diff --git a/CapMachine.Wpf/LinDrive/LDFParser.cs b/CapMachine.Wpf/LinDrive/LDFParser.cs
index 2f53829..06c5912 100644
--- a/CapMachine.Wpf/LinDrive/LDFParser.cs
+++ b/CapMachine.Wpf/LinDrive/LDFParser.cs
@@ -1,4 +1,4 @@
-using System.Runtime.InteropServices;
+using System.Runtime.InteropServices;
using System.Text;
namespace CapMachine.Wpf.LinDrive
@@ -75,6 +75,8 @@ namespace CapMachine.Wpf.LinDrive
[DllImport("USB2XXX.dll")]
public static extern Int32 LDF_GetRawMsg(UInt64 LDFHandle, IntPtr pLINMsg, int BufferSize);
[DllImport("USB2XXX.dll")]
+ public static extern Int32 LDF_SyncMsgToValue(UInt64 LDFHandle, USB2LIN_EX.LIN_EX_MSG[] pLINMsg, int MsgLen);
+ [DllImport("USB2XXX.dll")]
public static extern Int32 LDF_StopSchTable(UInt64 LDFHandle);
[DllImport("USB2XXX.dll")]
public static extern Int32 LDF_Release(UInt64 LDFHandle);
diff --git a/CapMachine.Wpf/LinDrive/ToomossLin.cs b/CapMachine.Wpf/LinDrive/ToomossLin.cs
index 398cf2e..1fbc244 100644
--- a/CapMachine.Wpf/LinDrive/ToomossLin.cs
+++ b/CapMachine.Wpf/LinDrive/ToomossLin.cs
@@ -1,4 +1,4 @@
-using CapMachine.Model.CANLIN;
+using CapMachine.Model.CANLIN;
using CapMachine.Wpf.CanDrive;
using CapMachine.Wpf.Dtos;
using CapMachine.Wpf.Services;
@@ -28,16 +28,19 @@ namespace CapMachine.Wpf.LinDrive
/// 设备Handles集合
///
public Int32[] DevHandles { get; set; } = new Int32[20];
+
///
/// 设备Handles
/// 设备句柄，本质为设备序号的低4字节，可以通过调用USB_ScanDevice函数获得
///
public Int32 DevHandle { get; set; } = 0;
+
///
/// Lin的Index
/// LIN通道索引号，填0或者1，若只有一个通道LIN，则填0.
///
public Byte LINIndex { get; set; } = 0;
+
///
/// Lin的连接State
///
@@ -161,6 +164,17 @@ namespace CapMachine.Wpf.LinDrive
///
public UInt64 LDFHandle { get; set; }
+ ///
+ /// LIN波特率（从LDF读取）
+ ///
+ public int LINBaudRate { get; private set; }
+
+ ///
+ /// 当前正在适配器中运行的调度表名称（用于增量刷新）
+ /// 同一个时刻只能运行一个调度表
+ ///
+ public string ActiveSchName { get; private set; }
+
///
/// LDF消息集合
/// 包括读取的实时值和数据
@@ -249,7 +263,23 @@ namespace CapMachine.Wpf.LinDrive
//读取LDF文件信息
Console.WriteLine("ProtocolVersion = {0}", LDFParser.LDF_GetProtocolVersion(LDFHandle));
- Console.WriteLine("LINSpeed = {0}", LDFParser.LDF_GetLINSpeed(LDFHandle));
+ LINBaudRate = LDFParser.LDF_GetLINSpeed(LDFHandle);
+ Console.WriteLine("LINSpeed = {0}", LINBaudRate);
+
+ // 使用LDF中的波特率初始化LIN通道（主机模式）
+ var initRet = USB2LIN_EX.LIN_EX_Init(DevHandle, LINIndex, LINBaudRate, USB2LIN_EX.LIN_EX_MASTER);
+ if (initRet < USB2LIN_EX.LIN_EX_SUCCESS)
+ {
+ Console.WriteLine("LIN通道初始化失败!");
+ LdfParserState = false;
+ return;
+ }
+ else
+ {
+ Console.WriteLine("LIN通道初始化成功");
+ // 可选：开启适配器供电以驱动从节点（若硬件支持）
+ try { USB2LIN_EX.LIN_EX_CtrlPowerOut(DevHandle, LINIndex, 1); } catch { }
+ }
//读取主机名称
StringBuilder MasterName = new StringBuilder(64);
@@ -675,7 +705,6 @@ namespace CapMachine.Wpf.LinDrive
}
}
-
///
/// 定时扫描更新数据 扫描Task
///
@@ -683,8 +712,9 @@ namespace CapMachine.Wpf.LinDrive
///
/// 定时更新时间
+ /// 定时更新调度表的周期
///
- private int UpdateCycle { get; set; } = 500;
+ private int UpdateCycle { get; set; } = 5000;
///
/// 调度表数量
@@ -721,12 +751,13 @@ namespace CapMachine.Wpf.LinDrive
});
}
}
-
return LINScheduleConfigs;
}
///
/// 获取调度的帧的信号个数
+ /// 消息/报文的个数
+ /// 一个调度表包含多个帧/消息/报文
///
///
public int GetSchFrameCount(string SchName)
@@ -755,7 +786,6 @@ namespace CapMachine.Wpf.LinDrive
return SchCount;
}
-
///
/// 获取调度表数量
///
@@ -771,55 +801,85 @@ namespace CapMachine.Wpf.LinDrive
///
/// 开始调度表执行
+ /// 同一个时刻只能运行一个调度表，如果有多个调度表，只能选择一个运行，
+ /// ********** 如果控制指令分布在不同的调度表中，需要更改LDF文件的配置，把控制的报文放在同一个调度表中 **********
///
public void StartSchedule()
{
- if (CmdData.Count() == 0) return;
-
- //设置调度表发送次数
- var SetSchRunTimeRet = USB2LIN_EX.LIN_EX_MasterSetSchRunTimes(DevHandle, LINIndex, 0xFFFFFFFF);//次数为0xFFFFFFFF表示一直发送数据
- if (SetSchRunTimeRet < USB2LIN_EX.LIN_EX_SUCCESS)
- {
- Console.WriteLine("Set Master Run Times failed!");
+ if (LDFHandle == 0)
return;
+
+ // 1) 先将当前指令值写入对应帧（可选，用于初始化）
+ if (CmdData != null && CmdData.Count > 0)
+ {
+ var groupMsg = CmdData.GroupBy(x => x.MsgName);
+ foreach (var itemMsg in groupMsg)
+ {
+ foreach (var itemSignal in itemMsg)
+ {
+ //测试的速度数据
+ //if (!string.IsNullOrEmpty(itemSignal.ConfigName) && itemSignal.ConfigName.Contains("速"))
+ //{
+ // itemSignal.SignalCmdValue = 1000;
+ //}
+ LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
+ }
+ }
+ }
+
+ // 2) 将要执行的调度表烧入适配器并自动运行（若不指定，则启动全部调度表）
+ // 优先使用 ListLINScheduleConfig 指定的调度表名；否则默认取第一个
+ string selectedSch = string.Empty;
+ if (ListLINScheduleConfig != null && ListLINScheduleConfig.Count > 0)
+ {
+ selectedSch = ListLINScheduleConfig.FirstOrDefault(a => a.IsActive && !string.IsNullOrEmpty(a.SchTabName))?.SchTabName
+ ?? ListLINScheduleConfig.FirstOrDefault(a => !string.IsNullOrEmpty(a.SchTabName))?.SchTabName;
+ }
+
+ if (string.IsNullOrEmpty(selectedSch))
+ {
+ // 回退为索引0的调度表
+ if (GetSchCount() > 0)
+ {
+ selectedSch = GetSchName(0);
+ LoggerService?.Info($"未指定调度表，默认启动调度表[{selectedSch}]，注意当前调度表可能需要的调度表");
+ }
+ }
+
+ //当前激活的调度表
+ ActiveSchName = selectedSch;
+ var ret = LDFParser.LDF_SetSchToTable(LDFHandle, new StringBuilder(ActiveSchName), 0);
+ if (ret < 0)
+ {
+ LoggerService?.Info($"启动调度表[{ActiveSchName}]失败, 返回:{ret}");
}
else
{
- Console.WriteLine("Set Master Run Times success!");
+ Console.WriteLine($"调度表[{ActiveSchName}]已启动(自动执行)");
+ LoggerService?.Info($"调度表[{ActiveSchName}]已启动(自动执行)");
}
- //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)
+ //SchCount = GetSchCount();
+ //for (int i = 0; i < SchCount; i++)
+ //{
+ // var schName = GetSchName(i);
+ // var ret = LDFParser.LDF_SetSchToTable(LDFHandle, new StringBuilder(schName), 0);
+ // if (ret < 0)
+ // {
+ // LoggerService?.Info($"启动调度表[{schName}]失败, 返回:{ret}");
+ // }
+ // else
+ // {
+ // Console.WriteLine($"调度表[{schName}]已启动(自动执行)");
+ // }
+ //}
+
+ // 3) 置位调度更新开关，启动参数更新任务
+ //SchEnable = true;
+ if (CycleUpdateCmdTask == null || CycleUpdateCmdTask.IsCompleted)
{
- foreach (var itemSignal in itemMsg)
- {
- if (itemSignal.ConfigName.Contains("速"))
- {
- itemSignal.SignalCmdValue = Random.NextDouble() * 1000;
- }
- //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;
- }
- }
-
- LDFParser.LDF_SetSchToTable(LDFHandle, new StringBuilder(itemMsg.Key), 1);
+ StartCycleUpdateCmd();
}
-
-
-
}
@@ -847,7 +907,7 @@ namespace CapMachine.Wpf.LinDrive
{
if (itemSignal.ConfigName.Contains("速"))
{
- itemSignal.SignalCmdValue = Random.NextDouble() * 1000;
+ itemSignal.SignalCmdValue = 1250+ Random.NextDouble()*1000;
}
//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);
@@ -866,8 +926,17 @@ namespace CapMachine.Wpf.LinDrive
}
}
- LDFParser.LDF_ExeSchToBus(LDFHandle, new StringBuilder(itemMsg.Key), 1);
- LDFParser.LDF_SetSchToTable(LDFHandle, new StringBuilder(itemMsg.Key), 1);
+ // 调度表已在适配器中自动执行，这里仅更新信号值即可
+ }
+
+ // 将更新后的信号值下发到适配器的自动调度表（刷新离线表的数据）
+ if (!string.IsNullOrEmpty(ActiveSchName))
+ {
+ var retPush = LDFParser.LDF_SetSchToTable(LDFHandle, new StringBuilder(ActiveSchName), 0);
+ if (retPush < 0)
+ {
+ LoggerService?.Info($"刷新调度表[{ActiveSchName}]失败, 返回:{retPush}");
+ }
}
IsSendOk = true;
@@ -883,29 +952,26 @@ namespace CapMachine.Wpf.LinDrive
});
}
-
-
-
- public void LinTest()
+ ///
+ /// 停止调度表自动执行
+ ///
+ public void StopSchedule()
{
- GetSchCount();
-
- for (int i = 0; i < SchCount; i++)
+ try
{
- StringBuilder pSchName = new StringBuilder();
- var Ret = LDFParser.LDF_GetSchName(LDFHandle, i, pSchName);
- if (Ret <= 0)
+ IsCycleSend = false;
+ if (LDFHandle != 0)
{
- Console.WriteLine($"{pSchName.ToString()}");
- }
- else
- {
- Console.WriteLine("执行失败");
+ LDFParser.LDF_StopSchTable(LDFHandle);
}
}
-
+ catch (Exception ex)
+ {
+ LoggerService?.Info($"停止调度表异常: {ex.Message}");
+ }
}
+
#endregion
///
@@ -914,6 +980,17 @@ namespace CapMachine.Wpf.LinDrive
public void CloseDevice()
{
//关闭设备
+ try
+ {
+ // 停止调度并释放LDF资源
+ if (LDFHandle != 0)
+ {
+ try { LDFParser.LDF_StopSchTable(LDFHandle); } catch { }
+ try { LDFParser.LDF_Release(LDFHandle); } catch { }
+ LDFHandle = 0;
+ }
+ }
+ catch { }
USB_DEVICE.USB_CloseDevice(DevHandle);
OpenState = false;
LdfParserState = false;
diff --git a/CapMachine.Wpf/Services/LinDriveService.cs b/CapMachine.Wpf/Services/LinDriveService.cs
index 325c894..b61cfab 100644
--- a/CapMachine.Wpf/Services/LinDriveService.cs
+++ b/CapMachine.Wpf/Services/LinDriveService.cs
@@ -358,6 +358,7 @@ namespace CapMachine.Wpf.Services
{
if (ToomossLinDrive.OpenState)
{
+ //来回取反设置
if (ToomossLinDrive.IsCycleSend == false)
{
if (CmdData.Count > 0)
@@ -388,10 +389,11 @@ namespace CapMachine.Wpf.Services
ToomossLinDrive.ListLINScheduleConfig = ListLINScheduleConfig!;
ToomossLinDrive.StartSchedule();
- ToomossLinDrive.StartCycleUpdateCmd();
+ //ToomossLinDrive.StartCycleUpdateCmd();
}
else
{
+ //使用软件调度发送数据
ToomossLinDrive.StartPrecisionCycleSendMsg();
//ToomossCanDrive.StartCycleSendMsg();
}
@@ -407,6 +409,11 @@ namespace CapMachine.Wpf.Services
else
{
ToomossLinDrive.IsCycleSend = false;
+ //如果是调度表的话，需要关闭调度表
+ if (ToomossLinDrive.SchEnable)
+ {
+ ToomossLinDrive.StopSchedule();
+ }
}
}
diff --git a/CapMachine.Wpf/ViewModels/LinConfigViewModel.cs b/CapMachine.Wpf/ViewModels/LinConfigViewModel.cs
index bab14d8..e01d0dd 100644
--- a/CapMachine.Wpf/ViewModels/LinConfigViewModel.cs
+++ b/CapMachine.Wpf/ViewModels/LinConfigViewModel.cs
@@ -1028,6 +1028,7 @@ namespace CapMachine.Wpf.ViewModels
.Set(a => a.LdfPath, SelectedLINConfigExdDto.LdfPath)
.Set(a => a.Cycle, SelectedLINConfigExdDto.Cycle)
.Set(a => a.BaudRate, SelectedLINConfigExdDto.BaudRate)
+ .Set(a => a.SchEnable, SelectedLINConfigExdDto.SchEnable)
.Where(a => a.Id == SelectedLINConfigExdDto.Id)
.ExecuteUpdated();
}