增加了CAN调度表发送，但是没有测试成功

CapMachine.Wpf/Services/CanDriveService.cs

@@ -1,5 +1,6 @@
 using CapMachine.Model.CANLIN;
 using CapMachine.Wpf.CanDrive;
+using CapMachine.Wpf.Dtos;
 using ImTools;
 using Prism.Ioc;
 using Prism.Mvvm;
@@ -126,6 +127,11 @@ namespace CapMachine.Wpf.Services
         /// </summary>
         public List<CanCmdData> CmdData { get; set; } = new List<CanCmdData>();
 
+        /// <summary>
+        /// CNA 调度表的配置信息
+        /// </summary>
+        public List<CANScheduleConfigDto> ListCANScheduleConfig { get; set; }
+
         /// <summary>
         /// 增加发送的指令数据
         /// </summary>
@@ -307,10 +313,39 @@ namespace CapMachine.Wpf.Services
                 {
                     if (CmdData.Count > 0)
                     {
-                        ToomossCanDrive.IsCycleSend = true;
+                        
                         ToomossCanDrive.CmdData = CmdData;
-                        //ToomossCanDrive.StartCycleSendMsg();
-                        ToomossCanDrive.StartPrecisionCycleSendMsg();
+                        ToomossCanDrive.SchEnable = true;
+
+                        if (ToomossCanDrive.SchEnable)
+                        {
+
+                            //使用调度表的话，需要在调度表中配置信息后才可以进行操作
+                            var GroupMsg = ToomossCanDrive.CmdData.GroupBy(a => a.MsgName).ToList();
+                            foreach (var itemMsg in GroupMsg)
+                            {
+                                if (!ListCANScheduleConfig.ToList().Any(a => a.MsgName == itemMsg.Key))
+                                {
+                                    System.Windows.MessageBox.Show($"你使能了调度表，但是调度表中没有设置【{itemMsg.Key}】信息，请设置后再操作", "提示", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Hand);
+                                    return;
+                                }
+                            }
+
+                            if (ListCANScheduleConfig == null && ListCANScheduleConfig!.Count() == 0)
+                            {
+                                System.Windows.MessageBox.Show("调度表配置为空数据，请检查！将无法发送数据", "提示", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Hand);
+                                return;
+                            }
+                            ToomossCanDrive.ListCANScheduleConfig = ListCANScheduleConfig!;
+                            ToomossCanDrive.StartSchedule();
+                            ToomossCanDrive.StartCycleUpdateCmd();
+                        }
+                        else
+                        {
+                            ToomossCanDrive.StartCycleSendMsg();
+                        }
+
+                        ToomossCanDrive.IsCycleSend = true;
                     }
                     else
                     {
@@ -319,7 +354,15 @@ namespace CapMachine.Wpf.Services
                 }
                 else
                 {
-                    ToomossCanDrive.IsCycleSend = false;
+                    if (ToomossCanDrive.SchEnable)
+                    {
+                        ToomossCanDrive.IsCycleSend = false;
+                        ToomossCanDrive.StopSchedule();
+                    }
+                    else
+                    {
+                        ToomossCanDrive.IsCycleSend = false;
+                    }
                 }
 
             }
@@ -388,7 +431,7 @@ namespace CapMachine.Wpf.Services
                 //double.TryParse(ListCanDbcModel.FindFirst(a => a.Name == Name).SignalRtValue, out double Result1);
                 //return double.TryParse(ListCanDbcModel.FindFirst(a => a.Name == Name).SignalRtValue.Split(" ")[0], out double Result) == true ? Result : 0;
                 return double.TryParse(ListCanDbcModel.FindFirst(a => a.Name == Name).SignalRtValue.Split(" ")[0], out double Result) == true ? Result : 0;
-             
+
             }
             return 0;
         }