662 lines
28 KiB
C#
662 lines
28 KiB
C#
using System.Buffers.Binary;
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using System.Text.Json;
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using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
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namespace ZB.MOM.WW.OtOpcUa.Driver.Modbus;
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/// <summary>
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/// Modbus TCP implementation of <see cref="IDriver"/> + <see cref="ITagDiscovery"/> +
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/// <see cref="IReadable"/> + <see cref="IWritable"/>. First native-protocol greenfield
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/// driver for the v2 stack — validates the driver-agnostic <c>IAddressSpaceBuilder</c> +
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/// <c>IReadable</c>/<c>IWritable</c> abstractions generalize beyond Galaxy.
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/// </summary>
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/// <remarks>
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/// Scope limits: synchronous Read/Write only, no subscriptions (Modbus has no push model;
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/// subscriptions would need a polling loop over the declared tags — additive PR). Historian
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/// + alarm capabilities are out of scope (the protocol doesn't express them).
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/// </remarks>
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public sealed class ModbusDriver(ModbusDriverOptions options, string driverInstanceId,
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Func<ModbusDriverOptions, IModbusTransport>? transportFactory = null)
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: IDriver, ITagDiscovery, IReadable, IWritable, ISubscribable, IHostConnectivityProbe, IDisposable, IAsyncDisposable
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{
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// Active polling subscriptions. Each subscription owns a background Task that polls the
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// tags at its configured interval, diffs against _lastKnownValues, and fires OnDataChange
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// per changed tag. UnsubscribeAsync cancels the task via the CTS stored on the handle.
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private readonly System.Collections.Concurrent.ConcurrentDictionary<long, SubscriptionState> _subscriptions = new();
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private long _nextSubscriptionId;
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public event EventHandler<DataChangeEventArgs>? OnDataChange;
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public event EventHandler<HostStatusChangedEventArgs>? OnHostStatusChanged;
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// Single-host probe state — Modbus driver talks to exactly one endpoint so the "hosts"
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// collection has at most one entry. HostName is the Host:Port string so the Admin UI can
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// display the PLC endpoint uniformly with Galaxy platforms/engines.
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private readonly object _probeLock = new();
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private HostState _hostState = HostState.Unknown;
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private DateTime _hostStateChangedUtc = DateTime.UtcNow;
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private CancellationTokenSource? _probeCts;
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private readonly ModbusDriverOptions _options = options;
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private readonly Func<ModbusDriverOptions, IModbusTransport> _transportFactory =
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transportFactory ?? (o => new ModbusTcpTransport(o.Host, o.Port, o.Timeout));
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private IModbusTransport? _transport;
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private DriverHealth _health = new(DriverState.Unknown, null, null);
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private readonly Dictionary<string, ModbusTagDefinition> _tagsByName = new(StringComparer.OrdinalIgnoreCase);
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public string DriverInstanceId => driverInstanceId;
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public string DriverType => "Modbus";
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public async Task InitializeAsync(string driverConfigJson, CancellationToken cancellationToken)
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{
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_health = new DriverHealth(DriverState.Initializing, null, null);
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try
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{
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_transport = _transportFactory(_options);
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await _transport.ConnectAsync(cancellationToken).ConfigureAwait(false);
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foreach (var t in _options.Tags) _tagsByName[t.Name] = t;
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_health = new DriverHealth(DriverState.Healthy, DateTime.UtcNow, null);
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// PR 23: kick off the probe loop once the transport is up. Initial state stays
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// Unknown until the first probe tick succeeds — avoids broadcasting a premature
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// Running transition before any register round-trip has happened.
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if (_options.Probe.Enabled)
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{
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_probeCts = new CancellationTokenSource();
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_ = Task.Run(() => ProbeLoopAsync(_probeCts.Token), _probeCts.Token);
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}
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}
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catch (Exception ex)
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{
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_health = new DriverHealth(DriverState.Faulted, null, ex.Message);
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throw;
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}
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}
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public async Task ReinitializeAsync(string driverConfigJson, CancellationToken cancellationToken)
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{
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await ShutdownAsync(cancellationToken);
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await InitializeAsync(driverConfigJson, cancellationToken);
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}
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public async Task ShutdownAsync(CancellationToken cancellationToken)
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{
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try { _probeCts?.Cancel(); } catch { }
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_probeCts?.Dispose();
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_probeCts = null;
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foreach (var state in _subscriptions.Values)
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{
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try { state.Cts.Cancel(); } catch { }
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state.Cts.Dispose();
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}
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_subscriptions.Clear();
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if (_transport is not null) await _transport.DisposeAsync().ConfigureAwait(false);
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_transport = null;
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_health = new DriverHealth(DriverState.Unknown, _health.LastSuccessfulRead, null);
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}
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public DriverHealth GetHealth() => _health;
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public long GetMemoryFootprint() => 0;
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public Task FlushOptionalCachesAsync(CancellationToken cancellationToken) => Task.CompletedTask;
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// ---- ITagDiscovery ----
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public Task DiscoverAsync(IAddressSpaceBuilder builder, CancellationToken cancellationToken)
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{
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ArgumentNullException.ThrowIfNull(builder);
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var folder = builder.Folder("Modbus", "Modbus");
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foreach (var t in _options.Tags)
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{
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folder.Variable(t.Name, t.Name, new DriverAttributeInfo(
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FullName: t.Name,
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DriverDataType: MapDataType(t.DataType),
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IsArray: false,
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ArrayDim: null,
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SecurityClass: t.Writable ? SecurityClassification.Operate : SecurityClassification.ViewOnly,
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IsHistorized: false,
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IsAlarm: false));
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}
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return Task.CompletedTask;
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}
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// ---- IReadable ----
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public async Task<IReadOnlyList<DataValueSnapshot>> ReadAsync(
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IReadOnlyList<string> fullReferences, CancellationToken cancellationToken)
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{
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var transport = RequireTransport();
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var now = DateTime.UtcNow;
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var results = new DataValueSnapshot[fullReferences.Count];
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for (var i = 0; i < fullReferences.Count; i++)
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{
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if (!_tagsByName.TryGetValue(fullReferences[i], out var tag))
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{
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results[i] = new DataValueSnapshot(null, StatusBadNodeIdUnknown, null, now);
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continue;
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}
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try
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{
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var value = await ReadOneAsync(transport, tag, cancellationToken).ConfigureAwait(false);
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results[i] = new DataValueSnapshot(value, 0u, now, now);
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_health = new DriverHealth(DriverState.Healthy, now, null);
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}
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catch (Exception ex)
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{
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results[i] = new DataValueSnapshot(null, StatusBadInternalError, null, now);
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_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ex.Message);
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}
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}
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return results;
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}
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private async Task<object> ReadOneAsync(IModbusTransport transport, ModbusTagDefinition tag, CancellationToken ct)
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{
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switch (tag.Region)
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{
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case ModbusRegion.Coils:
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{
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var pdu = new byte[] { 0x01, (byte)(tag.Address >> 8), (byte)(tag.Address & 0xFF), 0x00, 0x01 };
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var resp = await transport.SendAsync(_options.UnitId, pdu, ct).ConfigureAwait(false);
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return (resp[2] & 0x01) == 1;
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}
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case ModbusRegion.DiscreteInputs:
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{
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var pdu = new byte[] { 0x02, (byte)(tag.Address >> 8), (byte)(tag.Address & 0xFF), 0x00, 0x01 };
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var resp = await transport.SendAsync(_options.UnitId, pdu, ct).ConfigureAwait(false);
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return (resp[2] & 0x01) == 1;
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}
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case ModbusRegion.HoldingRegisters:
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case ModbusRegion.InputRegisters:
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{
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var quantity = RegisterCount(tag);
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var fc = tag.Region == ModbusRegion.HoldingRegisters ? (byte)0x03 : (byte)0x04;
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var pdu = new byte[] { fc, (byte)(tag.Address >> 8), (byte)(tag.Address & 0xFF),
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(byte)(quantity >> 8), (byte)(quantity & 0xFF) };
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var resp = await transport.SendAsync(_options.UnitId, pdu, ct).ConfigureAwait(false);
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// resp = [fc][byte-count][data...]
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var data = new ReadOnlySpan<byte>(resp, 2, resp[1]);
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return DecodeRegister(data, tag);
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}
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default:
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throw new InvalidOperationException($"Unknown region {tag.Region}");
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}
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}
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// ---- IWritable ----
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public async Task<IReadOnlyList<WriteResult>> WriteAsync(
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IReadOnlyList<WriteRequest> writes, CancellationToken cancellationToken)
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{
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var transport = RequireTransport();
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var results = new WriteResult[writes.Count];
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for (var i = 0; i < writes.Count; i++)
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{
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var w = writes[i];
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if (!_tagsByName.TryGetValue(w.FullReference, out var tag))
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{
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results[i] = new WriteResult(StatusBadNodeIdUnknown);
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continue;
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}
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if (!tag.Writable || tag.Region is ModbusRegion.DiscreteInputs or ModbusRegion.InputRegisters)
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{
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results[i] = new WriteResult(StatusBadNotWritable);
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continue;
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}
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try
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{
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await WriteOneAsync(transport, tag, w.Value, cancellationToken).ConfigureAwait(false);
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results[i] = new WriteResult(0u);
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}
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catch (Exception)
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{
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results[i] = new WriteResult(StatusBadInternalError);
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}
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}
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return results;
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}
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private async Task WriteOneAsync(IModbusTransport transport, ModbusTagDefinition tag, object? value, CancellationToken ct)
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{
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switch (tag.Region)
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{
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case ModbusRegion.Coils:
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{
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var on = Convert.ToBoolean(value);
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var pdu = new byte[] { 0x05, (byte)(tag.Address >> 8), (byte)(tag.Address & 0xFF),
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on ? (byte)0xFF : (byte)0x00, 0x00 };
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await transport.SendAsync(_options.UnitId, pdu, ct).ConfigureAwait(false);
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return;
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}
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case ModbusRegion.HoldingRegisters:
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{
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var bytes = EncodeRegister(value, tag);
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if (bytes.Length == 2)
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{
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var pdu = new byte[] { 0x06, (byte)(tag.Address >> 8), (byte)(tag.Address & 0xFF),
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bytes[0], bytes[1] };
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await transport.SendAsync(_options.UnitId, pdu, ct).ConfigureAwait(false);
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}
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else
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{
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// FC 16 (Write Multiple Registers) for 32-bit types
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var qty = (ushort)(bytes.Length / 2);
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var pdu = new byte[6 + 1 + bytes.Length];
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pdu[0] = 0x10;
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pdu[1] = (byte)(tag.Address >> 8); pdu[2] = (byte)(tag.Address & 0xFF);
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pdu[3] = (byte)(qty >> 8); pdu[4] = (byte)(qty & 0xFF);
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pdu[5] = (byte)bytes.Length;
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Buffer.BlockCopy(bytes, 0, pdu, 6, bytes.Length);
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await transport.SendAsync(_options.UnitId, pdu, ct).ConfigureAwait(false);
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}
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return;
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}
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default:
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throw new InvalidOperationException($"Writes not supported for region {tag.Region}");
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}
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}
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// ---- ISubscribable (polling overlay) ----
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public Task<ISubscriptionHandle> SubscribeAsync(
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IReadOnlyList<string> fullReferences, TimeSpan publishingInterval, CancellationToken cancellationToken)
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{
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var id = Interlocked.Increment(ref _nextSubscriptionId);
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var cts = new CancellationTokenSource();
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var interval = publishingInterval < TimeSpan.FromMilliseconds(100)
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? TimeSpan.FromMilliseconds(100) // floor — Modbus can't sustain < 100ms polling reliably
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: publishingInterval;
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var handle = new ModbusSubscriptionHandle(id);
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var state = new SubscriptionState(handle, [.. fullReferences], interval, cts);
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_subscriptions[id] = state;
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_ = Task.Run(() => PollLoopAsync(state, cts.Token), cts.Token);
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return Task.FromResult<ISubscriptionHandle>(handle);
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}
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public Task UnsubscribeAsync(ISubscriptionHandle handle, CancellationToken cancellationToken)
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{
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if (handle is ModbusSubscriptionHandle h && _subscriptions.TryRemove(h.Id, out var state))
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{
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state.Cts.Cancel();
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state.Cts.Dispose();
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}
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return Task.CompletedTask;
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}
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private async Task PollLoopAsync(SubscriptionState state, CancellationToken ct)
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{
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// Initial-data push: read every tag once at subscribe time so OPC UA clients see the
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// current value per Part 4 convention, even if the value never changes thereafter.
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try { await PollOnceAsync(state, forceRaise: true, ct).ConfigureAwait(false); }
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catch (OperationCanceledException) { return; }
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catch { /* first-read error — polling continues */ }
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while (!ct.IsCancellationRequested)
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{
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try { await Task.Delay(state.Interval, ct).ConfigureAwait(false); }
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catch (OperationCanceledException) { return; }
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try { await PollOnceAsync(state, forceRaise: false, ct).ConfigureAwait(false); }
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catch (OperationCanceledException) { return; }
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catch { /* transient polling error — loop continues, health surface reflects it */ }
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}
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}
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private async Task PollOnceAsync(SubscriptionState state, bool forceRaise, CancellationToken ct)
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{
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var snapshots = await ReadAsync(state.TagReferences, ct).ConfigureAwait(false);
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for (var i = 0; i < state.TagReferences.Count; i++)
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{
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var tagRef = state.TagReferences[i];
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var current = snapshots[i];
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var lastSeen = state.LastValues.TryGetValue(tagRef, out var prev) ? prev : default;
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// Raise on first read (forceRaise) OR when the boxed value differs from last-known.
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if (forceRaise || !Equals(lastSeen?.Value, current.Value) || lastSeen?.StatusCode != current.StatusCode)
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{
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state.LastValues[tagRef] = current;
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OnDataChange?.Invoke(this, new DataChangeEventArgs(state.Handle, tagRef, current));
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}
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}
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}
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private sealed record SubscriptionState(
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ModbusSubscriptionHandle Handle,
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IReadOnlyList<string> TagReferences,
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TimeSpan Interval,
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CancellationTokenSource Cts)
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{
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public System.Collections.Concurrent.ConcurrentDictionary<string, DataValueSnapshot> LastValues { get; }
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= new(StringComparer.OrdinalIgnoreCase);
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}
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private sealed record ModbusSubscriptionHandle(long Id) : ISubscriptionHandle
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{
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public string DiagnosticId => $"modbus-sub-{Id}";
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}
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// ---- IHostConnectivityProbe ----
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public IReadOnlyList<HostConnectivityStatus> GetHostStatuses()
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{
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lock (_probeLock)
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return [new HostConnectivityStatus(HostName, _hostState, _hostStateChangedUtc)];
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}
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/// <summary>
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/// Host identifier surfaced to <c>IHostConnectivityProbe.GetHostStatuses</c> and the Admin UI.
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/// Formatted as <c>host:port</c> so multiple Modbus drivers in the same server disambiguate
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/// by endpoint without needing the driver-instance-id in the Admin dashboard.
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/// </summary>
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public string HostName => $"{_options.Host}:{_options.Port}";
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private async Task ProbeLoopAsync(CancellationToken ct)
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{
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var transport = _transport; // captured reference; disposal tears the loop down via ct
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while (!ct.IsCancellationRequested)
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{
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var success = false;
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try
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{
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using var probeCts = CancellationTokenSource.CreateLinkedTokenSource(ct);
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probeCts.CancelAfter(_options.Probe.Timeout);
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var pdu = new byte[] { 0x03,
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(byte)(_options.Probe.ProbeAddress >> 8),
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(byte)(_options.Probe.ProbeAddress & 0xFF), 0x00, 0x01 };
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_ = await transport!.SendAsync(_options.UnitId, pdu, probeCts.Token).ConfigureAwait(false);
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success = true;
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}
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catch (OperationCanceledException) when (ct.IsCancellationRequested)
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{
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return;
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}
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catch
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{
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// transport / timeout / exception PDU — treated as Stopped below
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}
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TransitionTo(success ? HostState.Running : HostState.Stopped);
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try { await Task.Delay(_options.Probe.Interval, ct).ConfigureAwait(false); }
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catch (OperationCanceledException) { return; }
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}
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}
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private void TransitionTo(HostState newState)
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{
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HostState old;
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lock (_probeLock)
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{
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old = _hostState;
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if (old == newState) return;
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_hostState = newState;
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_hostStateChangedUtc = DateTime.UtcNow;
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}
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OnHostStatusChanged?.Invoke(this, new HostStatusChangedEventArgs(HostName, old, newState));
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}
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// ---- codec ----
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/// <summary>
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/// How many 16-bit registers a given tag occupies. Accounts for multi-register logical
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/// types (Int32/Float32 = 2 regs, Int64/Float64 = 4 regs) and for strings (rounded up
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/// from 2 chars per register).
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/// </summary>
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internal static ushort RegisterCount(ModbusTagDefinition tag) => tag.DataType switch
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{
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ModbusDataType.Int16 or ModbusDataType.UInt16 or ModbusDataType.BitInRegister or ModbusDataType.Bcd16 => 1,
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ModbusDataType.Int32 or ModbusDataType.UInt32 or ModbusDataType.Float32 or ModbusDataType.Bcd32 => 2,
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ModbusDataType.Int64 or ModbusDataType.UInt64 or ModbusDataType.Float64 => 4,
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ModbusDataType.String => (ushort)((tag.StringLength + 1) / 2), // 2 chars per register
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_ => throw new InvalidOperationException($"Non-register data type {tag.DataType}"),
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};
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/// <summary>
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/// Word-swap the input into the big-endian layout the decoders expect. For 2-register
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/// types this reverses the two words; for 4-register types it reverses the four words
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/// (PLC stored [hi-mid, low-mid, hi-high, low-high] → memory [hi-high, low-high, hi-mid, low-mid]).
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/// </summary>
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private static byte[] NormalizeWordOrder(ReadOnlySpan<byte> data, ModbusByteOrder order)
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{
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if (order == ModbusByteOrder.BigEndian) return data.ToArray();
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var result = new byte[data.Length];
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for (var word = 0; word < data.Length / 2; word++)
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{
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var srcWord = data.Length / 2 - 1 - word;
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result[word * 2] = data[srcWord * 2];
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result[word * 2 + 1] = data[srcWord * 2 + 1];
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}
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return result;
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}
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internal static object DecodeRegister(ReadOnlySpan<byte> data, ModbusTagDefinition tag)
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{
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switch (tag.DataType)
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{
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case ModbusDataType.Int16: return BinaryPrimitives.ReadInt16BigEndian(data);
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case ModbusDataType.UInt16: return BinaryPrimitives.ReadUInt16BigEndian(data);
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case ModbusDataType.Bcd16:
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{
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var raw = BinaryPrimitives.ReadUInt16BigEndian(data);
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return (int)DecodeBcd(raw, nibbles: 4);
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}
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case ModbusDataType.Bcd32:
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{
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var b = NormalizeWordOrder(data, tag.ByteOrder);
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var raw = BinaryPrimitives.ReadUInt32BigEndian(b);
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return (int)DecodeBcd(raw, nibbles: 8);
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}
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case ModbusDataType.BitInRegister:
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{
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var raw = BinaryPrimitives.ReadUInt16BigEndian(data);
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return (raw & (1 << tag.BitIndex)) != 0;
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}
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case ModbusDataType.Int32:
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{
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var b = NormalizeWordOrder(data, tag.ByteOrder);
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return BinaryPrimitives.ReadInt32BigEndian(b);
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}
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case ModbusDataType.UInt32:
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{
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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;
|
|
|
|
public void Dispose() => DisposeAsync().AsTask().GetAwaiter().GetResult();
|
|
public async ValueTask DisposeAsync()
|
|
{
|
|
if (_transport is not null) await _transport.DisposeAsync().ConfigureAwait(false);
|
|
_transport = null;
|
|
}
|
|
}
|