336 lines
11 KiB
C#
336 lines
11 KiB
C#
using CapMachine.Model.CANLIN;
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using CapMachine.Wpf.CanDrive;
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using ImTools;
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using Prism.Ioc;
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using Prism.Mvvm;
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using SharpDX;
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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.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace CapMachine.Wpf.Services
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{
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/// <summary>
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/// Can驱动服务
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/// </summary>
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public class CanDriveService : BindableBase
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{
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public HighSpeedDataService HighSpeedDataService { get; }
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/// <summary>
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/// 实例化函数
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/// </summary>
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public CanDriveService(HighSpeedDataService highSpeedDataService, IContainerProvider containerProvider)
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{
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ToomossCanDrive = new ToomossCan(containerProvider);
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//高速数据服务
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HighSpeedDataService = highSpeedDataService;
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//ToomossCanDrive.StartCanDrive();
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}
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/// <summary>
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/// 当前选中的CanLinConfigPro 程序
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/// </summary>
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public CanLinConfigPro SelectedCanLinConfigPro { get; set; }
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/// <summary>
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/// 图莫斯 CAN Drive
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/// ToomossCanDrive
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/// </summary>
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public ToomossCan ToomossCanDrive { get; set; }
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/// <summary>
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/// Dbc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<CanDbcModel> ListCanDbcModel { get; set; } = new ObservableCollection<CanDbcModel>();
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/// <summary>
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/// 初始化CAN的配置信息
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/// </summary>
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public void InitCanConfig(CanLinConfigPro selectedCanLinConfigPro)
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{
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//赋值配置数据
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SelectedCanLinConfigPro = selectedCanLinConfigPro;
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//为DBC实时数据关联配置的名称
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foreach (var item in SelectedCanLinConfigPro.CanLinConfigContents)
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{
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var FindData = ListCanDbcModel.FindFirst(a => a.SignalName == item.SignalName);
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if (FindData != null)
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{
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FindData.Name = item.Name;
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}
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}
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}
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/// <summary>
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/// 开始DBC 配置文件 加载
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/// </summary>
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/// <returns></returns>
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public ObservableCollection<CanDbcModel> StartDbc(string Path)
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{
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ListCanDbcModel = ToomossCanDrive.StartDbc(Path);
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return ListCanDbcModel;
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}
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#region 程序驱动CAN
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/// <summary>
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/// 转速 指令数据 实例
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/// </summary>
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private CanCmdData SpeedCanCmdData { get; set; }
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/// <summary>
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/// 功率限制 指令数据 实例
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/// </summary>
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private CanCmdData PwLimitCanCmdData { get; set; }
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/// <summary>
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/// 使能 指令数据 实例
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/// </summary>
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private CanCmdData EnableCanCmdData { get; set; }
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/// <summary>
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/// 要发送的CAN指令数据
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/// 在程序配置好后就确定要发送哪些数据
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/// </summary>
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public List<CanCmdData> CmdData { get; set; } = new List<CanCmdData>();
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private readonly object _cmdDataLock = new object();
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/// <summary>
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/// 增加发送的指令数据
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/// </summary>
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/// <param name="canCmdData"></param>
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public void AddCmdData(CanCmdData SendCanCmdData)
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{
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//提取常用的实例数据
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switch (SendCanCmdData.ConfigName)
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{
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case "转速":
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SpeedCanCmdData = SendCanCmdData;
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break;
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case "功率限制":
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PwLimitCanCmdData = SendCanCmdData;
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break;
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case "使能":
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EnableCanCmdData = SendCanCmdData;
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break;
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case "Anti_Sleep":
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//SpeedCanCmdData = SendCanCmdData;
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break;
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default:
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break;
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}
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//添加到发送数据集合
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lock (_cmdDataLock)
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{
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CmdData.Add(SendCanCmdData);
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}
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}
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/// <summary>
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/// 更新速度信息
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/// 默认是启动
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/// </summary>
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/// <param name="canCmdData"></param>
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public void UpdateSpeedCmdData(double SpeedData)
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{
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if (SpeedCanCmdData != null)
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{
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lock (_cmdDataLock)
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{
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SpeedCanCmdData.SignalCmdValue = SpeedData;
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}
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}
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//if (EnableCanCmdData != null)
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//{
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// EnableCanCmdData.SignalCmdValue = 1;
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//}
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}
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/// <summary>
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/// 更新压缩机使能数据
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/// </summary>
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/// <param name="IsEnable"></param>
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public void UpdateCapEnableCmdData(bool IsEnable)
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{
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if (EnableCanCmdData != null)
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{
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lock (_cmdDataLock)
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{
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EnableCanCmdData.SignalCmdValue = IsEnable ? 1 : 0;
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}
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}
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}
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/// <summary>
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/// 发送消息给CAN 驱动
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/// </summary>
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public void SendMsgToCanDrive(double SpeedData)
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{
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if (ToomossCanDrive.OpenState)
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{
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if (CmdData.Count > 0)
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{
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//更新速度信息
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UpdateSpeedCmdData(SpeedData);
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List<CanCmdData> cmdDataSnapshot;
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lock (_cmdDataLock)
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{
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cmdDataSnapshot = CmdData.Select(x => new CanCmdData
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{
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ConfigName = x.ConfigName,
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MsgName = x.MsgName,
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SignalName = x.SignalName,
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SignalCmdValue = x.SignalCmdValue
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}).ToList();
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}
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ToomossCanDrive.SendCanMsg(cmdDataSnapshot);
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}
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else
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{
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System.Windows.MessageBox.Show("未发现配置的数据内容", "提示", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Hand);
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}
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}
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else
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{
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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);
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}
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}
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/// <summary>
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/// 循环发送数据到CAN
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/// </summary>
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public void CycleSendMsg()
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{
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if (!ToomossCanDrive.OpenState)
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{
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System.Windows.MessageBox.Show("CAN未打开，请先连接CAN", "提示", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Hand);
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return;
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}
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//停止已在运行的循环
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if (ToomossCanDrive.IsCycleSend == true)
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{
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ToomossCanDrive.StopCycleSendMsg();
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return;
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}
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//必要的前置校验：DBC 必须已解析成功，否则原生互操作直接 AccessViolation 闪退
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if (!ToomossCanDrive.DbcParserState || ToomossCanDrive.DBCHandle == 0)
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{
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System.Windows.MessageBox.Show("DBC尚未解析成功，无法循环发送", "提示", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Hand);
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return;
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}
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//过滤掉 MsgName / SignalName 为空的行（空名传给原生 DBC 解析器是 AV 常见诱因）
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List<CanCmdData> cmdDataSnapshot;
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lock (_cmdDataLock)
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{
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cmdDataSnapshot = CmdData
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.Where(x => !string.IsNullOrWhiteSpace(x.MsgName) && !string.IsNullOrWhiteSpace(x.SignalName))
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.Select(x => new CanCmdData
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{
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ConfigName = x.ConfigName,
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MsgName = x.MsgName,
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SignalName = x.SignalName,
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SignalCmdValue = x.SignalCmdValue
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})
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.ToList();
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}
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if (cmdDataSnapshot.Count == 0)
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{
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System.Windows.MessageBox.Show("未发现可发送的数据（请检查写入配置的【消息名称】/【信号名称】是否为空）", "提示", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Hand);
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return;
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}
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ToomossCanDrive.IsCycleSend = true;
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//传入的是已经过滤的快照副本，避免与 UI 线程共享同一引用
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ToomossCanDrive.CmdData = cmdDataSnapshot;
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ToomossCanDrive.StartPrecisionCycleSendMsg();
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}
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/// <summary>
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///循环接收数据
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/// </summary>
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public void CycleReciveMsg()
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{
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if (ToomossCanDrive.OpenState)
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{
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if (ToomossCanDrive.IsCycleRevice == false)
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{
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if (ListCanDbcModel.Count > 0)
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{
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ToomossCanDrive.IsCycleRevice = true;
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ToomossCanDrive.StartCycleReviceCanMsg();
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}
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else
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{
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System.Windows.MessageBox.Show("未发现配置的数据内容", "提示", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Hand);
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}
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}
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else
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{
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ToomossCanDrive.IsCycleRevice = false;
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}
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}
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}
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/// <summary>
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/// 获取数据值
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/// 从DBC中获取数据给数据中心集合
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/// </summary>
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/// <param name="Name"></param>
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/// <returns></returns>
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public double GetDbcValueByName(string Name)
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{
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if (!ToomossCanDrive.IsCycleRevice) return 0;
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var dbcModel = ListCanDbcModel.FindFirst(a => a.Name == Name);
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if (dbcModel != null && !string.IsNullOrWhiteSpace(dbcModel.SignalRtValue))
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{
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return double.TryParse(dbcModel.SignalRtValue.Split(" ")[0], out double Result) == true ? Result : 0;
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}
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return 0;
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}
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/// <summary>
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/// 速度的数据的获取
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/// 获取速度数据值
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/// 从DBC中获取Speed数据给数据中心集合
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/// </summary>
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/// <param name="Name"></param>
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/// <returns></returns>
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public double GetDbcSpeedValueBySpeedName(string Name)
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{
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if (!ToomossCanDrive.IsCycleRevice) return 0;
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var dbcModel = ListCanDbcModel.FindFirst(a => a.Name == Name);
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if (dbcModel != null && !string.IsNullOrWhiteSpace(dbcModel.SignalRtValue))
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{
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return double.TryParse(dbcModel.SignalRtValue.Split(" ")[0], out double Result) == true ? Result : 0;
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}
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return 0;
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}
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#endregion
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}
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}
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