using CapMachine.Wpf.CanDrive.CanFD;
using CapMachine.Wpf.Dtos;
using CapMachine.Wpf.Models.Tag;
using CapMachine.Wpf.Services;
using ImTools;
using NPOI.OpenXmlFormats.Wordprocessing;
using Prism.Ioc;
using Prism.Mvvm;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Windows.Interop;

namespace CapMachine.Wpf.CanDrive
{
    /// <summary>
    /// Toomoss CANFD
    /// </summary>
    public class ToomossCanFD : BindableBase
    {
        private readonly IContainerProvider ContainerProvider;

        /// <summary>
        /// 实例化函数
        /// </summary>
        public ToomossCanFD(IContainerProvider containerProvider, ILogService logService)
        {
            ContainerProvider = containerProvider;
            LoggerService = logService;
            HighSpeedDataService = ContainerProvider.Resolve<HighSpeedDataService>();
            //LogService = ContainerProvider.Resolve<ILogService>();
            //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; }

        public ILogService LoggerService { get; set; }

        /// <summary>
        /// 开始CAN的驱动
        /// </summary>
        public void StartCanDrive()
        {
            try
            {
                IsExistsDllFile();
                ScanDevice();
                OpenDevice();
                GetDeviceInfo();
                GetCANConfig();
                InitCAN();
            }
            catch (Exception ex)
            {
                LoggerService.Error(ex.Message);
                System.Windows.MessageBox.Show($"{ex.Message}", "提示", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Hand);
            }
        }

        /// <summary>
        /// 开始Dbc文件写入
        /// </summary>
        public ObservableCollection<CanDbcModel> StartDbc(string DbcPath)
        {
            DBC_Parser(DbcPath);
            return ListCanFdDbcModel;
        }

        /// <summary>
        /// Dbc消息集合
        /// </summary>
        public ObservableCollection<CanDbcModel> ListCanFdDbcModel { get; set; } = new ObservableCollection<CanDbcModel>();


        #region 公共变量

        /// <summary>
        /// 仲裁波特率
        /// </summary>
        public uint ArbBaudRate { get; set; } = 500000;

        /// <summary>
        /// 数据波特率
        /// </summary>
        public uint DataBaudRate { get; set; } = 2000000;

        /// <summary>
        /// CAN FD标准 ISO是否启用
        /// </summary>
        public bool ISOEnable { get; set; } = true;

        /// <summary>
        /// 终端电阻 是否启用
        /// </summary>
        public bool ResEnable { get; set; } = true;

        /// <summary>
        /// 更新配置
        /// </summary>
        public void UpdateConfig(uint arbBaudRate, uint dataBaudRate, bool iSOEnable, bool resEnable, ushort sendCycle)
        {
            ArbBaudRate = arbBaudRate;
            DataBaudRate = dataBaudRate;
            ISOEnable = iSOEnable;
            ResEnable = resEnable;
            SendCycle = sendCycle;
        }

        /// <summary>
        /// 设备固件信息
        /// </summary>
        public USB_DEVICEByFD.DEVICE_INFO DevInfo = new USB_DEVICEByFD.DEVICE_INFO();

        /// <summary>
        /// CAN Config
        /// </summary>
        USB2CANFD.CANFD_INIT_CONFIG CANConfig = new USB2CANFD.CANFD_INIT_CONFIG();

        /// <summary>
        /// 诊断信息
        /// </summary>
        public USB2CANFD.CANFD_DIAGNOSTIC CurCANFD_DIAGNOSTIC = new USB2CANFD.CANFD_DIAGNOSTIC();

        /// <summary>
        /// CANFD总线错误信息
        /// </summary>
        public USB2CANFD.CANFD_BUS_ERROR CurCANFD_BUS_ERROR = new USB2CANFD.CANFD_BUS_ERROR();

        /// <summary>
        /// DBC Handle
        /// </summary>
        public UInt64 DBCHandle { get; set; }

        /// <summary>
        /// 扫描设备Handle集合
        /// </summary>
        public Int32[] DevHandles { get; set; } = new Int32[20];

        /// <summary>
        /// 扫描设备Handle
        /// </summary>
        public Int32 DevHandle { get; set; } = 0;

        /// <summary>
        /// Write CAN Index
        /// </summary>
        public Byte WriteCANIndex { get; set; } = 0;

        /// <summary>
        /// Read CAN Index
        /// </summary>
        public Byte ReadCANIndex { get; set; } = 0;


        private bool _OpenState;
        /// <summary>
        /// 打开设备的状态
        /// </summary>
        public bool OpenState
        {
            get { return _OpenState; }
            set { _OpenState = value; RaisePropertyChanged(); }
        }

        private bool _DbcParserState;
        /// <summary>
        /// DBC解析的状态
        /// </summary>
        public bool DbcParserState
        {
            get { return _DbcParserState; }
            set { _DbcParserState = value; RaisePropertyChanged(); }
        }

        /// <summary>
        /// 扫描到设备个数
        /// </summary>
        public Int32 DevNum { get; set; }

        public Int32 ret { get; set; }

        public string dllFilePath { get; set; } = "USB2XXX.dll";


        /// <summary>
        /// 消息值Pt
        /// </summary>
        public IntPtr msgPt { get; set; }

        #endregion

        /// <summary>
        /// ******************【1】*********************
        /// 是否存在Dll文件
        /// </summary>
        /// <returns></returns>
        public bool IsExistsDllFile()
        {
            if (!File.Exists(dllFilePath))
            {
                Console.WriteLine("请先将USB2XXX.dll和libusb-1.0.dll文件复制到exe程序文件输出目录下!");
                Console.WriteLine("dll文件在‘usb2can_lin_pwm_example/sdk/libs/windows’目录下！");
                Console.WriteLine("程序是32位的就复制‘x86’目录下文件，程序是64位的就复制‘x86_64’目录下文件！");
                return false;
            }
            return true;
        }

        /// <summary>
        /// ******************【2】*********************
        /// 扫描查找设备，并将每个设备的唯一设备号存放到数组中，后面的函数需要用到
        /// </summary>
        /// <returns></returns>
        public bool ScanDevice()
        {
            DevNum = USB_DEVICEByFD.USB_ScanDevice(DevHandles);
            if (DevNum <= 0)
            {
                Console.WriteLine("No device connected!");

                return false;
            }
            else
            {
                Console.WriteLine("Have {0} device connected!", DevNum);
                DevHandle = DevHandles[0];//获取第一个设备的设备号
                return true;
            }
        }

        /// <summary>
        /// ******************【3】*********************
        /// 打开设备
        /// </summary>
        /// <returns></returns>
        public bool OpenDevice()
        {
            //打开设备
            OpenState = USB_DEVICEByFD.USB_OpenDevice(DevHandle);
            if (!OpenState)
            {
                Console.WriteLine("Open device error!");
                return false;
            }
            else
            {
                Console.WriteLine("Open device success!");
                return true;
            }
        }

        /// <summary>
        /// ******************【4】*********************
        /// 获取设备的固件信息
        /// </summary>
        /// <returns></returns>
        public bool GetDeviceInfo()
        {
            //获取固件信息
            StringBuilder FuncStr = new StringBuilder(256);
            OpenState = USB_DEVICEByFD.DEV_GetDeviceInfo(DevHandle, ref DevInfo, FuncStr);
            if (!OpenState)
            {
                Console.WriteLine("Get device infomation error!");
                return false;
            }
            else
            {
                Console.WriteLine("Firmware Info:");
                Console.WriteLine("    Name:" + Encoding.Default.GetString(DevInfo.FirmwareName));
                Console.WriteLine("    Build Date:" + Encoding.Default.GetString(DevInfo.BuildDate));
                Console.WriteLine("    Firmware Version:v{0}.{1}.{2}", (DevInfo.FirmwareVersion >> 24) & 0xFF, (DevInfo.FirmwareVersion >> 16) & 0xFF, DevInfo.FirmwareVersion & 0xFFFF);
                Console.WriteLine("    Hardware Version:v{0}.{1}.{2}", (DevInfo.HardwareVersion >> 24) & 0xFF, (DevInfo.HardwareVersion >> 16) & 0xFF, DevInfo.HardwareVersion & 0xFFFF);
                Console.WriteLine("    Functions:" + DevInfo.Functions.ToString("X8"));
                Console.WriteLine("    SerialNumber:" + DevInfo.SerialNumber[0] + DevInfo.SerialNumber[1] + DevInfo.SerialNumber[2]);
                Console.WriteLine("    Functions String:" + FuncStr);
                StringBuilder DLLBuildDate = new StringBuilder(256);
                USB_DEVICEByFD.DEV_GetDllBuildTime(DLLBuildDate);
                Console.WriteLine("    DLL Build Date:" + DLLBuildDate);

                return true;
            }
        }

        /// <summary>
        /// ******************【5】*********************
        /// 获取设备Config配置
        /// </summary>
        public void GetCANConfig()
        {
            //获取CAN波特率参数
            ret = USB2CANFD.CANFD_GetCANSpeedArg(DevHandle, ref CANConfig, ArbBaudRate, DataBaudRate);
            if (ret != USB2CANFD.CANFD_SUCCESS)
            {
                Console.WriteLine("Get CAN Speed failed!");
                return;
            }
            else
            {
                Console.WriteLine("Get CAN Speed Success!");
            }

        }

        /// <summary>
        /// ******************【6】*********************
        /// 初始化CAN
        /// </summary>
        public void InitCAN()
        {
            //初始化CAN
            CANConfig.ISOCRCEnable = ISOEnable == true ? (byte)1 : (byte)0;//使能ISOCRC
            CANConfig.ResEnable = ResEnable == true ? (byte)1 : (byte)0;//使能终端电阻
            ret = USB2CANFD.CANFD_Init(DevHandle, WriteCANIndex, ref CANConfig);
            if (ret != USB2CANFD.CANFD_SUCCESS)
            {
                Console.WriteLine("Config CAN failed!");
                return;
            }
            else
            {
                Console.WriteLine("WriteCANIndex Config CAN Success!");
            }

            ret = USB2CANFD.CANFD_Init(DevHandle, ReadCANIndex, ref CANConfig);
            if (ret != USB2CANFD.CANFD_SUCCESS)
            {
                Console.WriteLine("Config CAN failed!");
                return;
            }
            else
            {
                Console.WriteLine("ReadCANIndex Config CAN Success!");
            }
            Console.WriteLine("");
        }

        /// <summary>
        /// ******************【7】*********************
        /// DBC解析
        /// </summary>
        public void DBC_Parser(string Path)
        {
            //解析DBC文件
            DBCHandle = DBCParserByFD.DBC_ParserFile(DevHandle, new StringBuilder(Path));
            if (DBCHandle == 0)
            {
                Console.WriteLine("Parser DBC File error!");
                DbcParserState = false;
                return;
            }
            else
            {
                Console.WriteLine("Parser DBC File success!");
            }

            ListCanFdDbcModel.Clear();

            //打印DBC里面报文和信号相关信息
            int DBCMsgNum = DBCParserByFD.DBC_GetMsgQuantity(DBCHandle);
            for (int i = 0; i < DBCMsgNum; i++)
            {
                StringBuilder MsgName = new StringBuilder(32);
                DBCParserByFD.DBC_GetMsgName(DBCHandle, i, MsgName);
                Console.WriteLine("Msg.Name = {0}", MsgName);
                int DBCSigNum = DBCParserByFD.DBC_GetMsgSignalQuantity(DBCHandle, MsgName);
                StringBuilder Publisher = new StringBuilder(32);
                DBCParserByFD.DBC_GetMsgPublisher(DBCHandle, MsgName, Publisher);
                Console.Write("Signals:");
                for (int j = 0; j < DBCSigNum; j++)
                {
                    StringBuilder SigName = new StringBuilder(32);
                    DBCParserByFD.DBC_GetMsgSignalName(DBCHandle, MsgName, j, SigName);
                    Console.Write("{0} ", SigName);

                    //增加信息数据
                    ListCanFdDbcModel.Add(new CanDbcModel()
                    {
                        MsgName = MsgName.ToString(),
                        MsgId = "",
                        SignalName = SigName.ToString(),
                        SignalDesc = "",
                        SignalUnit = "",
                        SignalRtValue = "",
                        Publisher = Publisher.ToString()
                    });
                }
                Console.WriteLine("");
            }

            //Dbc解析成功
            DbcParserState = true;
        }

        /// <summary>
        /// 发送CAN数据
        /// </summary>
        public void SendCanMsg(List<CanCmdData> CmdData)
        {
            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 msgPt = 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), msgPt);
                CanMsg[Index] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPt, typeof(USB2CANFD.CANFD_MSG));
                Index++;
            }

            //设置信号值
            //DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder("msg_moto_speed"), new StringBuilder("moto_speed"), 2412);
            //DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder("msg_oil_pressure"), new StringBuilder("oil_pressure"), 980);
            //DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder("msg_speed_can"), new StringBuilder("speed_can"), 120);

            //通过DBC写入数据后生成CanMsg
            //将信号值填入CAN消息里面


            //IntPtr msgPt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)));
            //DBCParser.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder("msg_moto_speed"), msgPt);
            //CanMsg[0] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPt, typeof(USB2CANFD.CANFD_MSG));

            //DBCParser.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder("msg_oil_pressure"), msgPt);
            //CanMsg[1] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPt, typeof(USB2CANFD.CANFD_MSG));

            //DBCParser.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder("msg_speed_can"), msgPt);
            //CanMsg[2] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPt, typeof(USB2CANFD.CANFD_MSG));

            //释放申请的临时缓冲区
            Marshal.FreeHGlobal(msgPt);
            Console.WriteLine("");
            //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);
            }
            else
            {
                Console.WriteLine("Send CAN data failed! {0}", SendedNum);
            }
        }


        #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>
        /// 定时扫描更新数据 扫描Task
        /// </summary>
        private static Task CycleUpdateCmdTask { get; set; }

        /// <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;
                                LoggerService.Info("定时发送延迟过大，重新校准时间");
                                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);
                                //CanMsg[0].Flags = 5;

                                //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
                            IsSendOk = false;
                            break;
                        }
                        catch (Exception ex)
                        {
                            LoggerService.Error(ex.Message);
                            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
                            IsSendOk = false;
                            await Task.Delay(10, token);
                        }
                    }

                    IsSendOk = false;
                }
                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();
                    LoggerService.Error(ex.Message);
                    // 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");
                    IsSendOk = false;
                }
                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();
                    IsSendOk = false;
                }

            }, token, TaskCreationOptions.LongRunning, TaskScheduler.Default);
        }

        /// <summary>
        /// 获取CAN消息数组中指定位置的数据
        /// </summary>
        /// <param name="sourceCanMsg">源CAN消息数组</param>
        /// <param name="index">要获取的数据索引位置</param>
        /// <returns>返回指定位置数据的新数组</returns>
        private USB2CANFD.CANFD_MSG[] GetCanMsg(USB2CANFD.CANFD_MSG[] sourceCanMsg, int index)
        {
            // 参数检查
            if (sourceCanMsg == null || sourceCanMsg.Length == 0 || index < 0 || index >= sourceCanMsg.Length)
            {
                return new USB2CANFD.CANFD_MSG[0];
            }

            // 创建单个元素的新数组
            USB2CANFD.CANFD_MSG[] targetMsg = new USB2CANFD.CANFD_MSG[1];
            targetMsg[0] = sourceCanMsg[index];

            // 由于CANFD_MSG包含数组字段,需要手动初始化数据数组
            targetMsg[0].Data = new byte[64];
            // 复制数据
            Array.Copy(sourceCanMsg[index].Data, targetMsg[0].Data, sourceCanMsg[index].Data.Length);

            return targetMsg;
        }

        /// <summary>
        /// 修改停止发送的方法
        /// </summary>
        public void StopCycleSendMsg()
        {
            IsCycleSend = false;
            CycleSendCts?.Cancel();
        }

        #endregion


        #region 并行多线程发送报文

        /// <summary>
        /// 并行精确周期发送CAN数据
        /// </summary>
        public void StartParallelPrecisionCycleSendMsg()
        {
            // 创建取消标记源
            var cancellationTokenSource = new CancellationTokenSource();
            var token = cancellationTokenSource.Token;

            // 保存取消标记，以便在停止时使用
            CycleSendCts = cancellationTokenSource;

            // 初始化计时基准
            TicksPerMs = Stopwatch.Frequency / 1000.0;

            // 分组消息，按照消息名称进行分组
            var groupedMessages = CmdData.GroupBy(x => x.MsgName).ToList();

            // 创建发送任务列表
            var sendTasks = new List<Task>();

            // 创建线程同步对象，确保DBC操作和发送操作的线程安全
            object dbcLock = new object();

            // 为每组消息创建单独的发送任务
            foreach (var messageGroup in groupedMessages)
            {
                var msgName = messageGroup.Key;
                var signals = messageGroup.ToList();

                // 为每个消息组创建一个发送任务
                var sendTask = Task.Factory.StartNew(async () =>
                {
                    try
                    {
                        // 设置线程优先级
                        Thread.CurrentThread.Priority = ThreadPriority.AboveNormal;

                        // 每个消息使用独立的计时器
                        var messageStopwatch = new Stopwatch();
                        messageStopwatch.Start();

                        // 计算该消息的发送周期(可以为不同消息设置不同周期)
                        // 这里可以从配置或参数中获取特定消息的周期
                        long cycleInTicks = (long)(SendCycle * TicksPerMs);
                        long nextExecutionTime = 0;

                        while (IsCycleSend && !token.IsCancellationRequested)
                        {
                            try
                            {
                                // 计算下一次执行时间
                                nextExecutionTime += cycleInTicks;

                                // 获取当前时间
                                long currentTime = messageStopwatch.ElapsedTicks;
                                long delayTicks = nextExecutionTime - currentTime;

                                // 精确等待逻辑
                                if (delayTicks > 0)
                                {
                                    int delayMs = (int)(delayTicks / TicksPerMs);

                                    if (delayMs <= 20)
                                    {
                                        SpinWait.SpinUntil(() => messageStopwatch.ElapsedTicks >= nextExecutionTime);
                                    }
                                    else
                                    {
                                        await Task.Delay(delayMs - 20, token);
                                        SpinWait.SpinUntil(() => messageStopwatch.ElapsedTicks >= nextExecutionTime);
                                    }
                                }

                                // 校准时间，处理严重延迟情况
                                if (messageStopwatch.ElapsedTicks >= nextExecutionTime + cycleInTicks)
                                {
                                    nextExecutionTime = messageStopwatch.ElapsedTicks;
                                    LoggerService.Info($"消息{msgName}定时发送延迟过大，重新校准时间");
                                }

                                // 使用锁确保DBC操作和发送的线程安全
                                lock (dbcLock)
                                {
                                    // 构建CAN消息
                                    IntPtr msgPtSend = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)));

                                    try
                                    {
                                        // 为信号赋值
                                        foreach (var signal in signals)
                                        {
                                            DBCParserByFD.DBC_SetSignalValue(DBCHandle, new StringBuilder(msgName),
                                                new StringBuilder(signal.SignalName), signal.SignalCmdValue);
                                        }

                                        // 同步值到CAN消息
                                        DBCParserByFD.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder(msgName), msgPtSend);
                                        var canMsg = (USB2CAN.CAN_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CAN.CAN_MSG));

                                        // 直接发送此消息，无需通过队列
                                        USB2CAN.CAN_MSG[] canMsgArray = new USB2CAN.CAN_MSG[] { canMsg };
                                        int sendedNum = USB2CAN.CAN_SendMsg(DevHandle, WriteCANIndex, canMsgArray, 1);

                                        // 更新发送状态
                                        if (sendedNum >= 0)
                                        {
                                            // 发送成功
                                            IsSendOk = true;
                                        }
                                        else
                                        {
                                            IsSendOk = false;
                                            LoggerService.Info($"消息{msgName}发送失败: {sendedNum}");
                                        }
                                    }
                                    finally
                                    {
                                        // 确保释放非托管资源
                                        Marshal.FreeHGlobal(msgPtSend);
                                    }
                                }
                            }
                            catch (TaskCanceledException)
                            {
                                LoggerService.Info($"消息{msgName}发送任务被取消");
                                break;
                            }
                            catch (Exception ex)
                            {
                                LoggerService.Info($"消息{msgName}发送异常: {ex.Message}");
                                await Task.Delay(10, token);
                            }
                        }
                    }
                    catch (Exception ex)
                    {
                        LoggerService.Info($"消息{msgName}发送线程异常: {ex.Message}");
                    }
                    finally
                    {
                        LoggerService.Info($"消息{msgName}发送线程已退出");
                    }
                }, token, TaskCreationOptions.LongRunning, TaskScheduler.Default);

                sendTasks.Add(sendTask);
            }

            // 创建监控任务，监控所有发送任务的状态
            CycleSendTask = Task.Factory.StartNew(async () =>
            {
                try
                {
                    // 等待所有任务完成或取消
                    await Task.WhenAll(sendTasks.ToArray());
                }
                catch (Exception ex)
                {
                    LoggerService.Info($"并行发送监控任务异常: {ex.Message}");
                }
                finally
                {
                    LoggerService.Info("并行发送任务已全部结束");
                    IsSendOk = false;
                }
            }, token, TaskCreationOptions.LongRunning, TaskScheduler.Default);
        }

        #endregion



        #region 调度表发送报文

        private bool _SchEnable;
        /// <summary>
        /// 调度表使能
        /// </summary>
        public bool SchEnable
        {
            get { return _SchEnable; }
            set
            {
                _SchEnable = value;
                RaisePropertyChanged();
            }
        }


        /// <summary>
        /// 调度表的发送的报文数据
        /// </summary>
        private USB2CANFD.CANFD_MSG[] SchCanMsg { get; set; }

        /// <summary>
        /// 依据消息的分组
        /// </summary>
        private IEnumerable<IGrouping<string, CanCmdData>> GroupMsg { get; set; }

        /// <summary>
        /// 调度表集合数据
        /// 总共3个调度表，第一个表里面包含3帧数据，第二个调度表包含6帧数据，第三个调度表包含11帧数据
        /// Byte[] MsgTabNum = new Byte[3] { 3, 6, 11 };
        /// </summary>
        private Byte[] MsgTabNum { get; set; }

        /// <summary>
        /// 调度表发送的次数集合
        /// 第一个调度表循环发送数据，第二个调度表循环发送数据，第三个调度表只发送3次
        /// UInt16[] SendTimes = new UInt16[3] { 0xFFFF, 0xFFFF, 3 };
        /// </summary>
        private UInt16[] SendTimes { get; set; }

        /// <summary>
        /// 预设的调度表的个数 常值
        /// </summary>
        private const int MsgTabCount = 5;

        /// <summary>
        /// 定时更新时间
        /// </summary>
        private int UpdateCycle { get; set; } = 100;

        /// <summary>
        /// CNA 调度表的配置信息
        /// </summary>
        public List<CANFdScheduleConfigDto> ListCANScheduleConfig { get; set; }

        Random random = new Random();

        /// <summary>
        /// 监控数据
        /// 查找问题用，平时不用
        /// </summary>
        //public MonitorValueLog monitorValueLog { get; set; }

        /// <summary>
        /// 更新数据 测试用废弃了
        /// </summary>
        public void UpdateValue()
        {
            //通过DBC进行对消息赋值
            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)
                {
                    itemSignal.SignalCmdValue = random.Next(0, 100);
                    DBCParserByFD.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
                }
                DBCParserByFD.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
                SchCanMsg[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);


            ////总共3个调度表，第一个表里面包含3帧数据，第二个调度表包含6帧数据，第三个调度表包含11帧数据
            //MsgTabNum = new Byte[1] { 1 };
            ////第一个调度表循环发送数据，第二个调度表循环发送数据，第三个调度表只发送3次
            //SendTimes = new UInt16[1] { 0xFFFF };
            //var ret = USB2CANFD.CAN_SetSchedule(DevHandle, WriteCANIndex, SchCanMsg, MsgTabNum, SendTimes, 1);//配置调度表，该函数耗时可能会比较长，但是只需要执行一次即可
            var ret = USB2CANFD.CANFD_UpdateSchedule(DevHandle, WriteCANIndex, 0, 0, SchCanMsg, 1);//配置调度表，该函数耗时可能会比较长，但是只需要执行一次即可
            if (ret == USB2CANFD.CANFD_SUCCESS)
            {
                Console.WriteLine("Update CAN Schedule Success");
            }
            else
            {
                Console.WriteLine("Update CAN Schedule Error ret = {0}", ret);
                return;
            }
        }

        /// <summary>
        /// 开始调度表执行
        /// </summary>
        public void StartSchedule()
        {
            if (CmdData.Count() == 0) return;

            //依据报文进行分组
            GroupMsg = CmdData.GroupBy(x => x.MsgName)!;
            //初始化调度表要发送的消息结构
            SchCanMsg = new USB2CANFD.CANFD_MSG[GroupMsg.Count()];
            for (int i = 0; i < GroupMsg.Count(); i++)
            {
                SchCanMsg[i] = new USB2CANFD.CANFD_MSG();
                SchCanMsg[i].Data = new Byte[64];
            }

            //通过DBC进行对消息赋值
            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);
                //每个分组就是一个帧指令/消息数据
                SchCanMsg[Index] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CANFD.CANFD_MSG));
                //分配当前消息帧在集合中的位置信息到ListCANScheduleConfig中，方便实时更新时定位帧的位置
                if (ListCANScheduleConfig.Any(a => a.MsgName == itemMsg.Key))
                {
                    //把帧的位置给ListCANScheduleConfig，方便更新时定位数据
                    ListCANScheduleConfig.FindFirst(a => a.MsgName == itemMsg.Key).MsgIndex = Index;

                    //设置当前这个报文的在调度表中的发送周期
                    SchCanMsg[Index].TimeStamp = (uint)ListCANScheduleConfig.FindFirst(a => a.MsgName == itemMsg.Key).Cycle;
                }
                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);

            //********就是可以设置多个调度表放那里，但是运行时同一个时刻只能运行调度表其中的一个 ********
            //****** 控制报文SchCanMsg和调度器中第一个调度器中的报文集合和要更新的报文集合都是同一个变量SchCanMsg， ********
            // *** SchCanMsg的Index序号和ListCANScheduleConfig的MsgIndex是一样的 *** 

            //图莫斯的Sample：总共3个调度表，第一个表里面包含3帧数据，第二个调度表包含6帧数据，第三个调度表包含11帧数据
            //预设5个调度表，但是我们只用其中第一个调度表，第一个调度表中包括多少消息帧，由系统的控制指令的帧的分布决定，SchCanMsg.Count()是所需要的控制发送的帧，都放到第一个调度表中

            MsgTabNum = new Byte[MsgTabCount] { (byte)SchCanMsg.Count(), 1, 1, 1, 1 };
            //0xFFFF：调度表循环发送数据，X：调度表循环发送的次数
            //设置每个调度表的发送方式，约定全部为循环发送
            SendTimes = new UInt16[MsgTabCount] { 0xFFFF, 0xFFFF, 0xFFFF, 0xFFFF, 0xFFFF };

            //SchCanMsg:需要发送的消息集合；MsgTabNum：调度表集合数据；SendTimes：发送次数集合数据；调度表个数：MsgTabCount
            var ret = USB2CANFD.CANFD_SetSchedule(DevHandle, WriteCANIndex, SchCanMsg, MsgTabNum, SendTimes, MsgTabCount);//配置调度表，该函数耗时可能会比较长，但是只需要执行一次即可
            if (ret == USB2CANFD.CANFD_SUCCESS)
            {
                Console.WriteLine("Set CAN Schedule Success");
            }
            else
            {
                Console.WriteLine("Set CAN Schedule Error ret = {0}", ret);
                LoggerService.Info($"Set CAN Schedule Error; 返回错误代码：{ret}");
                return;
            }

            //约定使用Index=0 1号调度器，因为同一个时刻只能有一个调度器工作，把所有的报文都要放到这个调度器中
            //CAN_MSG的TimeStamp就是这个报文发送的周期，由调度器协调
            ret = USB2CANFD.CANFD_StartSchedule(DevHandle, WriteCANIndex, (byte)0, (byte)100, (byte)ListCANScheduleConfig.FirstOrDefault()!.OrderSend);
            if (ret == USB2CANFD.CANFD_SUCCESS)
            {
                Console.WriteLine($"Start CAN Schedule 1 Success，SchTabIndex：{(byte)0}  -  Cycle：{(byte)100}  -  OrderSend：{(byte)1}");
            }
            else
            {
                Console.WriteLine("Start CAN Schedule 1 Error ret = {0}", ret);
                LoggerService.Info($"Start CAN Schedule 1 Error;");
                return;
            }


            //foreach (var itemGroupMsg in GroupMsg)
            //{
            //    if (itemGroupMsg == null) continue;
            //    if (ListCANScheduleConfig.Any(a => a.MsgName!.Contains(itemGroupMsg.Key)))
            //    {
            //        var CANScheduleConfig = ListCANScheduleConfig.FindFirst(a => a.MsgName!.Contains(itemGroupMsg.Key));
            //        //配置表里面包括这个报文消息内容
            //        ret = USB2CANFD.CAN_StartSchedule(DevHandle, WriteCANIndex, (byte)CANScheduleConfig.SchTabIndex, (byte)CANScheduleConfig.Cycle, (byte)CANScheduleConfig.OrderSend);
            //        if (ret == USB2CANFD.CAN_SUCCESS)
            //        {
            //            Console.WriteLine($"Start CAN Schedule 1 Success，SchTabIndex：{(byte)CANScheduleConfig.SchTabIndex}  -  Cycle：{(byte)CANScheduleConfig.Cycle}  -  OrderSend：{(byte)CANScheduleConfig.OrderSend}");
            //        }
            //        else
            //        {
            //            Console.WriteLine("Start CAN Schedule 1 Error ret = {0}", ret);
            //            LoggerService.Info($"Start CAN Schedule 1 Error;消息名称：{CANScheduleConfig.MsgName}");
            //            return;
            //        }
            //    }
            //    else
            //    {
            //        LoggerService.Info($"调度表配置未发现对应的消息报文信息；报文信息{itemGroupMsg.Key}");
            //    }
            //}

            //走到这里说明调度表执行的是OK的
            //IsSendOk = true;

        }


        /// <summary>
        /// 停止调度表
        /// </summary>
        public void StopSchedule()
        {
            ret = USB2CANFD.CANFD_StopSchedule(DevHandle, WriteCANIndex);//启动第一个调度表,表里面的CAN帧并行发送
            if (ret == USB2CANFD.CANFD_SUCCESS)
            {
                IsSendOk = false;
                Console.WriteLine("Stop CAN Schedule");
                LoggerService.Info($"Stop CAN Schedule");
            }
            else
            {
                Console.WriteLine("Start CAN Schedule  Error ret = {0}", ret);
                LoggerService.Info($"Stop CAN Schedule");
                return;
            }


        }

        /// <summary>
        /// 循环使用的
        /// </summary>
        private int CycleUpdateIndex = 0;

        /// <summary>
        /// 加载要发送的数据
        /// 一般是激活后才注册事件
        /// </summary>
        /// <param name="cmdData"></param>
        public void LoadCmdDataToDrive(List<CanCmdData> cmdData)
        {
            // Unsubscribe from events on the old CmdData items
            if (CmdData != null && CmdData.Count > 0)
            {
                foreach (var cmd in CmdData)
                {
                    cmd.CanCmdDataChangedHandler -= CmdData_CanCmdDataChangedHandler;
                }
            }

            // Set the new data and subscribe to events
            CmdData = cmdData;
            foreach (var cmd in cmdData)
            {
                cmd.CanCmdDataChangedHandler += CmdData_CanCmdDataChangedHandler;
            }
        }

        /// <summary>
        /// 指令数据发生变化执行方法
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void CmdData_CanCmdDataChangedHandler(object? sender, string e)
        {
            UpdateSchDataByCmdDataChanged();
        }

        /// <summary>
        /// 指令数据发生变化执行更新调度表锁
        /// </summary>
        private readonly object SchUpdateLock = new object();

        /// <summary>
        /// 指令数据发生变化执行方法
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        public void UpdateSchDataByCmdDataChanged()
        {
            try
            {
                if (!IsCycleSend) return;
                if (!SchEnable) return;

                // 基础防御：确保 DBC/ 调度表 / 分组已经初始化
                if (DBCHandle == 0 || SchCanMsg == null || GroupMsg == null)
                {
                    return;
                }

                lock (SchUpdateLock)
                {
                    //通过DBC进行对消息赋值
                    IntPtr msgPtSend = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)));
                    int CycleUpdateIndex = 0;
                    //循环给MSG赋值数据，顺序是固定的，跟初始时设置是一样的
                    foreach (var itemMsg in GroupMsg)
                    {
                        foreach (var itemSignal in itemMsg)
                        {
                            //itemSignal.SignalCmdValue = random.Next(0, 100);  //仿真测试数据使用
                            var SetSignalValue = DBCParserByFD.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
                            //monitorValueLog.UpdateValue1(SetSignalValue);
                        }
                        var SyncValueToCanMsg = DBCParserByFD.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
                        //monitorValueLog.UpdateValue2(SyncValueToCanMsg);
                        SchCanMsg[CycleUpdateIndex] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CANFD.CANFD_MSG));
                        CycleUpdateIndex++;
                    }

                    //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);

                    //CAN_UpdateSchedule 官网解释
                    //  ---MsgTabIndex	CAN调度表索引号
                    //  ---MsgIndex	开始更新帧起始索引，若起始索引大于调度表帧数，则将帧添加到调度表后面
                    //  ---pCanMsg    需要更新的CAN帧指针
                    //  ---MsgNum    pCanMsgTab里面包含的有效帧数

                    //CAN_UpdateSchedule中的MsgIndex表示当前的调度器中的帧Index序号
                    //因为调度表中的帧集合和控制帧的集合和要更新的帧集合都是同一个集合SchCanMsg
                    //默认1号调度表，一个更新所有的帧数据
                    var ret = USB2CANFD.CANFD_UpdateSchedule(DevHandle, WriteCANIndex, (byte)0, (byte)(0), SchCanMsg, (byte)SchCanMsg.Count());//配置调度表，该函数耗时可能会比较长，但是只需要执行一次即可
                    if (ret == USB2CANFD.CANFD_SUCCESS)
                    {
                        IsSendOk = true;
                        Console.WriteLine($"Update CAN Schedule Success  --  SchTabIndex：{(byte)0}  --  MsgIndex：{(byte)(0)}--  SchCanMsg.Count()：{(SchCanMsg.Count())} ");
                        //monitorValueLog.UpdateValue3(ret);
                    }
                    else
                    {
                        IsSendOk = false;
                        //Console.WriteLine($"Update CAN Schedule Error ret = {ret}  --  SchTabIndex：{(byte)0}  --  MsgIndex：{(byte)(0)}");
                        //monitorValueLog.UpdateValue3(ret);
                        LoggerService.Info($"更新调度表失败，错误码：{ret}");
                        //return;
                    }
                }

            }
            catch (Exception ex)
            {
                IsSendOk = false;
                LoggerService.Info($"时间:{DateTime.Now.ToString()}-【MSG】-{ex.Message}");
            }

        }



        #endregion




        private bool _IsCycleRevice;
        /// <summary>
        /// 是否循环接收数据
        /// </summary>
        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>
        /// 循环发送数据
        /// </summary>
        public ushort SendCycle { get; set; } = 200;

        /// <summary>
        /// 循环接受数据
        /// </summary>
        public ushort ReviceCycle { get; set; } = 200;


        /// <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;
                }
            }
        }


        private bool _IsReviceOk;
        /// <summary>
        /// 接收报文是否OK
        /// </summary>
        public bool IsReviceOk
        {
            get { return _IsReviceOk; }
            set
            {
                if (_IsReviceOk != value)
                {
                    RaisePropertyChanged();
                    _IsReviceOk = 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>
        public void StartCycleReviceCanMsg()
        {
            CycleReviceTask = Task.Run(async () =>
            {
                //var ret = USB2CANFDFD.CANFD_StartGetMsg(DevHandle, ReadCANIndex);
                while (IsCycleRevice)
                {
                    await Task.Delay(ReviceCycle);
                    try
                    {
                        //另外一个CAN通道读取数据
                        USB2CANFD.CANFD_MSG[] CanMsgBuffer = new USB2CANFD.CANFD_MSG[128];
                        IntPtr msgPtRead = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)) * CanMsgBuffer.Length);
                        int CanNum = USB2CANFD.CANFD_GetMsg(DevHandle, ReadCANIndex, msgPtRead, CanMsgBuffer.Length);
                        if (CanNum > 0)
                        {
                            IsReviceOk = true;
                            Console.WriteLine("Read CanMsgNum = {0}", CanNum);
                            for (int i = 0; i < CanNum; i++)
                            {
                                CanMsgBuffer[i] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure((IntPtr)(msgPtRead + i * Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG))), typeof(USB2CANFD.CANFD_MSG));
                                Console.WriteLine("CanMsg[{0}].ID = 0x{1}", i, CanMsgBuffer[i].ID.ToString("X8"));
                                //Console.WriteLine("CanMsg[{0}].TimeStamp = {1}",i,CanMsgBuffer[i].TimeStamp);
                                Console.Write("CanMsg[{0}].Data = ", i);
                                for (int j = 0; j < CanMsgBuffer[i].DLC; j++)
                                {
                                    Console.Write("{0} ", CanMsgBuffer[i].Data[j].ToString("X2"));
                                }
                                Console.WriteLine("");
                                //报文给高速记录的服务
                                HighSpeedDataService.AppendOrUpdateMsg(new Models.HighSpeed.CommMsg()
                                {
                                    Category = "CANFD",
                                    MsgInfo = "0x" + CanMsgBuffer[i].ID.ToString("X8"),
                                    MsgData = BitConverter.ToString(CanMsgBuffer[i].Data),
                                    Time = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff")
                                });
                            }
                        }
                        else if (CanNum == 0)
                        {
                            IsReviceOk = false;
                            //Console.WriteLine("No CAN data!");
                        }
                        else
                        {
                            IsReviceOk = false;
                            Console.WriteLine("Get CAN data error!");
                        }
                        //Console.WriteLine("");

                        //将CAN消息数据填充到信号里面
                        DBCParserByFD.DBC_SyncCANFDMsgToValue(DBCHandle, msgPtRead, CanNum);

                        //循环获取消息的数据
                        foreach (var item in ListCanFdDbcModel)
                        {
                            //有配置的名称的，认为是有用的，则需要读取数据
                            //if (!string.IsNullOrEmpty(item.Name))
                            //{
                            //DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ValueSb);
                            //double[] ValueDouble;
                            DBCParserByFD.DBC_GetSignalValue(DBCHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ValueDouble);
                            //item.SignalRtValueSb = ValueSb;
                            item.SignalRtValue = ValueDouble[0].ToString();
                            //Console.Write(ValueSb.ToString());
                            //}
                        }

                        //释放数据缓冲区，必须释放，否则程序运行一段时间后会报内存不足
                        Marshal.FreeHGlobal(msgPtRead);
                        Thread.Sleep(10);

                        ////获取信号值并打印出来
                        //StringBuilder ValueStr = new StringBuilder(32);
                        //DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_current_Power"), ValueStr);
                        //Console.WriteLine("COM_current_Power = {0}", ValueStr);
                        //DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_Curr_dc"), ValueStr);
                        //Console.WriteLine("COM_Curr_dc = {0}", ValueStr);
                    }
                    catch (Exception ex)
                    {
                        IsReviceOk = false;
                        LoggerService.Error(ex.Message);
                        //LoggerService.Info($"时间:{DateTime.Now.ToString()}-【Meter】-{ex.Message}");
                    }
                }


                IsReviceOk = false;
            });
        }

        /// <summary>
        /// 接受CAN消息
        /// </summary>
        public void ReciveCanMsg()
        {
            //另外一个CAN通道读取数据
            USB2CANFD.CANFD_MSG[] CanMsgBuffer = new USB2CANFD.CANFD_MSG[10];
            msgPt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)) * CanMsgBuffer.Length);
            int CanNum = USB2CANFD.CANFD_GetMsg(DevHandle, ReadCANIndex, msgPt, CanMsgBuffer.Length);
            if (CanNum > 0)
            {
                Console.WriteLine("Read CanMsgNum = {0}", CanNum);
                for (int i = 0; i < CanNum; i++)
                {
                    CanMsgBuffer[i] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure((IntPtr)(msgPt + i * Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG))), typeof(USB2CANFD.CANFD_MSG));
                    Console.WriteLine("CanMsg[{0}].ID = 0x{1}", i, CanMsgBuffer[i].ID.ToString("X8"));
                    //Console.WriteLine("CanMsg[{0}].TimeStamp = {1}",i,CanMsgBuffer[i].TimeStamp);
                    Console.Write("CanMsg[{0}].Data = ", i);
                    for (int j = 0; j < CanMsgBuffer[i].DLC; j++)
                    {
                        Console.Write("{0} ", CanMsgBuffer[i].Data[j].ToString("X2"));
                    }
                    Console.WriteLine("");
                }
            }
            else if (CanNum == 0)
            {
                Console.WriteLine("No CAN data!");
            }
            else
            {
                Console.WriteLine("Get CAN data error!");
            }
            Console.WriteLine("");

            //将CAN消息数据填充到信号里面
            DBCParserByFD.DBC_SyncCANFDMsgToValue(DBCHandle, msgPt, CanNum);
            //获取信号值并打印出来
            StringBuilder ValueStr = new StringBuilder(32);
            DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_moto_speed"), new StringBuilder("moto_speed"), ValueStr);
            Console.WriteLine("moto_speed = {0}", ValueStr);
            DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_oil_pressure"), new StringBuilder("oil_pressure"), ValueStr);
            Console.WriteLine("oil_pressure = {0}", ValueStr);
            DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_speed_can"), new StringBuilder("speed_can"), ValueStr);
            Console.WriteLine("speed_can = {0}", ValueStr);

        }


        /// <summary>
        /// 关闭设备
        /// </summary>
        public void CloseDevice()
        {
            //关闭设备
            USB_DEVICEByFD.USB_CloseDevice(DevHandle);
            OpenState = false;
            DbcParserState = false;
            IsCycleRevice = false;
            IsCycleSend = false;
            if (SchEnable)
            {
                StopSchedule();
            }

            // 确保定时器发送被停止并释放资源
            //try { StopTimerCycleSendMsg(); } catch { }

            // 等待接收任务结束后释放非托管缓冲区，避免并发释放
            try
            {
                var task = CycleReviceTask;
                if (task != null && !task.IsCompleted)
                {
                    task.Wait(TimeSpan.FromMilliseconds(ReviceCycle + 500));
                }
            }
            catch { }

        }

    }
}