周立功开发过程1

2026-02-02 21:22:01 +08:00
parent 4d16b474c6
commit 2e8ad1cffa
42 changed files with 11571 additions and 122 deletions
--- a/CapMachine.Wpf/CanDrive/ZlgCan/ZlgNativeFrames.cs
+++ b/CapMachine.Wpf/CanDrive/ZlgCan/ZlgNativeFrames.cs
@@ -0,0 +1,103 @@
+using System;
+using System.Runtime.InteropServices;
+
+namespace CapMachine.Wpf.CanDrive.ZlgCan
+{
+    /// <summary>
+    /// 供 DBC 编解码/Marshal 使用的原生 CAN 帧结构（与 zlgcan can_frame 二进制布局兼容）。
+    /// </summary>
+    [StructLayout(LayoutKind.Sequential, Pack = 1)]
+    public struct ZlgNativeCanFrame
+    {
+        public uint can_id;
+        public byte can_dlc;
+        public byte __pad;
+        public byte __res0;
+        public byte __res1;
+
+        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
+        public byte[] data;
+
+        /// <summary>
+        /// 创建 CAN 帧。
+        /// </summary>
+        /// <param name="canId">can_id（包含扩展帧等标志位）。</param>
+        /// <param name="payload">数据（0~8）。</param>
+        /// <param name="requestTxEcho">是否请求发送回显。</param>
+        /// <returns>原生 CAN 帧。</returns>
+        public static ZlgNativeCanFrame Create(uint canId, byte[] payload, bool requestTxEcho)
+        {
+            var len = Math.Min(8, payload?.Length ?? 0);
+            var frame = new ZlgNativeCanFrame
+            {
+                can_id = canId,
+                can_dlc = (byte)len,
+                __pad = 0,
+                __res0 = 0,
+                __res1 = 0,
+                data = new byte[8]
+            };
+
+            if (len > 0 && payload != null)
+            {
+                Array.Copy(payload, frame.data, len);
+            }
+
+            if (requestTxEcho)
+            {
+                frame.__pad |= 0x20;
+            }
+
+            return frame;
+        }
+    }
+
+    /// <summary>
+    /// 供 DBC 编解码/Marshal 使用的原生 CANFD 帧结构（与 zlgcan canfd_frame 二进制布局兼容）。
+    /// </summary>
+    [StructLayout(LayoutKind.Sequential, Pack = 1)]
+    public struct ZlgNativeCanFdFrame
+    {
+        public uint can_id;
+        public byte len;
+        public byte flags;
+        public byte __res0;
+        public byte __res1;
+
+        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
+        public byte[] data;
+
+        /// <summary>
+        /// 创建 CANFD 帧。
+        /// </summary>
+        /// <param name="canId">can_id（包含扩展帧等标志位）。</param>
+        /// <param name="payload">数据（0~64）。</param>
+        /// <param name="requestTxEcho">是否请求发送回显。</param>
+        /// <returns>原生 CANFD 帧。</returns>
+        public static ZlgNativeCanFdFrame Create(uint canId, byte[] payload, bool requestTxEcho)
+        {
+            var len = Math.Min(64, payload?.Length ?? 0);
+            var frame = new ZlgNativeCanFdFrame
+            {
+                can_id = canId,
+                len = (byte)len,
+                flags = 0,
+                __res0 = 0,
+                __res1 = 0,
+                data = new byte[64]
+            };
+
+            if (len > 0 && payload != null)
+            {
+                Array.Copy(payload, frame.data, len);
+            }
+
+            if (requestTxEcho)
+            {
+                frame.flags |= 0x20;
+            }
+
+            return frame;
+        }
+    }
+}