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增加了CAN调度表发送，但是没有测试成功

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Tyrone CT
2025-08-10 23:49:17 +08:00
parent 7a5793c43a
commit 159187a475
21 changed files with 1618 additions and 29 deletions
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330
CapMachine.Wpf/CanDrive/ToomossCan.cs
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@@ -1,6 +1,10 @@
using CapMachine.Wpf.Models.Tag;
using CapMachine.Core;
using CapMachine.Model.CANLIN;
using CapMachine.Wpf.Dtos;
using CapMachine.Wpf.Models.Tag;
using CapMachine.Wpf.Services;
using HslCommunication;
using ImTools;
using NLog;
using NPOI.OpenXmlFormats.Wordprocessing;
using Prism.Ioc;
@@ -35,7 +39,7 @@ namespace CapMachine.Wpf.CanDrive
ContainerProvider = containerProvider;
HighSpeedDataService = ContainerProvider.Resolve<HighSpeedDataService>();
LoggerService = ContainerProvider.Resolve<ILogService>();
//Stopwatch.Frequency表示高精度计时器每秒的计数次数（ticks/秒）每毫秒的ticks数 = 每秒的ticks数 ÷ 1000
TicksPerMs = Stopwatch.Frequency / 1000.0;
}
@@ -488,8 +492,13 @@ namespace CapMachine.Wpf.CanDrive
/// </summary>
private static Task CycleSendTask { get; set; }
/// <summary>
/// 定时扫描更新数据 扫描Task
/// </summary>
private static Task CycleUpdateCmdTask { get; set; }
StringBuilder ValueSb = new StringBuilder(16);
double[] ValueDouble=new double[5];
double[] ValueDouble = new double[5];
private bool _IsSendOk;
/// <summary>
@@ -785,6 +794,296 @@ namespace CapMachine.Wpf.CanDrive
#endregion
#region 调度表发送报文
private bool _SchEnable;
/// <summary>
/// 调度表使能
/// </summary>
public bool SchEnable
{
get { return _SchEnable; }
set
{
_SchEnable = value;
RaisePropertyChanged();
}
}
/// <summary>
/// 调度表的发送的报文数据
/// </summary>
private USB2CAN.CAN_MSG[] SchCanMsg { get; set; }
/// <summary>
/// 依据消息的分组
/// </summary>
private IEnumerable<IGrouping<string, CanCmdData>> GroupMsg { get; set; }
/// <summary>
/// 调度表集合数据
/// 总共3个调度表，第一个表里面包含3帧数据，第二个调度表包含6帧数据，第三个调度表包含11帧数据
/// Byte[] MsgTabNum = new Byte[3] { 3, 6, 11 };
/// </summary>
private Byte[] MsgTabNum { get; set; }
/// <summary>
/// 调度表发送的次数集合
/// 第一个调度表循环发送数据，第二个调度表循环发送数据，第三个调度表只发送3次
/// UInt16[] SendTimes = new UInt16[3] { 0xFFFF, 0xFFFF, 3 };
/// </summary>
private UInt16[] SendTimes { get; set; }
/// <summary>
/// 预设的调度表的个数 常值
/// </summary>
private const int MsgTabCount = 5;
/// <summary>
/// 定时更新时间
/// </summary>
private int UpdateCycle = 500;
/// <summary>
/// CNA 调度表的配置信息
/// </summary>
public List<CANScheduleConfigDto> ListCANScheduleConfig { get; set; }
Random random = new Random();
/// <summary>
/// 更新数据
/// </summary>
public void UpdateValue()
{
//通过DBC进行对消息赋值
IntPtr msgPtSend = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)));
int Index = 0;
//循环给MSG赋值数据
foreach (var itemMsg in GroupMsg)
{
foreach (var itemSignal in itemMsg)
{
itemSignal.SignalCmdValue = random.Next(0, 100);
CAN_DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
}
CAN_DBCParser.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
SchCanMsg[Index] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CAN.CAN_MSG));
Index++;
}
//通过DBC写入数据后生成CanMsg
//将信号值填入CAN消息里面
//释放申请的临时缓冲区
Marshal.FreeHGlobal(msgPtSend);
////总共3个调度表，第一个表里面包含3帧数据，第二个调度表包含6帧数据，第三个调度表包含11帧数据
//MsgTabNum = new Byte[1] { 1 };
////第一个调度表循环发送数据，第二个调度表循环发送数据，第三个调度表只发送3次
//SendTimes = new UInt16[1] { 0xFFFF };
//var ret = USB2CAN.CAN_SetSchedule(DevHandle, WriteCANIndex, SchCanMsg, MsgTabNum, SendTimes, 1);//配置调度表，该函数耗时可能会比较长，但是只需要执行一次即可
var ret = USB2CAN.CAN_UpdateSchedule(DevHandle, WriteCANIndex, 0, 0, SchCanMsg, 1);//配置调度表，该函数耗时可能会比较长，但是只需要执行一次即可
if (ret == USB2CAN.CAN_SUCCESS)
{
Console.WriteLine("Update CAN Schedule Success");
}
else
{
Console.WriteLine("Update CAN Schedule Error ret = {0}", ret);
return;
}
}
/// <summary>
/// 开始调度表执行
/// </summary>
public void StartSchedule()
{
if (CmdData.Count() == 0) return;
//依据报文进行分组
GroupMsg = CmdData.GroupBy(x => x.MsgName)!;
//初始化调度表要发送的消息结构
SchCanMsg = new USB2CAN.CAN_MSG[GroupMsg.Count()];
for (int i = 0; i < GroupMsg.Count(); i++)
{
SchCanMsg[i] = new USB2CAN.CAN_MSG();
SchCanMsg[i].Data = new Byte[64];
}
//通过DBC进行对消息赋值
IntPtr msgPtSend = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)));
int Index = 0;
//循环给MSG赋值数据
foreach (var itemMsg in GroupMsg)
{
foreach (var itemSignal in itemMsg)
{
CAN_DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
}
CAN_DBCParser.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
//每个分组就是一个帧指令/消息数据
SchCanMsg[Index] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CAN.CAN_MSG));
//分配当前消息帧在集合中的位置信息到ListCANScheduleConfig中，方便实时更新时定位帧的位置
if (ListCANScheduleConfig.Any(a=>a.MsgName== itemMsg.Key))
{
//把帧的位置给ListCANScheduleConfig，方便更新时定位数据
ListCANScheduleConfig.FindFirst(a => a.MsgName == itemMsg.Key).MsgIndex = Index;
}
Index++;
}
//通过DBC写入数据后生成CanMsg
//将信号值填入CAN消息里面
//释放申请的临时缓冲区
Marshal.FreeHGlobal(msgPtSend);
//Sample：总共3个调度表，第一个表里面包含3帧数据，第二个调度表包含6帧数据，第三个调度表包含11帧数据
//约定每帧对应一个调度表，预设5个调度表，每个调度表对应一个帧
MsgTabNum = new Byte[MsgTabCount] { 1, 1, 1, 1, 1 };
//0xFFFF：调度表循环发送数据，X：调度表循环发送的次数
//设置每个调度表的发送方式，约定全部为循环发送
SendTimes = new UInt16[MsgTabCount] { 0xFFFF, 0xFFFF, 0xFFFF, 0xFFFF, 0xFFFF };
//SchCanMsg:需要发送的消息集合；MsgTabNum：调度表集合数据；SendTimes：发送次数集合数据；调度表个数：MsgTabCount
var ret = USB2CAN.CAN_SetSchedule(DevHandle, WriteCANIndex, SchCanMsg, MsgTabNum, SendTimes, MsgTabCount);//配置调度表，该函数耗时可能会比较长，但是只需要执行一次即可
if (ret == USB2CAN.CAN_SUCCESS)
{
Console.WriteLine("Set CAN Schedule Success");
}
else
{
Console.WriteLine("Set CAN Schedule Error ret = {0}", ret);
LoggerService.Info($"Set CAN Schedule Error; 返回错误代码：{ret}");
return;
}
foreach (var itemGroupMsg in GroupMsg)
{
if (itemGroupMsg == null) continue;
if (ListCANScheduleConfig.Any(a => a.MsgName!.Contains(itemGroupMsg.Key)))
{
var CANScheduleConfig = ListCANScheduleConfig.FindFirst(a => a.MsgName!.Contains(itemGroupMsg.Key));
//配置表里面包括这个报文消息内容
ret = USB2CAN.CAN_StartSchedule(DevHandle, WriteCANIndex, (byte)CANScheduleConfig.SchTabIndex, (byte)CANScheduleConfig.Cycle, (byte)CANScheduleConfig.OrderSend);
if (ret == USB2CAN.CAN_SUCCESS)
{
Console.WriteLine($"Start CAN Schedule 1 Success，SchTabIndex：{(byte)CANScheduleConfig.SchTabIndex}-Cycle：{(byte)CANScheduleConfig.Cycle}-OrderSend：{(byte)CANScheduleConfig.OrderSend}");
}
else
{
Console.WriteLine("Start CAN Schedule 1 Error ret = {0}", ret);
LoggerService.Info($"Start CAN Schedule 1 Error;消息名称：{CANScheduleConfig.MsgName}");
return;
}
}
else
{
LoggerService.Info($"调度表配置未发现对应的消息报文信息；报文信息{itemGroupMsg.Key}");
}
}
//走到这里说明调度表执行的是OK的
IsSendOk = true;
}
/// <summary>
/// 停止调度表
/// </summary>
public void StopSchedule()
{
ret = USB2CAN.CAN_StopSchedule(DevHandle, WriteCANIndex);//启动第一个调度表,表里面的CAN帧并行发送
if (ret == USB2CAN.CAN_SUCCESS)
{
Console.WriteLine("Stop CAN Schedule");
LoggerService.Info($"Stop CAN Schedule");
}
else
{
Console.WriteLine("Start CAN Schedule Error ret = {0}", ret);
LoggerService.Info($"Stop CAN Schedule");
return;
}
}
/// <summary>
/// 循环使用的
/// </summary>
private int CycleUpdateIndex = 0;
/// <summary>
/// 循环更新调度表的指令数据
/// 定时更新数据到调度表中
/// </summary>
public void StartCycleUpdateCmd()
{
CycleUpdateCmdTask = Task.Run(async () =>
{
while (IsCycleSend)
{
await Task.Delay(UpdateCycle);
try
{
//通过DBC进行对消息赋值
IntPtr msgPtSend = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)));
CycleUpdateIndex = 0;
//循环给MSG赋值数据，顺序是固定的，跟初始时设置是一样的
foreach (var itemMsg in GroupMsg)
{
foreach (var itemSignal in itemMsg)
{
itemSignal.SignalCmdValue = random.Next(0, 100); //仿真测试数据使用
CAN_DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
}
CAN_DBCParser.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
SchCanMsg[CycleUpdateIndex] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CAN.CAN_MSG));
CycleUpdateIndex++;
}
//通过DBC写入数据后生成CanMsg
//将信号值填入CAN消息里面
//释放申请的临时缓冲区
Marshal.FreeHGlobal(msgPtSend);
//配置信息
foreach (var itemMsgSchConfig in ListCANScheduleConfig)
{
//USB2CAN.CAN_MSG[] SchCanMsg1=new CAN_MSG[1];
//SchCanMsg1[0] = SchCanMsg[itemMsgSchConfig.MsgIndex];
// MsgTabIndex CAN调度表索引号 ;MsgIndex 开始更新帧起始索引，若起始索引大于调度表帧数，则将帧添加到调度表后面， ;
// pCanMsg 需要更新的CAN帧指针,消息数据 ; MsgNum pCanMsgTab里面包含的有效帧数，一个调度表对应一个帧/消息，即为：1 (byte)(itemMsgSchConfig.MsgIndex+0)
var ret = USB2CAN.CAN_UpdateSchedule(DevHandle, WriteCANIndex, (byte)(itemMsgSchConfig.SchTabIndex+0), (byte)0, SchCanMsg, 1);//配置调度表，该函数耗时可能会比较长，但是只需要执行一次即可
if (ret == USB2CAN.CAN_SUCCESS)
{
Console.WriteLine($"Update CAN Schedule Success--SchTabIndex：{(byte)itemMsgSchConfig.SchTabIndex} --MsgIndex：{(byte)(itemMsgSchConfig.MsgIndex)} ");
}
else
{
Console.WriteLine($"Update CAN Schedule Error ret = {ret}---SchTabIndex：{(byte)itemMsgSchConfig.SchTabIndex} --MsgIndex：{(byte)(itemMsgSchConfig.MsgIndex)}");
//return;
}
}
}
catch (Exception ex)
{
LoggerService.Info($"时间:{DateTime.Now.ToString()}-【MSG】-{ex.Message}");
}
}
});
}
#endregion
/// <summary>
/// 循环获取CAN消息
@@ -802,24 +1101,25 @@ namespace CapMachine.Wpf.CanDrive
USB2CAN.CAN_MSG[] CanMsgBuffer = new USB2CAN.CAN_MSG[128];
//申请数据缓冲区
IntPtr msgPtRead = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)) * CanMsgBuffer.Length);
int CanNum = USB2CAN.CAN_GetMsgWithSize(DevHandle, ReadCANIndex, msgPtRead, CanMsgBuffer.Length);
//int CanNum = USB2CAN.CAN_GetMsgWithSize(DevHandle, ReadCANIndex, msgPtRead, CanMsgBuffer.Length);
int CanNum = USB2CAN.CAN_GetMsgWithSize(DevHandle, 1, msgPtRead, CanMsgBuffer.Length);
if (CanNum > 0)
{
IsReviceOk = true;
Console.WriteLine("Read CanMsgNum = {0}", CanNum);
//Console.WriteLine("Read CanMsgNum = {0}", CanNum);
for (int i = 0; i < CanNum; i++)
{
//CanMsgBuffer[i] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)msgPtRead + i * Marshal.SizeOf(typeof(USB2CAN.CAN_MSG))), typeof(USB2CAN.CAN_MSG)); //有溢出报错
CanMsgBuffer[i] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure((IntPtr)(msgPtRead + i * Marshal.SizeOf(typeof(USB2CAN.CAN_MSG))), typeof(USB2CAN.CAN_MSG));
Console.WriteLine("CanMsg[{0}].ID = 0x{1}", i, CanMsgBuffer[i].ID.ToString("X8"));
Console.WriteLine("CanMsg[{0}].TimeStamp = {1}", i, CanMsgBuffer[i].TimeStamp);
Console.Write("CanMsg[{0}].Data = ", i);
for (int j = 0; j < CanMsgBuffer[i].DataLen; j++)
{
Console.Write("{0} ", CanMsgBuffer[i].Data[j].ToString("X2"));
}
Console.WriteLine("");
//Console.WriteLine("CanMsg[{0}].ID = 0x{1}", i, CanMsgBuffer[i].ID.ToString("X8"));
//Console.WriteLine("CanMsg[{0}].TimeStamp = {1}", i, CanMsgBuffer[i].TimeStamp);
//Console.Write("CanMsg[{0}].Data = ", i);
//for (int j = 0; j < CanMsgBuffer[i].DataLen; j++)
//{
// Console.Write("{0} ", CanMsgBuffer[i].Data[j].ToString("X2"));
//}
//Console.WriteLine("");
//报文给高速记录的服务
HighSpeedDataService.AppendOrUpdateMsg(new Models.HighSpeed.CommMsg()
@@ -833,7 +1133,7 @@ namespace CapMachine.Wpf.CanDrive
}
else if (CanNum == 0)
{
IsReviceOk=false;
IsReviceOk = false;
Console.WriteLine("No CAN data!");
}
else
@@ -841,7 +1141,7 @@ namespace CapMachine.Wpf.CanDrive
IsReviceOk = false;
Console.WriteLine("Get CAN data error!");
}
Console.WriteLine("");
//Console.WriteLine("");
//将CAN消息数据填充到信号里面，用DBC解析数据
CAN_DBCParser.DBC_SyncCANMsgToValue(DBCHandle, msgPtRead, CanNum);