feat: add CAN board test tool and timing safeguards

2026-10-01 17:43:28 +08:00
parent be4f167b83
commit 34627fa6a0
14 changed files with 607 additions and 44 deletions
@@ -0,0 +1,6 @@
+<Application x:Class="SDCAcqDacTester.App"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             StartupUri="MainWindow.xaml">
+  <Application.Resources />
+</Application>
@@ -0,0 +1,5 @@
+using System.Windows;
+
+namespace SDCAcqDacTester;
+
+public partial class App : Application { }
@@ -0,0 +1,130 @@
+using System.Runtime.InteropServices;
+
+namespace SDCAcqDacTester.Can;
+
+public sealed record CanFrame(uint Id, bool IsExtended, byte[] Data, DateTime Timestamp);
+
+public sealed class ControlCanTransport : IDisposable
+{
+    private const uint DeviceTypeUsbCan2 = 4;
+    private const uint StatusOk = 1;
+    private CancellationTokenSource? _receiveCancel;
+    private Task? _receiveTask;
+    private uint _deviceIndex;
+    private uint _channelIndex;
+
+    public bool IsOpen { get; private set; }
+    public event EventHandler<CanFrame>? FrameReceived;
+    public event EventHandler<string>? ReceiveError;
+
+    [StructLayout(LayoutKind.Sequential)]
+    private struct VciInitConfig
+    {
+        public uint AccCode;
+        public uint AccMask;
+        public uint Reserved;
+        public byte Filter;
+        public byte Timing0;
+        public byte Timing1;
+        public byte Mode;
+    }
+
+    [StructLayout(LayoutKind.Sequential, Pack = 1)]
+    private struct VciCanObj
+    {
+        public uint Id;
+        public uint TimeStamp;
+        public byte TimeFlag;
+        public byte SendType;
+        public byte RemoteFlag;
+        public byte ExternFlag;
+        public byte DataLen;
+        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)] public byte[] Data;
+        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] public byte[] Reserved;
+    }
+
+    [DllImport("ControlCAN.dll", CallingConvention = CallingConvention.StdCall)]
+    private static extern uint VCI_OpenDevice(uint deviceType, uint deviceIndex, uint reserved);
+    [DllImport("ControlCAN.dll", CallingConvention = CallingConvention.StdCall)]
+    private static extern uint VCI_CloseDevice(uint deviceType, uint deviceIndex);
+    [DllImport("ControlCAN.dll", CallingConvention = CallingConvention.StdCall)]
+    private static extern uint VCI_InitCAN(uint deviceType, uint deviceIndex, uint canIndex, ref VciInitConfig config);
+    [DllImport("ControlCAN.dll", CallingConvention = CallingConvention.StdCall)]
+    private static extern uint VCI_StartCAN(uint deviceType, uint deviceIndex, uint canIndex);
+    [DllImport("ControlCAN.dll", CallingConvention = CallingConvention.StdCall)]
+    private static extern uint VCI_ResetCAN(uint deviceType, uint deviceIndex, uint canIndex);
+    [DllImport("ControlCAN.dll", CallingConvention = CallingConvention.StdCall)]
+    private static extern uint VCI_Transmit(uint deviceType, uint deviceIndex, uint canIndex, [In] VciCanObj[] send, uint length);
+    [DllImport("ControlCAN.dll", CallingConvention = CallingConvention.StdCall)]
+    private static extern uint VCI_Receive(uint deviceType, uint deviceIndex, uint canIndex, [Out] VciCanObj[] receive, uint length, int waitTime);
+
+    public void Open(uint deviceIndex, uint channelIndex)
+    {
+        if (IsOpen) return;
+        _deviceIndex = deviceIndex;
+        _channelIndex = channelIndex;
+        if (VCI_OpenDevice(DeviceTypeUsbCan2, deviceIndex, 0) != StatusOk)
+            throw new InvalidOperationException("打开 USBCAN-II 失败。请确认设备未被其他程序占用，并检查 ControlCAN.dll。 ");
+
+        // SJA1000 timing for 500 kbit/s, normal mode so the adapter ACKs board frames.
+        var config = new VciInitConfig { AccCode = 0, AccMask = 0xFFFFFFFF, Filter = 1, Timing0 = 0x00, Timing1 = 0x1C, Mode = 0 };
+        if (VCI_InitCAN(DeviceTypeUsbCan2, deviceIndex, channelIndex, ref config) != StatusOk)
+        {
+            VCI_CloseDevice(DeviceTypeUsbCan2, deviceIndex);
+            throw new InvalidOperationException("初始化 CAN 失败（500 kbit/s）。");
+        }
+        if (VCI_StartCAN(DeviceTypeUsbCan2, deviceIndex, channelIndex) != StatusOk)
+        {
+            VCI_ResetCAN(DeviceTypeUsbCan2, deviceIndex, channelIndex);
+            VCI_CloseDevice(DeviceTypeUsbCan2, deviceIndex);
+            throw new InvalidOperationException("启动 CAN 通道失败。");
+        }
+        IsOpen = true;
+        _receiveCancel = new CancellationTokenSource();
+        _receiveTask = Task.Run(() => ReceiveLoop(_receiveCancel.Token));
+    }
+
+    public void SendStandard(uint id, ReadOnlySpan<byte> data)
+    {
+        if (!IsOpen) throw new InvalidOperationException("CAN 未连接。");
+        if (id > 0x7FF || data.Length > 8) throw new ArgumentOutOfRangeException(nameof(id));
+        var payload = new byte[8];
+        data.CopyTo(payload);
+        var frame = new VciCanObj { Id = id, SendType = 0, RemoteFlag = 0, ExternFlag = 0, DataLen = (byte)data.Length, Data = payload, Reserved = new byte[3] };
+        if (VCI_Transmit(DeviceTypeUsbCan2, _deviceIndex, _channelIndex, [frame], 1) != StatusOk)
+            throw new InvalidOperationException("CAN 发送失败。");
+    }
+
+    private void ReceiveLoop(CancellationToken token)
+    {
+        var buffer = Enumerable.Range(0, 100).Select(_ => new VciCanObj { Data = new byte[8], Reserved = new byte[3] }).ToArray();
+        try
+        {
+            while (!token.IsCancellationRequested)
+            {
+                uint count = VCI_Receive(DeviceTypeUsbCan2, _deviceIndex, _channelIndex, buffer, (uint)buffer.Length, 50);
+                if (count == 0 || count == uint.MaxValue) continue;
+                for (var i = 0; i < Math.Min(count, (uint)buffer.Length); i++)
+                {
+                    var item = buffer[i];
+                    if (item.RemoteFlag != 0) continue;
+                    FrameReceived?.Invoke(this, new CanFrame(item.Id, item.ExternFlag != 0, item.Data.Take(Math.Min(item.DataLen, (byte)8)).ToArray(), DateTime.Now));
+                }
+            }
+        }
+        catch (Exception ex) when (!token.IsCancellationRequested) { ReceiveError?.Invoke(this, ex.Message); }
+    }
+
+    public void Close()
+    {
+        if (!IsOpen) return;
+        _receiveCancel?.Cancel();
+        _receiveTask?.Wait(300);
+        VCI_ResetCAN(DeviceTypeUsbCan2, _deviceIndex, _channelIndex);
+        VCI_CloseDevice(DeviceTypeUsbCan2, _deviceIndex);
+        _receiveCancel?.Dispose();
+        _receiveCancel = null;
+        IsOpen = false;
+    }
+    public void Dispose() => Close();
+}
@@ -0,0 +1,60 @@
+<Window x:Class="SDCAcqDacTester.MainWindow"
+        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+        Title="SDC-ACQ_DAC 板卡测试工具" Height="820" Width="1230" MinHeight="680" MinWidth="1000"
+        Closing="Window_Closing" Background="#F5F7FA">
+  <Window.Resources>
+    <Style TargetType="GroupBox"><Setter Property="Margin" Value="8"/><Setter Property="Padding" Value="10"/><Setter Property="BorderBrush" Value="#C8D2DC"/></Style>
+    <Style TargetType="Button"><Setter Property="Margin" Value="3"/><Setter Property="Padding" Value="10,5"/></Style>
+    <Style TargetType="TextBox"><Setter Property="Margin" Value="3"/><Setter Property="Padding" Value="5"/></Style>
+  </Window.Resources>
+  <DockPanel Margin="12">
+    <Border DockPanel.Dock="Top" Background="#12324A" Padding="14" CornerRadius="5">
+      <Grid><Grid.ColumnDefinitions><ColumnDefinition/><ColumnDefinition Width="Auto"/></Grid.ColumnDefinitions>
+        <StackPanel><TextBlock Foreground="White" FontSize="22" FontWeight="SemiBold" Text="SDC-ACQ_DAC 板卡测试工具"/>
+          <TextBlock Foreground="#C9D9E8" Margin="0,4,0,0" Text="CAN 500 kbit/s · 标准帧 · 协议 0x6A0 - 0x6A6"/></StackPanel>
+        <TextBlock x:Name="ConnectionText" Grid.Column="1" VerticalAlignment="Center" Foreground="#FFCC66" FontSize="15" Text="未连接"/>
+      </Grid>
+    </Border>
+    <Grid Margin="0,8,0,0"><Grid.RowDefinitions><RowDefinition Height="Auto"/><RowDefinition Height="Auto"/><RowDefinition Height="*"/></Grid.RowDefinitions>
+      <GroupBox Header="连接 - ZLG USBCAN-II（x86 ControlCAN.dll）">
+        <StackPanel Orientation="Horizontal"><TextBlock VerticalAlignment="Center" Text="设备索引"/><TextBox x:Name="DeviceIndexBox" Width="45" Text="0"/>
+          <TextBlock VerticalAlignment="Center" Margin="10,0,0,0" Text="通道"/><ComboBox x:Name="ChannelBox" Width="80" SelectedIndex="0"><ComboBoxItem Content="CAN1"/><ComboBoxItem Content="CAN2"/></ComboBox>
+          <Button x:Name="ConnectButton" Click="ConnectButton_Click" Content="连接" Background="#2E7D32" Foreground="White"/><Button x:Name="DisconnectButton" Click="DisconnectButton_Click" Content="断开" IsEnabled="False"/>
+          <TextBlock Margin="16,0,0,0" VerticalAlignment="Center" Foreground="#556575" Text="使用正常模式，适配器会 ACK 板卡上报帧。"/>
+        </StackPanel>
+      </GroupBox>
+      <Grid Grid.Row="1"><Grid.ColumnDefinitions><ColumnDefinition Width="2*"/><ColumnDefinition Width="1.45*"/><ColumnDefinition Width="1.2*"/></Grid.ColumnDefinitions>
+        <GroupBox Header="DAC 控制 - 0x6A3"><Grid><Grid.RowDefinitions><RowDefinition/><RowDefinition/><RowDefinition Height="Auto"/></Grid.RowDefinitions>
+          <Grid Grid.Row="0"><Grid.ColumnDefinitions><ColumnDefinition Width="Auto"/><ColumnDefinition Width="85"/><ColumnDefinition/><ColumnDefinition Width="Auto"/></Grid.ColumnDefinitions>
+            <TextBlock VerticalAlignment="Center" Text="DAC1 (V)"/><TextBox x:Name="Dac1Box" Grid.Column="1" Text="0"/><Button Grid.Column="2" Click="SendDac1Once_Click" Content="发送一次"/><Button x:Name="HoldDac1Button" Grid.Column="3" Click="HoldDac1Button_Click" Content="开始保持"/>
+          </Grid>
+          <Grid Grid.Row="1"><Grid.ColumnDefinitions><ColumnDefinition Width="Auto"/><ColumnDefinition Width="85"/><ColumnDefinition/><ColumnDefinition Width="Auto"/></Grid.ColumnDefinitions>
+            <TextBlock VerticalAlignment="Center" Text="DAC2 (V)"/><TextBox x:Name="Dac2Box" Grid.Column="1" Text="0"/><Button Grid.Column="2" Click="SendDac2Once_Click" Content="发送一次"/><Button x:Name="HoldDac2Button" Grid.Column="3" Click="HoldDac2Button_Click" Content="开始保持"/>
+          </Grid>
+          <TextBlock Grid.Row="2" Margin="0,8,0,0" Foreground="#8A5200" TextWrapping="Wrap" Text="“保持”每 50 ms 发送一次，满足板卡 DAC 100 ms 超时要求；停止后，板卡将在最多 100 ms 内自动归零。"/>
+        </Grid></GroupBox>
+        <GroupBox Grid.Column="1" Header="ASSI RGB 状态 - 0x6A5"><WrapPanel>
+          <Button Click="Assi_Click" Tag="0" Content="关灯"/><Button Click="Assi_Click" Tag="1" Content="黄常亮" Background="#D8A500"/>
+          <Button Click="Assi_Click" Tag="2" Content="黄闪 2 Hz" Background="#D8A500"/><Button Click="Assi_Click" Tag="3" Content="蓝闪 2 Hz" Background="#2E6DB4" Foreground="White"/>
+          <Button Click="Assi_Click" Tag="4" Content="蓝常亮" Background="#2E6DB4" Foreground="White"/>
+        </WrapPanel></GroupBox>
+        <GroupBox Grid.Column="2" Header="手工帧发送"><StackPanel Orientation="Horizontal"><TextBox x:Name="RawIdBox" Width="72" Text="6A5" ToolTip="标准帧 ID，十六进制"/>
+          <TextBox x:Name="RawDataBox" Width="115" Text="00" ToolTip="字节，十六进制，以空格分隔"/><Button Click="SendRaw_Click" Content="发送"/>
+        </StackPanel></GroupBox>
+      </Grid>
+      <Grid Grid.Row="2"><Grid.RowDefinitions><RowDefinition Height="Auto"/><RowDefinition Height="*"/></Grid.RowDefinitions>
+        <UniformGrid Rows="1" Columns="5" Margin="8"><Border Background="White" Padding="9" BorderBrush="#D5DDE5" BorderThickness="1"><StackPanel><TextBlock Text="心跳 0x6A0" Foreground="#52606D"/><TextBlock x:Name="HeartbeatValue" FontSize="17" Text="--"/></StackPanel></Border>
+          <Border Background="White" Padding="9" BorderBrush="#D5DDE5" BorderThickness="1"><StackPanel><TextBlock Text="输入电压 0x6A1" Foreground="#52606D"/><TextBlock x:Name="AdcValue" FontSize="17" Text="--"/></StackPanel></Border>
+          <Border Background="White" Padding="9" BorderBrush="#D5DDE5" BorderThickness="1"><StackPanel><TextBlock Text="轮速 0x6A2" Foreground="#52606D"/><TextBlock x:Name="PwmValue" FontSize="17" Text="--" TextWrapping="Wrap"/></StackPanel></Border>
+          <Border Background="White" Padding="9" BorderBrush="#D5DDE5" BorderThickness="1"><StackPanel><TextBlock Text="GPIO 0x6A6" Foreground="#52606D"/><TextBlock x:Name="GpioValue" FontSize="17" Text="--"/></StackPanel></Border>
+          <Border Background="White" Padding="9" BorderBrush="#D5DDE5" BorderThickness="1"><StackPanel><TextBlock Text="DAC 应答 0x6A4" Foreground="#52606D"/><TextBlock x:Name="DacAckValue" FontSize="17" Text="--"/></StackPanel></Border>
+        </UniformGrid>
+        <GroupBox Grid.Row="1" Header="CAN 收发记录"><DataGrid x:Name="LogGrid" IsReadOnly="True" AutoGenerateColumns="False" CanUserAddRows="False" HeadersVisibility="Column"><DataGrid.Columns>
+          <DataGridTextColumn Header="时间" Binding="{Binding Time}" Width="135"/><DataGridTextColumn Header="方向" Binding="{Binding Direction}" Width="65"/><DataGridTextColumn Header="ID" Binding="{Binding Id}" Width="70"/>
+          <DataGridTextColumn Header="DLC" Binding="{Binding Dlc}" Width="50"/><DataGridTextColumn Header="数据" Binding="{Binding Data}" Width="180"/><DataGridTextColumn Header="解释" Binding="{Binding Description}" Width="*"/>
+        </DataGrid.Columns></DataGrid></GroupBox>
+      </Grid>
+    </Grid>
+  </DockPanel>
+</Window>
@@ -0,0 +1,194 @@
+using System.Collections.ObjectModel;
+using System.Globalization;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Threading;
+using SDCAcqDacTester.Can;
+
+namespace SDCAcqDacTester;
+
+public partial class MainWindow : Window
+{
+    private const uint HeartbeatId = 0x6A0;
+    private const uint AdcId = 0x6A1;
+    private const uint PwmId = 0x6A2;
+    private const uint DacCommandId = 0x6A3;
+    private const uint DacAckId = 0x6A4;
+    private const uint AssiCommandId = 0x6A5;
+    private const uint GpioId = 0x6A6;
+
+    private readonly ObservableCollection<LogRow> _rows = [];
+    private readonly DispatcherTimer _holdTimer;
+    private ControlCanTransport? _can;
+    private bool _holdDac1;
+    private bool _holdDac2;
+
+    public MainWindow()
+    {
+        InitializeComponent();
+        LogGrid.ItemsSource = _rows;
+        _holdTimer = new DispatcherTimer { Interval = TimeSpan.FromMilliseconds(50) };
+        _holdTimer.Tick += HoldTimer_Tick;
+    }
+
+    private void ConnectButton_Click(object sender, RoutedEventArgs e)
+    {
+        try
+        {
+            if (!uint.TryParse(DeviceIndexBox.Text, out uint index)) throw new InvalidOperationException("设备索引必须为非负整数。");
+            _can = new ControlCanTransport();
+            _can.FrameReceived += Can_FrameReceived;
+            _can.ReceiveError += Can_ReceiveError;
+            _can.Open(index, (uint)ChannelBox.SelectedIndex);
+            ConnectionText.Text = $"已连接：USBCAN-II / CAN{ChannelBox.SelectedIndex + 1}";
+            ConnectionText.Foreground = System.Windows.Media.Brushes.LightGreen;
+            ConnectButton.IsEnabled = false;
+            DisconnectButton.IsEnabled = true;
+            AddLog("SYS", "-", [], "已连接，500 kbit/s 正常模式。");
+        }
+        catch (Exception ex) { ShowError(ex.Message); }
+    }
+
+    private void DisconnectButton_Click(object sender, RoutedEventArgs e) => Disconnect();
+
+    private void SendDac1Once_Click(object sender, RoutedEventArgs e) => SendDac(1, ReadVolts(Dac1Box));
+    private void SendDac2Once_Click(object sender, RoutedEventArgs e) => SendDac(2, ReadVolts(Dac2Box));
+
+    private void HoldDac1Button_Click(object sender, RoutedEventArgs e)
+    {
+        _holdDac1 = !_holdDac1;
+        HoldDac1Button.Content = _holdDac1 ? "停止保持" : "开始保持";
+        UpdateHoldTimer();
+    }
+
+    private void HoldDac2Button_Click(object sender, RoutedEventArgs e)
+    {
+        _holdDac2 = !_holdDac2;
+        HoldDac2Button.Content = _holdDac2 ? "停止保持" : "开始保持";
+        UpdateHoldTimer();
+    }
+
+    private void HoldTimer_Tick(object? sender, EventArgs e)
+    {
+        try
+        {
+            if (_holdDac1) SendDac(1, ReadVolts(Dac1Box));
+            if (_holdDac2) SendDac(2, ReadVolts(Dac2Box));
+        }
+        catch (Exception ex)
+        {
+            _holdDac1 = _holdDac2 = false;
+            HoldDac1Button.Content = HoldDac2Button.Content = "开始保持";
+            UpdateHoldTimer();
+            ShowError(ex.Message);
+        }
+    }
+
+    private void Assi_Click(object sender, RoutedEventArgs e)
+    {
+        if (sender is not Button { Tag: string value } || !byte.TryParse(value, out byte state)) return;
+        Send(AssiCommandId, [state], $"ASSI 状态={state}");
+    }
+
+    private void SendRaw_Click(object sender, RoutedEventArgs e)
+    {
+        try
+        {
+            uint id = uint.Parse(RawIdBox.Text.Trim().Replace("0x", "", StringComparison.OrdinalIgnoreCase), NumberStyles.HexNumber, CultureInfo.InvariantCulture);
+            byte[] data = string.IsNullOrWhiteSpace(RawDataBox.Text) ? [] : RawDataBox.Text.Split([' ', ',', ';'], StringSplitOptions.RemoveEmptyEntries)
+                .Select(x => byte.Parse(x.Replace("0x", "", StringComparison.OrdinalIgnoreCase), NumberStyles.HexNumber, CultureInfo.InvariantCulture)).ToArray();
+            Send(id, data, "手工帧");
+        }
+        catch (Exception ex) { ShowError($"手工帧格式错误：{ex.Message}"); }
+    }
+
+    private void SendDac(byte dac, ushort millivolts)
+    {
+        Send(DacCommandId, [dac, (byte)(millivolts & 0xFF), (byte)(millivolts >> 8)], $"DAC{dac}={millivolts} mV");
+    }
+
+    private void Send(uint id, byte[] data, string description)
+    {
+        try
+        {
+            if (_can is not { IsOpen: true }) throw new InvalidOperationException("请先连接 CAN。 ");
+            _can.SendStandard(id, data);
+            AddLog("TX", $"0x{id:X3}", data, description);
+        }
+        catch (Exception ex) { ShowError(ex.Message); }
+    }
+
+    private static ushort ReadVolts(TextBox box)
+    {
+        if (!decimal.TryParse(box.Text, NumberStyles.Number, CultureInfo.InvariantCulture, out decimal volts) &&
+            !decimal.TryParse(box.Text, NumberStyles.Number, CultureInfo.CurrentCulture, out volts))
+            throw new InvalidOperationException("DAC 电压必须是 0 - 5 V 的数值。");
+        if (volts is < 0 or > 5) throw new InvalidOperationException("DAC 电压范围为 0 - 5 V。");
+        return (ushort)Math.Round(volts * 1000m, MidpointRounding.AwayFromZero);
+    }
+
+    private void Can_FrameReceived(object? sender, CanFrame frame) => Dispatcher.Invoke(() =>
+    {
+        string description = Decode(frame);
+        AddLog("RX", frame.IsExtended ? $"0x{frame.Id:X8}" : $"0x{frame.Id:X3}", frame.Data, description, frame.Timestamp);
+    });
+
+    private void Can_ReceiveError(object? sender, string error) => Dispatcher.Invoke(() => ShowError($"接收异常：{error}"));
+
+    private string Decode(CanFrame frame)
+    {
+        var d = frame.Data;
+        switch (frame.Id)
+        {
+            case HeartbeatId when d.Length >= 8:
+                string heartbeat = $"板号=0x{d[0]:X2} 协议={d[1]} 序号={U16(d, 2)} 运行={U32(d, 4)} ms";
+                HeartbeatValue.Text = heartbeat; return heartbeat;
+            case AdcId when d.Length >= 2:
+                string adc = $"{U16(d, 0)} mV ({U16(d, 0) / 1000.0:F3} V)";
+                AdcValue.Text = adc; return adc;
+            case PwmId when d.Length >= 8:
+                string pwm = string.Join(" / ", Enumerable.Range(0, 4).Select(i => $"{U16(d, i * 2)} Hz"));
+                PwmValue.Text = pwm; return pwm;
+            case DacAckId when d.Length >= 4:
+                string ack = $"DAC{d[1]} {(d[0] == 1 ? "OK" : "ERR")} = {U16(d, 2)} mV";
+                DacAckValue.Text = ack; return ack;
+            case GpioId when d.Length >= 8:
+                string gpio = $"状态=0x{U16(d, 0):X4} 变化=0x{U16(d, 2):X4} 时间={U32(d, 4)} ms";
+                GpioValue.Text = gpio; return gpio;
+            default: return "未定义帧";
+        }
+    }
+
+    private static ushort U16(byte[] data, int offset) => (ushort)(data[offset] | (data[offset + 1] << 8));
+    private static uint U32(byte[] data, int offset) => (uint)(data[offset] | (data[offset + 1] << 8) | (data[offset + 2] << 16) | (data[offset + 3] << 24));
+
+    private void AddLog(string direction, string id, byte[] data, string description, DateTime? timestamp = null)
+    {
+        _rows.Insert(0, new LogRow((timestamp ?? DateTime.Now).ToString("HH:mm:ss.fff"), direction, id, data.Length.ToString(), BitConverter.ToString(data).Replace('-', ' '), description));
+        while (_rows.Count > 500) _rows.RemoveAt(_rows.Count - 1);
+    }
+
+    private void UpdateHoldTimer()
+    {
+        if (_holdDac1 || _holdDac2) _holdTimer.Start(); else _holdTimer.Stop();
+    }
+
+    private void Disconnect()
+    {
+        _holdDac1 = _holdDac2 = false;
+        _holdTimer.Stop();
+        _can?.Dispose(); _can = null;
+        ConnectionText.Text = "未连接"; ConnectionText.Foreground = System.Windows.Media.Brushes.Orange;
+        ConnectButton.IsEnabled = true; DisconnectButton.IsEnabled = false;
+    }
+
+    private void ShowError(string message)
+    {
+        AddLog("ERR", "-", [], message);
+        MessageBox.Show(message, "SDC-ACQ_DAC 测试工具", MessageBoxButton.OK, MessageBoxImage.Warning);
+    }
+
+    private void Window_Closing(object? sender, System.ComponentModel.CancelEventArgs e) => Disconnect();
+}
+
+public sealed record LogRow(string Time, string Direction, string Id, string Dlc, string Data, string Description);
@@ -0,0 +1,9 @@
+# ZLG USBCAN-II driver files
+
+Copy the complete matching x86 vendor runtime into this directory before using hardware CAN:
+
+- `ControlCAN.dll` beside `SDC-ACQ_DAC-TestTool.exe`
+- `kerneldlls\\usbcan.dll`
+- `kerneldlls\\kerneldll.ini`
+
+Do not run another CAN application against the same adapter at the same time.
@@ -0,0 +1,15 @@
+<Project Sdk="Microsoft.NET.Sdk">
+  <PropertyGroup>
+    <OutputType>WinExe</OutputType>
+    <TargetFramework>net8.0-windows</TargetFramework>
+    <UseWPF>true</UseWPF>
+    <Platforms>x86</Platforms>
+    <PlatformTarget>x86</PlatformTarget>
+    <Nullable>enable</Nullable>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <AssemblyName>SDC-ACQ_DAC-TestTool</AssemblyName>
+  </PropertyGroup>
+  <ItemGroup>
+    <None Include="Native\\x86\\README.md" CopyToOutputDirectory="PreserveNewest" />
+  </ItemGroup>
+</Project>