更新CAN的配置和CAN和实时数据的连接

CapMachine.Wpf/Services/CanDriveService.cs

@@ -78,28 +78,96 @@ namespace CapMachine.Wpf.Services
 
         #region 程序驱动CAN
 
+        /// <summary>
+        /// 转速 指令数据 实例
+        /// </summary>
+        private CanCmdData SpeedCanCmdData { get; set; }
+
+        /// <summary>
+        /// 功率限制 指令数据 实例
+        /// </summary>
+        private CanCmdData PwLimitCanCmdData { get; set; }
+
+        /// <summary>
+        /// 使能 指令数据 实例
+        /// </summary>
+        private CanCmdData EnableCanCmdData { get; set; }
+
         /// <summary>
         /// 要发送的CAN指令数据
         /// 在程序配置好后就确定要发送哪些数据
         /// </summary>
         public List<CanCmdData> CmdData { get; set; } = new List<CanCmdData>();
 
+        /// <summary>
+        /// 增加发送的指令数据
+        /// </summary>
+        /// <param name="canCmdData"></param>
+        public void AddCmdData(CanCmdData SendCanCmdData)
+        {
+            //提取常用的实例数据
+            switch (SendCanCmdData.ConfigName)
+            {
+                case "转速":
+                    SpeedCanCmdData = SendCanCmdData;
+                    break;
+                case "功率限制":
+                    PwLimitCanCmdData = SendCanCmdData;
+                    break;
+                case "使能":
+                    EnableCanCmdData = SendCanCmdData;
+                    break;
+                case "Anti_Sleep":
+                    //SpeedCanCmdData = SendCanCmdData;
+                    break;
+                default:
+                    break;
+            }
+            //添加到发送数据集合
+            CmdData.Add(SendCanCmdData); 
+        }
+
+
+        /// <summary>
+        /// 更新速度信息
+        /// 默认是启动
+        /// </summary>
+        /// <param name="canCmdData"></param>
+        public void UpdateSpeedCmdData(double SpeedData)
+        {
+            if (SpeedCanCmdData != null)
+            {
+                SpeedCanCmdData.SignalCmdValue = SpeedData;
+            }
+            if (EnableCanCmdData!=null)
+            {
+                EnableCanCmdData.SignalCmdValue = 1;
+            }
+        }
+
+
         /// <summary>
         /// 发送消息给CAN 驱动
         /// </summary>
-        public void SendMsgToCanDrive()
+        public void SendMsgToCanDrive(double SpeedData)
         {
             if (ToomossCanDrive.OpenState)
             {
                 if (CmdData.Count > 0)
                 {
+                    //更新速度信息
+                    UpdateSpeedCmdData(SpeedData);
+
                     ToomossCanDrive.SendCanMsg(CmdData);
                 }
                 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
+            {
+                System.Windows.MessageBox.Show("未打开CAN通信，无法发送数据", "提示", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Hand);
             }
         }