Cladude code 更改

CapMachine.Wpf/Services/CanDriveService.cs

@@ -210,31 +210,56 @@ namespace CapMachine.Wpf.Services
 
 
         /// <summary>
-        /// 循环发送数据到CAN 
+        /// 循环发送数据到CAN
         /// </summary>
         public void CycleSendMsg()
         {
-            if (ToomossCanDrive.OpenState)
+            if (!ToomossCanDrive.OpenState)
             {
-                if (ToomossCanDrive.IsCycleSend == false)
-                {
-                    if (CmdData.Count > 0)
-                    {
-                        ToomossCanDrive.IsCycleSend = true;
-                        ToomossCanDrive.CmdData = CmdData;
-                        ToomossCanDrive.StartPrecisionCycleSendMsg();
-                    }
-                    else
-                    {
-                        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();
-                }
-
+                System.Windows.MessageBox.Show("CAN未打开，请先连接CAN", "提示", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Hand);
+                return;
             }
+
+            //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,
+                        MsgName = x.MsgName,
+                        SignalName = x.SignalName,
+                        SignalCmdValue = x.SignalCmdValue
+                    })
+                    .ToList();
+            }
+
+            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();
         }