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