891 lines
36 KiB
C#
891 lines
36 KiB
C#
using CapMachine.Wpf.CanDrive.CanFD;
|
||
using CapMachine.Wpf.Models.Tag;
|
||
using CapMachine.Wpf.Services;
|
||
using NPOI.OpenXmlFormats.Wordprocessing;
|
||
using Prism.Ioc;
|
||
using Prism.Mvvm;
|
||
using System;
|
||
using System.Collections.Generic;
|
||
using System.Collections.ObjectModel;
|
||
using System.Diagnostics;
|
||
using System.IO;
|
||
using System.Linq;
|
||
using System.Runtime.InteropServices;
|
||
using System.Text;
|
||
using System.Threading.Tasks;
|
||
using System.Windows.Forms;
|
||
using System.Windows.Interop;
|
||
|
||
namespace CapMachine.Wpf.CanDrive
|
||
{
|
||
/// <summary>
|
||
/// Toomoss CANFD
|
||
/// </summary>
|
||
public class ToomossCanFD : BindableBase
|
||
{
|
||
private readonly IContainerProvider ContainerProvider;
|
||
|
||
/// <summary>
|
||
/// 实例化函数
|
||
/// </summary>
|
||
public ToomossCanFD(IContainerProvider containerProvider)
|
||
{
|
||
ContainerProvider = containerProvider;
|
||
HighSpeedDataService = ContainerProvider.Resolve<HighSpeedDataService>();
|
||
|
||
//Stopwatch.Frequency表示高精度计时器每秒的计数次数（ticks/秒）每毫秒的ticks数 = 每秒的ticks数 ÷ 1000
|
||
TicksPerMs = Stopwatch.Frequency / 1000.0;
|
||
}
|
||
|
||
/// <summary>
|
||
/// HighSpeedDataService 实例
|
||
/// </summary>
|
||
public HighSpeedDataService HighSpeedDataService { get; set; }
|
||
|
||
/// <summary>
|
||
/// 开始CAN的驱动
|
||
/// </summary>
|
||
public void StartCanDrive()
|
||
{
|
||
IsExistsDllFile();
|
||
ScanDevice();
|
||
OpenDevice();
|
||
GetDeviceInfo();
|
||
GetCANConfig();
|
||
InitCAN();
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 开始Dbc文件写入
|
||
/// </summary>
|
||
public ObservableCollection<CanDbcModel> StartDbc(string DbcPath)
|
||
{
|
||
DBC_Parser(DbcPath);
|
||
return ListCanFdDbcModel;
|
||
}
|
||
|
||
/// <summary>
|
||
/// Dbc消息集合
|
||
/// </summary>
|
||
public ObservableCollection<CanDbcModel> ListCanFdDbcModel { get; set; } = new ObservableCollection<CanDbcModel>();
|
||
|
||
|
||
#region 公共变量
|
||
|
||
/// <summary>
|
||
/// 仲裁波特率
|
||
/// </summary>
|
||
public uint ArbBaudRate { get; set; } = 500000;
|
||
|
||
/// <summary>
|
||
/// 数据波特率
|
||
/// </summary>
|
||
public uint DataBaudRate { get; set; } = 2000000;
|
||
|
||
/// <summary>
|
||
/// CAN FD标准 ISO是否启用
|
||
/// </summary>
|
||
public bool ISOEnable { get; set; } = true;
|
||
|
||
/// <summary>
|
||
/// 终端电阻 是否启用
|
||
/// </summary>
|
||
public bool ResEnable { get; set; } = true;
|
||
|
||
/// <summary>
|
||
/// 更新配置
|
||
/// </summary>
|
||
public void UpdateConfig(uint arbBaudRate, uint dataBaudRate, bool iSOEnable, bool resEnable,ushort sendCycle)
|
||
{
|
||
ArbBaudRate = arbBaudRate;
|
||
DataBaudRate = dataBaudRate;
|
||
ISOEnable = iSOEnable;
|
||
ResEnable = resEnable;
|
||
SendCycle=sendCycle;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 设备固件信息
|
||
/// </summary>
|
||
public USB_DEVICEByFD.DEVICE_INFO DevInfo = new USB_DEVICEByFD.DEVICE_INFO();
|
||
|
||
/// <summary>
|
||
/// CAN Config
|
||
/// </summary>
|
||
USB2CANFD.CANFD_INIT_CONFIG CANConfig = new USB2CANFD.CANFD_INIT_CONFIG();
|
||
|
||
/// <summary>
|
||
/// 诊断信息
|
||
/// </summary>
|
||
public USB2CANFD.CANFD_DIAGNOSTIC CurCANFD_DIAGNOSTIC = new USB2CANFD.CANFD_DIAGNOSTIC();
|
||
|
||
/// <summary>
|
||
/// CANFD总线错误信息
|
||
/// </summary>
|
||
public USB2CANFD.CANFD_BUS_ERROR CurCANFD_BUS_ERROR = new USB2CANFD.CANFD_BUS_ERROR();
|
||
|
||
/// <summary>
|
||
/// DBC Handle
|
||
/// </summary>
|
||
public UInt64 DBCHandle { get; set; }
|
||
|
||
/// <summary>
|
||
/// 扫描设备Handle集合
|
||
/// </summary>
|
||
public Int32[] DevHandles { get; set; } = new Int32[20];
|
||
|
||
/// <summary>
|
||
/// 扫描设备Handle
|
||
/// </summary>
|
||
public Int32 DevHandle { get; set; } = 0;
|
||
|
||
/// <summary>
|
||
/// Write CAN Index
|
||
/// </summary>
|
||
public Byte WriteCANIndex { get; set; } = 0;
|
||
|
||
/// <summary>
|
||
/// Read CAN Index
|
||
/// </summary>
|
||
public Byte ReadCANIndex { get; set; } = 0;
|
||
|
||
|
||
private bool _OpenState;
|
||
/// <summary>
|
||
/// 打开设备的状态
|
||
/// </summary>
|
||
public bool OpenState
|
||
{
|
||
get { return _OpenState; }
|
||
set { _OpenState = value; RaisePropertyChanged(); }
|
||
}
|
||
|
||
private bool _DbcParserState;
|
||
/// <summary>
|
||
/// DBC解析的状态
|
||
/// </summary>
|
||
public bool DbcParserState
|
||
{
|
||
get { return _DbcParserState; }
|
||
set { _DbcParserState = value; RaisePropertyChanged(); }
|
||
}
|
||
|
||
/// <summary>
|
||
/// 扫描到设备个数
|
||
/// </summary>
|
||
public Int32 DevNum { get; set; }
|
||
|
||
public Int32 ret { get; set; }
|
||
|
||
public string dllFilePath { get; set; } = "USB2XXX.dll";
|
||
|
||
|
||
/// <summary>
|
||
/// 消息值Pt
|
||
/// </summary>
|
||
public IntPtr msgPt { get; set; }
|
||
|
||
#endregion
|
||
|
||
/// <summary>
|
||
/// ******************【1】*********************
|
||
/// 是否存在Dll文件
|
||
/// </summary>
|
||
/// <returns></returns>
|
||
public bool IsExistsDllFile()
|
||
{
|
||
if (!File.Exists(dllFilePath))
|
||
{
|
||
Console.WriteLine("请先将USB2XXX.dll和libusb-1.0.dll文件复制到exe程序文件输出目录下!");
|
||
Console.WriteLine("dll文件在‘usb2can_lin_pwm_example/sdk/libs/windows’目录下！");
|
||
Console.WriteLine("程序是32位的就复制‘x86’目录下文件，程序是64位的就复制‘x86_64’目录下文件！");
|
||
return false;
|
||
}
|
||
return true;
|
||
}
|
||
|
||
/// <summary>
|
||
/// ******************【2】*********************
|
||
/// 扫描查找设备，并将每个设备的唯一设备号存放到数组中，后面的函数需要用到
|
||
/// </summary>
|
||
/// <returns></returns>
|
||
public bool ScanDevice()
|
||
{
|
||
DevNum = USB_DEVICEByFD.USB_ScanDevice(DevHandles);
|
||
if (DevNum <= 0)
|
||
{
|
||
Console.WriteLine("No device connected!");
|
||
|
||
return false;
|
||
}
|
||
else
|
||
{
|
||
Console.WriteLine("Have {0} device connected!", DevNum);
|
||
DevHandle = DevHandles[0];//获取第一个设备的设备号
|
||
return true;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// ******************【3】*********************
|
||
/// 打开设备
|
||
/// </summary>
|
||
/// <returns></returns>
|
||
public bool OpenDevice()
|
||
{
|
||
//打开设备
|
||
OpenState = USB_DEVICEByFD.USB_OpenDevice(DevHandle);
|
||
if (!OpenState)
|
||
{
|
||
Console.WriteLine("Open device error!");
|
||
return false;
|
||
}
|
||
else
|
||
{
|
||
Console.WriteLine("Open device success!");
|
||
return true;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// ******************【4】*********************
|
||
/// 获取设备的固件信息
|
||
/// </summary>
|
||
/// <returns></returns>
|
||
public bool GetDeviceInfo()
|
||
{
|
||
//获取固件信息
|
||
StringBuilder FuncStr = new StringBuilder(256);
|
||
OpenState = USB_DEVICEByFD.DEV_GetDeviceInfo(DevHandle, ref DevInfo, FuncStr);
|
||
if (!OpenState)
|
||
{
|
||
Console.WriteLine("Get device infomation error!");
|
||
return false;
|
||
}
|
||
else
|
||
{
|
||
Console.WriteLine("Firmware Info:");
|
||
Console.WriteLine(" Name:" + Encoding.Default.GetString(DevInfo.FirmwareName));
|
||
Console.WriteLine(" Build Date:" + Encoding.Default.GetString(DevInfo.BuildDate));
|
||
Console.WriteLine(" Firmware Version:v{0}.{1}.{2}", (DevInfo.FirmwareVersion >> 24) & 0xFF, (DevInfo.FirmwareVersion >> 16) & 0xFF, DevInfo.FirmwareVersion & 0xFFFF);
|
||
Console.WriteLine(" Hardware Version:v{0}.{1}.{2}", (DevInfo.HardwareVersion >> 24) & 0xFF, (DevInfo.HardwareVersion >> 16) & 0xFF, DevInfo.HardwareVersion & 0xFFFF);
|
||
Console.WriteLine(" Functions:" + DevInfo.Functions.ToString("X8"));
|
||
Console.WriteLine(" SerialNumber:" + DevInfo.SerialNumber[0] + DevInfo.SerialNumber[1] + DevInfo.SerialNumber[2]);
|
||
Console.WriteLine(" Functions String:" + FuncStr);
|
||
StringBuilder DLLBuildDate = new StringBuilder(256);
|
||
USB_DEVICEByFD.DEV_GetDllBuildTime(DLLBuildDate);
|
||
Console.WriteLine(" DLL Build Date:" + DLLBuildDate);
|
||
|
||
return true;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// ******************【5】*********************
|
||
/// 获取设备Config配置
|
||
/// </summary>
|
||
public void GetCANConfig()
|
||
{
|
||
//获取CAN波特率参数
|
||
ret = USB2CANFD.CANFD_GetCANSpeedArg(DevHandle, ref CANConfig, ArbBaudRate, DataBaudRate);
|
||
if (ret != USB2CANFD.CANFD_SUCCESS)
|
||
{
|
||
Console.WriteLine("Get CAN Speed failed!");
|
||
return;
|
||
}
|
||
else
|
||
{
|
||
Console.WriteLine("Get CAN Speed Success!");
|
||
}
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// ******************【6】*********************
|
||
/// 初始化CAN
|
||
/// </summary>
|
||
public void InitCAN()
|
||
{
|
||
//初始化CAN
|
||
CANConfig.ISOCRCEnable = ISOEnable == true ? (byte)1 : (byte)0;//使能ISOCRC
|
||
CANConfig.ResEnable = ResEnable == true ? (byte)1 : (byte)0;//使能终端电阻
|
||
ret = USB2CANFD.CANFD_Init(DevHandle, WriteCANIndex, ref CANConfig);
|
||
if (ret != USB2CANFD.CANFD_SUCCESS)
|
||
{
|
||
Console.WriteLine("Config CAN failed!");
|
||
return;
|
||
}
|
||
else
|
||
{
|
||
Console.WriteLine("WriteCANIndex Config CAN Success!");
|
||
}
|
||
|
||
ret = USB2CANFD.CANFD_Init(DevHandle, ReadCANIndex, ref CANConfig);
|
||
if (ret != USB2CANFD.CANFD_SUCCESS)
|
||
{
|
||
Console.WriteLine("Config CAN failed!");
|
||
return;
|
||
}
|
||
else
|
||
{
|
||
Console.WriteLine("ReadCANIndex Config CAN Success!");
|
||
}
|
||
Console.WriteLine("");
|
||
}
|
||
|
||
/// <summary>
|
||
/// ******************【7】*********************
|
||
/// DBC解析
|
||
/// </summary>
|
||
public void DBC_Parser(string Path)
|
||
{
|
||
//解析DBC文件
|
||
DBCHandle = DBCParserByFD.DBC_ParserFile(DevHandle, new StringBuilder(Path));
|
||
if (DBCHandle == 0)
|
||
{
|
||
Console.WriteLine("Parser DBC File error!");
|
||
DbcParserState = false;
|
||
return;
|
||
}
|
||
else
|
||
{
|
||
Console.WriteLine("Parser DBC File success!");
|
||
}
|
||
|
||
ListCanFdDbcModel.Clear();
|
||
|
||
//打印DBC里面报文和信号相关信息
|
||
int DBCMsgNum = DBCParserByFD.DBC_GetMsgQuantity(DBCHandle);
|
||
for (int i = 0; i < DBCMsgNum; i++)
|
||
{
|
||
StringBuilder MsgName = new StringBuilder(32);
|
||
DBCParserByFD.DBC_GetMsgName(DBCHandle, i, MsgName);
|
||
Console.WriteLine("Msg.Name = {0}", MsgName);
|
||
int DBCSigNum = DBCParserByFD.DBC_GetMsgSignalQuantity(DBCHandle, MsgName);
|
||
StringBuilder Publisher = new StringBuilder(32);
|
||
DBCParserByFD.DBC_GetMsgPublisher(DBCHandle, MsgName, Publisher);
|
||
Console.Write("Signals:");
|
||
for (int j = 0; j < DBCSigNum; j++)
|
||
{
|
||
StringBuilder SigName = new StringBuilder(32);
|
||
DBCParserByFD.DBC_GetMsgSignalName(DBCHandle, MsgName, j, SigName);
|
||
Console.Write("{0} ", SigName);
|
||
|
||
//增加信息数据
|
||
ListCanFdDbcModel.Add(new CanDbcModel()
|
||
{
|
||
MsgName = MsgName.ToString(),
|
||
MsgId = "",
|
||
SignalName = SigName.ToString(),
|
||
SignalDesc = "",
|
||
SignalUnit = "",
|
||
SignalRtValue = "",
|
||
Publisher = Publisher.ToString()
|
||
});
|
||
}
|
||
Console.WriteLine("");
|
||
}
|
||
|
||
//Dbc解析成功
|
||
DbcParserState = true;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 发送CAN数据
|
||
/// </summary>
|
||
public void SendCanMsg(List<CanCmdData> CmdData)
|
||
{
|
||
var GroupMsg = CmdData.GroupBy(x => x.MsgName);
|
||
USB2CANFD.CANFD_MSG[] CanMsg = new USB2CANFD.CANFD_MSG[GroupMsg.Count()];
|
||
for (int i = 0; i < GroupMsg.Count(); i++)
|
||
{
|
||
CanMsg[i] = new USB2CANFD.CANFD_MSG();
|
||
CanMsg[i].Data = new Byte[64];
|
||
}
|
||
|
||
IntPtr msgPt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)));
|
||
int Index = 0;
|
||
//循环给MSG赋值数据
|
||
foreach (var itemMsg in GroupMsg)
|
||
{
|
||
foreach (var itemSignal in itemMsg)
|
||
{
|
||
DBCParserByFD.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
|
||
}
|
||
DBCParserByFD.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPt);
|
||
CanMsg[Index] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPt, typeof(USB2CANFD.CANFD_MSG));
|
||
Index++;
|
||
}
|
||
|
||
//设置信号值
|
||
//DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder("msg_moto_speed"), new StringBuilder("moto_speed"), 2412);
|
||
//DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder("msg_oil_pressure"), new StringBuilder("oil_pressure"), 980);
|
||
//DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder("msg_speed_can"), new StringBuilder("speed_can"), 120);
|
||
|
||
//通过DBC写入数据后生成CanMsg
|
||
//将信号值填入CAN消息里面
|
||
|
||
|
||
//IntPtr msgPt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)));
|
||
//DBCParser.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder("msg_moto_speed"), msgPt);
|
||
//CanMsg[0] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPt, typeof(USB2CANFD.CANFD_MSG));
|
||
|
||
//DBCParser.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder("msg_oil_pressure"), msgPt);
|
||
//CanMsg[1] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPt, typeof(USB2CANFD.CANFD_MSG));
|
||
|
||
//DBCParser.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder("msg_speed_can"), msgPt);
|
||
//CanMsg[2] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPt, typeof(USB2CANFD.CANFD_MSG));
|
||
|
||
//释放申请的临时缓冲区
|
||
Marshal.FreeHGlobal(msgPt);
|
||
Console.WriteLine("");
|
||
//发送CAN数据
|
||
int SendedNum = USB2CANFD.CANFD_SendMsg(DevHandle, WriteCANIndex, CanMsg, (Int32)CanMsg.Length);
|
||
if (SendedNum >= 0)
|
||
{
|
||
Console.WriteLine("Success send frames:{0}", SendedNum);
|
||
}
|
||
else
|
||
{
|
||
Console.WriteLine("Send CAN data failed! {0}", SendedNum);
|
||
}
|
||
}
|
||
|
||
|
||
#region 精确发送报文数据
|
||
|
||
// 添加取消标记源字段用于停止任务
|
||
private CancellationTokenSource CycleSendCts;
|
||
|
||
/// <summary>
|
||
/// 计算每毫秒对应的ticks数（只需计算一次）
|
||
/// </summary>
|
||
private double TicksPerMs;
|
||
|
||
// 类成员变量定义 精确记时用
|
||
private readonly Stopwatch Stopwatcher = new Stopwatch();
|
||
private long NextExecutionTime;
|
||
// 计算需要等待的时间
|
||
private long CurrentTime;
|
||
private long DelayTicks;
|
||
private int DelayMs;
|
||
|
||
private static readonly Random _random = new Random();
|
||
|
||
|
||
|
||
/// <summary>
|
||
/// 精确周期发送CAN数据
|
||
/// </summary>
|
||
public void StartPrecisionCycleSendMsg()
|
||
{
|
||
// 创建取消标记源 用于控制任务的取消 允许在需要时通过取消令牌来优雅停止任务
|
||
var cancellationTokenSource = new CancellationTokenSource();
|
||
var token = cancellationTokenSource.Token;
|
||
|
||
// 保存取消标记，以便在停止时使用
|
||
CycleSendCts = cancellationTokenSource;//将取消标记源保存到类的成员变量CycleSendCts，这样在外部调用停止方法时可以访问它
|
||
NextExecutionTime = 0;//初始化NextExecutionTime为0，这个变量用于记录下一次执行的目标时间点
|
||
|
||
CycleSendTask = Task.Factory.StartNew(async () =>
|
||
{
|
||
try
|
||
{
|
||
// 设置当前线程为高优先级
|
||
Thread.CurrentThread.Priority = ThreadPriority.AboveNormal;
|
||
|
||
// 初始化完成后开始计时
|
||
Stopwatcher.Restart();
|
||
// 预先计算固定值
|
||
long CycleInTicks = (long)(SendCycle * TicksPerMs);
|
||
//临时测试用
|
||
//long lastTicks = Stopwatcher.ElapsedTicks;
|
||
//IsCycleSend
|
||
while (IsCycleSend && !token.IsCancellationRequested)
|
||
{
|
||
try
|
||
{
|
||
// 计算下一次执行时间点 ，将当前设置的发送周期SendCycle(毫秒)转换为Stopwatch的计时单位(tick)，累加到NextExecutionTime上
|
||
NextExecutionTime += CycleInTicks; // 转换为Stopwatch计时单位
|
||
|
||
// 获取当前时间点，以Stopwatch的tick为单位
|
||
CurrentTime = Stopwatcher.ElapsedTicks;
|
||
//计算需要等待的时间，即目标时间点(NextExecutionTime)与当前时间点(CurrentTime)的差值
|
||
DelayTicks = NextExecutionTime - CurrentTime;
|
||
|
||
// 如果还有等待时间，则等待，只有在目标时间点还未到达时才执行等待
|
||
if (DelayTicks > 0)
|
||
{
|
||
////此时是需要等待的，那么需要等待多久呢， 将需等待的tick数转换回毫秒
|
||
DelayMs = (int)(DelayTicks / TicksPerMs);
|
||
//20这个数据是预估和测试的，可能跟Windows抖动误差就是20ms左右，当然可以不用这个IF()判断，直接SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime);但是会导致当前独占一个CPU核心线程
|
||
//所以设置一个20的阈值，20ms以下的延迟使用SpinWait.SpinUntil进行自旋等待，20ms以上的延迟使用Task.Delay进行异步等待，让CPU不至于一直的独占
|
||
if (DelayMs <= 20)
|
||
{
|
||
SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime);
|
||
}
|
||
else
|
||
{
|
||
////使用Task.Delay进行异步等待，大部分等待时间通过这种方式完成，避免线程阻塞
|
||
await Task.Delay(DelayMs - 20, token);
|
||
//// 使用SpinWait.SpinUntil进行精确的微调等待。自旋等待会占用CPU资源，但能提供更高的定时精度，确保在精确的时间点执行
|
||
////上面的Task.Delay可能会因为系统调度等原因导致实际执行时间稍晚于预期，因此在这里使用SpinWait.SpinUntil来确保在精确的时间点执行
|
||
SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime);
|
||
}
|
||
}
|
||
|
||
// 如果已经超过了计划时间，立即执行并重新校准
|
||
if (Stopwatcher.ElapsedTicks >= NextExecutionTime + CycleInTicks)
|
||
{
|
||
//检测是否发生了严重延迟(超过一个周期)。如果当前时间已经超过了下一次计划时间，则说明系统负载过高或其他原因导致无法按时执行，
|
||
//此时重置NextExecutionTime为当前时间，避免连续的延迟累积
|
||
// 严重延迟，重新校准
|
||
NextExecutionTime = Stopwatcher.ElapsedTicks;
|
||
Console.WriteLine("定时发送延迟过大，重新校准时间");
|
||
}
|
||
|
||
// 使用Stopwatch记录实际的执行间隔，而不是DateTime
|
||
//Console.WriteLine($"--实际间隔(ms): {(Stopwatcher.ElapsedTicks - lastTicks) / TicksPerMs:F3}, 目标: {SendCycle}");
|
||
//lastTicks = Stopwatcher.ElapsedTicks;
|
||
|
||
//Console.WriteLine($"--当前时间(毫秒): {DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}");
|
||
|
||
|
||
// 执行发送CAN逻辑
|
||
{
|
||
|
||
var GroupMsg = CmdData.GroupBy(x => x.MsgName);
|
||
USB2CANFD.CANFD_MSG[] CanMsg = new USB2CANFD.CANFD_MSG[GroupMsg.Count()];
|
||
for (int i = 0; i < GroupMsg.Count(); i++)
|
||
{
|
||
CanMsg[i] = new USB2CANFD.CANFD_MSG();
|
||
CanMsg[i].Data = new Byte[64];
|
||
}
|
||
|
||
IntPtr msgPtSend = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)));
|
||
int Index = 0;
|
||
|
||
//循环给MSG赋值数据
|
||
foreach (var itemMsg in GroupMsg)
|
||
{
|
||
foreach (var itemSignal in itemMsg)
|
||
{
|
||
DBCParserByFD.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
|
||
}
|
||
DBCParserByFD.DBC_SyncValueToCANFDMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
|
||
CanMsg[Index] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CANFD.CANFD_MSG));
|
||
Index++;
|
||
}
|
||
|
||
//通过DBC写入数据后生成CanMsg
|
||
//将信号值填入CAN消息里面
|
||
|
||
//释放申请的临时缓冲区
|
||
Marshal.FreeHGlobal(msgPtSend);
|
||
//CanMsg[0].Flags = 5;
|
||
|
||
//发送CAN数据
|
||
int SendedNum = USB2CANFD.CANFD_SendMsg(DevHandle, WriteCANIndex, CanMsg, (Int32)CanMsg.Length);
|
||
|
||
if (SendedNum >= 0)
|
||
{
|
||
//Console.WriteLine("Success send frames:{0}", SendedNum);
|
||
IsSendOk = true;
|
||
}
|
||
else
|
||
{
|
||
//Console.WriteLine("Send CAN data failed! {0}", SendedNum);
|
||
IsSendOk = false;
|
||
}
|
||
}
|
||
|
||
}
|
||
catch (TaskCanceledException)
|
||
{
|
||
// 任务被取消，正常退出
|
||
break;
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Console.WriteLine($"CAN周期发送异常: {ex.Message}");
|
||
// 短暂暂停避免异常情况下CPU占用过高
|
||
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("CAN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>
|
||
/// 获取CAN消息数组中指定位置的数据
|
||
/// </summary>
|
||
/// <param name="sourceCanMsg">源CAN消息数组</param>
|
||
/// <param name="index">要获取的数据索引位置</param>
|
||
/// <returns>返回指定位置数据的新数组</returns>
|
||
private USB2CANFD.CANFD_MSG[] GetCanMsg(USB2CANFD.CANFD_MSG[] sourceCanMsg, int index)
|
||
{
|
||
// 参数检查
|
||
if (sourceCanMsg == null || sourceCanMsg.Length == 0 || index < 0 || index >= sourceCanMsg.Length)
|
||
{
|
||
return new USB2CANFD.CANFD_MSG[0];
|
||
}
|
||
|
||
// 创建单个元素的新数组
|
||
USB2CANFD.CANFD_MSG[] targetMsg = new USB2CANFD.CANFD_MSG[1];
|
||
targetMsg[0] = sourceCanMsg[index];
|
||
|
||
// 由于CANFD_MSG包含数组字段,需要手动初始化数据数组
|
||
targetMsg[0].Data = new byte[64];
|
||
// 复制数据
|
||
Array.Copy(sourceCanMsg[index].Data, targetMsg[0].Data, sourceCanMsg[index].Data.Length);
|
||
|
||
return targetMsg;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 修改停止发送的方法
|
||
/// </summary>
|
||
public void StopCycleSendMsg()
|
||
{
|
||
IsCycleSend = false;
|
||
CycleSendCts?.Cancel();
|
||
}
|
||
|
||
#endregion
|
||
|
||
|
||
private bool _IsCycleRevice;
|
||
/// <summary>
|
||
/// 是否循环接收数据
|
||
/// </summary>
|
||
public bool IsCycleRevice
|
||
{
|
||
get { return _IsCycleRevice; }
|
||
set { _IsCycleRevice = value; RaisePropertyChanged(); }
|
||
}
|
||
|
||
|
||
private bool _IsCycleSend;
|
||
/// <summary>
|
||
/// 是否循环发送数据
|
||
/// </summary>
|
||
public bool IsCycleSend
|
||
{
|
||
get { return _IsCycleSend; }
|
||
set { _IsCycleSend = value; RaisePropertyChanged(); }
|
||
}
|
||
|
||
/// <summary>
|
||
/// 循环发送数据
|
||
/// </summary>
|
||
public ushort SendCycle { get; set; } = 200;
|
||
|
||
/// <summary>
|
||
/// 循环接受数据
|
||
/// </summary>
|
||
public ushort ReviceCycle { get; set; } = 200;
|
||
|
||
|
||
/// <summary>
|
||
/// CycleRevice 扫描Task
|
||
/// </summary>
|
||
private static Task CycleReviceTask { get; set; }
|
||
|
||
/// <summary>
|
||
/// CycleSend 扫描Task
|
||
/// </summary>
|
||
private static Task CycleSendTask { get; set; }
|
||
|
||
StringBuilder ValueSb = new StringBuilder(16);
|
||
double[] ValueDouble = new double[5];
|
||
|
||
private bool _IsSendOk;
|
||
/// <summary>
|
||
/// 发送报文是否OK
|
||
/// </summary>
|
||
public bool IsSendOk
|
||
{
|
||
get { return _IsSendOk; }
|
||
set
|
||
{
|
||
if (_IsSendOk != value)
|
||
{
|
||
RaisePropertyChanged();
|
||
_IsSendOk = value;
|
||
}
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 要发送的数据
|
||
/// </summary>
|
||
public List<CanCmdData> CmdData { get; set; } = new List<CanCmdData>();
|
||
|
||
/// <summary>
|
||
/// 循环获取CAN消息
|
||
/// </summary>
|
||
public void StartCycleReviceCanMsg()
|
||
{
|
||
CycleReviceTask = Task.Run(async () =>
|
||
{
|
||
//var ret = USB2CANFD.CANFD_StartGetMsg(DevHandle, ReadCANIndex);
|
||
while (IsCycleRevice)
|
||
{
|
||
await Task.Delay(ReviceCycle);
|
||
try
|
||
{
|
||
//另外一个CAN通道读取数据
|
||
USB2CANFD.CANFD_MSG[] CanMsgBuffer = new USB2CANFD.CANFD_MSG[128];
|
||
IntPtr msgPtRead = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)) * CanMsgBuffer.Length);
|
||
int CanNum = USB2CANFD.CANFD_GetMsg(DevHandle, ReadCANIndex, msgPtRead, CanMsgBuffer.Length);
|
||
if (CanNum > 0)
|
||
{
|
||
Console.WriteLine("Read CanMsgNum = {0}", CanNum);
|
||
for (int i = 0; i < CanNum; i++)
|
||
{
|
||
CanMsgBuffer[i] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure((IntPtr)(msgPtRead + i * Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG))), typeof(USB2CANFD.CANFD_MSG));
|
||
Console.WriteLine("CanMsg[{0}].ID = 0x{1}", i, CanMsgBuffer[i].ID.ToString("X8"));
|
||
//Console.WriteLine("CanMsg[{0}].TimeStamp = {1}",i,CanMsgBuffer[i].TimeStamp);
|
||
Console.Write("CanMsg[{0}].Data = ", i);
|
||
for (int j = 0; j < CanMsgBuffer[i].DLC; j++)
|
||
{
|
||
Console.Write("{0} ", CanMsgBuffer[i].Data[j].ToString("X2"));
|
||
}
|
||
Console.WriteLine("");
|
||
//报文给高速记录的服务
|
||
HighSpeedDataService.AppendOrUpdateMsg(new Models.HighSpeed.CommMsg()
|
||
{
|
||
Category = "CANFD",
|
||
MsgInfo = "0x" + CanMsgBuffer[i].ID.ToString("X8"),
|
||
MsgData = BitConverter.ToString(CanMsgBuffer[i].Data),
|
||
Time = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff")
|
||
});
|
||
}
|
||
}
|
||
else if (CanNum == 0)
|
||
{
|
||
Console.WriteLine("No CAN data!");
|
||
}
|
||
else
|
||
{
|
||
Console.WriteLine("Get CAN data error!");
|
||
}
|
||
Console.WriteLine("");
|
||
|
||
//将CAN消息数据填充到信号里面
|
||
DBCParserByFD.DBC_SyncCANFDMsgToValue(DBCHandle, msgPtRead, CanNum);
|
||
|
||
//循环获取消息的数据
|
||
foreach (var item in ListCanFdDbcModel)
|
||
{
|
||
//有配置的名称的，认为是有用的，则需要读取数据
|
||
//if (!string.IsNullOrEmpty(item.Name))
|
||
//{
|
||
//CAN_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ValueSb);
|
||
//double[] ValueDouble;
|
||
DBCParserByFD.DBC_GetSignalValue(DBCHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ValueDouble);
|
||
//item.SignalRtValueSb = ValueSb;
|
||
item.SignalRtValue = ValueDouble[0].ToString();
|
||
//Console.Write(ValueSb.ToString());
|
||
//}
|
||
}
|
||
|
||
//释放数据缓冲区，必须释放，否则程序运行一段时间后会报内存不足
|
||
Marshal.FreeHGlobal(msgPtRead);
|
||
Thread.Sleep(10);
|
||
|
||
////获取信号值并打印出来
|
||
//StringBuilder ValueStr = new StringBuilder(32);
|
||
//DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_current_Power"), ValueStr);
|
||
//Console.WriteLine("COM_current_Power = {0}", ValueStr);
|
||
//DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_Curr_dc"), ValueStr);
|
||
//Console.WriteLine("COM_Curr_dc = {0}", ValueStr);
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
//LogService.Info($"时间:{DateTime.Now.ToString()}-【Meter】-{ex.Message}");
|
||
}
|
||
}
|
||
});
|
||
}
|
||
|
||
/// <summary>
|
||
/// 接受CAN消息
|
||
/// </summary>
|
||
public void ReciveCanMsg()
|
||
{
|
||
//另外一个CAN通道读取数据
|
||
USB2CANFD.CANFD_MSG[] CanMsgBuffer = new USB2CANFD.CANFD_MSG[10];
|
||
msgPt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)) * CanMsgBuffer.Length);
|
||
int CanNum = USB2CANFD.CANFD_GetMsg(DevHandle, ReadCANIndex, msgPt, CanMsgBuffer.Length);
|
||
if (CanNum > 0)
|
||
{
|
||
Console.WriteLine("Read CanMsgNum = {0}", CanNum);
|
||
for (int i = 0; i < CanNum; i++)
|
||
{
|
||
CanMsgBuffer[i] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure((IntPtr)(msgPt + i * Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG))), typeof(USB2CANFD.CANFD_MSG));
|
||
Console.WriteLine("CanMsg[{0}].ID = 0x{1}", i, CanMsgBuffer[i].ID.ToString("X8"));
|
||
//Console.WriteLine("CanMsg[{0}].TimeStamp = {1}",i,CanMsgBuffer[i].TimeStamp);
|
||
Console.Write("CanMsg[{0}].Data = ", i);
|
||
for (int j = 0; j < CanMsgBuffer[i].DLC; j++)
|
||
{
|
||
Console.Write("{0} ", CanMsgBuffer[i].Data[j].ToString("X2"));
|
||
}
|
||
Console.WriteLine("");
|
||
}
|
||
}
|
||
else if (CanNum == 0)
|
||
{
|
||
Console.WriteLine("No CAN data!");
|
||
}
|
||
else
|
||
{
|
||
Console.WriteLine("Get CAN data error!");
|
||
}
|
||
Console.WriteLine("");
|
||
|
||
//将CAN消息数据填充到信号里面
|
||
DBCParserByFD.DBC_SyncCANFDMsgToValue(DBCHandle, msgPt, CanNum);
|
||
//获取信号值并打印出来
|
||
StringBuilder ValueStr = new StringBuilder(32);
|
||
DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_moto_speed"), new StringBuilder("moto_speed"), ValueStr);
|
||
Console.WriteLine("moto_speed = {0}", ValueStr);
|
||
DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_oil_pressure"), new StringBuilder("oil_pressure"), ValueStr);
|
||
Console.WriteLine("oil_pressure = {0}", ValueStr);
|
||
DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_speed_can"), new StringBuilder("speed_can"), ValueStr);
|
||
Console.WriteLine("speed_can = {0}", ValueStr);
|
||
|
||
}
|
||
|
||
|
||
/// <summary>
|
||
/// 关闭设备
|
||
/// </summary>
|
||
public void CloseDevice()
|
||
{
|
||
//关闭设备
|
||
USB_DEVICEByFD.USB_CloseDevice(DevHandle);
|
||
OpenState = false;
|
||
DbcParserState = false;
|
||
IsCycleRevice = false;
|
||
IsCycleSend = false;
|
||
}
|
||
|
||
}
|
||
}
|