周立功的CAN /FD实现
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@@ -1,12 +1,15 @@
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using CapMachine.Model.CANLIN;
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using CapMachine.Wpf.CanDrive;
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using CapMachine.Wpf.CanDrive.ZlgCan;
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using CapMachine.Wpf.Dtos;
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using ImTools;
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using Prism.Mvvm;
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using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Linq;
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using System.Threading;
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using System.Threading.Tasks;
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namespace CapMachine.Wpf.Services
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{
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@@ -109,6 +112,12 @@ namespace CapMachine.Wpf.Services
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/// </summary>
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public List<CanCmdData> CmdData { get; } = new List<CanCmdData>();
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private readonly object _scheduleLock = new object();
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private List<(string MsgName, int CycleMs, int OrderSend, int SchTabIndex)> _scheduleItems = new List<(string, int, int, int)>();
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private CancellationTokenSource? _scheduleCts;
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private Task? _scheduleTask;
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private bool _scheduleUseConfigItems;
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private CanCmdData? SpeedCanCmdData { get; set; }
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private uint _deviceIndex = 0;
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@@ -224,6 +233,12 @@ namespace CapMachine.Wpf.Services
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{
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try
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{
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// Close 语义：关闭时必须停止循环发送与循环接收。
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// - 循环发送：停止软件调度，并关闭事件驱动发送标志。
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// - 循环接收：Driver.Close 内部会 StopReceiveLoop。
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StopSchedule();
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IsCycleSend = false;
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Driver.Close();
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}
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finally
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@@ -233,6 +248,178 @@ namespace CapMachine.Wpf.Services
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}
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}
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public void SetScheduleConfigs(IEnumerable<CANScheduleConfigDto> configs)
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{
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var list = configs?.Where(a => !string.IsNullOrWhiteSpace(a.MsgName)).ToList() ?? new List<CANScheduleConfigDto>();
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lock (_scheduleLock)
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{
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_scheduleItems = list
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.Select(a => (a.MsgName!.Trim(), Math.Max(1, a.Cycle), a.OrderSend, a.SchTabIndex))
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.ToList();
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}
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}
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public void SetScheduleConfigs(IEnumerable<CANFdScheduleConfigDto> configs)
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{
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var list = configs?.Where(a => !string.IsNullOrWhiteSpace(a.MsgName)).ToList() ?? new List<CANFdScheduleConfigDto>();
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lock (_scheduleLock)
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{
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_scheduleItems = list
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.Select(a => (a.MsgName!.Trim(), Math.Max(1, a.Cycle), a.OrderSend, a.SchTabIndex))
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.ToList();
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}
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}
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public void StartSchedule()
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{
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if (!OpenState)
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{
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throw new InvalidOperationException("设备未连接，无法启动调度表。");
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}
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List<(string MsgName, int CycleMs, int OrderSend, int SchTabIndex)> items;
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lock (_scheduleLock)
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{
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items = _scheduleItems.ToList();
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}
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if (items.Count == 0)
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{
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throw new InvalidOperationException("调度表为空，无法启动调度表。");
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}
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_scheduleUseConfigItems = true;
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StartSoftwareScheduler(items);
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}
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public void StartPrecisionCycleSend(int cycleMs)
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{
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if (!OpenState)
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{
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throw new InvalidOperationException("设备未连接，无法启动循环发送。");
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}
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var ms = Math.Max(1, cycleMs);
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var msgNames = CmdData.Where(a => !string.IsNullOrWhiteSpace(a.MsgName)).Select(a => a.MsgName!).Distinct(StringComparer.Ordinal).ToList();
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if (msgNames.Count == 0)
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{
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throw new InvalidOperationException("CmdData 为空，无法启动循环发送。");
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}
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var items = msgNames.Select(n => (n, ms, 1, 0)).ToList();
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_scheduleUseConfigItems = false;
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StartSoftwareScheduler(items);
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}
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public void StopSchedule()
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{
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CancellationTokenSource? cts;
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Task? task;
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lock (_scheduleLock)
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{
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cts = _scheduleCts;
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task = _scheduleTask;
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_scheduleCts = null;
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_scheduleTask = null;
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}
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try
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{
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cts?.Cancel();
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if (task != null)
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{
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task.Wait(TimeSpan.FromSeconds(2));
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}
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}
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catch
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{
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}
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finally
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{
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cts?.Dispose();
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}
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}
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private void StartSoftwareScheduler(List<(string MsgName, int CycleMs, int OrderSend, int SchTabIndex)> items)
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{
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StopSchedule();
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var cts = new CancellationTokenSource();
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lock (_scheduleLock)
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{
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_scheduleCts = cts;
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}
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// 统一：软件调度开启后，等同“循环发送开启”
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IsCycleSend = true;
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_scheduleTask = Task.Run(async () =>
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{
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var token = cts.Token;
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// next due time for each msg
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var now = DateTime.UtcNow;
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var due = new Dictionary<string, DateTime>(StringComparer.Ordinal);
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var cycle = new Dictionary<string, int>(StringComparer.Ordinal);
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var order = new Dictionary<string, int>(StringComparer.Ordinal);
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foreach (var it in items)
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{
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if (!due.ContainsKey(it.MsgName))
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{
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due[it.MsgName] = now;
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cycle[it.MsgName] = Math.Max(1, it.CycleMs);
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order[it.MsgName] = it.OrderSend;
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}
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}
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while (!token.IsCancellationRequested)
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{
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if (!OpenState)
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{
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await Task.Delay(50, token).ConfigureAwait(false);
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continue;
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}
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var utcNow = DateTime.UtcNow;
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var minDue = due.Values.Min();
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var delay = minDue - utcNow;
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if (delay > TimeSpan.Zero)
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{
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var ms = (int)Math.Min(delay.TotalMilliseconds, 200);
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await Task.Delay(ms, token).ConfigureAwait(false);
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continue;
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}
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// due messages
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var ready = due.Where(kv => kv.Value <= utcNow).Select(kv => kv.Key).ToList();
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if (ready.Count == 0)
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{
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await Task.Delay(1, token).ConfigureAwait(false);
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continue;
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}
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// 顺序/并行：这里只决定同一 tick 内的发送顺序（并行模式仍按字典序依次发）
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ready.Sort(StringComparer.Ordinal);
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foreach (var msg in ready)
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{
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if (token.IsCancellationRequested) break;
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try
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{
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Driver.SendOneMsgByCmdData(msg, 0, Mode == ZlgCanMode.Can ? (byte)ZDBC.FT_CAN : (byte)ZDBC.FT_CANFD);
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}
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catch (Exception ex)
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{
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_log.Warn($"调度表发送失败：{msg}，{ex.Message}");
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}
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finally
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{
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due[msg] = DateTime.UtcNow.AddMilliseconds(cycle[msg]);
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}
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}
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}
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}, cts.Token);
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}
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/// <summary>
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/// 加载 DBC。
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/// </summary>
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@@ -4,7 +4,10 @@ using Prism.Mvvm;
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using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.IO;
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using System.Linq;
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using System.Text;
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using System.Text.RegularExpressions;
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namespace CapMachine.Wpf.Services
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{
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@@ -150,8 +153,165 @@ namespace CapMachine.Wpf.Services
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/// <param name="path">LDF 路径。</param>
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public ObservableCollection<LinLdfModel> StartLdf(string path)
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{
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_log.Warn("ZLG LIN 当前版本未接入 LDF 解析（项目内仅存在 USB2XXX.dll 的 LDFParser）。");
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throw new NotSupportedException("ZLG LIN 暂未支持 LDF 解析，请后续提供/确认 ZLG 的 LDF DLL 接口（如 zldf.dll）后再接入。");
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if (string.IsNullOrWhiteSpace(path))
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{
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throw new ArgumentException("LDF 路径为空", nameof(path));
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}
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if (!File.Exists(path))
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{
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throw new FileNotFoundException($"LDF 文件不存在：{path}", path);
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}
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try
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{
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var text = File.ReadAllText(path, Encoding.UTF8);
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// 去除单行注释，简化解析
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text = Regex.Replace(text, @"//.*?$", string.Empty, RegexOptions.Multiline);
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var models = ParseLdfFramesAndSignals(text);
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ListLinLdfModel.Clear();
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foreach (var item in models)
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{
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ListLinLdfModel.Add(item);
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}
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LdfParserState = true;
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return ListLinLdfModel;
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}
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catch (Exception ex)
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{
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_log.Error($"ZLG LIN 解析 LDF 失败：{ex.Message}");
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LdfParserState = false;
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throw;
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}
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}
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private static List<LinLdfModel> ParseLdfFramesAndSignals(string ldfText)
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{
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// 说明：此解析器只用于生成“帧-信号全集池”，不做位宽/缩放等语义解析。
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// 目标：尽可能容错地从 Frames 区域提取 FrameName 与其包含的 SignalName 列表。
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var framesBlock = TryExtractNamedBlock(ldfText, "Frames");
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if (string.IsNullOrWhiteSpace(framesBlock))
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{
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return new List<LinLdfModel>();
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}
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var result = new List<LinLdfModel>();
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var exists = new HashSet<string>(StringComparer.Ordinal);
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// Frame 定义一般形式：FrameName : ... { ... }
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// 这里以非贪婪匹配提取每个 Frame 的 body
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var frameRegex = new Regex(@"(?s)(?<name>[A-Za-z_][A-Za-z0-9_]*)\s*:\s*.*?\{(?<body>.*?)\}\s*;?", RegexOptions.Compiled);
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var sigRegex = new Regex(@"(?m)^\s*(?<sig>[A-Za-z_][A-Za-z0-9_]*)\s*[,;]", RegexOptions.Compiled);
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foreach (Match fm in frameRegex.Matches(framesBlock))
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{
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var frameName = fm.Groups["name"].Value;
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var body = fm.Groups["body"].Value;
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if (string.IsNullOrWhiteSpace(frameName) || string.IsNullOrWhiteSpace(body))
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{
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continue;
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}
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foreach (Match sm in sigRegex.Matches(body))
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{
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var sigName = sm.Groups["sig"].Value;
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if (string.IsNullOrWhiteSpace(sigName))
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{
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continue;
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}
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// 排除明显的关键字（避免误采集）
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if (IsReservedKeyword(sigName))
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{
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continue;
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}
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var key = $"{frameName}:{sigName}";
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if (!exists.Add(key))
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{
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continue;
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}
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result.Add(new LinLdfModel
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{
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MsgName = frameName,
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SignalName = sigName,
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Name = null,
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SignalDesc = null,
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SignalUnit = null,
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IsSeletedInfo = 0,
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});
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}
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}
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return result;
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}
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private static string? TryExtractNamedBlock(string text, string blockName)
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{
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// 提取形如：blockName { ... } 的块内容（不包含外层大括号）。
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// 基于括号深度扫描，避免正则在嵌套结构上失效。
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var idx = CultureInvariantIndexOf(text, blockName);
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if (idx < 0) return null;
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var braceIdx = text.IndexOf('{', idx);
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if (braceIdx < 0) return null;
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int depth = 0;
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for (int i = braceIdx; i < text.Length; i++)
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{
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var ch = text[i];
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if (ch == '{') depth++;
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else if (ch == '}')
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{
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depth--;
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if (depth == 0)
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{
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return text.Substring(braceIdx + 1, i - braceIdx - 1);
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}
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}
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}
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return null;
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}
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private static int CultureInvariantIndexOf(string text, string value)
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{
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return text.IndexOf(value, StringComparison.OrdinalIgnoreCase);
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}
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private static bool IsReservedKeyword(string token)
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{
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// LDF 常见关键字/区块名（用于降低误匹配概率）
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switch (token)
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{
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case "Frames":
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case "Signals":
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case "Signal":
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case "Nodes":
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case "Master":
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case "Slaves":
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case "Diagnostic":
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case "Diagnostics":
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case "Checksum":
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case "Event_triggered_frames":
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case "Sporadic_frames":
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case "Schedule_tables":
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case "Node_attributes":
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case "Node_composition":
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case "LIN_protocol":
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case "LIN_protocol_version":
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case "LIN_speed":
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case "Protocol_version":
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return true;
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default:
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return false;
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}
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}
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}
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}
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