ClaudeCode 更改2

CapMachine.Wpf/CanDrive/ToomossCan.cs

@@ -711,8 +711,11 @@ namespace CapMachine.Wpf.CanDrive
                                 CanNum = USB2CAN.CAN_GetMsgWithSize(DevHandle, ReadCANIndex, msgPtRead, RecvMsgBufferCapacity);
                                 //int CanNum = USB2CAN.CAN_GetMsgWithSize(DevHandle, 1, msgPtRead, RecvMsgBufferCapacity);//测试用，CAN卡 CAN1和CAN2 短接时测试用
                                 //monitorValueLog.UpdateValue4(CanNum);
+                                int SyncCANMsgToValue = CAN_DBCParser.DBC_PARSER_OK;
                                 if (CanNum > 0)
                                 {
+                                    //仅当确实收到了报文，才把缓冲区交给 DBC 解析器，避免负数 / 0 传给原生函数造成越界读后堆腐败
+                                    SyncCANMsgToValue = CAN_DBCParser.DBC_SyncCANMsgToValue(DBCHandle, msgPtRead, CanNum);
                                     IsReviceOk = true;
                                     if (EnableConsoleDebugLog) Console.WriteLine("Read CanMsgNum = {0}", CanNum);
                                     for (int i = 0; i < CanNum; i++)
@@ -752,9 +755,10 @@ namespace CapMachine.Wpf.CanDrive
                                     IsReviceOk = false;
                                     if (EnableConsoleDebugLog) Console.WriteLine("Get CAN data error!");
                                 }
-                                // 将CAN消息数据填充到信号里面，用DBC解析数据（仍在锁内，避免指针被并发释放）
+                                //【已修复】原来此处无条件调用 DBC_SyncCANMsgToValue(DBCHandle, msgPtRead, CanNum)
-                                var SyncCANMsgToValue = CAN_DBCParser.DBC_SyncCANMsgToValue(DBCHandle, msgPtRead, CanNum);
+                                //当 CanNum == 0（无报文）或 CanNum < 0（读失败）时把无效 MsgLen 传给原生 DBC 解析器，
-                                //monitorValueLog.UpdateValue5(SyncCANMsgToValue);
+                                //会越界读 msgPtRead 缓冲后的内存导致 GC 堆腐败，运行一段时间后随机位置 AV(0xC0000005)。
+                                //现已挪到 CanNum > 0 分支内（参考 HASCO_Simple25001 的 StartCycleReviceCanMsg1 写法）。
                             }
 
                             //循环获取消息的数据
@@ -962,30 +966,10 @@ namespace CapMachine.Wpf.CanDrive
 
                             // 执行发送CAN逻辑
                             {
-                                //再次校验前置条件，运行中若设备/DBC被关闭则直接跳过本轮（避免传 0 句柄给原生导致 AV）
-                                if (!OpenState || DBCHandle == 0 || CmdData == null || CmdData.Count == 0)
-                                {
-                                    await Task.Delay(10, token);
-                                    continue;
-                                }
 
-                                //本轮要发送的指令快照（避免遍历时 UI 线程并发修改）
+                                var GroupMsg = CmdData.GroupBy(x => x.MsgName);
-                                List<CanCmdData> roundSnapshot;
+                                USB2CAN.CAN_MSG[] CanMsg = new USB2CAN.CAN_MSG[GroupMsg.Count()];
-                                lock (_canSendLock)
+                                for (int i = 0; i < GroupMsg.Count(); i++)
-                                {
-                                    roundSnapshot = CmdData
-                                        .Where(x => !string.IsNullOrWhiteSpace(x.MsgName) && !string.IsNullOrWhiteSpace(x.SignalName))
-                                        .ToList();
-                                }
-                                if (roundSnapshot.Count == 0)
-                                {
-                                    await Task.Delay(10, token);
-                                    continue;
-                                }
-
-                                var GroupMsg = roundSnapshot.GroupBy(x => x.MsgName).ToList();
-                                USB2CAN.CAN_MSG[] CanMsg = new USB2CAN.CAN_MSG[GroupMsg.Count];
-                                for (int i = 0; i < GroupMsg.Count; i++)
                                 {
                                     CanMsg[i] = new USB2CAN.CAN_MSG();
                                     CanMsg[i].Data = new Byte[64];
@@ -993,33 +977,38 @@ namespace CapMachine.Wpf.CanDrive
 
                                 // 发送构帧临时缓冲：每轮申请/释放，避免与其他线程共享同一指针导致并发问题
                                 IntPtr msgPtSend = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)));
-                                try
+                                int Index = 0;
+                                //循环给MSG赋值数据
+                                foreach (var itemMsg in GroupMsg)
                                 {
-                                    int Index = 0;
+                                    foreach (var itemSignal in itemMsg)
-                                    //循环给MSG赋值数据；DBC 解析器在 .Net 侧不是线程安全的，必须串行化
-                                    lock (_dbcParserLock)
                                     {
-                                        foreach (var itemMsg in GroupMsg)
+                                        CAN_DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
-                                        {
-                                            foreach (var itemSignal in itemMsg)
-                                            {
-                                                CAN_DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
-                                            }
-                                            CAN_DBCParser.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
-                                            CanMsg[Index] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CAN.CAN_MSG));
-                                            Index++;
-                                        }
                                     }
+                                    CAN_DBCParser.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
+                                    CanMsg[Index] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CAN.CAN_MSG));
+                                    Index++;
                                 }
-                                finally
+
-                                {
+                                //通过DBC写入数据后生成CanMsg
-                                    // 释放非托管缓冲区（务必释放，否则长时间运行会造成内存泄漏）
+                                //将信号值填入CAN消息里面
-                                    Marshal.FreeHGlobal(msgPtSend);
+
-                                }
+                                // 释放非托管缓冲区（务必释放，否则长时间运行会造成内存泄漏）
+                                Marshal.FreeHGlobal(msgPtSend);
 
                                 //发送CAN数据
                                 int SendedNum = USB2CAN.CAN_SendMsg(DevHandle, WriteCANIndex, CanMsg, (uint)CanMsg.Length);
-                                IsSendOk = SendedNum >= 0;
+                                if (SendedNum >= 0)
+                                {
+                                    //Console.WriteLine("Success send frames:{0}", SendedNum);
+                                    IsSendOk = true;
+                                }
+                                else
+                                {
+                                    //Console.WriteLine("Send CAN data failed! {0}", SendedNum);
+                                    IsSendOk = false;
+                                }
+
                             }
 
 

CapMachine.Wpf/CapMachine.Wpf.csproj

@@ -7,7 +7,6 @@
     <ImplicitUsings>enable</ImplicitUsings>
     <UseWPF>true</UseWPF>
     <PlatformTarget>AnyCPU</PlatformTarget>
-    <LegacyCorruptedStateExceptionsPolicy>true</LegacyCorruptedStateExceptionsPolicy>
   </PropertyGroup>
 
   <ItemGroup>

CapMachine.Wpf/Services/CanDriveService.cs

@@ -214,52 +214,27 @@ namespace CapMachine.Wpf.Services
         /// </summary>
         public void CycleSendMsg()
         {
-            if (!ToomossCanDrive.OpenState)
+            if (ToomossCanDrive.OpenState)
             {
-                System.Windows.MessageBox.Show("CAN未打开，请先连接CAN", "提示", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Hand);
+                if (ToomossCanDrive.IsCycleSend == false)
-                return;
+                {
-            }
+                    if (CmdData.Count > 0)
-
-            //停止已在运行的循环
-            if (ToomossCanDrive.IsCycleSend == true)
-            {
-                ToomossCanDrive.StopCycleSendMsg();
-                return;
-            }
-
-            //必要的前置校验：DBC 必须已解析成功，否则原生互操作直接 AccessViolation 闪退
-            if (!ToomossCanDrive.DbcParserState || ToomossCanDrive.DBCHandle == 0)
-            {
-                System.Windows.MessageBox.Show("DBC尚未解析成功，无法循环发送", "提示", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Hand);
-                return;
-            }
-
-            //过滤掉 MsgName / SignalName 为空的行（空名传给原生 DBC 解析器是 AV 常见诱因）
-            List<CanCmdData> cmdDataSnapshot;
-            lock (_cmdDataLock)
-            {
-                cmdDataSnapshot = CmdData
-                    .Where(x => !string.IsNullOrWhiteSpace(x.MsgName) && !string.IsNullOrWhiteSpace(x.SignalName))
-                    .Select(x => new CanCmdData
                     {
-                        ConfigName = x.ConfigName,
+                        ToomossCanDrive.IsCycleSend = true;
-                        MsgName = x.MsgName,
+                        ToomossCanDrive.CmdData = CmdData;
-                        SignalName = x.SignalName,
+                        ToomossCanDrive.StartPrecisionCycleSendMsg();
-                        SignalCmdValue = x.SignalCmdValue
+                    }
-                    })
+                    else
-                    .ToList();
+                    {
-            }
+                        System.Windows.MessageBox.Show("未发现配置的数据内容", "提示", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Hand);
+                    }
+                }
+                else
+                {
+                    ToomossCanDrive.StopCycleSendMsg();
+                }
 
-            if (cmdDataSnapshot.Count == 0)
-            {
-                System.Windows.MessageBox.Show("未发现可发送的数据（请检查写入配置的【消息名称】/【信号名称】是否为空）", "提示", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Hand);
-                return;
             }
-
-            ToomossCanDrive.IsCycleSend = true;
-            //传入的是已经过滤的快照副本，避免与 UI 线程共享同一引用
-            ToomossCanDrive.CmdData = cmdDataSnapshot;
-            ToomossCanDrive.StartPrecisionCycleSendMsg();
         }