diff --git a/CapMachine.Wpf/CanDrive/ToomossCan.cs b/CapMachine.Wpf/CanDrive/ToomossCan.cs
index 3df7b1a..113f969 100644
--- a/CapMachine.Wpf/CanDrive/ToomossCan.cs
+++ b/CapMachine.Wpf/CanDrive/ToomossCan.cs
@@ -615,6 +615,234 @@ namespace CapMachine.Wpf.CanDrive
});
}
+ #region 定时器发送报文数据
+
+ // 定时器发送：采用单次触发+校准的方式避免周期漂移，减少长时间运行误差
+ // 说明：不修改 StartPrecisionCycleSendMsg 的任何内容；此处仅实现定时器版本
+
+ // 定时器与资源
+ private System.Threading.Timer _sendTimer;
+ private readonly object _sendTimerSync = new object();
+ private volatile int _sendTimerRunningFlag = 0; // 防止回调重入
+ private int _sendTimerPeriodMs = 100; // 默认100ms
+ private readonly Stopwatch _sendTimerWatch = new Stopwatch();
+ private long _sendTimerNextTicks;
+
+ // 发送缓冲重用，减少分配
+ private USB2CAN.CAN_MSG[] _timerCanMsgBuffer;
+ private IntPtr _timerMsgPtr = IntPtr.Zero;
+
+ ///
+ /// 启动基于定时器的周期发送（毫秒）。支持典型的50/100/200ms等周期。
+ /// 使用单次触发+绝对时间校准的算法，尽量减少漂移；并使用重用缓冲降低内存分配。
+ ///
+ /// 发送周期（毫秒）
+ public void StartTimerCycleSendMsg(int periodMs)
+ {
+ if (periodMs <= 0) periodMs = 1;
+
+ lock (_sendTimerSync)
+ {
+ // 先停止旧的
+ StopTimerCycleSendMsg_NoLock();
+
+ _sendTimerPeriodMs = periodMs;
+ IsCycleSend = true;
+
+ if (_timerMsgPtr == IntPtr.Zero)
+ {
+ _timerMsgPtr = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)));
+ }
+
+ _sendTimerWatch.Restart();
+ _sendTimerNextTicks = _sendTimerWatch.ElapsedTicks + (long)(_sendTimerPeriodMs * TicksPerMs);
+
+ // 使用单次触发模式，每次回调后手动调度下一次，便于按绝对时间校准
+ _sendTimer = new System.Threading.Timer(SendTimerCallback, null, 0, System.Threading.Timeout.Infinite);
+ }
+ }
+
+ ///
+ /// 启动基于定时器的周期发送（使用 SendCycle 属性作为周期参数）
+ ///
+ public void StartTimerCycleSendMsg()
+ {
+ StartTimerCycleSendMsg((int)SendCycle);
+ }
+
+ ///
+ /// 便捷方法：启动50ms周期发送
+ ///
+ public void StartTimerCycleSendMsg50ms() => StartTimerCycleSendMsg(50);
+
+ ///
+ /// 便捷方法：启动100ms周期发送
+ ///
+ public void StartTimerCycleSendMsg100ms() => StartTimerCycleSendMsg(100);
+
+ ///
+ /// 便捷方法：启动200ms周期发送
+ ///
+ public void StartTimerCycleSendMsg200ms() => StartTimerCycleSendMsg(200);
+
+ ///
+ /// 停止定时器周期发送并释放资源
+ ///
+ public void StopTimerCycleSendMsg()
+ {
+ lock (_sendTimerSync)
+ {
+ IsCycleSend = false;
+ StopTimerCycleSendMsg_NoLock();
+ }
+ }
+
+ private void StopTimerCycleSendMsg_NoLock()
+ {
+ var t = _sendTimer;
+ _sendTimer = null;
+ if (t != null)
+ {
+ try { t.Dispose(); } catch { }
+ }
+
+ // 等待在途回调结束，避免释放资源时发生竞争
+ System.Threading.SpinWait.SpinUntil(() => System.Threading.Interlocked.CompareExchange(ref _sendTimerRunningFlag, 0, 0) == 0, 200);
+
+ _sendTimerWatch.Stop();
+
+ if (_timerMsgPtr != IntPtr.Zero)
+ {
+ try { Marshal.FreeHGlobal(_timerMsgPtr); } catch { } finally { _timerMsgPtr = IntPtr.Zero; }
+ }
+ _timerCanMsgBuffer = null; // 让GC回收
+ IsSendOk = false;
+ }
+
+ // 定时器回调（单次触发）；回调结束时会按绝对时间校准下一次触发
+ private void SendTimerCallback(object state)
+ {
+ try
+ {
+ if (!IsCycleSend) return;
+
+ // 防止回调重入（当某次发送耗时超过周期时避免并发）
+ if (System.Threading.Interlocked.Exchange(ref _sendTimerRunningFlag, 1) == 1)
+ {
+ ScheduleNextTick();
+ return;
+ }
+
+ var localCmd = CmdData; // 快照引用，避免枚举时被替换
+ if (localCmd == null || localCmd.Count == 0)
+ {
+ IsSendOk = false;
+ return;
+ }
+
+ // 依据消息名进行分组（与 StartPrecisionCycleSendMsg 的发送逻辑一致）
+ IEnumerable> groupMsg;
+ try
+ {
+ groupMsg = localCmd.GroupBy(x => x.MsgName).ToList(); // ToList 避免重复枚举
+ }
+ catch
+ {
+ // 罕见并发异常，跳过本次
+ IsSendOk = false;
+ return;
+ }
+
+ int msgCount = groupMsg.Count();
+ if (msgCount <= 0)
+ {
+ IsSendOk = false;
+ return;
+ }
+
+ // 确保发送缓冲容量，尽量复用，减少频繁分配
+ if (_timerCanMsgBuffer == null || _timerCanMsgBuffer.Length != msgCount)
+ {
+ _timerCanMsgBuffer = new USB2CAN.CAN_MSG[msgCount];
+ for (int i = 0; i < msgCount; i++)
+ {
+ _timerCanMsgBuffer[i] = new USB2CAN.CAN_MSG();
+ _timerCanMsgBuffer[i].Data = new byte[64];
+ }
+ }
+
+ int index = 0;
+ foreach (var itemMsg in groupMsg)
+ {
+ foreach (var itemSignal in itemMsg)
+ {
+ // 与 StartPrecisionCycleSendMsg 保持一致的调用形态，避免与其他线程共享缓存的并发问题
+ CAN_DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
+ }
+
+ // 将信号同步到 CAN 帧
+ CAN_DBCParser.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(itemMsg.Key), _timerMsgPtr);
+ _timerCanMsgBuffer[index] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure(_timerMsgPtr, typeof(USB2CAN.CAN_MSG));
+ index++;
+ }
+
+ // 发送 CAN 数据
+ int sendedNum = USB2CAN.CAN_SendMsg(DevHandle, WriteCANIndex, _timerCanMsgBuffer, (uint)_timerCanMsgBuffer.Length);
+ IsSendOk = sendedNum >= 0;
+ }
+ catch (Exception ex)
+ {
+ IsSendOk = false;
+ LoggerService?.Info($"定时器周期发送CAN数据异常: {ex.Message}");
+ }
+ finally
+ {
+ // 标记回调完成并调度下一次
+ System.Threading.Interlocked.Exchange(ref _sendTimerRunningFlag, 0);
+ ScheduleNextTick();
+ }
+ }
+
+ // 计算并调度下一次触发时间（基于绝对时间进行校准，减少漂移）
+ private void ScheduleNextTick()
+ {
+ try
+ {
+ if (!IsCycleSend) return;
+ var timer = _sendTimer;
+ if (timer == null) return;
+
+ long now = _sendTimerWatch.ElapsedTicks;
+ long periodTicks = (long)(_sendTimerPeriodMs * TicksPerMs);
+
+ if (_sendTimerNextTicks == 0)
+ {
+ _sendTimerNextTicks = now + periodTicks;
+ }
+ else if (now >= _sendTimerNextTicks)
+ {
+ // 若已错过计划时间，跳至最近的未来时刻，避免累计漂移
+ long missed = (now - _sendTimerNextTicks) / periodTicks + 1;
+ _sendTimerNextTicks += missed * periodTicks;
+ }
+
+ long dueTicks = _sendTimerNextTicks - now;
+ int dueMs = dueTicks <= 0 ? 0 : (int)(dueTicks / TicksPerMs);
+
+ timer.Change(dueMs, System.Threading.Timeout.Infinite);
+ }
+ catch (ObjectDisposedException)
+ {
+ // 计时器已被释放，忽略
+ }
+ catch (Exception ex)
+ {
+ LoggerService?.Info($"定时器调度异常: {ex.Message}");
+ }
+ }
+
+ #endregion
+
#region 精确发送报文数据
@@ -1256,7 +1484,7 @@ namespace CapMachine.Wpf.CanDrive
{
IsSendOk = true;
//Console.WriteLine($"Update CAN Schedule Success -- SchTabIndex：{(byte)0} -- MsgIndex：{(byte)(0)} ");
-
+ monitorValueLog.UpdateValue3(ret);
}
else
{
@@ -1480,6 +1708,9 @@ namespace CapMachine.Wpf.CanDrive
StopSchedule();
}
+ // 确保定时器发送被停止并释放资源
+ try { StopTimerCycleSendMsg(); } catch { }
+
// 等待接收任务结束后释放非托管缓冲区，避免并发释放
try
{