TestPlatfoming.git

using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Threading;
using log4net;
 
namespace CanSimulator
{
    /// <summary>
    /// CAN 总线状态
    /// </summary>
    public enum CanBusState
    {
        /// <summary>停止状态</summary>
        Stopped,
        /// <summary>运行中</summary>
        Running,
        /// <summary>暂停</summary>
        Paused,
        /// <summary>错误</summary>
        Error
    }
 
    /// <summary>
    /// CAN 总线模拟器事件参数
    /// </summary>
    public sealed class CanBusFrameEventArgs : EventArgs
    {
        public CanFrame Frame { get; }
        public string SourceNodeId { get; }
 
        public CanBusFrameEventArgs(CanFrame frame, string sourceNodeId)
        {
            Frame = frame;
            SourceNodeId = sourceNodeId;
        }
    }
 
    /// <summary>
    /// CAN 总线模拟器
    /// 模拟一条虚拟 CAN 总线，多个虚拟节点可以挂载到总线上进行通讯
    /// </summary>
    public sealed class CanBusSimulator : IDisposable
    {
        private static readonly ILog Log = LogManager.GetLogger(typeof(CanBusSimulator));
 
        /// <summary>
        /// 总线名称
        /// </summary>
        public string BusName { get; }
 
        /// <summary>
        /// 总线状态
        /// </summary>
        public CanBusState State { get; private set; } = CanBusState.Stopped;
 
        /// <summary>
        /// 波特率（仅用于模拟显示，不影响实际逻辑）
        /// </summary>
        public int BaudRate { get; set; } = 500000; // 默认 500kbps
 
        /// <summary>
        /// 模拟延迟（毫秒）- 模拟真实总线传输延迟
        /// </summary>
        public int SimulatedLatencyMs { get; set; } = 0;
 
        /// <summary>
        /// 已注册的节点
        /// </summary>
        private readonly ConcurrentDictionary<string, CanNode> _nodes = new();
 
        /// <summary>
        /// 总线日志（最近 N 条帧）
        /// </summary>
        private readonly ConcurrentQueue<CanFrame> _busLog = new();
        private int _maxLogSize = 5000;
 
        /// <summary>
        /// 总线统计
        /// </summary>
        public long TotalFramesTransmitted { get; private set; }
        public long TotalFramesReceived { get; private set; }
        public DateTime? LastActivityTime { get; private set; }
 
        /// <summary>
        /// 帧在总线上传输事件（可用于监控/日志）
        /// </summary>
        public event EventHandler<CanBusFrameEventArgs>? FrameTransmitted;
 
        /// <summary>
        /// 总线状态变化事件
        /// </summary>
        public event EventHandler<CanBusState>? StateChanged;
 
        public CanBusSimulator(string busName = "CAN_BUS_1")
        {
            BusName = busName ?? throw new ArgumentNullException(nameof(busName));
        }
 
        /// <summary>
        /// 启动总线
        /// </summary>
        public void Start()
        {
            if (State == CanBusState.Running)
            {
                Log.Warn($"[CanBus] 总线 {BusName} 已在运行中");
                return;
            }
 
            State = CanBusState.Running;
            Log.Info($"[CanBus] 总线 {BusName} 已启动 (波特率: {BaudRate}bps)");
            StateChanged?.Invoke(this, State);
        }
 
        /// <summary>
        /// 停止总线
        /// </summary>
        public void Stop()
        {
            if (State == CanBusState.Stopped) return;
 
            State = CanBusState.Stopped;
            Log.Info($"[CanBus] 总线 {BusName} 已停止");
            StateChanged?.Invoke(this, State);
        }
 
        /// <summary>
        /// 暂停总线（帧仍在保留但不路由）
        /// </summary>
        public void Pause()
        {
            if (State != CanBusState.Running) return;
 
            State = CanBusState.Paused;
            Log.Info($"[CanBus] 总线 {BusName} 已暂停");
            StateChanged?.Invoke(this, State);
        }
 
        /// <summary>
        /// 恢复总线
        /// </summary>
        public void Resume()
        {
            if (State != CanBusState.Paused) return;
 
            State = CanBusState.Running;
            Log.Info($"[CanBus] 总线 {BusName} 已恢复");
            StateChanged?.Invoke(this, State);
        }
 
        /// <summary>
        /// 注册节点到总线
        /// </summary>
        public CanNode RegisterNode(string nodeId, string? name = null)
        {
            if (string.IsNullOrWhiteSpace(nodeId))
                throw new ArgumentException("节点 ID 不能为空", nameof(nodeId));
 
            var node = new CanNode(nodeId, name);
            node.FrameSent += OnNodeFrameSent;
 
            if (!_nodes.TryAdd(nodeId, node))
            {
                Log.Warn($"[CanBus] 节点 {nodeId} 已存在，将被替换");
                _nodes.TryRemove(nodeId, out var oldNode);
                oldNode?.Deactivate();
                _nodes.TryAdd(nodeId, node);
            }
 
            // 如果总线已运行，自动激活节点
            if (State == CanBusState.Running)
            {
                node.Activate();
            }
 
            Log.Info($"[CanBus] 节点 {nodeId} ({name ?? nodeId}) 已注册到总线 {BusName}");
            return node;
        }
 
        /// <summary>
        /// 注销节点
        /// </summary>
        public bool UnregisterNode(string nodeId)
        {
            if (_nodes.TryRemove(nodeId, out var node))
            {
                node.FrameSent -= OnNodeFrameSent;
                node.Deactivate();
                Log.Info($"[CanBus] 节点 {nodeId} 已从总线 {BusName} 注销");
                return true;
            }
            return false;
        }
 
        /// <summary>
        /// 获取节点
        /// </summary>
        public CanNode? GetNode(string nodeId)
        {
            _nodes.TryGetValue(nodeId, out var node);
            return node;
        }
 
        /// <summary>
        /// 获取所有已注册节点
        /// </summary>
        public IReadOnlyList<CanNode> GetAllNodes()
        {
            return _nodes.Values.ToList();
        }
 
        /// <summary>
        /// 向总线发送帧（由节点发送，总线负责路由）
        /// </summary>
        private void OnNodeFrameSent(object? sender, CanFrame frame)
        {
            if (State != CanBusState.Running) return;
 
            // 模拟延迟
            if (SimulatedLatencyMs > 0)
            {
                Thread.Sleep(SimulatedLatencyMs);
            }
 
            // 记录到总线日志
            while (_busLog.Count >= _maxLogSize)
            {
                _busLog.TryDequeue(out _);
            }
            _busLog.Enqueue(frame);
            TotalFramesTransmitted++;
            LastActivityTime = DateTime.Now;
 
            // 路由到所有其他节点
            int routed = 0;
            foreach (var kvp in _nodes)
            {
                if (kvp.Key == frame.SourceNodeId) continue; // 不路由回源节点
 
                try
                {
                    kvp.Value.ReceiveFrame(frame);
                    routed++;
                    TotalFramesReceived++;
                }
                catch (Exception ex)
                {
                    Log.Error($"[CanBus] 路由帧到节点 {kvp.Key} 失败: {ex.Message}");
                }
            }
 
            // 检查源节点是否启用自动响应模式
            if (_nodes.TryGetValue(frame.SourceNodeId, out var sourceNode) && sourceNode.AutoResponseEnabled)
            {
                try
                {
                    // 模拟响应延迟
                    if (sourceNode.AutoResponseDelayMs > 0)
                    {
                        Thread.Sleep(sourceNode.AutoResponseDelayMs);
                    }
 
                    // 创建响应帧（复制原始帧数据，来源为源节点）
                    var responseFrame = new CanFrame
                    {
                        FrameId = frame.FrameId,
                        Format = frame.Format,
                        Type = frame.Type,
                        Data = (byte[])frame.Data.Clone(),
                        SourceNodeId = sourceNode.NodeId,
                        Timestamp = DateTime.Now
                    };
 
                    // 将响应帧路由到所有其他节点（不包括响应源自身）
                    foreach (var kvp in _nodes)
                    {
                        if (kvp.Key == sourceNode.NodeId) continue;
                        try
                        {
                            kvp.Value.ReceiveFrame(responseFrame);
                            TotalFramesReceived++;
                        }
                        catch (Exception ex)
                        {
                            Log.Error($"[CanBus] 路由响应帧到节点 {kvp.Key} 失败: {ex.Message}");
                        }
                    }
 
                    // 将响应帧送入源节点的接收邮箱（让源节点能看到自己的响应）
                    sourceNode.ReceiveFrame(responseFrame);
                    TotalFramesReceived++;
 
                    // 记录响应帧到总线日志
                    _busLog.Enqueue(responseFrame);
                    TotalFramesTransmitted++;
 
                    Log.Debug($"[CanBus] 节点 {sourceNode.NodeId} 自动响应帧 {responseFrame.FrameIdHex}");
                }
                catch (Exception ex)
                {
                    Log.Error($"[CanBus] 源节点自动响应失败: {ex.Message}");
                }
            }
 
            Log.Debug($"[CanBus] 帧 {frame.FrameIdHex} 从 {frame.SourceNodeId} 路由到 {routed} 个节点");
            FrameTransmitted?.Invoke(this, new CanBusFrameEventArgs(frame, frame.SourceNodeId));
        }
 
        /// <summary>
        /// 直接注入帧到总线（用于模拟外部设备发送）
        /// </summary>
        public void InjectFrame(CanFrame frame)
        {
            if (State != CanBusState.Running)
            {
                Log.Warn($"[CanBus] 总线未运行，无法注入帧");
                return;
            }
 
            frame.Timestamp = DateTime.Now;
 
            // 记录到日志
            while (_busLog.Count >= _maxLogSize)
            {
                _busLog.TryDequeue(out _);
            }
            _busLog.Enqueue(frame);
            TotalFramesTransmitted++;
            LastActivityTime = DateTime.Now;
 
            // 路由到所有节点
            foreach (var kvp in _nodes)
            {
                try
                {
                    kvp.Value.ReceiveFrame(frame);
                    TotalFramesReceived++;
                }
                catch (Exception ex)
                {
                    Log.Error($"[CanBus] 注入帧路由到节点 {kvp.Key} 失败: {ex.Message}");
                }
            }
 
            FrameTransmitted?.Invoke(this, new CanBusFrameEventArgs(frame, frame.SourceNodeId));
            Log.Debug($"[CanBus] 注入帧 {frame.FrameIdHex} 到总线");
        }
 
        /// <summary>
        /// 获取总线日志
        /// </summary>
        public List<CanFrame> GetBusLog(int maxCount = 100)
        {
            var all = _busLog.ToList();
            if (all.Count <= maxCount) return all;
            return all.Skip(all.Count - maxCount).ToList();
        }
 
        /// <summary>
        /// 清空总线日志
        /// </summary>
        public void ClearBusLog()
        {
            while (_busLog.TryDequeue(out _)) { }
        }
 
        /// <summary>
        /// 重置所有统计
        /// </summary>
        public void ResetStatistics()
        {
            TotalFramesTransmitted = 0;
            TotalFramesReceived = 0;
            LastActivityTime = null;
            foreach (var node in _nodes.Values)
            {
                node.ResetCounters();
            }
        }
 
        /// <summary>
        /// 获取总线状态摘要
        /// </summary>
        public string GetStatusSummary()
        {
            return $"Bus={BusName}, State={State}, BaudRate={BaudRate}, Nodes={_nodes.Count}, " +
                   $"Tx={TotalFramesTransmitted}, Rx={TotalFramesReceived}, " +
                   $"LastActivity={LastActivityTime?.ToString("HH:mm:ss") ?? "N/A"}";
        }
 
        public void Dispose()
        {
            Stop();
            foreach (var node in _nodes.Values)
            {
                node.Deactivate();
            }
            _nodes.Clear();
        }
    }
}