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610 lines
24 KiB
610 lines
24 KiB
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.IO;
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using System.IO.Ports;
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using System.Text;
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using System.Timers;
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using DataService;
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namespace ModbusDriver
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{
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[Description("Modbus RTU协议")]
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//ModbusRTUReader : IPLCDriver IPLCDriver : IDriver, IReaderWriter IDriver : IDisposable
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public sealed class ModbusRTUReader : IPLCDriver
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{
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//自定义构造函数
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public ModbusRTUReader(IDataServer server, short id, string name, string remote = null, int timeOut = 10000, string port = "COM1", string baudRate = "9600")
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{
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_id = id;
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_name = name;
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_server = server;
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_port = port;
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_serialPort = new SerialPort(port);
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_timeOut = timeOut;
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_serialPort.ReadTimeout = _timeOut;
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_serialPort.WriteTimeout = _timeOut;
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_serialPort.BaudRate = int.Parse(baudRate);
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_serialPort.DataBits = 8;
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_serialPort.Parity = Parity.Even;
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_serialPort.StopBits = StopBits.One;
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}
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private SerialPort _serialPort;
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/*
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Sbyte:代表有符号的8位整数，数值范围从-128 ～ 127
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Byte:代表无符号的8位整数，数值范围从0～255
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Short:代表有符号的16位整数，范围从-32768 ～ 32767
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ushort:代表有符号的16位整数，范围从0 到 65,535
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Int:代表有符号的32位整数，范围从-2147483648 ～ 2147483648
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uint:代表无符号的32位整数，范围从0 ～ 4294967295
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Long:代表有符号的64位整数，范围从-9223372036854775808 ～ 9223372036854775808
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Ulong:代表无符号的64位整数，范围从0 ～ 18446744073709551615。
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*/
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private byte[] CreateReadHeader(int startAddress, ushort length, byte function)
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{
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byte[] data = new byte[8];
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data[0] = (byte)_id; // Slave id high byte 从站地址
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data[1] = function; // Message size
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byte[] _adr = BitConverter.GetBytes((short)startAddress);//以字节数组的形式返回指定的 16 位无符号整数值。
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data[2] = _adr[0]; // Start address high byte 起始地址的高八位
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data[3] = _adr[1]; // Start address low byte 起始地址的低八位
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byte[] _length = BitConverter.GetBytes((short)length);
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data[4] = _length[0]; // Number of data to read high byte 寄存器数量的高八位
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data[5] = _length[1]; // Number of data to read low byte 寄存器数量的低八位
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byte[] arr = Utility.CalculateCrc(data, 6);
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data[6] = arr[0]; //CRC校验的低八位
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data[7] = arr[1]; //CRC校验的高八位
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return data;
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}
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#region 写单个线圈或单个离散输出 功能码：0x05
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public byte[] WriteSingleCoils(int startAddress, bool OnOff)
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{
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byte[] data = new byte[8];
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data[0] = (byte)_id; // Slave id high byte
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data[1] = Modbus.fctWriteSingleCoil; // Function code
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byte[] _adr = BitConverter.GetBytes((short)startAddress);
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data[2] = _adr[0]; // Start address
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data[3] = _adr[1]; // Start address
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if (OnOff)
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{
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data[4] = 0xFF;
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data[5] = 0x00;
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}
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else
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{
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data[4] = 0x00;
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data[5] = 0x00;
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}
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byte[] arr = Utility.CalculateCrc(data, 6);
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data[6] = arr[0];
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data[7] = arr[1];
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return data;
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}
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#endregion
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#region 写多个线圈 功能码：0x0F 15
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public byte[] WriteMultipleCoils(int startAddress, ushort numBits, byte[] values)
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{
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int len = values.Length;
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byte[] data = new byte[len + 9];
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data[0] = (byte)_id; // Slave id high byte 从站地址高八位
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data[1] = Modbus.fctWriteMultipleCoils; // Function code 功能码
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byte[] _adr = BitConverter.GetBytes((short)startAddress);
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data[2] = _adr[0]; // Start address 开始地址高八位
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data[3] = _adr[1]; // Start address 开始地址低八位
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byte[] _length = BitConverter.GetBytes((short)numBits);
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data[4] = _length[0]; // Number of data to read 寄存器数量高八位
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data[5] = _length[1]; // Number of data to read 寄存器数量低八位
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data[6] = (byte)len; //字节数量
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Array.Copy(values, 0, data, 7, len); //在data中加入变更数据
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byte[] arr = Utility.CalculateCrc(data, len + 7);
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data[len + 7] = arr[0]; //CRC校验的低八位
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data[len + 8] = arr[1]; //CRC校验的高八位
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return data;
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}
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#endregion
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#region 写单个保持寄存器 功能码:0x06
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public byte[] WriteSingleRegister(int startAddress, byte[] values)
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{
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byte[] data = new byte[8];
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data[0] = (byte)_id; // Slave id high byte 从站地址高八位
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data[1] = Modbus.fctWriteSingleRegister; // Function code 功能码
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byte[] _adr = BitConverter.GetBytes((short)startAddress);
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data[2] = _adr[0]; // Start address 开始地址高八位
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data[3] = _adr[1]; // Start address 开始地址高八位
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data[4] = values[0]; //变更数据的高位
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data[5] = values[1]; //变更数据的低位
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byte[] arr = Utility.CalculateCrc(data, 6);
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data[6] = arr[0]; //CRC校验码低八位
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data[7] = arr[1]; //CRC校验码高八位
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return data;
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}
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#endregion
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#region 写多个保持寄存器 功能码：0x10 16
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public byte[] WriteMultipleRegister(int startAddress, byte[] values)
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{
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int len = values.Length;
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if (len % 2 > 0) len++;
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byte[] data = new byte[len + 9];
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data[0] = (byte)_id; // Slave id high byte 从站地址
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data[1] = Modbus.fctWriteMultipleRegister; // Function code 功能码
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byte[] _adr = BitConverter.GetBytes((short)startAddress);
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data[2] = _adr[0]; // Start address 开始地址高八位
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data[3] = _adr[1]; // Start address 开始地址低八位
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byte[] _length = BitConverter.GetBytes((short)(len >> 1));
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data[4] = _length[0]; // Number of data to read 寄存器数量高八位
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data[5] = _length[1]; // Number of data to read 寄存器数量低八位
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data[6] = (byte)len; //字节数
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Array.Copy(values, 0, data, 7, len); //把变更数据加入data中
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byte[] arr = Utility.CalculateCrc(data, len + 7);
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data[len + 7] = arr[0]; //crc校验的低八位
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data[len + 8] = arr[1]; //CRC校验的高八位
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return data;
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}
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#endregion
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//
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#region :IPLCDriver
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public int PDU
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{
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get { return 0x100; }
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}
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public DeviceAddress GetDeviceAddress(string address)//PLC地址一般为5位 如40001，也有可能为40001.1 首位代表地址类型
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{
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DeviceAddress dv = DeviceAddress.Empty;
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if (string.IsNullOrEmpty(address))
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return dv;
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switch (address[0])
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{
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case '0':
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{
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dv.Area = Modbus.fctReadCoil;//功能码：01 读线圈或离散量输出状态 00001 - 09999：数字量输出（ 线圈）
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int st;
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int.TryParse(address, out st);
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dv.Bit = (byte)(st % 16);
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st /= 16;
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dv.Start = st;
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}
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break;
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case '1':
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{
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dv.Area = Modbus.fctReadDiscreteInputs;//功能码：02 读离散量输入 10001 - 19999：数字量输入（触点）
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int st;
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int.TryParse(address.Substring(1), out st);
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dv.Bit = (byte)(st % 16);
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st /= 16;
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dv.Start = st;
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}
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break;
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case '4':
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{
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int index = address.IndexOf('.');
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dv.Area = Modbus.fctReadHoldingRegister;//功能码：03 读取保持寄存器 40001 - 49999：数据保持寄存器
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if (index > 0)
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{
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dv.Start = int.Parse(address.Substring(1, index - 1));
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dv.Bit = byte.Parse(address.Substring(index + 1));
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}
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else
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dv.Start = int.Parse(address.Substring(1));
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dv.Start--; //PLC的寄存器地址比modbus协议的通讯地址大1 如：40002 对应寻 址地址 0x0001
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}
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break;
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case '3':
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{
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int index = address.IndexOf('.');
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dv.Area = Modbus.fctReadInputRegister;//功能码：04读输入寄存器 30001 - 39999：输入数据寄存器（通常为模拟量输入）
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if (index > 0)
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{
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dv.Start = int.Parse(address.Substring(1, index - 1));
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dv.Bit = byte.Parse(address.Substring(index + 1));
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}
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else
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dv.Start = int.Parse(address.Substring(1));
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dv.Start--; //PLC的寄存器地址比modbus协议的通讯地址大1 如：40002 对应寻 址地址 0x0001
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}
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break;
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}
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return dv;
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}
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public string GetAddress(DeviceAddress address)
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{
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return string.Empty;
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}
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#endregion
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#region :IDriver
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//从站地址
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short _id;
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public short ID
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{
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get
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{
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return _id;
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}
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}
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string _name;
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public string Name
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{
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get
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{
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return _name;
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}
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}
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string _port;
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public string ServerName
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{
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get { return _port; }
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set { _port = value; }
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}
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public bool IsClosed
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{
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get
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{
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return _serialPort.IsOpen == false;
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}
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}
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private int _timeOut;
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public int TimeOut
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{
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get { return _timeOut; }
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set { _timeOut = value; }
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}
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List<IGroup> _grps = new List<IGroup>();
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public IEnumerable<IGroup> Groups
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{
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get { return _grps; }
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}
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IDataServer _server;
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public IDataServer Parent
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{
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get { return _server; }
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}
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public bool Connect()
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{
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try
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{
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_serialPort.Open();
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return true;
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}
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catch (IOException error)
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{
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if (OnClose != null)
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{
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OnClose(this, new ShutdownRequestEventArgs(error.Message));
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}
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return false;
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}
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}
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public IGroup AddGroup(string name, short id, int updateRate, float deadBand = 0f, bool active = false)
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{
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ModbusRtuGroup grp = new ModbusRtuGroup(id, name, updateRate, active, this);
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_grps.Add(grp);
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return grp;
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}
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public bool RemoveGroup(IGroup grp)
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{
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grp.IsActive = false;
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return _grps.Remove(grp);
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}
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public event ShutdownRequestEventHandler OnClose;
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#endregion
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#region : IDisposable
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public void Dispose()
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{
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foreach (IGroup grp in _grps)
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{
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grp.Dispose();
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}
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_grps.Clear();
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_serialPort.Close();
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}
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#endregion
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#region :IReaderWriter
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public byte[] ReadBytes(DeviceAddress address, ushort size)
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{
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int area = address.Area;
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try
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{
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byte[] header = area == Modbus.fctReadCoil ? CreateReadHeader(address.Start * 16, (ushort)(16 * size), (byte)area) :
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CreateReadHeader(address.Start, size, (byte)area);
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_serialPort.Write(header, 0, header.Length);
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byte[] frameBytes = new byte[size * 2 + 5];
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byte[] data = new byte[size * 2];
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int numBytesRead = 0;
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while (numBytesRead != size)
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numBytesRead += _serialPort.Read(frameBytes, numBytesRead, size - numBytesRead);
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if (frameBytes[0] == (byte)_id && Utility.CheckSumCRC(frameBytes))
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{
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Array.Copy(frameBytes, 3, data, 0, size);
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return data;
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}
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return null;
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}
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catch (Exception e)
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{
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if (OnClose != null)
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OnClose(this, new ShutdownRequestEventArgs(e.Message));
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return null;
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}
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}
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public ItemData<int> ReadInt32(DeviceAddress address)
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{
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byte[] bit = ReadBytes(address, 2);
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return bit == null ? new ItemData<int>(0, 0, QUALITIES.QUALITY_BAD) :
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new ItemData<int>(BitConverter.ToInt32(bit, 0), 0, QUALITIES.QUALITY_GOOD);
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}
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public ItemData<short> ReadInt16(DeviceAddress address)
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{
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byte[] bit = ReadBytes(address, 1);
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return bit == null ? new ItemData<short>(0, 0, QUALITIES.QUALITY_BAD) :
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new ItemData<short>(BitConverter.ToInt16(bit, 0), 0, QUALITIES.QUALITY_GOOD);
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}
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public ItemData<byte> ReadByte(DeviceAddress address)
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{
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byte[] bit = ReadBytes(address, 1);
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return bit == null ? new ItemData<byte>(0, 0, QUALITIES.QUALITY_BAD) :
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new ItemData<byte>(bit[0], 0, QUALITIES.QUALITY_GOOD);
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}
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public ItemData<string> ReadString(DeviceAddress address, ushort size)
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{
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byte[] bit = ReadBytes(address, size);
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return bit == null ? new ItemData<string>(string.Empty, 0, QUALITIES.QUALITY_BAD) :
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new ItemData<string>(Encoding.ASCII.GetString(bit), 0, QUALITIES.QUALITY_GOOD);
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}
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public ItemData<float> ReadFloat(DeviceAddress address)
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{
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byte[] bit = ReadBytes(address, 2);
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return bit == null ? new ItemData<float>(0f, 0, QUALITIES.QUALITY_BAD) :
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new ItemData<float>(BitConverter.ToSingle(bit, 0), 0, QUALITIES.QUALITY_GOOD);
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}
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public ItemData<bool> ReadBit(DeviceAddress address)
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{
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byte[] bit = ReadBytes(address, 1);
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return bit == null ? new ItemData<bool>(false, 0, QUALITIES.QUALITY_BAD) :
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new ItemData<bool>((bit[0] & (1 << (address.Bit))) > 0, 0, QUALITIES.QUALITY_GOOD);
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}
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public ItemData<object> ReadValue(DeviceAddress address)
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{
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return this.ReadValueEx(address);
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}
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public int WriteBytes(DeviceAddress address, byte[] bit)
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{
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var data = WriteMultipleRegister(address.Start, bit);
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_serialPort.Write(data, 0, data.Length);
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_serialPort.ReadByte();
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var chr = _serialPort.ReadByte();
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return (chr & 0x80) > 0 ? -1 : 0;
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}
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public int WriteBit(DeviceAddress address, bool bit)
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{
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var data = WriteSingleCoils(address.Start + address.Bit, bit);
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_serialPort.Write(data, 0, data.Length);
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_serialPort.ReadByte();
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var chr = _serialPort.ReadByte();
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return (chr & 0x80) > 0 ? -1 : 0;
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}
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public int WriteBits(DeviceAddress address, byte bits)
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{
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var data = WriteSingleRegister(address.Start, new byte[] { bits });
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_serialPort.Write(data, 0, data.Length);
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_serialPort.ReadByte();
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var chr = _serialPort.ReadByte();
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return (chr & 0x80) > 0 ? -1 : 0;
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}
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public int WriteInt16(DeviceAddress address, short value)
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{
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var data = WriteSingleRegister(address.Start, BitConverter.GetBytes(value));
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_serialPort.Write(data, 0, data.Length);
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var chr = _serialPort.ReadByte();
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return (chr & 0x80) > 0 ? -1 : 0;
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}
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public int WriteInt32(DeviceAddress address, int value)
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{
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var data = WriteMultipleRegister(address.Start, BitConverter.GetBytes(value));
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_serialPort.Write(data, 0, data.Length);
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_serialPort.ReadByte();
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var chr = _serialPort.ReadByte();
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return (chr & 0x80) > 0 ? -1 : 0;
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}
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public int WriteFloat(DeviceAddress address, float value)
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{
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var data = WriteMultipleRegister(address.Start, BitConverter.GetBytes(value));
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_serialPort.Write(data, 0, data.Length);
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_serialPort.ReadByte();
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var chr = _serialPort.ReadByte();
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return (chr & 0x80) > 0 ? -1 : 0;
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}
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public int WriteString(DeviceAddress address, string str)
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{
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var data = WriteMultipleRegister(address.Start, Encoding.ASCII.GetBytes(str));
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_serialPort.Write(data, 0, data.Length);
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_serialPort.ReadByte();
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var chr = _serialPort.ReadByte();
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return chr == (byte)_id ? -1 : 0;
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}
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public int WriteValue(DeviceAddress address, object value)
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{
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return this.WriteValueEx(address, value);
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}
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#endregion
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}
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public sealed class ModbusRtuGroup : PLCGroup
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{
|
|
public ModbusRtuGroup(short id, string name, int updateRate, bool active, ModbusRTUReader plcReader)
|
|
{
|
|
this._id = id;
|
|
this._name = name;
|
|
this._updateRate = updateRate;
|
|
this._isActive = active;
|
|
this._plcReader = plcReader;
|
|
this._server = _plcReader.Parent;
|
|
this._timer = new Timer();
|
|
this._changedList = new List<int>();
|
|
this._cacheReader = new ShortCacheReader();
|
|
}
|
|
|
|
protected override unsafe int Poll()
|
|
{
|
|
short[] cache = (short[])_cacheReader.Cache;
|
|
int k = 0;
|
|
foreach (PDUArea area in _rangeList)
|
|
{
|
|
byte[] rcvBytes = _plcReader.ReadBytes(area.Start, (ushort)area.Len);//从PLC读取数据
|
|
if (rcvBytes == null)
|
|
{
|
|
_plcReader.Connect();
|
|
return -1;
|
|
}
|
|
else
|
|
{
|
|
int len = rcvBytes.Length / 2;
|
|
fixed (byte* p1 = rcvBytes)
|
|
{
|
|
short* prcv = (short*)p1;
|
|
int index = area.StartIndex;//index指向_items中的Tag元数据
|
|
int count = index + area.Count;
|
|
while (index < count)
|
|
{
|
|
DeviceAddress addr = _items[index].Address;
|
|
int iShort = addr.CacheIndex;
|
|
int iShort1 = iShort - k;
|
|
if (addr.VarType == DataType.BOOL)
|
|
{
|
|
int tmp = prcv[iShort1] ^ cache[iShort];
|
|
DeviceAddress next = addr;
|
|
if (tmp != 0)
|
|
{
|
|
while (addr.Start == next.Start)
|
|
{
|
|
if ((tmp & (1 << next.Bit)) > 0) _changedList.Add(index);
|
|
if (++index < count)
|
|
next = _items[index].Address;
|
|
else
|
|
break;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
while (addr.Start == next.Start && ++index < count)
|
|
{
|
|
next = _items[index].Address;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (addr.DataSize <= 2)
|
|
{
|
|
if (prcv[iShort1] != cache[iShort]) _changedList.Add(index);
|
|
}
|
|
else
|
|
{
|
|
int size = addr.DataSize / 2;
|
|
for (int i = 0; i < size; i++)
|
|
{
|
|
if (prcv[iShort1 + i] != cache[iShort + i])
|
|
{
|
|
_changedList.Add(index);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
index++;
|
|
}
|
|
}
|
|
for (int j = 0; j < len; j++)
|
|
{
|
|
cache[j + k] = prcv[j];
|
|
}//将PLC读取的数据写入到CacheReader中
|
|
}
|
|
k += len;
|
|
}
|
|
}
|
|
return 1;
|
|
}
|
|
|
|
}
|
|
|
|
|
|
public sealed class Modbus
|
|
{
|
|
public const byte fctReadCoil = 1;
|
|
public const byte fctReadDiscreteInputs = 2;
|
|
public const byte fctReadHoldingRegister = 3;
|
|
public const byte fctReadInputRegister = 4;
|
|
public const byte fctWriteSingleCoil = 5;
|
|
public const byte fctWriteSingleRegister = 6;
|
|
public const byte fctWriteMultipleCoils = 15;
|
|
public const byte fctWriteMultipleRegister = 16;
|
|
public const byte fctReadWriteMultipleRegister = 23;
|
|
|
|
/// <summary>Constant for exception illegal function.</summary>
|
|
public const byte excIllegalFunction = 1;
|
|
/// <summary>Constant for exception illegal data address.</summary>
|
|
public const byte excIllegalDataAdr = 2;
|
|
/// <summary>Constant for exception illegal data value.</summary>
|
|
public const byte excIllegalDataVal = 3;
|
|
/// <summary>Constant for exception slave device failure.</summary>
|
|
public const byte excSlaveDeviceFailure = 4;
|
|
/// <summary>Constant for exception acknowledge.</summary>
|
|
public const byte excAck = 5;
|
|
/// <summary>Constant for exception slave is busy/booting up.</summary>
|
|
public const byte excSlaveIsBusy = 6;
|
|
/// <summary>Constant for exception gate path unavailable.</summary>
|
|
public const byte excGatePathUnavailable = 10;
|
|
/// <summary>Constant for exception not connected.</summary>
|
|
public const byte excExceptionNotConnected = 253;
|
|
/// <summary>Constant for exception connection lost.</summary>
|
|
public const byte excExceptionConnectionLost = 254;
|
|
/// <summary>Constant for exception response timeout.</summary>
|
|
public const byte excExceptionTimeout = 255;
|
|
/// <summary>Constant for exception wrong offset.</summary>
|
|
public const byte excExceptionOffset = 128;
|
|
/// <summary>Constant for exception send failt.</summary>
|
|
public const byte excSendFailt = 100;
|
|
}
|
|
|
|
}
|
|
|