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LIN 调度表配置初版，初步可以运行

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Tyrone CT
2025-10-14 20:31:40 +08:00
parent 5849d0cb5d
commit db6acc2741
4 changed files with 152 additions and 65 deletions
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4
CapMachine.Wpf/LinDrive/LDFParser.cs
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@@ -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);

183
CapMachine.Wpf/LinDrive/ToomossLin.cs
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@@ -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;
//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;
}
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
var GroupMsg = CmdData.GroupBy(x => x.MsgName);
foreach (var itemMsg in GroupMsg)
// 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)
{
if (itemSignal.ConfigName.Contains("速"))
{
itemSignal.SignalCmdValue = Random.NextDouble() * 1000;
}
//主机写操作，发送数据给从机
//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);
}
}
}
////【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)
// 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)
{
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);
item.SignalRtValueSb = ReadValueStr;
// 回退为索引0的调度表
if (GetSchCount() > 0)
{
selectedSch = GetSchName(0);
LoggerService?.Info($"未指定调度表，默认启动调度表[{selectedSch}]，注意当前调度表可能需要的调度表");
}
}
LDFParser.LDF_SetSchToTable(LDFHandle, new StringBuilder(itemMsg.Key), 1);
//当前激活的调度表
ActiveSchName = selectedSch;
var ret = LDFParser.LDF_SetSchToTable(LDFHandle, new StringBuilder(ActiveSchName), 0);
if (ret < 0)
{
LoggerService?.Info($"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);
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($"刷新调度表[{ActiveSchName}]失败, 返回:{retPush}");
}
}
IsSendOk = true;
@@ -883,28 +952,25 @@ namespace CapMachine.Wpf.LinDrive
});
}
public void LinTest()
/// <summary>
/// 停止调度表自动执行
/// </summary>
public void StopSchedule()
{
GetSchCount();
for (int i = 0; i < SchCount; i++)
try
{
StringBuilder pSchName = new StringBuilder();
var Ret = LDFParser.LDF_GetSchName(LDFHandle, i, pSchName);
if (Ret <= 0)
IsCycleSend = false;
if (LDFHandle != 0)
{
Console.WriteLine($"{pSchName.ToString()}");
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;

9
CapMachine.Wpf/Services/LinDriveService.cs
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@@ -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();
}
}
}

1
CapMachine.Wpf/ViewModels/LinConfigViewModel.cs
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@@ -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();
}