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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