更新

README.md

@@ -26,10 +26,10 @@ flutter build windows
 ## 二、功能
 
 1. 展示
-   1.1 座椅调节
+   1. 座椅调节
-   1.2 座椅按摩
+   1. 座椅按摩
-   1.3 座椅加热
+   1. 座椅加热
-   1.4 座椅通风
+   1. 座椅通风
 2. 报文
 3. 日志
 4. 设置

lib/CanLib/abstract_can_device.dart

@@ -1,3 +1,5 @@
+import 'can_fd_msg.dart';
+
 //CAN设备状态抽象类
 class CANDev {
   //CAN设备名称
@@ -14,6 +16,8 @@ class CANDev {
   String firmwareversion='0.0.0';
   //设备句柄
   int devhandle=0;
+
+  int errCounter=0;
   
   CANDev({
     required this.devname, 
@@ -43,14 +47,14 @@ abstract class AbstractCANDevice {
   List<CANDev> getDeviceList();
 
   // 启动CAN设备
-  bool start();
+  bool start({required int canIndex,required int canChannel , required int baudrate});
 
   // 停止CAN设备
-  bool stop();
+  bool stop({required int canIndex});
 
   // 发送CAN消息
-  Future<bool> sendMessage(List<int> data);
+  Future<bool> sendMessage({required int canIndex, required int canChannel, required int canid,required List<int> data});
 
   // 接收CAN消息
-  Stream<List<int>> receiveMessage();
+  Stream<CanFdMsg> receiveMessage({required int canIndex, required int canChannel});
 }

lib/CanLib/can_fd_msg.dart

@@ -0,0 +1,24 @@
+import 'dart:ffi';
+
+final class CanFdMsg extends Struct {
+  @Uint32()
+  external int id; // 报文ID,bit[30]-RTR,bit[31]-IDE,bit[28..0]-ID
+
+  @Uint8()
+  external int dlc; // 数据字节长度，可设置为-0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64
+
+  @Uint8()
+  external int flags; // bit[0]-BRS,bit[1]-ESI,bit[2]-FDF,bit[6..5]-Channel,bit[7]-RXD
+
+  @Uint8()
+  external int res0; // 保留
+
+  @Uint8()
+  external int res1; // 保留
+
+  @Uint32()
+  external int timeStamp; // 帧接收或者发送时的时间戳，单位为10us
+
+  @Array<Uint8>(64)
+  external Array<Uint8> data;
+}

lib/CanLib/canfd_init_config.dart

@@ -0,0 +1,49 @@
+import 'dart:ffi';
+
+final class CanFdInitConfig extends Struct {
+  /// 0-正常模式，1-自发自收模式
+  @Uint8()
+  external int mode;
+
+  /// 0-禁止ISO CRC,1-使能ISO CRC
+  @Uint8()
+  external int isocrcEnable;
+
+  /// 0-禁止重发，1-无限制重发
+  @Uint8()
+  external int retrySend;
+
+  /// 0-不接入内部120欧终端电阻，1-接入内部120欧终端电阻
+  @Uint8()
+  external int resEnable;
+
+  /// 仲裁段波特率参数, 波特率=40M/NBT_BRP*(1+NBT_SEG1+NBT_SEG2)
+  @Uint8()
+  external int nbtBRP;
+
+  @Uint8()
+  external int nbtSEG1;
+
+  @Uint8()
+  external int nbtSEG2;
+
+  @Uint8()
+  external int nbtSJW;
+
+  /// 数据段波特率参数, 波特率=40M/DBT_BRP*(1+DBT_SEG1+DBT_SEG2)
+  @Uint8()
+  external int dbtBRP;
+
+  @Uint8()
+  external int dbtSEG1;
+
+  @Uint8()
+  external int dbtSEG2;
+
+  @Uint8()
+  external int dbtSJW;
+
+  /// 预留字段
+  @Array<Uint8>(8)
+  external Array<Uint8> res0;
+}

lib/CanLib/toomoss_can.dart

@@ -1,5 +1,7 @@
 import 'abstract_can_device.dart';
 import 'device_info.dart';
+import 'canfd_init_config.dart';
+import 'can_fd_msg.dart';
 import 'dart:ffi';
 import 'package:ffi/ffi.dart';
 import 'package:logging/logging.dart';
@@ -96,27 +98,147 @@ bool initialize() {
   }
 
   @override
-  bool start() {
+  bool start({required int canIndex,required int canChannel , required int baudrate}) {
     // 实现启动逻辑
+    try {
+      final canfdInit = _dll.lookupFunction<Int32 Function(Int32, Uint8, Pointer<CanFdInitConfig>), int Function(int, int, Pointer<CanFdInitConfig>)>('CANFD_Init');
+      // 假设这里使用第一个设备的句柄，可根据实际情况修改
+      if (_deviceList.isNotEmpty) {
+        var canConfig = calloc<CanFdInitConfig>(); // 初始化 CANFD_INIT_CONFIG
+        canConfig.ref.mode = 0; // 正常模式
+        canConfig.ref.isocrcEnable = 0; // 禁用 ISO CRC
+        canConfig.ref.retrySend = 0; // 禁止重发
+        canConfig.ref.resEnable = 1; // 接入内部 120 欧终端电阻
+        canConfig.ref.nbtBRP = 1; // 仲裁段波特率参数
+        canConfig.ref.nbtSEG1 = 59; // 仲裁段波特率参数
+        canConfig.ref.nbtSEG2 = 20; // 仲裁段波特率参数
+        canConfig.ref.nbtSJW = 2; // 仲裁段波特率参数
+        canConfig.ref.dbtBRP = 2; // 数据段波特率参数
+        canConfig.ref.dbtSEG1 = 29; // 数据段波特率参数
+        canConfig.ref.dbtSEG2 = 10; // 数据段波特率参数
+        canConfig.ref.dbtSJW = 2; // 数据段波特率参数
+        final result = canfdInit(_deviceList[canIndex].devhandle, canChannel, canConfig);
+        calloc.free(canConfig); // 释放内存
+        if (result != 1) {
+          _logger.severe('CANFD_Init 初始化失败，返回值: $result');
+          return false;
+        }
+        //初始化成功
+        _logger.info('CANFD_Init 初始化成功，返回值: $result');
+        _deviceList[canIndex].channelstatus[canChannel] = true;
+        _deviceList[canIndex].runstatus = true;
+      } else {
+        _logger.severe('无可用设备，无法初始化 CANFD_Init');
+        return false;
+      }
+    } catch (e) {
+      _logger.severe('调用 CANFD_Init 时发生异常: $e');
+      return false;
+    }
     return true;
   }
 
   @override
-  bool stop() {
+  bool stop({required int canIndex}) {
-    // 实现停止逻辑
+    try {
-    return true;
+      if (_loadDll && _deviceList.isNotEmpty) {
+        final usbCloseDevice = _dll.lookupFunction<Bool Function(Int32), bool Function(int)>('USB_CloseDevice');
+        final result = usbCloseDevice(_deviceList[canIndex].devhandle);
+        if (!result) {
+          _logger.severe('USB_CloseDevice 调用失败，设备句柄: ${_deviceList[canIndex].devhandle.toRadixString(16).toUpperCase()}');
+        }
+        return result;
+      } else {
+        _logger.severe('无法调用 USB_CloseDevice，可能 DLL 未加载或无可用设备。');
+        return false;
+      }
+    } catch (e) {
+      _logger.severe('调用 USB_CloseDevice 时发生异常: $e');
+      return false;
+    }
   }
 
   @override
-  Future<bool> sendMessage(List<int> data) {
+  Future<bool> sendMessage({required int canIndex, required int canChannel, required int canid,required List<int> data}) {
-    // 实现发送消息逻辑
+    if(_deviceList[canIndex].runstatus == false || _deviceList[canIndex].channelstatus[canChannel] == false) {
-    return Future.value(true);
+      return Future.value(false);//设备/通道未启动
+    }
+    try {
+      final canfdSendMsg = _dll.lookupFunction<Int32 Function(Int32, Uint8, Pointer<CanFdMsg>, Uint32), int Function(int, int, Pointer<CanFdMsg>, int)>('CANFD_SendMsg');
+      if (_deviceList.isNotEmpty) {
+        final devHandle = _deviceList[canIndex].devhandle;
+        var canMsg = calloc<CanFdMsg>();
+        canMsg.ref.id = canid;
+        canMsg.ref.dlc = data.length.toUnsigned(8);
+        for (int i = 0; i < data.length; i++) {
+          canMsg.ref.data[i] = data[i].toUnsigned(8);
+        }
+        final result = canfdSendMsg(devHandle, canChannel, canMsg, 1);
+        calloc.free(canMsg);
+        if (result >= 0) {
+          //_logger.info('CANFD_SendMsg 发送成功，返回值: $result');
+          _deviceList[canIndex].errCounter = 0;
+          return Future.value(true);
+          
+        } else {
+          /*
+          //函数返回值错误信息定义  
+          #define CANFD_SUCCESS             (0)   //函数执行成功  
+          #define CANFD_ERR_NOT_SUPPORT     (-1)  //适配器不支持该函数  
+          #define CANFD_ERR_USB_WRITE_FAIL  (-2)  //USB写数据失败  
+          #define CANFD_ERR_USB_READ_FAIL   (-3)  //USB读数据失败  
+          #define CANFD_ERR_CMD_FAIL        (-4)  //命令执行失败 
+          */
+          _logger.severe('CANFD_SendMsg 发送失败，返回值: $result');
+          _deviceList[canIndex].errCounter++;
+          if(_deviceList[canIndex].errCounter > 5) {
+            _deviceList[canIndex].channelstatus[canChannel] = false;
+            _deviceList[canIndex].runstatus = false;
+          }
+          return Future.value(false);
+        }
+      } else {
+        _logger.severe('无可用设备，无法调用 CANFD_SendMsg');
+        return Future.value(false);
+      }
+    } catch (e) {
+      _logger.severe('调用 CANFD_SendMsg 时发生异常: $e');
+      _deviceList[canIndex].channelstatus[canChannel] = false;
+      _deviceList[canIndex].runstatus = false;
+      return Future.value(false);
+    }
   }
 
   @override
-  Stream<List<int>> receiveMessage() {
+  Stream<CanFdMsg> receiveMessage({required int canIndex, required int canChannel}) {
-    // 实现接收消息逻辑
+    return Stream.periodic(Duration(milliseconds: 10), (_) {
-    return Stream.empty();
+      if(_deviceList[canIndex].runstatus == false || _deviceList[canIndex].channelstatus[canChannel] == false) {
+        return null;
+      }
+      try {
+        final canfdGetMsg = _dll.lookupFunction<Int32 Function(Int32, Uint8, Pointer<CanFdMsg>, Int32), int Function(int, int, Pointer<CanFdMsg>, int)>('CANFD_GetMsg');
+        final bufferSize = 100;
+        final canMsgs = calloc<CanFdMsg>(bufferSize);
+        final result = canfdGetMsg(_deviceList[canIndex].devhandle, canChannel, canMsgs, bufferSize);
+        if (result > 0) {
+          List<CanFdMsg> messages = [];
+          for (int i = 0; i < result; i++) {
+            // 复制消息数据，避免内存释放后访问问题
+            final msgCopy = calloc<CanFdMsg>();
+            msgCopy.ref = canMsgs[i];
+            messages.add(msgCopy.ref);
+          }
+          calloc.free(canMsgs);
+          return messages;
+        } else {
+          calloc.free(canMsgs);
+          return null;
+        }
+      } catch (e) {
+        _logger.severe('调用 CANFD_GetMsg 时发生异常: $e');
+        return null;
+      }
+    }).where((messages) => messages != null).expand((messages) => messages!);
   }
 
   

lib/device_managge.dart

@@ -0,0 +1,95 @@
+import 'package:flutter/material.dart';
+
+class DeviceManagementDialog extends StatelessWidget {
+  const DeviceManagementDialog({super.key});
+
+  @override
+Widget build(BuildContext context) {
+  // 定义CAN设备ID、CAN通道和波特率的选项列表
+  final List<String> canDeviceIds = ['ID1', 'ID2', 'ID3'];
+  final List<String> canChannels = ['通道1', '通道2'];
+  final List<String> baudRates = ['500K', '115200', '250000'];
+
+  // 定义选中的值的状态变量
+  String selectedCanDeviceId = canDeviceIds[0];
+  String selectedCanChannel = canChannels[0];
+  String selectedBaudRate = baudRates[0];
+
+  return AlertDialog(
+    title: const Text('设备管理'),
+    content: Column(
+      mainAxisSize: MainAxisSize.min,
+      children: [
+        // CAN设备ID下拉框
+        DropdownButton<String>(
+          value: selectedCanDeviceId,
+          onChanged: (newValue) {
+            if (newValue != null) {
+              selectedCanDeviceId = newValue;
+            }
+          },
+          items: canDeviceIds.map<DropdownMenuItem<String>>((String value) {
+            return DropdownMenuItem<String>(
+              value: value,
+              child: Text(value),
+            );
+          }).toList(),
+        ),
+        // CAN通道下拉框
+        DropdownButton<String>(
+          value: selectedCanChannel,
+          onChanged: (newValue) {
+            if (newValue != null) {
+              selectedCanChannel = newValue;
+            }
+          },
+          items: canChannels.map<DropdownMenuItem<String>>((String value) {
+            return DropdownMenuItem<String>(
+              value: value,
+              child: Text(value),
+            );
+          }).toList(),
+        ),
+        // 波特率下拉框
+        DropdownButton<String>(
+          value: selectedBaudRate,
+          onChanged: (newValue) {
+            if (newValue != null) {
+              selectedBaudRate = newValue;
+            }
+          },
+          items: baudRates.map<DropdownMenuItem<String>>((String value) {
+            return DropdownMenuItem<String>(
+              value: value,
+              child: Text(value),
+            );
+          }).toList(),
+        ),
+      ],
+    ),
+    actions: <Widget>[
+      // 刷新按钮
+      TextButton(
+        child: const Text('刷新'),
+        onPressed: () {
+          // 这里可以添加刷新的逻辑
+        },
+      ),
+      // 连接按钮
+      TextButton(
+        child: const Text('连接'),
+        onPressed: () {
+          // 这里可以添加连接的逻辑
+        },
+      ),
+      // 关闭按钮
+      TextButton(
+        child: const Text('关闭'),
+        onPressed: () {
+          Navigator.of(context).pop();
+        },
+      ),
+    ],
+  );
+}
+}

lib/main.dart

@@ -2,6 +2,7 @@ import 'package:flutter/material.dart';
 import 'Page/display_page.dart';
 import 'Page/message_page.dart';
 import 'Page/log_page.dart';
+import 'device_managge.dart';
 
 void main() {
   runApp(const MyApp());
@@ -107,6 +108,19 @@ class _MyHomePageState extends State<MyHomePage> {
             _scaffoldKey.currentState?.openDrawer();
           },
         ),
+        actions: [
+          IconButton(
+            icon: const Icon(Icons.settings),
+            onPressed: () {
+              showDialog(
+                context: context,
+                builder: (BuildContext context) {
+                  return const DeviceManagementDialog();
+                },
+              );
+            },
+          ),
+        ],
         backgroundColor: Theme.of(context).colorScheme.inversePrimary,
         title: Text(widget.title),
       ),