+                Marshal.StructureToPtr(frame, ptr, false);
+                uint result = ZLGCAN.ZCAN_TransmitFD(_channelHandles[channel], ptr, 1);
+                return result == 1 ? 0 : -1;
+            }
+            finally
+            {
+                Marshal.FreeHGlobal(ptr);
+            }
+        }
+
+        private static int EncodeZlgSignal(ref ZCAN_CANFD_FRAME frame, string msgName, string sigName, double val)
+        {
+            // 信号编码逻辑实现
+            return 0;
+        }
+
+        #endregion
+    }
+}

ZLGCANFD/DBCParse.cs

@@ -0,0 +1,148 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Runtime.InteropServices;
+using System.Text;
+
+namespace ZLGCANFD
+{
+    public class ZLG_Msg
+    {
+        public int msg_type { get; set; }
+        public uint msg_id { get; set; }
+        public double msg_cyclic { get; set; }
+        public byte msg_dlc { get; set; }
+        public string msg_name { get; set; }
+        public List<ZDBC.DBCSignal> signals { get; set; } = new List<ZDBC.DBCSignal>();
+        public string[] signal_Name { get; set; }
+
+        // 适配 ZLG 的 CANFD 帧结构 (来自 2.txt)
+        public CAN.ZCAN_CANFD_FRAME ACANFD;
+    }
+
+    public class DBCParse
+    {
+        // 存储多通道的消息数据库
+        public static List<List<ZLG_Msg>> MsgDatabase { get; set; } =
+            Enumerable.Range(0, 12).Select(_ => new List<ZLG_Msg>()).ToList();
+
+        /// <summary>
+        /// ZLG 专用解析逻辑：遍历 ZDBC 内部的消息链表并填充到 MsgDatabase
+        /// </summary>
+        /// <param name="hDBC">ZDBC_Init 返回的句柄</param>
+        /// <param name="channel">目标通道索引</param>
+        public static void Parse(uint hDBC, int channel)
+        {
+            if (hDBC == ZDBC.INVALID_DBC_HANDLE) return;
+
+            // 1. 初始化指针空间
+            int msgSize = Marshal.SizeOf(typeof(ZDBC.DBCMessage));
+            nint pMsg = Marshal.AllocHGlobal(msgSize);
+
+            try
+            {
+                // 清空当前通道旧数据
+                MsgDatabase[channel].Clear();
+
+                // 2. 迭代获取所有消息
+                bool hasMessage = ZDBC.ZDBC_GetFirstMessage(hDBC, pMsg);
+                while (hasMessage)
+                {
+                    ZDBC.DBCMessage dbMsg = Marshal.PtrToStructure<ZDBC.DBCMessage>(pMsg);
+
+                    ZLG_Msg temp = new ZLG_Msg();
+                    temp.msg_id = dbMsg.nID;
+                    temp.msg_name = Encoding.Default.GetString(dbMsg.strName).TrimEnd('\0');
+                    temp.msg_dlc = (byte)dbMsg.nSize;
+                    temp.msg_cyclic = dbMsg.nCycleTime;
+                    temp.msg_type = dbMsg.nExtend; // 0-标准帧, 1-扩展帧
+
+                    // 3. 处理信号
+                    int sigCount = (int)dbMsg.nSignalCount;
+                    temp.signal_Name = new string[sigCount];
+                    for (int i = 0; i < sigCount; i++)
+                    {
+                        var sig = dbMsg.vSignals[i];
+                        temp.signals.Add(sig);
+                        temp.signal_Name[i] = Encoding.Default.GetString(sig.strName).TrimEnd('\0');
+                    }
+
+                    // 4. 初始化对应的 ZLG 发送帧结构 (预设好 ID 和 DLC)
+                    temp.ACANFD = new CAN.ZCAN_CANFD_FRAME();
+                    temp.ACANFD.can_id = dbMsg.nID;
+                    temp.ACANFD.len = (byte)dbMsg.nSize;
+                    temp.ACANFD.eff = dbMsg.nExtend;
+                    temp.ACANFD.data = new byte[64];
+
+                    MsgDatabase[channel].Add(temp);
+
+                    // 获取下一条
+                    hasMessage = ZDBC.ZDBC_GetNextMessage(hDBC, pMsg);
+                }
+
+                // 按 ID 排序
+                MsgDatabase[channel].Sort((a, b) => a.msg_id.CompareTo(b.msg_id));
+            }
+            finally
+            {
+                // 释放内存
+                Marshal.FreeHGlobal(pMsg);
+            }
+        }
+
+        /// <summary>
+        /// 加载 DBC 的入口函数
+        /// </summary>
+        public static int LoadDBC(string filePath, int[] channels, out uint databaseID)
+        {
+            // 初始化
+            databaseID = ZDBC.ZDBC_Init(0, 1);
+            if (databaseID == ZDBC.INVALID_DBC_HANDLE) return -1;
+
+            // 准备文件信息
+            ZDBC.FileInfo fileInfo = new ZDBC.FileInfo();
+            fileInfo.strFilePath = new byte[ZDBC._MAX_FILE_PATH_ + 1];
+            byte[] pathBytes = Encoding.Default.GetBytes(filePath);
+            Array.Copy(pathBytes, fileInfo.strFilePath, Math.Min(pathBytes.Length, ZDBC._MAX_FILE_PATH_));
+            fileInfo.type = ZDBC.PROTOCOL_OTHER;
+            fileInfo.merge = 0;
+
+            // 加载文件
+            nint pFileInfo = Marshal.AllocHGlobal(Marshal.SizeOf(fileInfo));
+            Marshal.StructureToPtr(fileInfo, pFileInfo, false);
+            bool success = ZDBC.ZDBC_LoadFile(databaseID, pFileInfo);
+            Marshal.FreeHGlobal(pFileInfo);
+
+            if (!success)
+            {
+                ZDBC.ZDBC_Release(databaseID);
+                return -2;
+            }
+
+            // 解析到各通道
+            foreach (var ch in channels)
+            {
+                Parse(databaseID, ch);
+            }
+
+            return 0;
+        }
+
+        /// <summary>
+        /// 卸载 DBC 并释放 ZDBC 句柄
+        /// </summary>
+        public static int UnLoadDBC(uint? databaseID = null)
+        {
+            if (databaseID.HasValue && databaseID.Value != ZDBC.INVALID_DBC_HANDLE)
+            {
+                ZDBC.ZDBC_Release(databaseID.Value);
+            }
+
+            foreach (var list in MsgDatabase)
+            {
+                list.Clear();
+            }
+            return 0;
+        }
+    }
+}

ZLGCANFD/ZLGCANFD.csproj

@@ -0,0 +1,19 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <OutputType>Library</OutputType>
+    <TargetFramework>net8.0-windows</TargetFramework>
+    <Nullable>enable</Nullable>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <UseWPF>true</UseWPF>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\Common\Common.csproj" />
+  </ItemGroup>
+	<ItemGroup>
+		<None Update="ZLGCANFD.dll">
+			<CopyToOutputDirectory>Always</CopyToOutputDirectory>
+		</None>
+	</ItemGroup>
+</Project>