245 lines
10 KiB
Dart
245 lines
10 KiB
Dart
import 'abstract_can_device.dart';
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import 'device_info.dart';
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import 'canfd_init_config.dart';
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import 'can_fd_msg.dart';
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import 'dart:ffi';
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import 'package:ffi/ffi.dart';
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import 'package:logging/logging.dart';
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import 'dart:io';
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class ToomossCAN extends AbstractCANDevice {
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final Logger _logger = Logger('ToomossCAN');
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late DynamicLibrary _dll;
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bool _loadDll = false;
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List<CANDev> _deviceList = [];
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@override
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bool initialize() {
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// 加载USB2XXX.dll
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try {
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_dll = DynamicLibrary.open('USB2XXX.dll');
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_logger.info("Load DLL success");
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_loadDll = true;
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}
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catch (e) {
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_logger.severe('Failed to load USB2XXX.dll: $e');
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//记录当前工作路径
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_logger.severe('Current working directory: ${Directory.current.path}');
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return false;
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}
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return true;
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}
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@override
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int refresh() {
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// 实现刷新逻辑
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if(_loadDll == false) {
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_logger.info('refresh error:Failed to load USB2XXX.dll');
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_logger.info(_loadDll.toString());
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return 0;
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}
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_logger.info('刷新设备列表');
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final usbScanDevice = _dll.lookupFunction<Int32 Function(Pointer<Int32>), int Function(Pointer<Int32>)>('USB_ScanDevice');
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final devHandle = calloc<Int32>(20);
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final deviceCount = usbScanDevice(devHandle);
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if (deviceCount > 0) {
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_logger.info('当前找到的设备数为: $deviceCount');
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for (int i = 0; i < deviceCount; i++) {
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final devHandleValue = devHandle[i];
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final devGetDeviceInfo = _dll.lookupFunction<Bool Function(Int32, Pointer<ToomossDeviceInfo>, Pointer<Uint8>), bool Function(int, Pointer<ToomossDeviceInfo>, Pointer<Uint8>)>('DEV_GetDeviceInfo');
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final devInfo = calloc<ToomossDeviceInfo>();
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final funcStr = calloc<Uint8>(256);
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final success = devGetDeviceInfo(devHandleValue, devInfo, funcStr);
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if (success) {
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//final firmwareName = devInfo.ref.firmwareName.cast<Utf8>().toDartString();
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//final buildDate = devInfo.ref.buildDate.toDartString();
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//final hardwareVersion = devInfo.ref.hardwareVersion;
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final firmwareVersion = devInfo.ref.firmwareVersion;
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final serialNumber = List<int>.generate(3, (index) => devInfo.ref.serialNumber[index]);
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//final functions = devInfo.ref.Functions;
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//final funcStrDart = funcStr.toDartString();
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final int typp1 = (devHandleValue>>28)&0x0F;
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final int typp2 = (devHandleValue>>24)&0x0F;
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final toomossDevModel = '0${typp1}0$typp2';//型号
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_deviceList.add(CANDev(
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devname: 'Toomoss-$toomossDevModel',
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devsn: serialNumber.map((num) => num.toRadixString(16).padLeft(2, '0')).join(''),
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devchannel: 2, //
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runstatus: false,
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devhandle: devHandleValue,
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firmwareversion: '${(firmwareVersion >> 24) & 0xFF}.${(firmwareVersion >> 16) & 0xFF}.${firmwareVersion & 0xFFFF}',
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));
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} else {
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_logger.severe('Failed to get device info for device $i ,device id 0x${devHandleValue.toRadixString(16).toUpperCase()}');
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}
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calloc.free(devInfo);
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calloc.free(funcStr);
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}
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} else {
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_logger.info('无设备连接');
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_deviceList.clear();
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}
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calloc.free(devHandle);
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if(deviceCount > 0) {
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// 遍历设备列表，输出每个设备的具体信息
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for (var device in _deviceList) {
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_logger.info('设备名称: ${device.devname}, 设备序列号: ${device.devsn}, 设备通道数: ${device.devchannel}, 运行状态: ${device.runstatus}, 设备句柄: ${device.devhandle.toRadixString(16).toUpperCase()}, 固件版本: ${device.firmwareversion}');
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}
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}
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return deviceCount;
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}
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@override
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List<CANDev> getDeviceList() {
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// 实现获取设备列表逻辑
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return _deviceList;
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}
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@override
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bool start({required int canIndex,required int canChannel , required int baudrate}) {
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// 实现启动逻辑
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try {
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final canfdInit = _dll.lookupFunction<Int32 Function(Int32, Uint8, Pointer<CanFdInitConfig>), int Function(int, int, Pointer<CanFdInitConfig>)>('CANFD_Init');
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// 假设这里使用第一个设备的句柄，可根据实际情况修改
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if (_deviceList.isNotEmpty) {
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var canConfig = calloc<CanFdInitConfig>(); // 初始化 CANFD_INIT_CONFIG
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canConfig.ref.mode = 0; // 正常模式
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canConfig.ref.isocrcEnable = 0; // 禁用 ISO CRC
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canConfig.ref.retrySend = 0; // 禁止重发
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canConfig.ref.resEnable = 1; // 接入内部 120 欧终端电阻
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canConfig.ref.nbtBRP = 1; // 仲裁段波特率参数
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canConfig.ref.nbtSEG1 = 59; // 仲裁段波特率参数
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canConfig.ref.nbtSEG2 = 20; // 仲裁段波特率参数
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canConfig.ref.nbtSJW = 2; // 仲裁段波特率参数
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canConfig.ref.dbtBRP = 2; // 数据段波特率参数
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canConfig.ref.dbtSEG1 = 29; // 数据段波特率参数
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canConfig.ref.dbtSEG2 = 10; // 数据段波特率参数
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canConfig.ref.dbtSJW = 2; // 数据段波特率参数
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final result = canfdInit(_deviceList[canIndex].devhandle, canChannel, canConfig);
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calloc.free(canConfig); // 释放内存
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if (result != 1) {
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_logger.severe('CANFD_Init 初始化失败，返回值: $result');
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return false;
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}
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//初始化成功
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_logger.info('CANFD_Init 初始化成功，返回值: $result');
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_deviceList[canIndex].channelstatus[canChannel] = true;
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_deviceList[canIndex].runstatus = true;
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} else {
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_logger.severe('无可用设备，无法初始化 CANFD_Init');
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return false;
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}
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} catch (e) {
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_logger.severe('调用 CANFD_Init 时发生异常: $e');
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return false;
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}
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return true;
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}
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@override
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bool stop({required int canIndex}) {
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try {
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if (_loadDll && _deviceList.isNotEmpty) {
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final usbCloseDevice = _dll.lookupFunction<Bool Function(Int32), bool Function(int)>('USB_CloseDevice');
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final result = usbCloseDevice(_deviceList[canIndex].devhandle);
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if (!result) {
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_logger.severe('USB_CloseDevice 调用失败，设备句柄: ${_deviceList[canIndex].devhandle.toRadixString(16).toUpperCase()}');
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}
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return result;
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} else {
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_logger.severe('无法调用 USB_CloseDevice，可能 DLL 未加载或无可用设备。');
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return false;
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}
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} catch (e) {
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_logger.severe('调用 USB_CloseDevice 时发生异常: $e');
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return false;
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}
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}
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@override
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Future<bool> sendMessage({required int canIndex, required int canChannel, required int canid,required List<int> data}) {
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if(_deviceList[canIndex].runstatus == false || _deviceList[canIndex].channelstatus[canChannel] == false) {
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return Future.value(false);//设备/通道未启动
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}
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try {
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final canfdSendMsg = _dll.lookupFunction<Int32 Function(Int32, Uint8, Pointer<CanFdMsg>, Uint32), int Function(int, int, Pointer<CanFdMsg>, int)>('CANFD_SendMsg');
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if (_deviceList.isNotEmpty) {
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final devHandle = _deviceList[canIndex].devhandle;
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var canMsg = calloc<CanFdMsg>();
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canMsg.ref.id = canid;
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canMsg.ref.dlc = data.length.toUnsigned(8);
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for (int i = 0; i < data.length; i++) {
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canMsg.ref.data[i] = data[i].toUnsigned(8);
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}
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final result = canfdSendMsg(devHandle, canChannel, canMsg, 1);
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calloc.free(canMsg);
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if (result >= 0) {
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//_logger.info('CANFD_SendMsg 发送成功，返回值: $result');
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_deviceList[canIndex].errCounter = 0;
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return Future.value(true);
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} else {
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/*
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//函数返回值错误信息定义
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#define CANFD_SUCCESS (0) //函数执行成功
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#define CANFD_ERR_NOT_SUPPORT (-1) //适配器不支持该函数
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#define CANFD_ERR_USB_WRITE_FAIL (-2) //USB写数据失败
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#define CANFD_ERR_USB_READ_FAIL (-3) //USB读数据失败
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#define CANFD_ERR_CMD_FAIL (-4) //命令执行失败
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*/
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_logger.severe('CANFD_SendMsg 发送失败，返回值: $result');
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_deviceList[canIndex].errCounter++;
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if(_deviceList[canIndex].errCounter > 5) {
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_deviceList[canIndex].channelstatus[canChannel] = false;
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_deviceList[canIndex].runstatus = false;
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}
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return Future.value(false);
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}
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} else {
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_logger.severe('无可用设备，无法调用 CANFD_SendMsg');
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return Future.value(false);
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}
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} catch (e) {
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_logger.severe('调用 CANFD_SendMsg 时发生异常: $e');
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_deviceList[canIndex].channelstatus[canChannel] = false;
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_deviceList[canIndex].runstatus = false;
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return Future.value(false);
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}
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}
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@override
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Stream<CanFdMsg> receiveMessage({required int canIndex, required int canChannel}) {
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return Stream.periodic(Duration(milliseconds: 10), (_) {
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if(_deviceList[canIndex].runstatus == false || _deviceList[canIndex].channelstatus[canChannel] == false) {
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return null;
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}
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try {
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final canfdGetMsg = _dll.lookupFunction<Int32 Function(Int32, Uint8, Pointer<CanFdMsg>, Int32), int Function(int, int, Pointer<CanFdMsg>, int)>('CANFD_GetMsg');
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final bufferSize = 100;
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final canMsgs = calloc<CanFdMsg>(bufferSize);
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final result = canfdGetMsg(_deviceList[canIndex].devhandle, canChannel, canMsgs, bufferSize);
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if (result > 0) {
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List<CanFdMsg> messages = [];
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for (int i = 0; i < result; i++) {
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// 复制消息数据，避免内存释放后访问问题
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final msgCopy = calloc<CanFdMsg>();
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msgCopy.ref = canMsgs[i];
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messages.add(msgCopy.ref);
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}
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calloc.free(canMsgs);
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return messages;
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} else {
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calloc.free(canMsgs);
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return null;
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}
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} catch (e) {
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_logger.severe('调用 CANFD_GetMsg 时发生异常: $e');
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return null;
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}
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}).where((messages) => messages != null).expand((messages) => messages!);
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}
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} |