476 lines
20 KiB
C#
476 lines
20 KiB
C#
using Common.Attributes;
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using System;
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using System.Collections.Generic;
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using System.IO;
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using System.Linq;
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using System.Net;
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using System.Net.Sockets;
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using System.Text;
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using System.Threading.Tasks;
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using static Common.Attributes.ATSCommandAttribute;
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namespace DeviceCommand.Base
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{
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/// <summary>
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/// 提供基于 UDP 传输的 Modbus RTU 协议通信能力。
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/// 该类将标准 Modbus RTU 帧（含 CRC16 校验）封装在 UDP 数据包中进行传输，
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/// 适用于支持此非标准模式的工业设备或仿真平台。
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/// </summary>
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[ATSCommand]
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[DeviceCategory("全部驱动")] // 添加分类属性
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public class ModbusRtu_Udp : IDisposable
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{
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private UdpClient _udpClient;
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private IPEndPoint _remoteEndPoint;
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private bool _isConnected = false;
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private readonly object _lock = new();
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private bool _disposed = false;
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/// <summary>
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/// 获取目标设备的 IP 地址。
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/// </summary>
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public string RemoteIpAddress { get; private set; }
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/// <summary>
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/// 获取目标设备的 UDP 端口号。
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/// </summary>
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public int RemotePort { get; private set; }
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/// <summary>
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/// 获取本地 UDP 端口号。如果为 0，则表示使用系统自动分配的端口。
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/// </summary>
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public int LocalPort { get; private set; } = 0; // 0 表示自动分配
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/// <summary>
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/// 获取或设置每次通信的超时时间（毫秒），默认为 3000 毫秒。
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/// </summary>
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public int TimeoutMs { get; set; } = 3000;
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/// <summary>
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/// 获取或设置通信失败时的最大重试次数，默认为 3 次。
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/// </summary>
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public int MaxRetries { get; set; } = 3;
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/// <summary>
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/// 初始化一个新的 Modbus RTU over UDP 实例。
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/// </summary>
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/// <param name="ipAddress">目标设备的 IPv4 地址。</param>
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/// <param name="remotePort">目标 UDP 端口。</param>
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/// <param name="localPort">本地 UDP 端口。如果为 0，则使用系统自动分配的端口，默认为 0。</param>
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/// <param name="timeoutMs">通信超时时间（毫秒）。</param>
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public ModbusRtu_Udp CreateDevice(string ipAddress, int remotePort, int localPort = 0)
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{
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RemoteIpAddress = ipAddress;
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RemotePort = remotePort;
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LocalPort = localPort; // 存储本地端口
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_remoteEndPoint = new IPEndPoint(IPAddress.Parse(ipAddress), remotePort);
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return this;
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}
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/// <summary>
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/// 修改 Modbus RTU over UDP 实例参数
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/// </summary>
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/// <param name="modbusUdp">ModbusRtu_Udp实例</param>
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/// <param name="ipAddress">IP地址</param>
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/// <param name="remotePort">远程端口号</param>
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/// <param name="localPort">本地端口号。如果为 0，则使用系统自动分配的端口。</param>
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/// <param name="timeoutMs">超时时间（毫秒）</param>
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public static void ChangeDeviceConfig(ModbusRtu_Udp modbusUdp, string ipAddress, int remotePort, int localPort = 0, int timeoutMs = 3000)
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{
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modbusUdp.RemoteIpAddress = ipAddress;
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modbusUdp.RemotePort = remotePort;
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modbusUdp.LocalPort = localPort; // 更新本地端口
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if (timeoutMs > 0)
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{
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modbusUdp.TimeoutMs = timeoutMs;
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}
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// 更新远程端点
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modbusUdp._remoteEndPoint = new IPEndPoint(IPAddress.Parse(ipAddress), remotePort);
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// 如果客户端已连接，需要重新配置
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if (modbusUdp._udpClient != null && modbusUdp._isConnected)
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{
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modbusUdp._udpClient.Client.ReceiveTimeout = modbusUdp.TimeoutMs;
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}
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}
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/// <summary>
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/// 异步初始化 UDP 客户端并标记为已连接状态。
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/// 注意：UDP 是无连接协议，此处“连接”仅为逻辑状态初始化。
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/// 如果 LocalPort 不为 0，则会绑定到指定的本地端口。
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/// </summary>
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/// <param name="ct">支持中途取消操作</param>
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/// <returns>连接结果</returns>
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public async Task<bool> ConnectAsync(CancellationToken ct = default)
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{
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await Task.Run(() =>
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{
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if (_disposed) throw new ObjectDisposedException(nameof(ModbusRtu_Udp));
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Disconnect();
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lock (_lock)
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{
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// 修改：根据 LocalPort 创建 UdpClient
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if (LocalPort != 0)
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{
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_udpClient = new UdpClient(LocalPort); // 绑定到指定本地端口
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}
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else
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{
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_udpClient = new UdpClient(); // 使用系统自动分配端口
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}
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_udpClient.Client.ReceiveTimeout = TimeoutMs;
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_isConnected = true;
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}
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}, ct);
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return true; // UdpClient 初始化成功即返回 true
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}
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/// <summary>
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/// 初始化 UDP 客户端并标记为已连接状态。
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/// 注意：UDP 是无连接协议，此处“连接”仅为逻辑状态初始化。
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/// 如果 LocalPort 不为 0，则会绑定到指定的本地端口。
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/// </summary>
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public void Connect()
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{
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if (_disposed) throw new ObjectDisposedException(nameof(ModbusRtu_Udp));
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Disconnect();
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lock (_lock)
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{
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// 修改：根据 LocalPort 创建 UdpClient
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if (LocalPort != 0)
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{
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_udpClient = new UdpClient(LocalPort); // 绑定到指定本地端口
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}
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else
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{
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_udpClient = new UdpClient(); // 使用系统自动分配端口
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}
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_udpClient.Client.ReceiveTimeout = TimeoutMs;
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_isConnected = true;
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}
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}
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/// <summary>
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/// 关闭 UDP 客户端并清除连接状态。
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/// </summary>
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public void Disconnect()
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{
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lock (_lock)
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{
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_udpClient?.Close();
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_udpClient = null;
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_isConnected = false;
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}
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}
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/// <summary>
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/// 执行设备初始化操作（当前为占位实现，UDP 无状态故无需特殊初始化）。
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/// </summary>
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public void InitializeDevice()
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{
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// UDP 无状态，保留接口一致性
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}
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/// <summary>
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/// 触发紧急停止：立即断开通信连接。
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/// </summary>
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public void EmergencyStop()
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{
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Disconnect();
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}
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/// <summary>
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/// 异步发送 Modbus RTU 请求帧并通过 UDP 接收响应，支持重试机制。
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/// </summary>
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/// <param name="request">完整的 Modbus RTU 请求帧（含 CRC）。</param>
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/// <param name="ct">用于取消操作的取消令牌。</param>
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/// <returns>接收到的响应字节数组。</returns>
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/// <exception cref="TimeoutException">在指定重试次数内未收到有效响应。</exception>
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public async Task<byte[]> SendRequestAndReceiveAsync(byte[] request, CancellationToken ct)
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{
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if (!_isConnected) throw new InvalidOperationException("设备未连接。");
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for (int attempt = 0; attempt <= MaxRetries; attempt++)
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{
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try
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{
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await _udpClient.SendAsync(request, request.Length, _remoteEndPoint);
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var result = await _udpClient.ReceiveAsync().WaitAsync(TimeSpan.FromMilliseconds(TimeoutMs), ct);
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return result.Buffer;
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}
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catch (Exception ex) when (ex is SocketException || ex is TimeoutException)
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{
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if (attempt == MaxRetries)
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throw new TimeoutException($"Modbus RTU over UDP 通信超时，已重试 {MaxRetries} 次。");
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await Task.Delay(100, ct);
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}
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}
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throw new InvalidOperationException("通信失败。");
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}
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/// <summary>
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/// 计算 Modbus RTU 帧的 CRC16 校验值（小端格式，多项式 0xA001）。
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/// </summary>
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/// <param name="data">待计算 CRC 的字节数组。</param>
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/// <returns>16 位 CRC 校验值。</returns>
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private static ushort CalculateCRC16(byte[] data)
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{
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ushort crc = 0xFFFF;
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for (int i = 0; i < data.Length; i++)
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{
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crc ^= data[i];
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for (int j = 0; j < 8; j++)
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{
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if ((crc & 0x0001) != 0)
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{
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crc >>= 1;
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crc ^= 0xA001;
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}
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else
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crc >>= 1;
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}
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}
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return crc;
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}
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/// <summary>
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/// 构建完整的 Modbus RTU 帧（含 CRC16 校验）。
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/// </summary>
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/// <param name="slaveAddress">从站地址（1-247）。</param>
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/// <param name="functionCode">功能码（如 0x01、0x03 等）。</param>
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/// <param name="data">PDU 数据部分（不含地址和功能码）。</param>
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/// <returns>完整的 RTU 帧字节数组。</returns>
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private static byte[] BuildRtuFrame(byte slaveAddress, byte functionCode, byte[] data)
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{
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byte[] pdu = new byte[2 + data.Length];
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pdu[0] = slaveAddress;
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pdu[1] = functionCode;
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Array.Copy(data, 0, pdu, 2, data.Length);
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ushort crc = CalculateCRC16(pdu);
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byte[] frame = new byte[pdu.Length + 2];
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Array.Copy(pdu, frame, pdu.Length);
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frame[pdu.Length] = (byte)(crc & 0xFF);
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frame[pdu.Length + 1] = (byte)(crc >> 8);
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return frame;
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}
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/// <summary>
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/// 验证接收到的 Modbus RTU 响应帧是否有效。
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/// </summary>
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/// <param name="response">接收到的完整响应帧。</param>
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/// <param name="expectedSlave">期望的从站地址。</param>
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/// <param name="expectedFunction">期望的功能码。</param>
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/// <returns>若帧有效则返回 true；否则抛出异常。</returns>
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/// <exception cref="Exception">当收到异常响应或 CRC 校验失败时抛出。</exception>
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private static bool ValidateResponse(byte[] response, byte expectedSlave, byte expectedFunction)
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{
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if (response.Length < 4) return false;
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if (response[0] != expectedSlave) return false;
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if (response[1] != expectedFunction && response[1] != (byte)(expectedFunction | 0x80)) return false;
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if ((response[1] & 0x80) != 0)
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throw new Exception($"Modbus 异常响应：功能码 {response[1] & 0x7F}，错误码 {response[2]}");
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ushort receivedCrc = (ushort)(response[response.Length - 2] | (response[response.Length - 1] << 8));
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ushort calculatedCrc = CalculateCRC16(response, 0, response.Length - 2);
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return receivedCrc == calculatedCrc;
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}
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/// <summary>
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/// 计算指定范围数据的 CRC16 校验值。
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/// </summary>
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/// <param name="data">源字节数组。</param>
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/// <param name="offset">起始偏移量。</param>
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/// <param name="length">数据长度。</param>
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/// <returns>16 位 CRC 校验值。</returns>
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private static ushort CalculateCRC16(byte[] data, int offset, int length)
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{
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ushort crc = 0xFFFF;
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for (int i = 0; i < length; i++)
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{
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crc ^= data[offset + i];
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for (int j = 0; j < 8; j++)
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{
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if ((crc & 0x0001) != 0)
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{
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crc >>= 1;
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crc ^= 0xA001;
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}
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else
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crc >>= 1;
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}
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}
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return crc;
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}
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/// <summary>
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/// 异步读取从站的线圈状态（功能码 01）。
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/// </summary>
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/// <param name="slaveAddress">从站地址。</param>
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/// <param name="startAddress">起始线圈地址（0-based）。</param>
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/// <param name="numberOfPoints">要读取的线圈数量。</param>
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/// <param name="ct">取消令牌。</param>
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/// <returns>布尔数组，表示每个线圈的 ON/OFF 状态。</returns>
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public async Task<bool[]> ReadCoilsAsync(byte slaveAddress, ushort startAddress, ushort numberOfPoints, CancellationToken ct = default)
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{
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byte[] data = {
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(byte)(startAddress >> 8), (byte)startAddress,
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(byte)(numberOfPoints >> 8), (byte)numberOfPoints
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};
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byte[] request = BuildRtuFrame(slaveAddress, 0x01, data);
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byte[] response = await SendRequestAndReceiveAsync(request, ct);
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if (!ValidateResponse(response, slaveAddress, 0x01))
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throw new InvalidDataException("响应校验失败");
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int byteCount = response[2];
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bool[] result = new bool[numberOfPoints];
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for (int i = 0; i < numberOfPoints; i++)
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{
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int byteIndex = i / 8;
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int bitIndex = i % 8;
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result[i] = (response[3 + byteIndex] & (1 << bitIndex)) != 0;
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}
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return result;
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}
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/// <summary>
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/// 异步写入单个线圈状态（功能码 05）。
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/// </summary>
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/// <param name="slaveAddress">从站地址。</param>
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/// <param name="coilAddress">线圈地址（0-based）。</param>
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/// <param name="value">目标值（true = ON, false = OFF）。</param>
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/// <param name="ct">取消令牌。</param>
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/// <returns>任务完成表示写入成功。</returns>
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public async Task WriteSingleCoilAsync(byte slaveAddress, ushort coilAddress, bool value, CancellationToken ct = default)
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{
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ushort coilValue = value ? (ushort)0xFF00 : (ushort)0x0000;
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byte[] data = {
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(byte)(coilAddress >> 8), (byte)coilAddress,
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(byte)(coilValue >> 8), (byte)coilValue
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};
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byte[] request = BuildRtuFrame(slaveAddress, 0x05, data);
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byte[] response = await SendRequestAndReceiveAsync(request, ct);
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if (!ValidateResponse(response, slaveAddress, 0x05))
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throw new InvalidDataException("写入线圈响应校验失败");
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}
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/// <summary>
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/// 异步读取从站的离散输入状态（功能码 02）。
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/// </summary>
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/// <param name="slaveAddress">从站地址。</param>
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/// <param name="startAddress">起始输入地址（0-based）。</param>
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/// <param name="numberOfPoints">要读取的输入点数量。</param>
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/// <param name="ct">取消令牌。</param>
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/// <returns>布尔数组，表示每个输入的状态。</returns>
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public async Task<bool[]> ReadDiscreteInputsAsync(byte slaveAddress, ushort startAddress, ushort numberOfPoints, CancellationToken ct = default)
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{
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byte[] data = {
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(byte)(startAddress >> 8), (byte)startAddress,
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(byte)(numberOfPoints >> 8), (byte)numberOfPoints
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};
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byte[] request = BuildRtuFrame(slaveAddress, 0x02, data);
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byte[] response = await SendRequestAndReceiveAsync(request, ct);
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if (!ValidateResponse(response, slaveAddress, 0x02))
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throw new InvalidDataException("读取离散输入响应校验失败");
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int byteCount = response[2];
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bool[] result = new bool[numberOfPoints];
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for (int i = 0; i < numberOfPoints; i++)
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{
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int byteIndex = i / 8;
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int bitIndex = i % 8;
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result[i] = (response[3 + byteIndex] & (1 << bitIndex)) != 0;
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}
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return result;
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}
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/// <summary>
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/// 异步读取从站的保持寄存器值（功能码 03）。
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/// </summary>
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/// <param name="slaveAddress">从站地址。</param>
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/// <param name="startAddress">起始寄存器地址（0-based）。</param>
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/// <param name="numberOfRegisters">要读取的寄存器数量。</param>
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/// <param name="ct">取消令牌。</param>
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/// <returns>16 位无符号整数数组，表示寄存器值。</returns>
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public async Task<ushort[]> ReadHoldingRegistersAsync(byte slaveAddress, ushort startAddress, ushort numberOfRegisters, CancellationToken ct = default)
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{
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byte[] data = {
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(byte)(startAddress >> 8), (byte)startAddress,
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(byte)(numberOfRegisters >> 8), (byte)numberOfRegisters
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};
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byte[] request = BuildRtuFrame(slaveAddress, 0x03, data);
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byte[] response = await SendRequestAndReceiveAsync(request, ct);
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if (!ValidateResponse(response, slaveAddress, 0x03))
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throw new InvalidDataException("读取保持寄存器响应校验失败");
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ushort[] result = new ushort[numberOfRegisters];
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for (int i = 0; i < numberOfRegisters; i++)
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{
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result[i] = (ushort)((response[3 + i * 2] << 8) | response[4 + i * 2]);
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}
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return result;
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}
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/// <summary>
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/// 异步写入单个保持寄存器（功能码 06）。
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/// </summary>
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/// <param name="slaveAddress">从站地址。</param>
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/// <param name="registerAddress">寄存器地址（0-based）。</param>
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/// <param name="value">要写入的值。</param>
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/// <param name="ct">取消令牌。</param>
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/// <returns>任务完成表示写入成功。</returns>
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public async Task WriteSingleRegisterAsync(byte slaveAddress, ushort registerAddress, ushort value, CancellationToken ct = default)
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{
|
||
byte[] data = {
|
||
(byte)(registerAddress >> 8), (byte)registerAddress,
|
||
(byte)(value >> 8), (byte)value
|
||
};
|
||
byte[] request = BuildRtuFrame(slaveAddress, 0x06, data);
|
||
byte[] response = await SendRequestAndReceiveAsync(request, ct);
|
||
if (!ValidateResponse(response, slaveAddress, 0x06))
|
||
throw new InvalidDataException("写入寄存器响应校验失败");
|
||
}
|
||
|
||
/// <summary>
|
||
/// 异步读取从站的输入寄存器值（功能码 04）。
|
||
/// </summary>
|
||
/// <param name="slaveAddress">从站地址。</param>
|
||
/// <param name="startAddress">起始寄存器地址（0-based）。</param>
|
||
/// <param name="numberOfRegisters">要读取的寄存器数量。</param>
|
||
/// <param name="ct">取消令牌。</param>
|
||
/// <returns>16 位无符号整数数组，表示输入寄存器值。</returns>
|
||
public async Task<ushort[]> ReadInputRegistersAsync(byte slaveAddress, ushort startAddress, ushort numberOfRegisters, CancellationToken ct = default)
|
||
{
|
||
byte[] data = {
|
||
(byte)(startAddress >> 8), (byte)startAddress,
|
||
(byte)(numberOfRegisters >> 8), (byte)numberOfRegisters
|
||
};
|
||
byte[] request = BuildRtuFrame(slaveAddress, 0x04, data);
|
||
byte[] response = await SendRequestAndReceiveAsync(request, ct);
|
||
if (!ValidateResponse(response, slaveAddress, 0x04))
|
||
throw new InvalidDataException("读取输入寄存器响应校验失败");
|
||
|
||
ushort[] result = new ushort[numberOfRegisters];
|
||
for (int i = 0; i < numberOfRegisters; i++)
|
||
{
|
||
result[i] = (ushort)((response[3 + i * 2] << 8) | response[4 + i * 2]);
|
||
}
|
||
return result;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 释放 UDP 客户端资源并标记为已处置。
|
||
/// </summary>
|
||
public void Dispose()
|
||
{
|
||
if (!_disposed)
|
||
{
|
||
Disconnect();
|
||
_disposed = true;
|
||
}
|
||
}
|
||
}
|
||
} |