同步25001 can

CapMachine.Wpf/CanDrive/ToomossCan.cs

@@ -566,7 +566,7 @@ namespace CapMachine.Wpf.CanDrive
         /// <summary>
         /// 循环获取CAN消息（使用预分配缓冲区，避免每次循环内存分配/释放）
         /// </summary>
-        public void StartCycleReviceCanMsg()
+        public void StartCycleReviceCanMsg1()
         {
             if (CycleReviceTask != null && !CycleReviceTask.IsCompleted)
             {
@@ -637,6 +637,193 @@ namespace CapMachine.Wpf.CanDrive
             });
         }
 
+
+        // 保护接收缓冲的并发锁（接收读与关闭释放之间的互斥）
+        private readonly object RecvBufferSync = new object();
+
+        //StringBuilder ValueSb = new StringBuilder(16);
+        double[] ValueDouble = new double[5];
+
+        // 接收缓冲池（重用，避免每轮分配）
+        //private IntPtr RecvMsgBufferPtr = IntPtr.Zero;
+        private int RecvMsgBufferCapacity = 1024;
+        private readonly int CanMsgSize = Marshal.SizeOf(typeof(USB2CAN.CAN_MSG));
+
+        // 名称 StringBuilder 缓存（DBC 调用复用，避免频繁分配）
+        private readonly Dictionary<string, StringBuilder> MsgNameSBCache = new Dictionary<string, StringBuilder>(StringComparer.Ordinal);
+        private readonly Dictionary<string, StringBuilder> SigNameSBCache = new Dictionary<string, StringBuilder>(StringComparer.Ordinal);
+
+        // 控制台调试输出开关（默认关闭，防止日志风暴）
+        public bool EnableConsoleDebugLog { get; set; } = true;
+
+        // 保护接收缓冲的并发锁（接收读与关闭释放之间的互斥）
+        //private readonly object RecvBufferSync = new object();
+
+        private StringBuilder GetMsgSB(string key) => GetCachedSB(MsgNameSBCache, key);
+        private StringBuilder GetSigSB(string key) => GetCachedSB(SigNameSBCache, key);
+
+        private StringBuilder GetCachedSB(Dictionary<string, StringBuilder> cache, string key)
+        {
+            key ??= string.Empty;
+            if (cache.TryGetValue(key, out var sb)) return sb;
+            var nsb = new StringBuilder(key);
+            cache[key] = nsb;
+            return nsb;
+        }
+
+        /// <summary>
+        /// 启动后台循环接收 CAN 报文，并同步到 DBC 信号实时值。
+        /// </summary>
+        /// <remarks>
+        /// 关键点：
+        /// - 使用 CAN_GetMsgWithSize 从设备内部 FIFO 拉取报文；
+        /// - 使用 <see cref="RecvMsgBufferPtr"/> 作为重用缓冲，避免每轮申请/释放非托管内存导致碎片与性能问题；
+        /// - 使用 <see cref="RecvBufferSync"/> 与 <see cref="CloseDevice"/> 互斥，避免指针并发释放。
+        /// </remarks>
+        public void StartCycleReviceCanMsg()
+        {
+            // 防止重复启动，若已有任务在运行则直接返回
+            if (CycleReviceTask != null && !CycleReviceTask.IsCompleted)
+            {
+                return;
+            }
+            //monitorValueLog
+            CycleReviceTask = Task.Run(async () =>
+            {
+                try
+                {
+                    while (IsCycleRevice)
+                    {
+                        await Task.Delay(ReviceCycle);
+                        try
+                        {
+                            // 另一个CAN通道读取数据（与 CloseDevice 释放互斥，保护指针安全）
+                            IntPtr msgPtRead;
+                            int CanNum;
+                            lock (RecvBufferSync)
+                            {
+                                if (RecvMsgBufferPtr == IntPtr.Zero)
+                                {
+                                    RecvMsgBufferPtr = Marshal.AllocHGlobal(CanMsgSize * RecvMsgBufferCapacity);
+                                    //LoggerService.Info("申请 RecvMsgBufferPtr");
+                                }
+                                msgPtRead = RecvMsgBufferPtr;
+                                CanNum = USB2CAN.CAN_GetMsgWithSize(DevHandle, ReadCANIndex, msgPtRead, RecvMsgBufferCapacity);
+                                //int CanNum = USB2CAN.CAN_GetMsgWithSize(DevHandle, 1, msgPtRead, RecvMsgBufferCapacity);//测试用，CAN卡 CAN1和CAN2 短接时测试用
+                                //monitorValueLog.UpdateValue4(CanNum);
+                                if (CanNum > 0)
+                                {
+                                    IsReviceOk = true;
+                                    if (EnableConsoleDebugLog) Console.WriteLine("Read CanMsgNum = {0}", CanNum);
+                                    for (int i = 0; i < CanNum; i++)
+                                    {
+                                        var msgPtr = (IntPtr)(msgPtRead + i * CanMsgSize);
+                                        var msg = (USB2CAN.CAN_MSG)Marshal.PtrToStructure(msgPtr, typeof(USB2CAN.CAN_MSG));
+
+                                        if (EnableConsoleDebugLog)
+                                        {
+                                            Console.WriteLine("CanMsg[{0}].ID = 0x{1}", i, msg.ID.ToString("X8"));
+                                            Console.WriteLine("CanMsg[{0}].TimeStamp = {1}", i, msg.TimeStamp);
+                                            Console.Write("CanMsg[{0}].Data = ", i);
+                                            for (int j = 0; j < msg.DataLen; j++)
+                                            {
+                                                Console.Write("{0} ", msg.Data[j].ToString("X2"));
+                                            }
+                                            Console.WriteLine("");
+                                        }
+
+                                        //// 报文给高速记录的服务
+                                        //HighSpeedDataService.AppendOrUpdateMsg(new Models.HighSpeed.CommMsg()
+                                        //{
+                                        //    Category = "CAN",
+                                        //    MsgInfo = "0x" + msg.ID.ToString("X8"),
+                                        //    MsgData = BitConverter.ToString(msg.Data),
+                                        //    Time = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff")
+                                        //});
+                                    }
+                                }
+                                else if (CanNum == 0)
+                                {
+                                    IsReviceOk = false;
+                                    if (EnableConsoleDebugLog) Console.WriteLine("No CAN data!");
+                                }
+                                else
+                                {
+                                    IsReviceOk = false;
+                                    if (EnableConsoleDebugLog) Console.WriteLine("Get CAN data error!");
+                                }
+                                // 将CAN消息数据填充到信号里面，用DBC解析数据（仍在锁内，避免指针被并发释放）
+                                var SyncCANMsgToValue = CAN_DBCParser.DBC_SyncCANMsgToValue(DBCHandle, msgPtRead, CanNum);
+                                //monitorValueLog.UpdateValue5(SyncCANMsgToValue);
+                            }
+
+                            //循环获取消息的数据
+                            foreach (var item in ListCanDbcModel)
+                            {
+                                // 复用 StringBuilder 缓存，避免频繁分配
+                                var msgNameSB = GetMsgSB(item.MsgName);
+                                var sigNameSB = GetSigSB(item.SignalName);
+                                CAN_DBCParser.DBC_GetSignalValue(DBCHandle, msgNameSB, sigNameSB, ValueDouble);
+                                item.SignalRtValue = ValueDouble[0].ToString();
+                                //Console.Write(ValueSb.ToString());
+                            }
+                            // 缓冲区在 CloseDevice 或任务退出的 finally 中统一释放，避免频繁申请/释放
+
+
+                        }
+                        catch (Exception ex)
+                        {
+                            IsReviceOk = false;
+                            //LoggerService.Info($"CAN指令接收出现异常:{ex.Message}");
+                        }
+                        //finally
+                        //{
+                        //    IsReviceOk = false;
+                        //}
+                    }
+                }
+                finally
+                {
+                    IsReviceOk = false;
+                    //LoggerService.Info("CAN指令接收 finally结束");
+                    // 接收任务退出时释放接收缓冲，避免仅停止接收时的缓冲常驻
+                    lock (RecvBufferSync)
+                    {
+                        if (RecvMsgBufferPtr != IntPtr.Zero)
+                        {
+                            try { Marshal.FreeHGlobal(RecvMsgBufferPtr); }
+                            catch { }
+                            finally { RecvMsgBufferPtr = IntPtr.Zero; }
+                        }
+                    }
+                }
+            });
+        }
+
+
+        private bool _IsReviceOk;
+        /// <summary>
+        /// 最近一次接收是否成功。
+        /// </summary>
+        /// <remarks>
+        /// 该状态反映最近一次轮询读取 CAN_GetMsgWithSize 的结果：
+        /// - CanNum &gt; 0：成功收到数据；
+        /// - CanNum == 0：本轮无数据；
+        /// - CanNum &lt; 0：调用失败。
+        /// </remarks>
+        public bool IsReviceOk
+        {
+            get { return _IsReviceOk; }
+            set
+            {
+                if (_IsReviceOk != value)
+                {
+                    RaisePropertyChanged();
+                    _IsReviceOk = value;
+                }
+            }
+        }
+
         /// <summary>
         /// 确保接收缓冲区已分配
         /// </summary>
@@ -768,11 +955,60 @@ namespace CapMachine.Wpf.CanDrive
                             //Console.WriteLine($"--当前时间(毫秒): {DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}");
 
 
+                            //// 执行发送CAN逻辑
+                            //{
+                            //    SendCanMessagesByDbc(CmdData);
+                            //}
+
                             // 执行发送CAN逻辑
                             {
-                                SendCanMessagesByDbc(CmdData);
+
+                                var GroupMsg = CmdData.GroupBy(x => x.MsgName);
+                                USB2CAN.CAN_MSG[] CanMsg = new USB2CAN.CAN_MSG[GroupMsg.Count()];
+                                for (int i = 0; i < GroupMsg.Count(); i++)
+                                {
+                                    CanMsg[i] = new USB2CAN.CAN_MSG();
+                                    CanMsg[i].Data = new Byte[64];
                                 }
 
+                                // 发送构帧临时缓冲：每轮申请/释放，避免与其他线程共享同一指针导致并发问题
+                                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);
+                                    CanMsg[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
+
+                                // 释放非托管缓冲区（务必释放，否则长时间运行会造成内存泄漏）
+                                Marshal.FreeHGlobal(msgPtSend);
+
+                                //发送CAN数据
+                                int SendedNum = USB2CAN.CAN_SendMsg(DevHandle, WriteCANIndex, CanMsg, (uint)CanMsg.Length);
+                                if (SendedNum >= 0)
+                                {
+                                    //Console.WriteLine("Success send frames:{0}", SendedNum);
+                                    IsSendOk = true;
+                                }
+                                else
+                                {
+                                    //Console.WriteLine("Send CAN data failed! {0}", SendedNum);
+                                    IsSendOk = false;
+                                }
+
+                            }
+
+
+
                         }
                         catch (TaskCanceledException)
                         {
@@ -801,6 +1037,27 @@ namespace CapMachine.Wpf.CanDrive
             }, token);
         }
 
+        private bool _IsSendOk;
+        /// <summary>
+        /// 最近一次发送是否成功。
+        /// </summary>
+        /// <remarks>
+        /// - 软件循环发送路径：由 CAN_SendMsg 返回值决定；
+        /// - 调度表更新路径：由 CAN_UpdateSchedule 返回值决定。
+        /// </remarks>
+        public bool IsSendOk
+        {
+            get { return _IsSendOk; }
+            set
+            {
+                if (_IsSendOk != value)
+                {
+                    RaisePropertyChanged();
+                    _IsSendOk = value;
+                }
+                //RaisePropertyChanged();
+            }
+        }
 
         /// <summary>
         /// 修改停止发送的方法