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sunbeam 2025-04-30 17:01:25 +08:00
parent 2ddf1bbad5
commit 3bde6954a1
7 changed files with 326 additions and 18 deletions
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8
README.md
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@ -26,10 +26,10 @@ flutter build windows
## 二、功能
1. 展示
1.1 座椅调节
1.2 座椅按摩
1.3 座椅加热
1.4 座椅通风
1. 座椅调节
1. 座椅按摩
1. 座椅加热
1. 座椅通风
2. 报文
3. 日志
4. 设置

12
lib/CanLib/abstract_can_device.dart
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@ -1,3 +1,5 @@
import 'can_fd_msg.dart';
//CAN设备状态抽象类
class CANDev {
//CAN设备名称
@ -15,6 +17,8 @@ class CANDev {
//设备句柄
int devhandle=0;
int errCounter=0;
CANDev({
required this.devname,
required this.devchannel,
@ -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});
}

24
lib/CanLib/can_fd_msg.dart Normal file
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@ -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;
}

49
lib/CanLib/canfd_init_config.dart Normal file
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@ -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;
}

142
lib/CanLib/toomoss_can.dart
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@ -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() {
// 实现停止逻辑
return true;
bool stop({required int canIndex}) {
try {
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) {
// 实现发送消息逻辑
return Future.value(true);
Future<bool> sendMessage({required int canIndex, required int canChannel, required int canid,required List<int> data}) {
if(_deviceList[canIndex].runstatus == false || _deviceList[canIndex].channelstatus[canChannel] == false) {
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() {
// 实现接收消息逻辑
return Stream.empty();
Stream<CanFdMsg> receiveMessage({required int canIndex, required int canChannel}) {
return Stream.periodic(Duration(milliseconds: 10), (_) {
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!);
}

95
lib/device_managge.dart Normal file
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@ -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();
},
),
],
);
}
}

14
lib/main.dart
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@ -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),
),