nhet_cn_back_vehicle/HybirdFrameworkDriver/ModbusTcpMaster/ModbusTcpMaster.cs

using System.Collections;
using HslCommunication;
using HslCommunication.ModBus;
using HybirdFrameworkCore.Utils;
using log4net;

namespace HybirdFrameworkDriver.ModbusTcpMaster;

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

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

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

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

    public delegate void MyReadAction(ModbusTcpMaster str);

    public MyReadAction ReadAction { get; set; }

    private bool StopFlag { get; set; } = false;

    private ModbusTcpNet ModbusTcpNet;


    ILog GetLog()
    {
        return Log;
    }

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

        try
        {
            if (ModbusTcpNet == null)
            {
                ModbusTcpNet = new ModbusTcpNet(Ip, Port);
                OperateResult result = ModbusTcpNet.ConnectServer();
                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;
        Thread readThread = new Thread(ReadFunc)
        {
            IsBackground = true,
            Name = $"{Ip}:{Port}-reader-thread"
        };
        readThread.Start();
    }

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

    private void ReadFunc()
    {
        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)
    {
        T value = property.Value;
        if (value == null)
        {
            GetLog().Warn($"write property{property.RegisterNo} null value");
            return false;
        }

        bool result = false;
        ModbusDataType dataType = property.Type;
        int start = property.Start;
        int length = property.Length;
        byte[] setValue = BitUtls.Value2Bytes(value, property.Scale, property.Offset);
        switch (dataType)
        {
            case ModbusDataType.Byte:

                start = start % 2 == 0 ? start / 2 : start / 2 + 1;
                ModbusTcpNet.Write("x=6;" + start, setValue);
                break;
            case ModbusDataType.Register:
                ModbusTcpNet.Write("x=10;" + start, setValue);
                break;
            case ModbusDataType.Bit:

                start = start % 16 == 0 ? start / 16 : start / 16 + 1;
                length = length % 8 == 0 ? length / 8 : length / 8 + 1;
                OperateResult<byte[]> readResult =
                    ModbusTcpNet.Read("x=3;" + (property.RegisterNo + start), (ushort)length);

                if (readResult.IsSuccess)
                {
                    byte[] bytes = readResult.Content;
                    BitArray bitArray = new BitArray(bytes);
                    int index = 0;
                    for (int i = property.Start % 16; i < property.Length; i++)
                    {
                        bitArray[i] = (setValue[index / 8] & (1 << (index % 8))) > 0;
                        index++;
                    }

                    bitArray.CopyTo(bytes, 0);

                    OperateResult write = ModbusTcpNet.Write("x=6;" + (property.RegisterNo + start), bytes);
                    result = write.IsSuccess;
                }

                break;
        }

        return result;
    }
}