|
|
using System;
|
|
|
using System.Collections.Generic;
|
|
|
using System.Linq;
|
|
|
using System.Text;
|
|
|
using System.IO;
|
|
|
|
|
|
namespace HslCommunication.Profinet.AllenBradley
|
|
|
{
|
|
|
/// <summary>
|
|
|
/// AB PLC的辅助类，用来辅助生成基本的指令信息
|
|
|
/// </summary>
|
|
|
public class AllenBradleyHelper
|
|
|
{
|
|
|
#region Static Service Code
|
|
|
|
|
|
/// <summary>
|
|
|
/// CIP命令中的读取数据的服务
|
|
|
/// </summary>
|
|
|
public const byte CIP_READ_DATA = 0x4C;
|
|
|
/// <summary>
|
|
|
/// CIP命令中的写数据的服务
|
|
|
/// </summary>
|
|
|
public const int CIP_WRITE_DATA = 0x4D;
|
|
|
/// <summary>
|
|
|
/// CIP命令中的读并写的数据服务
|
|
|
/// </summary>
|
|
|
public const int CIP_READ_WRITE_DATA = 0x4E;
|
|
|
/// <summary>
|
|
|
/// CIP命令中的读片段的数据服务
|
|
|
/// </summary>
|
|
|
public const int CIP_READ_FRAGMENT = 0x52;
|
|
|
/// <summary>
|
|
|
/// CIP命令中的写片段的数据服务
|
|
|
/// </summary>
|
|
|
public const int CIP_WRITE_FRAGMENT = 0x53;
|
|
|
/// <summary>
|
|
|
/// CIP命令中的对数据读取服务
|
|
|
/// </summary>
|
|
|
public const int CIP_MULTIREAD_DATA = 0x1000;
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
#region DataType Code
|
|
|
|
|
|
/// <summary>
|
|
|
/// bool型数据，一个字节长度
|
|
|
/// </summary>
|
|
|
public const ushort CIP_Type_Bool = 0xC1;
|
|
|
|
|
|
/// <summary>
|
|
|
/// byte型数据，一个字节长度
|
|
|
/// </summary>
|
|
|
public const ushort CIP_Type_Byte = 0xC2;
|
|
|
|
|
|
/// <summary>
|
|
|
/// 整型，两个字节长度
|
|
|
/// </summary>
|
|
|
public const ushort CIP_Type_Word = 0xC3;
|
|
|
|
|
|
/// <summary>
|
|
|
/// 长整型，四个字节长度
|
|
|
/// </summary>
|
|
|
public const ushort CIP_Type_DWord = 0xC4;
|
|
|
|
|
|
/// <summary>
|
|
|
/// 特长整型，8个字节
|
|
|
/// </summary>
|
|
|
public const ushort CIP_Type_LInt = 0xC5;
|
|
|
|
|
|
/// <summary>
|
|
|
/// 实数数据，四个字节长度
|
|
|
/// </summary>
|
|
|
public const ushort CIP_Type_Real = 0xCA;
|
|
|
|
|
|
/// <summary>
|
|
|
/// 实数数据，八个字节的长度
|
|
|
/// </summary>
|
|
|
public const ushort CIP_Type_Double = 0xCB;
|
|
|
|
|
|
/// <summary>
|
|
|
/// 结构体数据，不定长度
|
|
|
/// </summary>
|
|
|
public const ushort CIP_Type_Struct = 0xCC;
|
|
|
|
|
|
/// <summary>
|
|
|
/// 字符串数据内容
|
|
|
/// </summary>
|
|
|
public const ushort CIP_Type_String = 0xD0;
|
|
|
|
|
|
/// <summary>
|
|
|
/// 二进制数据内容
|
|
|
/// </summary>
|
|
|
public const ushort CIP_Type_BitArray = 0xD3;
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
private static byte[] BuildRequestPathCommand( string address )
|
|
|
{
|
|
|
using (MemoryStream ms = new MemoryStream( ))
|
|
|
{
|
|
|
string[] tagNames = address.Split( new char[] { '.' }, StringSplitOptions.RemoveEmptyEntries );
|
|
|
|
|
|
for (int i = 0; i < tagNames.Length; i++)
|
|
|
{
|
|
|
string strIndex = string.Empty;
|
|
|
int indexFirst = tagNames[i].IndexOf( '[' );
|
|
|
int indexSecond = tagNames[i].IndexOf( ']' );
|
|
|
if (indexFirst > 0 && indexSecond > 0 && indexSecond > indexFirst)
|
|
|
{
|
|
|
strIndex = tagNames[i].Substring( indexFirst + 1, indexSecond - indexFirst - 1 );
|
|
|
tagNames[i] = tagNames[i].Substring( 0, indexFirst );
|
|
|
}
|
|
|
|
|
|
ms.WriteByte( 0x91 ); // 固定
|
|
|
ms.WriteByte( (byte)tagNames[i].Length ); // 节点的长度值
|
|
|
byte[] nameBytes = Encoding.ASCII.GetBytes( tagNames[i] );
|
|
|
ms.Write( nameBytes, 0, nameBytes.Length );
|
|
|
if (nameBytes.Length % 2 == 1) ms.WriteByte( 0x00 );
|
|
|
|
|
|
if (!string.IsNullOrEmpty( strIndex ))
|
|
|
{
|
|
|
string[] indexs = strIndex.Split( new char[] { ',' }, StringSplitOptions.RemoveEmptyEntries );
|
|
|
for (int j = 0; j < indexs.Length; j++)
|
|
|
{
|
|
|
int index = Convert.ToInt32( indexs[j] );
|
|
|
if (index < 256)
|
|
|
{
|
|
|
ms.WriteByte( 0x28 );
|
|
|
ms.WriteByte( (byte)index );
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
ms.WriteByte( 0x29 );
|
|
|
ms.WriteByte( 0x00 );
|
|
|
ms.WriteByte( BitConverter.GetBytes( index )[0] );
|
|
|
ms.WriteByte( BitConverter.GetBytes( index )[1] );
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
return ms.ToArray( );
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 将CommandSpecificData的命令，打包成可发送的数据指令
|
|
|
/// </summary>
|
|
|
/// <param name="command">实际的命令暗号</param>
|
|
|
/// <param name="session">当前会话的id</param>
|
|
|
/// <param name="commandSpecificData">CommandSpecificData命令</param>
|
|
|
/// <returns>最终可发送的数据命令</returns>
|
|
|
public static byte[] PackRequestHeader( ushort command, uint session, byte[] commandSpecificData )
|
|
|
{
|
|
|
byte[] buffer = new byte[commandSpecificData.Length + 24];
|
|
|
Array.Copy( commandSpecificData, 0, buffer, 24, commandSpecificData.Length );
|
|
|
BitConverter.GetBytes( command ).CopyTo( buffer, 0 );
|
|
|
BitConverter.GetBytes( session ).CopyTo( buffer, 4 );
|
|
|
BitConverter.GetBytes( (ushort)commandSpecificData.Length ).CopyTo( buffer, 2 );
|
|
|
return buffer;
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 打包生成一个请求读取数据的节点信息，CIP指令信息
|
|
|
/// </summary>
|
|
|
/// <param name="address">地址</param>
|
|
|
/// <param name="length">指代数组的长度</param>
|
|
|
/// <returns>CIP的指令信息</returns>
|
|
|
public static byte[] PackRequsetRead( string address, int length )
|
|
|
{
|
|
|
byte[] buffer = new byte[1024];
|
|
|
int offect = 0;
|
|
|
buffer[offect++] = CIP_READ_DATA;
|
|
|
offect++;
|
|
|
|
|
|
byte[] requestPath = BuildRequestPathCommand( address );
|
|
|
requestPath.CopyTo( buffer, offect );
|
|
|
offect += requestPath.Length;
|
|
|
|
|
|
buffer[1] = (byte)((offect - 2) / 2);
|
|
|
buffer[offect++] = BitConverter.GetBytes( length )[0];
|
|
|
buffer[offect++] = BitConverter.GetBytes( length )[1];
|
|
|
|
|
|
byte[] data = new byte[offect];
|
|
|
Array.Copy( buffer, 0, data, 0, offect );
|
|
|
return data;
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 打包生成一个请求读取数据片段的节点信息，CIP指令信息
|
|
|
/// </summary>
|
|
|
/// <param name="address">节点的名称</param>
|
|
|
/// <param name="startIndex">起始的索引位置</param>
|
|
|
/// <param name="length">读取的数据长度，对于short来说，最大是489长度</param>
|
|
|
/// <returns>CIP的指令信息</returns>
|
|
|
public static byte[] PackRequestReadSegment(string address, int startIndex, int length )
|
|
|
{
|
|
|
byte[] buffer = new byte[1024];
|
|
|
int offect = 0;
|
|
|
buffer[offect++] = CIP_READ_FRAGMENT;
|
|
|
offect++;
|
|
|
|
|
|
|
|
|
byte[] requestPath = BuildRequestPathCommand( address + (address.EndsWith( "]" ) ? string.Empty : $"[{startIndex}]") );
|
|
|
requestPath.CopyTo( buffer, offect );
|
|
|
offect += requestPath.Length;
|
|
|
|
|
|
buffer[1] = (byte)((offect - 2) / 2);
|
|
|
buffer[offect++] = BitConverter.GetBytes( length )[0];
|
|
|
buffer[offect++] = BitConverter.GetBytes( length )[1];
|
|
|
buffer[offect++] = BitConverter.GetBytes( 0 )[0];
|
|
|
buffer[offect++] = BitConverter.GetBytes( 0 )[1];
|
|
|
buffer[offect++] = BitConverter.GetBytes( 0 )[2];
|
|
|
buffer[offect++] = BitConverter.GetBytes( 0 )[3];
|
|
|
|
|
|
byte[] data = new byte[offect];
|
|
|
Array.Copy( buffer, 0, data, 0, offect );
|
|
|
return data;
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 根据指定的数据和类型，生成对应的数据
|
|
|
/// </summary>
|
|
|
/// <param name="address">地址信息</param>
|
|
|
/// <param name="typeCode">数据类型</param>
|
|
|
/// <param name="value">字节值</param>
|
|
|
/// <param name="length">如果节点为数组，就是数组长度</param>
|
|
|
/// <returns>CIP的指令信息</returns>
|
|
|
public static byte[] PackRequestWrite( string address, ushort typeCode, byte[] value, int length = 1 )
|
|
|
{
|
|
|
byte[] buffer = new byte[1024];
|
|
|
int offect = 0;
|
|
|
buffer[offect++] = CIP_WRITE_DATA;
|
|
|
offect++;
|
|
|
|
|
|
byte[] requestPath = BuildRequestPathCommand( address );
|
|
|
requestPath.CopyTo( buffer, offect );
|
|
|
offect += requestPath.Length;
|
|
|
|
|
|
buffer[1] = (byte)((offect - 2) / 2);
|
|
|
|
|
|
buffer[offect++] = BitConverter.GetBytes( typeCode )[0]; // 数据类型
|
|
|
buffer[offect++] = BitConverter.GetBytes( typeCode )[1];
|
|
|
|
|
|
buffer[offect++] = BitConverter.GetBytes( length )[0]; // 固定
|
|
|
buffer[offect++] = BitConverter.GetBytes( length )[1];
|
|
|
|
|
|
value.CopyTo( buffer, offect ); // 数值
|
|
|
offect += value.Length;
|
|
|
|
|
|
byte[] data = new byte[offect];
|
|
|
Array.Copy( buffer, 0, data, 0, offect );
|
|
|
return data;
|
|
|
}
|
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
/// 生成读取直接节点数据信息的内容
|
|
|
/// </summary>
|
|
|
/// <param name="slot">PLC所在的槽号</param>
|
|
|
/// <param name="cips">cip指令内容</param>
|
|
|
/// <returns>最终的指令值</returns>
|
|
|
public static byte[] PackCommandSpecificData( byte slot, params byte[][] cips )
|
|
|
{
|
|
|
System.IO.MemoryStream ms = new System.IO.MemoryStream( );
|
|
|
ms.WriteByte( 0x00 );
|
|
|
ms.WriteByte( 0x00 );
|
|
|
ms.WriteByte( 0x00 );
|
|
|
ms.WriteByte( 0x00 );
|
|
|
ms.WriteByte( 0x01 ); // 超时
|
|
|
ms.WriteByte( 0x00 );
|
|
|
ms.WriteByte( 0x02 ); // 项数
|
|
|
ms.WriteByte( 0x00 );
|
|
|
ms.WriteByte( 0x00 ); // 连接的地址项
|
|
|
ms.WriteByte( 0x00 );
|
|
|
ms.WriteByte( 0x00 ); // 长度
|
|
|
ms.WriteByte( 0x00 );
|
|
|
ms.WriteByte( 0xB2 ); // 连接的项数
|
|
|
ms.WriteByte( 0x00 );
|
|
|
ms.WriteByte( 0x00 ); // 后面数据包的长度，等全部生成后在赋值
|
|
|
ms.WriteByte( 0x00 );
|
|
|
|
|
|
ms.WriteByte( 0x52 ); // 服务
|
|
|
ms.WriteByte( 0x02 ); // 请求路径大小
|
|
|
ms.WriteByte( 0x20 ); // 请求路径
|
|
|
ms.WriteByte( 0x06 );
|
|
|
ms.WriteByte( 0x24 );
|
|
|
ms.WriteByte( 0x01 );
|
|
|
ms.WriteByte( 0x0A ); // 超时时间
|
|
|
ms.WriteByte( 0xF0 );
|
|
|
ms.WriteByte( 0x00 ); // CIP指令长度
|
|
|
ms.WriteByte( 0x00 );
|
|
|
|
|
|
int count = 0;
|
|
|
if (cips.Length == 1)
|
|
|
{
|
|
|
ms.Write( cips[0], 0, cips[0].Length );
|
|
|
count += cips[0].Length;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
ms.WriteByte( 0x0A ); // 固定
|
|
|
ms.WriteByte( 0x02 );
|
|
|
ms.WriteByte( 0x20 );
|
|
|
ms.WriteByte( 0x02 );
|
|
|
ms.WriteByte( 0x24 );
|
|
|
ms.WriteByte( 0x01 );
|
|
|
count += 8;
|
|
|
|
|
|
ms.Write( BitConverter.GetBytes( (ushort)cips.Length ), 0, 2 ); // 写入项数
|
|
|
ushort offect = (ushort)(0x02 + 2 * cips.Length);
|
|
|
count += 2 * cips.Length;
|
|
|
|
|
|
for (int i = 0; i < cips.Length; i++)
|
|
|
{
|
|
|
ms.Write( BitConverter.GetBytes( offect ), 0, 2 );
|
|
|
offect = (ushort)(offect + cips[i].Length);
|
|
|
}
|
|
|
|
|
|
for (int i = 0; i < cips.Length; i++)
|
|
|
{
|
|
|
ms.Write( cips[i], 0, cips[i].Length );
|
|
|
count += cips[i].Length;
|
|
|
}
|
|
|
}
|
|
|
ms.WriteByte( 0x01 ); // Path Size
|
|
|
ms.WriteByte( 0x00 );
|
|
|
ms.WriteByte( 0x01 ); // port
|
|
|
ms.WriteByte( slot );
|
|
|
|
|
|
byte[] data = ms.ToArray( );
|
|
|
ms.Dispose( );
|
|
|
BitConverter.GetBytes( (short)count ).CopyTo( data, 24 );
|
|
|
data[14] = BitConverter.GetBytes( (short)(data.Length - 16) )[0];
|
|
|
data[15] = BitConverter.GetBytes( (short)(data.Length - 16) )[1];
|
|
|
return data;
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 从PLC反馈的数据解析
|
|
|
/// </summary>
|
|
|
/// <param name="response">PLC的反馈数据</param>
|
|
|
/// <param name="isRead">是否是返回的操作</param>
|
|
|
/// <returns>带有结果标识的最终数据</returns>
|
|
|
public static OperateResult<byte[]> ExtractActualData( byte[] response, bool isRead )
|
|
|
{
|
|
|
|
|
|
List<byte> data = new List<byte>( );
|
|
|
|
|
|
int offect = 38;
|
|
|
ushort count = BitConverter.ToUInt16( response, 38 ); // 剩余总字节长度，在剩余的字节里，有可能是一项数据，也有可能是多项
|
|
|
if (BitConverter.ToInt32( response, 40 ) == 0x8A)
|
|
|
{
|
|
|
// 多项数据
|
|
|
offect = 44;
|
|
|
int dataCount = BitConverter.ToUInt16( response, offect );
|
|
|
for (int i = 0; i < dataCount; i++)
|
|
|
{
|
|
|
int offectStart = BitConverter.ToUInt16( response, offect + 2 + i * 2 ) + offect;
|
|
|
int offectEnd = (i == dataCount - 1) ? response.Length : (BitConverter.ToUInt16( response, (offect + 4 + i * 2) ) + offect);
|
|
|
ushort err = BitConverter.ToUInt16( response, offectStart + 2 );
|
|
|
switch (err)
|
|
|
{
|
|
|
case 0x04: return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.AllenBradley04 };
|
|
|
case 0x05: return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.AllenBradley05 };
|
|
|
case 0x06:
|
|
|
{
|
|
|
// 06的错误码通常是数据长度太多了
|
|
|
// CC是符号返回，D2是符号片段返回
|
|
|
if (response[offect + 2] == 0xD2 || response[offect + 2] == 0xCC)
|
|
|
return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.AllenBradley06 };
|
|
|
break;
|
|
|
}
|
|
|
case 0x0A: return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.AllenBradley0A };
|
|
|
case 0x13: return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.AllenBradley13 };
|
|
|
case 0x1C: return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.AllenBradley1C };
|
|
|
case 0x1E: return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.AllenBradley1E };
|
|
|
case 0x26: return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.AllenBradley26 };
|
|
|
case 0x00: break;
|
|
|
default: return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.UnknownError };
|
|
|
}
|
|
|
|
|
|
if (isRead)
|
|
|
{
|
|
|
for (int j = offectStart + 6; j < offectEnd; j++)
|
|
|
{
|
|
|
data.Add( response[j] );
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
// 单项数据
|
|
|
byte err = response[offect + 4];
|
|
|
switch (err)
|
|
|
{
|
|
|
case 0x04: return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.AllenBradley04 };
|
|
|
case 0x05: return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.AllenBradley05 };
|
|
|
case 0x06:
|
|
|
{
|
|
|
if (response[offect + 2] == 0xD2 || response[offect + 2] == 0xCC)
|
|
|
return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.AllenBradley06 };
|
|
|
break;
|
|
|
}
|
|
|
case 0x0A: return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.AllenBradley0A };
|
|
|
case 0x13: return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.AllenBradley13 };
|
|
|
case 0x1C: return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.AllenBradley1C };
|
|
|
case 0x1E: return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.AllenBradley1E };
|
|
|
case 0x26: return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.AllenBradley26 };
|
|
|
case 0x00: break;
|
|
|
default: return new OperateResult<byte[]>( ) { ErrorCode = err, Message = StringResources.Language.UnknownError };
|
|
|
}
|
|
|
|
|
|
if (isRead)
|
|
|
{
|
|
|
for (int i = offect + 8; i < offect + 2 + count; i++)
|
|
|
{
|
|
|
data.Add( response[i] );
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
return OperateResult.CreateSuccessResult( data.ToArray( ) );
|
|
|
}
|
|
|
|
|
|
}
|
|
|
}
|