SDC_ACQ_DAC/PC_Test/SDCAcqDacTester/MainWindow.xaml.cs

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 >= 4:
                string pwm = $"左前 PA0={U16(d, 0) / 1000.0:F3} m/s / 右前 PA6={U16(d, 2) / 1000.0:F3} m/s";
                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);