CapMachine/CapMachine.Wpf/Services/CanDriveService.cs

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驱动服务
    /// </summary>
    public class CanDriveService : BindableBase
    {
        
        public HighSpeedDataService HighSpeedDataService { get; }

        /// <summary>
        /// 实例化函数
        /// </summary>
        public CanDriveService(HighSpeedDataService highSpeedDataService, IContainerProvider containerProvider)
        {
            ToomossCanDrive = new ToomossCan(containerProvider);
            //高速数据服务
            HighSpeedDataService = highSpeedDataService;

            //ToomossCanDrive.StartCanDrive();
        }

        /// <summary>
        /// 当前选中的CanLinConfigPro 程序
        /// </summary>
        public CanLinConfigPro SelectedCanLinConfigPro { get; set; }


        /// <summary>
        /// 图莫斯 CAN Drive
        /// ToomossCanDrive
        /// </summary>
        public ToomossCan ToomossCanDrive { 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 = ToomossCanDrive.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>
        /// 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(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);
            }
        }


        /// <summary>
        /// 循环发送数据到CAN 
        /// </summary>
        public void CycleSendMsg()
        {
            if (ToomossCanDrive.OpenState)
            {
                if (ToomossCanDrive.IsCycleSend == false)
                {
                    if (CmdData.Count > 0)
                    {
                        ToomossCanDrive.IsCycleSend = true;
                        ToomossCanDrive.CmdData = CmdData;
                        ToomossCanDrive.StartCycleSendMsg();
                    }
                    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.IsCycleSend = false;
                }

            }
        }



        /// <summary>
        ///循环接收数据
        /// </summary>
        public void CycleReciveMsg()
        {
            if (ToomossCanDrive.OpenState)
            {
                if (ToomossCanDrive.IsCycleRevice == false)
                {
                    if (ListCanDbcModel.Count > 0)
                    {
                        ToomossCanDrive.IsCycleRevice = true;
                        ToomossCanDrive.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
                {
                    ToomossCanDrive.IsCycleRevice = false;
                }
            }
        }

        #endregion


    }
}