|
|
using HslCommunication.BasicFramework;
|
|
|
using HslCommunication.Core;
|
|
|
using HslCommunication.Serial;
|
|
|
using System;
|
|
|
using System.Collections.Generic;
|
|
|
using System.Linq;
|
|
|
using System.Text;
|
|
|
|
|
|
namespace HslCommunication.Profinet.Omron
|
|
|
{
|
|
|
/// <summary>
|
|
|
/// 欧姆龙的HostLink协议的实现
|
|
|
/// </summary>
|
|
|
/// <remarks>
|
|
|
/// 感谢 深圳～拾忆 的测试
|
|
|
/// 欧姆龙的地址参考如下：
|
|
|
/// 地址支持的列表如下：
|
|
|
/// <list type="table">
|
|
|
/// <listheader>
|
|
|
/// <term>地址名称</term>
|
|
|
/// <term>地址代号</term>
|
|
|
/// <term>示例</term>
|
|
|
/// <term>地址进制</term>
|
|
|
/// <term>字操作</term>
|
|
|
/// <term>位操作</term>
|
|
|
/// <term>备注</term>
|
|
|
/// </listheader>
|
|
|
/// <item>
|
|
|
/// <term>DM Area</term>
|
|
|
/// <term>D</term>
|
|
|
/// <term>D100,D200</term>
|
|
|
/// <term>10</term>
|
|
|
/// <term>√</term>
|
|
|
/// <term>√</term>
|
|
|
/// <term></term>
|
|
|
/// </item>
|
|
|
/// <item>
|
|
|
/// <term>CIO Area</term>
|
|
|
/// <term>C</term>
|
|
|
/// <term>C100,C200</term>
|
|
|
/// <term>10</term>
|
|
|
/// <term>√</term>
|
|
|
/// <term>√</term>
|
|
|
/// <term></term>
|
|
|
/// </item>
|
|
|
/// <item>
|
|
|
/// <term>Work Area</term>
|
|
|
/// <term>W</term>
|
|
|
/// <term>W100,W200</term>
|
|
|
/// <term>10</term>
|
|
|
/// <term>√</term>
|
|
|
/// <term>√</term>
|
|
|
/// <term></term>
|
|
|
/// </item>
|
|
|
/// <item>
|
|
|
/// <term>Holding Bit Area</term>
|
|
|
/// <term>H</term>
|
|
|
/// <term>H100,H200</term>
|
|
|
/// <term>10</term>
|
|
|
/// <term>√</term>
|
|
|
/// <term>√</term>
|
|
|
/// <term></term>
|
|
|
/// </item>
|
|
|
/// <item>
|
|
|
/// <term>Auxiliary Bit Area</term>
|
|
|
/// <term>A</term>
|
|
|
/// <term>A100,A200</term>
|
|
|
/// <term>10</term>
|
|
|
/// <term>√</term>
|
|
|
/// <term>√</term>
|
|
|
/// <term></term>
|
|
|
/// </item>
|
|
|
/// </list>
|
|
|
/// </remarks>
|
|
|
public class OmronHostLink : SerialDeviceBase<ReverseWordTransform>
|
|
|
{
|
|
|
#region Constructor
|
|
|
|
|
|
/// <summary>
|
|
|
/// 实例化一个默认的对象
|
|
|
/// </summary>
|
|
|
public OmronHostLink( )
|
|
|
{
|
|
|
this.WordLength = 1;
|
|
|
this.ByteTransform.DataFormat = DataFormat.CDAB;
|
|
|
}
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
#region Public Member
|
|
|
|
|
|
/// <summary>
|
|
|
/// Specifies whether or not there are network relays. Set “80” (ASCII: 38,30)
|
|
|
/// when sending an FINS command to a CPU Unit on a network.Set “00” (ASCII: 30,30)
|
|
|
/// when sending to a CPU Unit connected directly to the host computer.
|
|
|
/// </summary>
|
|
|
public byte ICF { get; set; } = 0x00;
|
|
|
|
|
|
/// <summary>
|
|
|
/// PLC的单元号地址
|
|
|
/// </summary>
|
|
|
/// <remarks>
|
|
|
/// <note type="important">通常都为0</note>
|
|
|
/// </remarks>
|
|
|
public byte DA2 { get; set; } = 0x00;
|
|
|
|
|
|
/// <summary>
|
|
|
/// 上位机的单元号地址
|
|
|
/// </summary>
|
|
|
public byte SA2 { get; set; }
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设备的标识号
|
|
|
/// </summary>
|
|
|
public byte SID { get; set; } = 0x00;
|
|
|
|
|
|
/// <summary>
|
|
|
/// The response wait time sets the time from when the CPU Unit receives a command block until it starts
|
|
|
/// to return a response.It can be set from 0 to F in hexadecimal, in units of 10 ms.
|
|
|
/// </summary>
|
|
|
/// <example>
|
|
|
/// If F(15) is set, the response will begin to be returned 150 ms (15 × 10 ms) after the command block was received.
|
|
|
/// </example>
|
|
|
public byte ResponseWaitTime { get; set; } = 0x30;
|
|
|
|
|
|
/// <summary>
|
|
|
/// PLC设备的站号信息
|
|
|
/// </summary>
|
|
|
public byte UnitNumber { get; set; }
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
#region Read Write Support
|
|
|
|
|
|
/// <summary>
|
|
|
/// 批量读取PLC的数据，以字为单位，具体的地址参考文档
|
|
|
/// </summary>
|
|
|
/// <param name="address">地址信息</param>
|
|
|
/// <param name="length">数据长度</param>
|
|
|
/// <returns>读取结果信息</returns>
|
|
|
public override OperateResult<byte[]> Read( string address, ushort length )
|
|
|
{
|
|
|
// 解析地址
|
|
|
var command = OmronFinsNetHelper.BuildReadCommand( address, length, false );
|
|
|
if (!command.IsSuccess) return command;
|
|
|
|
|
|
// 核心交互
|
|
|
OperateResult<byte[]> read = ReadBase( PackCommand( command.Content ) );
|
|
|
if (!read.IsSuccess) return OperateResult.CreateFailedResult<byte[]>( read );
|
|
|
|
|
|
// 数据有效性分析
|
|
|
OperateResult<byte[]> valid = ResponseValidAnalysis( read.Content, true );
|
|
|
if (!valid.IsSuccess) return OperateResult.CreateFailedResult<byte[]>( valid );
|
|
|
|
|
|
// 读取到了正确的数据
|
|
|
return OperateResult.CreateSuccessResult( valid.Content );
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 批量写入PLC的数据，以字为单位，也就是说最少2个字节信息，具体的地址参考文档
|
|
|
/// </summary>
|
|
|
/// <param name="address">地址信息</param>
|
|
|
/// <param name="value">数据值</param>
|
|
|
/// <returns>是否写入成功</returns>
|
|
|
public override OperateResult Write( string address, byte[] value )
|
|
|
{
|
|
|
// 获取指令
|
|
|
var command = OmronFinsNetHelper.BuildWriteWordCommand( address, value, false ); ;
|
|
|
if (!command.IsSuccess) return command;
|
|
|
|
|
|
// 核心数据交互
|
|
|
OperateResult<byte[]> read = ReadBase( PackCommand( command.Content ) );
|
|
|
if (!read.IsSuccess) return read;
|
|
|
|
|
|
// 数据有效性分析
|
|
|
OperateResult<byte[]> valid = ResponseValidAnalysis( read.Content, false );
|
|
|
if (!valid.IsSuccess) return valid;
|
|
|
|
|
|
// 成功
|
|
|
return OperateResult.CreateSuccessResult( );
|
|
|
}
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
#region Bool Read Write
|
|
|
|
|
|
/// <summary>
|
|
|
/// 从欧姆龙PLC中批量读取位软元件，返回读取结果
|
|
|
/// </summary>
|
|
|
/// <param name="address">读取地址，具体的地址参考文档</param>
|
|
|
/// <param name="length">读取的长度</param>
|
|
|
/// <returns>带成功标志的结果数据对象</returns>
|
|
|
/// <example>
|
|
|
/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="ReadBool" title="ReadBool示例" />
|
|
|
/// </example>
|
|
|
public OperateResult<bool[]> ReadBool( string address, ushort length )
|
|
|
{
|
|
|
// 获取指令
|
|
|
var command = OmronFinsNetHelper.BuildReadCommand( address, length, true );
|
|
|
if (!command.IsSuccess) return OperateResult.CreateFailedResult<bool[]>( command );
|
|
|
|
|
|
// 核心交互
|
|
|
OperateResult<byte[]> read = ReadBase( PackCommand( command.Content ) );
|
|
|
if (!read.IsSuccess) return OperateResult.CreateFailedResult<bool[]>( read );
|
|
|
|
|
|
// 数据有效性分析
|
|
|
OperateResult<byte[]> valid = ResponseValidAnalysis( read.Content, true );
|
|
|
if (!valid.IsSuccess) return OperateResult.CreateFailedResult<bool[]>( valid );
|
|
|
|
|
|
// 返回正确的数据信息
|
|
|
return OperateResult.CreateSuccessResult( valid.Content.Select( m => m != 0x00 ? true : false ).ToArray( ) );
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 从欧姆龙PLC中批量读取位软元件，返回读取结果
|
|
|
/// </summary>
|
|
|
/// <param name="address">读取地址，具体的地址参考文档</param>
|
|
|
/// <returns>带成功标志的结果数据对象</returns>
|
|
|
/// <remarks>
|
|
|
/// 地址的格式请参照<see cref="ReadBool(string, ushort)"/>方法
|
|
|
/// </remarks>
|
|
|
/// <example>
|
|
|
/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="ReadBool" title="ReadBool示例" />
|
|
|
/// </example>
|
|
|
public OperateResult<bool> ReadBool( string address )
|
|
|
{
|
|
|
OperateResult<bool[]> read = ReadBool( address, 1 );
|
|
|
if (!read.IsSuccess) return OperateResult.CreateFailedResult<bool>( read );
|
|
|
|
|
|
return OperateResult.CreateSuccessResult( read.Content[0] );
|
|
|
}
|
|
|
|
|
|
/// <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，具体的地址参考文档</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，具体的地址参考文档</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 = OmronFinsNetHelper.BuildWriteWordCommand( 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 = ReadBase( PackCommand( command.Content ) );
|
|
|
if (!read.IsSuccess) return read;
|
|
|
|
|
|
// 数据有效性分析
|
|
|
OperateResult<byte[]> valid = ResponseValidAnalysis( read.Content, false );
|
|
|
if (!valid.IsSuccess) return valid;
|
|
|
|
|
|
// 成功
|
|
|
return OperateResult.CreateSuccessResult( );
|
|
|
}
|
|
|
|
|
|
#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 $"OmronHostLink[{PortName}:{BaudRate}]";
|
|
|
}
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
#region Build Command
|
|
|
|
|
|
/// <summary>
|
|
|
/// 将普通的指令打包成完整的指令
|
|
|
/// </summary>
|
|
|
/// <param name="cmd">fins指令</param>
|
|
|
/// <returns>完整的质量</returns>
|
|
|
private byte[] PackCommand( byte[] cmd )
|
|
|
{
|
|
|
cmd = BasicFramework.SoftBasic.BytesToAsciiBytes( cmd );
|
|
|
|
|
|
byte[] buffer = new byte[18 + cmd.Length];
|
|
|
|
|
|
buffer[ 0] = (byte)'@';
|
|
|
buffer[ 1] = SoftBasic.BuildAsciiBytesFrom( this.UnitNumber )[0];
|
|
|
buffer[ 2] = SoftBasic.BuildAsciiBytesFrom( this.UnitNumber )[1];
|
|
|
buffer[ 3] = (byte)'F';
|
|
|
buffer[ 4] = (byte)'A';
|
|
|
buffer[ 5] = ResponseWaitTime;
|
|
|
buffer[ 6] = SoftBasic.BuildAsciiBytesFrom( this.ICF )[0];
|
|
|
buffer[ 7] = SoftBasic.BuildAsciiBytesFrom( this.ICF )[1];
|
|
|
buffer[ 8] = SoftBasic.BuildAsciiBytesFrom( this.DA2 )[0];
|
|
|
buffer[ 9] = SoftBasic.BuildAsciiBytesFrom( this.DA2 )[1];
|
|
|
buffer[10] = SoftBasic.BuildAsciiBytesFrom( this.SA2 )[0];
|
|
|
buffer[11] = SoftBasic.BuildAsciiBytesFrom( this.SA2 )[1];
|
|
|
buffer[12] = SoftBasic.BuildAsciiBytesFrom( this.SID )[0];
|
|
|
buffer[13] = SoftBasic.BuildAsciiBytesFrom( this.SID )[1];
|
|
|
buffer[buffer.Length - 2] = (byte)'*';
|
|
|
buffer[buffer.Length - 1] = 0x0D;
|
|
|
cmd.CopyTo( buffer, 14 );
|
|
|
// 计算FCS
|
|
|
int tmp = buffer[0];
|
|
|
for (int i = 1; i < buffer.Length - 4; i++)
|
|
|
{
|
|
|
tmp = (tmp ^ buffer[i]);
|
|
|
}
|
|
|
buffer[buffer.Length - 4] = SoftBasic.BuildAsciiBytesFrom( (byte)tmp )[0];
|
|
|
buffer[buffer.Length - 3] = SoftBasic.BuildAsciiBytesFrom( (byte)tmp )[1];
|
|
|
string output = Encoding.ASCII.GetString( buffer );
|
|
|
Console.WriteLine( output );
|
|
|
return buffer;
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 验证欧姆龙的Fins-TCP返回的数据是否正确的数据，如果正确的话，并返回所有的数据内容
|
|
|
/// </summary>
|
|
|
/// <param name="response">来自欧姆龙返回的数据内容</param>
|
|
|
/// <param name="isRead">是否读取</param>
|
|
|
/// <returns>带有是否成功的结果对象</returns>
|
|
|
public static OperateResult<byte[]> ResponseValidAnalysis( byte[] response, bool isRead )
|
|
|
{
|
|
|
// 数据有效性分析
|
|
|
if (response.Length >= 27)
|
|
|
{
|
|
|
// 提取错误码
|
|
|
int err = Convert.ToInt32( Encoding.ASCII.GetString( response, 19, 4 ) );
|
|
|
byte[] Content = null;
|
|
|
|
|
|
if (response.Length > 27)
|
|
|
{
|
|
|
Content = BasicFramework.SoftBasic.HexStringToBytes( Encoding.ASCII.GetString( response, 23, response.Length - 27 ) );
|
|
|
}
|
|
|
|
|
|
if (err > 0) return new OperateResult<byte[]>( )
|
|
|
{
|
|
|
ErrorCode = err,
|
|
|
Content = Content
|
|
|
};
|
|
|
else
|
|
|
{
|
|
|
return OperateResult.CreateSuccessResult( Content );
|
|
|
}
|
|
|
}
|
|
|
|
|
|
return new OperateResult<byte[]>( StringResources.Language.OmronReceiveDataError );
|
|
|
}
|
|
|
|
|
|
#endregion
|
|
|
}
|
|
|
}
|