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CAN FD增加V1

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This commit is contained in:
Tyrone CT
2025-07-05 14:45:10 +08:00
parent f703e18523
commit ffa66defe0
5 changed files with 823 additions and 33 deletions
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8
CapMachine.Wpf/CanDrive/CANFD_DBCParser.cs → CapMachine.Wpf/CanDrive/CanFD/DBCParserByFD.cs
View File

@@ -5,9 +5,13 @@ using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
namespace CapMachine.Wpf.CanDrive
namespace CapMachine.Wpf.CanDrive.CanFD
{
public class CANFD_DBCParser
/// <summary>
/// 和DBCParser一样，但用于处理USB设备的DBC文件解析。
/// DBCParserByFD类用于处理USB设备的DBC文件解析。
/// </summary>
public class DBCParserByFD
{
public const Int32 DBC_PARSER_OK = 0;//没有错误
public const Int32 DBC_PARSER_FILE_OPEN = (-1);//打开文件出错

323
CapMachine.Wpf/CanDrive/ToomossCanFD.cs → CapMachine.Wpf/CanDrive/CanFD/ToomossCanFD.cs
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@@ -1,5 +1,8 @@
using CapMachine.Wpf.Models.Tag;
using CapMachine.Wpf.CanDrive.CanFD;
using CapMachine.Wpf.Models.Tag;
using CapMachine.Wpf.Services;
using NPOI.OpenXmlFormats.Wordprocessing;
using Prism.Ioc;
using Prism.Mvvm;
using System;
using System.Collections.Generic;
@@ -16,18 +19,29 @@ using System.Windows.Interop;
namespace CapMachine.Wpf.CanDrive
{
/// <summary>
/// Toomoss CAN
/// Toomoss CANFD
/// </summary>
public class ToomossCanFD : BindableBase
{
private readonly IContainerProvider ContainerProvider;
/// <summary>
/// 实例化函数
/// </summary>
public ToomossCanFD()
public ToomossCanFD(IContainerProvider containerProvider)
{
ContainerProvider = containerProvider;
HighSpeedDataService = ContainerProvider.Resolve<HighSpeedDataService>();
//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;
}
/// <summary>
/// HighSpeedDataService 实例
/// </summary>
public HighSpeedDataService HighSpeedDataService { get; set; }
/// <summary>
/// 开始CAN的驱动
/// </summary>
@@ -45,15 +59,16 @@ namespace CapMachine.Wpf.CanDrive
/// <summary>
/// 开始Dbc文件写入
/// </summary>
public void StartDbc(string DbcPath)
public ObservableCollection<CanDbcModel> StartDbc(string DbcPath)
{
DBC_Parser(DbcPath);
return ListCanFdDbcModel;
}
/// <summary>
/// Dbc消息集合
/// </summary>
public ObservableCollection<CanDbcModel> ListCanDbcModel { get; set; } = new ObservableCollection<CanDbcModel>();
public ObservableCollection<CanDbcModel> ListCanFdDbcModel { get; set; } = new ObservableCollection<CanDbcModel>();
#region 公共变量
@@ -61,7 +76,7 @@ namespace CapMachine.Wpf.CanDrive
/// <summary>
/// 设备固件信息
/// </summary>
public USB_DEVICE.DEVICE_INFO DevInfo = new USB_DEVICE.DEVICE_INFO();
public USB_DEVICEByFD.DEVICE_INFO DevInfo = new USB_DEVICEByFD.DEVICE_INFO();
/// <summary>
/// CAN Config
@@ -145,7 +160,7 @@ namespace CapMachine.Wpf.CanDrive
/// <returns></returns>
public bool ScanDevice()
{
DevNum = USB_DEVICE.USB_ScanDevice(DevHandles);
DevNum = USB_DEVICEByFD.USB_ScanDevice(DevHandles);
if (DevNum <= 0)
{
Console.WriteLine("No device connected!");
@@ -168,7 +183,7 @@ namespace CapMachine.Wpf.CanDrive
public bool OpenDevice()
{
//打开设备
OpenState = USB_DEVICE.USB_OpenDevice(DevHandle);
OpenState = USB_DEVICEByFD.USB_OpenDevice(DevHandle);
if (!OpenState)
{
Console.WriteLine("Open device error!");
@@ -190,7 +205,7 @@ namespace CapMachine.Wpf.CanDrive
{
//获取固件信息
StringBuilder FuncStr = new StringBuilder(256);
OpenState = USB_DEVICE.DEV_GetDeviceInfo(DevHandle, ref DevInfo, FuncStr);
OpenState = USB_DEVICEByFD.DEV_GetDeviceInfo(DevHandle, ref DevInfo, FuncStr);
if (!OpenState)
{
Console.WriteLine("Get device infomation error!");
@@ -206,7 +221,7 @@ namespace CapMachine.Wpf.CanDrive
Console.WriteLine(" Functions:" + DevInfo.Functions.ToString("X8"));
Console.WriteLine(" Functions String:" + FuncStr);
StringBuilder DLLBuildDate = new StringBuilder(256);
USB_DEVICE.DEV_GetDllBuildTime(DLLBuildDate);
USB_DEVICEByFD.DEV_GetDllBuildTime(DLLBuildDate);
Console.WriteLine(" DLL Build Date:" + DLLBuildDate);
return true;
@@ -253,7 +268,7 @@ namespace CapMachine.Wpf.CanDrive
}
ret = USB2CANFD.CANFD_Init(DevHandle, ReadCANIndex, ref CANConfig);
if (ret != USB2CAN.CAN_SUCCESS)
if (ret != USB2CANFD.CANFD_SUCCESS)
{
Console.WriteLine("Config CAN failed!");
return;
@@ -272,7 +287,7 @@ namespace CapMachine.Wpf.CanDrive
public void DBC_Parser(string Path)
{
//解析DBC文件
DBCHandle = CANFD_DBCParser.DBC_ParserFile(DevHandle, new StringBuilder(Path));
DBCHandle = DBCParserByFD.DBC_ParserFile(DevHandle, new StringBuilder(Path));
if (DBCHandle == 0)
{
Console.WriteLine("Parser DBC File error!");
@@ -283,27 +298,27 @@ namespace CapMachine.Wpf.CanDrive
Console.WriteLine("Parser DBC File success!");
}
ListCanDbcModel.Clear();
ListCanFdDbcModel.Clear();
//打印DBC里面报文和信号相关信息
int DBCMsgNum = CANFD_DBCParser.DBC_GetMsgQuantity(DBCHandle);
int DBCMsgNum = DBCParserByFD.DBC_GetMsgQuantity(DBCHandle);
for (int i = 0; i < DBCMsgNum; i++)
{
StringBuilder MsgName = new StringBuilder(32);
CANFD_DBCParser.DBC_GetMsgName(DBCHandle, i, MsgName);
DBCParserByFD.DBC_GetMsgName(DBCHandle, i, MsgName);
Console.WriteLine("Msg.Name = {0}", MsgName);
int DBCSigNum = CANFD_DBCParser.DBC_GetMsgSignalQuantity(DBCHandle, MsgName);
int DBCSigNum = DBCParserByFD.DBC_GetMsgSignalQuantity(DBCHandle, MsgName);
StringBuilder Publisher = new StringBuilder(32);
CANFD_DBCParser.DBC_GetMsgPublisher(DBCHandle, MsgName, Publisher);
DBCParserByFD.DBC_GetMsgPublisher(DBCHandle, MsgName, Publisher);
Console.Write("Signals:");
for (int j = 0; j < DBCSigNum; j++)
{
StringBuilder SigName = new StringBuilder(32);
CANFD_DBCParser.DBC_GetMsgSignalName(DBCHandle, MsgName, j, SigName);
DBCParserByFD.DBC_GetMsgSignalName(DBCHandle, MsgName, j, SigName);
Console.Write("{0} ", SigName);
//增加信息数据
ListCanDbcModel.Add(new CanDbcModel()
ListCanFdDbcModel.Add(new CanDbcModel()
{
MsgName = MsgName.ToString(),
MsgId = "",
@@ -338,9 +353,9 @@ namespace CapMachine.Wpf.CanDrive
{
foreach (var itemSignal in itemMsg)
{
CANFD_DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
DBCParserByFD.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
}
CANFD_DBCParser.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPt);
DBCParserByFD.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPt);
CanMsg[Index] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPt, typeof(USB2CANFD.CANFD_MSG));
Index++;
}
@@ -379,16 +394,262 @@ namespace CapMachine.Wpf.CanDrive
}
}
#region 精确发送报文数据
// 添加取消标记源字段用于停止任务
private CancellationTokenSource CycleSendCts;
/// <summary>
/// 计算每毫秒对应的ticks数（只需计算一次）
/// </summary>
private double TicksPerMs;
// 类成员变量定义 精确记时用
private readonly Stopwatch Stopwatcher = new Stopwatch();
private long NextExecutionTime;
// 计算需要等待的时间
private long CurrentTime;
private long DelayTicks;
private int DelayMs;
private static readonly Random _random = new Random();
/// <summary>
/// 精确周期发送CAN数据
/// </summary>
public void StartPrecisionCycleSendMsg()
{
// 创建取消标记源 用于控制任务的取消 允许在需要时通过取消令牌来优雅停止任务
var cancellationTokenSource = new CancellationTokenSource();
var token = cancellationTokenSource.Token;
// 保存取消标记，以便在停止时使用
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
{
// 设置当前线程为高优先级
Thread.CurrentThread.Priority = ThreadPriority.AboveNormal;
// 初始化完成后开始计时
Stopwatcher.Restart();
// 预先计算固定值
long CycleInTicks = (long)(SendCycle * TicksPerMs);
//临时测试用
//long lastTicks = Stopwatcher.ElapsedTicks;
//IsCycleSend
while (IsCycleSend && !token.IsCancellationRequested)
{
try
{
// 计算下一次执行时间点 ，将当前设置的发送周期SendCycle(毫秒)转换为Stopwatch的计时单位(tick)，累加到NextExecutionTime上
NextExecutionTime += CycleInTicks; // 转换为Stopwatch计时单位
// 获取当前时间点，以Stopwatch的tick为单位
CurrentTime = Stopwatcher.ElapsedTicks;
//计算需要等待的时间，即目标时间点(NextExecutionTime)与当前时间点(CurrentTime)的差值
DelayTicks = NextExecutionTime - CurrentTime;
// 如果还有等待时间，则等待，只有在目标时间点还未到达时才执行等待
if (DelayTicks > 0)
{
////此时是需要等待的，那么需要等待多久呢， 将需等待的tick数转换回毫秒
DelayMs = (int)(DelayTicks / TicksPerMs);
//20这个数据是预估和测试的，可能跟Windows抖动误差就是20ms左右，当然可以不用这个IF()判断，直接SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime);但是会导致当前独占一个CPU核心线程
//所以设置一个20的阈值，20ms以下的延迟使用SpinWait.SpinUntil进行自旋等待，20ms以上的延迟使用Task.Delay进行异步等待，让CPU不至于一直的独占
if (DelayMs <= 20)
{
SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime);
}
else
{
////使用Task.Delay进行异步等待，大部分等待时间通过这种方式完成，避免线程阻塞
await Task.Delay(DelayMs - 20, token);
//// 使用SpinWait.SpinUntil进行精确的微调等待。自旋等待会占用CPU资源，但能提供更高的定时精度，确保在精确的时间点执行
////上面的Task.Delay可能会因为系统调度等原因导致实际执行时间稍晚于预期，因此在这里使用SpinWait.SpinUntil来确保在精确的时间点执行
SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime);
}
}
// 如果已经超过了计划时间，立即执行并重新校准
if (Stopwatcher.ElapsedTicks >= NextExecutionTime + CycleInTicks)
{
//检测是否发生了严重延迟(超过一个周期)。如果当前时间已经超过了下一次计划时间，则说明系统负载过高或其他原因导致无法按时执行，
//此时重置NextExecutionTime为当前时间，避免连续的延迟累积
// 严重延迟，重新校准
NextExecutionTime = Stopwatcher.ElapsedTicks;
Console.WriteLine("定时发送延迟过大，重新校准时间");
}
// 使用Stopwatch记录实际的执行间隔，而不是DateTime
//Console.WriteLine($"--实际间隔(ms): {(Stopwatcher.ElapsedTicks - lastTicks) / TicksPerMs:F3}, 目标: {SendCycle}");
//lastTicks = Stopwatcher.ElapsedTicks;
//Console.WriteLine($"--当前时间(毫秒): {DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}");
// 执行发送CAN逻辑
{
var GroupMsg = CmdData.GroupBy(x => x.MsgName);
USB2CANFD.CANFD_MSG[] CanMsg = new USB2CANFD.CANFD_MSG[GroupMsg.Count()];
for (int i = 0; i < GroupMsg.Count(); i++)
{
CanMsg[i] = new USB2CANFD.CANFD_MSG();
CanMsg[i].Data = new Byte[64];
}
IntPtr msgPtSend = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)));
int Index = 0;
//循环给MSG赋值数据
foreach (var itemMsg in GroupMsg)
{
foreach (var itemSignal in itemMsg)
{
DBCParserByFD.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
}
DBCParserByFD.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
CanMsg[Index] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CANFD.CANFD_MSG));
Index++;
}
//通过DBC写入数据后生成CanMsg
//将信号值填入CAN消息里面
//释放申请的临时缓冲区
Marshal.FreeHGlobal(msgPtSend);
//发送CAN数据
int SendedNum = USB2CANFD.CANFD_SendMsg(DevHandle, WriteCANIndex, CanMsg, (Int32)CanMsg.Length);
if (SendedNum >= 0)
{
//Console.WriteLine("Success send frames:{0}", SendedNum);
IsSendOk = true;
}
else
{
//Console.WriteLine("Send CAN data failed! {0}", SendedNum);
IsSendOk = false;
}
}
}
catch (TaskCanceledException)
{
// 任务被取消，正常退出
break;
}
catch (Exception ex)
{
Console.WriteLine($"CAN周期发送异常: {ex.Message}");
// 短暂暂停避免异常情况下CPU占用过高
await Task.Delay(10, token);
}
}
}
catch (Exception ex)
{
// 确保在任何情况下（正常退出、异常、取消）都会停止计时器
Stopwatcher.Stop();
// 清理其他可能的资源
Console.WriteLine("CAN周期发送任务已结束，资源已清理");
}
finally
{
// 确保在任何情况下（正常退出、异常、取消）都会停止计时器
Stopwatcher.Stop();
}
}, token, TaskCreationOptions.LongRunning, TaskScheduler.Default);
}
/// <summary>
/// 修改停止发送的方法
/// </summary>
public void StopCycleSendMsg()
{
IsCycleSend = false;
CycleSendCts?.Cancel();
}
#endregion
private bool _IsCycleRevice;
/// <summary>
/// 是否循环接收数据
/// </summary>
public bool IsCycleRevice { get; set; }
public bool IsCycleRevice
{
get { return _IsCycleRevice; }
set { _IsCycleRevice = value; RaisePropertyChanged(); }
}
private bool _IsCycleSend;
/// <summary>
/// 是否循环发送数据
/// </summary>
public bool IsCycleSend
{
get { return _IsCycleSend; }
set { _IsCycleSend = value; RaisePropertyChanged(); }
}
/// <summary>
/// CycleRevice扫描Task
/// 循环发送数据
/// </summary>
public ushort SendCycle { get; set; } = 100;
/// <summary>
/// 循环接受数据
/// </summary>
public ushort ReviceCycle { get; set; } = 500;
/// <summary>
/// CycleRevice 扫描Task
/// </summary>
private static Task CycleReviceTask { get; set; }
/// <summary>
/// CycleSend 扫描Task
/// </summary>
private static Task CycleSendTask { get; set; }
StringBuilder ValueSb = new StringBuilder(16);
double[] ValueDouble = new double[5];
private bool _IsSendOk;
/// <summary>
/// 发送报文是否OK
/// </summary>
public bool IsSendOk
{
get { return _IsSendOk; }
set
{
if (_IsSendOk != value)
{
RaisePropertyChanged();
_IsSendOk = value;
}
}
}
/// <summary>
/// 要发送的数据
/// </summary>
public List<CanCmdData> CmdData { get; set; } = new List<CanCmdData>();
/// <summary>
/// 循环获取CAN消息
/// </summary>
@@ -432,12 +693,12 @@ namespace CapMachine.Wpf.CanDrive
Console.WriteLine("");
//将CAN消息数据填充到信号里面
CANFD_DBCParser.DBC_SyncCANFDMsgToValue(DBCHandle, msgPt, CanNum);
DBCParserByFD.DBC_SyncCANFDMsgToValue(DBCHandle, msgPt, CanNum);
//获取信号值并打印出来
StringBuilder ValueStr = new StringBuilder(32);
CANFD_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_current_Power"), ValueStr);
DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_current_Power"), ValueStr);
Console.WriteLine("COM_current_Power = {0}", ValueStr);
CANFD_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_Curr_dc"), ValueStr);
DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_Curr_dc"), ValueStr);
Console.WriteLine("COM_Curr_dc = {0}", ValueStr);
}
catch (Exception ex)
@@ -484,14 +745,14 @@ namespace CapMachine.Wpf.CanDrive
Console.WriteLine("");
//将CAN消息数据填充到信号里面
CANFD_DBCParser.DBC_SyncCANFDMsgToValue(DBCHandle, msgPt, CanNum);
DBCParserByFD.DBC_SyncCANFDMsgToValue(DBCHandle, msgPt, CanNum);
//获取信号值并打印出来
StringBuilder ValueStr = new StringBuilder(32);
CANFD_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_moto_speed"), new StringBuilder("moto_speed"), ValueStr);
DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_moto_speed"), new StringBuilder("moto_speed"), ValueStr);
Console.WriteLine("moto_speed = {0}", ValueStr);
CANFD_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_oil_pressure"), new StringBuilder("oil_pressure"), ValueStr);
DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_oil_pressure"), new StringBuilder("oil_pressure"), ValueStr);
Console.WriteLine("oil_pressure = {0}", ValueStr);
CANFD_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_speed_can"), new StringBuilder("speed_can"), ValueStr);
DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_speed_can"), new StringBuilder("speed_can"), ValueStr);
Console.WriteLine("speed_can = {0}", ValueStr);
}
@@ -503,7 +764,7 @@ namespace CapMachine.Wpf.CanDrive
public void CloseDevice()
{
//关闭设备
USB_DEVICE.USB_CloseDevice(DevHandle);
USB_DEVICEByFD.USB_CloseDevice(DevHandle);
OpenState = false;
}

0
CapMachine.Wpf/CanDrive/USB2CANFD.cs → CapMachine.Wpf/CanDrive/CanFD/USB2CANFD.cs
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143
CapMachine.Wpf/CanDrive/CanFD/USB_DEVICEByFD.cs Normal file
View File

@@ -0,0 +1,143 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
namespace CapMachine.Wpf.CanDrive.CanFD
{
/// <summary>
/// 和USB_DEVICE一样，但用于处理USB设备的CAN FD协议。
/// </summary>
public class USB_DEVICEByFD
{
//定义电压输出值
public const Byte POWER_LEVEL_NONE = 0; //不输出
public const Byte POWER_LEVEL_1V8 = 1; //输出1.8V
public const Byte POWER_LEVEL_2V5 = 2; //输出2.5V
public const Byte POWER_LEVEL_3V3 = 3; //输出3.3V
public const Byte POWER_LEVEL_5V0 = 4; //输出5.0V
//设备信息定义
public struct DEVICE_INFO
{
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 32)]
public Byte[] FirmwareName; //固件名称字符串
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 32)]
public Byte[] BuildDate; //固件编译时间字符串
public UInt32 HardwareVersion;//硬件版本号
public UInt32 FirmwareVersion;//固件版本号
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)]
public UInt32[] SerialNumber; //适配器序列号
public UInt32 Functions; //适配器当前具备的功能
}
//方法定义
/**
* @brief 初始化USB设备，并扫描设备连接数，必须调用
* @param pDevHandle 每个设备的设备号存储地址
* @retval 扫描到的设备数量
*/
[DllImport("USB2XXX.dll")]
public static extern Int32 USB_ScanDevice(Int32[] pDevHandle);
/**
* @brief 打开设备，必须调用
* @param DevHandle 设备索引号
* @retval 打开设备的状态
*/
[DllImport("USB2XXX.dll")]
public static extern bool USB_OpenDevice(Int32 DevHandle);
/**
* @brief 关闭设备
* @param DevHandle 设备索引号
* @retval 关闭设备的状态
*/
[DllImport("USB2XXX.dll")]
public static extern bool USB_CloseDevice(Int32 DevHandle);
/**
* @brief 复位设备程序，复位后需要重新调用USB_ScanDevice，USB_OpenDevice函数
* @param DevHandle 设备索引号
* @retval 复位设备的状态
*/
[DllImport("USB2XXX.dll")]
public static extern bool USB_ResetDevice(Int32 DevHandle);
/**
* @brief 检测到USB断开连接后，重新连接设备
* @param DevHandle 设备号
* @retval 重连状态
*/
[DllImport("USB2XXX.dll")]
public static extern bool USB_RetryConnect(Int32 DevHandle);
/**
* @brief 获取设备信息，比如设备名称，固件版本号，设备序号，设备功能说明字符串等
* @param DevHandle 设备索引号
* @param pDevInfo 设备信息存储结构体指针
* @param pFunctionStr 设备功能说明字符串
* @retval 获取设备信息的状态
*/
[DllImport("USB2XXX.dll")]
public static extern bool DEV_GetDeviceInfo(Int32 DevHandle, ref DEVICE_INFO pDevInfo, StringBuilder pFunctionStr);
/**
* @brief 擦出用户区数据
* @param DevHandle 设备索引号
* @retval 用户区数据擦出状态
*/
[DllImport("USB2XXX.dll")]
public static extern bool DEV_EraseUserData(Int32 DevHandle);
/**
* @brief 向用户区域写入用户自定义数据，写入数据之前需要调用擦出函数将数据擦出
* @param DevHandle 设备索引号
* @param OffsetAddr 数据写入偏移地址，起始地址为0x00，用户区总容量为0x10000字节，也就是64KBye
* @param pWriteData 用户数据缓冲区首地址
* @param DataLen 待写入的数据字节数
* @retval 写入用户自定义数据状态
*/
[DllImport("USB2XXX.dll")]
public static extern bool DEV_WriteUserData(Int32 DevHandle, Int32 OffsetAddr, byte[] pWriteData, Int32 DataLen);
/**
* @brief 从用户自定义数据区读出数据
* @param DevHandle 设备索引号
* @param OffsetAddr 数据写入偏移地址，起始地址为0x00，用户区总容量为0x10000字节，也就是64KBye
* @param pReadData 用户数据缓冲区首地址
* @param DataLen 待读出的数据字节数
* @retval 读出用户自定义数据的状态
*/
[DllImport("USB2XXX.dll")]
public static extern bool DEV_ReadUserData(Int32 DevHandle, Int32 OffsetAddr, byte[] pReadData, Int32 DataLen);
/**
* @brief 设置可变电压输出引脚输出电压值
* @param DevHandle 设备索引号
* @param PowerLevel 输出电压值
* @retval 设置输出电压状态
*/
[DllImport("USB2XXX.dll")]
public static extern bool DEV_SetPowerLevel(Int32 DevHandle, byte PowerLevel);
/**
* @brief 或者CAN或者LIN的时间戳原始值
* @param DevHandle 设备索引号
* @param pTimestamp 时间戳指针
* @retval 获取时间戳状态
*/
[DllImport("USB2XXX.dll")]
public static extern bool DEV_GetTimestamp(Int32 DevHandle, byte BusType, Int32[] pTimestamp);
/**
* @brief 复位CAN/LIN时间戳，需要在初始化CAN/LIN之后调用
* @param DevHandle 设备索引号
* @retval 复位时间戳状态
*/
[DllImport("USB2XXX.dll")]
public static extern bool DEV_ResetTimestamp(Int32 DevHandle);
/**
* @brief 获取dll编译日期
* @param pDateTime 输出DLL编译日期字符串
* @retval 获取dll编译日期字符串
*/
[DllImport("USB2XXX.dll")]
public static extern bool DEV_GetDllBuildTime(StringBuilder pDateTime);
}
}

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using CapMachine.Model.CANLIN;
using CapMachine.Wpf.CanDrive;
using ImTools;
using Prism.Ioc;
using Prism.Mvvm;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace CapMachine.Wpf.Services
{
/// <summary>
/// Can FD驱动服务
/// </summary>
public class CanFdDriveService : BindableBase
{
public HighSpeedDataService HighSpeedDataService { get; }
/// <summary>
/// 实例化函数
/// </summary>
public CanFdDriveService(HighSpeedDataService highSpeedDataService, IContainerProvider containerProvider)
{
ToomossCanFDDrive = new ToomossCanFD(containerProvider);
//高速数据服务
HighSpeedDataService = highSpeedDataService;
//ToomossCanFDDrive.StartCanDrive();
}
/// <summary>
/// 当前选中的CanLinConfigPro 程序
/// </summary>
public CanLinConfigPro SelectedCanLinConfigPro { get; set; }
/// <summary>
/// 图莫斯 CAN Drive
/// ToomossCanFDDrive
/// </summary>
public ToomossCanFD ToomossCanFDDrive { get; set; }
/// <summary>
/// Dbc消息集合
/// 包括读取的实时值和数据
/// </summary>
public ObservableCollection<CanDbcModel> ListCanDbcModel { get; set; } = new ObservableCollection<CanDbcModel>();
/// <summary>
/// 初始化CAN的配置信息
/// </summary>
public void InitCanConfig(CanLinConfigPro selectedCanLinConfigPro)
{
//赋值配置数据
SelectedCanLinConfigPro = selectedCanLinConfigPro;
//为DBC实时数据关联配置的名称
foreach (var item in SelectedCanLinConfigPro.CanLinConfigContents)
{
var FindData = ListCanDbcModel.FindFirst(a => a.SignalName == item.SignalName);
if (FindData != null)
{
FindData.Name = item.Name;
}
}
}
/// <summary>
/// 开始DBC 配置文件 加载
/// </summary>
/// <returns></returns>
public ObservableCollection<CanDbcModel> StartDbc(string Path)
{
ListCanDbcModel = ToomossCanFDDrive.StartDbc(Path);
return ListCanDbcModel;
}
#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>
/// PTC使能 指令数据 实例
/// </summary>
private CanCmdData PTCEnableCanCmdData { get; set; }
/// <summary>
/// PTC功率 指令数据 实例
/// </summary>
private CanCmdData PTCPwCanCmdData { get; set; }
/// <summary>
/// PTC水流量 指令数据 实例
/// </summary>
private CanCmdData PTCFlowCanCmdData { get; set; }
/// <summary>
/// PTC水温 指令数据 实例
/// </summary>
private CanCmdData PTCWaterTempCanCmdData { 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;
case "PTC使能":
PTCEnableCanCmdData = SendCanCmdData;
break;
case "PTC功率":
PTCPwCanCmdData = SendCanCmdData;
break;
case "PTC水流量":
PTCFlowCanCmdData = SendCanCmdData;
break;
case "PTC水温":
PTCWaterTempCanCmdData = 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>
/// 更新压缩机使能数据
/// </summary>
/// <param name="IsEnable"></param>
public void UpdateCapEnableCmdData(bool IsEnable)
{
if (EnableCanCmdData != null)
{
EnableCanCmdData.SignalCmdValue = IsEnable ? 1 : 0;
}
}
/// <summary>
/// 更新压缩机的功率限制
/// </summary>
/// <param name="IsEnable"></param>
public void UpdateCapPwLimitCmdData(double PwLimit)
{
if (PwLimitCanCmdData != null)
{
PwLimitCanCmdData.SignalCmdValue = PwLimit;
}
}
/// <summary>
/// 更新 PTC使能信号
/// </summary>
/// <param name="IsEnable"></param>
public void UpdateCapPTCEnableCmdData(bool IsEnable)
{
if (PTCEnableCanCmdData != null)
{
PTCEnableCanCmdData.SignalCmdValue = IsEnable ? 1 : 0;
}
}
/// <summary>
/// 更新 PTC功率 信号
/// </summary>
/// <param name="IsEnable"></param>
public void UpdateCapPTCPwCmdData(double PTCPw)
{
if (PTCPwCanCmdData != null)
{
PTCPwCanCmdData.SignalCmdValue = PTCPw;
}
}
/// <summary>
/// 更新 PTC水流量 信号
/// </summary>
/// <param name="IsEnable"></param>
public void UpdateCapPTCFlowCmdData(double Flow)
{
if (PTCFlowCanCmdData != null)
{
PTCFlowCanCmdData.SignalCmdValue = Flow;
}
}
/// <summary>
/// 更新 PTC水温 信号
/// </summary>
/// <param name="IsEnable"></param>
public void UpdateCapPTCWaterTempCmdData(double WaterTemp)
{
if (PTCWaterTempCanCmdData != null)
{
PTCWaterTempCanCmdData.SignalCmdValue = WaterTemp;
}
}
/// <summary>
/// 发送消息给CAN 驱动
/// </summary>
public void SendMsgToCanDrive(double SpeedData)
{
if (ToomossCanFDDrive.OpenState)
{
if (CmdData.Count > 0)
{
//更新速度信息
UpdateSpeedCmdData(SpeedData);
ToomossCanFDDrive.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);
}
}
/// <summary>
/// 循环发送数据到CAN
/// </summary>
public void CycleSendMsg()
{
if (ToomossCanFDDrive.OpenState)
{
if (ToomossCanFDDrive.IsCycleSend == false)
{
if (CmdData.Count > 0)
{
ToomossCanFDDrive.IsCycleSend = true;
ToomossCanFDDrive.CmdData = CmdData;
//ToomossCanFDDrive.StartCycleSendMsg();
ToomossCanFDDrive.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
{
ToomossCanFDDrive.IsCycleSend = false;
}
}
}
/// <summary>
///循环接收数据
/// </summary>
public void CycleReciveMsg()
{
if (ToomossCanFDDrive.OpenState)
{
if (ToomossCanFDDrive.IsCycleRevice == false)
{
if (ListCanDbcModel.Count > 0)
{
ToomossCanFDDrive.IsCycleRevice = true;
ToomossCanFDDrive.StartCycleReviceCanMsg();
}
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
{
ToomossCanFDDrive.IsCycleRevice = false;
}
}
}
/// <summary>
/// 获取数据值
/// 从DBC中获取数据给数据中心集合
/// </summary>
/// <param name="Name"></param>
/// <returns></returns>
public double GetDbcValueByName(string Name)
{
if (!ToomossCanFDDrive.IsCycleRevice) return 0;
if (ListCanDbcModel.Any(a => a.Name == Name))
{
//double.TryParse(ListCanDbcModel.FindFirst(a => a.Name == Name).SignalRtValue, out double Result1);
return double.TryParse(ListCanDbcModel.FindFirst(a => a.Name == Name).SignalRtValue.Split(" ")[0], out double Result) == true ? Result : 0;
}
return 0;
}
/// <summary>
/// 速度的数据的获取
/// 获取速度数据值
/// 从DBC中获取Speed数据给数据中心集合
/// </summary>
/// <param name="Name"></param>
/// <returns></returns>
public double GetDbcSpeedValueBySpeedName(string Name)
{
if (!ToomossCanFDDrive.IsCycleRevice) return 0;
if (ListCanDbcModel.Any(a => a.Name == Name))
{
//double.TryParse(ListCanDbcModel.FindFirst(a => a.Name == Name).SignalRtValue, out double Result1);
//return double.TryParse(ListCanDbcModel.FindFirst(a => a.Name == Name).SignalRtValue.Split(" ")[0], out double Result) == true ? Result : 0;
return double.TryParse(ListCanDbcModel.FindFirst(a => a.Name == Name).SignalRtValue.Split(" ")[0], out double Result) == true ? Result : 0;
}
return 0;
}
#endregion
}
}