MES / haiNeng · Files

using HslCommunication.Core;
using HslCommunication.Core.IMessage;
using HslCommunication.Core.Net;
using System;
using System.Linq;
using System.Net.Sockets;

namespace HslCommunication.Profinet.Omron
{
    /// <summary>
    /// 欧姆龙PLC通讯类，采用Fins-Tcp通信协议实现
    /// </summary>
    /// <remarks>
    /// <note type="important">实例化之后，使用之前，需要初始化三个参数信息，具体见三个参数的说明：<see cref="SA1"/>，<see cref="DA1"/>，<see cref="DA2"/></note>
    /// <note type="important">第二个需要注意的是，当网络异常掉线时，无法立即连接上PLC，PLC对于当前的节点进行拒绝，如果想要支持在断线后的快速连接，就需要将
    /// <see cref="IsChangeSA1AfterReadFailed"/>设置为<c>True</c>，详细的可以参考 <see cref="IsChangeSA1AfterReadFailed"/></note>
    /// <br />
    /// <note type="warning">如果在测试的时候报错误码64，经网友 上海-Lex 指点，是因为PLC中产生了报警，如伺服报警，模块错误等产生的，但是数据还是能正常读到的，屏蔽64报警或清除plc错误可解决</note>
    /// 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>
    ///   <item>
    ///     <term>EM Area</term>
    ///     <term>E</term>
    ///     <term>E0.0,EF.200,E10.100</term>
    ///     <term>10</term>
    ///     <term>√</term>
    ///     <term>√</term>
    ///     <term></term>
    ///   </item>
    /// </list>
    /// </remarks>
    /// <example>
    /// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="Usage" title="简单的短连接使用" />
    /// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="Usage2" title="简单的长连接使用" />
    /// </example>
    public class OmronFinsNet : NetworkDeviceBase<FinsMessage, ReverseWordTransform>
    {
        #region Constructor

        /// <summary>
        /// 实例化一个欧姆龙PLC Fins帧协议的通讯对象
        /// </summary>
        public OmronFinsNet()
        {
            WordLength = 1;
            ByteTransform.DataFormat = DataFormat.CDAB;
        }

        /// <summary>
        /// 实例化一个欧姆龙PLC Fins帧协议的通讯对象
        /// </summary>
        /// <param name="ipAddress">PLCd的Ip地址</param>
        /// <param name="port">PLC的端口</param>
        public OmronFinsNet(string ipAddress, int port)
        {
            WordLength = 1;
            IpAddress = ipAddress;
            Port = port;
            ByteTransform.DataFormat = DataFormat.CDAB;
        }

        #endregion

        #region IpAddress Override

        /// <summary>
        /// 设备的Ip地址信息
        /// </summary>
        public override string IpAddress
        {
            get => base.IpAddress;
            set
            {
                DA1 = Convert.ToByte(value.Substring(value.LastIndexOf(".") + 1));
                base.IpAddress = value;
            }
        }

        #endregion

        #region Public Member

        /// <summary>
        /// 信息控制字段，默认0x80
        /// </summary>
        public byte ICF { get; set; } = 0x80;

        /// <summary>
        /// 系统使用的内部信息
        /// </summary>
        public byte RSV { get; private set; } = 0x00;

        /// <summary>
        /// 网络层信息，默认0x02，如果有八层消息，就设置为0x07
        /// </summary>
        public byte GCT { get; set; } = 0x02;

        /// <summary>
        /// PLC的网络号地址，默认0x00
        /// </summary>
        public byte DNA { get; set; } = 0x00;

        /// <summary>
        /// PLC的节点地址，这个值在配置了ip地址之后是默认赋值的，默认为Ip地址的最后一位
        /// </summary>
        /// <remarks>
        /// <note type="important">假如你的PLC的Ip地址为192.168.0.10，那么这个值就是10</note>
        /// </remarks>
        public byte DA1 { get; set; } = 0x13;

        /// <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>
        /// 上位机的网络号地址
        /// </summary>
        public byte SNA { get; set; } = 0x00;

        private byte computerSA1 = 0x0B;

        /// <summary>
        /// 上位机的节点地址，假如你的电脑的Ip地址为192.168.0.13，那么这个值就是13
        /// </summary>
        /// <remarks>
        /// <note type="important">假如你的电脑的Ip地址为192.168.0.13，那么这个值就是13</note>
        /// </remarks>
        public byte SA1
        {
            get { return computerSA1; }
            set
            {
                computerSA1 = value;
                handSingle[19] = value;
            }
        }

        /// <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>
        /// 如果设置为<c>True</c>，当数据读取失败的时候，会自动变更当前的SA1值，会选择自动增加，但不会和DA1一致，本值需要在对象实例化之后立即设置。
        /// </summary>
        public bool IsChangeSA1AfterReadFailed { get; set; }

        #endregion

        #region Build Command

        /// <summary>
        /// 将普通的指令打包成完整的指令
        /// </summary>
        /// <param name="cmd"></param>
        /// <returns></returns>
        private byte[] PackCommand(byte[] cmd)
        {
            byte[] buffer = new byte[26 + cmd.Length];
            Array.Copy(handSingle, 0, buffer, 0, 4);
            byte[] tmp = BitConverter.GetBytes(buffer.Length - 8);
            Array.Reverse(tmp);
            tmp.CopyTo(buffer, 4);
            buffer[11] = 0x02;

            buffer[16] = ICF;
            buffer[17] = RSV;
            buffer[18] = GCT;
            buffer[19] = DNA;
            buffer[20] = DA1;
            buffer[21] = DA2;
            buffer[22] = SNA;
            buffer[23] = SA1;
            buffer[24] = SA2;
            buffer[25] = SID;
            cmd.CopyTo(buffer, 26);

            return buffer;
        }

        /// <summary>
        /// 根据类型地址长度确认需要读取的指令头
        /// </summary>
        /// <param name="address">起始地址</param>
        /// <param name="length">长度</param>
        /// <param name="isBit">是否是位读取</param>
        /// <returns>带有成功标志的报文数据</returns>
        public OperateResult<byte[]> BuildReadCommand(string address, ushort length, bool isBit)
        {
            var command = OmronFinsNetHelper.BuildReadCommand(address, length, isBit);
            if (!command.IsSuccess) return command;

            return OperateResult.CreateSuccessResult(PackCommand(command.Content));
        }

        /// <summary>
        /// 根据类型地址以及需要写入的数据来生成指令头
        /// </summary>
        /// <param name="address">起始地址</param>
        /// <param name="value">真实的数据值信息</param>
        /// <param name="isBit">是否是位操作</param>
        /// <returns>带有成功标志的报文数据</returns>
        public OperateResult<byte[]> BuildWriteCommand(string address, byte[] value, bool isBit)
        {
            var command = OmronFinsNetHelper.BuildWriteWordCommand(address, value, isBit);
            if (!command.IsSuccess) return command;

            return OperateResult.CreateSuccessResult(PackCommand(command.Content));
        }

        #endregion

        #region Double Mode Override

        /// <summary>
        /// 在连接上欧姆龙PLC后，需要进行一步握手协议
        /// </summary>
        /// <param name="socket">连接的套接字</param>
        /// <returns>初始化成功与否</returns>
        protected override OperateResult InitializationOnConnect(Socket socket)
        {
            // 握手信号
            OperateResult<byte[]> read = ReadFromCoreServer(socket, handSingle);
            if (!read.IsSuccess) return read;

            // 检查返回的状态
            byte[] buffer = new byte[4];
            buffer[0] = read.Content[15];
            buffer[1] = read.Content[14];
            buffer[2] = read.Content[13];
            buffer[3] = read.Content[12];

            int status = BitConverter.ToInt32(buffer, 0);
            if (status != 0) return new OperateResult(status, OmronFinsNetHelper.GetStatusDescription(status));

            // 提取PLC的节点地址
            if (read.Content.Length >= 24) DA1 = read.Content[23];

            return OperateResult.CreateSuccessResult();
        }

        /// <summary>
        /// 和服务器交互完成的时候调用的方法，无论是成功或是失败，都将会调用，具体的操作需要重写实现
        /// </summary>
        /// <param name="read">读取结果</param>
        protected override void ExtraAfterReadFromCoreServer(OperateResult read)
        {
            base.ExtraAfterReadFromCoreServer(read);
            if (!read.IsSuccess)
            {
                if (IsChangeSA1AfterReadFailed)
                {
                    // when read failed, changed the SA1 value
                    SA1++;
                    if (SA1 > 253) SA1 = 1;
                    if (SA1 == DA1) SA1++;
                    if (SA1 > 253) SA1 = 1;
                }
            }
        }

        #endregion

        #region Read Write Override

        /// <summary>
        /// 从欧姆龙PLC中读取想要的数据，返回读取结果，读取单位为字
        /// </summary>
        /// <param name="address">读取地址，格式为"D100","C100","W100","H100","A100"</param>
        /// <param name="length">读取的数据长度</param>
        /// <returns>带成功标志的结果数据对象</returns>
        /// <example>
        /// 假设起始地址为D100，D100存储了温度，100.6℃值为1006，D101存储了压力，1.23Mpa值为123，D102,D103存储了产量计数，读取如下：
        /// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="ReadExample2" title="Read示例" />
        /// 以下是读取不同类型数据的示例
        /// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="ReadExample1" title="Read示例" />
        /// </example>
        public override OperateResult<byte[]> Read(string address, ushort length)
        {
            // 获取指令
            var command = BuildReadCommand(address, length, false);
            if (!command.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(command);

            // 核心数据交互
            OperateResult<byte[]> read = ReadFromCoreServer(command.Content);
            if (!read.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(read);

            // 数据有效性分析
            OperateResult<byte[]> valid = OmronFinsNetHelper.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>
        /// 向PLC写入数据，数据格式为原始的字节类型
        /// </summary>
        /// <param name="address">初始地址</param>
        /// <param name="value">原始的字节数据</param>
        /// <returns>结果</returns>
        /// <example>
        /// 假设起始地址为D100，D100存储了温度，100.6℃值为1006，D101存储了压力，1.23Mpa值为123，D102,D103存储了产量计数，读取如下：
        /// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="WriteExample2" title="Write示例" />
        /// 以下是写入不同类型数据的示例
        /// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\OmronFinsNet.cs" region="WriteExample1" title="Write示例" />
        /// </example>
        public override OperateResult Write(string address, byte[] value)
        {
            // 获取指令
            var command = BuildWriteCommand(address, value, false);
            if (!command.IsSuccess) return command;

            // 核心数据交互
            OperateResult<byte[]> read = ReadFromCoreServer(command.Content);
            if (!read.IsSuccess) return read;

            // 数据有效性分析
            OperateResult<byte[]> valid = OmronFinsNetHelper.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，格式为"D100","C100","W100","H100","A100"</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 override OperateResult<bool[]> ReadBool(string address, ushort length)
        {
            // 获取指令
            var command = BuildReadCommand(address, length, true);
            if (!command.IsSuccess) return OperateResult.CreateFailedResult<bool[]>(command);

            // 核心数据交互
            OperateResult<byte[]> read = ReadFromCoreServer(command.Content);
            if (!read.IsSuccess) return OperateResult.CreateFailedResult<bool[]>(read);

            // 数据有效性分析
            OperateResult<byte[]> valid = OmronFinsNetHelper.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>
        /// 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</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 override OperateResult Write(string address, bool[] values)
        {
            // 获取指令
            var command = BuildWriteCommand(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 = ReadFromCoreServer(command.Content);
            if (!read.IsSuccess) return read;

            // 数据有效性分析
            OperateResult<byte[]> valid = OmronFinsNetHelper.ResponseValidAnalysis(read.Content, false);
            if (!valid.IsSuccess) return valid;

            // 写入成功
            return OperateResult.CreateSuccessResult();
        }

        #endregion

        #region Hand Single

        // 握手信号
        // 46494E530000000C0000000000000000000000D6 
        private readonly byte[] handSingle = new byte[]
        {
            0x46, 0x49, 0x4E, 0x53, // FINS
            0x00, 0x00, 0x00, 0x0C, // 后面的命令长度
            0x00, 0x00, 0x00, 0x00, // 命令码
            0x00, 0x00, 0x00, 0x00, // 错误码
            0x00, 0x00, 0x00, 0x01  // 节点号
        };

        #endregion

        #region Object Override

        /// <summary>
        /// 返回表示当前对象的字符串
        /// </summary>
        /// <returns>字符串</returns>
        public override string ToString()
        {
            return $"OmronFinsNet[{IpAddress}:{Port}]";
        }

        #endregion
    }
}