CAN的定时发送的更改和一些其他的改动

CapMachine.Wpf/CanDrive/ToomossCan.cs

@@ -1,6 +1,7 @@
 using CapMachine.Wpf.Models.Tag;
 using CapMachine.Wpf.Services;
 using HslCommunication;
+using ImTools;
 using NPOI.OpenXmlFormats.Wordprocessing;
 using Prism.Ioc;
 using Prism.Mvvm;
@@ -21,6 +22,8 @@ namespace CapMachine.Wpf.CanDrive
 {
     /// <summary>
     /// Toomoss CAN
+    /// 如果精度达不到的话则使用CAN通信调度表模式实现方案
+    /// 目前有0-1ms的抖动
     /// </summary>
     public class ToomossCan : BindableBase
     {
@@ -33,6 +36,7 @@ namespace CapMachine.Wpf.CanDrive
         {
             ContainerProvider = containerProvider;
             HighSpeedDataService = ContainerProvider.Resolve<HighSpeedDataService>();
+            HightDriveMsgService = ContainerProvider.Resolve<HightDriveMsgService>();
 
             //Stopwatch.Frequency表示高精度计时器每秒的计数次数（ticks/秒）每毫秒的ticks数 = 每秒的ticks数 ÷ 1000
             TicksPerMs = Stopwatch.Frequency / 1000.0;
@@ -478,8 +482,6 @@ namespace CapMachine.Wpf.CanDrive
                     RaisePropertyChanged();
                     _IsSendOk = value;
                 }
-                
-
             }
         }
 
@@ -604,7 +606,6 @@ namespace CapMachine.Wpf.CanDrive
             CycleSendCts = cancellationTokenSource;//将取消标记源保存到类的成员变量CycleSendCts，这样在外部调用停止方法时可以访问它
             NextExecutionTime = 0;//初始化NextExecutionTime为0，这个变量用于记录下一次执行的目标时间点
 
-
             CycleSendTask = Task.Factory.StartNew(async () =>
             {
                 try
@@ -667,6 +668,7 @@ namespace CapMachine.Wpf.CanDrive
                             lastTicks = Stopwatcher.ElapsedTicks;
                             //Console.WriteLine($"--当前时间(毫秒): {DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}");
 
+
                             // 执行发送CAN逻辑
                             {
 
@@ -697,13 +699,13 @@ namespace CapMachine.Wpf.CanDrive
 
                                 //释放申请的临时缓冲区
                                 Marshal.FreeHGlobal(msgPtSend);
-                                
+
                                 //发送CAN数据
                                 int SendedNum = USB2CAN.CAN_SendMsg(DevHandle, WriteCANIndex, CanMsg, (uint)CanMsg.Length);
                                 if (SendedNum >= 0)
                                 {
                                     //Console.WriteLine("Success send frames:{0}", SendedNum);
-                                    IsSendOk=true;
+                                    IsSendOk = true;
                                 }
                                 else
                                 {
@@ -796,7 +798,7 @@ namespace CapMachine.Wpf.CanDrive
                                     Category = "CAN",
                                     MsgInfo = "0x" + CanMsgBuffer[i].ID.ToString("X8"),
                                     MsgData = BitConverter.ToString(CanMsgBuffer[i].Data),
-                                    Time = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff")
+                                    Time = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds()
                                 });
 
                                 //报文给高速报文处理服务
@@ -805,7 +807,7 @@ namespace CapMachine.Wpf.CanDrive
                                     Category = "CAN",
                                     MsgInfo = "0x" + CanMsgBuffer[i].ID.ToString("X8"),
                                     MsgData = BitConverter.ToString(CanMsgBuffer[i].Data),
-                                    Time = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff")
+                                    Time = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds()
                                 });
                             }
                         }