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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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using HslCommunication.Core;
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using HslCommunication.Core.IMessage;
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using HslCommunication.Core.Net;
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namespace HslCommunication.Profinet.Melsec
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{
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/// <summary>
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/// 三菱PLC通讯协议，采用A兼容1E帧协议实现，使用二进制码通讯，请根据实际型号来进行选取
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/// </summary>
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/// <remarks>
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/// 本类适用于的PLC列表
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/// <list type="number">
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/// <item>FX3U(C) PLC 测试人sandy_liao</item>
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/// </list>
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/// 数据地址支持的格式如下：
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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>备注</term>
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/// </listheader>
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/// <item>
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/// <term>内部继电器</term>
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/// <term>M</term>
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/// <term>M100,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></term>
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/// </item>
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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>X10,X20</term>
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/// <term>8</term>
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/// <term>√</term>
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/// <term>√</term>
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/// <term></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>Y10,Y20</term>
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/// <term>8</term>
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/// <term>√</term>
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/// <term>√</term>
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/// <term></term>
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/// </item>
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/// <item>
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/// <term>步进继电器</term>
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/// <term>S</term>
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/// <term>S100,S200</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></term>
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/// </item>
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/// <item>
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/// <term>数据寄存器</term>
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/// <term>D</term>
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/// <term>D1000,D2000</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></term>
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/// </item>
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/// <item>
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/// <term>文件寄存器</term>
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/// <term>R</term>
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/// <term>R100,R200</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></term>
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/// </item>
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/// </list>
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/// <note type="important">本通讯类由CKernal推送，感谢</note>
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/// </remarks>
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public class MelsecA1ENet : NetworkDeviceBase<MelsecA1EBinaryMessage, RegularByteTransform>
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{
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#region Constructor
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/// <summary>
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/// 实例化三菱的A兼容1E帧协议的通讯对象
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/// </summary>
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public MelsecA1ENet()
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{
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WordLength = 1;
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}
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/// <summary>
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/// 实例化一个三菱的A兼容1E帧协议的通讯对象
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/// </summary>
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/// <param name="ipAddress">PLC的Ip地址</param>
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/// <param name="port">PLC的端口</param>
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public MelsecA1ENet(string ipAddress, int port)
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{
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WordLength = 1;
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IpAddress = ipAddress;
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Port = port;
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}
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#endregion
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#region Public Member
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/// <summary>
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/// PLC编号
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/// </summary>
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public byte PLCNumber { get; set; } = 0xFF;
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#endregion
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#region Read Support
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/// <summary>
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/// 从三菱PLC中读取想要的数据，返回读取结果
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/// </summary>
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/// <param name="address">读取地址，格式为"M100","D100","W1A0"</param>
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/// <param name="length">读取的数据长度，字最大值960，位最大值7168</param>
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/// <returns>带成功标志的结果数据对象</returns>
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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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var command = BuildReadCommand(address, length, false, PLCNumber);
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if (!command.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(command);
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// 核心交互
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var read = ReadFromCoreServer(command.Content);
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if (!read.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(read);
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// 错误代码验证
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if (read.Content[1] != 0) return new OperateResult<byte[]>(read.Content[1], StringResources.Language.MelsecPleaseReferToManulDocument);
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// 数据解析，需要传入是否使用位的参数
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return ExtractActualData(read.Content, false);
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}
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/// <summary>
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/// 从三菱PLC中批量读取位软元件，返回读取结果
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/// </summary>
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/// <param name="address">起始地址</param>
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/// <param name="length">读取的长度</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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// 获取指令
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var command = BuildReadCommand( address, length, true, PLCNumber );
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if (!command.IsSuccess) return OperateResult.CreateFailedResult<bool[]>( command );
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// 核心交互
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var read = ReadFromCoreServer( command.Content );
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if (!read.IsSuccess) return OperateResult.CreateFailedResult<bool[]>( read );
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// 错误代码验证
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if (read.Content[1] != 0) return new OperateResult<bool[]>( read.Content[1], StringResources.Language.MelsecPleaseReferToManulDocument );
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// 数据解析，需要传入是否使用位的参数
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var extract = ExtractActualData( read.Content, true );
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if(!extract.IsSuccess) return OperateResult.CreateFailedResult<bool[]>( extract );
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// 转化bool数组
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return OperateResult.CreateSuccessResult( extract.Content.Select( m => m == 0x01 ).Take( length ).ToArray( ) );
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}
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/// <summary>
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/// 从三菱PLC中批量读取位软元件，返回读取结果
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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 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 Override
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/// <summary>
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/// 向PLC写入数据，数据格式为原始的字节类型
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/// </summary>
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/// <param name="address">初始地址</param>
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/// <param name="value">原始的字节数据</param>
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/// <returns>返回写入结果</returns>
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public override OperateResult Write( string address, byte[] value )
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{
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// 解析指令
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OperateResult<byte[]> command = BuildWriteCommand( address, value, PLCNumber );
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if (!command.IsSuccess) return command;
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// 核心交互
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OperateResult<byte[]> read = ReadFromCoreServer( command.Content );
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if (!read.IsSuccess) return read;
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// 错误码校验 (在A兼容1E协议中，结束代码后面紧跟的是异常信息的代码)
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if (read.Content[1] != 0) return new OperateResult( read.Content[1], StringResources.Language.MelsecPleaseReferToManulDocument );
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// 成功
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return OperateResult.CreateSuccessResult( );
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}
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#endregion
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#region Write bool[]
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/// <summary>
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/// 向PLC中位软元件写入bool数组，返回值说明，比如你写入M100,values[0]对应M100
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/// </summary>
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/// <param name="address">要写入的数据地址</param>
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/// <param name="value">要写入的实际数据，长度为8的倍数</param>
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/// <returns>返回写入结果</returns>
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public OperateResult Write(string address, bool value)
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{
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return Write(address, new bool[] { value });
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}
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/// <summary>
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/// 向PLC中位软元件写入bool数组，返回值说明，比如你写入M100,values[0]对应M100
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/// </summary>
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/// <param name="address">要写入的数据地址</param>
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/// <param name="values">要写入的实际数据，可以指定任意的长度</param>
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/// <returns>返回写入结果</returns>
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public OperateResult Write(string address, bool[] values)
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{
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return Write(address, values.Select(m => m ? (byte)0x01 : (byte)0x00).ToArray());
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}
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#endregion
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#region Object Override
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/// <summary>
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/// 返回表示当前对象的字符串
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/// </summary>
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/// <returns>字符串信息</returns>
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public override string ToString()
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{
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return $"MelsecA1ENet[{IpAddress}:{Port}]";
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}
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#endregion
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#region Static Method Helper
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/// <summary>
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/// 根据类型地址长度确认需要读取的指令头
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/// </summary>
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/// <param name="address">起始地址</param>
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/// <param name="length">长度</param>
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/// <param name="isBit">指示是否按照位成批的读出</param>
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/// <param name="plcNumber">PLC编号</param>
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/// <returns>带有成功标志的指令数据</returns>
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public static OperateResult<byte[]> BuildReadCommand(string address, ushort length, bool isBit, byte plcNumber )
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{
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var analysis = MelsecHelper.McA1EAnalysisAddress(address);
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if (!analysis.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(analysis);
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// 默认信息----注意：高低字节交错
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// byte subtitle = analysis.Content1.DataType == 0x01 ? (byte)0x00 : (byte)0x01;
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byte subtitle = isBit ? (byte)0x00 : (byte)0x01;
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byte[] _PLCCommand = new byte[12];
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_PLCCommand[ 0] = subtitle; // 副标题
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_PLCCommand[ 1] = plcNumber; // PLC号
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_PLCCommand[ 2] = 0x0A; // CPU监视定时器（L）这里设置为0x00,0x0A，等待CPU返回的时间为10*250ms=2.5秒
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_PLCCommand[ 3] = 0x00; // CPU监视定时器（H）
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_PLCCommand[ 4] = (byte)(analysis.Content2 % 256); // 起始软元件（开始读取的地址）
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_PLCCommand[ 5] = (byte)(analysis.Content2 / 256);
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_PLCCommand[ 6] = 0x00;
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_PLCCommand[ 7] = 0x00;
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_PLCCommand[ 8] = analysis.Content1.DataCode[1]; // 软元件代码（L）
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_PLCCommand[ 9] = analysis.Content1.DataCode[0]; // 软元件代码（H）
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_PLCCommand[10] = (byte)(length % 256); // 软元件点数
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_PLCCommand[11] = 0x00;
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return OperateResult.CreateSuccessResult(_PLCCommand);
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}
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/// <summary>
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/// 根据类型地址以及需要写入的数据来生成指令头
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/// </summary>
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/// <param name="address">起始地址</param>
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/// <param name="value">数据值</param>
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/// <param name="plcNumber">PLC编号</param>
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/// <returns>带有成功标志的指令数据</returns>
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public static OperateResult<byte[]> BuildWriteCommand(string address, byte[] value, byte plcNumber)
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{
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var analysis = MelsecHelper.McA1EAnalysisAddress(address);
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if (!analysis.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(analysis);
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int length = -1;
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if (analysis.Content1.DataType == 1)
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{
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// 按照位写入的操作，数据需要重新计算
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length = value.Length;
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value = MelsecHelper.TransBoolArrayToByteData(value);
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}
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// 默认信息----注意：高低字节交错
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byte subtitle = analysis.Content1.DataType == 0x01 ? (byte)0x02 : (byte)0x03;
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byte[] _PLCCommand = new byte[12 + value.Length];
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_PLCCommand[ 0] = subtitle; // 副标题
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_PLCCommand[ 1] = plcNumber; // PLC号
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_PLCCommand[ 2] = 0x0A; // CPU监视定时器（L）这里设置为0x00,0x0A，等待CPU返回的时间为10*250ms=2.5秒
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_PLCCommand[ 3] = 0x00; // CPU监视定时器（H）
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_PLCCommand[ 4] = (byte)(analysis.Content2 % 256); // 起始软元件（开始读取的地址）
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_PLCCommand[ 5] = (byte)(analysis.Content2 / 256);
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_PLCCommand[ 6] = 0x00;
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_PLCCommand[ 7] = 0x00;
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_PLCCommand[ 8] = analysis.Content1.DataCode[1]; // 软元件代码（L）
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_PLCCommand[ 9] = analysis.Content1.DataCode[0]; // 软元件代码（H）
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_PLCCommand[10] = (byte)(length % 256); // 软元件点数
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_PLCCommand[11] = 0x00;
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// 判断是否进行位操作
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if (analysis.Content1.DataType == 0x01)
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{
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if (length > 0)
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{
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_PLCCommand[10] = (byte)(length % 256); // 软元件点数
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}
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else
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{
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_PLCCommand[10] = (byte)(value.Length * 2 % 256); // 软元件点数
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}
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}
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else
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{
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_PLCCommand[10] = (byte)(value.Length / 2 % 256); // 软元件点数
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}
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Array.Copy(value, 0, _PLCCommand, 12, value.Length); // 将具体的要写入的数据附加到写入命令后面
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return OperateResult.CreateSuccessResult(_PLCCommand);
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}
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/// <summary>
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/// 从PLC反馈的数据中提取出实际的数据内容，需要传入反馈数据，是否位读取
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/// </summary>
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/// <param name="response">反馈的数据内容</param>
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/// <param name="isBit">是否位读取</param>
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/// <returns>解析后的结果对象</returns>
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public static OperateResult<byte[]> ExtractActualData(byte[] response, bool isBit)
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{
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if (isBit)
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{
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// 位读取
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byte[] Content = new byte[(response.Length - 2) * 2];
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for (int i = 2; i < response.Length; i++)
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{
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if ((response[i] & 0x10) == 0x10)
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{
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Content[(i - 2) * 2 + 0] = 0x01;
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}
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if ((response[i] & 0x01) == 0x01)
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{
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Content[(i - 2) * 2 + 1] = 0x01;
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}
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}
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return OperateResult.CreateSuccessResult(Content);
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}
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else
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{
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// 字读取
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byte[] Content = new byte[response.Length - 2];
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Array.Copy(response, 2, Content, 0, Content.Length);
|
|
|
|
|
|
return OperateResult.CreateSuccessResult(Content);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
#endregion
|
|
|
}
|
|
|
}
|
|
|
|