TyroneGit/CapMachine
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

周立功开发过程1

Browse Source
This commit is contained in:
Tyrone CT
2026-02-02 21:22:01 +08:00
parent 4d16b474c6
commit 2e8ad1cffa
42 changed files with 11571 additions and 122 deletions
Download Patch File Download Diff File Expand all files Collapse all files

109
CapMachine.Wpf/CanDrive/CanFD/ToomossCanFD.cs
View File

@@ -792,7 +792,7 @@ namespace CapMachine.Wpf.CanDrive
}
// 同步值到CAN消息
DBCParserByFD.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(msgName), msgPtSend);
DBCParserByFD.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder(msgName), msgPtSend);
var canMsg = (USB2CAN.CAN_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CAN.CAN_MSG));
// 直接发送此消息，无需通过队列
@@ -947,7 +947,7 @@ namespace CapMachine.Wpf.CanDrive
itemSignal.SignalCmdValue = random.Next(0, 100);
DBCParserByFD.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
}
DBCParserByFD.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
DBCParserByFD.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
SchCanMsg[Index] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CANFD.CANFD_MSG));
Index++;
}
@@ -1003,7 +1003,7 @@ namespace CapMachine.Wpf.CanDrive
{
DBCParserByFD.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
}
DBCParserByFD.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
DBCParserByFD.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
//每个分组就是一个帧指令/消息数据
SchCanMsg[Index] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CANFD.CANFD_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
@@ -1120,99 +1120,6 @@ namespace CapMachine.Wpf.CanDrive
/// </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(USB2CANFD.CANFD_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
DBCParserByFD.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
}
DBCParserByFD.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
SchCanMsg[CycleUpdateIndex] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CANFD.CANFD_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);
//CAN_UpdateSchedule 官网解释
// ---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
// ---MsgNum pCanMsgTab里面包含的有效帧数
//CAN_UpdateSchedule中的MsgIndex表示当前的调度器中的帧Index序号
//因为调度表中的帧集合和控制帧的集合和要更新的帧集合都是同一个集合SchCanMsg
//默认1号调度表，一个更新所有的帧数据
var ret = USB2CANFD.CANFD_UpdateSchedule(DevHandle, WriteCANIndex, (byte)0, (byte)(0), SchCanMsg, (byte)SchCanMsg.Count());//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 == USB2CANFD.CANFD_SUCCESS)
{
IsSendOk = true;
Console.WriteLine($"Update CAN Schedule Success -- SchTabIndex：{(byte)0} -- MsgIndex：{(byte)(0)} ");
}
else
{
IsSendOk = false;
Console.WriteLine($"Update CAN Schedule Error ret = {ret} -- SchTabIndex：{(byte)0} -- MsgIndex：{(byte)(0)}");
//return;
}
//一个报文帧一个报文帧进行更新数据
////配置信息 默认启用1号调度器,MsgTabIndex=0；
//foreach (var itemMsgSchConfig in ListCANScheduleConfig)
//{
// //USB2CANFD.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 = USB2CANFD.CAN_UpdateSchedule(DevHandle, WriteCANIndex, (byte)0, (byte)(itemMsgSchConfig.MsgIndex), 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 == USB2CANFD.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)
{
IsSendOk = false;
LoggerService.Info($"时间:{DateTime.Now.ToString()}-【MSG】-{ex.Message}");
}
}
IsSendOk = false;
});
}
/// <summary>
/// 加载要发送的数据
/// 一般是激活后才注册事件
@@ -1257,7 +1164,7 @@ namespace CapMachine.Wpf.CanDrive
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void UpdateSchDataByCmdDataChanged()
public void UpdateSchDataByCmdDataChanged()
{
try
{
@@ -1284,7 +1191,7 @@ namespace CapMachine.Wpf.CanDrive
var SetSignalValue = DBCParserByFD.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
//monitorValueLog.UpdateValue1(SetSignalValue);
}
var SyncValueToCanMsg = DBCParserByFD.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
var SyncValueToCanMsg = DBCParserByFD.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
//monitorValueLog.UpdateValue2(SyncValueToCanMsg);
SchCanMsg[CycleUpdateIndex] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CANFD.CANFD_MSG));
CycleUpdateIndex++;
@@ -1309,7 +1216,7 @@ namespace CapMachine.Wpf.CanDrive
if (ret == USB2CANFD.CANFD_SUCCESS)
{
IsSendOk = true;
//Console.WriteLine($"Update CAN Schedule Success -- SchTabIndex：{(byte)0} -- MsgIndex：{(byte)(0)} ");
Console.WriteLine($"Update CAN Schedule Success -- SchTabIndex：{(byte)0} -- MsgIndex：{(byte)(0)}-- SchCanMsg.Count()：{(SchCanMsg.Count())} ");
//monitorValueLog.UpdateValue3(ret);
}
else
@@ -1469,14 +1376,14 @@ namespace CapMachine.Wpf.CanDrive
else if (CanNum == 0)
{
IsReviceOk = false;
Console.WriteLine("No CAN data!");
//Console.WriteLine("No CAN data!");
}
else
{
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
DBCParserByFD.DBC_SyncCANFDMsgToValue(DBCHandle, msgPtRead, CanNum);