周立功的CAN /FD实现

CapMachine.Wpf/CanDrive/ZlgCan/ZlgCanFd200uDriver.cs

@@ -2,8 +2,10 @@ using CapMachine.Wpf.CanDrive;
 using CapMachine.Wpf.Services;
 using Prism.Mvvm;
 using System;
+using System.ComponentModel;
 using System.Collections.Generic;
 using System.Collections.ObjectModel;
+using System.Diagnostics;
 using System.IO;
 using System.Linq;
 using System.Runtime.InteropServices;
@@ -21,6 +23,9 @@ namespace CapMachine.Wpf.CanDrive.ZlgCan
         private readonly object _sync = new object();
         private readonly ILogService _log;
 
+        private static IntPtr _preloadedZlgcanHandle = IntPtr.Zero;
+        private static string? _preloadedZlgcanError;
+
         private IntPtr _deviceHandle = IntPtr.Zero;
         private readonly IntPtr[] _canChannelHandles = new IntPtr[2];
         private IntPtr _linChannelHandle = IntPtr.Zero;
@@ -189,16 +194,189 @@ namespace CapMachine.Wpf.CanDrive.ZlgCan
 
                 EnsureNativeDllExists("zlgcan.dll");
 
-                _deviceHandle = ZLGCAN.ZCAN_OpenDevice(ZLGCAN.ZCAN_USBCANFD_200U, deviceIndex, 0);
+                var deviceType = ZLGCAN.ZCAN_USBCANFD_200U;
+
+                try
+                {
+                    _deviceHandle = ZLGCAN.ZCAN_OpenDevice(deviceType, deviceIndex, 0);
+                }
+                catch (Exception ex)
+                {
+                    var baseDir = AppContext.BaseDirectory;
+                    var dllFullPath = Path.Combine(baseDir, "zlgcan.dll");
+                    var msg = $"ZCAN_OpenDevice 调用异常。deviceType={deviceType}, deviceIndex={deviceIndex}, " +
+                              $"Is64BitProcess={Environment.Is64BitProcess}, ProcessArch={RuntimeInformation.ProcessArchitecture}, " +
+                              $"DllPath={dllFullPath}, BaseDir={baseDir}。异常：{ex.Message}";
+                    _log.Error(msg);
+                    throw new InvalidOperationException(msg, ex);
+                }
+
                 if (_deviceHandle == IntPtr.Zero)
                 {
-                    throw new InvalidOperationException("ZCAN_OpenDevice 失败，请确认驱动/设备连接/程序位数与 DLL 匹配。");
+                    var lastError = Marshal.GetLastWin32Error();
+                    var lastErrorMsg = string.Empty;
+                    try
+                    {
+                        lastErrorMsg = new Win32Exception(lastError).Message;
+                    }
+                    catch
+                    {
+                    }
+
+                    var baseDir = AppContext.BaseDirectory;
+                    var dllFullPath = Path.Combine(baseDir, "zlgcan.dll");
+                    var loadedModulePath = GetLoadedModulePath("zlgcan.dll") ?? string.Empty;
+                    var depDiag = string.Join(" | ", new[]
+                    {
+                        BuildDllDiag(baseDir, "zlgcan.dll"),
+                        BuildDllDiag(baseDir, "USB2XXX.dll"),
+                        BuildDllDiag(baseDir, "libusb-1.0.dll"),
+                        BuildDllDiag(baseDir, "zdbc.dll"),
+                        BuildDllDiag(baseDir, "kerneldlls\\USBCANFD.dll"),
+                        BuildDllDiag(baseDir, "kerneldlls\\CANDevCore.dll"),
+                        BuildDllDiag(baseDir, "kerneldlls\\CANDevice.dll"),
+                        BuildDllDiag(baseDir, "kerneldlls\\CANFDCOM.dll"),
+                        BuildDllDiag(baseDir, "kerneldlls\\CANFDNET.dll"),
+                        BuildDllDiag(baseDir, "kerneldlls\\ZPSCANFD.dll"),
+                        BuildDllDiag(baseDir, "kerneldlls\\USBCANFD800U.dll"),
+                        BuildDllDiag(baseDir, "kerneldlls\\USBCAN.dll"),
+                        BuildDllDiag(baseDir, "kerneldlls\\usbcan.dll"),
+                    }.Where(s => !string.IsNullOrWhiteSpace(s)));
+                    string dllVer = string.Empty;
+                    try
+                    {
+                        if (File.Exists(dllFullPath))
+                        {
+                            var vi = FileVersionInfo.GetVersionInfo(dllFullPath);
+                            dllVer = vi?.FileVersion ?? string.Empty;
+                        }
+                    }
+                    catch
+                    {
+                    }
+
+                    var msg = $"ZCAN_OpenDevice 失败。deviceType={deviceType}, deviceIndex={deviceIndex}。" +
+                              $"Win32LastError={lastError}(0x{lastError:X}){(string.IsNullOrWhiteSpace(lastErrorMsg) ? string.Empty : $"({lastErrorMsg})")}。" +
+                              $"Is64BitProcess={Environment.Is64BitProcess}, ProcessArch={RuntimeInformation.ProcessArchitecture}。" +
+                              $"DllPath={dllFullPath}, DllVersion={dllVer}, LoadedModulePath={loadedModulePath}, BaseDir={baseDir}。" +
+                              $"PreloadError={_preloadedZlgcanError ?? string.Empty}。" +
+                              $"DirDllDiag={depDiag}。" +
+                              "请确认：1) 已安装ZLG驱动；2) 设备已连接且未被其它程序占用；3) 程序位数与 zlgcan.dll 匹配；4) 设备类型/索引正确。";
+
+                    _log.Error(msg);
+                    throw new InvalidOperationException(msg);
                 }
 
                 OpenState = true;
             }
         }
 
+        /// <summary>
+        /// 预加载指定路径的原生 DLL，尽量避免被 PATH 中的同名 DLL 干扰。
+        /// </summary>
+        /// <param name="dllFullPath">DLL 完整路径。</param>
+        private static void TryPreloadNativeDll(string dllFullPath)
+        {
+            try
+            {
+                if (_preloadedZlgcanHandle != IntPtr.Zero)
+                {
+                    return;
+                }
+
+                if (!string.IsNullOrWhiteSpace(_preloadedZlgcanError))
+                {
+                    return;
+                }
+
+                _preloadedZlgcanHandle = NativeLibrary.Load(dllFullPath);
+            }
+            catch (Exception ex)
+            {
+                _preloadedZlgcanError = $"{ex.GetType().Name}: {ex.Message}";
+            }
+        }
+
+        /// <summary>
+        /// 构造输出目录下某个 DLL 的诊断信息（架构/大小/版本）。
+        /// </summary>
+        /// <param name="baseDir">输出目录。</param>
+        /// <param name="fileName">DLL 文件名。</param>
+        /// <returns>诊断信息字符串；不存在返回 "xxx:not_found"；异常返回 null。</returns>
+        private static string? BuildDllDiag(string baseDir, string fileName)
+        {
+            try
+            {
+                if (string.IsNullOrWhiteSpace(baseDir) || string.IsNullOrWhiteSpace(fileName))
+                {
+                    return null;
+                }
+
+                var full = Path.Combine(baseDir, fileName);
+                if (!File.Exists(full))
+                {
+                    return $"{fileName}:not_found";
+                }
+
+                var arch = TryGetPeArchitecture(full) ?? string.Empty;
+                long size = 0;
+                try
+                {
+                    size = new FileInfo(full).Length;
+                }
+                catch
+                {
+                }
+
+                var ver = string.Empty;
+                try
+                {
+                    var vi = FileVersionInfo.GetVersionInfo(full);
+                    ver = vi?.FileVersion ?? string.Empty;
+                }
+                catch
+                {
+                }
+
+                return $"{fileName}:arch={arch},size={size},ver={ver}";
+            }
+            catch
+            {
+                return null;
+            }
+        }
+
+        /// <summary>
+        /// 获取当前进程中已加载模块的完整路径。
+        /// </summary>
+        /// <param name="moduleFileName">模块文件名（如 zlgcan.dll）。</param>
+        /// <returns>完整路径；获取失败返回 null。</returns>
+        private static string? GetLoadedModulePath(string moduleFileName)
+        {
+            try
+            {
+                if (string.IsNullOrWhiteSpace(moduleFileName))
+                {
+                    return null;
+                }
+
+                using var p = Process.GetCurrentProcess();
+                foreach (ProcessModule m in p.Modules)
+                {
+                    if (string.Equals(m.ModuleName, moduleFileName, StringComparison.OrdinalIgnoreCase))
+                    {
+                        return m.FileName;
+                    }
+                }
+
+                return null;
+            }
+            catch
+            {
+                return null;
+            }
+        }
+
         /// <summary>
         /// 打开设备并初始化 CANFD 通道。
         /// </summary>
@@ -1286,6 +1464,78 @@ namespace CapMachine.Wpf.CanDrive.ZlgCan
             {
                 throw new FileNotFoundException($"未找到 {dllName}，请将其复制到程序输出目录：{baseDir}", full);
             }
+
+            TryPreloadNativeDll(full);
+            if (_preloadedZlgcanHandle == IntPtr.Zero && !string.IsNullOrWhiteSpace(_preloadedZlgcanError))
+            {
+                throw new InvalidOperationException($"预加载 {dllName} 失败：{_preloadedZlgcanError}。DLL 路径：{full}");
+            }
+
+            var dllArch = TryGetPeArchitecture(full);
+            if (!string.IsNullOrWhiteSpace(dllArch))
+            {
+                var procArch = Environment.Is64BitProcess ? "x64" : "x86";
+                if (Environment.Is64BitProcess && !string.Equals(dllArch, "x64", StringComparison.OrdinalIgnoreCase))
+                {
+                    throw new InvalidOperationException($"{dllName} 位数不匹配：当前进程为 {procArch}，但 DLL 架构为 {dllArch}。请替换为 x64 版本 DLL，或将程序改为 x86 运行。DLL 路径：{full}");
+                }
+                if (!Environment.Is64BitProcess && !string.Equals(dllArch, "x86", StringComparison.OrdinalIgnoreCase))
+                {
+                    throw new InvalidOperationException($"{dllName} 位数不匹配：当前进程为 {procArch}，但 DLL 架构为 {dllArch}。请替换为 x86 版本 DLL，或将程序改为 x64 运行。DLL 路径：{full}");
+                }
+            }
+        }
+
+        /// <summary>
+        /// 尝试读取 PE 头判断 DLL 架构。
+        /// </summary>
+        /// <param name="dllFullPath">DLL 完整路径。</param>
+        /// <returns>返回 "x86"/"x64"/"arm64"/"unknown(...)"；读取失败返回 null。</returns>
+        private static string? TryGetPeArchitecture(string dllFullPath)
+        {
+            try
+            {
+                using var fs = new FileStream(dllFullPath, FileMode.Open, FileAccess.Read, FileShare.ReadWrite);
+                using var br = new BinaryReader(fs);
+
+                if (fs.Length < 0x40)
+                {
+                    return null;
+                }
+
+                var mz = br.ReadUInt16();
+                if (mz != 0x5A4D)
+                {
+                    return null;
+                }
+
+                fs.Position = 0x3C;
+                var peOffset = br.ReadInt32();
+                if (peOffset <= 0 || peOffset > fs.Length - 6)
+                {
+                    return null;
+                }
+
+                fs.Position = peOffset;
+                var peSig = br.ReadUInt32();
+                if (peSig != 0x00004550)
+                {
+                    return null;
+                }
+
+                var machine = br.ReadUInt16();
+                return machine switch
+                {
+                    0x014c => "x86",
+                    0x8664 => "x64",
+                    0xAA64 => "arm64",
+                    _ => $"unknown(0x{machine:X})"
+                };
+            }
+            catch
+            {
+                return null;
+            }
         }
 
         private static Dictionary<string, CanDbcModel> BuildDbcModelIndex(IEnumerable<CanDbcModel> models)