增加了CAN调度表发送，但是没有测试成功
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@@ -5,6 +5,7 @@ using NPOI.OpenXmlFormats.Wordprocessing;
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using Prism.Ioc;
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using Prism.Mvvm;
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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.Collections.ObjectModel;
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using System.Diagnostics;
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@@ -549,6 +550,7 @@ namespace CapMachine.Wpf.CanDrive
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//此时重置NextExecutionTime为当前时间，避免连续的延迟累积
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// 严重延迟，重新校准
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NextExecutionTime = Stopwatcher.ElapsedTicks;
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LogService.Info("定时发送延迟过大，重新校准时间");
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Console.WriteLine("定时发送延迟过大，重新校准时间");
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}
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@@ -681,6 +683,180 @@ namespace CapMachine.Wpf.CanDrive
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#endregion
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#region 并行多线程发送报文
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/// <summary>
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/// 并行精确周期发送CAN数据
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/// </summary>
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public void StartParallelPrecisionCycleSendMsg()
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{
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// 创建取消标记源
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var cancellationTokenSource = new CancellationTokenSource();
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var token = cancellationTokenSource.Token;
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// 保存取消标记，以便在停止时使用
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CycleSendCts = cancellationTokenSource;
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// 初始化计时基准
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TicksPerMs = Stopwatch.Frequency / 1000.0;
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// 分组消息，按照消息名称进行分组
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var groupedMessages = CmdData.GroupBy(x => x.MsgName).ToList();
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// 创建发送任务列表
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var sendTasks = new List<Task>();
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// 创建线程同步对象，确保DBC操作和发送操作的线程安全
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object dbcLock = new object();
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// 为每组消息创建单独的发送任务
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foreach (var messageGroup in groupedMessages)
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{
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var msgName = messageGroup.Key;
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var signals = messageGroup.ToList();
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// 为每个消息组创建一个发送任务
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var sendTask = Task.Factory.StartNew(async () =>
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{
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try
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{
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// 设置线程优先级
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Thread.CurrentThread.Priority = ThreadPriority.AboveNormal;
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// 每个消息使用独立的计时器
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var messageStopwatch = new Stopwatch();
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messageStopwatch.Start();
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// 计算该消息的发送周期(可以为不同消息设置不同周期)
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// 这里可以从配置或参数中获取特定消息的周期
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long cycleInTicks = (long)(SendCycle * TicksPerMs);
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long nextExecutionTime = 0;
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while (IsCycleSend && !token.IsCancellationRequested)
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{
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try
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{
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// 计算下一次执行时间
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nextExecutionTime += cycleInTicks;
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// 获取当前时间
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long currentTime = messageStopwatch.ElapsedTicks;
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long delayTicks = nextExecutionTime - currentTime;
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// 精确等待逻辑
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if (delayTicks > 0)
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{
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int delayMs = (int)(delayTicks / TicksPerMs);
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if (delayMs <= 20)
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{
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SpinWait.SpinUntil(() => messageStopwatch.ElapsedTicks >= nextExecutionTime);
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}
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else
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{
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await Task.Delay(delayMs - 20, token);
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SpinWait.SpinUntil(() => messageStopwatch.ElapsedTicks >= nextExecutionTime);
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}
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}
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// 校准时间，处理严重延迟情况
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if (messageStopwatch.ElapsedTicks >= nextExecutionTime + cycleInTicks)
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{
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nextExecutionTime = messageStopwatch.ElapsedTicks;
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LogService.Info($"消息{msgName}定时发送延迟过大，重新校准时间");
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}
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// 使用锁确保DBC操作和发送的线程安全
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lock (dbcLock)
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{
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// 构建CAN消息
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IntPtr msgPtSend = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)));
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try
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{
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// 为信号赋值
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foreach (var signal in signals)
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{
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CAN_DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(msgName),
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new StringBuilder(signal.SignalName), signal.SignalCmdValue);
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}
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// 同步值到CAN消息
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CAN_DBCParser.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(msgName), msgPtSend);
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var canMsg = (USB2CAN.CAN_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CAN.CAN_MSG));
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// 直接发送此消息，无需通过队列
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USB2CAN.CAN_MSG[] canMsgArray = new USB2CAN.CAN_MSG[] { canMsg };
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int sendedNum = USB2CAN.CAN_SendMsg(DevHandle, WriteCANIndex, canMsgArray, 1);
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// 更新发送状态
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if (sendedNum >= 0)
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{
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// 发送成功
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IsSendOk = true;
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}
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else
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{
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IsSendOk = false;
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LogService.Info($"消息{msgName}发送失败: {sendedNum}");
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}
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}
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finally
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{
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// 确保释放非托管资源
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Marshal.FreeHGlobal(msgPtSend);
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}
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}
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}
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catch (TaskCanceledException)
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{
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LogService.Info($"消息{msgName}发送任务被取消");
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break;
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}
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catch (Exception ex)
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{
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LogService.Info($"消息{msgName}发送异常: {ex.Message}");
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await Task.Delay(10, token);
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}
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}
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}
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catch (Exception ex)
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{
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LogService.Info($"消息{msgName}发送线程异常: {ex.Message}");
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}
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finally
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{
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LogService.Info($"消息{msgName}发送线程已退出");
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}
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}, token, TaskCreationOptions.LongRunning, TaskScheduler.Default);
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sendTasks.Add(sendTask);
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}
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// 创建监控任务，监控所有发送任务的状态
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CycleSendTask = Task.Factory.StartNew(async () =>
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{
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try
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{
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// 等待所有任务完成或取消
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await Task.WhenAll(sendTasks.ToArray());
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}
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catch (Exception ex)
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{
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LogService.Info($"并行发送监控任务异常: {ex.Message}");
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}
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finally
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{
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LogService.Info("并行发送任务已全部结束");
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IsSendOk = false;
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}
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}, token, TaskCreationOptions.LongRunning, TaskScheduler.Default);
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}
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#endregion
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private bool _IsCycleRevice;
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/// <summary>
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/// 是否循环接收数据
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