using System;
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using System.Collections.Concurrent;
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using System.Collections.Generic;
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using System.Linq;
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using log4net;
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namespace CanSimulator
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{
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/// <summary>
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/// 接收滤波器配置
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/// </summary>
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public sealed class AcceptanceFilter
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{
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/// <summary>
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/// 滤波器 ID（匹配值）
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/// </summary>
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public uint FilterId { get; set; }
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/// <summary>
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/// 掩码（为 1 的位参与比较）
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/// </summary>
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public uint Mask { get; set; } = 0x7FF; // 默认标准帧全匹配
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/// <summary>
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/// 是否为扩展帧滤波器
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/// </summary>
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public bool IsExtended { get; set; }
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/// <summary>
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/// 检查给定帧 ID 是否通过此滤波器
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/// </summary>
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public bool Accepts(uint frameId, bool isExtended)
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{
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if (IsExtended != isExtended) return false;
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return (frameId & Mask) == (FilterId & Mask);
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}
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}
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/// <summary>
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/// 虚拟 CAN 节点
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/// 模拟一个 CAN 通讯卡的端点，具有发送和接收功能
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/// </summary>
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public sealed class CanNode
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{
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private static readonly ILog Log = LogManager.GetLogger(typeof(CanNode));
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/// <summary>
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/// 节点唯一标识
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/// </summary>
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public string NodeId { get; }
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/// <summary>
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/// 节点名称（可选描述）
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/// </summary>
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public string Name { get; set; }
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/// <summary>
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/// 节点是否已激活（连接到总线）
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/// </summary>
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public bool IsActive { get; private set; }
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/// <summary>
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/// 接收滤波器列表
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/// </summary>
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private readonly List<AcceptanceFilter> _filters = new();
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/// <summary>
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/// 接收邮箱（FIFO 队列）
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/// </summary>
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private readonly ConcurrentQueue<CanFrame> _receiveMailbox = new();
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/// <summary>
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/// 发送历史记录
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/// </summary>
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private readonly ConcurrentQueue<CanFrame> _sendHistory = new();
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/// <summary>
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/// 最大邮箱容量
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/// </summary>
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public int MaxMailboxSize { get; set; } = 1000;
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/// <summary>
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/// 最大历史记录容量
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/// </summary>
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public int MaxHistorySize { get; set; } = 500;
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/// <summary>
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/// 接收帧计数器
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/// </summary>
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public long RxCount { get; private set; }
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/// <summary>
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/// 发送帧计数器
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/// </summary>
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public long TxCount { get; private set; }
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/// <summary>
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/// 错误计数器
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/// </summary>
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public long ErrorCount { get; private set; }
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/// <summary>
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/// 是否启用自动响应模式（收到帧后原封不动回复）
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/// </summary>
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public bool AutoResponseEnabled { get; set; }
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/// <summary>
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/// 自动响应延迟（毫秒）- 模拟真实设备响应时间
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/// </summary>
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public int AutoResponseDelayMs { get; set; } = 0;
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/// <summary>
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/// 自动响应事件（用于日志/监控）
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/// </summary>
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public event EventHandler<CanFrame>? AutoResponseSent;
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/// <summary>
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/// 帧接收事件
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/// </summary>
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public event EventHandler<CanFrame>? FrameReceived;
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/// <summary>
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/// 帧发送事件
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/// </summary>
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public event EventHandler<CanFrame>? FrameSent;
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public CanNode(string nodeId, string? name = null)
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{
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NodeId = nodeId ?? throw new ArgumentNullException(nameof(nodeId));
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Name = name ?? nodeId;
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}
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/// <summary>
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/// 激活节点（连接到总线）
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/// </summary>
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public void Activate()
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{
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IsActive = true;
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Log.Info($"[CanNode] 节点 {NodeId} ({Name}) 已激活");
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}
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/// <summary>
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/// 停用节点（从总线断开）
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/// </summary>
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public void Deactivate()
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{
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IsActive = false;
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Log.Info($"[CanNode] 节点 {NodeId} ({Name}) 已停用");
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}
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/// <summary>
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/// 添加接收滤波器
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/// </summary>
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public void AddFilter(AcceptanceFilter filter)
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{
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lock (_filters)
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{
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_filters.Add(filter);
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}
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Log.Debug($"[CanNode] 节点 {NodeId} 添加滤波器: ID=0x{filter.FilterId:X3}, Mask=0x{filter.Mask:X3}");
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}
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/// <summary>
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/// 清除所有滤波器
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/// </summary>
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public void ClearFilters()
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{
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lock (_filters)
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{
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_filters.Clear();
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}
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Log.Debug($"[CanNode] 节点 {NodeId} 清除所有滤波器");
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}
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/// <summary>
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/// 设置通配符滤波器（接收所有帧）
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/// </summary>
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public void SetPromiscuousMode()
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{
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lock (_filters)
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{
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_filters.Clear();
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_filters.Add(new AcceptanceFilter { FilterId = 0, Mask = 0, IsExtended = false });
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_filters.Add(new AcceptanceFilter { FilterId = 0, Mask = 0, IsExtended = true });
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}
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Log.Debug($"[CanNode] 节点 {NodeId} 设置为混杂模式（接收所有帧）");
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}
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/// <summary>
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/// 检查帧是否通过滤波器
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/// </summary>
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internal bool AcceptsFrame(CanFrame frame)
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{
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lock (_filters)
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{
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// 如果没有设置滤波器，默认拒绝
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if (_filters.Count == 0) return false;
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// 任一滤波器匹配即接受
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return _filters.Any(f => f.Accepts(frame.FrameId, frame.Format == CanFrameFormat.Extended));
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}
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}
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/// <summary>
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/// 接收帧（由总线调用）
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/// </summary>
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internal void ReceiveFrame(CanFrame frame)
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{
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if (!IsActive) return;
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if (!AcceptsFrame(frame)) return;
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// 入队接收邮箱
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while (_receiveMailbox.Count >= MaxMailboxSize)
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{
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_receiveMailbox.TryDequeue(out _); // 丢弃最旧的帧
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}
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_receiveMailbox.Enqueue(frame);
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RxCount++;
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// 触发事件
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FrameReceived?.Invoke(this, frame);
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Log.Debug($"[CanNode] 节点 {NodeId} 接收帧: {frame}");
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}
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/// <summary>
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/// 发送帧
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/// </summary>
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public void SendFrame(CanFrame frame)
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{
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if (!IsActive)
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{
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ErrorCount++;
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throw new InvalidOperationException($"节点 {NodeId} 未激活，无法发送帧");
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}
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frame.SourceNodeId = NodeId;
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frame.Timestamp = DateTime.Now;
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// 记录发送历史
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while (_sendHistory.Count >= MaxHistorySize)
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{
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_sendHistory.TryDequeue(out _);
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}
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_sendHistory.Enqueue(frame);
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TxCount++;
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// 触发事件（由总线处理路由）
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FrameSent?.Invoke(this, frame);
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Log.Debug($"[CanNode] 节点 {NodeId} 发送帧: {frame}");
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}
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/// <summary>
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/// 从接收邮箱中取出一帧
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/// </summary>
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public bool TryDequeueReceived(out CanFrame? frame)
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{
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return _receiveMailbox.TryDequeue(out frame);
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}
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/// <summary>
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/// 查看接收邮箱中的所有帧（不移除）
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/// </summary>
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public List<CanFrame> PeekReceiveMailbox()
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{
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return _receiveMailbox.ToList();
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}
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/// <summary>
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/// 清空接收邮箱
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/// </summary>
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public void ClearReceiveMailbox()
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{
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while (_receiveMailbox.TryDequeue(out _)) { }
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Log.Debug($"[CanNode] 节点 {NodeId} 清空接收邮箱");
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}
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/// <summary>
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/// 获取发送历史
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/// </summary>
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public List<CanFrame> GetSendHistory()
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{
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return _sendHistory.ToList();
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}
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/// <summary>
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/// 清空发送历史
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/// </summary>
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public void ClearSendHistory()
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{
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while (_sendHistory.TryDequeue(out _)) { }
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}
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/// <summary>
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/// 重置节点统计
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/// </summary>
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public void ResetCounters()
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{
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RxCount = 0;
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TxCount = 0;
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ErrorCount = 0;
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}
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/// <summary>
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/// 获取节点状态摘要
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/// </summary>
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public string GetStatusSummary()
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{
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return $"Node={NodeId}, Active={IsActive}, Rx={RxCount}, Tx={TxCount}, Err={ErrorCount}, Mailbox={_receiveMailbox.Count}";
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}
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}
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}
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