Cladude code 更改

CapMachine.Wpf/App.xaml.cs

@@ -283,6 +283,24 @@ namespace CapMachine.Wpf
             TaskScheduler.UnobservedTaskException += TaskScheduler_UnobservedTaskException;
             //非UI线程未捕获异常处理事件 (例如自己创建的一个子线程)
             AppDomain.CurrentDomain.UnhandledException += new UnhandledExceptionEventHandler(CurrentDomain_UnhandledException);
+
+            //首次抛出（含被吞掉的）异常也落日志，便于排查闪退场景下原生互操作异常
+            AppDomain.CurrentDomain.FirstChanceException += (s, fce) =>
+            {
+                try
+                {
+                    var ex = fce.Exception;
+                    //只关心严重异常，避免日志被刷爆
+                    if (ex is AccessViolationException
+                        || ex is System.Runtime.InteropServices.SEHException
+                        || ex is StackOverflowException
+                        || ex is OutOfMemoryException)
+                    {
+                        LogService?.Error($"[FirstChance-FATAL] {ex.GetType().Name}: {ex.Message}\r\n{ex.StackTrace}");
+                    }
+                }
+                catch { /* 异常处理函数中绝不能再抛 */ }
+            };
         }
 
 

CapMachine.Wpf/CanDrive/ToomossCan.cs

@@ -962,10 +962,30 @@ namespace CapMachine.Wpf.CanDrive
 
                             // 执行发送CAN逻辑
                             {
+                                //再次校验前置条件，运行中若设备/DBC被关闭则直接跳过本轮（避免传 0 句柄给原生导致 AV）
+                                if (!OpenState || DBCHandle == 0 || CmdData == null || CmdData.Count == 0)
+                                {
+                                    await Task.Delay(10, token);
+                                    continue;
+                                }
 
-                                var GroupMsg = CmdData.GroupBy(x => x.MsgName);
+                                //本轮要发送的指令快照（避免遍历时 UI 线程并发修改）
-                                USB2CAN.CAN_MSG[] CanMsg = new USB2CAN.CAN_MSG[GroupMsg.Count()];
+                                List<CanCmdData> roundSnapshot;
-                                for (int i = 0; i < GroupMsg.Count(); i++)
+                                lock (_canSendLock)
+                                {
+                                    roundSnapshot = CmdData
+                                        .Where(x => !string.IsNullOrWhiteSpace(x.MsgName) && !string.IsNullOrWhiteSpace(x.SignalName))
+                                        .ToList();
+                                }
+                                if (roundSnapshot.Count == 0)
+                                {
+                                    await Task.Delay(10, token);
+                                    continue;
+                                }
+
+                                var GroupMsg = roundSnapshot.GroupBy(x => x.MsgName).ToList();
+                                USB2CAN.CAN_MSG[] CanMsg = new USB2CAN.CAN_MSG[GroupMsg.Count];
+                                for (int i = 0; i < GroupMsg.Count; i++)
                                 {
                                     CanMsg[i] = new USB2CAN.CAN_MSG();
                                     CanMsg[i].Data = new Byte[64];
@@ -973,38 +993,33 @@ namespace CapMachine.Wpf.CanDrive
 
                                 // 发送构帧临时缓冲：每轮申请/释放，避免与其他线程共享同一指针导致并发问题
                                 IntPtr msgPtSend = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)));
-                                int Index = 0;
+                                try
-                                //循环给MSG赋值数据
-                                foreach (var itemMsg in GroupMsg)
                                 {
-                                    foreach (var itemSignal in itemMsg)
+                                    int Index = 0;
+                                    //循环给MSG赋值数据；DBC 解析器在 .Net 侧不是线程安全的，必须串行化
+                                    lock (_dbcParserLock)
                                     {
-                                        CAN_DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
+                                        foreach (var itemMsg in GroupMsg)
+                                        {
+                                            foreach (var itemSignal in itemMsg)
+                                            {
+                                                CAN_DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
+                                            }
+                                            CAN_DBCParser.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
+                                            CanMsg[Index] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CAN.CAN_MSG));
+                                            Index++;
+                                        }
                                     }
-                                    CAN_DBCParser.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
-                                    CanMsg[Index] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CAN.CAN_MSG));
-                                    Index++;
                                 }
-
+                                finally
-                                //通过DBC写入数据后生成CanMsg
+                                {
-                                //将信号值填入CAN消息里面
+                                    // 释放非托管缓冲区（务必释放，否则长时间运行会造成内存泄漏）
-
+                                    Marshal.FreeHGlobal(msgPtSend);
-                                // 释放非托管缓冲区（务必释放，否则长时间运行会造成内存泄漏）
+                                }
-                                Marshal.FreeHGlobal(msgPtSend);
 
                                 //发送CAN数据
                                 int SendedNum = USB2CAN.CAN_SendMsg(DevHandle, WriteCANIndex, CanMsg, (uint)CanMsg.Length);
-                                if (SendedNum >= 0)
+                                IsSendOk = SendedNum >= 0;
-                                {
-                                    //Console.WriteLine("Success send frames:{0}", SendedNum);
-                                    IsSendOk = true;
-                                }
-                                else
-                                {
-                                    //Console.WriteLine("Send CAN data failed! {0}", SendedNum);
-                                    IsSendOk = false;
-                                }
-
                             }
 
 

CapMachine.Wpf/CapMachine.Wpf.csproj

@@ -7,6 +7,7 @@
     <ImplicitUsings>enable</ImplicitUsings>
     <UseWPF>true</UseWPF>
     <PlatformTarget>AnyCPU</PlatformTarget>
+    <LegacyCorruptedStateExceptionsPolicy>true</LegacyCorruptedStateExceptionsPolicy>
   </PropertyGroup>
 
   <ItemGroup>

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)
+                System.Windows.MessageBox.Show("CAN未打开，请先连接CAN", "提示", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Hand);
-                {
+                return;
-                    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();
-                }
-
             }
+
+            //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();
         }