改动6

CapMachine.Wpf/Services/CanDriveService.cs

@@ -102,6 +102,7 @@ namespace CapMachine.Wpf.Services
         /// 在程序配置好后就确定要发送哪些数据
         /// </summary>
         public List<CanCmdData> CmdData { get; set; } = new List<CanCmdData>();
+        private readonly object _cmdDataLock = new object();
 
         /// <summary>
         /// 增加发送的指令数据
@@ -128,7 +129,10 @@ namespace CapMachine.Wpf.Services
                     break;
             }
             //添加到发送数据集合
-            CmdData.Add(SendCanCmdData);
+            lock (_cmdDataLock)
+            {
+                CmdData.Add(SendCanCmdData);
+            }
         }
 
 
@@ -141,7 +145,10 @@ namespace CapMachine.Wpf.Services
         {
             if (SpeedCanCmdData != null)
             {
-                SpeedCanCmdData.SignalCmdValue = SpeedData;
+                lock (_cmdDataLock)
+                {
+                    SpeedCanCmdData.SignalCmdValue = SpeedData;
+                }
             }
             //if (EnableCanCmdData != null)
             //{
@@ -157,7 +164,10 @@ namespace CapMachine.Wpf.Services
         {
             if (EnableCanCmdData != null)
             {
-                EnableCanCmdData.SignalCmdValue = IsEnable ? 1 : 0;
+                lock (_cmdDataLock)
+                {
+                    EnableCanCmdData.SignalCmdValue = IsEnable ? 1 : 0;
+                }
             }
         }
 
@@ -174,7 +184,18 @@ namespace CapMachine.Wpf.Services
                     //更新速度信息
                     UpdateSpeedCmdData(SpeedData);
 
-                    ToomossCanDrive.SendCanMsg(CmdData);
+                    List<CanCmdData> cmdDataSnapshot;
+                    lock (_cmdDataLock)
+                    {
+                        cmdDataSnapshot = CmdData.Select(x => new CanCmdData
+                        {
+                            ConfigName = x.ConfigName,
+                            MsgName = x.MsgName,
+                            SignalName = x.SignalName,
+                            SignalCmdValue = x.SignalCmdValue
+                        }).ToList();
+                    }
+                    ToomossCanDrive.SendCanMsg(cmdDataSnapshot);
                 }
                 else
                 {