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using HslCommunication.BasicFramework;
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using HslCommunication.Core;
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using HslCommunication.Serial;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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namespace HslCommunication.Profinet.Keyence
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{
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/// <summary>
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/// 基恩士KV上位链路串口通信的对象,适用于Nano系列串口数据,以及L20V通信模块
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/// </summary>
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/// <remarks>
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/// 地址的输入的格式说明如下：
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/// <list type="table">
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/// <listheader>
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/// <term>地址名称</term>
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/// <term>地址代号</term>
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/// <term>示例</term>
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/// <term>地址进制</term>
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/// <term>字操作</term>
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/// <term>位操作</term>
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/// <term>KV-7500/7300</term>
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/// <term>KV-5500/5000/3000</term>
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/// <term>KV Nano</term>
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/// </listheader>
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/// <item>
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/// <term>输入继电器</term>
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/// <term>X</term>
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/// <term>X100,X1A0</term>
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/// <term>16</term>
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/// <term>√</term>
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/// <term>√</term>
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/// <term>R00000~R99915</term>
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/// <term>R00000~R99915</term>
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/// <term>R00000～R59915</term>
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/// </item>
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/// <item>
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/// <term>输出继电器</term>
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/// <term>Y</term>
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/// <term>Y100,Y1A0</term>
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/// <term>16</term>
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/// <term>√</term>
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/// <term>√</term>
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/// <term>R00000~R99915</term>
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/// <term>R00000~R99915</term>
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/// <term>R00000～R59915</term>
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/// </item>
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/// <item>
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/// <term>内部辅助继电器</term>
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/// <term>MR</term>
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/// <term>MR100,M200</term>
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/// <term>10</term>
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/// <term>√</term>
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/// <term>√</term>
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/// <term>MR00000~MR99915</term>
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/// <term>MR00000~MR99915</term>
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/// <term>MR00000～MR59915</term>
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/// </item>
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/// <item>
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/// <term>数据存储器</term>
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/// <term>DM</term>
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/// <term>DM100,DM200</term>
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/// <term>10</term>
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/// <term>√</term>
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/// <term>×</term>
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/// <term>DM00000~DM65534</term>
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/// <term>DM00000~DM65534</term>
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/// <term>DM00000～DM32767</term>
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/// </item>
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/// <item>
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/// <term>定时器（当前值）</term>
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/// <term>TN</term>
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/// <term>TN100,TN200</term>
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/// <term>10</term>
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/// <term>√</term>
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/// <term>×</term>
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/// <term>T0000~T3999</term>
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/// <term>T0000~T3999</term>
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/// <term>T000～T511</term>
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/// </item>
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/// <item>
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/// <term>定时器（接点）</term>
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/// <term>TS</term>
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/// <term>TS100,TS200</term>
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/// <term>10</term>
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/// <term>√</term>
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/// <term>√</term>
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/// <term>T0000~T3999</term>
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/// <term>T0000~T3999</term>
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/// <term>T000～T511</term>
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/// </item>
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/// <item>
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/// <term>计数器（当前值）</term>
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/// <term>CN</term>
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/// <term>CN100,CN200</term>
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/// <term>10</term>
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/// <term>√</term>
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/// <term>×</term>
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/// <term>C0000~C3999</term>
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/// <term>C0000~C3999</term>
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/// <term>C000～C255</term>
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/// </item>
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/// <item>
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/// <term>计数器（接点）</term>
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/// <term>CS</term>
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/// <term>CS100,CS200</term>
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/// <term>10</term>
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/// <term>√</term>
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/// <term>√</term>
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/// <term>C0000~C3999</term>
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/// <term>C0000~C3999</term>
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/// <term>C000～C255</term>
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/// </item>
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/// </list>
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/// </remarks>
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public class KeyenceNanoSerial : SerialDeviceBase<KeyenceNanoByteTransform>
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{
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#region Constructor
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/// <summary>
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/// 实例化基恩士的串口协议的通讯对象
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/// </summary>
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public KeyenceNanoSerial()
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{
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WordLength = 1;
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}
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/// <summary>
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/// 初始化后建立通讯连接
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/// </summary>
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/// <returns>是否初始化成功</returns>
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protected override OperateResult InitializationOnOpen()
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{
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// 建立通讯连接{CR/r}
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var result = ReadBase(_buildConnectCmd);
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if (!result.IsSuccess) return result;
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return OperateResult.CreateSuccessResult();
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}
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#endregion
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#region Check Response
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/// <summary>
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/// 校验读取返回数据状态
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/// </summary>
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/// <param name="ack"></param>
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/// <returns></returns>
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private OperateResult CheckPlcReadResponse(byte[] ack)
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{
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if (ack.Length == 0) return new OperateResult(StringResources.Language.MelsecFxReceiveZore);
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if (ack[0] == 0x45) return new OperateResult(StringResources.Language.MelsecFxAckWrong + " Actual: " + SoftBasic.ByteToHexString(ack, ' '));
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if ((ack[ack.Length - 1]!=0x0A) &&(ack[ack.Length -2]!=0x0D)) return new OperateResult(StringResources.Language.MelsecFxAckWrong + " Actual: " + SoftBasic.ByteToHexString(ack, ' '));
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return OperateResult.CreateSuccessResult();
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}
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/// <summary>
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/// 校验写入返回数据状态
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/// </summary>
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/// <param name="ack"></param>
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/// <returns></returns>
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private OperateResult CheckPlcWriteResponse(byte[] ack)
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{
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if (ack.Length == 0) return new OperateResult(StringResources.Language.MelsecFxReceiveZore);
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return OperateResult.CreateSuccessResult();
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}
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#endregion
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#region Read Support
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/// <summary>
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/// 建立读取指令
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/// </summary>
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/// <param name="address">软元件地址</param>
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/// <param name="length">读取长度</param>
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/// <returns>是否建立成功</returns>
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private OperateResult<byte[]> BuildReadCommand(string address, ushort length)
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{
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var addressResult = KvCalculateWordStartAddress(address);
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if (!addressResult.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(addressResult);
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ushort startAddress = addressResult.Content;
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StringBuilder StrCommand = new StringBuilder();
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StrCommand.Append("RDS"); //批量读取
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StrCommand.Append(" "); //空格符
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StrCommand.Append(address); //软元件地址，如DM100
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StrCommand.Append(" "); //空格符
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StrCommand.Append(length.ToString());
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StrCommand.Append("\r"); //结束符
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byte[] _PLCCommand = Encoding.ASCII.GetBytes(StrCommand.ToString().ToCharArray());
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return OperateResult.CreateSuccessResult(_PLCCommand);
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}
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/// <summary>
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/// 读取设备的short类型的数据
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/// </summary>
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/// <param name="address">起始地址</param>
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/// <returns>带成功标志的结果数据对象</returns>
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public new OperateResult<short> ReadInt16(string address)
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{
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var result= ReadInt16(address, 1);
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if (!result.IsSuccess) return OperateResult.CreateFailedResult<short>(result);
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return OperateResult.CreateSuccessResult(result.Content[0]);
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}
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/// <summary>
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/// 读取设备的short类型的数组
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/// </summary>
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/// <param name="address">起始地址</param>
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/// <param name="length">数组长度</param>
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/// <returns>带成功标志的结果数据对象</returns>
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public new OperateResult<short[]> ReadInt16(string address, ushort length)
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{
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address += ".S";
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return base.ReadInt16(address, length);
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}
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/// <summary>
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/// 读取设备的ushort数据类型的数据
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/// </summary>
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/// <param name="address">起始地址</param>
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/// <returns>带成功标志的结果数据对象</returns>
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public new OperateResult<ushort> ReadUInt16(string address)
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{
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var result = ReadUInt16(address, 1);
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if (!result.IsSuccess) return OperateResult.CreateFailedResult<ushort>(result);
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return OperateResult.CreateSuccessResult(result.Content[0]);
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}
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/// <summary>
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/// 读取设备的ushort类型的数组
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/// </summary>
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/// <param name="address">起始地址</param>
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/// <param name="length">数组长度</param>
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/// <returns>带成功标志的结果数据对象</returns>
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public new OperateResult<ushort[]> ReadUInt16(string address, ushort length)
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{
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address += ".U";
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return base.ReadUInt16(address, length);
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}
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/// <summary>
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/// 读取设备的int类型的数据
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/// </summary>
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/// <param name="address">起始地址</param>
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/// <returns>带成功标志的结果数据对象</returns>
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public new OperateResult<int> ReadInt32(string address)
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{
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var result = ReadInt32(address, 1);
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if (!result.IsSuccess) return OperateResult.CreateFailedResult<int>(result);
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return OperateResult.CreateSuccessResult(result.Content[0]);
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}
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/// <summary>
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/// 读取设备的int类型的数组
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/// </summary>
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/// <param name="address">起始地址</param>
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/// <param name="length">数组长度</param>
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/// <returns>带成功标志的结果数据对象</returns>
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public new OperateResult<int[]> ReadInt32(string address, ushort length)
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{
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address += ".L";
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return base.ReadInt32(address, length);
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}
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/// <summary>
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/// 读取设备的uint类型的数据
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/// </summary>
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/// <param name="address">起始地址</param>
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/// <returns>带成功标志的结果数据对象</returns>
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public new OperateResult<uint> ReadUInt32(string address)
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{
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var result = ReadUInt32(address, 1);
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if (!result.IsSuccess) return OperateResult.CreateFailedResult<uint>(result);
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return OperateResult.CreateSuccessResult(result.Content[0]);
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}
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/// <summary>
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/// 读取设备的uint类型的数组
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/// </summary>
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/// <param name="address">起始地址</param>
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/// <param name="length">数组长度</param>
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/// <returns>带成功标志的结果数据对象</returns>
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public new OperateResult<uint[]> ReadUInt32(string address, ushort length)
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{
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address += ".D";
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return base.ReadUInt32(address, length);
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}
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/// <summary>
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/// 从PLC中读取想要的数据，返回读取结果
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/// </summary>
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public override OperateResult<byte[]> Read(string address, ushort length)
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{
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// 获取指令
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OperateResult<byte[]> command = BuildReadCommand(address, length);
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if (!command.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(command);
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// 核心交互
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OperateResult<byte[]> read = ReadBase(command.Content);
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if (!read.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(read);
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// 反馈检查
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OperateResult ackResult = CheckPlcReadResponse(read.Content);
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if (!ackResult.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(ackResult);
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// 数据提炼
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return ExtractActualData(read.Content);
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}
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/// <summary>
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/// 成批读取Bool值
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/// </summary>
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/// <param name="address">地址信息</param>
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/// <param name="length">数组长度</param>
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/// <returns>带成功标志的结果数据对象</returns>
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public OperateResult<bool[]> ReadBool(string address, ushort length)
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{
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var strBuffer = Encoding.Default.GetString(Read(address, length).Content).Split(' ');
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var result = new bool[strBuffer.Length];
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for (int i = 0; i < length; i++)
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{
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result[i] = strBuffer[i] == "1" ? true : false;
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}
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return OperateResult.CreateSuccessResult(result);
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}
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/// <summary>
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/// 读取单个Bool值
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/// </summary>
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/// <param name="address">地址信息</param>
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/// <returns>带成功标志的结果数据对象</returns>
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public OperateResult<bool> ReadBool(string address)
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{
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OperateResult<bool[]> read = ReadBool(address, 1);
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if (!read.IsSuccess) return OperateResult.CreateFailedResult<bool>(read);
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return OperateResult.CreateSuccessResult<bool>(read.Content[0]);
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}
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#endregion
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#region Write Support
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/// <summary>
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/// 写入转换后的数据值
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/// </summary>
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/// <param name="address">软元件地址</param>
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/// <param name="value">转换后的Byte[]数据</param>
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/// <returns>是否成功写入的结果</returns>
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public override OperateResult Write(string address, byte[] value)
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{
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// 获取写入
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OperateResult<byte[]> command = BuildWriteCommand(address, value);
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if (!command.IsSuccess) return command;
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// 核心交互
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OperateResult<byte[]> read = ReadBase(command.Content);
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if (!read.IsSuccess) return read;
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// 结果验证
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OperateResult checkResult = CheckPlcWriteResponse(read.Content);
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if (!checkResult.IsSuccess) return checkResult;
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return OperateResult.CreateSuccessResult();
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}
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/// <summary>
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/// 写入位数据的通断，支持的类型参考文档说明
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/// </summary>
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/// <param name="address">地址信息</param>
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/// <param name="value">是否为通</param>
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/// <returns>是否写入成功的结果对象</returns>
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public OperateResult Write(string address, bool value)
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{
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//value=true时:指令尾部命令为" 1 1";value=false:指令尾部命令为" 1 0";
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var byteTemp = value ? new byte[] {0x20, 0x31,0x20,0x31 } : new byte[] { 0x20, 0x31, 0x20, 0x30 };
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// 先获取指令
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OperateResult<byte[]> command = BuildWriteCommand(address, byteTemp);
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if (!command.IsSuccess) return command;
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// 和串口进行核心的数据交互
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OperateResult<byte[]> read = ReadBase(command.Content);
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if (!read.IsSuccess) return read;
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// 检查结果是否正确
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OperateResult checkResult = CheckPlcWriteResponse(read.Content);
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if (!checkResult.IsSuccess) return checkResult;
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return OperateResult.CreateSuccessResult();
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}
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/// <summary>
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/// 建立写入指令
|
|
|
/// </summary>
|
|
|
/// <param name="address">软元件地址</param>
|
|
|
/// <param name="value">转换后的数据</param>
|
|
|
/// <returns></returns>
|
|
|
private OperateResult<byte[]> BuildWriteCommand(string address, byte[] value)
|
|
|
{
|
|
|
var addressResult = KvCalculateWordStartAddress(address);
|
|
|
if (!addressResult.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(addressResult);
|
|
|
|
|
|
ushort startAddress = addressResult.Content;
|
|
|
|
|
|
StringBuilder StrCommandHead = new StringBuilder();
|
|
|
StrCommandHead.Append("WRS"); //批量读取
|
|
|
StrCommandHead.Append(" "); //空格符
|
|
|
StrCommandHead.Append(address); //软元件地址，如DM100；可加格式后缀，如DM100.S（表示有符号16位十进制）
|
|
|
|
|
|
|
|
|
byte[] _CommandHead = Encoding.ASCII.GetBytes(StrCommandHead.ToString().ToCharArray());
|
|
|
byte[] result = new byte[value.Length + _CommandHead.Length + 1];
|
|
|
Array.Copy(_CommandHead, result, _CommandHead.Length);
|
|
|
Array.Copy(value, 0, result, _CommandHead.Length, value.Length);
|
|
|
result[result.Length - 1] = 0x0d;
|
|
|
return OperateResult.CreateSuccessResult(result); // Return
|
|
|
}
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
#region Private Member
|
|
|
|
|
|
private byte[] _buildConnectCmd = new byte[3] { 0x43, 0x52, 0x0d }; // 建立通讯连接{CR/r}
|
|
|
private byte[] _writeOkReturn = new byte[] { 0x4f, 0x4b, 0x0d, 0x0a }; // 写入数据成功返回指令
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
#region Object Override
|
|
|
|
|
|
/// <summary>
|
|
|
/// 返回表示当前对象的字符串
|
|
|
/// </summary>
|
|
|
/// <returns>字符串信息</returns>
|
|
|
public override string ToString( )
|
|
|
{
|
|
|
return $"KeyenceNanoSerial[{PortName}:{BaudRate}]";
|
|
|
}
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
#region Static Method Helper
|
|
|
|
|
|
/// <summary>
|
|
|
/// 从PLC反馈的数据进行提炼操作
|
|
|
/// </summary>
|
|
|
/// <param name="response">PLC反馈的真实数据</param>
|
|
|
/// <returns>数据提炼后的真实数据</returns>
|
|
|
public static OperateResult<byte[]> ExtractActualData(byte[] response)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
string strResponse = Encoding.Default.GetString(response);
|
|
|
byte[] data = new byte[response.Length - 2];
|
|
|
Array.Copy(response, data, response.Length - 2);
|
|
|
return OperateResult.CreateSuccessResult(data);
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new OperateResult<byte[]>()
|
|
|
{
|
|
|
Message = "Extract Msg：" + ex.Message + Environment.NewLine +
|
|
|
"Data: " + BasicFramework.SoftBasic.ByteToHexString(response)
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 返回读取的地址及长度信息
|
|
|
/// </summary>
|
|
|
/// <param name="address">读取的地址信息</param>
|
|
|
/// <returns>带起始地址的结果对象</returns>
|
|
|
private static OperateResult<ushort> KvCalculateWordStartAddress(string address)
|
|
|
{
|
|
|
// 初步解析，失败就返回
|
|
|
var analysis = KvAnalysisAddress(address);
|
|
|
if (!analysis.IsSuccess) return OperateResult.CreateFailedResult<ushort>(analysis);
|
|
|
// 二次解析
|
|
|
ushort startAddress = analysis.Content2;
|
|
|
return OperateResult.CreateSuccessResult(startAddress);
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 解析数据地址成不同的Keyence地址类型
|
|
|
/// </summary>
|
|
|
/// <param name="address">数据地址</param>
|
|
|
/// <returns>地址结果对象</returns>
|
|
|
private static OperateResult<KeyenceDataType, ushort> KvAnalysisAddress(string address)
|
|
|
{
|
|
|
var result = new OperateResult<KeyenceDataType, ushort>();
|
|
|
try
|
|
|
{
|
|
|
//删除软元件后缀，如DM100.L—>DM100
|
|
|
if (address.Contains("."))
|
|
|
{
|
|
|
address = address.Substring(0, address.Length - 2);
|
|
|
}
|
|
|
switch (address[0])
|
|
|
{
|
|
|
case 'M':
|
|
|
case 'm':
|
|
|
{
|
|
|
result.Content1 = KeyenceDataType.M;
|
|
|
|
|
|
if (address[1] == 'R' || address[1] == 'r')
|
|
|
{
|
|
|
result.Content2 = Convert.ToUInt16(address.Substring(2), KeyenceDataType.M.FromBase);
|
|
|
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
result.Content2 = Convert.ToUInt16(address.Substring(1), KeyenceDataType.M.FromBase);
|
|
|
}
|
|
|
break;
|
|
|
}
|
|
|
case 'R':
|
|
|
case 'r':
|
|
|
{
|
|
|
result.Content1 = KeyenceDataType.R;
|
|
|
|
|
|
result.Content2 = Convert.ToUInt16(address.Substring(1), KeyenceDataType.R.FromBase);
|
|
|
|
|
|
break;
|
|
|
}
|
|
|
case 'X':
|
|
|
case 'x':
|
|
|
{
|
|
|
result.Content1 = KeyenceDataType.X;
|
|
|
result.Content2 = Convert.ToUInt16(address.Substring(1), 8);
|
|
|
break;
|
|
|
}
|
|
|
case 'Y':
|
|
|
case 'y':
|
|
|
{
|
|
|
result.Content1 = KeyenceDataType.Y;
|
|
|
result.Content2 = Convert.ToUInt16(address.Substring(1), 8);
|
|
|
break;
|
|
|
}
|
|
|
case 'D':
|
|
|
case 'd':
|
|
|
{
|
|
|
result.Content1 = KeyenceDataType.D;
|
|
|
if (address[1] == 'M' || address[1] == 'm')
|
|
|
{
|
|
|
result.Content2 = Convert.ToUInt16(address.Substring(2), KeyenceDataType.D.FromBase);
|
|
|
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
result.Content2 = Convert.ToUInt16(address.Substring(1), KeyenceDataType.D.FromBase);
|
|
|
}
|
|
|
break;
|
|
|
}
|
|
|
case 'T':
|
|
|
case 't':
|
|
|
{
|
|
|
if (address[1] == 'N' || address[1] == 'n')
|
|
|
{
|
|
|
result.Content1 = KeyenceDataType.TN;
|
|
|
result.Content2 = Convert.ToUInt16(address.Substring(2), KeyenceDataType.TN.FromBase);
|
|
|
break;
|
|
|
}
|
|
|
else if (address[1] == 'S' || address[1] == 's')
|
|
|
{
|
|
|
result.Content1 = KeyenceDataType.TS;
|
|
|
result.Content2 = Convert.ToUInt16(address.Substring(2), KeyenceDataType.TS.FromBase);
|
|
|
break;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
throw new Exception(StringResources.Language.NotSupportedDataType);
|
|
|
}
|
|
|
}
|
|
|
case 'C':
|
|
|
case 'c':
|
|
|
{
|
|
|
if (address[1] == 'N' || address[1] == 'n')
|
|
|
{
|
|
|
result.Content1 = KeyenceDataType.CN;
|
|
|
result.Content2 = Convert.ToUInt16(address.Substring(2), KeyenceDataType.CN.FromBase);
|
|
|
break;
|
|
|
}
|
|
|
else if (address[1] == 'S' || address[1] == 's')
|
|
|
{
|
|
|
result.Content1 = KeyenceDataType.CS;
|
|
|
result.Content2 = Convert.ToUInt16(address.Substring(2), KeyenceDataType.CS.FromBase);
|
|
|
break;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
throw new Exception(StringResources.Language.NotSupportedDataType);
|
|
|
}
|
|
|
}
|
|
|
default: throw new Exception(StringResources.Language.NotSupportedDataType);
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
result.Message = ex.Message;
|
|
|
return result;
|
|
|
}
|
|
|
|
|
|
result.IsSuccess = true;
|
|
|
return result;
|
|
|
}
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
}
|
|
|
}
|