diff --git a/CapMachine.Wpf/LinDrive/ToomossLin.cs b/CapMachine.Wpf/LinDrive/ToomossLin.cs index 13fba95..c5c1368 100644 --- a/CapMachine.Wpf/LinDrive/ToomossLin.cs +++ b/CapMachine.Wpf/LinDrive/ToomossLin.cs @@ -1,11 +1,13 @@ using CapMachine.Wpf.CanDrive; using CapMachine.Wpf.Services; +using ImTools; using Microsoft.VisualBasic; using Prism.Ioc; using Prism.Mvvm; using System; using System.Collections.Generic; using System.Collections.ObjectModel; +using System.Diagnostics; using System.IO; using System.Linq; using System.Runtime.InteropServices; @@ -53,6 +55,9 @@ namespace CapMachine.Wpf.LinDrive { ContainerProvider = containerProvider; HighSpeedDataService = ContainerProvider.Resolve(); + + //Stopwatch.Frequency表示高精度计时器每秒的计数次数（ticks/秒）每毫秒的ticks数 = 每秒的ticks数 ÷ 1000 + TicksPerMs = Stopwatch.Frequency / 1000.0; } /// @@ -77,7 +82,7 @@ namespace CapMachine.Wpf.LinDrive IsExistsDllFile(); ScanDevice(); OpenDevice(); - + } private bool _IsCycleRevice; @@ -266,7 +271,7 @@ namespace CapMachine.Wpf.LinDrive //当前帧为主机读数据帧 Console.WriteLine("[MR]Frame[{0}].Name={1},Publisher={2}", i, FrameName, PublisherName); } - + //读取信号信息 int SignalNum = LDFParser.LDF_GetFrameSignalQuantity(LDFHandle, FrameName); for (int j = 0; j < SignalNum; j++) @@ -310,6 +315,7 @@ namespace CapMachine.Wpf.LinDrive LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue); } LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 1); + //LDFParser.LDF_ExeSchToBus(LDFHandle, new StringBuilder(itemMsg.Key), 1); } } catch (Exception ex) @@ -337,14 +343,27 @@ namespace CapMachine.Wpf.LinDrive await Task.Delay(ReviceCycle); try { - //主机读操作，读取从机返回的数据值 - foreach (var item in ListLinLdfModel) + var GroupMsg = ListLinLdfModel.GroupBy(x => x.MsgName); + foreach (var itemMsg in GroupMsg) { - LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(item.MsgName), 1); - LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ReadValueStr); - item.SignalRtValueSb = ReadValueStr; + var data = itemMsg.FirstOrDefault(); + //非主机发送的指令帧就可以读取数据，因为函数 LDF_ExeFrameToBus【执行帧到总线，若该帧的发布者是主机，那么就是主机写数据，否则就是主机读数据】 + //那么主机发送和读取都是同一个函数。会导致跟Master主机也会在这里执行写入，导致冲突，出现错误。所以做一个排出 + if (data != null && !data.IsMasterFrame!.Contains("是")) + { + //主机读操作，读取从机返回的数据值 + LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 1); + foreach (var itemSignal in itemMsg) + { + //LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 1); + LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), ReadValueStr); + itemSignal.SignalRtValueSb = ReadValueStr; + } + } + } + //StringBuilder ValueStr = new StringBuilder(64); //LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder("ID_DATA"), 1); //LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder("ID_DATA"), new StringBuilder("Supplier_ID"), ValueStr); @@ -385,7 +404,18 @@ namespace CapMachine.Wpf.LinDrive //主机写操作，发送数据给从机 LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue); } - LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 1); + //【0】参数注意 + LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 0); + + //读取当前的指令帧数据，LDF_ExeFrameToBus执行后就可以读取本身的数据 + foreach (var item in ListLinLdfModel) + { + if (CmdData.Any(a => a.MsgName == item.MsgName)) + { + LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ReadValueStr); + item.SignalRtValueSb = ReadValueStr; + } + } } ////主机写操作，发送数据给从机 @@ -406,6 +436,196 @@ namespace CapMachine.Wpf.LinDrive } + private bool _IsSendOk; + /// + /// 发送报文是否OK + /// + public bool IsSendOk + { + get { return _IsSendOk; } + set + { + if (_IsSendOk != value) + { + RaisePropertyChanged(); + _IsSendOk = value; + } + } + } + + + + #region 精确发送报文数据 + + // 添加取消标记源字段用于停止任务 + private CancellationTokenSource CycleSendCts; + + /// + /// 计算每毫秒对应的ticks数（只需计算一次） + /// + private double TicksPerMs; + + // 类成员变量定义 精确记时用 + private readonly Stopwatch Stopwatcher = new Stopwatch(); + private long NextExecutionTime; + // 计算需要等待的时间 + private long CurrentTime; + private long DelayTicks; + private int DelayMs; + + private static readonly Random _random = new Random(); + + /// + /// 精确周期发送CAN数据 + /// + public void StartPrecisionCycleSendMsg() + { + // 创建取消标记源 用于控制任务的取消 允许在需要时通过取消令牌来优雅停止任务 + var cancellationTokenSource = new CancellationTokenSource(); + var token = cancellationTokenSource.Token; + + // 保存取消标记，以便在停止时使用 + CycleSendCts = cancellationTokenSource;//将取消标记源保存到类的成员变量CycleSendCts，这样在外部调用停止方法时可以访问它 + NextExecutionTime = 0;//初始化NextExecutionTime为0，这个变量用于记录下一次执行的目标时间点 + + CycleSendTask = Task.Factory.StartNew(async () => + { + try + { + // 设置当前线程为高优先级 + Thread.CurrentThread.Priority = ThreadPriority.AboveNormal; + + // 初始化完成后开始计时 + Stopwatcher.Restart(); + // 预先计算固定值 + long CycleInTicks = (long)(SendCycle * TicksPerMs); + //临时测试用 + //long lastTicks = Stopwatcher.ElapsedTicks; + //IsCycleSend + while (IsCycleSend && !token.IsCancellationRequested) + { + try + { + // 计算下一次执行时间点 ，将当前设置的发送周期SendCycle(毫秒)转换为Stopwatch的计时单位(tick)，累加到NextExecutionTime上 + NextExecutionTime += CycleInTicks; // 转换为Stopwatch计时单位 + + // 获取当前时间点，以Stopwatch的tick为单位 + CurrentTime = Stopwatcher.ElapsedTicks; + //计算需要等待的时间，即目标时间点(NextExecutionTime)与当前时间点(CurrentTime)的差值 + DelayTicks = NextExecutionTime - CurrentTime; + + // 如果还有等待时间，则等待，只有在目标时间点还未到达时才执行等待 + if (DelayTicks > 0) + { + ////此时是需要等待的，那么需要等待多久呢， 将需等待的tick数转换回毫秒 + DelayMs = (int)(DelayTicks / TicksPerMs); + //20这个数据是预估和测试的，可能跟Windows抖动误差就是20ms左右，当然可以不用这个IF()判断，直接SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime);但是会导致当前独占一个CPU核心线程 + //所以设置一个20的阈值，20ms以下的延迟使用SpinWait.SpinUntil进行自旋等待，20ms以上的延迟使用Task.Delay进行异步等待，让CPU不至于一直的独占 + if (DelayMs <= 20) + { + SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime); + } + else + { + ////使用Task.Delay进行异步等待，大部分等待时间通过这种方式完成，避免线程阻塞 + await Task.Delay(DelayMs - 20, token); + //// 使用SpinWait.SpinUntil进行精确的微调等待。自旋等待会占用CPU资源，但能提供更高的定时精度，确保在精确的时间点执行 + ////上面的Task.Delay可能会因为系统调度等原因导致实际执行时间稍晚于预期，因此在这里使用SpinWait.SpinUntil来确保在精确的时间点执行 + SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime); + } + } + + // 如果已经超过了计划时间，立即执行并重新校准 + if (Stopwatcher.ElapsedTicks >= NextExecutionTime + CycleInTicks) + { + //检测是否发生了严重延迟(超过一个周期)。如果当前时间已经超过了下一次计划时间，则说明系统负载过高或其他原因导致无法按时执行， + //此时重置NextExecutionTime为当前时间，避免连续的延迟累积 + // 严重延迟，重新校准 + NextExecutionTime = Stopwatcher.ElapsedTicks; + Console.WriteLine("定时发送延迟过大，重新校准时间"); + } + + // 使用Stopwatch记录实际的执行间隔，而不是DateTime + //Console.WriteLine($"--实际间隔(ms): {(Stopwatcher.ElapsedTicks - lastTicks) / TicksPerMs:F3}, 目标: {SendCycle}"); + //lastTicks = Stopwatcher.ElapsedTicks; + + //Console.WriteLine($"--当前时间(毫秒): {DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}"); + + + // 执行发送CAN逻辑 + { + + //防止有多个不同的消息名称/帧，每个帧单独处理发送 + var GroupMsg = CmdData.GroupBy(x => x.MsgName); + foreach (var itemMsg in GroupMsg) + { + foreach (var itemSignal in itemMsg) + { + //主机写操作，发送数据给从机 + LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue); + } + //【0】参数注意 + LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 0); + + //读取当前的指令帧数据，LDF_ExeFrameToBus执行后就可以读取本身的数据 + foreach (var item in ListLinLdfModel) + { + if (CmdData.Any(a => a.MsgName == item.MsgName)) + { + LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ReadValueStr); + item.SignalRtValueSb = ReadValueStr; + } + } + } + + + } + + } + catch (TaskCanceledException) + { + // 任务被取消，正常退出 + break; + } + catch (Exception ex) + { + Console.WriteLine($"LIN周期发送异常: {ex.Message}"); + // 短暂暂停避免异常情况下CPU占用过高 + await Task.Delay(10, token); + } + } + } + catch (Exception ex) + { + // 确保在任何情况下（正常退出、异常、取消）都会停止计时器 + Stopwatcher.Stop(); + + // 清理其他可能的资源 + Console.WriteLine("LIN周期发送任务已结束，资源已清理"); + } + finally + { + // 确保在任何情况下（正常退出、异常、取消）都会停止计时器 + Stopwatcher.Stop(); + } + + }, token, TaskCreationOptions.LongRunning, TaskScheduler.Default); + } + + + /// + /// 修改停止发送的方法 + /// + public void StopCycleSendMsg() + { + IsCycleSend = false; + CycleSendCts?.Cancel(); + } + + #endregion + + + /// /// 关闭设备 /// diff --git a/CapMachine.Wpf/Services/LinDriveService.cs b/CapMachine.Wpf/Services/LinDriveService.cs index e4c512a..971dc49 100644 --- a/CapMachine.Wpf/Services/LinDriveService.cs +++ b/CapMachine.Wpf/Services/LinDriveService.cs @@ -175,6 +175,19 @@ namespace CapMachine.Wpf.Services } } + /// + /// 更新压缩机使能数据 手动时的赋值数据 + /// + /// + public void UpdateCapEnableCmdDataByHand(bool IsEnable) + { + if (EnableLinCmdData != null) + { + EnableLinCmdData.SignalCmdValue = IsEnable ? 1 : 0; + //Console.WriteLine("压缩机使能:" + IsEnable); + } + } + /// /// 发送消息给CAN 驱动 @@ -188,7 +201,7 @@ namespace CapMachine.Wpf.Services //更新速度信息 UpdateSpeedCmdData(SpeedData); - ToomossLinDrive.SendLinMsg(CmdData); + //ToomossLinDrive.SendLinMsg(CmdData); } else { diff --git a/CapMachine.Wpf/ViewModels/LinConfigViewModel.cs b/CapMachine.Wpf/ViewModels/LinConfigViewModel.cs index 117ee8d..f0766cb 100644 --- a/CapMachine.Wpf/ViewModels/LinConfigViewModel.cs +++ b/CapMachine.Wpf/ViewModels/LinConfigViewModel.cs @@ -19,6 +19,7 @@ using System.Windows.Controls; using Microsoft.Win32; using static CapMachine.Wpf.Models.ComEnum; using ImTools; +using System.Windows.Controls.Primitives; namespace CapMachine.Wpf.ViewModels { @@ -990,6 +991,47 @@ namespace CapMachine.Wpf.ViewModels set { _HandSpeed = value; RaisePropertyChanged(); } } + private DelegateCommand _LinHandEnableCmd; + /// + /// Lin 手动 模式，是否使能，用于报文的使能和非使能的数据 + /// True代表使能，False代表禁用 + /// + public DelegateCommand LinHandEnableCmd + { + set + { + _LinHandEnableCmd = value; + } + get + { + if (_LinHandEnableCmd == null) + { + _LinHandEnableCmd = new DelegateCommand((p) => LinHandEnableCmdCall(p)); + } + return _LinHandEnableCmd; + } + } + /// + /// LIN 手动 模式，是否使能，用于报文的使能和非使能的数据 + /// True代表使能，False代表禁用 + /// + /// + private void LinHandEnableCmdCall(object Par) + { + if (Par != null && Par is ToggleButton) + { + var ControlData = Par as ToggleButton; + var Name = ControlData.ToolTip; + var Data = ControlData.IsChecked; + //ToDo cmd + //LinDriveService.LinHandEnable = (bool)Data!; + //给使能数据 + LinDriveService.UpdateCapEnableCmdDataByHand((bool)Data!); + } + + } + + #endregion diff --git a/CapMachine.Wpf/Views/LINConfigView.xaml b/CapMachine.Wpf/Views/LINConfigView.xaml index 501d207..5133c9d 100644 --- a/CapMachine.Wpf/Views/LINConfigView.xaml +++ b/CapMachine.Wpf/Views/LINConfigView.xaml @@ -579,6 +579,45 @@ + + + + + + + + + + +