nhet_cn_back_vehicle/HybirdFrameworkDriver/ModbusTcpMaster/ModbusTcpMaster.cs

using HslCommunication;
using HslCommunication.Core;
using HslCommunication.ModBus;
using HybirdFrameworkCore.Utils;
using log4net;

namespace HybirdFrameworkDriver.ModbusTcpMaster;

public class ModbusTcpMaster
{
    public delegate void MyReadAction(ModbusTcpMaster str);

    private static readonly ILog Log = LogManager.GetLogger(typeof(ModbusTcpMaster));

    private ModbusTcpNet ModbusTcpNet;

    public string Ip { get; set; } = "127.0.0.1";

    public int Port { get; set; } = 502;

    public static DataFormat DataFormat { get; set; } = DataFormat.ABCD;

    public int Duration { get; set; } = 1000;
    public bool Connected { get; set; }

    public string connectId { get; set; }

    public MyReadAction? ReadAction { get; set; }

    private bool StopFlag { get; set; }

    private ILog GetLog()
    {
        return Log;
    }

    public bool Connect()
    {
        GetLog().Info($"begin to connect {Ip}:{Port}");

        try
        {
            if (ModbusTcpNet == null)
            {
                ModbusTcpNet = new ModbusTcpNet(Ip, Port);
                ModbusTcpNet.DataFormat = DataFormat;
                var result = ModbusTcpNet.ConnectServer();
                connectId = ModbusTcpNet.ConnectionId;
                if (result.IsSuccess)
                {
                    Connected = true;
                    GetLog().Info($"connect {Ip}:{Port} success");
                    StartListen();
                }
                else
                {
                    GetLog().Info($"connect {Ip}:{Port} failed {result.Message}");
                }
            }
        }
        catch (Exception e)
        {
            GetLog().Error($"connect {Ip}:{Port} exception {e.Message}");
        }

        return Connected;
    }

    public void StartListen()
    {
        StopListen();
        StopFlag = false;
        var readThread = new Thread(ReadFunc)
        {
            IsBackground = true,
            Name = $"{Ip}:{Port}-reader-thread"
        };
        readThread.Start();
    }

    public void StopListen()
    {
        StopFlag = true;
        Thread.Sleep(500);
    }

    private void ReadFunc()
    {
        if (ReadAction != null)
            while (!StopFlag)
                try
                {
                    ReadAction(this);
                    Thread.Sleep(Duration);
                }
                catch (Exception e)
                {
                    Log.Error(e);
                }

        GetLog().Info("stop listen");
    }

    public byte[]? ReadRegister(int registerNo, int start, int length)
    {
        start = start % 16 == 0 ? start / 16 : start / 16 + 1;
        length = length % 8 == 0 ? length / 8 : length / 8 + 1;
        OperateResult<byte[]> result = ModbusTcpNet.Read("x=3;" + (registerNo + start), (ushort)length);

        if (result.IsSuccess) return result.Content;

        return null;
    }

    public byte[]? BatchRead(int registerNo, int length)
    {
        OperateResult<byte[]> result = ModbusTcpNet.Read("x=3;" + registerNo, (ushort)length);
        if (result.IsSuccess) return result.Content;

        return null;
    }

    public bool WriteValue<T>(ModbusProperty<T> property)
    {
        var value = property.Value;
        if (value == null)
        {
            GetLog().Warn($"write property{property.RegisterNo} null value");
            return false;
        }

        var result = false;
        var dataType = property.Type;
        var start = property.Start;
        var length = property.Length;
        var registerNo = property.RegisterNo - 40000;
        var setValue = BitUtls.Value2Bytes(value, property.Scale, property.Offset);
        OperateResult operateResult;

        switch (dataType)
        {
            case ModbusDataType.Register:
                if (setValue.Length < length * 2)
                {
                    //byte 需要读取寄存器中的内容 
                    if (typeof(T) == typeof(byte))
                    {
                        OperateResult<byte[]> readResultRegister = ModbusTcpNet.Read("x=3;" + registerNo, 1);
                        if (readResultRegister.IsSuccess)
                        {
                            switch (DataFormat)
                            {
                                case DataFormat.ABCD:
                                    readResultRegister.Content[1] = setValue[0];
                                    break;
                                case DataFormat.BADC:
                                    readResultRegister.Content[0] = setValue[0];
                                    break;
                            }

                            operateResult = ModbusTcpNet.Write("x=16;" + registerNo, readResultRegister.Content);
                            result = operateResult.IsSuccess;
                        }
                    }
                    //其他类型 String 占用几个寄存器 直接补0
                    else
                    {
                        var preWriteCont = new byte[length * 2];

                        switch (DataFormat)
                        {
                            case DataFormat.ABCD:
                                for (var i = 0; i < setValue.Length; i++)
                                    if (i % 2 == 0)
                                        preWriteCont[i + 1] = setValue[i];
                                    else
                                        preWriteCont[i - 1] = setValue[i];

                                break;
                            case DataFormat.BADC:
                                Array.Copy(setValue, preWriteCont, setValue.Length);
                                break;
                        }

                        operateResult = ModbusTcpNet.Write("x=16;" + registerNo, preWriteCont);
                        result = operateResult.IsSuccess;
                    }
                }
                else if (setValue.Length == length * 2)
                {
                    var preWriteCont = new byte[setValue.Length];

                    switch (DataFormat)
                    {
                        case DataFormat.ABCD:
                            for (var i = 0; i < setValue.Length; i++)
                                if (i % 2 == 0)
                                    preWriteCont[i + 1] = setValue[i];
                                else
                                    preWriteCont[i - 1] = setValue[i];

                            break;
                        case DataFormat.BADC:
                            //Array.Copy(setValue, preWriteCont, setValue.Length);
                            break;
                    }

                    operateResult = ModbusTcpNet.Write("x=16;" + registerNo, preWriteCont);
                    result = operateResult.IsSuccess;
                }

                break;
            case ModbusDataType.Bit:
                result = WriteRegisterOneBit(registerNo, start, Convert.ToBoolean(value));
                break;
        }

        return result;
    }

    /// <summary>
    ///     写寄存器中的一个bit
    /// </summary>
    /// <param name="addr"></param>
    /// <param name="location"></param>
    /// <param name="boolResult"></param>
    /// <returns></returns>
    public bool WriteRegisterOneBit(int addr, int location, bool boolResult)
    {
        if (!Connected) return false;
        var result = false;
        ushort registerValue1 = 0x1234;
        ushort mask = 0x1234;
        OperateResult<byte[]> readResult = ModbusTcpNet.Read("x=3;" + addr, 1);
        if (readResult.IsSuccess)
            if (location >= 0 && location <= 15)
            {
                registerValue1 = ModbusTcpNet.ByteTransform.TransUInt16(readResult.Content, 0);
                if (boolResult)
                {
                    mask = (ushort)(1 << location);
                    registerValue1 |= mask;
                }
                else
                {
                    mask = (ushort)~(1 << location);
                    registerValue1 &= mask;
                }

                var writeResult = ModbusTcpNet.Write("x=6;" + addr, registerValue1);
                if (writeResult.IsSuccess) result = true;
            }

        return result;
    }
}