733 lines
33 KiB
C#
733 lines
33 KiB
C#
using System.Buffers.Binary;
|
|
using System.Text.Json;
|
|
using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
|
|
|
|
namespace ZB.MOM.WW.OtOpcUa.Driver.Modbus;
|
|
|
|
/// <summary>
|
|
/// Modbus TCP implementation of <see cref="IDriver"/> + <see cref="ITagDiscovery"/> +
|
|
/// <see cref="IReadable"/> + <see cref="IWritable"/>. First native-protocol greenfield
|
|
/// driver for the v2 stack — validates the driver-agnostic <c>IAddressSpaceBuilder</c> +
|
|
/// <c>IReadable</c>/<c>IWritable</c> abstractions generalize beyond Galaxy.
|
|
/// </summary>
|
|
/// <remarks>
|
|
/// Scope limits: synchronous Read/Write only, no subscriptions (Modbus has no push model;
|
|
/// subscriptions would need a polling loop over the declared tags — additive PR). Historian
|
|
/// + alarm capabilities are out of scope (the protocol doesn't express them).
|
|
/// </remarks>
|
|
public sealed class ModbusDriver(ModbusDriverOptions options, string driverInstanceId,
|
|
Func<ModbusDriverOptions, IModbusTransport>? transportFactory = null)
|
|
: IDriver, ITagDiscovery, IReadable, IWritable, ISubscribable, IHostConnectivityProbe, IDisposable, IAsyncDisposable
|
|
{
|
|
// Active polling subscriptions. Each subscription owns a background Task that polls the
|
|
// tags at its configured interval, diffs against _lastKnownValues, and fires OnDataChange
|
|
// per changed tag. UnsubscribeAsync cancels the task via the CTS stored on the handle.
|
|
private readonly System.Collections.Concurrent.ConcurrentDictionary<long, SubscriptionState> _subscriptions = new();
|
|
private long _nextSubscriptionId;
|
|
|
|
public event EventHandler<DataChangeEventArgs>? OnDataChange;
|
|
public event EventHandler<HostStatusChangedEventArgs>? OnHostStatusChanged;
|
|
|
|
// Single-host probe state — Modbus driver talks to exactly one endpoint so the "hosts"
|
|
// collection has at most one entry. HostName is the Host:Port string so the Admin UI can
|
|
// display the PLC endpoint uniformly with Galaxy platforms/engines.
|
|
private readonly object _probeLock = new();
|
|
private HostState _hostState = HostState.Unknown;
|
|
private DateTime _hostStateChangedUtc = DateTime.UtcNow;
|
|
private CancellationTokenSource? _probeCts;
|
|
private readonly ModbusDriverOptions _options = options;
|
|
private readonly Func<ModbusDriverOptions, IModbusTransport> _transportFactory =
|
|
transportFactory ?? (o => new ModbusTcpTransport(o.Host, o.Port, o.Timeout, o.AutoReconnect));
|
|
|
|
private IModbusTransport? _transport;
|
|
private DriverHealth _health = new(DriverState.Unknown, null, null);
|
|
private readonly Dictionary<string, ModbusTagDefinition> _tagsByName = new(StringComparer.OrdinalIgnoreCase);
|
|
|
|
public string DriverInstanceId => driverInstanceId;
|
|
public string DriverType => "Modbus";
|
|
|
|
public async Task InitializeAsync(string driverConfigJson, CancellationToken cancellationToken)
|
|
{
|
|
_health = new DriverHealth(DriverState.Initializing, null, null);
|
|
try
|
|
{
|
|
_transport = _transportFactory(_options);
|
|
await _transport.ConnectAsync(cancellationToken).ConfigureAwait(false);
|
|
foreach (var t in _options.Tags) _tagsByName[t.Name] = t;
|
|
_health = new DriverHealth(DriverState.Healthy, DateTime.UtcNow, null);
|
|
|
|
// PR 23: kick off the probe loop once the transport is up. Initial state stays
|
|
// Unknown until the first probe tick succeeds — avoids broadcasting a premature
|
|
// Running transition before any register round-trip has happened.
|
|
if (_options.Probe.Enabled)
|
|
{
|
|
_probeCts = new CancellationTokenSource();
|
|
_ = Task.Run(() => ProbeLoopAsync(_probeCts.Token), _probeCts.Token);
|
|
}
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
_health = new DriverHealth(DriverState.Faulted, null, ex.Message);
|
|
throw;
|
|
}
|
|
}
|
|
|
|
public async Task ReinitializeAsync(string driverConfigJson, CancellationToken cancellationToken)
|
|
{
|
|
await ShutdownAsync(cancellationToken);
|
|
await InitializeAsync(driverConfigJson, cancellationToken);
|
|
}
|
|
|
|
public async Task ShutdownAsync(CancellationToken cancellationToken)
|
|
{
|
|
try { _probeCts?.Cancel(); } catch { }
|
|
_probeCts?.Dispose();
|
|
_probeCts = null;
|
|
|
|
foreach (var state in _subscriptions.Values)
|
|
{
|
|
try { state.Cts.Cancel(); } catch { }
|
|
state.Cts.Dispose();
|
|
}
|
|
_subscriptions.Clear();
|
|
|
|
if (_transport is not null) await _transport.DisposeAsync().ConfigureAwait(false);
|
|
_transport = null;
|
|
_health = new DriverHealth(DriverState.Unknown, _health.LastSuccessfulRead, null);
|
|
}
|
|
|
|
public DriverHealth GetHealth() => _health;
|
|
public long GetMemoryFootprint() => 0;
|
|
public Task FlushOptionalCachesAsync(CancellationToken cancellationToken) => Task.CompletedTask;
|
|
|
|
// ---- ITagDiscovery ----
|
|
|
|
public Task DiscoverAsync(IAddressSpaceBuilder builder, CancellationToken cancellationToken)
|
|
{
|
|
ArgumentNullException.ThrowIfNull(builder);
|
|
var folder = builder.Folder("Modbus", "Modbus");
|
|
foreach (var t in _options.Tags)
|
|
{
|
|
folder.Variable(t.Name, t.Name, new DriverAttributeInfo(
|
|
FullName: t.Name,
|
|
DriverDataType: MapDataType(t.DataType),
|
|
IsArray: false,
|
|
ArrayDim: null,
|
|
SecurityClass: t.Writable ? SecurityClassification.Operate : SecurityClassification.ViewOnly,
|
|
IsHistorized: false,
|
|
IsAlarm: false));
|
|
}
|
|
return Task.CompletedTask;
|
|
}
|
|
|
|
// ---- IReadable ----
|
|
|
|
public async Task<IReadOnlyList<DataValueSnapshot>> ReadAsync(
|
|
IReadOnlyList<string> fullReferences, CancellationToken cancellationToken)
|
|
{
|
|
var transport = RequireTransport();
|
|
var now = DateTime.UtcNow;
|
|
var results = new DataValueSnapshot[fullReferences.Count];
|
|
for (var i = 0; i < fullReferences.Count; i++)
|
|
{
|
|
if (!_tagsByName.TryGetValue(fullReferences[i], out var tag))
|
|
{
|
|
results[i] = new DataValueSnapshot(null, StatusBadNodeIdUnknown, null, now);
|
|
continue;
|
|
}
|
|
try
|
|
{
|
|
var value = await ReadOneAsync(transport, tag, cancellationToken).ConfigureAwait(false);
|
|
results[i] = new DataValueSnapshot(value, 0u, now, now);
|
|
_health = new DriverHealth(DriverState.Healthy, now, null);
|
|
}
|
|
catch (ModbusException mex)
|
|
{
|
|
results[i] = new DataValueSnapshot(null, MapModbusExceptionToStatus(mex.ExceptionCode), null, now);
|
|
_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, mex.Message);
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
// Non-Modbus-layer failure: socket dropped, timeout, malformed response. Surface
|
|
// as communication error so callers can distinguish it from tag-level faults.
|
|
results[i] = new DataValueSnapshot(null, StatusBadCommunicationError, null, now);
|
|
_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ex.Message);
|
|
}
|
|
}
|
|
return results;
|
|
}
|
|
|
|
private async Task<object> ReadOneAsync(IModbusTransport transport, ModbusTagDefinition tag, CancellationToken ct)
|
|
{
|
|
switch (tag.Region)
|
|
{
|
|
case ModbusRegion.Coils:
|
|
{
|
|
var pdu = new byte[] { 0x01, (byte)(tag.Address >> 8), (byte)(tag.Address & 0xFF), 0x00, 0x01 };
|
|
var resp = await transport.SendAsync(_options.UnitId, pdu, ct).ConfigureAwait(false);
|
|
return (resp[2] & 0x01) == 1;
|
|
}
|
|
case ModbusRegion.DiscreteInputs:
|
|
{
|
|
var pdu = new byte[] { 0x02, (byte)(tag.Address >> 8), (byte)(tag.Address & 0xFF), 0x00, 0x01 };
|
|
var resp = await transport.SendAsync(_options.UnitId, pdu, ct).ConfigureAwait(false);
|
|
return (resp[2] & 0x01) == 1;
|
|
}
|
|
case ModbusRegion.HoldingRegisters:
|
|
case ModbusRegion.InputRegisters:
|
|
{
|
|
var quantity = RegisterCount(tag);
|
|
var fc = tag.Region == ModbusRegion.HoldingRegisters ? (byte)0x03 : (byte)0x04;
|
|
// Auto-chunk when the tag's register span exceeds the caller-configured cap.
|
|
// Affects long strings (FC03/04 > 125 regs is spec-forbidden; DL205 caps at 128,
|
|
// Mitsubishi Q caps at 64). Non-string tags max out at 4 regs so the cap never
|
|
// triggers for numerics.
|
|
var cap = _options.MaxRegistersPerRead == 0 ? (ushort)125 : _options.MaxRegistersPerRead;
|
|
var data = quantity <= cap
|
|
? await ReadRegisterBlockAsync(transport, fc, tag.Address, quantity, ct).ConfigureAwait(false)
|
|
: await ReadRegisterBlockChunkedAsync(transport, fc, tag.Address, quantity, cap, ct).ConfigureAwait(false);
|
|
return DecodeRegister(data, tag);
|
|
}
|
|
default:
|
|
throw new InvalidOperationException($"Unknown region {tag.Region}");
|
|
}
|
|
}
|
|
|
|
private async Task<byte[]> ReadRegisterBlockAsync(
|
|
IModbusTransport transport, byte fc, ushort address, ushort quantity, CancellationToken ct)
|
|
{
|
|
var pdu = new byte[] { fc, (byte)(address >> 8), (byte)(address & 0xFF),
|
|
(byte)(quantity >> 8), (byte)(quantity & 0xFF) };
|
|
var resp = await transport.SendAsync(_options.UnitId, pdu, ct).ConfigureAwait(false);
|
|
// resp = [fc][byte-count][data...]
|
|
var data = new byte[resp[1]];
|
|
Buffer.BlockCopy(resp, 2, data, 0, resp[1]);
|
|
return data;
|
|
}
|
|
|
|
private async Task<byte[]> ReadRegisterBlockChunkedAsync(
|
|
IModbusTransport transport, byte fc, ushort address, ushort totalRegs, ushort cap, CancellationToken ct)
|
|
{
|
|
var assembled = new byte[totalRegs * 2];
|
|
ushort done = 0;
|
|
while (done < totalRegs)
|
|
{
|
|
var chunk = (ushort)Math.Min(cap, totalRegs - done);
|
|
var chunkBytes = await ReadRegisterBlockAsync(transport, fc, (ushort)(address + done), chunk, ct).ConfigureAwait(false);
|
|
Buffer.BlockCopy(chunkBytes, 0, assembled, done * 2, chunkBytes.Length);
|
|
done += chunk;
|
|
}
|
|
return assembled;
|
|
}
|
|
|
|
// ---- IWritable ----
|
|
|
|
public async Task<IReadOnlyList<WriteResult>> WriteAsync(
|
|
IReadOnlyList<WriteRequest> writes, CancellationToken cancellationToken)
|
|
{
|
|
var transport = RequireTransport();
|
|
var results = new WriteResult[writes.Count];
|
|
for (var i = 0; i < writes.Count; i++)
|
|
{
|
|
var w = writes[i];
|
|
if (!_tagsByName.TryGetValue(w.FullReference, out var tag))
|
|
{
|
|
results[i] = new WriteResult(StatusBadNodeIdUnknown);
|
|
continue;
|
|
}
|
|
if (!tag.Writable || tag.Region is ModbusRegion.DiscreteInputs or ModbusRegion.InputRegisters)
|
|
{
|
|
results[i] = new WriteResult(StatusBadNotWritable);
|
|
continue;
|
|
}
|
|
try
|
|
{
|
|
await WriteOneAsync(transport, tag, w.Value, cancellationToken).ConfigureAwait(false);
|
|
results[i] = new WriteResult(0u);
|
|
}
|
|
catch (ModbusException mex)
|
|
{
|
|
results[i] = new WriteResult(MapModbusExceptionToStatus(mex.ExceptionCode));
|
|
}
|
|
catch (Exception)
|
|
{
|
|
results[i] = new WriteResult(StatusBadInternalError);
|
|
}
|
|
}
|
|
return results;
|
|
}
|
|
|
|
private async Task WriteOneAsync(IModbusTransport transport, ModbusTagDefinition tag, object? value, CancellationToken ct)
|
|
{
|
|
switch (tag.Region)
|
|
{
|
|
case ModbusRegion.Coils:
|
|
{
|
|
var on = Convert.ToBoolean(value);
|
|
var pdu = new byte[] { 0x05, (byte)(tag.Address >> 8), (byte)(tag.Address & 0xFF),
|
|
on ? (byte)0xFF : (byte)0x00, 0x00 };
|
|
await transport.SendAsync(_options.UnitId, pdu, ct).ConfigureAwait(false);
|
|
return;
|
|
}
|
|
case ModbusRegion.HoldingRegisters:
|
|
{
|
|
var bytes = EncodeRegister(value, tag);
|
|
if (bytes.Length == 2)
|
|
{
|
|
var pdu = new byte[] { 0x06, (byte)(tag.Address >> 8), (byte)(tag.Address & 0xFF),
|
|
bytes[0], bytes[1] };
|
|
await transport.SendAsync(_options.UnitId, pdu, ct).ConfigureAwait(false);
|
|
}
|
|
else
|
|
{
|
|
// FC 16 (Write Multiple Registers) for 32-bit types.
|
|
var qty = (ushort)(bytes.Length / 2);
|
|
var writeCap = _options.MaxRegistersPerWrite == 0 ? (ushort)123 : _options.MaxRegistersPerWrite;
|
|
if (qty > writeCap)
|
|
throw new InvalidOperationException(
|
|
$"Write of {qty} registers to {tag.Name} exceeds MaxRegistersPerWrite={writeCap}. " +
|
|
$"Split the tag (e.g. shorter StringLength) — partial FC16 chunks would lose atomicity.");
|
|
var pdu = new byte[6 + 1 + bytes.Length];
|
|
pdu[0] = 0x10;
|
|
pdu[1] = (byte)(tag.Address >> 8); pdu[2] = (byte)(tag.Address & 0xFF);
|
|
pdu[3] = (byte)(qty >> 8); pdu[4] = (byte)(qty & 0xFF);
|
|
pdu[5] = (byte)bytes.Length;
|
|
Buffer.BlockCopy(bytes, 0, pdu, 6, bytes.Length);
|
|
await transport.SendAsync(_options.UnitId, pdu, ct).ConfigureAwait(false);
|
|
}
|
|
return;
|
|
}
|
|
default:
|
|
throw new InvalidOperationException($"Writes not supported for region {tag.Region}");
|
|
}
|
|
}
|
|
|
|
// ---- ISubscribable (polling overlay) ----
|
|
|
|
public Task<ISubscriptionHandle> SubscribeAsync(
|
|
IReadOnlyList<string> fullReferences, TimeSpan publishingInterval, CancellationToken cancellationToken)
|
|
{
|
|
var id = Interlocked.Increment(ref _nextSubscriptionId);
|
|
var cts = new CancellationTokenSource();
|
|
var interval = publishingInterval < TimeSpan.FromMilliseconds(100)
|
|
? TimeSpan.FromMilliseconds(100) // floor — Modbus can't sustain < 100ms polling reliably
|
|
: publishingInterval;
|
|
var handle = new ModbusSubscriptionHandle(id);
|
|
var state = new SubscriptionState(handle, [.. fullReferences], interval, cts);
|
|
_subscriptions[id] = state;
|
|
_ = Task.Run(() => PollLoopAsync(state, cts.Token), cts.Token);
|
|
return Task.FromResult<ISubscriptionHandle>(handle);
|
|
}
|
|
|
|
public Task UnsubscribeAsync(ISubscriptionHandle handle, CancellationToken cancellationToken)
|
|
{
|
|
if (handle is ModbusSubscriptionHandle h && _subscriptions.TryRemove(h.Id, out var state))
|
|
{
|
|
state.Cts.Cancel();
|
|
state.Cts.Dispose();
|
|
}
|
|
return Task.CompletedTask;
|
|
}
|
|
|
|
private async Task PollLoopAsync(SubscriptionState state, CancellationToken ct)
|
|
{
|
|
// Initial-data push: read every tag once at subscribe time so OPC UA clients see the
|
|
// current value per Part 4 convention, even if the value never changes thereafter.
|
|
try { await PollOnceAsync(state, forceRaise: true, ct).ConfigureAwait(false); }
|
|
catch (OperationCanceledException) { return; }
|
|
catch { /* first-read error — polling continues */ }
|
|
|
|
while (!ct.IsCancellationRequested)
|
|
{
|
|
try { await Task.Delay(state.Interval, ct).ConfigureAwait(false); }
|
|
catch (OperationCanceledException) { return; }
|
|
|
|
try { await PollOnceAsync(state, forceRaise: false, ct).ConfigureAwait(false); }
|
|
catch (OperationCanceledException) { return; }
|
|
catch { /* transient polling error — loop continues, health surface reflects it */ }
|
|
}
|
|
}
|
|
|
|
private async Task PollOnceAsync(SubscriptionState state, bool forceRaise, CancellationToken ct)
|
|
{
|
|
var snapshots = await ReadAsync(state.TagReferences, ct).ConfigureAwait(false);
|
|
for (var i = 0; i < state.TagReferences.Count; i++)
|
|
{
|
|
var tagRef = state.TagReferences[i];
|
|
var current = snapshots[i];
|
|
var lastSeen = state.LastValues.TryGetValue(tagRef, out var prev) ? prev : default;
|
|
|
|
// Raise on first read (forceRaise) OR when the boxed value differs from last-known.
|
|
if (forceRaise || !Equals(lastSeen?.Value, current.Value) || lastSeen?.StatusCode != current.StatusCode)
|
|
{
|
|
state.LastValues[tagRef] = current;
|
|
OnDataChange?.Invoke(this, new DataChangeEventArgs(state.Handle, tagRef, current));
|
|
}
|
|
}
|
|
}
|
|
|
|
private sealed record SubscriptionState(
|
|
ModbusSubscriptionHandle Handle,
|
|
IReadOnlyList<string> TagReferences,
|
|
TimeSpan Interval,
|
|
CancellationTokenSource Cts)
|
|
{
|
|
public System.Collections.Concurrent.ConcurrentDictionary<string, DataValueSnapshot> LastValues { get; }
|
|
= new(StringComparer.OrdinalIgnoreCase);
|
|
}
|
|
|
|
private sealed record ModbusSubscriptionHandle(long Id) : ISubscriptionHandle
|
|
{
|
|
public string DiagnosticId => $"modbus-sub-{Id}";
|
|
}
|
|
|
|
// ---- IHostConnectivityProbe ----
|
|
|
|
public IReadOnlyList<HostConnectivityStatus> GetHostStatuses()
|
|
{
|
|
lock (_probeLock)
|
|
return [new HostConnectivityStatus(HostName, _hostState, _hostStateChangedUtc)];
|
|
}
|
|
|
|
/// <summary>
|
|
/// Host identifier surfaced to <c>IHostConnectivityProbe.GetHostStatuses</c> and the Admin UI.
|
|
/// Formatted as <c>host:port</c> so multiple Modbus drivers in the same server disambiguate
|
|
/// by endpoint without needing the driver-instance-id in the Admin dashboard.
|
|
/// </summary>
|
|
public string HostName => $"{_options.Host}:{_options.Port}";
|
|
|
|
private async Task ProbeLoopAsync(CancellationToken ct)
|
|
{
|
|
var transport = _transport; // captured reference; disposal tears the loop down via ct
|
|
while (!ct.IsCancellationRequested)
|
|
{
|
|
var success = false;
|
|
try
|
|
{
|
|
using var probeCts = CancellationTokenSource.CreateLinkedTokenSource(ct);
|
|
probeCts.CancelAfter(_options.Probe.Timeout);
|
|
var pdu = new byte[] { 0x03,
|
|
(byte)(_options.Probe.ProbeAddress >> 8),
|
|
(byte)(_options.Probe.ProbeAddress & 0xFF), 0x00, 0x01 };
|
|
_ = await transport!.SendAsync(_options.UnitId, pdu, probeCts.Token).ConfigureAwait(false);
|
|
success = true;
|
|
}
|
|
catch (OperationCanceledException) when (ct.IsCancellationRequested)
|
|
{
|
|
return;
|
|
}
|
|
catch
|
|
{
|
|
// transport / timeout / exception PDU — treated as Stopped below
|
|
}
|
|
|
|
TransitionTo(success ? HostState.Running : HostState.Stopped);
|
|
|
|
try { await Task.Delay(_options.Probe.Interval, ct).ConfigureAwait(false); }
|
|
catch (OperationCanceledException) { return; }
|
|
}
|
|
}
|
|
|
|
private void TransitionTo(HostState newState)
|
|
{
|
|
HostState old;
|
|
lock (_probeLock)
|
|
{
|
|
old = _hostState;
|
|
if (old == newState) return;
|
|
_hostState = newState;
|
|
_hostStateChangedUtc = DateTime.UtcNow;
|
|
}
|
|
OnHostStatusChanged?.Invoke(this, new HostStatusChangedEventArgs(HostName, old, newState));
|
|
}
|
|
|
|
// ---- codec ----
|
|
|
|
/// <summary>
|
|
/// How many 16-bit registers a given tag occupies. Accounts for multi-register logical
|
|
/// types (Int32/Float32 = 2 regs, Int64/Float64 = 4 regs) and for strings (rounded up
|
|
/// from 2 chars per register).
|
|
/// </summary>
|
|
internal static ushort RegisterCount(ModbusTagDefinition tag) => tag.DataType switch
|
|
{
|
|
ModbusDataType.Int16 or ModbusDataType.UInt16 or ModbusDataType.BitInRegister or ModbusDataType.Bcd16 => 1,
|
|
ModbusDataType.Int32 or ModbusDataType.UInt32 or ModbusDataType.Float32 or ModbusDataType.Bcd32 => 2,
|
|
ModbusDataType.Int64 or ModbusDataType.UInt64 or ModbusDataType.Float64 => 4,
|
|
ModbusDataType.String => (ushort)((tag.StringLength + 1) / 2), // 2 chars per register
|
|
_ => throw new InvalidOperationException($"Non-register data type {tag.DataType}"),
|
|
};
|
|
|
|
/// <summary>
|
|
/// Word-swap the input into the big-endian layout the decoders expect. For 2-register
|
|
/// types this reverses the two words; for 4-register types it reverses the four words
|
|
/// (PLC stored [hi-mid, low-mid, hi-high, low-high] → memory [hi-high, low-high, hi-mid, low-mid]).
|
|
/// </summary>
|
|
private static byte[] NormalizeWordOrder(ReadOnlySpan<byte> data, ModbusByteOrder order)
|
|
{
|
|
if (order == ModbusByteOrder.BigEndian) return data.ToArray();
|
|
var result = new byte[data.Length];
|
|
for (var word = 0; word < data.Length / 2; word++)
|
|
{
|
|
var srcWord = data.Length / 2 - 1 - word;
|
|
result[word * 2] = data[srcWord * 2];
|
|
result[word * 2 + 1] = data[srcWord * 2 + 1];
|
|
}
|
|
return result;
|
|
}
|
|
|
|
internal static object DecodeRegister(ReadOnlySpan<byte> data, ModbusTagDefinition tag)
|
|
{
|
|
switch (tag.DataType)
|
|
{
|
|
case ModbusDataType.Int16: return BinaryPrimitives.ReadInt16BigEndian(data);
|
|
case ModbusDataType.UInt16: return BinaryPrimitives.ReadUInt16BigEndian(data);
|
|
case ModbusDataType.Bcd16:
|
|
{
|
|
var raw = BinaryPrimitives.ReadUInt16BigEndian(data);
|
|
return (int)DecodeBcd(raw, nibbles: 4);
|
|
}
|
|
case ModbusDataType.Bcd32:
|
|
{
|
|
var b = NormalizeWordOrder(data, tag.ByteOrder);
|
|
var raw = BinaryPrimitives.ReadUInt32BigEndian(b);
|
|
return (int)DecodeBcd(raw, nibbles: 8);
|
|
}
|
|
case ModbusDataType.BitInRegister:
|
|
{
|
|
var raw = BinaryPrimitives.ReadUInt16BigEndian(data);
|
|
return (raw & (1 << tag.BitIndex)) != 0;
|
|
}
|
|
case ModbusDataType.Int32:
|
|
{
|
|
var b = NormalizeWordOrder(data, tag.ByteOrder);
|
|
return BinaryPrimitives.ReadInt32BigEndian(b);
|
|
}
|
|
case ModbusDataType.UInt32:
|
|
{
|
|
var b = NormalizeWordOrder(data, tag.ByteOrder);
|
|
return BinaryPrimitives.ReadUInt32BigEndian(b);
|
|
}
|
|
case ModbusDataType.Float32:
|
|
{
|
|
var b = NormalizeWordOrder(data, tag.ByteOrder);
|
|
return BinaryPrimitives.ReadSingleBigEndian(b);
|
|
}
|
|
case ModbusDataType.Int64:
|
|
{
|
|
var b = NormalizeWordOrder(data, tag.ByteOrder);
|
|
return BinaryPrimitives.ReadInt64BigEndian(b);
|
|
}
|
|
case ModbusDataType.UInt64:
|
|
{
|
|
var b = NormalizeWordOrder(data, tag.ByteOrder);
|
|
return BinaryPrimitives.ReadUInt64BigEndian(b);
|
|
}
|
|
case ModbusDataType.Float64:
|
|
{
|
|
var b = NormalizeWordOrder(data, tag.ByteOrder);
|
|
return BinaryPrimitives.ReadDoubleBigEndian(b);
|
|
}
|
|
case ModbusDataType.String:
|
|
{
|
|
// ASCII, 2 chars per register. HighByteFirst (standard) packs the first char in
|
|
// the high byte of each register; LowByteFirst (DL205/DL260) packs the first char
|
|
// in the low byte. Respect StringLength (truncate nul-padded regions).
|
|
var chars = new char[tag.StringLength];
|
|
for (var i = 0; i < tag.StringLength; i++)
|
|
{
|
|
var regIdx = i / 2;
|
|
var highByte = data[regIdx * 2];
|
|
var lowByte = data[regIdx * 2 + 1];
|
|
byte b;
|
|
if (tag.StringByteOrder == ModbusStringByteOrder.HighByteFirst)
|
|
b = (i % 2 == 0) ? highByte : lowByte;
|
|
else
|
|
b = (i % 2 == 0) ? lowByte : highByte;
|
|
if (b == 0) return new string(chars, 0, i);
|
|
chars[i] = (char)b;
|
|
}
|
|
return new string(chars);
|
|
}
|
|
default:
|
|
throw new InvalidOperationException($"Non-register data type {tag.DataType}");
|
|
}
|
|
}
|
|
|
|
internal static byte[] EncodeRegister(object? value, ModbusTagDefinition tag)
|
|
{
|
|
switch (tag.DataType)
|
|
{
|
|
case ModbusDataType.Int16:
|
|
{
|
|
var v = Convert.ToInt16(value);
|
|
var b = new byte[2]; BinaryPrimitives.WriteInt16BigEndian(b, v); return b;
|
|
}
|
|
case ModbusDataType.UInt16:
|
|
{
|
|
var v = Convert.ToUInt16(value);
|
|
var b = new byte[2]; BinaryPrimitives.WriteUInt16BigEndian(b, v); return b;
|
|
}
|
|
case ModbusDataType.Bcd16:
|
|
{
|
|
var v = Convert.ToUInt32(value);
|
|
if (v > 9999) throw new OverflowException($"BCD16 value {v} exceeds 4 decimal digits");
|
|
var raw = (ushort)EncodeBcd(v, nibbles: 4);
|
|
var b = new byte[2]; BinaryPrimitives.WriteUInt16BigEndian(b, raw); return b;
|
|
}
|
|
case ModbusDataType.Bcd32:
|
|
{
|
|
var v = Convert.ToUInt32(value);
|
|
if (v > 99_999_999u) throw new OverflowException($"BCD32 value {v} exceeds 8 decimal digits");
|
|
var raw = EncodeBcd(v, nibbles: 8);
|
|
var b = new byte[4]; BinaryPrimitives.WriteUInt32BigEndian(b, raw);
|
|
return NormalizeWordOrder(b, tag.ByteOrder);
|
|
}
|
|
case ModbusDataType.Int32:
|
|
{
|
|
var v = Convert.ToInt32(value);
|
|
var b = new byte[4]; BinaryPrimitives.WriteInt32BigEndian(b, v);
|
|
return NormalizeWordOrder(b, tag.ByteOrder);
|
|
}
|
|
case ModbusDataType.UInt32:
|
|
{
|
|
var v = Convert.ToUInt32(value);
|
|
var b = new byte[4]; BinaryPrimitives.WriteUInt32BigEndian(b, v);
|
|
return NormalizeWordOrder(b, tag.ByteOrder);
|
|
}
|
|
case ModbusDataType.Float32:
|
|
{
|
|
var v = Convert.ToSingle(value);
|
|
var b = new byte[4]; BinaryPrimitives.WriteSingleBigEndian(b, v);
|
|
return NormalizeWordOrder(b, tag.ByteOrder);
|
|
}
|
|
case ModbusDataType.Int64:
|
|
{
|
|
var v = Convert.ToInt64(value);
|
|
var b = new byte[8]; BinaryPrimitives.WriteInt64BigEndian(b, v);
|
|
return NormalizeWordOrder(b, tag.ByteOrder);
|
|
}
|
|
case ModbusDataType.UInt64:
|
|
{
|
|
var v = Convert.ToUInt64(value);
|
|
var b = new byte[8]; BinaryPrimitives.WriteUInt64BigEndian(b, v);
|
|
return NormalizeWordOrder(b, tag.ByteOrder);
|
|
}
|
|
case ModbusDataType.Float64:
|
|
{
|
|
var v = Convert.ToDouble(value);
|
|
var b = new byte[8]; BinaryPrimitives.WriteDoubleBigEndian(b, v);
|
|
return NormalizeWordOrder(b, tag.ByteOrder);
|
|
}
|
|
case ModbusDataType.String:
|
|
{
|
|
var s = Convert.ToString(value) ?? string.Empty;
|
|
var regs = (tag.StringLength + 1) / 2;
|
|
var b = new byte[regs * 2];
|
|
for (var i = 0; i < tag.StringLength && i < s.Length; i++)
|
|
{
|
|
var regIdx = i / 2;
|
|
var destIdx = tag.StringByteOrder == ModbusStringByteOrder.HighByteFirst
|
|
? (i % 2 == 0 ? regIdx * 2 : regIdx * 2 + 1)
|
|
: (i % 2 == 0 ? regIdx * 2 + 1 : regIdx * 2);
|
|
b[destIdx] = (byte)s[i];
|
|
}
|
|
// remaining bytes stay 0 — nul-padded per PLC convention
|
|
return b;
|
|
}
|
|
case ModbusDataType.BitInRegister:
|
|
throw new InvalidOperationException(
|
|
"BitInRegister writes require a read-modify-write; not supported in PR 24 (separate follow-up).");
|
|
default:
|
|
throw new InvalidOperationException($"Non-register data type {tag.DataType}");
|
|
}
|
|
}
|
|
|
|
private static DriverDataType MapDataType(ModbusDataType t) => t switch
|
|
{
|
|
ModbusDataType.Bool or ModbusDataType.BitInRegister => DriverDataType.Boolean,
|
|
ModbusDataType.Int16 or ModbusDataType.Int32 => DriverDataType.Int32,
|
|
ModbusDataType.UInt16 or ModbusDataType.UInt32 => DriverDataType.Int32,
|
|
ModbusDataType.Int64 or ModbusDataType.UInt64 => DriverDataType.Int32, // widening to Int32 loses precision; PR 25 adds Int64 to DriverDataType
|
|
ModbusDataType.Float32 => DriverDataType.Float32,
|
|
ModbusDataType.Float64 => DriverDataType.Float64,
|
|
ModbusDataType.String => DriverDataType.String,
|
|
ModbusDataType.Bcd16 or ModbusDataType.Bcd32 => DriverDataType.Int32,
|
|
_ => DriverDataType.Int32,
|
|
};
|
|
|
|
/// <summary>
|
|
/// Decode an N-nibble binary-coded-decimal value. Each nibble of <paramref name="raw"/>
|
|
/// encodes one decimal digit (most-significant nibble first). Rejects nibbles > 9 —
|
|
/// the hardware sometimes produces garbage during transitions and silent non-BCD reads
|
|
/// would quietly corrupt the caller's data.
|
|
/// </summary>
|
|
internal static uint DecodeBcd(uint raw, int nibbles)
|
|
{
|
|
uint result = 0;
|
|
for (var i = nibbles - 1; i >= 0; i--)
|
|
{
|
|
var digit = (raw >> (i * 4)) & 0xF;
|
|
if (digit > 9)
|
|
throw new InvalidDataException(
|
|
$"Non-BCD nibble 0x{digit:X} at position {i} of raw=0x{raw:X}");
|
|
result = result * 10 + digit;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Encode a decimal value as N-nibble BCD. Caller is responsible for range-checking
|
|
/// against the nibble capacity (10^nibbles - 1).
|
|
/// </summary>
|
|
internal static uint EncodeBcd(uint value, int nibbles)
|
|
{
|
|
uint result = 0;
|
|
for (var i = 0; i < nibbles; i++)
|
|
{
|
|
var digit = value % 10;
|
|
result |= digit << (i * 4);
|
|
value /= 10;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
private IModbusTransport RequireTransport() =>
|
|
_transport ?? throw new InvalidOperationException("ModbusDriver not initialized");
|
|
|
|
private const uint StatusBadInternalError = 0x80020000u;
|
|
private const uint StatusBadNodeIdUnknown = 0x80340000u;
|
|
private const uint StatusBadNotWritable = 0x803B0000u;
|
|
private const uint StatusBadOutOfRange = 0x803C0000u;
|
|
private const uint StatusBadNotSupported = 0x803D0000u;
|
|
private const uint StatusBadDeviceFailure = 0x80550000u;
|
|
private const uint StatusBadCommunicationError = 0x80050000u;
|
|
|
|
/// <summary>
|
|
/// Map a server-returned Modbus exception code to the most informative OPC UA
|
|
/// StatusCode. Keeps the driver's outward-facing status surface aligned with what a
|
|
/// Modbus engineer would expect when reading the spec: exception 02 (Illegal Data
|
|
/// Address) surfaces as BadOutOfRange so clients can distinguish "tag wrong" from
|
|
/// generic BadInternalError, exception 04 (Server Failure) as BadDeviceFailure so
|
|
/// operators see a CPU-mode problem rather than a driver bug, etc. Per
|
|
/// <c>docs/v2/dl205.md</c>, DL205/DL260 returns only codes 01-04 — no proprietary
|
|
/// extensions.
|
|
/// </summary>
|
|
internal static uint MapModbusExceptionToStatus(byte exceptionCode) => exceptionCode switch
|
|
{
|
|
0x01 => StatusBadNotSupported, // Illegal Function — FC not in supported list
|
|
0x02 => StatusBadOutOfRange, // Illegal Data Address — register outside mapped range
|
|
0x03 => StatusBadOutOfRange, // Illegal Data Value — quantity over per-FC cap
|
|
0x04 => StatusBadDeviceFailure, // Server Failure — CPU in PROGRAM mode during protected write
|
|
0x05 or 0x06 => StatusBadDeviceFailure, // Acknowledge / Server Busy — long-running op / busy
|
|
0x0A or 0x0B => StatusBadCommunicationError, // Gateway path unavailable / target failed to respond
|
|
_ => StatusBadInternalError,
|
|
};
|
|
|
|
public void Dispose() => DisposeAsync().AsTask().GetAwaiter().GetResult();
|
|
public async ValueTask DisposeAsync()
|
|
{
|
|
if (_transport is not null) await _transport.DisposeAsync().ConfigureAwait(false);
|
|
_transport = null;
|
|
}
|
|
}
|