LIN 调度表配置初版，初步可以运行

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);

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
         /// </summary>
         public Int32[] DevHandles { get; set; } = new Int32[20];
+
         /// <summary>
         /// 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
         /// </summary>
         public Int32 DevHandle { get; set; } = 0;
+
         /// <summary>
         /// 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.
         /// </summary>
         public Byte LINIndex { get; set; } = 0;
+
         /// <summary>
         /// Lin的连接State
         /// </summary>
@@ -161,6 +164,17 @@ namespace CapMachine.Wpf.LinDrive
         /// </summary>
         public UInt64 LDFHandle { get; set; }
 
+        /// <summary>
+        /// LIN波特率（从LDF读取）
+        /// </summary>
+        public int LINBaudRate { get; private set; }
+
+        /// <summary>
+        /// 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
+        /// </summary>
+        public string ActiveSchName { get; private set; }
+
         /// <summary>
         /// 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
             }
         }
 
-
         /// <summary>
         /// 定时扫描更新数据 扫描Task
         /// </summary>
@@ -683,8 +712,9 @@ namespace CapMachine.Wpf.LinDrive
 
         /// <summary>
         /// 定时更新时间
+        /// 定时更新调度表的周期
         /// </summary>
-        private int UpdateCycle { get; set; } = 500;
+        private int UpdateCycle { get; set; } = 5000;
 
         /// <summary>
         /// 调度表数量
@@ -721,12 +751,13 @@ namespace CapMachine.Wpf.LinDrive
                     });
                 }
             }
-
             return LINScheduleConfigs;
         }
 
         /// <summary>
         /// 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
         /// </summary>
         /// <returns></returns>
         public int GetSchFrameCount(string SchName)
@@ -755,7 +786,6 @@ namespace CapMachine.Wpf.LinDrive
             return SchCount;
         }
 
-
         /// <summary>
         /// 获取调度表数量
         /// </summary>
@@ -771,55 +801,85 @@ namespace CapMachine.Wpf.LinDrive
 
         /// <summary>
         /// 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 **********
         /// </summary>
         public void StartSchedule()
         {
-            if (CmdData.Count() == 0) return;
+            if (LDFHandle == 0)
-
-            //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!");
                 return;
-            }
-            else
-            {
-                Console.WriteLine("Set Master Run Times success!");
-            }
 
-            //防止有多个不同的消息名称/帧，每个帧单独处理发送
+            // 1) 先将当前指令值写入对应帧（可选，用于初始化）
-            var GroupMsg = CmdData.GroupBy(x => x.MsgName);
+            if (CmdData != null && CmdData.Count > 0)
-            foreach (var itemMsg in GroupMsg)
+            {
+                var groupMsg = CmdData.GroupBy(x => x.MsgName);
+                foreach (var itemMsg in groupMsg)
                 {
                     foreach (var itemSignal in itemMsg)
                     {
-                    if (itemSignal.ConfigName.Contains("速"))
+                        //测试的速度数据
-                    {
+                        //if (!string.IsNullOrEmpty(itemSignal.ConfigName) && itemSignal.ConfigName.Contains("速"))
-                        itemSignal.SignalCmdValue = Random.NextDouble() * 1000;
+                        //{
-                    }
+                        //    itemSignal.SignalCmdValue = 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
+            // 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）
-                //LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 0);
+            // 优先使用 ListLINScheduleConfig 指定的调度表名；否则默认取第一个
-
+            string selectedSch = string.Empty;
-                //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
+            if (ListLINScheduleConfig != null && ListLINScheduleConfig.Count > 0)
-                foreach (var item in ListLinLdfModel)
             {
-                    if (CmdData.Any(a => a.MsgName == item.MsgName))
+                selectedSch = ListLINScheduleConfig.FirstOrDefault(a => a.IsActive && !string.IsNullOrEmpty(a.SchTabName))?.SchTabName
+                              ?? ListLINScheduleConfig.FirstOrDefault(a => !string.IsNullOrEmpty(a.SchTabName))?.SchTabName;
+            }
+
+            if (string.IsNullOrEmpty(selectedSch))
             {
-                        LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ReadValueStr);
+                // 回退为索引0的调度表
-                        item.SignalRtValueSb = ReadValueStr;
+                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");
                 }
             }
 
-                LDFParser.LDF_SetSchToTable(LDFHandle, new StringBuilder(itemMsg.Key), 1);
+            //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($"启动调度表[{ActiveSchName}]失败, 返回:{ret}");
+            }
+            else
+            {
+                Console.WriteLine($"调度表[{ActiveSchName}]已启动(自动执行)");
+                LoggerService?.Info($"调度表[{ActiveSchName}]已启动(自动执行)");
             }
 
+            //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)
+            {
+                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);
+                            // 调度表已在适配器中自动执行，这里仅更新信号值即可
-                            LDFParser.LDF_SetSchToTable(LDFHandle, new StringBuilder(itemMsg.Key), 1);
+                        }
+
+                        // 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;
@@ -883,28 +952,25 @@ namespace CapMachine.Wpf.LinDrive
             });
         }
 
-
+        /// <summary>
-
+        /// 停止调度表自动执行
-
+        /// </summary>
-        public void LinTest()
+        public void StopSchedule()
         {
-            GetSchCount();
+            try
-
-            for (int i = 0; i < SchCount; i++)
             {
-                StringBuilder pSchName = new StringBuilder();
+                IsCycleSend = false;
-                var Ret = LDFParser.LDF_GetSchName(LDFHandle, i, pSchName);
+                if (LDFHandle != 0)
-                if (Ret <= 0)
                 {
-                    Console.WriteLine($"{pSchName.ToString()}");
+                    LDFParser.LDF_StopSchTable(LDFHandle);
                 }
-                else
+            }
+            catch (Exception ex)
             {
-                    Console.WriteLine("执行失败");
+                LoggerService?.Info($"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;

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();
+                    }
                 }
 
             }

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();
                         }