AllenBradleyHelper.cs
17.7 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
using System;
using System.Collections.Generic;
using System.IO;
using System.Text;
namespace HslCommunication.Profinet.AllenBradley
{
/// <summary>
/// AB PLC的辅助类，用来辅助生成基本的指令信息
/// </summary>
public class AllenBradleyHelper
{
#region Static Service Code
/// <summary>
/// CIP命令中的读取数据的服务
/// </summary>
public const byte CIP_READ_DATA = 0x4C;
/// <summary>
/// CIP命令中的写数据的服务
/// </summary>
public const int CIP_WRITE_DATA = 0x4D;
/// <summary>
/// CIP命令中的读并写的数据服务
/// </summary>
public const int CIP_READ_WRITE_DATA = 0x4E;
/// <summary>
/// CIP命令中的读片段的数据服务
/// </summary>
public const int CIP_READ_FRAGMENT = 0x52;
/// <summary>
/// CIP命令中的写片段的数据服务
/// </summary>
public const int CIP_WRITE_FRAGMENT = 0x53;
/// <summary>
/// CIP命令中的对数据读取服务
/// </summary>
public const int CIP_MULTIREAD_DATA = 0x1000;
#endregion
#region DataType Code
/// <summary>
/// bool型数据，一个字节长度
/// </summary>
public const ushort CIP_Type_Bool = 0xC1;
/// <summary>
/// byte型数据，一个字节长度
/// </summary>
public const ushort CIP_Type_Byte = 0xC2;
/// <summary>
/// 整型，两个字节长度
/// </summary>
public const ushort CIP_Type_Word = 0xC3;
/// <summary>
/// 长整型，四个字节长度
/// </summary>
public const ushort CIP_Type_DWord = 0xC4;
/// <summary>
/// 特长整型，8个字节
/// </summary>
public const ushort CIP_Type_LInt = 0xC5;
/// <summary>
/// 实数数据，四个字节长度
/// </summary>
public const ushort CIP_Type_Real = 0xCA;
/// <summary>
/// 实数数据，八个字节的长度
/// </summary>
public const ushort CIP_Type_Double = 0xCB;
/// <summary>
/// 结构体数据，不定长度
/// </summary>
public const ushort CIP_Type_Struct = 0xCC;
/// <summary>
/// 字符串数据内容
/// </summary>
public const ushort CIP_Type_String = 0xD0;
/// <summary>
/// 二进制数据内容
/// </summary>
public const ushort CIP_Type_BitArray = 0xD3;
#endregion
private static byte[] BuildRequestPathCommand(string address)
{
using (MemoryStream ms = new MemoryStream())
{
string[] tagNames = address.Split(new char[] { '.' }, StringSplitOptions.RemoveEmptyEntries);
for (int i = 0; i < tagNames.Length; i++)
{
string strIndex = string.Empty;
int indexFirst = tagNames[i].IndexOf('[');
int indexSecond = tagNames[i].IndexOf(']');
if (indexFirst > 0 && indexSecond > 0 && indexSecond > indexFirst)
{
strIndex = tagNames[i].Substring(indexFirst + 1, indexSecond - indexFirst - 1);
tagNames[i] = tagNames[i].Substring(0, indexFirst);
}
ms.WriteByte(0x91); // 固定
ms.WriteByte((byte)tagNames[i].Length); // 节点的长度值
byte[] nameBytes = Encoding.ASCII.GetBytes(tagNames[i]);
ms.Write(nameBytes, 0, nameBytes.Length);
if (nameBytes.Length % 2 == 1) ms.WriteByte(0x00);
if (!string.IsNullOrEmpty(strIndex))
{
string[] indexs = strIndex.Split(new char[] { ',' }, StringSplitOptions.RemoveEmptyEntries);
for (int j = 0; j < indexs.Length; j++)
{
int index = Convert.ToInt32(indexs[j]);
if (index < 256)
{
ms.WriteByte(0x28);
ms.WriteByte((byte)index);
}
else
{
ms.WriteByte(0x29);
ms.WriteByte(0x00);
ms.WriteByte(BitConverter.GetBytes(index)[0]);
ms.WriteByte(BitConverter.GetBytes(index)[1]);
}
}
}
}
return ms.ToArray();
}
}
/// <summary>
/// 将CommandSpecificData的命令，打包成可发送的数据指令
/// </summary>
/// <param name="command">实际的命令暗号</param>
/// <param name="session">当前会话的id</param>
/// <param name="commandSpecificData">CommandSpecificData命令</param>
/// <returns>最终可发送的数据命令</returns>
public static byte[] PackRequestHeader(ushort command, uint session, byte[] commandSpecificData)
{
byte[] buffer = new byte[commandSpecificData.Length + 24];
Array.Copy(commandSpecificData, 0, buffer, 24, commandSpecificData.Length);
BitConverter.GetBytes(command).CopyTo(buffer, 0);
BitConverter.GetBytes(session).CopyTo(buffer, 4);
BitConverter.GetBytes((ushort)commandSpecificData.Length).CopyTo(buffer, 2);
return buffer;
}
/// <summary>
/// 打包生成一个请求读取数据的节点信息，CIP指令信息
/// </summary>
/// <param name="address">地址</param>
/// <param name="length">指代数组的长度</param>
/// <returns>CIP的指令信息</returns>
public static byte[] PackRequsetRead(string address, int length)
{
byte[] buffer = new byte[1024];
int offect = 0;
buffer[offect++] = CIP_READ_DATA;
offect++;
byte[] requestPath = BuildRequestPathCommand(address);
requestPath.CopyTo(buffer, offect);
offect += requestPath.Length;
buffer[1] = (byte)((offect - 2) / 2);
buffer[offect++] = BitConverter.GetBytes(length)[0];
buffer[offect++] = BitConverter.GetBytes(length)[1];
byte[] data = new byte[offect];
Array.Copy(buffer, 0, data, 0, offect);
return data;
}
/// <summary>
/// 打包生成一个请求读取数据片段的节点信息，CIP指令信息
/// </summary>
/// <param name="address">节点的名称</param>
/// <param name="startIndex">起始的索引位置</param>
/// <param name="length">读取的数据长度，对于short来说，最大是489长度</param>
/// <returns>CIP的指令信息</returns>
public static byte[] PackRequestReadSegment(string address, int startIndex, int length)
{
byte[] buffer = new byte[1024];
int offect = 0;
buffer[offect++] = CIP_READ_FRAGMENT;
offect++;
byte[] requestPath = BuildRequestPathCommand(address + (address.EndsWith("]") ? string.Empty : $"[{startIndex}]"));
requestPath.CopyTo(buffer, offect);
offect += requestPath.Length;
buffer[1] = (byte)((offect - 2) / 2);
buffer[offect++] = BitConverter.GetBytes(length)[0];
buffer[offect++] = BitConverter.GetBytes(length)[1];
buffer[offect++] = BitConverter.GetBytes(0)[0];
buffer[offect++] = BitConverter.GetBytes(0)[1];
buffer[offect++] = BitConverter.GetBytes(0)[2];
buffer[offect++] = BitConverter.GetBytes(0)[3];
byte[] data = new byte[offect];
Array.Copy(buffer, 0, data, 0, offect);
return data;
}
/// <summary>
/// 根据指定的数据和类型，生成对应的数据
/// </summary>
/// <param name="address">地址信息</param>
/// <param name="typeCode">数据类型</param>
/// <param name="value">字节值</param>
/// <param name="length">如果节点为数组，就是数组长度</param>
/// <returns>CIP的指令信息</returns>
public static byte[] PackRequestWrite(string address, ushort typeCode, byte[] value, int length = 1)
{
byte[] buffer = new byte[1024];
int offect = 0;
buffer[offect++] = CIP_WRITE_DATA;
offect++;
byte[] requestPath = BuildRequestPathCommand(address);
requestPath.CopyTo(buffer, offect);
offect += requestPath.Length;
buffer[1] = (byte)((offect - 2) / 2);
buffer[offect++] = BitConverter.GetBytes(typeCode)[0]; // 数据类型
buffer[offect++] = BitConverter.GetBytes(typeCode)[1];
buffer[offect++] = BitConverter.GetBytes(length)[0]; // 固定
buffer[offect++] = BitConverter.GetBytes(length)[1];
value.CopyTo(buffer, offect); // 数值
offect += value.Length;
byte[] data = new byte[offect];
Array.Copy(buffer, 0, data, 0, offect);
return data;
}
/// <summary>
/// 生成读取直接节点数据信息的内容
/// </summary>
/// <param name="slot">PLC所在的槽号</param>
/// <param name="cips">cip指令内容</param>
/// <returns>最终的指令值</returns>
public static byte[] PackCommandSpecificData(byte slot, params byte[][] cips)
{
System.IO.MemoryStream ms = new System.IO.MemoryStream();
ms.WriteByte(0x00);
ms.WriteByte(0x00);
ms.WriteByte(0x00);
ms.WriteByte(0x00);
ms.WriteByte(0x01); // 超时
ms.WriteByte(0x00);
ms.WriteByte(0x02); // 项数
ms.WriteByte(0x00);
ms.WriteByte(0x00); // 连接的地址项
ms.WriteByte(0x00);
ms.WriteByte(0x00); // 长度
ms.WriteByte(0x00);
ms.WriteByte(0xB2); // 连接的项数
ms.WriteByte(0x00);
ms.WriteByte(0x00); // 后面数据包的长度，等全部生成后在赋值
ms.WriteByte(0x00);
ms.WriteByte(0x52); // 服务
ms.WriteByte(0x02); // 请求路径大小
ms.WriteByte(0x20); // 请求路径
ms.WriteByte(0x06);
ms.WriteByte(0x24);
ms.WriteByte(0x01);
ms.WriteByte(0x0A); // 超时时间
ms.WriteByte(0xF0);
ms.WriteByte(0x00); // CIP指令长度
ms.WriteByte(0x00);
int count = 0;
if (cips.Length == 1)
{
ms.Write(cips[0], 0, cips[0].Length);
count += cips[0].Length;
}
else
{
ms.WriteByte(0x0A); // 固定
ms.WriteByte(0x02);
ms.WriteByte(0x20);
ms.WriteByte(0x02);
ms.WriteByte(0x24);
ms.WriteByte(0x01);
count += 8;
ms.Write(BitConverter.GetBytes((ushort)cips.Length), 0, 2); // 写入项数
ushort offect = (ushort)(0x02 + 2 * cips.Length);
count += 2 * cips.Length;
for (int i = 0; i < cips.Length; i++)
{
ms.Write(BitConverter.GetBytes(offect), 0, 2);
offect = (ushort)(offect + cips[i].Length);
}
for (int i = 0; i < cips.Length; i++)
{
ms.Write(cips[i], 0, cips[i].Length);
count += cips[i].Length;
}
}
ms.WriteByte(0x01); // Path Size
ms.WriteByte(0x00);
ms.WriteByte(0x01); // port
ms.WriteByte(slot);
byte[] data = ms.ToArray();
ms.Dispose();
BitConverter.GetBytes((short)count).CopyTo(data, 24);
data[14] = BitConverter.GetBytes((short)(data.Length - 16))[0];
data[15] = BitConverter.GetBytes((short)(data.Length - 16))[1];
return data;
}
/// <summary>
/// 从PLC反馈的数据解析
/// </summary>
/// <param name="response">PLC的反馈数据</param>
/// <param name="isRead">是否是返回的操作</param>
/// <returns>带有结果标识的最终数据</returns>
public static OperateResult<byte[]> ExtractActualData(byte[] response, bool isRead)
{
List<byte> data = new List<byte>();
int offect = 38;
ushort count = BitConverter.ToUInt16(response, 38); // 剩余总字节长度，在剩余的字节里，有可能是一项数据，也有可能是多项
if (BitConverter.ToInt32(response, 40) == 0x8A)
{
// 多项数据
offect = 44;
int dataCount = BitConverter.ToUInt16(response, offect);
for (int i = 0; i < dataCount; i++)
{
int offectStart = BitConverter.ToUInt16(response, offect + 2 + i * 2) + offect;
int offectEnd = (i == dataCount - 1) ? response.Length : (BitConverter.ToUInt16(response, (offect + 4 + i * 2)) + offect);
ushort err = BitConverter.ToUInt16(response, offectStart + 2);
switch (err)
{
case 0x04: return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.AllenBradley04 };
case 0x05: return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.AllenBradley05 };
case 0x06:
{
// 06的错误码通常是数据长度太多了
// CC是符号返回，D2是符号片段返回
if (response[offect + 2] == 0xD2 || response[offect + 2] == 0xCC)
return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.AllenBradley06 };
break;
}
case 0x0A: return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.AllenBradley0A };
case 0x13: return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.AllenBradley13 };
case 0x1C: return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.AllenBradley1C };
case 0x1E: return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.AllenBradley1E };
case 0x26: return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.AllenBradley26 };
case 0x00: break;
default: return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.UnknownError };
}
if (isRead)
{
for (int j = offectStart + 6; j < offectEnd; j++)
{
data.Add(response[j]);
}
}
}
}
else
{
// 单项数据
byte err = response[offect + 4];
switch (err)
{
case 0x04: return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.AllenBradley04 };
case 0x05: return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.AllenBradley05 };
case 0x06:
{
if (response[offect + 2] == 0xD2 || response[offect + 2] == 0xCC)
return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.AllenBradley06 };
break;
}
case 0x0A: return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.AllenBradley0A };
case 0x13: return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.AllenBradley13 };
case 0x1C: return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.AllenBradley1C };
case 0x1E: return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.AllenBradley1E };
case 0x26: return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.AllenBradley26 };
case 0x00: break;
default: return new OperateResult<byte[]>() { ErrorCode = err, Message = StringResources.Language.UnknownError };
}
if (isRead)
{
for (int i = offect + 8; i < offect + 2 + count; i++)
{
data.Add(response[i]);
}
}
}
return OperateResult.CreateSuccessResult(data.ToArray());
}
}
}