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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.IMessage;
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using HslCommunication.Core.Net;
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using HslCommunication.Core;
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using System.Net.Sockets;
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using HslCommunication.BasicFramework;
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namespace HslCommunication.Profinet.Omron
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{
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/// <summary>
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/// 欧姆龙PLC通讯类，采用Fins-Tcp通信协议实现
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/// </summary>
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/// <remarks>
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/// <note type="important">实例化之后，使用之前，需要初始化三个参数信息，具体见三个参数的说明：<see cref="SA1"/>，<see cref="DA1"/>，<see cref="DA2"/></note>
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/// <br />
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/// <note type="warning">如果在测试的时候报错误码64，经网友 上海-Lex 指点，是因为PLC中产生了报警，如伺服报警，模块错误等产生的，但是数据还是能正常读到的，屏蔽64报警或清除plc错误可解决</note>
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/// 地址支持的列表如下：
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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>DM Area</term>
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/// <term>D</term>
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/// <term>D100,D200</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>CIO Area</term>
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/// <term>C</term>
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/// <term>C100,C200</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>Work Area</term>
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/// <term>W</term>
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/// <term>W100,W200</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>Holding Bit Area</term>
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/// <term>H</term>
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/// <term>H100,H200</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>Auxiliary Bit Area</term>
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/// <term>A</term>
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/// <term>A100,A200</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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/// </remarks>
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/// <example>
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/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="Usage" title="简单的短连接使用" />
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/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="Usage2" title="简单的长连接使用" />
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/// </example>
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public class OmronFinsNet : NetworkDeviceBase<FinsMessage,ReverseWordTransform>
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{
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#region Constructor
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/// <summary>
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/// 实例化一个欧姆龙PLC Fins帧协议的通讯对象
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/// </summary>
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public OmronFinsNet( )
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{
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WordLength = 1;
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ByteTransform.DataFormat = DataFormat.CDAB;
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}
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/// <summary>
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/// 实例化一个欧姆龙PLC Fins帧协议的通讯对象
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/// </summary>
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/// <param name="ipAddress">PLCd的Ip地址</param>
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/// <param name="port">PLC的端口</param>
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public OmronFinsNet( 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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ByteTransform.DataFormat = DataFormat.CDAB;
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}
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#endregion
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#region IpAddress Override
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/// <summary>
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/// 设备的Ip地址信息
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/// </summary>
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public override string IpAddress
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{
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get => base.IpAddress;
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set
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{
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DA1 = Convert.ToByte( value.Substring( value.LastIndexOf( "." ) + 1 ) );
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base.IpAddress = value;
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}
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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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/// 信息控制字段，默认0x80
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/// </summary>
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public byte ICF { get; set; } = 0x80;
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/// <summary>
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/// 系统使用的内部信息
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/// </summary>
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public byte RSV { get; private set; } = 0x00;
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/// <summary>
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/// 网络层信息，默认0x02，如果有八层消息，就设置为0x07
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/// </summary>
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public byte GCT { get; set; } = 0x02;
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/// <summary>
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/// PLC的网络号地址，默认0x00
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/// </summary>
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public byte DNA { get; set; } = 0x00;
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/// <summary>
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/// PLC的节点地址，这个值在配置了ip地址之后是默认赋值的，默认为Ip地址的最后一位
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/// </summary>
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/// <remarks>
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/// <note type="important">假如你的PLC的Ip地址为192.168.0.10，那么这个值就是10</note>
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/// </remarks>
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public byte DA1 { get; set; } = 0x13;
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/// <summary>
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/// PLC的单元号地址
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/// </summary>
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/// <remarks>
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/// <note type="important">通常都为0</note>
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/// </remarks>
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public byte DA2 { get; set; } = 0x00;
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/// <summary>
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/// 上位机的网络号地址
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/// </summary>
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public byte SNA { get; set; } = 0x00;
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private byte computerSA1 = 0x0B;
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/// <summary>
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/// 上位机的节点地址，假如你的电脑的Ip地址为192.168.0.13，那么这个值就是13
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/// </summary>
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/// <remarks>
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/// <note type="important">假如你的电脑的Ip地址为192.168.0.13，那么这个值就是13</note>
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/// </remarks>
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public byte SA1
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{
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get { return computerSA1; }
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set
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{
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computerSA1 = value;
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handSingle[19] = value;
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}
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}
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/// <summary>
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/// 上位机的单元号地址
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/// </summary>
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public byte SA2 { get; set; }
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/// <summary>
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/// 设备的标识号
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/// </summary>
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public byte SID { get; set; } = 0x00;
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/// <summary>
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/// 如果设置为<c>True</c>，当数据读取失败的时候，会自动变更当前的SA1值，会选择自动增加，但不会和DA1一致
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/// </summary>
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public bool IsChangeSA1AfterReadFailed { get; set; }
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#endregion
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#region Build Command
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/// <summary>
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/// 将普通的指令打包成完整的指令
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/// </summary>
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/// <param name="cmd"></param>
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/// <returns></returns>
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private byte[] PackCommand(byte[] cmd)
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{
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byte[] buffer = new byte[26 + cmd.Length];
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Array.Copy( handSingle, 0, buffer, 0, 4 );
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byte[] tmp = BitConverter.GetBytes( buffer.Length - 8 );
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Array.Reverse( tmp );
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tmp.CopyTo( buffer, 4 );
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buffer[11] = 0x02;
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buffer[16] = ICF;
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buffer[17] = RSV;
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buffer[18] = GCT;
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buffer[19] = DNA;
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buffer[20] = DA1;
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buffer[21] = DA2;
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buffer[22] = SNA;
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buffer[23] = SA1;
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buffer[24] = SA2;
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buffer[25] = SID;
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cmd.CopyTo( buffer, 26 );
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return buffer;
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}
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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">是否是位读取</param>
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/// <returns>带有成功标志的报文数据</returns>
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public OperateResult<byte[]> BuildReadCommand( string address, ushort length ,bool isBit)
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{
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var command = OmronFinsNetHelper.BuildReadCommand( address, length, isBit );
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if (!command.IsSuccess) return command;
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return OperateResult.CreateSuccessResult( PackCommand( command.Content ) );
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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">真实的数据值信息</param>
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/// <param name="isBit">是否是位操作</param>
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/// <returns>带有成功标志的报文数据</returns>
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public OperateResult<byte[]> BuildWriteCommand( string address, byte[] value, bool isBit )
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{
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var command = OmronFinsNetHelper.BuildWriteWordCommand( address, value, isBit );
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if (!command.IsSuccess) return command;
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return OperateResult.CreateSuccessResult( PackCommand( command.Content ) );
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}
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#endregion
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#region Double Mode Override
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/// <summary>
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/// 在连接上欧姆龙PLC后，需要进行一步握手协议
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/// </summary>
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/// <param name="socket">连接的套接字</param>
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/// <returns>初始化成功与否</returns>
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protected override OperateResult InitializationOnConnect( Socket socket )
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{
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// 握手信号
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OperateResult<byte[]> read = ReadFromCoreServer( socket, handSingle );
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if (!read.IsSuccess) return read;
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// 检查返回的状态
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byte[] buffer = new byte[4];
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buffer[0] = read.Content[15];
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buffer[1] = read.Content[14];
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buffer[2] = read.Content[13];
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buffer[3] = read.Content[12];
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int status = BitConverter.ToInt32( buffer, 0 );
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if(status != 0) return new OperateResult( status, OmronFinsNetHelper.GetStatusDescription( status ) );
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// 提取PLC的节点地址
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if (read.Content.Length >= 24) DA1 = read.Content[23];
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return OperateResult.CreateSuccessResult( ) ;
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}
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/// <summary>
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/// 和服务器交互完成的时候调用的方法，无论是成功或是失败，都将会调用，具体的操作需要重写实现
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/// </summary>
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/// <param name="read">读取结果</param>
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protected override void ExtraAfterReadFromCoreServer( OperateResult read )
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{
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base.ExtraAfterReadFromCoreServer( read );
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if (!read.IsSuccess)
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{
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if (IsChangeSA1AfterReadFailed)
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{
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// when read failed, changed the SA1 value
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SA1++;
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if (SA1 == 0) SA1++;
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if (SA1 == DA1) SA1++;
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}
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}
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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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/// 从欧姆龙PLC中读取想要的数据，返回读取结果，读取单位为字
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/// </summary>
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/// <param name="address">读取地址，格式为"D100","C100","W100","H100","A100"</param>
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/// <param name="length">读取的数据长度</param>
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/// <returns>带成功标志的结果数据对象</returns>
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/// <example>
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/// 假设起始地址为D100，D100存储了温度，100.6℃值为1006，D101存储了压力，1.23Mpa值为123，D102,D103存储了产量计数，读取如下：
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/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="ReadExample2" title="Read示例" />
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/// 以下是读取不同类型数据的示例
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/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="ReadExample1" title="Read示例" />
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/// </example>
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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 );
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if (!command.IsSuccess) return OperateResult.CreateFailedResult<byte[]>( command );
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// 核心数据交互
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OperateResult<byte[]> read = ReadFromCoreServer( command.Content );
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if(!read.IsSuccess) return OperateResult.CreateFailedResult<byte[]>( read );
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// 数据有效性分析
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OperateResult<byte[]> valid = OmronFinsNetHelper.ResponseValidAnalysis( read.Content, true );
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if(!valid.IsSuccess) return OperateResult.CreateFailedResult<byte[]>( valid );
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// 读取到了正确的数据
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return OperateResult.CreateSuccessResult( valid.Content );
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}
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/// <summary>
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/// 从欧姆龙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">读取地址，格式为"D100","C100","W100","H100","A100"</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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/// <example>
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/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="ReadBool" title="ReadBool示例" />
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/// </example>
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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 );
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if (!command.IsSuccess) return OperateResult.CreateFailedResult<bool[]>( command );
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// 核心数据交互
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OperateResult<byte[]> read = ReadFromCoreServer( command.Content );
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if (!read.IsSuccess) return OperateResult.CreateFailedResult<bool[]>( read );
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// 数据有效性分析
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OperateResult<byte[]> valid = OmronFinsNetHelper.ResponseValidAnalysis( read.Content, true );
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if (!valid.IsSuccess) return OperateResult.CreateFailedResult<bool[]>( valid );
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// 返回正确的数据信息
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return OperateResult.CreateSuccessResult( valid.Content.Select( m => m != 0x00 ? true : false ).ToArray( ) );
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}
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/// <summary>
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/// 从欧姆龙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">读取地址，格式为"D100.0","C100.15","W100.7","H100.4","A100.9"</param>
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/// <returns>带成功标志的结果数据对象</returns>
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/// <remarks>
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/// 地址的格式请参照<see cref="ReadBool(string, ushort)"/>方法
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/// </remarks>
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/// <example>
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/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="ReadBool" title="ReadBool示例" />
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/// </example>
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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( read.Content[0] );
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}
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#endregion
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#region Write Base
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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>结果</returns>
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|
/// <example>
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/// 假设起始地址为D100，D100存储了温度，100.6℃值为1006，D101存储了压力，1.23Mpa值为123，D102,D103存储了产量计数，读取如下：
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|
/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="WriteExample2" title="Write示例" />
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|
|
/// 以下是写入不同类型数据的示例
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|
|
/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="WriteExample1" title="Write示例" />
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|
/// </example>
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|
|
public override OperateResult Write( string address, byte[] value )
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|
|
{
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|
|
// 获取指令
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|
|
var command = BuildWriteCommand( address, value, false );
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|
|
if (!command.IsSuccess) return command;
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|
|
|
|
|
// 核心数据交互
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|
|
OperateResult<byte[]> read = ReadFromCoreServer( command.Content );
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|
|
if (!read.IsSuccess) return read;
|
|
|
|
|
|
// 数据有效性分析
|
|
|
OperateResult<byte[]> valid = OmronFinsNetHelper.ResponseValidAnalysis( read.Content, false );
|
|
|
if (!valid.IsSuccess) return valid;
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|
|
|
|
|
// 成功
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|
|
return OperateResult.CreateSuccessResult( ) ;
|
|
|
}
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|
|
|
#endregion
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|
|
|
#region Write bool[]
|
|
|
|
|
|
/// <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D100,values[0]对应D100.0
|
|
|
/// </summary>
|
|
|
/// <param name="address">要写入的数据地址</param>
|
|
|
/// <param name="value">要写入的实际数据，长度为8的倍数</param>
|
|
|
/// <returns>返回写入结果</returns>
|
|
|
/// <example>
|
|
|
/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="WriteBool" title="WriteBool示例" />
|
|
|
/// </example>
|
|
|
public OperateResult Write( string address, bool value )
|
|
|
{
|
|
|
return Write( address, new bool[] { value } );
|
|
|
}
|
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
/// 向PLC中位软元件写入bool数组，返回值说明，比如你写入D100,values[0]对应D100.0
|
|
|
/// </summary>
|
|
|
/// <param name="address">要写入的数据地址</param>
|
|
|
/// <param name="values">要写入的实际数据，可以指定任意的长度</param>
|
|
|
/// <returns>返回写入结果</returns>
|
|
|
/// <example>
|
|
|
/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="WriteBool" title="WriteBool示例" />
|
|
|
/// </example>
|
|
|
public OperateResult Write( string address, bool[] values )
|
|
|
{
|
|
|
// 获取指令
|
|
|
var command = BuildWriteCommand( address, values.Select( m => m ? (byte)0x01 : (byte)0x00 ).ToArray( ), true );
|
|
|
if (!command.IsSuccess) return command;
|
|
|
|
|
|
// 核心数据交互
|
|
|
OperateResult<byte[]> read = ReadFromCoreServer( command.Content );
|
|
|
if (!read.IsSuccess) return read;
|
|
|
|
|
|
// 数据有效性分析
|
|
|
OperateResult<byte[]> valid = OmronFinsNetHelper.ResponseValidAnalysis( read.Content, false );
|
|
|
if (!valid.IsSuccess) return valid;
|
|
|
|
|
|
// 写入成功
|
|
|
return OperateResult.CreateSuccessResult( );
|
|
|
}
|
|
|
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
#region Hand Single
|
|
|
|
|
|
// 握手信号
|
|
|
// 46494E530000000C0000000000000000000000D6
|
|
|
private readonly byte[] handSingle = new byte[]
|
|
|
{
|
|
|
0x46, 0x49, 0x4E, 0x53, // FINS
|
|
|
0x00, 0x00, 0x00, 0x0C, // 后面的命令长度
|
|
|
0x00, 0x00, 0x00, 0x00, // 命令码
|
|
|
0x00, 0x00, 0x00, 0x00, // 错误码
|
|
|
0x00, 0x00, 0x00, 0x01 // 节点号
|
|
|
};
|
|
|
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
#region Object Override
|
|
|
|
|
|
/// <summary>
|
|
|
/// 返回表示当前对象的字符串
|
|
|
/// </summary>
|
|
|
/// <returns>字符串</returns>
|
|
|
public override string ToString( )
|
|
|
{
|
|
|
return $"OmronFinsNet[{IpAddress}:{Port}]";
|
|
|
}
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
}
|
|
|
}
|