using HslCommunication.Core;
using HslCommunication.Core.IMessage;
using HslCommunication.Core.Net;
using System;
using System.Linq;
namespace HslCommunication.Profinet.Melsec
{
/// <summary>
/// 三菱PLC通讯协议，采用A兼容1E帧协议实现，使用二进制码通讯，请根据实际型号来进行选取
/// </summary>
/// <remarks>
/// 本类适用于的PLC列表
/// <list type="number">
/// <item>FX3U(C) PLC 测试人sandy_liao</item>
/// </list>
/// 数据地址支持的格式如下：
/// <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>内部继电器</term>
/// <term>M</term>
/// <term>M100,M200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>输入继电器</term>
/// <term>X</term>
/// <term>X10,X20</term>
/// <term>8</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>输出继电器</term>
/// <term>Y</term>
/// <term>Y10,Y20</term>
/// <term>8</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>步进继电器</term>
/// <term>S</term>
/// <term>S100,S200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>数据寄存器</term>
/// <term>D</term>
/// <term>D1000,D2000</term>
/// <term>10</term>
/// <term>√</term>
/// <term>×</term>
/// <term></term>
/// </item>
/// <item>
/// <term>文件寄存器</term>
/// <term>R</term>
/// <term>R100,R200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>×</term>
/// <term></term>
/// </item>
/// </list>
/// <note type="important">本通讯类由CKernal推送，感谢</note>
/// </remarks>
public class MelsecA1ENet : NetworkDeviceBase<MelsecA1EBinaryMessage, RegularByteTransform>
{
#region Constructor
/// <summary>
/// 实例化三菱的A兼容1E帧协议的通讯对象
/// </summary>
public MelsecA1ENet()
{
WordLength = 1;
}
/// <summary>
/// 实例化一个三菱的A兼容1E帧协议的通讯对象
/// </summary>
/// <param name="ipAddress">PLC的Ip地址</param>
/// <param name="port">PLC的端口</param>
public MelsecA1ENet(string ipAddress, int port)
{
WordLength = 1;
IpAddress = ipAddress;
Port = port;
}
#endregion
#region Public Member
/// <summary>
/// PLC编号
/// </summary>
public byte PLCNumber { get; set; } = 0xFF;
#endregion
#region Read Support
/// <summary>
/// 从三菱PLC中读取想要的数据，返回读取结果
/// </summary>
/// <param name="address">读取地址，格式为"M100","D100","W1A0"</param>
/// <param name="length">读取的数据长度，字最大值960，位最大值7168</param>
/// <returns>带成功标志的结果数据对象</returns>
public override OperateResult<byte[]> Read(string address, ushort length)
{
// 获取指令
var command = BuildReadCommand(address, length, false, PLCNumber);
if (!command.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(command);
// 核心交互
var read = ReadFromCoreServer(command.Content);
if (!read.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(read);
// 错误代码验证
if (read.Content[1] != 0) return new OperateResult<byte[]>(read.Content[1], StringResources.Language.MelsecPleaseReferToManulDocument);
// 数据解析，需要传入是否使用位的参数
return ExtractActualData(read.Content, false);
}
/// <summary>
/// 从三菱PLC中批量读取位软元件，返回读取结果
/// </summary>
/// <param name="address">起始地址</param>
/// <param name="length">读取的长度</param>
/// <returns>带成功标志的结果数据对象</returns>
public override OperateResult<bool[]> ReadBool(string address, ushort length)
{
// 获取指令
var command = BuildReadCommand(address, length, true, PLCNumber);
if (!command.IsSuccess) return OperateResult.CreateFailedResult<bool[]>(command);
// 核心交互
var read = ReadFromCoreServer(command.Content);
if (!read.IsSuccess) return OperateResult.CreateFailedResult<bool[]>(read);
// 错误代码验证
if (read.Content[1] != 0) return new OperateResult<bool[]>(read.Content[1], StringResources.Language.MelsecPleaseReferToManulDocument);
// 数据解析，需要传入是否使用位的参数
var extract = ExtractActualData(read.Content, true);
if (!extract.IsSuccess) return OperateResult.CreateFailedResult<bool[]>(extract);
// 转化bool数组
return OperateResult.CreateSuccessResult(extract.Content.Select(m => m == 0x01).Take(length).ToArray());
}
#endregion
#region Write Override
/// <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>返回写入结果</returns>
public override OperateResult Write(string address, byte[] value)
{
// 解析指令
OperateResult<byte[]> command = BuildWriteCommand(address, value, PLCNumber);
if (!command.IsSuccess) return command;
// 核心交互
OperateResult<byte[]> read = ReadFromCoreServer(command.Content);
if (!read.IsSuccess) return read;
// 错误码校验 (在A兼容1E协议中，结束代码后面紧跟的是异常信息的代码)
if (read.Content[1] != 0) return new OperateResult(read.Content[1], StringResources.Language.MelsecPleaseReferToManulDocument);
// 成功
return OperateResult.CreateSuccessResult();
}
#endregion
#region Write bool[]
/// <summary>
/// 向PLC中位软元件写入bool数组，返回值说明，比如你写入M100,values[0]对应M100
/// </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>
public override OperateResult Write(string address, bool[] values)
{
return Write(address, values.Select(m => m ? (byte)0x01 : (byte)0x00).ToArray());
}
#endregion
#region Object Override
/// <summary>
/// 返回表示当前对象的字符串
/// </summary>
/// <returns>字符串信息</returns>
public override string ToString()
{
return $"MelsecA1ENet[{IpAddress}:{Port}]";
}
#endregion
#region Static Method Helper
/// <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">指示是否按照位成批的读出</param>
/// <param name="plcNumber">PLC编号</param>
/// <returns>带有成功标志的指令数据</returns>
public static OperateResult<byte[]> BuildReadCommand(string address, ushort length, bool isBit, byte plcNumber)
{
var analysis = MelsecHelper.McA1EAnalysisAddress(address);
if (!analysis.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(analysis);
// 默认信息----注意：高低字节交错
// byte subtitle = analysis.Content1.DataType == 0x01 ? (byte)0x00 : (byte)0x01;
byte subtitle = isBit ? (byte)0x00 : (byte)0x01;
byte[] _PLCCommand = new byte[12];
_PLCCommand[0] = subtitle; // 副标题
_PLCCommand[1] = plcNumber; // PLC号
_PLCCommand[2] = 0x0A; // CPU监视定时器（L）这里设置为0x00,0x0A，等待CPU返回的时间为10*250ms=2.5秒
_PLCCommand[3] = 0x00; // CPU监视定时器（H）
_PLCCommand[4] = (byte)(analysis.Content2 % 256); // 起始软元件（开始读取的地址）
_PLCCommand[5] = (byte)(analysis.Content2 / 256);
_PLCCommand[6] = 0x00;
_PLCCommand[7] = 0x00;
_PLCCommand[8] = analysis.Content1.DataCode[1]; // 软元件代码（L）
_PLCCommand[9] = analysis.Content1.DataCode[0]; // 软元件代码（H）
_PLCCommand[10] = (byte)(length % 256); // 软元件点数
_PLCCommand[11] = 0x00;
return OperateResult.CreateSuccessResult(_PLCCommand);
}
/// <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">数据值</param>
/// <param name="plcNumber">PLC编号</param>
/// <returns>带有成功标志的指令数据</returns>
public static OperateResult<byte[]> BuildWriteCommand(string address, byte[] value, byte plcNumber)
{
var analysis = MelsecHelper.McA1EAnalysisAddress(address);
if (!analysis.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(analysis);
int length = -1;
if (analysis.Content1.DataType == 1)
{
// 按照位写入的操作，数据需要重新计算
length = value.Length;
value = MelsecHelper.TransBoolArrayToByteData(value);
}
// 默认信息----注意：高低字节交错
byte subtitle = analysis.Content1.DataType == 0x01 ? (byte)0x02 : (byte)0x03;
byte[] _PLCCommand = new byte[12 + value.Length];
_PLCCommand[0] = subtitle; // 副标题
_PLCCommand[1] = plcNumber; // PLC号
_PLCCommand[2] = 0x0A; // CPU监视定时器（L）这里设置为0x00,0x0A，等待CPU返回的时间为10*250ms=2.5秒
_PLCCommand[3] = 0x00; // CPU监视定时器（H）
_PLCCommand[4] = (byte)(analysis.Content2 % 256); // 起始软元件（开始读取的地址）
_PLCCommand[5] = (byte)(analysis.Content2 / 256);
_PLCCommand[6] = 0x00;
_PLCCommand[7] = 0x00;
_PLCCommand[8] = analysis.Content1.DataCode[1]; // 软元件代码（L）
_PLCCommand[9] = analysis.Content1.DataCode[0]; // 软元件代码（H）
_PLCCommand[10] = (byte)(length % 256); // 软元件点数
_PLCCommand[11] = 0x00;
// 判断是否进行位操作
if (analysis.Content1.DataType == 0x01)
{
if (length > 0)
{
_PLCCommand[10] = (byte)(length % 256); // 软元件点数
}
else
{
_PLCCommand[10] = (byte)(value.Length * 2 % 256); // 软元件点数
}
}
else
{
_PLCCommand[10] = (byte)(value.Length / 2 % 256); // 软元件点数
}
Array.Copy(value, 0, _PLCCommand, 12, value.Length); // 将具体的要写入的数据附加到写入命令后面
return OperateResult.CreateSuccessResult(_PLCCommand);
}
/// <summary>
/// 从PLC反馈的数据中提取出实际的数据内容，需要传入反馈数据，是否位读取
/// </summary>
/// <param name="response">反馈的数据内容</param>
/// <param name="isBit">是否位读取</param>
/// <returns>解析后的结果对象</returns>
public static OperateResult<byte[]> ExtractActualData(byte[] response, bool isBit)
{
if (isBit)
{
// 位读取
byte[] Content = new byte[(response.Length - 2) * 2];
for (int i = 2; i < response.Length; i++)
{
if ((response[i] & 0x10) == 0x10)
{
Content[(i - 2) * 2 + 0] = 0x01;
}
if ((response[i] & 0x01) == 0x01)
{
Content[(i - 2) * 2 + 1] = 0x01;
}
}
return OperateResult.CreateSuccessResult(Content);
}
else
{
// 字读取
byte[] Content = new byte[response.Length - 2];
Array.Copy(response, 2, Content, 0, Content.Length);
return OperateResult.CreateSuccessResult(Content);
}
}
#endregion
}
}