644 lines
27 KiB
C#
644 lines
27 KiB
C#
using CapMachine.Wpf.CanDrive;
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using CapMachine.Wpf.Services;
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using ImTools;
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using Microsoft.VisualBasic;
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using Prism.Ioc;
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using Prism.Mvvm;
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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.Diagnostics;
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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.Security.Cryptography.Xml;
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using System.Text;
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using System.Threading.Tasks;
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namespace CapMachine.Wpf.LinDrive
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{
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/// <summary>
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/// Toomoss 的LIN驱动
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/// </summary>
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public class ToomossLin : BindableBase
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{
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/// <summary>
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/// 设备Handles集合
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/// </summary>
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public Int32[] DevHandles { get; set; } = new Int32[20];
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/// <summary>
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/// 设备Handles
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/// 设备句柄，本质为设备序号的低4字节，可以通过调用USB_ScanDevice函数获得
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/// </summary>
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public Int32 DevHandle { get; set; } = 0;
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/// <summary>
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/// Lin的Index
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/// LIN通道索引号，填0或者1，若只有一个通道LIN，则填0.
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/// </summary>
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public Byte LINIndex { get; set; } = 0;
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/// <summary>
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/// Lin的连接State
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/// </summary>
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public bool state { get; set; }
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/// <summary>
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/// Lin的连接设备数量
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/// </summary>
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public Int32 DevNum { get; set; }
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/// <summary>
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/// Lin的Dll文件的路径
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/// </summary>
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public string dllFilePath { get; set; } = "USB2XXX.dll";
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private readonly IContainerProvider ContainerProvider;
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public ToomossLin(IContainerProvider containerProvider)
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{
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ContainerProvider = containerProvider;
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HighSpeedDataService = ContainerProvider.Resolve<HighSpeedDataService>();
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//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
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TicksPerMs = Stopwatch.Frequency / 1000.0;
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}
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/// <summary>
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/// HighSpeedDataService 实例
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/// </summary>
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public HighSpeedDataService HighSpeedDataService { get; set; }
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/// <summary>
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/// 开始LDF文件写入
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/// </summary>
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public ObservableCollection<LinLdfModel> StartLdf(string LdfPath)
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{
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LDF_Parser(LdfPath);
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return ListLinLdfModel;
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}
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/// <summary>
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/// 开始Lin的驱动
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/// </summary>
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public void StartLinDrive()
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{
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IsExistsDllFile();
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ScanDevice();
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OpenDevice();
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}
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private bool _IsCycleRevice;
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/// <summary>
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/// 是否循环接收数据
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/// </summary>
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public bool IsCycleRevice
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{
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get { return _IsCycleRevice; }
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set { _IsCycleRevice = value; RaisePropertyChanged(); }
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}
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private bool _IsCycleSend;
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/// <summary>
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/// 是否循环发送数据
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/// </summary>
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public bool IsCycleSend
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{
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get { return _IsCycleSend; }
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set { _IsCycleSend = value; RaisePropertyChanged(); }
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}
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/// <summary>
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/// 循环发送数据
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/// </summary>
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public ushort SendCycle { get; set; } = 100;
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/// <summary>
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/// 循环接受数据
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/// </summary>
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public ushort ReviceCycle { get; set; } = 500;
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/// <summary>
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/// CycleRevice 扫描Task
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/// </summary>
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private static Task CycleReviceTask { get; set; }
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/// <summary>
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/// CycleSend 扫描Task
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/// </summary>
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private static Task CycleSendTask { get; set; }
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private bool _OpenState;
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/// <summary>
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/// 打开设备的状态
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/// </summary>
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public bool OpenState
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{
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get { return _OpenState; }
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set { _OpenState = value; RaisePropertyChanged(); }
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}
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private bool _LdfParserState;
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/// <summary>
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/// LDF解析的状态
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/// </summary>
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public bool LdfParserState
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{
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get { return _LdfParserState; }
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set { _LdfParserState = value; RaisePropertyChanged(); }
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}
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/// <summary>
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/// LDFHandle
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/// </summary>
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public UInt64 LDFHandle { get; set; }
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/// <summary>
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/// LDF消息集合
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/// 包括读取的实时值和数据
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/// </summary>
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public ObservableCollection<LinLdfModel> ListLinLdfModel { get; set; } = new ObservableCollection<LinLdfModel>();
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/// <summary>
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/// 要发送的LIN数据
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/// </summary>
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public List<LinCmdData> CmdData { get; set; } = new List<LinCmdData>();
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/// <summary>
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/// ******************【1】*********************
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/// 是否存在Dll文件
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/// </summary>
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/// <returns></returns>
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public bool IsExistsDllFile()
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{
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if (!File.Exists(dllFilePath))
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{
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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!");
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Console.WriteLine("dll文件在‘usb2can_lin_pwm_example/sdk/libs/windows’目录下！");
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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！");
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return false;
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}
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return true;
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}
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/// <summary>
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/// ******************【2】*********************
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/// 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
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/// </summary>
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/// <returns></returns>
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public bool ScanDevice()
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{
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DevNum = USB_DEVICE.USB_ScanDevice(DevHandles);
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if (DevNum <= 0)
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{
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Console.WriteLine("No device connected!");
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return false;
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}
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else
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{
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Console.WriteLine("Have {0} device connected!", DevNum);
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DevHandle = DevHandles[0];//获取第一个设备的设备号
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return true;
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}
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}
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/// <summary>
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/// ******************【3】*********************
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/// 打开设备
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/// </summary>
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/// <returns></returns>
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public bool OpenDevice()
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{
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//打开设备
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OpenState = USB_DEVICE.USB_OpenDevice(DevHandle);
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if (!OpenState)
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{
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Console.WriteLine("Open device error!");
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return false;
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}
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else
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{
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Console.WriteLine("Open device success!");
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return true;
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}
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}
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/// <summary>
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/// ******************【4】*********************
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/// 解析LDF信息
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/// </summary>
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/// <returns></returns>
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public void LDF_Parser(string Path)
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{
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LDFHandle = LDFParser.LDF_ParserFile(DevHandle, LINIndex, 1, new StringBuilder(Path));
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if (LDFHandle == 0)
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{
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Console.WriteLine("解析LDF文件失败!");
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LdfParserState = false;
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return;
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}
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//读取LDF文件信息
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Console.WriteLine("ProtocolVersion = {0}", LDFParser.LDF_GetProtocolVersion(LDFHandle));
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Console.WriteLine("LINSpeed = {0}", LDFParser.LDF_GetLINSpeed(LDFHandle));
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//读取主机名称
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StringBuilder MasterName = new StringBuilder(64);
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LDFParser.LDF_GetMasterName(LDFHandle, MasterName);
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Console.WriteLine("Master Name = {0}", MasterName);
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ListLinLdfModel.Clear();
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//读取信息
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int FrameLen = LDFParser.LDF_GetFrameQuantity(LDFHandle);
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for (int i = 0; i < FrameLen; i++)
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{
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//读取帧名称和发布者
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StringBuilder FrameName = new StringBuilder(64);
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string IsMasterFrame = "";
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if (LDFParser.LDF_PARSER_OK == LDFParser.LDF_GetFrameName(LDFHandle, i, FrameName))
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{
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StringBuilder PublisherName = new StringBuilder(64);
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LDFParser.LDF_GetFramePublisher(LDFHandle, FrameName, PublisherName);
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if (MasterName.Equals(PublisherName))
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{
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IsMasterFrame = "是";
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//当前帧为主机发送数据帧
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Console.WriteLine("[MW]Frame[{0}].Name={1},Publisher={2}", i, FrameName, PublisherName);
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}
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else
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{
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IsMasterFrame = "否";
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//当前帧为主机读数据帧
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Console.WriteLine("[MR]Frame[{0}].Name={1},Publisher={2}", i, FrameName, PublisherName);
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}
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//读取信号信息
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int SignalNum = LDFParser.LDF_GetFrameSignalQuantity(LDFHandle, FrameName);
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for (int j = 0; j < SignalNum; j++)
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{
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StringBuilder SignalName = new StringBuilder(64);
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if (LDFParser.LDF_PARSER_OK == LDFParser.LDF_GetFrameSignalName(LDFHandle, FrameName, j, SignalName))
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{
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Console.WriteLine("\tSignal[{0}].Name={1}", j, SignalName);
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ListLinLdfModel.Add(new LinLdfModel()
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{
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MsgName = FrameName.ToString(),
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Publisher = PublisherName.ToString(),
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IsMasterFrame = IsMasterFrame,
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SignalName = SignalName.ToString()
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});
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}
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}
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}
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}
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//解析成功
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LdfParserState = true;
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}
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/// <summary>
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/// 发送LIN数据
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/// 发送一次
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/// </summary>
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public void SendLinMsg(List<LinCmdData> CmdData)
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{
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try
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{
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//防止有多个不同的消息名称/帧，每个帧单独处理发送
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var GroupMsg = CmdData.GroupBy(x => x.MsgName);
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foreach (var itemMsg in GroupMsg)
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{
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foreach (var itemSignal in itemMsg)
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{
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//主机写操作，发送数据给从机
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LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
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}
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LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 1);
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//LDFParser.LDF_ExeSchToBus(LDFHandle, new StringBuilder(itemMsg.Key), 1);
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}
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}
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catch (Exception ex)
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{
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}
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}
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/// <summary>
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/// 读取信号值
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/// </summary>
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private StringBuilder ReadValueStr = new StringBuilder(64);
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/// <summary>
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/// 循环
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/// 主机读操作，读取从机返回的数据值
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/// </summary>
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public void StartCycleReviceMsg()
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{
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CycleReviceTask = Task.Run(async () =>
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{
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while (IsCycleRevice)
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{
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await Task.Delay(ReviceCycle);
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try
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{
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var GroupMsg = ListLinLdfModel.GroupBy(x => x.MsgName);
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foreach (var itemMsg in GroupMsg)
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{
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var data = itemMsg.FirstOrDefault();
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//非主机发送的指令帧就可以读取数据，因为函数 LDF_ExeFrameToBus【执行帧到总线，若该帧的发布者是主机，那么就是主机写数据，否则就是主机读数据】
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//那么主机发送和读取都是同一个函数。会导致跟Master主机也会在这里执行写入，导致冲突，出现错误。所以做一个排出
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if (data != null && !data.IsMasterFrame!.Contains("是"))
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{
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//主机读操作，读取从机返回的数据值
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LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 1);
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foreach (var itemSignal in itemMsg)
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{
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//LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 1);
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LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), ReadValueStr);
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itemSignal.SignalRtValueSb = ReadValueStr;
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}
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}
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}
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//StringBuilder ValueStr = new StringBuilder(64);
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//LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder("ID_DATA"), 1);
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//LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder("ID_DATA"), new StringBuilder("Supplier_ID"), ValueStr);
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//Console.WriteLine("ID_DATA.Supplier_ID={0}", ValueStr);
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//LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder("ID_DATA"), new StringBuilder("Machine_ID"), ValueStr);
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//Console.WriteLine("ID_DATA.Machine_ID={0}", ValueStr);
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//LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder("ID_DATA"), new StringBuilder("Chip_ID"), ValueStr);
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//Console.WriteLine("ID_DATA.Chip_ID={0}", ValueStr);
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}
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catch (Exception ex)
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{
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//LogService.Info($"时间:{DateTime.Now.ToString()}-【Meter】-{ex.Message}");
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}
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}
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});
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}
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/// <summary>
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/// 循环发送数据
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/// </summary>
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public void StartCycleSendMsg()
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{
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CycleSendTask = Task.Run(async () =>
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{
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while (IsCycleSend)
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{
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await Task.Delay(SendCycle);
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try
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{
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//防止有多个不同的消息名称/帧，每个帧单独处理发送
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var GroupMsg = CmdData.GroupBy(x => x.MsgName);
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foreach (var itemMsg in GroupMsg)
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{
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foreach (var itemSignal in itemMsg)
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{
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//主机写操作，发送数据给从机
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LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
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}
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//【0】参数注意
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LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 0);
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//读取当前的指令帧数据，LDF_ExeFrameToBus执行后就可以读取本身的数据
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foreach (var item in ListLinLdfModel)
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{
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if (CmdData.Any(a => a.MsgName == item.MsgName))
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{
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LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ReadValueStr);
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item.SignalRtValueSb = ReadValueStr;
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}
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}
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}
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////主机写操作，发送数据给从机
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//LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder("LIN_CONTROL"), new StringBuilder("Reg_Set_Voltage"), 13.5);
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//LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder("LIN_CONTROL"), new StringBuilder("Ramp_Time"), 3);
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//LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder("LIN_CONTROL"), new StringBuilder("Cut_Off_Speed"), 4);
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//LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder("LIN_CONTROL"), new StringBuilder("Exc_Limitation"), 15.6);
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//LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder("LIN_CONTROL"), new StringBuilder("Derat_Shift"), 2);
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//LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder("LIN_CONTROL"), new StringBuilder("MM_Request"), 2);
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//LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder("LIN_CONTROL"), new StringBuilder("Reg_Blind"), 1);
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}
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catch (Exception ex)
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{
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//LogService.Info($"时间:{DateTime.Now.ToString()}-【Meter】-{ex.Message}");
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}
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}
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});
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}
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private bool _IsSendOk;
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/// <summary>
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/// 发送报文是否OK
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/// </summary>
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public bool IsSendOk
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{
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get { return _IsSendOk; }
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set
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{
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if (_IsSendOk != value)
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{
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RaisePropertyChanged();
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_IsSendOk = value;
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}
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}
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}
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#region 精确发送报文数据
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// 添加取消标记源字段用于停止任务
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private CancellationTokenSource CycleSendCts;
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/// <summary>
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/// 计算每毫秒对应的ticks数（只需计算一次）
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/// </summary>
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private double TicksPerMs;
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// 类成员变量定义 精确记时用
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private readonly Stopwatch Stopwatcher = new Stopwatch();
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private long NextExecutionTime;
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// 计算需要等待的时间
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private long CurrentTime;
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private long DelayTicks;
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private int DelayMs;
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private static readonly Random _random = new Random();
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/// <summary>
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/// 精确周期发送CAN数据
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/// </summary>
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public void StartPrecisionCycleSendMsg()
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{
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// 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
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var cancellationTokenSource = new CancellationTokenSource();
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var token = cancellationTokenSource.Token;
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// 保存取消标记，以便在停止时使用
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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
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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
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CycleSendTask = Task.Factory.StartNew(async () =>
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{
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try
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{
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// 设置当前线程为高优先级
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||
Thread.CurrentThread.Priority = ThreadPriority.AboveNormal;
|
||
|
||
// 初始化完成后开始计时
|
||
Stopwatcher.Restart();
|
||
// 预先计算固定值
|
||
long CycleInTicks = (long)(SendCycle * TicksPerMs);
|
||
//临时测试用
|
||
//long lastTicks = Stopwatcher.ElapsedTicks;
|
||
//IsCycleSend
|
||
while (IsCycleSend && !token.IsCancellationRequested)
|
||
{
|
||
try
|
||
{
|
||
// 计算下一次执行时间点 ，将当前设置的发送周期SendCycle(毫秒)转换为Stopwatch的计时单位(tick)，累加到NextExecutionTime上
|
||
NextExecutionTime += CycleInTicks; // 转换为Stopwatch计时单位
|
||
|
||
// 获取当前时间点，以Stopwatch的tick为单位
|
||
CurrentTime = Stopwatcher.ElapsedTicks;
|
||
//计算需要等待的时间，即目标时间点(NextExecutionTime)与当前时间点(CurrentTime)的差值
|
||
DelayTicks = NextExecutionTime - CurrentTime;
|
||
|
||
// 如果还有等待时间，则等待，只有在目标时间点还未到达时才执行等待
|
||
if (DelayTicks > 0)
|
||
{
|
||
////此时是需要等待的，那么需要等待多久呢， 将需等待的tick数转换回毫秒
|
||
DelayMs = (int)(DelayTicks / TicksPerMs);
|
||
//20这个数据是预估和测试的，可能跟Windows抖动误差就是20ms左右，当然可以不用这个IF()判断，直接SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime);但是会导致当前独占一个CPU核心线程
|
||
//所以设置一个20的阈值，20ms以下的延迟使用SpinWait.SpinUntil进行自旋等待，20ms以上的延迟使用Task.Delay进行异步等待，让CPU不至于一直的独占
|
||
if (DelayMs <= 20)
|
||
{
|
||
SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime);
|
||
}
|
||
else
|
||
{
|
||
////使用Task.Delay进行异步等待，大部分等待时间通过这种方式完成，避免线程阻塞
|
||
await Task.Delay(DelayMs - 20, token);
|
||
//// 使用SpinWait.SpinUntil进行精确的微调等待。自旋等待会占用CPU资源，但能提供更高的定时精度，确保在精确的时间点执行
|
||
////上面的Task.Delay可能会因为系统调度等原因导致实际执行时间稍晚于预期，因此在这里使用SpinWait.SpinUntil来确保在精确的时间点执行
|
||
SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime);
|
||
}
|
||
}
|
||
|
||
// 如果已经超过了计划时间，立即执行并重新校准
|
||
if (Stopwatcher.ElapsedTicks >= NextExecutionTime + CycleInTicks)
|
||
{
|
||
//检测是否发生了严重延迟(超过一个周期)。如果当前时间已经超过了下一次计划时间，则说明系统负载过高或其他原因导致无法按时执行，
|
||
//此时重置NextExecutionTime为当前时间，避免连续的延迟累积
|
||
// 严重延迟，重新校准
|
||
NextExecutionTime = Stopwatcher.ElapsedTicks;
|
||
Console.WriteLine("定时发送延迟过大，重新校准时间");
|
||
}
|
||
|
||
// 使用Stopwatch记录实际的执行间隔，而不是DateTime
|
||
//Console.WriteLine($"--实际间隔(ms): {(Stopwatcher.ElapsedTicks - lastTicks) / TicksPerMs:F3}, 目标: {SendCycle}");
|
||
//lastTicks = Stopwatcher.ElapsedTicks;
|
||
|
||
//Console.WriteLine($"--当前时间(毫秒): {DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}");
|
||
|
||
|
||
// 执行发送CAN逻辑
|
||
{
|
||
|
||
//防止有多个不同的消息名称/帧，每个帧单独处理发送
|
||
var GroupMsg = CmdData.GroupBy(x => x.MsgName);
|
||
foreach (var itemMsg in GroupMsg)
|
||
{
|
||
foreach (var itemSignal in itemMsg)
|
||
{
|
||
//主机写操作，发送数据给从机
|
||
LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
|
||
}
|
||
//【0】参数注意
|
||
LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 0);
|
||
|
||
//读取当前的指令帧数据，LDF_ExeFrameToBus执行后就可以读取本身的数据
|
||
foreach (var item in ListLinLdfModel)
|
||
{
|
||
if (CmdData.Any(a => a.MsgName == item.MsgName))
|
||
{
|
||
LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ReadValueStr);
|
||
item.SignalRtValueSb = ReadValueStr;
|
||
}
|
||
}
|
||
}
|
||
|
||
|
||
}
|
||
|
||
}
|
||
catch (TaskCanceledException)
|
||
{
|
||
// 任务被取消，正常退出
|
||
break;
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Console.WriteLine($"LIN周期发送异常: {ex.Message}");
|
||
// 短暂暂停避免异常情况下CPU占用过高
|
||
await Task.Delay(10, token);
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
// 确保在任何情况下（正常退出、异常、取消）都会停止计时器
|
||
Stopwatcher.Stop();
|
||
|
||
// 清理其他可能的资源
|
||
Console.WriteLine("LIN周期发送任务已结束，资源已清理");
|
||
}
|
||
finally
|
||
{
|
||
// 确保在任何情况下（正常退出、异常、取消）都会停止计时器
|
||
Stopwatcher.Stop();
|
||
}
|
||
|
||
}, token, TaskCreationOptions.LongRunning, TaskScheduler.Default);
|
||
}
|
||
|
||
|
||
/// <summary>
|
||
/// 修改停止发送的方法
|
||
/// </summary>
|
||
public void StopCycleSendMsg()
|
||
{
|
||
IsCycleSend = false;
|
||
CycleSendCts?.Cancel();
|
||
}
|
||
|
||
#endregion
|
||
|
||
|
||
|
||
/// <summary>
|
||
/// 关闭设备
|
||
/// </summary>
|
||
public void CloseDevice()
|
||
{
|
||
//关闭设备
|
||
USB_DEVICE.USB_CloseDevice(DevHandle);
|
||
OpenState = false;
|
||
LdfParserState = false;
|
||
IsCycleRevice = false;
|
||
IsCycleSend = false;
|
||
}
|
||
|
||
}
|
||
}
|