WindowsFormsTest/CanOpenSlaveTest/SlaveTestForm.cs

using System;
using System.Windows.Forms;
using System.Drawing;
using System.Diagnostics;
using System.Threading;
using System.Threading.Tasks;
using CCDCount.DLL.CanBus;
using CanTest;

namespace CanOpenSlaveTest
{
    /// <summary>
    /// CANopen从站设备测试界面
    /// </summary>
    public class SlaveTestForm : Form
    {
        private CanOpenSlaveDevice m_slaveDevice;
        
        // UI控件
        private GroupBox grpDeviceInfo;
        private Label lblNodeId;
        private Label lblState;
        private Label lblStatus;
        
        private GroupBox grpControl;
        private Button btnStart;
        private Button btnStop;
        
        private GroupBox grpPdo1Send;
        private Label lblPdo1Data0;
        private Label lblPdo1Data1;
        private Label lblPdo1Data2;
        private Label lblPdo1Data3;
        private Label lblPdo1Data4;
        private Label lblPdo1Data5;
        private Label lblPdo1Data6;
        private Label lblPdo1Data7;
        private TextBox txtPdo1Data0;
        private TextBox txtPdo1Data1;
        private TextBox txtPdo1Data2;
        private TextBox txtPdo1Data3;
        private TextBox txtPdo1Data4;
        private TextBox txtPdo1Data5;
        private TextBox txtPdo1Data6;
        private TextBox txtPdo1Data7;
        private Button btnSendTpdo1;
        private Button btnRuleSend;
        private Button btnContinuousSend;
        
        // 连续发送相关控件
        private Label lblPeriodTime;
        private TextBox txtPeriodTime;
        private Label lblPeriodUnit;
        // 连续发送运行时长相关控件
        private Label lblContinuousDuration;
        private TextBox txtContinuousDuration;
        private Label lblContinuousDurationUnit;
        // 规则发送运行时长相关控件
        private Label lblRuleDuration;
        private TextBox txtRuleDuration;
        private Label lblRuleDurationUnit;
        
        private TextBox txtLog;
        private System.ComponentModel.IContainer components;
        private System.Windows.Forms.Timer m_updateTimer;
        
        // 连续发送状态
        private bool m_isContinuousSending = false;
        private CancellationTokenSource m_continuousSendCts;
        private long m_continuousSendCounter = 0;
        // 连续发送运行时长相关
        private DateTime m_continuousSendStartTime;
        private int m_continuousSendDurationMs = 0;
        
        // 规则发送状态
        private bool m_isRuleSending = false;
        private long m_ruleSendCounter = 0;
        // 规则发送运行时长相关
        private DateTime m_ruleSendStartTime;
        private int m_ruleSendDurationMs = 0;
        private CancellationTokenSource m_ruleSendCts;
        
        public SlaveTestForm()
        {
            InitializeComponent();
            
            // 在构造函数中创建从站设备（避免设计器错误）
            if (!DesignMode)
            {
                m_slaveDevice = new CanOpenSlaveDevice(nodeId: 1);
                
                // 注册事件
                m_slaveDevice.OnRpdoReceived += SlaveDevice_OnRpdoReceived;
                m_slaveDevice.OnNmtStateChanged += SlaveDevice_OnNmtStateChanged;
                m_slaveDevice.OnSdoReadRequest += SlaveDevice_OnSdoReadRequest;
                m_slaveDevice.OnSdoWriteRequest += SlaveDevice_OnSdoWriteRequest;
                
                // 初始化日志
                AppendLog("CANopen从站测试程序已启动");
                AppendLog("节点ID: " + m_slaveDevice.NodeId.ToString());
                AppendLog("心跳周期: 1000ms (固定值)");
                AppendLog("点击'启动从站'按钮开始测试\n");
            }
        }
        
        private void InitializeComponent()
        {
            this.components = new System.ComponentModel.Container();
            this.grpDeviceInfo = new System.Windows.Forms.GroupBox();
            this.lblNodeId = new System.Windows.Forms.Label();
            this.lblState = new System.Windows.Forms.Label();
            this.lblStatus = new System.Windows.Forms.Label();
            this.grpControl = new System.Windows.Forms.GroupBox();
            this.btnStart = new System.Windows.Forms.Button();
            this.btnStop = new System.Windows.Forms.Button();
            this.grpPdo1Send = new System.Windows.Forms.GroupBox();
            this.lblPdo1Data0 = new System.Windows.Forms.Label();
            this.lblPdo1Data1 = new System.Windows.Forms.Label();
            this.lblPdo1Data2 = new System.Windows.Forms.Label();
            this.lblPdo1Data3 = new System.Windows.Forms.Label();
            this.lblPdo1Data4 = new System.Windows.Forms.Label();
            this.lblPdo1Data5 = new System.Windows.Forms.Label();
            this.lblPdo1Data6 = new System.Windows.Forms.Label();
            this.lblPdo1Data7 = new System.Windows.Forms.Label();
            this.txtPdo1Data0 = new System.Windows.Forms.TextBox();
            this.txtPdo1Data1 = new System.Windows.Forms.TextBox();
            this.txtPdo1Data2 = new System.Windows.Forms.TextBox();
            this.txtPdo1Data3 = new System.Windows.Forms.TextBox();
            this.txtPdo1Data4 = new System.Windows.Forms.TextBox();
            this.txtPdo1Data5 = new System.Windows.Forms.TextBox();
            this.txtPdo1Data6 = new System.Windows.Forms.TextBox();
            this.txtPdo1Data7 = new System.Windows.Forms.TextBox();
            this.btnSendTpdo1 = new System.Windows.Forms.Button();
            this.btnRuleSend = new System.Windows.Forms.Button();
            this.btnContinuousSend = new System.Windows.Forms.Button();
            this.lblPeriodTime = new System.Windows.Forms.Label();
            this.txtPeriodTime = new System.Windows.Forms.TextBox();
            this.lblPeriodUnit = new System.Windows.Forms.Label();
            this.lblContinuousDuration = new System.Windows.Forms.Label();
            this.txtContinuousDuration = new System.Windows.Forms.TextBox();
            this.lblContinuousDurationUnit = new System.Windows.Forms.Label();
            this.lblRuleDuration = new System.Windows.Forms.Label();
            this.txtRuleDuration = new System.Windows.Forms.TextBox();
            this.lblRuleDurationUnit = new System.Windows.Forms.Label();
            this.txtLog = new System.Windows.Forms.TextBox();
            this.m_updateTimer = new System.Windows.Forms.Timer(this.components);
            this.grpDeviceInfo.SuspendLayout();
            this.grpControl.SuspendLayout();
            this.grpPdo1Send.SuspendLayout();
            this.SuspendLayout();
            // 
            // grpDeviceInfo
            // 
            this.grpDeviceInfo.Controls.Add(this.lblNodeId);
            this.grpDeviceInfo.Controls.Add(this.lblState);
            this.grpDeviceInfo.Controls.Add(this.lblStatus);
            this.grpDeviceInfo.Location = new System.Drawing.Point(10, 10);
            this.grpDeviceInfo.Name = "grpDeviceInfo";
            this.grpDeviceInfo.Size = new System.Drawing.Size(380, 100);
            this.grpDeviceInfo.TabIndex = 0;
            this.grpDeviceInfo.TabStop = false;
            this.grpDeviceInfo.Text = "设备信息";
            // 
            // lblNodeId
            // 
            this.lblNodeId.AutoSize = true;
            this.lblNodeId.Location = new System.Drawing.Point(10, 25);
            this.lblNodeId.Name = "lblNodeId";
            this.lblNodeId.Size = new System.Drawing.Size(77, 15);
            this.lblNodeId.TabIndex = 0;
            this.lblNodeId.Text = "节点ID: -";
            // 
            // lblState
            // 
            this.lblState.AutoSize = true;
            this.lblState.Location = new System.Drawing.Point(10, 50);
            this.lblState.Name = "lblState";
            this.lblState.Size = new System.Drawing.Size(61, 15);
            this.lblState.TabIndex = 1;
            this.lblState.Text = "状态: -";
            // 
            // lblStatus
            // 
            this.lblStatus.AutoSize = true;
            this.lblStatus.Location = new System.Drawing.Point(10, 75);
            this.lblStatus.Name = "lblStatus";
            this.lblStatus.Size = new System.Drawing.Size(128, 15);
            this.lblStatus.TabIndex = 2;
            this.lblStatus.Text = "运行状态: 未启动";
            // 
            // grpControl
            // 
            this.grpControl.Controls.Add(this.btnStart);
            this.grpControl.Controls.Add(this.btnStop);
            this.grpControl.Location = new System.Drawing.Point(400, 10);
            this.grpControl.Name = "grpControl";
            this.grpControl.Size = new System.Drawing.Size(380, 100);
            this.grpControl.TabIndex = 1;
            this.grpControl.TabStop = false;
            this.grpControl.Text = "控制";
            // 
            // btnStart
            // 
            this.btnStart.Location = new System.Drawing.Point(10, 25);
            this.btnStart.Name = "btnStart";
            this.btnStart.Size = new System.Drawing.Size(100, 30);
            this.btnStart.TabIndex = 0;
            this.btnStart.Text = "启动从站";
            this.btnStart.Click += new System.EventHandler(this.BtnStart_Click);
            // 
            // btnStop
            // 
            this.btnStop.Enabled = false;
            this.btnStop.Location = new System.Drawing.Point(120, 25);
            this.btnStop.Name = "btnStop";
            this.btnStop.Size = new System.Drawing.Size(100, 30);
            this.btnStop.TabIndex = 1;
            this.btnStop.Text = "停止从站";
            this.btnStop.Click += new System.EventHandler(this.BtnStop_Click);
            // 
            // grpPdo1Send
            // 
            this.grpPdo1Send.Controls.Add(this.lblPdo1Data0);
            this.grpPdo1Send.Controls.Add(this.lblPdo1Data1);
            this.grpPdo1Send.Controls.Add(this.lblPdo1Data2);
            this.grpPdo1Send.Controls.Add(this.lblPdo1Data3);
            this.grpPdo1Send.Controls.Add(this.lblPdo1Data4);
            this.grpPdo1Send.Controls.Add(this.lblPdo1Data5);
            this.grpPdo1Send.Controls.Add(this.lblPdo1Data6);
            this.grpPdo1Send.Controls.Add(this.lblPdo1Data7);
            this.grpPdo1Send.Controls.Add(this.txtPdo1Data0);
            this.grpPdo1Send.Controls.Add(this.txtPdo1Data1);
            this.grpPdo1Send.Controls.Add(this.txtPdo1Data2);
            this.grpPdo1Send.Controls.Add(this.txtPdo1Data3);
            this.grpPdo1Send.Controls.Add(this.txtPdo1Data4);
            this.grpPdo1Send.Controls.Add(this.txtPdo1Data5);
            this.grpPdo1Send.Controls.Add(this.txtPdo1Data6);
            this.grpPdo1Send.Controls.Add(this.txtPdo1Data7);
            this.grpPdo1Send.Controls.Add(this.btnSendTpdo1);
            this.grpPdo1Send.Controls.Add(this.btnRuleSend);
            this.grpPdo1Send.Controls.Add(this.btnContinuousSend);
            this.grpPdo1Send.Controls.Add(this.lblPeriodTime);
            this.grpPdo1Send.Controls.Add(this.txtPeriodTime);
            this.grpPdo1Send.Controls.Add(this.lblPeriodUnit);
            this.grpPdo1Send.Controls.Add(this.lblContinuousDuration);
            this.grpPdo1Send.Controls.Add(this.txtContinuousDuration);
            this.grpPdo1Send.Controls.Add(this.lblContinuousDurationUnit);
            this.grpPdo1Send.Controls.Add(this.lblRuleDuration);
            this.grpPdo1Send.Controls.Add(this.txtRuleDuration);
            this.grpPdo1Send.Controls.Add(this.lblRuleDurationUnit);
            this.grpPdo1Send.Location = new System.Drawing.Point(10, 120);
            this.grpPdo1Send.Name = "grpPdo1Send";
            this.grpPdo1Send.Size = new System.Drawing.Size(770, 190);
            this.grpPdo1Send.TabIndex = 2;
            this.grpPdo1Send.TabStop = false;
            this.grpPdo1Send.Text = "TPDO1发送配置";
            // 
            // lblPdo1Data0
            // 
            this.lblPdo1Data0.AutoSize = true;
            this.lblPdo1Data0.Location = new System.Drawing.Point(10, 25);
            this.lblPdo1Data0.Name = "lblPdo1Data0";
            this.lblPdo1Data0.Size = new System.Drawing.Size(55, 15);
            this.lblPdo1Data0.TabIndex = 0;
            this.lblPdo1Data0.Text = "Byte0:";
            // 
            // lblPdo1Data1
            // 
            this.lblPdo1Data1.AutoSize = true;
            this.lblPdo1Data1.Location = new System.Drawing.Point(90, 25);
            this.lblPdo1Data1.Name = "lblPdo1Data1";
            this.lblPdo1Data1.Size = new System.Drawing.Size(55, 15);
            this.lblPdo1Data1.TabIndex = 1;
            this.lblPdo1Data1.Text = "Byte1:";
            // 
            // lblPdo1Data2
            // 
            this.lblPdo1Data2.AutoSize = true;
            this.lblPdo1Data2.Location = new System.Drawing.Point(170, 25);
            this.lblPdo1Data2.Name = "lblPdo1Data2";
            this.lblPdo1Data2.Size = new System.Drawing.Size(55, 15);
            this.lblPdo1Data2.TabIndex = 2;
            this.lblPdo1Data2.Text = "Byte2:";
            // 
            // lblPdo1Data3
            // 
            this.lblPdo1Data3.AutoSize = true;
            this.lblPdo1Data3.Location = new System.Drawing.Point(250, 25);
            this.lblPdo1Data3.Name = "lblPdo1Data3";
            this.lblPdo1Data3.Size = new System.Drawing.Size(55, 15);
            this.lblPdo1Data3.TabIndex = 3;
            this.lblPdo1Data3.Text = "Byte3:";
            // 
            // lblPdo1Data4
            // 
            this.lblPdo1Data4.AutoSize = true;
            this.lblPdo1Data4.Location = new System.Drawing.Point(330, 25);
            this.lblPdo1Data4.Name = "lblPdo1Data4";
            this.lblPdo1Data4.Size = new System.Drawing.Size(55, 15);
            this.lblPdo1Data4.TabIndex = 4;
            this.lblPdo1Data4.Text = "Byte4:";
            // 
            // lblPdo1Data5
            // 
            this.lblPdo1Data5.AutoSize = true;
            this.lblPdo1Data5.Location = new System.Drawing.Point(410, 25);
            this.lblPdo1Data5.Name = "lblPdo1Data5";
            this.lblPdo1Data5.Size = new System.Drawing.Size(55, 15);
            this.lblPdo1Data5.TabIndex = 5;
            this.lblPdo1Data5.Text = "Byte5:";
            // 
            // lblPdo1Data6
            // 
            this.lblPdo1Data6.AutoSize = true;
            this.lblPdo1Data6.Location = new System.Drawing.Point(490, 25);
            this.lblPdo1Data6.Name = "lblPdo1Data6";
            this.lblPdo1Data6.Size = new System.Drawing.Size(55, 15);
            this.lblPdo1Data6.TabIndex = 6;
            this.lblPdo1Data6.Text = "Byte6:";
            // 
            // lblPdo1Data7
            // 
            this.lblPdo1Data7.AutoSize = true;
            this.lblPdo1Data7.Location = new System.Drawing.Point(570, 25);
            this.lblPdo1Data7.Name = "lblPdo1Data7";
            this.lblPdo1Data7.Size = new System.Drawing.Size(55, 15);
            this.lblPdo1Data7.TabIndex = 7;
            this.lblPdo1Data7.Text = "Byte7:";
            // 
            // txtPdo1Data0
            // 
            this.txtPdo1Data0.Location = new System.Drawing.Point(10, 45);
            this.txtPdo1Data0.MaxLength = 3;
            this.txtPdo1Data0.Name = "txtPdo1Data0";
            this.txtPdo1Data0.Size = new System.Drawing.Size(60, 25);
            this.txtPdo1Data0.TabIndex = 8;
            this.txtPdo1Data0.Text = "0";
            this.txtPdo1Data0.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
            // 
            // txtPdo1Data1
            // 
            this.txtPdo1Data1.Location = new System.Drawing.Point(90, 45);
            this.txtPdo1Data1.MaxLength = 3;
            this.txtPdo1Data1.Name = "txtPdo1Data1";
            this.txtPdo1Data1.Size = new System.Drawing.Size(60, 25);
            this.txtPdo1Data1.TabIndex = 9;
            this.txtPdo1Data1.Text = "0";
            this.txtPdo1Data1.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
            // 
            // txtPdo1Data2
            // 
            this.txtPdo1Data2.Location = new System.Drawing.Point(170, 45);
            this.txtPdo1Data2.MaxLength = 3;
            this.txtPdo1Data2.Name = "txtPdo1Data2";
            this.txtPdo1Data2.Size = new System.Drawing.Size(60, 25);
            this.txtPdo1Data2.TabIndex = 10;
            this.txtPdo1Data2.Text = "0";
            this.txtPdo1Data2.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
            // 
            // txtPdo1Data3
            // 
            this.txtPdo1Data3.Location = new System.Drawing.Point(250, 45);
            this.txtPdo1Data3.MaxLength = 3;
            this.txtPdo1Data3.Name = "txtPdo1Data3";
            this.txtPdo1Data3.Size = new System.Drawing.Size(60, 25);
            this.txtPdo1Data3.TabIndex = 11;
            this.txtPdo1Data3.Text = "0";
            this.txtPdo1Data3.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
            // 
            // txtPdo1Data4
            // 
            this.txtPdo1Data4.Location = new System.Drawing.Point(330, 45);
            this.txtPdo1Data4.MaxLength = 3;
            this.txtPdo1Data4.Name = "txtPdo1Data4";
            this.txtPdo1Data4.Size = new System.Drawing.Size(60, 25);
            this.txtPdo1Data4.TabIndex = 12;
            this.txtPdo1Data4.Text = "0";
            this.txtPdo1Data4.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
            // 
            // txtPdo1Data5
            // 
            this.txtPdo1Data5.Location = new System.Drawing.Point(410, 45);
            this.txtPdo1Data5.MaxLength = 3;
            this.txtPdo1Data5.Name = "txtPdo1Data5";
            this.txtPdo1Data5.Size = new System.Drawing.Size(60, 25);
            this.txtPdo1Data5.TabIndex = 13;
            this.txtPdo1Data5.Text = "0";
            this.txtPdo1Data5.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
            // 
            // txtPdo1Data6
            // 
            this.txtPdo1Data6.Location = new System.Drawing.Point(490, 45);
            this.txtPdo1Data6.MaxLength = 3;
            this.txtPdo1Data6.Name = "txtPdo1Data6";
            this.txtPdo1Data6.Size = new System.Drawing.Size(60, 25);
            this.txtPdo1Data6.TabIndex = 14;
            this.txtPdo1Data6.Text = "0";
            this.txtPdo1Data6.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
            // 
            // txtPdo1Data7
            // 
            this.txtPdo1Data7.Location = new System.Drawing.Point(570, 45);
            this.txtPdo1Data7.MaxLength = 3;
            this.txtPdo1Data7.Name = "txtPdo1Data7";
            this.txtPdo1Data7.Size = new System.Drawing.Size(60, 25);
            this.txtPdo1Data7.TabIndex = 15;
            this.txtPdo1Data7.Text = "0";
            this.txtPdo1Data7.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
            // 
            // btnSendTpdo1
            // 
            this.btnSendTpdo1.Enabled = false;
            this.btnSendTpdo1.Location = new System.Drawing.Point(10, 95);
            this.btnSendTpdo1.Name = "btnSendTpdo1";
            this.btnSendTpdo1.Size = new System.Drawing.Size(100, 25);
            this.btnSendTpdo1.TabIndex = 16;
            this.btnSendTpdo1.Text = "立即发送";
            this.btnSendTpdo1.Click += new System.EventHandler(this.BtnSendTpdo1_Click);
            // 
            // btnRuleSend
            // 
            this.btnRuleSend.Enabled = false;
            this.btnRuleSend.Location = new System.Drawing.Point(120, 95);
            this.btnRuleSend.Name = "btnRuleSend";
            this.btnRuleSend.Size = new System.Drawing.Size(100, 25);
            this.btnRuleSend.TabIndex = 17;
            this.btnRuleSend.Text = "规则发送";
            this.btnRuleSend.Click += new System.EventHandler(this.BtnRuleSend_Click);
            // 
            // btnContinuousSend
            // 
            this.btnContinuousSend.Enabled = false;
            this.btnContinuousSend.Location = new System.Drawing.Point(230, 95);
            this.btnContinuousSend.Name = "btnContinuousSend";
            this.btnContinuousSend.Size = new System.Drawing.Size(100, 25);
            this.btnContinuousSend.TabIndex = 18;
            this.btnContinuousSend.Text = "连续发送";
            this.btnContinuousSend.Click += new System.EventHandler(this.BtnContinuousSend_Click);
            // 
            // lblPeriodTime
            // 
            this.lblPeriodTime.AutoSize = true;
            this.lblPeriodTime.Location = new System.Drawing.Point(350, 98);
            this.lblPeriodTime.Name = "lblPeriodTime";
            this.lblPeriodTime.Size = new System.Drawing.Size(75, 15);
            this.lblPeriodTime.TabIndex = 19;
            this.lblPeriodTime.Text = "周期时间:";
            // 
            // txtPeriodTime
            // 
            this.txtPeriodTime.Location = new System.Drawing.Point(430, 95);
            this.txtPeriodTime.Name = "txtPeriodTime";
            this.txtPeriodTime.Size = new System.Drawing.Size(80, 25);
            this.txtPeriodTime.TabIndex = 20;
            this.txtPeriodTime.Text = "1000";
            this.txtPeriodTime.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
            // 
            // lblPeriodUnit
            // 
            this.lblPeriodUnit.AutoSize = true;
            this.lblPeriodUnit.Location = new System.Drawing.Point(520, 98);
            this.lblPeriodUnit.Name = "lblPeriodUnit";
            this.lblPeriodUnit.Size = new System.Drawing.Size(23, 15);
            this.lblPeriodUnit.TabIndex = 21;
            this.lblPeriodUnit.Text = "us";
            // 
            // lblContinuousDuration
            // 
            this.lblContinuousDuration.AutoSize = true;
            this.lblContinuousDuration.Location = new System.Drawing.Point(10, 128);
            this.lblContinuousDuration.Name = "lblContinuousDuration";
            this.lblContinuousDuration.Size = new System.Drawing.Size(75, 15);
            this.lblContinuousDuration.TabIndex = 22;
            this.lblContinuousDuration.Text = "持续时间:";
            // 
            // txtContinuousDuration
            // 
            this.txtContinuousDuration.Location = new System.Drawing.Point(90, 125);
            this.txtContinuousDuration.Name = "txtContinuousDuration";
            this.txtContinuousDuration.Size = new System.Drawing.Size(80, 25);
            this.txtContinuousDuration.TabIndex = 23;
            this.txtContinuousDuration.Text = "0";
            this.txtContinuousDuration.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
            // 
            // lblContinuousDurationUnit
            // 
            this.lblContinuousDurationUnit.AutoSize = true;
            this.lblContinuousDurationUnit.Location = new System.Drawing.Point(180, 128);
            this.lblContinuousDurationUnit.Name = "lblContinuousDurationUnit";
            this.lblContinuousDurationUnit.Size = new System.Drawing.Size(99, 15);
            this.lblContinuousDurationUnit.TabIndex = 24;
            this.lblContinuousDurationUnit.Text = "秒(0=无限制)";
            // 
            // lblRuleDuration
            // 
            this.lblRuleDuration.AutoSize = true;
            this.lblRuleDuration.Location = new System.Drawing.Point(350, 128);
            this.lblRuleDuration.Name = "lblRuleDuration";
            this.lblRuleDuration.Size = new System.Drawing.Size(75, 15);
            this.lblRuleDuration.TabIndex = 25;
            this.lblRuleDuration.Text = "规则时长:";
            // 
            // txtRuleDuration
            // 
            this.txtRuleDuration.Location = new System.Drawing.Point(430, 125);
            this.txtRuleDuration.Name = "txtRuleDuration";
            this.txtRuleDuration.Size = new System.Drawing.Size(80, 25);
            this.txtRuleDuration.TabIndex = 26;
            this.txtRuleDuration.Text = "0";
            this.txtRuleDuration.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
            // 
            // lblRuleDurationUnit
            // 
            this.lblRuleDurationUnit.AutoSize = true;
            this.lblRuleDurationUnit.Location = new System.Drawing.Point(520, 128);
            this.lblRuleDurationUnit.Name = "lblRuleDurationUnit";
            this.lblRuleDurationUnit.Size = new System.Drawing.Size(99, 15);
            this.lblRuleDurationUnit.TabIndex = 27;
            this.lblRuleDurationUnit.Text = "秒(0=无限制)";
            // 
            // txtLog
            // 
            this.txtLog.BackColor = System.Drawing.Color.White;
            this.txtLog.Font = new System.Drawing.Font("微软雅黑", 9F);
            this.txtLog.ForeColor = System.Drawing.Color.Black;
            this.txtLog.Location = new System.Drawing.Point(10, 320);
            this.txtLog.Multiline = true;
            this.txtLog.Name = "txtLog";
            this.txtLog.ReadOnly = true;
            this.txtLog.ScrollBars = System.Windows.Forms.ScrollBars.Vertical;
            this.txtLog.Size = new System.Drawing.Size(770, 210);
            this.txtLog.TabIndex = 3;
            // 
            // m_updateTimer
            // 
            this.m_updateTimer.Enabled = true;
            this.m_updateTimer.Interval = 500;
            // 
            // SlaveTestForm
            // 
            this.ClientSize = new System.Drawing.Size(782, 543);
            this.Controls.Add(this.grpDeviceInfo);
            this.Controls.Add(this.grpControl);
            this.Controls.Add(this.grpPdo1Send);
            this.Controls.Add(this.txtLog);
            this.Name = "SlaveTestForm";
            this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
            this.Text = "CANopen从站设备测试";
            this.grpDeviceInfo.ResumeLayout(false);
            this.grpDeviceInfo.PerformLayout();
            this.grpControl.ResumeLayout(false);
            this.grpPdo1Send.ResumeLayout(false);
            this.grpPdo1Send.PerformLayout();
            this.ResumeLayout(false);
            this.PerformLayout();

        }
        
        private void BtnStart_Click(object sender, EventArgs e)
        {
            try
            {
                AppendLog("正在启动从站...");
                
                if (m_slaveDevice.Start(CanBaudRate.BaudRate_1M))
                {
                    AppendLog("✓ 从站启动成功");
                    
                    btnStart.Enabled = false;
                    btnStop.Enabled = true;
                    btnSendTpdo1.Enabled = true;
                    btnRuleSend.Enabled = true;
                    btnContinuousSend.Enabled = true;
                    
                    UpdateDeviceInfo();
                }
                else
                {
                    AppendLog("✗ 从站启动失败");
                    MessageBox.Show("启动失败！请检查CAN设备连接。", "错误", 
                        MessageBoxButtons.OK, MessageBoxIcon.Error);
                }
            }
            catch (Exception ex)
            {
                AppendLog("✗ 启动错误: " + ex.Message);
                MessageBox.Show(ex.Message, "错误", 
                    MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }
        
        private void BtnStop_Click(object sender, EventArgs e)
        {
            try
            {
                // 如果正在连续发送，先停止
                if (m_isContinuousSending)
                {
                    StopContinuousSend();
                }
                
                // 如果正在规则发送，先停止
                if (m_isRuleSending)
                {
                    StopRuleSend();
                }
                
                AppendLog("正在停止从站...");
                m_slaveDevice.Stop();
                AppendLog("✓ 从站已停止");
                
                btnStart.Enabled = true;
                btnStop.Enabled = false;
                btnSendTpdo1.Enabled = false;
                btnRuleSend.Enabled = false;
                btnContinuousSend.Enabled = false;
                btnContinuousSend.Text = "连续发送";
                btnRuleSend.Text = "规则发送";
                
                UpdateDeviceInfo();
            }
            catch (Exception ex)
            {
                AppendLog("✗ 停止错误: " + ex.Message);
            }
        }
        
        private void BtnSendTpdo1_Click(object sender, EventArgs e)
        {
            try
            {
                // 从界面读取PDO1数据
                byte[] pdoData = new byte[8];
                pdoData[0] = ParseByteValue(txtPdo1Data0.Text, 0);
                pdoData[1] = ParseByteValue(txtPdo1Data1.Text, 1);
                pdoData[2] = ParseByteValue(txtPdo1Data2.Text, 2);
                pdoData[3] = ParseByteValue(txtPdo1Data3.Text, 3);
                pdoData[4] = ParseByteValue(txtPdo1Data4.Text, 4);
                pdoData[5] = ParseByteValue(txtPdo1Data5.Text, 5);
                pdoData[6] = ParseByteValue(txtPdo1Data6.Text, 6);
                pdoData[7] = ParseByteValue(txtPdo1Data7.Text, 7);
                
                // 构建数据字符串用于日志
                string dataStr = BitConverter.ToString(pdoData).Replace("-", " ");
                AppendLog("→ 发送TPDO1: [" + dataStr + "]");
                
                // TODO: 这里需要修改CanOpenSlaveDevice以支持自定义数据发送
                // 暂时使用默认发送方法
                m_slaveDevice.SendTpdo(1, pdoData);
            }
            catch (Exception ex)
            {
                AppendLog("✗ 发送TPDO1失败: " + ex.Message);
            }
        }
        
        private void BtnContinuousSend_Click(object sender, EventArgs e)
        {
            if (m_isContinuousSending)
            {
                // 停止连续发送
                StopContinuousSend();
            }
            else
            {
                // 启动连续发送
                StartContinuousSend();
            }
        }
        
        /// <summary>
        /// 规则发送按钮点击事件
        /// </summary>
        private void BtnRuleSend_Click(object sender, EventArgs e)
        {
            if (m_isRuleSending)
            {
                // 停止规则发送
                StopRuleSend();
            }
            else
            {
                // 启动规则发送
                StartRuleSend();
            }
        }
        
        /// <summary>
        /// 启动连续发送
        /// </summary>
        private void StartContinuousSend()
        {
            try
            {
                // 解析周期时间（微秒）
                if (!double.TryParse(txtPeriodTime.Text.Trim(), out double periodUs) || periodUs <= 0)
                {
                    AppendLog("✗ 周期时间无效，请输入大于0的数值（单位：微秒）");
                    return;
                }
                
                // 解析运行时长（秒转毫秒），如果输入为空或无效，默认为0（无限制）
                int durationSeconds = 0;
                if (int.TryParse(txtContinuousDuration.Text.Trim(), out int parsedSeconds))
                {
                    durationSeconds = Math.Max(0, parsedSeconds); // 确保非负数
                }

                m_continuousSendDurationMs = durationSeconds * 1000; // 转换为毫秒
                
                // 重置计数器
                m_continuousSendCounter = 0;
                m_continuousSendStartTime = DateTime.Now;
                
                // 创建取消令牌
                m_continuousSendCts = new CancellationTokenSource();
                m_isContinuousSending = true;
                
                // 更新按钮文本
                btnContinuousSend.Text = "停止发送";
                
                string durationText = durationSeconds > 0 ? durationSeconds.ToString() + "秒" : "无限制";
                AppendLog($"▶ 开始连续发送 - 周期: {periodUs:F0}us, 时长: {durationText}");
                
                // 启动异步发送任务
                Task.Run(() => ContinuousSendLoop(periodUs, m_continuousSendCts.Token));

                // 如果设置了运行时长，则启动定时器来检查时间
                if (m_continuousSendDurationMs > 0)
                {
                    Task.Delay(m_continuousSendDurationMs, m_continuousSendCts.Token)
                        .ContinueWith(t =>
                        {
                            if (!t.IsCanceled)
                            {
                                // 时间到了，自动停止连续发送
                                if (this.InvokeRequired)
                                {
                                    this.Invoke(new Action(StopContinuousSend));
                                }
                                else
                                {
                                    StopContinuousSend();
                                }
                            }
                        });
                }
            }
            catch (Exception ex)
            {
                AppendLog("✗ 启动连续发送失败: " + ex.Message);
                m_isContinuousSending = false;
                btnContinuousSend.Text = "连续发送";
            }
        }
        
        /// <summary>
        /// 停止连续发送
        /// </summary>
        private void StopContinuousSend()
        {
            try
            {
                m_isContinuousSending = false;
                m_continuousSendCts?.Cancel();
                
                // 等待任务结束
                Thread.Sleep(100);
                
                btnContinuousSend.Text = "连续发送";
                AppendLog("⏹ 连续发送已停止 - 共发送 " + m_continuousSendCounter.ToString() + " 次");
            }
            catch (Exception ex)
            {
                AppendLog("✗ 停止连续发送失败: " + ex.Message);
            }
        }
        
        /// <summary>
        /// 连续发送循环（高精度）
        /// </summary>
        private async Task ContinuousSendLoop(double periodUs, CancellationToken cancellationToken)
        {
            Stopwatch stopwatch = new Stopwatch();
            long sendCount = 0;
            
            // 计算每次循环的目标时间间隔（纳秒）
            long periodNs = (long)(periodUs * 1000.0);
            
            AppendLog("[调试] 目标周期: " + periodUs.ToString("F0") + "us = " + periodNs.ToString() + "ns");
            
            while (!cancellationToken.IsCancellationRequested)
            {
                // 检查是否达到运行时长限制
                if (m_continuousSendDurationMs > 0)
                {
                    double elapsedMs = (DateTime.Now - m_continuousSendStartTime).TotalMilliseconds;
                    if (elapsedMs >= m_continuousSendDurationMs)
                    {
                        StopContinuousSend();
                        return;
                    }
                }
                
                try
                {
                    // 记录开始时间
                    stopwatch.Restart();
                    
                    // 构建PDO数据 - 第一个字节自增
                    byte[] pdoData = new byte[8];
                    pdoData[0] = (byte)(m_continuousSendCounter % 256);  // 第一个字节自增
                    pdoData[1] = ParseByteValue(txtPdo1Data1.Text, 1);
                    pdoData[2] = ParseByteValue(txtPdo1Data2.Text, 2);
                    pdoData[3] = ParseByteValue(txtPdo1Data3.Text, 3);
                    pdoData[4] = ParseByteValue(txtPdo1Data4.Text, 4);
                    pdoData[5] = ParseByteValue(txtPdo1Data5.Text, 5);
                    pdoData[6] = ParseByteValue(txtPdo1Data6.Text, 6);
                    pdoData[7] = ParseByteValue(txtPdo1Data7.Text, 7);
                    
                    // 发送PDO（注意：这里需要修改CanOpenSlaveDevice支持自定义数据）
                    // 暂时使用默认方法，实际应该传入pdoData
                    m_slaveDevice.SendTpdo(1, pdoData);
                    
                    sendCount++;
                    m_continuousSendCounter++;  // 计数器自增
                    
                    // 每100次输出一次日志，避免日志过多
                    if (sendCount % 100 == 0)
                    {
                        AppendLog("→ 连续发送 #" + sendCount.ToString() + ", Byte0=" + m_continuousSendCounter.ToString());
                    }
                    
                    // 计算已经消耗的时间
                    long elapsedNs = stopwatch.ElapsedTicks * 1000000000L / Stopwatch.Frequency;
                    long remainingNs = periodNs - elapsedNs;
                    
                    // 如果还有剩余时间，进行精确延迟
                    if (remainingNs > 0)
                    {
                        // 对于较大的延迟，使用Task.Delay
                        if (remainingNs > 100000)  // 大于100微秒
                        {
                            int delayMs = (int)(remainingNs / 1000000);
                            await Task.Delay(delayMs, cancellationToken).ConfigureAwait(false);
                        }
                        else
                        {
                            // 对于较小的延迟，使用SpinWait
                            SpinWait.SpinUntil(() => cancellationToken.IsCancellationRequested, 
                                TimeSpan.FromTicks(remainingNs * Stopwatch.Frequency / 1000000000L));
                        }
                    }
                }
                catch (OperationCanceledException)
                {
                    // 正常取消
                    break;
                }
                catch (Exception ex)
                {
                    AppendLog("✗ 连续发送错误: " + ex.Message);
                    break;
                }
            }
        }
        
        private byte ParseByteValue(string text, int index)
        {
            if (string.IsNullOrWhiteSpace(text))
                return 0;
            
            if (byte.TryParse(text.Trim(), out byte value))
                return value;
            
            AppendLog("⚠ Byte" + index.ToString() + " 值无效: '" + text + "'，使用默认值0");
            return 0;
        }

        bool NextValue = false;
        byte[] pdoData = new byte[8];
        /// <summary>
        /// 根据规则发送TPDO1（第一字节自增）
        /// </summary>
        private void SendRuleBasedTpdo1()
        {
            if(m_ruleSendCounter==0)
            {
                m_ruleSendStartTime = DateTime.Now;
            }
            // 检查是否达到运行时长限制
            if (m_ruleSendDurationMs > 0)
            {
                double elapsedMs = (DateTime.Now - m_ruleSendStartTime).TotalMilliseconds;
                if (elapsedMs >= m_ruleSendDurationMs)
                {
                    StopRuleSend();
                    return;
                }
            }

            try
            {
                // 构建PDO数据 - 第一个字节自增

                pdoData[0] = (byte)(m_ruleSendCounter % 256);  // 第一个字节自增
                pdoData[1] = ParseByteValue(txtPdo1Data1.Text, 1);
                pdoData[2] = ParseByteValue(txtPdo1Data2.Text, 2);
                pdoData[3] = ParseByteValue(txtPdo1Data3.Text, 3);
                pdoData[4] = ParseByteValue(txtPdo1Data4.Text, 4);
                pdoData[5] = ParseByteValue(txtPdo1Data5.Text, 5);
                pdoData[6] = ParseByteValue(txtPdo1Data6.Text, 6);
                //pdoData[7] = ParseByteValue(txtPdo1Data7.Text, 7);
                pdoData[7] = NextValue ? (byte)0 : (byte)1;

                // 发送PDO
                m_slaveDevice.SendTpdo(1, pdoData);
                NextValue = !NextValue;
                
                // 计数器自增
                m_ruleSendCounter++;

                // 输出日志
                string dataStr = BitConverter.ToString(pdoData).Replace("-", " ");
                AppendLog("→ 规则发送 #" + m_ruleSendCounter.ToString() + ", Byte0=" + ((m_ruleSendCounter - 1) % 256).ToString() + ", Data: [" + dataStr + "]");
            }
            catch (Exception ex)
            {
                AppendLog("✗ 规则发送失败: " + ex.Message);
            }
        }
        
        private void SlaveDevice_OnRpdoReceived(byte nodeId, byte pdoNumber, byte[] data)
        {
            if (this.InvokeRequired)
            {
                this.Invoke(new Action(() => 
                    SlaveDevice_OnRpdoReceived(nodeId, pdoNumber, data)));
                return;
            }
            
            string dataStr = BitConverter.ToString(data).Replace("-", " ");
            AppendLog("← 收到RPDO" + pdoNumber.ToString() + " [节点" + nodeId.ToString() + "]: " + dataStr);
            
            // 如果启用了规则发送，则发送TPDO1
            if (m_isRuleSending)
            {
                SendRuleBasedTpdo1();
            }
        }
        
        private void SlaveDevice_OnNmtStateChanged(NmtState oldState, NmtState newState)
        {
            if (this.InvokeRequired)
            {
                this.Invoke(new Action(() => 
                    SlaveDevice_OnNmtStateChanged(oldState, newState)));
                return;
            }
            
            AppendLog("⟳ NMT状态改变: " + oldState.ToString() + " → " + newState.ToString());
            UpdateDeviceInfo();
        }
        
        private void SlaveDevice_OnSdoReadRequest(byte nodeId, ushort index, byte subIndex)
        {
            if (this.InvokeRequired)
            {
                this.Invoke(new Action(() => 
                    SlaveDevice_OnSdoReadRequest(nodeId, index, subIndex)));
                return;
            }
            
            AppendLog("? SDO读取请求: 索引0x" + index.ToString("X4") + ", 子索引" + subIndex.ToString());
        }
        
        private void SlaveDevice_OnSdoWriteRequest(byte nodeId, ushort index, byte subIndex, uint value)
        {
            if (this.InvokeRequired)
            {
                this.Invoke(new Action(() => 
                    SlaveDevice_OnSdoWriteRequest(nodeId, index, subIndex, value)));
                return;
            }
            
            AppendLog("↓ SDO写入请求: 索引0x" + index.ToString("X4") + ", 子索引" + subIndex.ToString() + ", 值0x" + value.ToString("X8"));
        }
        
        private void UpdateTimer_Tick(object sender, EventArgs e)
        {
            UpdateDeviceInfo();
        }
        
        private void UpdateDeviceInfo()
        {
            if (this.InvokeRequired)
            {
                this.Invoke(new Action(UpdateDeviceInfo));
                return;
            }
            
            lblNodeId.Text = "节点ID: " + m_slaveDevice.NodeId.ToString();
            lblState.Text = "状态: " + m_slaveDevice.CurrentState.ToString();
            lblStatus.Text = "运行状态: " + (m_slaveDevice.IsRunning ? "运行中" : "已停止");
        }
        
        private void AppendLog(string message)
        {
            if (this.InvokeRequired)
            {
                this.Invoke(new Action<string>(AppendLog), message);
                return;
            }
            
            string timestamp = DateTime.Now.ToString("HH:mm:ss.fff");
            Console.WriteLine("[" + timestamp + "] " + message + "\r\n");
            // 使用字符串拼接而非插值，确保兼容性
            //txtLog.AppendText("[" + timestamp + "] " + message + "\r\n");
            
            // 自动滚动到底部
            //txtLog.SelectionStart = txtLog.Text.Length;
            //txtLog.ScrollToCaret();
        }
        
        protected override void OnFormClosing(FormClosingEventArgs e)
        {
            // 如果正在连续发送，先停止
            if (m_isContinuousSending)
            {
                StopContinuousSend();
            }
            
            // 如果正在规则发送，先停止
            if (m_isRuleSending)
            {
                StopRuleSend();
            }
            
            if (m_slaveDevice != null)
            {
                m_slaveDevice.Stop();
                m_slaveDevice.Dispose();
            }
            
            m_continuousSendCts?.Dispose();
            m_updateTimer?.Stop();
            m_updateTimer?.Dispose();
            
            base.OnFormClosing(e);
        }
        
        /// <summary>
        /// 启动规则发送
        /// </summary>
        private void StartRuleSend()
        {
            try
            {
                // 解析运行时长（秒转毫秒），如果输入为空或无效，默认为0（无限制）
                int durationSeconds = 0;
                if (int.TryParse(txtRuleDuration.Text.Trim(), out int parsedSeconds))
                {
                    durationSeconds = Math.Max(0, parsedSeconds); // 确保非负数
                }

                m_ruleSendDurationMs = durationSeconds * 1000; // 转换为毫秒

                // 重置计数器
                m_ruleSendCounter = 0;
                m_ruleSendStartTime = DateTime.Now;
                m_isRuleSending = true;
                m_ruleSendCts = new CancellationTokenSource();

                // 更新按钮文本
                btnRuleSend.Text = "停止规则发送";

                string durationText = durationSeconds > 0 ? durationSeconds.ToString() + "秒" : "无限制";
                AppendLog("▶ 开始规则发送 - 时长: " + durationText);

                // 如果设置了运行时长，则启动定时器来检查时间
                if (m_ruleSendDurationMs > 0)
                {
                    Task.Delay(m_ruleSendDurationMs, m_ruleSendCts.Token)
                        .ContinueWith(t =>
                        {
                            if (!t.IsCanceled)
                            {
                                // 时间到了，自动停止规则发送
                                if (this.InvokeRequired)
                                {
                                    this.Invoke(new Action(StopRuleSend));
                                }
                                else
                                {
                                    StopRuleSend();
                                }
                            }
                        });
                }
            }
            catch (Exception ex)
            {
                AppendLog("✗ 启动规则发送失败: " + ex.Message);
                m_isRuleSending = false;
                btnRuleSend.Text = "规则发送";
            }
        }
        
        /// <summary>
        /// 停止规则发送
        /// </summary>
        private void StopRuleSend()
        {
            try
            {
                m_isRuleSending = false;
                m_ruleSendCts?.Cancel();

                btnRuleSend.Text = "规则发送";
                AppendLog("⏹ 规则发送已停止 - 共发送 " + m_ruleSendCounter.ToString() + " 次");
            }
            catch (Exception ex)
            {
                AppendLog("✗ 停止规则发送失败: " + ex.Message);
            }
        }
    }
}