571 lines
20 KiB
C#
571 lines
20 KiB
C#
using CapMachine.Wpf.CanDrive;
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using CapMachine.Wpf.Services;
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using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.IO;
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using System.Linq;
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using System.Runtime.InteropServices;
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using System.Text;
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namespace CapMachine.Wpf.CanDrive.ZlgCan
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{
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/// <summary>
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/// 基于周立功 ZDBC（zdbc.dll）的 DBC 数据库封装。
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/// </summary>
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/// <remarks>
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/// 设计要点：
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/// - zdbc.dll 为原生依赖，必须放置在程序输出目录（AppContext.BaseDirectory）。
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/// - 本类封装 DBC 文件加载、消息/信号枚举、以及基于 DBCMessage 的编码/解码能力。
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/// - 运行稳定性：实现 IDisposable，确保 ZDBC_Release 与相关非托管内存释放。
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/// </remarks>
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public sealed class ZlgDbcDatabase : IDisposable
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{
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private readonly ILogService _log;
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private readonly object _sync = new object();
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private uint _dbcHandle;
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private bool _disposed;
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// 复用非托管缓冲，避免高频 Allocate/Free
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private IntPtr _msgPtr = IntPtr.Zero;
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private IntPtr _countPtr = IntPtr.Zero;
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private IntPtr _canFramePtr = IntPtr.Zero;
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private IntPtr _canFdFramePtr = IntPtr.Zero;
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private readonly Dictionary<string, ZDBC.DBCMessage> _messageByName = new Dictionary<string, ZDBC.DBCMessage>(StringComparer.Ordinal);
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private readonly Dictionary<string, uint> _messageIdByName = new Dictionary<string, uint>(StringComparer.Ordinal);
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/// <summary>
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/// 构造函数。
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/// </summary>
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/// <param name="logService">日志服务。</param>
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public ZlgDbcDatabase(ILogService logService)
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{
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_log = logService;
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}
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/// <summary>
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/// 是否已加载。
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/// </summary>
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public bool IsLoaded
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{
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get
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{
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return _dbcHandle != 0 && _dbcHandle != ZDBC.INVALID_DBC_HANDLE;
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}
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}
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/// <summary>
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/// 加载 DBC 文件。
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/// </summary>
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/// <param name="dbcPath">DBC 文件路径。</param>
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/// <param name="enableAsyncAnalyse">是否启用异步解析（库内部线程）。</param>
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/// <param name="merge">是否合并到当前数据库（支持加载多个文件）。</param>
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/// <param name="protocolType">协议类型：J1939=0，其他=1。</param>
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public void Load(string dbcPath, bool enableAsyncAnalyse = true, bool merge = false, byte protocolType = ZDBC.PROTOCOL_OTHER)
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{
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ThrowIfDisposed();
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if (string.IsNullOrWhiteSpace(dbcPath))
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{
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throw new ArgumentException("dbcPath 不能为空。", nameof(dbcPath));
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}
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EnsureNativeDllExists("zdbc.dll");
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if (!File.Exists(dbcPath))
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{
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throw new FileNotFoundException("DBC 文件不存在。", dbcPath);
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}
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lock (_sync)
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{
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if (_dbcHandle == 0 || _dbcHandle == ZDBC.INVALID_DBC_HANDLE)
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{
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_dbcHandle = ZDBC.ZDBC_Init(0, enableAsyncAnalyse ? (byte)1 : (byte)0);
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if (_dbcHandle == ZDBC.INVALID_DBC_HANDLE)
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{
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_dbcHandle = 0;
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throw new InvalidOperationException("ZDBC_Init 初始化失败。");
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}
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}
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var fileInfo = new ZDBC.FileInfo
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{
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strFilePath = BuildFixedPathBytes(dbcPath, ZDBC._MAX_FILE_PATH_ + 1),
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type = protocolType,
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merge = (byte)(merge ? 1 : 0)
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};
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IntPtr pFile = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZDBC.FileInfo)));
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try
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{
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Marshal.StructureToPtr(fileInfo, pFile, false);
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var ok = ZDBC.ZDBC_LoadFile(_dbcHandle, pFile);
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if (!ok)
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{
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throw new InvalidOperationException("ZDBC_LoadFile 失败，请检查 DBC 文件格式。");
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}
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}
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finally
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{
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Marshal.FreeHGlobal(pFile);
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}
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RefreshMessageCache_NoLock();
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}
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}
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/// <summary>
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/// 枚举 DBC 内全部 Message/Signal 元信息，并转换为 UI 使用的 CanDbcModel 集合。
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/// </summary>
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/// <returns>信号集合。</returns>
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public ObservableCollection<CanDbcModel> BuildCanDbcModels()
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{
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ThrowIfDisposed();
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if (!IsLoaded)
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{
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return new ObservableCollection<CanDbcModel>();
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}
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lock (_sync)
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{
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var list = new List<CanDbcModel>();
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foreach (var kv in _messageByName)
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{
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var msg = kv.Value;
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var msgName = ByteArrayToAsciiString(msg.strName);
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var msgIdStr = "0x" + msg.nID.ToString("X8");
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var signals = msg.vSignals;
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if (signals == null || signals.Length == 0)
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{
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continue;
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}
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var signalCount = (int)Math.Min(msg.nSignalCount, (uint)signals.Length);
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for (int i = 0; i < signalCount; i++)
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{
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var s = signals[i];
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var sigName = ByteArrayToAsciiString(s.strName);
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if (string.IsNullOrWhiteSpace(sigName))
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{
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continue;
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}
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list.Add(new CanDbcModel
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{
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MsgName = msgName,
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MsgId = msgIdStr,
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SignalName = sigName,
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SignalDesc = ByteArrayToAsciiString(s.strComment),
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SignalUnit = ByteArrayToAsciiString(s.unit),
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SignalRtValue = "--",
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Publisher = string.Empty
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});
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}
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}
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return new ObservableCollection<CanDbcModel>(list);
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}
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}
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/// <summary>
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/// 根据 MsgName 获取 Message ID。
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/// </summary>
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/// <param name="msgName">消息名称。</param>
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/// <returns>Message ID。</returns>
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public uint GetMessageIdByName(string msgName)
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{
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ThrowIfDisposed();
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if (string.IsNullOrWhiteSpace(msgName)) return 0;
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lock (_sync)
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{
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return _messageIdByName.TryGetValue(msgName, out var id) ? id : 0;
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}
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}
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/// <summary>
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/// 根据 MsgName + 信号值集合编码为 CAN/CANFD 原始帧。
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/// </summary>
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/// <param name="msgName">消息名称。</param>
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/// <param name="signals">信号值（SignalName -> 实际值）。</param>
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/// <param name="frameType">帧类型：FT_CAN=0，FT_CANFD=1。</param>
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/// <returns>编码后的 can_id 与数据。</returns>
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public (uint CanId, byte[] Data, int DataLen) EncodeToRawFrame(string msgName, IDictionary<string, double> signals, byte frameType)
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{
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ThrowIfDisposed();
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if (!IsLoaded)
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{
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throw new InvalidOperationException("DBC 未加载。");
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}
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if (string.IsNullOrWhiteSpace(msgName))
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{
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throw new ArgumentException("msgName 不能为空。", nameof(msgName));
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}
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lock (_sync)
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{
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if (!_messageByName.TryGetValue(msgName, out var msg))
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{
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throw new InvalidOperationException($"DBC 中未找到消息：{msgName}");
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}
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// 在副本上修改信号，避免污染缓存
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var workingMsg = msg;
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if (workingMsg.vSignals == null)
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{
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workingMsg.vSignals = new ZDBC.DBCSignal[ZDBC._DBC_SIGNAL_MAX_COUNT_];
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}
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if (signals != null)
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{
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foreach (var kv in signals)
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{
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SetSignalActualValue(ref workingMsg, kv.Key, kv.Value);
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}
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}
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EnsureMarshalBuffers_NoLock();
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// 写入 msg 到非托管
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Marshal.StructureToPtr(workingMsg, _msgPtr, false);
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// nCount 输入输出参数，准备 1 帧
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Marshal.WriteInt32(_countPtr, 1);
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if (frameType == ZDBC.FT_CAN)
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{
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var ok = ZDBC.ZDBC_Encode(_dbcHandle, _canFramePtr, _countPtr, _msgPtr, frameType);
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if (!ok)
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{
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throw new InvalidOperationException("ZDBC_Encode(CAN) 失败。");
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}
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var frame = (ZlgNativeCanFrame)Marshal.PtrToStructure(_canFramePtr, typeof(ZlgNativeCanFrame));
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var len = Math.Min(8, (int)frame.can_dlc);
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var data = new byte[len];
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if (len > 0 && frame.data != null)
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{
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Array.Copy(frame.data, data, len);
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}
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return (frame.can_id, data, len);
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}
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if (frameType == ZDBC.FT_CANFD)
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{
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var ok = ZDBC.ZDBC_Encode(_dbcHandle, _canFdFramePtr, _countPtr, _msgPtr, frameType);
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if (!ok)
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{
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throw new InvalidOperationException("ZDBC_Encode(CANFD) 失败。");
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}
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var frame = (ZlgNativeCanFdFrame)Marshal.PtrToStructure(_canFdFramePtr, typeof(ZlgNativeCanFdFrame));
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var len = Math.Min(64, (int)frame.len);
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var data = new byte[len];
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if (len > 0 && frame.data != null)
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{
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Array.Copy(frame.data, data, len);
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}
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return (frame.can_id, data, len);
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}
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throw new ArgumentOutOfRangeException(nameof(frameType), "frameType 仅支持 FT_CAN=0 或 FT_CANFD=1。");
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}
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}
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/// <summary>
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/// 将原始 CAN/CANFD 帧解码为 DBCMessage，并返回消息名称与信号实际值。
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/// </summary>
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/// <param name="canId">can_id。</param>
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/// <param name="data">payload。</param>
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/// <param name="frameType">帧类型：FT_CAN=0，FT_CANFD=1。</param>
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/// <returns>解码结果。</returns>
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public (string MsgName, Dictionary<string, double> Signals) DecodeRawFrame(uint canId, byte[] data, byte frameType)
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{
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ThrowIfDisposed();
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if (!IsLoaded)
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{
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throw new InvalidOperationException("DBC 未加载。");
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}
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lock (_sync)
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{
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EnsureMarshalBuffers_NoLock();
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if (frameType == ZDBC.FT_CAN)
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{
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var frame = ZlgNativeCanFrame.Create(canId, data ?? Array.Empty<byte>(), requestTxEcho: false);
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Marshal.StructureToPtr(frame, _canFramePtr, false);
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var ok = ZDBC.ZDBC_Decode(_dbcHandle, _msgPtr, _canFramePtr, 1, frameType);
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if (!ok)
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{
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return (string.Empty, new Dictionary<string, double>());
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}
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var msg = Marshal.PtrToStructure<ZDBC.DBCMessage>(_msgPtr);
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return ExtractActualSignals(msg);
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}
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if (frameType == ZDBC.FT_CANFD)
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{
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var frame = ZlgNativeCanFdFrame.Create(canId, data ?? Array.Empty<byte>(), requestTxEcho: false);
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Marshal.StructureToPtr(frame, _canFdFramePtr, false);
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var ok = ZDBC.ZDBC_Decode(_dbcHandle, _msgPtr, _canFdFramePtr, 1, frameType);
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if (!ok)
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{
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return (string.Empty, new Dictionary<string, double>());
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}
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var msg = Marshal.PtrToStructure<ZDBC.DBCMessage>(_msgPtr);
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return ExtractActualSignals(msg);
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}
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throw new ArgumentOutOfRangeException(nameof(frameType), "frameType 仅支持 FT_CAN=0 或 FT_CANFD=1。");
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}
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}
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/// <inheritdoc />
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public void Dispose()
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{
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if (_disposed) return;
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_disposed = true;
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lock (_sync)
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{
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try
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{
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if (_dbcHandle != 0 && _dbcHandle != ZDBC.INVALID_DBC_HANDLE)
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{
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ZDBC.ZDBC_Release(_dbcHandle);
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}
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}
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catch (Exception ex)
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{
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_log.Warn($"ZDBC_Release 异常：{ex.Message}");
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}
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finally
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{
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_dbcHandle = 0;
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}
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FreeMarshalBuffers_NoLock();
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_messageByName.Clear();
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_messageIdByName.Clear();
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}
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}
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private void RefreshMessageCache_NoLock()
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{
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_messageByName.Clear();
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_messageIdByName.Clear();
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if (!IsLoaded)
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{
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return;
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}
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EnsureMarshalBuffers_NoLock();
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// 遍历消息
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var msg = new ZDBC.DBCMessage
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{
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vSignals = new ZDBC.DBCSignal[ZDBC._DBC_SIGNAL_MAX_COUNT_],
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strName = new byte[ZDBC._DBC_NAME_LENGTH_ + 1],
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strComment = new byte[ZDBC._DBC_COMMENT_MAX_LENGTH_ + 1]
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};
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Marshal.StructureToPtr(msg, _msgPtr, false);
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var ok = ZDBC.ZDBC_GetFirstMessage(_dbcHandle, _msgPtr);
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while (ok)
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{
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var m = Marshal.PtrToStructure<ZDBC.DBCMessage>(_msgPtr);
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var name = ByteArrayToAsciiString(m.strName);
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if (!string.IsNullOrWhiteSpace(name))
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{
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_messageByName[name] = m;
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_messageIdByName[name] = m.nID;
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}
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Marshal.StructureToPtr(msg, _msgPtr, false);
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ok = ZDBC.ZDBC_GetNextMessage(_dbcHandle, _msgPtr);
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}
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}
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private void EnsureMarshalBuffers_NoLock()
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{
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if (_msgPtr == IntPtr.Zero)
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{
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_msgPtr = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZDBC.DBCMessage)));
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}
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if (_countPtr == IntPtr.Zero)
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{
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_countPtr = Marshal.AllocHGlobal(sizeof(int));
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}
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if (_canFramePtr == IntPtr.Zero)
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{
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_canFramePtr = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZlgNativeCanFrame)));
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}
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if (_canFdFramePtr == IntPtr.Zero)
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{
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_canFdFramePtr = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZlgNativeCanFdFrame)));
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}
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}
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private void FreeMarshalBuffers_NoLock()
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{
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if (_canFdFramePtr != IntPtr.Zero)
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{
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Marshal.FreeHGlobal(_canFdFramePtr);
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_canFdFramePtr = IntPtr.Zero;
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}
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if (_canFramePtr != IntPtr.Zero)
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{
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Marshal.FreeHGlobal(_canFramePtr);
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_canFramePtr = IntPtr.Zero;
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}
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if (_countPtr != IntPtr.Zero)
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{
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Marshal.FreeHGlobal(_countPtr);
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_countPtr = IntPtr.Zero;
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}
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if (_msgPtr != IntPtr.Zero)
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{
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Marshal.FreeHGlobal(_msgPtr);
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_msgPtr = IntPtr.Zero;
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}
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}
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private static void EnsureNativeDllExists(string dllName)
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{
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var baseDir = AppContext.BaseDirectory;
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var full = Path.Combine(baseDir, dllName);
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if (!File.Exists(full))
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{
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throw new FileNotFoundException($"未找到 {dllName}，请将其复制到程序输出目录：{baseDir}", full);
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}
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}
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private void SetSignalActualValue(ref ZDBC.DBCMessage msg, string signalName, double actualValue)
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{
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if (msg.vSignals == null || msg.vSignals.Length == 0)
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{
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return;
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}
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var count = (int)Math.Min(msg.nSignalCount, (uint)msg.vSignals.Length);
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for (int i = 0; i < count; i++)
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{
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var s = msg.vSignals[i];
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var name = ByteArrayToAsciiString(s.strName);
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if (!string.Equals(name, signalName, StringComparison.Ordinal))
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{
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continue;
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}
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// 使用 ZDBC_CalcRawValue 做实际值->原始值转换
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IntPtr pSgl = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZDBC.DBCSignal)));
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IntPtr pVal = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(double)));
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try
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{
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Marshal.StructureToPtr(s, pSgl, false);
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Marshal.StructureToPtr(actualValue, pVal, false);
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var raw = ZDBC.ZDBC_CalcRawValue(pSgl, pVal);
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msg.vSignals[i].nRawvalue = raw;
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}
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finally
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{
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Marshal.FreeHGlobal(pVal);
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Marshal.FreeHGlobal(pSgl);
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}
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return;
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}
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}
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private (string MsgName, Dictionary<string, double> Signals) ExtractActualSignals(ZDBC.DBCMessage msg)
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{
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var msgName = ByteArrayToAsciiString(msg.strName);
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var dict = new Dictionary<string, double>(StringComparer.Ordinal);
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if (msg.vSignals == null)
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{
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return (msgName, dict);
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}
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var count = (int)Math.Min(msg.nSignalCount, (uint)msg.vSignals.Length);
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for (int i = 0; i < count; i++)
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{
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var s = msg.vSignals[i];
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var name = ByteArrayToAsciiString(s.strName);
|
||
if (string.IsNullOrWhiteSpace(name))
|
||
{
|
||
continue;
|
||
}
|
||
|
||
// 使用 ZDBC_CalcActualValue 做原始值->实际值转换
|
||
IntPtr pSgl = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZDBC.DBCSignal)));
|
||
IntPtr pRaw = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ulong)));
|
||
try
|
||
{
|
||
Marshal.StructureToPtr(s, pSgl, false);
|
||
Marshal.StructureToPtr(s.nRawvalue, pRaw, false);
|
||
var actual = ZDBC.ZDBC_CalcActualValue(pSgl, pRaw);
|
||
dict[name] = actual;
|
||
}
|
||
finally
|
||
{
|
||
Marshal.FreeHGlobal(pRaw);
|
||
Marshal.FreeHGlobal(pSgl);
|
||
}
|
||
}
|
||
|
||
return (msgName, dict);
|
||
}
|
||
|
||
private static byte[] BuildFixedPathBytes(string path, int fixedLen)
|
||
{
|
||
var bytes = Encoding.ASCII.GetBytes(path);
|
||
var dst = new byte[fixedLen];
|
||
Array.Clear(dst, 0, dst.Length);
|
||
Array.Copy(bytes, 0, dst, 0, Math.Min(bytes.Length, fixedLen - 1));
|
||
return dst;
|
||
}
|
||
|
||
private static string ByteArrayToAsciiString(byte[]? bytes)
|
||
{
|
||
if (bytes == null || bytes.Length == 0) return string.Empty;
|
||
|
||
int len = Array.IndexOf(bytes, (byte)0);
|
||
if (len < 0) len = bytes.Length;
|
||
|
||
return Encoding.ASCII.GetString(bytes, 0, len).Trim();
|
||
}
|
||
|
||
private void ThrowIfDisposed()
|
||
{
|
||
if (_disposed)
|
||
{
|
||
throw new ObjectDisposedException(nameof(ZlgDbcDatabase));
|
||
}
|
||
}
|
||
}
|
||
}
|