WindowsFormsTest/CanTest/CanOpenMaster.cs

using CanTest;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace CCDCount.DLL.CanBus
{
    /// <summary>
    /// CANopen主站管理器
    /// 负责管理多个从站节点,实现NMT控制、SDO读写、PDO通信等功能
    /// </summary>
    public class CanOpenMaster : IDisposable
    {
        #region 私有字段
        
        private CanOpenManager m_canManager;
        private Dictionary<byte, CanOpenNode> m_nodes;
        private Dictionary<byte, EdsDeviceInfo> m_edsDevices; // EDS设备信息缓存
        private Thread m_receiveThread;
        private volatile bool m_isRunning = false;
        private CancellationTokenSource m_cancellationTokenSource;
        
        // SYNC相关
        private Timer m_syncTimer;
        private byte m_syncCounter = 0;
        private bool m_syncEnabled = false;
        
        // 事件回调
        public event Action<byte, byte[]> OnTpdoReceived;      // TPDO接收事件(节点ID, 数据)
        public event Action<byte, byte> OnHeartbeatReceived;    // 心跳接收事件(节点ID, 状态)
        public event Action<byte, ushort> OnEmergencyReceived;  // 紧急消息事件(节点ID, 错误代码)
        public event Action<string> OnLogMessage;               // 日志消息事件
        
        #endregion
        
        #region 属性
        
        /// <summary>
        /// 已注册的节点列表
        /// </summary>
        public List<byte> NodeIds => m_nodes.Keys.ToList();
        
        /// <summary>
        /// 主站是否正在运行
        /// </summary>
        public bool IsRunning => m_isRunning;
        
        #endregion
        
        #region 构造函数和初始化
        
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="deviceType">设备类型(默认4=USBCAN2)</param>
        /// <param name="deviceIndex">设备索引</param>
        /// <param name="canIndex">CAN通道索引</param>
        public CanOpenMaster(UInt32 deviceType = 4, UInt32 deviceIndex = 0, UInt32 canIndex = 0)
        {
            m_canManager = new CanOpenManager(deviceType, deviceIndex, canIndex);
            m_nodes = new Dictionary<byte, CanOpenNode>();
            m_edsDevices = new Dictionary<byte, EdsDeviceInfo>();
            m_cancellationTokenSource = new CancellationTokenSource();
            
            Log("CANopen主站对象创建成功");
        }
        
        /// <summary>
        /// 初始化主站
        /// </summary>
        /// <param name="baudRate">波特率</param>
        /// <returns>是否成功</returns>
        public bool Initialize(CanBaudRate baudRate = CanBaudRate.BaudRate_500K)
        {
            try
            {
                Log($"正在初始化CANopen主站,波特率:{baudRate}...");
                
                if (!m_canManager.Initialize(baudRate))
                {
                    Log("CAN设备初始化失败");
                    return false;
                }
                
                // 启动接收线程
                m_isRunning = true;
                m_receiveThread = new Thread(ReceiveLoop);
                m_receiveThread.IsBackground = true;
                m_receiveThread.Start();
                
                Log("CANopen主站初始化成功");
                return true;
            }
            catch (Exception ex)
            {
                Log($"初始化失败: {ex.Message}");
                return false;
            }
        }
        
        #endregion
        
        #region EDS文件支持(可选)
        
        /// <summary>
        /// 为节点加载EDS文件(可选功能)
        /// </summary>
        /// <param name="nodeId">节点ID</param>
        /// <param name="edsFilePath">EDS文件路径</param>
        /// <returns>是否成功</returns>
        public bool LoadEdsFile(byte nodeId, string edsFilePath)
        {
            if (!System.IO.File.Exists(edsFilePath))
            {
                Log($"EDS文件不存在: {edsFilePath}");
                return false;
            }
            
            try
            {
                var edsInfo = ParseEdsFile(edsFilePath);
                if (edsInfo != null)
                {
                    m_edsDevices[nodeId] = edsInfo;
                    Log($"节点{nodeId} EDS文件加载成功: {edsInfo.DeviceName}");
                    return true;
                }
                else
                {
                    Log($"解析EDS文件失败: {edsFilePath}");
                    return false;
                }
            }
            catch (Exception ex)
            {
                Log($"加载EDS文件异常: {ex.Message}");
                return false;
            }
        }
        
        /// <summary>
        /// 获取节点的EDS信息
        /// </summary>
        public EdsDeviceInfo GetEdsInfo(byte nodeId)
        {
            m_edsDevices.TryGetValue(nodeId, out var info);
            return info;
        }
        
        /// <summary>
        /// 根据EDS信息自动配置PDO映射
        /// </summary>
        public bool AutoConfigurePdoFromEds(byte nodeId)
        {
            var edsInfo = GetEdsInfo(nodeId);
            if (edsInfo == null)
            {
                Log($"节点{nodeId}没有EDS信息,无法自动配置PDO");
                return false;
            }
            
            try
            {
                // 配置TPDO传输类型
                foreach (var tpdo in edsInfo.TpdoMappings)
                {
                    ConfigureTpdoTransmissionType(nodeId, tpdo.PdoNumber, tpdo.TransmissionType);
                    Log($"配置TPDO{tpdo.PdoNumber}: 传输类型={tpdo.TransmissionType}");
                }
                
                // 配置RPDO
                foreach (var rpdo in edsInfo.RpdoMappings)
                {
                    Log($"RPDO{rpdo.PdoNumber}已配置: {rpdo.MappedObjects.Count}个对象");
                }
                
                return true;
            }
            catch (Exception ex)
            {
                Log($"自动配置PDO失败: {ex.Message}");
                return false;
            }
        }
        
        /// <summary>
        /// 解析EDS文件(简化版)
        /// </summary>
        private EdsDeviceInfo ParseEdsFile(string filePath)
        {
            var info = new EdsDeviceInfo();
            info.DeviceName = System.IO.Path.GetFileNameWithoutExtension(filePath);
            
            // TODO: 实现完整的EDS解析逻辑
            // 这里提供一个简化版本,实际项目中可以使用现有的EdsFileGenerator反向解析
            
            var lines = System.IO.File.ReadAllLines(filePath);
            bool inDeviceInfo = false;
            
            foreach (var line in lines)
            {
                var trimmed = line.Trim();
                
                // 解析设备信息
                if (trimmed == "[DeviceInfo]")
                {
                    inDeviceInfo = true;
                    continue;
                }
                else if (trimmed.StartsWith("[") && inDeviceInfo)
                {
                    inDeviceInfo = false;
                }
                
                if (inDeviceInfo)
                {
                    if (trimmed.StartsWith("VendorName="))
                        info.VendorName = trimmed.Substring(11);
                    else if (trimmed.StartsWith("ProductName="))
                        info.ProductName = trimmed.Substring(12);
                    else if (trimmed.StartsWith("VendorNumber="))
                    {
                        if (uint.TryParse(trimmed.Substring(13), out uint vendorId))
                            info.VendorId = vendorId;
                    }
                    else if (trimmed.StartsWith("ProductNumber="))
                    {
                        if (uint.TryParse(trimmed.Substring(14), out uint productCode))
                            info.ProductCode = productCode;
                    }
                }
                
                // 解析PDO映射
                if (trimmed.StartsWith("[1A00sub0]"))
                {
                    // TPDO1映射对象数量
                }
                // ... 更多解析逻辑
            }
            
            return info;
        }
        
        #endregion
        
        #region 节点管理
        
        /// <summary>
        /// 添加从站节点
        /// </summary>
        /// <param name="nodeId">节点ID(1-127)</param>
        /// <param name="nodeName">节点名称(可选)</param>
        /// <param name="edsFilePath">EDS文件路径(可选)</param>
        /// <returns>是否成功</returns>
        public bool AddNode(byte nodeId, string nodeName = null, string edsFilePath = null)
        {
            if (nodeId == 0 || nodeId > 127)
            {
                Log($"无效的节点ID: {nodeId}");
                return false;
            }
            
            if (m_nodes.ContainsKey(nodeId))
            {
                Log($"节点{nodeId}已存在");
                return false;
            }
            
            var node = new CanOpenNode(nodeId, nodeName ?? $"Node_{nodeId}");
            m_nodes[nodeId] = node;
            
            // 如果提供了EDS文件,加载它
            if (!string.IsNullOrEmpty(edsFilePath))
            {
                LoadEdsFile(nodeId, edsFilePath);
            }
            
            Log($"添加节点: ID={nodeId}, Name={node.NodeName}" + 
                (edsFilePath != null ? $", EDS={System.IO.Path.GetFileName(edsFilePath)}" : ""));
            return true;
        }
        
        /// <summary>
        /// 移除从站节点
        /// </summary>
        public bool RemoveNode(byte nodeId)
        {
            if (!m_nodes.ContainsKey(nodeId))
            {
                Log($"节点{nodeId}不存在");
                return false;
            }
            
            m_nodes.Remove(nodeId);
            Log($"移除节点: {nodeId}");
            return true;
        }
        
        /// <summary>
        /// 获取节点对象
        /// </summary>
        public CanOpenNode GetNode(byte nodeId)
        {
            if (m_nodes.TryGetValue(nodeId, out var node))
            {
                return node;
            }
            return null;
        }
        
        /// <summary>
        /// 批量添加节点
        /// </summary>
        public void AddNodes(byte[] nodeIds)
        {
            foreach (var nodeId in nodeIds)
            {
                AddNode(nodeId);
            }
        }
        
        #endregion
        
        #region NMT控制
        
        /// <summary>
        /// 启动所有节点
        /// </summary>
        public void StartAllNodes()
        {
            Log("启动所有节点...");
            foreach (var nodeId in m_nodes.Keys)
            {
                NmtStartNode(nodeId);
                Thread.Sleep(10); // 避免总线拥塞
            }
        }
        
        /// <summary>
        /// 停止所有节点
        /// </summary>
        public void StopAllNodes()
        {
            Log("停止所有节点...");
            foreach (var nodeId in m_nodes.Keys)
            {
                NmtStopNode(nodeId);
                Thread.Sleep(10);
            }
        }
        
        /// <summary>
        /// NMT启动指定节点
        /// </summary>
        public void NmtStartNode(byte nodeId)
        {
            if (!ValidateNodeId(nodeId)) return;
            
            m_canManager.NmtStartNode(nodeId);
            UpdateNodeState(nodeId, NodeState.Operational);
            Log($"NMT启动节点: {nodeId}");
        }
        
        /// <summary>
        /// NMT停止指定节点
        /// </summary>
        public void NmtStopNode(byte nodeId)
        {
            if (!ValidateNodeId(nodeId)) return;
            
            m_canManager.NmtStopNode(nodeId);
            UpdateNodeState(nodeId, NodeState.Stopped);
            Log($"NMT停止节点: {nodeId}");
        }
        
        /// <summary>
        /// NMT进入预操作状态
        /// </summary>
        public void NmtEnterPreOperational(byte nodeId)
        {
            if (!ValidateNodeId(nodeId)) return;
            
            m_canManager.NmtEnterPreOperational(nodeId);
            UpdateNodeState(nodeId, NodeState.PreOperational);
            Log($"NMT进入预操作状态: {nodeId}");
        }
        
        /// <summary>
        /// NMT重置节点
        /// </summary>
        public void NmtResetNode(byte nodeId)
        {
            if (!ValidateNodeId(nodeId)) return;
            
            m_canManager.NmtResetNode(nodeId);
            UpdateNodeState(nodeId, NodeState.Initializing);
            Log($"NMT重置节点: {nodeId}");
        }
        
        /// <summary>
        /// NMT重置通信
        /// </summary>
        public void NmtResetCommunication(byte nodeId)
        {
            if (!ValidateNodeId(nodeId)) return;
            
            m_canManager.NmtResetCommunication(nodeId);
            Log($"NMT重置通信: {nodeId}");
        }
        
        #endregion
        
        #region SDO通信
        
        /// <summary>
        /// SDO读取(快速,不等待响应)
        /// </summary>
        public void SdoReadQuick(byte nodeId, ushort index, byte subIndex)
        {
            if (!ValidateNodeId(nodeId)) return;
            
            m_canManager.SdoReadQuick(nodeId, index, subIndex);
        }
        
        /// <summary>
        /// SDO写入(快速,不等待响应)
        /// </summary>
        public void SdoWriteQuick(byte nodeId, ushort index, byte subIndex, uint data)
        {
            if (!ValidateNodeId(nodeId)) return;
            
            m_canManager.SdoWrite(nodeId, index, subIndex, data);
        }
        
        /// <summary>
        /// SDO读取并等待响应
        /// </summary>
        public byte[] SdoReadAndWait(byte nodeId, ushort index, byte subIndex, int timeoutMs = 1000)
        {
            if (!ValidateNodeId(nodeId)) return null;
            
            var response = m_canManager.SdoReadAndWait(nodeId, index, subIndex, timeoutMs);
            
            if (response != null)
            {
                var node = GetNode(nodeId);
                if (node != null)
                {
                    node.LastSdoResponseTime = DateTime.Now;
                    node.SdoSuccessCount++;
                }
            }
            else
            {
                var node = GetNode(nodeId);
                if (node != null)
                {
                    node.SdoTimeoutCount++;
                }
            }
            
            return response;
        }
        
        /// <summary>
        /// SDO写入并等待确认
        /// </summary>
        public bool SdoWriteAndWait(byte nodeId, ushort index, byte subIndex, uint data, int timeoutMs = 1000)
        {
            if (!ValidateNodeId(nodeId)) return false;
            
            var success = m_canManager.SdoWriteAndWait(nodeId, index, subIndex, data, timeoutMs);
            
            var node = GetNode(nodeId);
            if (node != null)
            {
                node.LastSdoResponseTime = DateTime.Now;
                if (success)
                    node.SdoSuccessCount++;
                else
                    node.SdoTimeoutCount++;
            }
            
            return success;
        }
        
        /// <summary>
        /// 读取设备类型
        /// </summary>
        public uint ReadDeviceType(byte nodeId)
        {
            var response = SdoReadAndWait(nodeId, 0x1000, 0x00);
            if (response != null && response.Length >= 4)
            {
                return BitConverter.ToUInt32(response, 4);
            }
            return 0;
        }
        
        /// <summary>
        /// 读取厂商ID
        /// </summary>
        public uint ReadVendorId(byte nodeId)
        {
            var response = SdoReadAndWait(nodeId, 0x1018, 0x01);
            if (response != null && response.Length >= 4)
            {
                return BitConverter.ToUInt32(response, 4);
            }
            return 0;
        }
        
        /// <summary>
        /// 读取产品代码
        /// </summary>
        public uint ReadProductCode(byte nodeId)
        {
            var response = SdoReadAndWait(nodeId, 0x1018, 0x02);
            if (response != null && response.Length >= 4)
            {
                return BitConverter.ToUInt32(response, 4);
            }
            return 0;
        }
        
        /// <summary>
        /// 读取序列号
        /// </summary>
        public uint ReadSerialNumber(byte nodeId)
        {
            var response = SdoReadAndWait(nodeId, 0x1018, 0x04);
            if (response != null && response.Length >= 4)
            {
                return BitConverter.ToUInt32(response, 4);
            }
            return 0;
        }
        
        #endregion
        
        #region PDO通信
        
        /// <summary>
        /// 发送SYNC帧
        /// </summary>
        public void SendSync(byte counter = 0)
        {
            m_canManager.SendSync(counter);
        }
        
        /// <summary>
        /// 启用周期性SYNC
        /// </summary>
        /// <param name="intervalMs">SYNC周期(毫秒)</param>
        public void EnableSync(int intervalMs = 10)
        {
            if (m_syncTimer != null)
            {
                m_syncTimer.Dispose();
            }
            
            m_syncEnabled = true;
            m_syncCounter = 0;
            
            m_syncTimer = new Timer(state =>
            {
                if (m_syncEnabled)
                {
                    m_syncCounter++;
                    SendSync(m_syncCounter);
                }
            }, null, 0, intervalMs);
            
            Log($"启用周期性SYNC,周期:{intervalMs}ms");
        }
        
        /// <summary>
        /// 禁用SYNC
        /// </summary>
        public void DisableSync()
        {
            m_syncEnabled = false;
            m_syncTimer?.Dispose();
            m_syncTimer = null;
            Log("禁用SYNC");
        }
        
        /// <summary>
        /// 配置TPDO传输类型
        /// </summary>
        public void ConfigureTpdoTransmissionType(byte nodeId, byte pdoNumber, byte transmissionType)
        {
            if (!ValidateNodeId(nodeId)) return;
            
            m_canManager.ConfigureTpdoTransmissionType(nodeId, pdoNumber, transmissionType);
        }
        
        /// <summary>
        /// 触发节点发送TPDO
        /// </summary>
        public void TriggerTpdo(byte nodeId, byte pdoNumber)
        {
            if (!ValidateNodeId(nodeId)) return;
            
            // 通过SDO设置TPDO传输类型为"事件驱动"
            ushort index = (ushort)(0x1800 + pdoNumber - 1);
            SdoWriteAndWait(nodeId, index, 0x02, 0xFF); // 0xFF表示事件驱动
            
            Log($"触发节点{nodeId}发送TPDO{pdoNumber}");
        }
        
        /// <summary>
        /// 主站向从站发送RPDO数据(写入PDO)
        /// </summary>
        /// <param name="nodeId">目标节点ID</param>
        /// <param name="pdoNumber">RPDO编号(1-4)</param>
        /// <param name="data">要发送的数据</param>
        /// <returns>是否成功</returns>
        public bool SendRpdo(byte nodeId, byte pdoNumber, byte[] data)
        {
            if (!ValidateNodeId(nodeId)) return false;
            
            if (pdoNumber < 1 || pdoNumber > 4)
            {
                Log($"无效的RPDO编号: {pdoNumber}");
                return false;
            }
            
            if (data == null || data.Length > 8)
            {
                Log("RPDO数据无效(必须1-8字节)");
                return false;
            }
            
            // 计算RPDO的COB-ID
            uint cobId = GetRpdoCobId(pdoNumber, nodeId);
            
            // 发送CAN帧
            bool success = m_canManager.SendCanFrame(cobId, data);
            
            if (success)
            {
                var node = GetNode(nodeId);
                if (node != null)
                {
                    node.LastTpdoTime[pdoNumber] = DateTime.Now;
                }
                Log($"发送RPDO{pdoNumber}到节点{nodeId}: COB-ID=0x{cobId:X3}, 数据长度={data.Length}");
            }
            else
            {
                Log($"发送RPDO{pdoNumber}失败");
            }
            
            return success;
        }
        
        /// <summary>
        /// 发送RPDO并等待从站确认(通过心跳或SDO响应)
        /// </summary>
        public bool SendRpdoAndWait(byte nodeId, byte pdoNumber, byte[] data, int timeoutMs = 100)
        {
            if (!SendRpdo(nodeId, pdoNumber, data))
                return false;
            
            // 等待一段时间,让从站处理数据
            Thread.Sleep(timeoutMs);
            
            // 检查从站是否在线(有心跳)
            var node = GetNode(nodeId);
            if (node != null)
            {
                return node.IsOnline(timeoutMs * 2);
            }
            
            return true;
        }
        
        /// <summary>
        /// 配置RPDO映射(通过SDO修改从站的对象字典)
        /// </summary>
        /// <param name="nodeId">节点ID</param>
        /// <param name="pdoNumber">RPDO编号(1-4)</param>
        /// <param name="mappedObjects">映射对象列表</param>
        /// <returns>是否成功</returns>
        public bool ConfigureRpdoMapping(byte nodeId, byte pdoNumber, List<MappedObject> mappedObjects)
        {
            if (!ValidateNodeId(nodeId)) return false;
            
            if (pdoNumber < 1 || pdoNumber > 4)
            {
                Log($"无效的RPDO编号: {pdoNumber}");
                return false;
            }
            
            try
            {
                ushort mappingIndex = (ushort)(0x1600 + pdoNumber - 1); // RPDO映射索引
                
                // 1. 先禁用RPDO(设置COB-ID最高位为1)
                ushort commIndex = (ushort)(0x1400 + pdoNumber - 1);
                uint currentCobId = BitConverter.ToUInt32(SdoReadAndWait(nodeId, commIndex, 0x01), 4);
                uint disabledCobId = currentCobId | 0x80000000;
                SdoWriteAndWait(nodeId, commIndex, 0x01, disabledCobId);
                
                // 2. 设置映射对象数量
                SdoWriteAndWait(nodeId, mappingIndex, 0x00, (uint)mappedObjects.Count);
                
                // 3. 配置每个映射对象
                for (int i = 0; i < mappedObjects.Count; i++)
                {
                    var obj = mappedObjects[i];
                    byte subIndex = (byte)(i + 1);
                    
                    // 打包映射条目: 0xIIIISSLL
                    uint mappingEntry = ((uint)obj.Index << 16) | 
                                       ((uint)obj.SubIndex << 8) | 
                                       (uint)obj.BitLength;
                    
                    SdoWriteAndWait(nodeId, mappingIndex, subIndex, mappingEntry);
                    Log($"配置RPDO{pdoNumber}映射[{subIndex}]: 0x{obj.Index:X4}:{obj.SubIndex:X2} ({obj.BitLength}位)");
                }
                
                // 4. 重新启用RPDO(清除COB-ID最高位)
                uint enabledCobId = currentCobId & 0x7FFFFFFF;
                SdoWriteAndWait(nodeId, commIndex, 0x01, enabledCobId);
                
                Log($"RPDO{pdoNumber}映射配置完成: {mappedObjects.Count}个对象");
                return true;
            }
            catch (Exception ex)
            {
                Log($"配置RPDO映射失败: {ex.Message}");
                return false;
            }
        }
        
        /// <summary>
        /// 配置TPDO映射(通过SDO修改从站的对象字典)
        /// </summary>
        public bool ConfigureTpdoMapping(byte nodeId, byte pdoNumber, List<MappedObject> mappedObjects)
        {
            if (!ValidateNodeId(nodeId)) return false;
            
            if (pdoNumber < 1 || pdoNumber > 4)
            {
                Log($"无效的TPDO编号: {pdoNumber}");
                return false;
            }
            
            try
            {
                ushort mappingIndex = (ushort)(0x1A00 + pdoNumber - 1); // TPDO映射索引
                
                // 1. 先禁用TPDO
                ushort commIndex = (ushort)(0x1800 + pdoNumber - 1);
                uint currentCobId = BitConverter.ToUInt32(SdoReadAndWait(nodeId, commIndex, 0x01), 4);
                uint disabledCobId = currentCobId | 0x80000000;
                SdoWriteAndWait(nodeId, commIndex, 0x01, disabledCobId);
                
                // 2. 设置映射对象数量
                SdoWriteAndWait(nodeId, mappingIndex, 0x00, (uint)mappedObjects.Count);
                
                // 3. 配置每个映射对象
                for (int i = 0; i < mappedObjects.Count; i++)
                {
                    var obj = mappedObjects[i];
                    byte subIndex = (byte)(i + 1);
                    
                    uint mappingEntry = ((uint)obj.Index << 16) | 
                                       ((uint)obj.SubIndex << 8) | 
                                       (uint)obj.BitLength;
                    
                    SdoWriteAndWait(nodeId, mappingIndex, subIndex, mappingEntry);
                }
                
                // 4. 重新启用TPDO
                uint enabledCobId = currentCobId & 0x7FFFFFFF;
                SdoWriteAndWait(nodeId, commIndex, 0x01, enabledCobId);
                
                Log($"TPDO{pdoNumber}映射配置完成: {mappedObjects.Count}个对象");
                return true;
            }
            catch (Exception ex)
            {
                Log($"配置TPDO映射失败: {ex.Message}");
                return false;
            }
        }
        
        /// <summary>
        /// 获取RPDO的COB-ID
        /// </summary>
        private uint GetRpdoCobId(byte pdoNumber, byte nodeId)
        {
            switch (pdoNumber)
            {
                case 1: return (uint)(0x200 + nodeId);  // RPDO1
                case 2: return (uint)(0x300 + nodeId);  // RPDO2
                case 3: return (uint)(0x400 + nodeId);  // RPDO3
                case 4: return (uint)(0x500 + nodeId);  // RPDO4
                default: throw new ArgumentException("无效的RPDO编号");
            }
        }
        
        #endregion
        
        #region 接收处理线程
        
        private void ReceiveLoop()
        {
            Log("接收线程启动");
            
            while (m_isRunning && !m_cancellationTokenSource.Token.IsCancellationRequested)
            {
                try
                {
                    var frames = m_canManager.ReceiveCanFrames(100);
                    
                    foreach (var frame in frames)
                    {
                        ProcessCanOpenFrame(frame);
                    }
                }
                catch (Exception ex)
                {
                    Log($"接收线程异常: {ex.Message}");
                }
            }
            
            Log("接收线程退出");
        }
        
        private void ProcessCanOpenFrame(CanOpenFrame frame)
        {
            try
            {
                // 解析COB-ID功能码
                byte functionCode = (byte)((frame.CobId >> 7) & 0x0F);
                byte nodeId = (byte)(frame.CobId & 0x7F);
                
                switch (functionCode)
                {
                    case 0x00: // NMT
                        ProcessNmtFrame(frame);
                        break;
                        
                    case 0x01: // SYNC
                        // SYNC通常由主站发送,这里忽略
                        break;
                        
                    case 0x02: // EMCY (紧急消息)
                        ProcessEmergencyFrame(nodeId, frame.Data);
                        break;
                        
                    case 0x03: // TIME (时间戳对象)
                        // 可选功能,暂不处理
                        break;
                        
                    case 0x05: // EMCY (扩展)
                        ProcessEmergencyFrame(nodeId, frame.Data);
                        break;
                        
                    case 0x07: // Heartbeat / NMT Error Control
                        ProcessHeartbeatFrame(nodeId, frame.Data);
                        break;
                        
                    case 0x08: // SDO Response
                        ProcessSdoResponse(nodeId, frame.Data);
                        break;
                        
                    case 0x09: // SDO Request (主站通常不接收)
                        break;
                        
                    default:
                        // PDO (0x0B-0x0F for TPDO, 0x13-0x17 for RPDO)
                        if (functionCode >= 0x0B && functionCode <= 0x0F)
                        {
                            ProcessTpdoFrame(nodeId, functionCode, frame.Data);
                        }
                        break;
                }
            }
            catch (Exception ex)
            {
                Log($"处理帧异常: {ex.Message}");
            }
        }
        
        private void ProcessNmtFrame(CanOpenFrame frame)
        {
            // NMT通常由主站发送,这里可以记录从站的NMT响应(如果有)
        }
        
        private void ProcessEmergencyFrame(byte nodeId, byte[] data)
        {
            if (data.Length >= 2)
            {
                ushort errorCode = m_canManager.ParseEmergencyMessage(data);
                OnEmergencyReceived?.Invoke(nodeId, errorCode);
                
                var node = GetNode(nodeId);
                if (node != null)
                {
                    node.CurrentErrorRegister = data.Length > 2 ? data[2] : (byte)0;
                    node.LastEmergencyTime = DateTime.Now;
                    node.EmergencyCount++;
                }
                
                Log($"收到紧急消息 - 节点{nodeId}: 错误代码0x{errorCode:X4}");
            }
        }
        
        private void ProcessHeartbeatFrame(byte nodeId, byte[] data)
        {
            if (data.Length >= 1)
            {
                byte status = m_canManager.ParseHeartbeat(nodeId, data);
                OnHeartbeatReceived?.Invoke(nodeId, status);
                
                var node = GetNode(nodeId);
                if (node != null)
                {
                    node.CurrentState = (NodeState)(status & 0x7F);
                    node.LastHeartbeatTime = DateTime.Now;
                    node.HeartbeatCount++;
                }
            }
        }
        
        private void ProcessSdoResponse(byte nodeId, byte[] data)
        {
            // SDO响应已在CanOpenManager中处理
            // 这里可以做额外的日志记录
        }
        
        private void ProcessTpdoFrame(byte nodeId, byte functionCode, byte[] data)
        {
            byte pdoNumber = (byte)(functionCode - 0x0A); // TPDO1=1, TPDO2=2, ...
            
            OnTpdoReceived?.Invoke(nodeId, data);
            
            var node = GetNode(nodeId);
            if (node != null)
            {
                node.LastTpdoTime[pdoNumber] = DateTime.Now;
                node.TpdoCount[pdoNumber]++;
                
                // 存储最新TPDO数据
                node.LastTpdoData[pdoNumber] = data;
            }
        }
        
        #endregion
        
        #region 辅助方法
        
        private bool ValidateNodeId(byte nodeId)
        {
            if (nodeId == 0 || nodeId > 127)
            {
                Log($"无效的节点ID: {nodeId}");
                return false;
            }
            
            if (!m_nodes.ContainsKey(nodeId))
            {
                Log($"节点{nodeId}未注册");
                return false;
            }
            
            return true;
        }
        
        private void UpdateNodeState(byte nodeId, NodeState state)
        {
            var node = GetNode(nodeId);
            if (node != null)
            {
                node.CurrentState = state;
                node.LastStateChangeTime = DateTime.Now;
            }
        }
        
        private void Log(string message)
        {
            string logMsg = $"[{DateTime.Now:HH:mm:ss.fff}] {message}";
            Console.WriteLine(logMsg);
            OnLogMessage?.Invoke(logMsg);
        }
        
        #endregion
        
        #region 资源管理
        
        /// <summary>
        /// 关闭主站
        /// </summary>
        public void Close()
        {
            Log("正在关闭CANopen主站...");
            
            // 停止接收线程
            m_isRunning = false;
            m_cancellationTokenSource?.Cancel();
            
            if (m_receiveThread != null && m_receiveThread.IsAlive)
            {
                m_receiveThread.Join(1000);
            }
            
            // 禁用SYNC
            DisableSync();
            
            // 关闭CAN设备
            m_canManager?.Close();
            
            Log("CANopen主站已关闭");
        }
        
        /// <summary>
        /// 释放资源
        /// </summary>
        public void Dispose()
        {
            Close();
            m_cancellationTokenSource?.Dispose();
            m_syncTimer?.Dispose();
        }
        
        #endregion
    }
    
    /// <summary>
    /// CANopen从站节点信息
    /// </summary>
    public class CanOpenNode
    {
        #region 属性
        
        /// <summary>
        /// 节点ID
        /// </summary>
        public byte NodeId { get; private set; }
        
        /// <summary>
        /// 节点名称
        /// </summary>
        public string NodeName { get; private set; }
        
        /// <summary>
        /// 当前状态
        /// </summary>
        public NodeState CurrentState { get; set; }
        
        /// <summary>
        /// 最后心跳时间
        /// </summary>
        public DateTime LastHeartbeatTime { get; set; }
        
        /// <summary>
        /// 心跳计数
        /// </summary>
        public uint HeartbeatCount { get; set; }
        
        /// <summary>
        /// 最后TPDO时间
        /// </summary>
        public Dictionary<byte, DateTime> LastTpdoTime { get; private set; }
        
        /// <summary>
        /// TPDO计数
        /// </summary>
        public Dictionary<byte, uint> TpdoCount { get; private set; }
        
        /// <summary>
        /// 最后TPDO数据
        /// </summary>
        public Dictionary<byte, byte[]> LastTpdoData { get; private set; }
        
        /// <summary>
        /// 最后SDO响应时间
        /// </summary>
        public DateTime LastSdoResponseTime { get; set; }
        
        /// <summary>
        /// SDO成功计数
        /// </summary>
        public uint SdoSuccessCount { get; set; }
        
        /// <summary>
        /// SDO超时计数
        /// </summary>
        public uint SdoTimeoutCount { get; set; }
        
        /// <summary>
        /// 最后紧急消息时间
        /// </summary>
        public DateTime LastEmergencyTime { get; set; }
        
        /// <summary>
        /// 紧急消息计数
        /// </summary>
        public uint EmergencyCount { get; set; }
        
        /// <summary>
        /// 当前错误寄存器
        /// </summary>
        public byte CurrentErrorRegister { get; set; }
        
        /// <summary>
        /// 最后状态改变时间
        /// </summary>
        public DateTime LastStateChangeTime { get; set; }
        
        #endregion
        
        #region 构造函数
        
        public CanOpenNode(byte nodeId, string nodeName)
        {
            NodeId = nodeId;
            NodeName = nodeName;
            CurrentState = NodeState.Unknown;
            
            LastTpdoTime = new Dictionary<byte, DateTime>();
            TpdoCount = new Dictionary<byte, uint>();
            LastTpdoData = new Dictionary<byte, byte[]>();
            
            // 初始化4个TPDO
            for (byte i = 1; i <= 4; i++)
            {
                LastTpdoTime[i] = DateTime.MinValue;
                TpdoCount[i] = 0;
                LastTpdoData[i] = null;
            }
        }
        
        #endregion
        
        #region 方法
        
        /// <summary>
        /// 检查节点是否在线(基于心跳超时判断)
        /// </summary>
        /// <param name="timeoutMs">超时时间(毫秒)</param>
        public bool IsOnline(int timeoutMs = 1000)
        {
            if (LastHeartbeatTime == DateTime.MinValue)
                return false;
            
            return (DateTime.Now - LastHeartbeatTime).TotalMilliseconds < timeoutMs;
        }
        
        /// <summary>
        /// 获取节点状态字符串
        /// </summary>
        public string GetStateString()
        {
            switch (CurrentState)
            {
                case NodeState.Initializing: return "Initializing";
                case NodeState.Disconnected: return "Disconnected";
                case NodeState.Connecting: return "Connecting";
                case NodeState.PreOperational: return "Pre-Operational";
                case NodeState.Operational: return "Operational";
                case NodeState.Stopped: return "Stopped";
                default: return "Unknown";
            }
        }
        
        /// <summary>
        /// 获取节点统计信息
        /// </summary>
        public override string ToString()
        {
            return $"Node {NodeId} ({NodeName}): State={GetStateString()}, " +
                   $"Heartbeats={HeartbeatCount}, " +
                   $"SDO(Success={SdoSuccessCount}, Timeout={SdoTimeoutCount}), " +
                   $"Emergencies={EmergencyCount}";
        }
        
        #endregion
    }
    
    /// <summary>
    /// 节点状态枚举
    /// </summary>
    public enum NodeState
    {
        Unknown = 0x00,
        Initializing = 0x00,
        Disconnected = 0x01,
        Connecting = 0x02,
        PreOperational = 0x7F,
        Operational = 0x05,
        Stopped = 0x04
    }
    
    /// <summary>
    /// EDS设备信息(简化版)
    /// </summary>
    public class EdsDeviceInfo
    {
        /// <summary>
        /// 设备名称
        /// </summary>
        public string DeviceName { get; set; }
        
        /// <summary>
        /// 厂商名称
        /// </summary>
        public string VendorName { get; set; }
        
        /// <summary>
        /// 产品名称
        /// </summary>
        public string ProductName { get; set; }
        
        /// <summary>
        /// 厂商ID
        /// </summary>
        public uint VendorId { get; set; }
        
        /// <summary>
        /// 产品代码
        /// </summary>
        public uint ProductCode { get; set; }
        
        /// <summary>
        /// 设备类型
        /// </summary>
        public uint DeviceType { get; set; }
        
        /// <summary>
        /// TPDO映射配置
        /// </summary>
        public List<PdoMappingConfig> TpdoMappings { get; set; } = new List<PdoMappingConfig>();
        
        /// <summary>
        /// RPDO映射配置
        /// </summary>
        public List<PdoMappingConfig> RpdoMappings { get; set; } = new List<PdoMappingConfig>();
        
        /// <summary>
        /// 对象字典条目
        /// </summary>
        public Dictionary<ushort, ObjectDictionaryEntry> ObjectDictionary { get; set; } 
            = new Dictionary<ushort, ObjectDictionaryEntry>();
        
        public override string ToString()
        {
            return $"{DeviceName} (Vendor={VendorName}, Product={ProductName})";
        }
    }
    
    /// <summary>
    /// PDO映射配置
    /// </summary>
    public class PdoMappingConfig
    {
        /// <summary>
        /// PDO编号(1-4)
        /// </summary>
        public byte PdoNumber { get; set; }
        
        /// <summary>
        /// COB-ID
        /// </summary>
        public uint CobId { get; set; }
        
        /// <summary>
        /// 传输类型
        /// 0=禁止, 1=同步周期, 254=远程请求, 255=事件驱动
        /// </summary>
        public byte TransmissionType { get; set; }
        
        /// <summary>
        /// 映射的对象列表
        /// </summary>
        public List<MappedObject> MappedObjects { get; set; } = new List<MappedObject>();
        
        public override string ToString()
        {
            return $"PDO{PdoNumber}: COB-ID=0x{CobId:X3}, Type={TransmissionType}, Objects={MappedObjects.Count}";
        }
    }
    
    /// <summary>
    /// 映射对象
    /// </summary>
    public class MappedObject
    {
        /// <summary>
        /// 对象索引
        /// </summary>
        public ushort Index { get; set; }
        
        /// <summary>
        /// 子索引
        /// </summary>
        public byte SubIndex { get; set; }
        
        /// <summary>
        /// 数据长度(位)
        /// </summary>
        public byte BitLength { get; set; }
        
        public override string ToString()
        {
            return $"0x{Index:X4}:{SubIndex:X2} ({BitLength} bits)";
        }
    }
    
    /// <summary>
    /// 对象字典条目
    /// </summary>
    public class ObjectDictionaryEntry
    {
        /// <summary>
        /// 索引
        /// </summary>
        public ushort Index { get; set; }
        
        /// <summary>
        /// 对象名称
        /// </summary>
        public string Name { get; set; }
        
        /// <summary>
        /// 对象类型(VAR/RECORD/ARRAY)
        /// </summary>
        public string ObjectType { get; set; }
        
        /// <summary>
        /// 数据类型
        /// </summary>
        public string DataType { get; set; }
        
        /// <summary>
        /// 访问权限(ro/rw/wo)
        /// </summary>
        public string AccessType { get; set; }
        
        /// <summary>
        /// 默认值
        /// </summary>
        public string DefaultValue { get; set; }
        
        /// <summary>
        /// 子对象(如果是RECORD或ARRAY)
        /// </summary>
        public Dictionary<byte, ObjectDictionaryEntry> SubObjects { get; set; } 
            = new Dictionary<byte, ObjectDictionaryEntry>();
        
        public override string ToString()
        {
            return $"0x{Index:X4} {Name} ({ObjectType}, {DataType}, {AccessType})";
        }
    }
}