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更新LIN 的驱动

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This commit is contained in:
Tyrone CT
2025-10-27 16:31:40 +08:00
parent 08d2e07f3e
commit a7f606c97c
4 changed files with 323 additions and 9 deletions
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236
CapMachine.Wpf/LinDrive/ToomossLin.cs
View File

@@ -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<HighSpeedDataService>();
//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;
}
/// <summary>
@@ -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;
/// <summary>
/// 发送报文是否OK
/// </summary>
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;
/// <summary>
/// 计算每毫秒对应的ticks数（只需计算一次）
/// </summary>
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();
/// <summary>
/// 精确周期发送CAN数据
/// </summary>
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);
}
/// <summary>
/// 修改停止发送的方法
/// </summary>
public void StopCycleSendMsg()
{
IsCycleSend = false;
CycleSendCts?.Cancel();
}
#endregion
/// <summary>
/// 关闭设备
/// </summary>

15
CapMachine.Wpf/Services/LinDriveService.cs
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@@ -175,6 +175,19 @@ namespace CapMachine.Wpf.Services
}
}
/// <summary>
/// 更新压缩机使能数据 手动时的赋值数据
/// </summary>
/// <param name="IsEnable"></param>
public void UpdateCapEnableCmdDataByHand(bool IsEnable)
{
if (EnableLinCmdData != null)
{
EnableLinCmdData.SignalCmdValue = IsEnable ? 1 : 0;
//Console.WriteLine("压缩机使能:" + IsEnable);
}
}
/// <summary>
/// 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
{

42
CapMachine.Wpf/ViewModels/LinConfigViewModel.cs
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@@ -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<object> _LinHandEnableCmd;
/// <summary>
/// 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
/// </summary>
public DelegateCommand<object> LinHandEnableCmd
{
set
{
_LinHandEnableCmd = value;
}
get
{
if (_LinHandEnableCmd == null)
{
_LinHandEnableCmd = new DelegateCommand<object>((p) => LinHandEnableCmdCall(p));
}
return _LinHandEnableCmd;
}
}
/// <summary>
/// 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
/// </summary>
/// <exception cref="NotImplementedException"></exception>
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

39
CapMachine.Wpf/Views/LINConfigView.xaml
View File

@@ -579,6 +579,45 @@
</StackPanel>
<StackPanel
Grid.Row="1"
Grid.Column="1"
Orientation="Horizontal">
<TextBlock
Margin="5,0,5,0"
VerticalAlignment="Center"
FontFamily="/Assets/Fonts/#iconfont"
FontSize="18"
Foreground="DodgerBlue"
Text="&#xe921;" />
<TextBlock
Width="auto"
Foreground="DodgerBlue"
Style="{StaticResource TextBlockStyle}"
Text="LIN使能" />
<ToggleButton
Width="70"
Margin="10,0,0,0"
Command="{Binding LinHandEnableCmd}"
CommandParameter="{Binding RelativeSource={RelativeSource Self}}"
FontSize="8"
ToolTip="使能时：触发报文中使能；禁用时：触发报文中使能=False">
<ToggleButton.Style>
<Style BasedOn="{StaticResource MaterialDesignSwitchToggleButton}" TargetType="ToggleButton">
<Style.Triggers>
<Trigger Property="IsChecked" Value="True">
<Setter Property="Content" Value="使能" />
</Trigger>
<Trigger Property="IsChecked" Value="False">
<Setter Property="Content" Value="禁用" />
</Trigger>
</Style.Triggers>
</Style>
</ToggleButton.Style>
</ToggleButton>
</StackPanel>
<StackPanel