基于WebSocket的modbus通信（二）- 客户端
上一篇已经实现了ModbusTcp服务器和8个主要的功能码，只是还没有实现错误处理功能。
但是在测试客户端时却发现了上一篇的一个错误，那就是写数据成功，服务器不需要响应。
接下来要做的就是实现ModbusTcp客户端。有了清晰的协议，代码循规蹈矩的写就行了。
效果
-
原始数据
其中只读寄存器和线圈都有可分辨的值
-
交互
改变线圈和寄存器的值- 向线圈写入4个1
- 向寄存器写入4个11
- 将每个栈的值查询出来
- 结果
可以看到数据已变成我们设定的值
客户端解析
- 工作流程
- 命令行输入指令
- 解析指令
- 根据功能码跳转到相应分支
- 构造、发送请求
- 解析响应
- 根据协议，每次发请求，事务标识符都会自增。
- 客户端需要实现8种功能码，因此每个功能码都需要一个方法去实现。
//WebModbus.cs // 读 读写线圈 public async Task<bool[]> Request_01(ushort startIndex, ushort length){} // 读 只读线圈 public async Task<bool[]> Request_02(ushort startIndex, ushort length){} // 读 读写寄存器 public async Task<ushort[]> Request_03(ushort startIndex, ushort length){} // 读 只读寄存器 public async Task<ushort[]> Request_04(ushort startIndex, ushort length){} // 写 读写一个线圈 public async Task<ADUMessage> Request_05(ushort startIndex, bool coil){} // 写 读写一个寄存器 public async Task<ADUMessage> Request_06(ushort startIndex, ushort register){} // 写 读写多个线圈 public async Task<ADUMessage> Request_0f(ushort startIndex, bool[] coils){} // 写 读写多个寄存器 public async Task<ADUMessage> Request_10(ushort startIndex, ushort[] registers){} - 为了便于观察消息，我在请求发出后和接到响应后都打印了出来。
PrintBytes(ADUMessage.Serialze(request), "请求"); if (Client != null) { await Client.Client.SendAsync(new Memory<byte>(ADUMessage.Serialze(request))); byte[] bytes = new byte[1024]; int msgLength = await Client.Client.ReceiveAsync(new ArraySegment<byte>(bytes)); PrintBytes(bytes.Take(msgLength).ToArray(), "响应"); } - 线圈存储时使用bool值，传输时使用bit，而且还是按位的，这需要用到位运算符。所以需要一对转换方法
public bool[] BytesToBools(byte[] bytes,ushort dataNumber){} public byte[] BoolToBytes(bool[] bools){}
测试类
我们还需要一个界面区使用这个协议，所以还需要一个测试类。
命令行程序的话，就是使用while循环了，在循环中接收指令
private static async Task StartClient(string[] args)
{
//其他代码...
while (true)
{
Console.WriteLine("请输入指令");
string? msg = Console.ReadLine();
while (msg == null)
{
//功能码 数据
msg = Console.ReadLine();
}
try
{
string[] data = msg.Split(' ');
ushort funCode = ushort.Parse(data[0],NumberStyles.HexNumber);
ushort startIndex;
ushort length;
switch (funCode)
{
//读 读写线圈
case 0x01:
startIndex = ushort.Parse(data[1]);
length= ushort.Parse(data[2]);
var rs_01 = await webModbusClient.Request_01(startIndex, length);
PrintBools(rs_01);
break;
//读 只读线圈
case 0x02:
startIndex = ushort.Parse(data[1]);
length = ushort.Parse(data[2]);
var rs_02 = await webModbusClient.Request_02(startIndex, length);
PrintBools(rs_02);
break;
//读 读写寄存器
case 0x03:
startIndex = ushort.Parse(data[1]);
length = ushort.Parse(data[2]);
var rs_03 = await webModbusClient.Request_03(startIndex, length);
for (global::System.Int32 i = 0; i < length; i++)
{
Console.Write(rs_03[i]+" ");
}
Console.WriteLine();
break;
//读 只读寄存器
case 0x04:
startIndex = ushort.Parse(data[1]);
length = ushort.Parse(data[2]);
var rs_04 = await webModbusClient.Request_04(startIndex, length);
for (global::System.Int32 i = 0; i < length; i++)
{
Console.Write(rs_04[i] + " ");
}
Console.WriteLine();
break;
//写 读写一个线圈
case 0x05:
startIndex = ushort.Parse(data[1]);
var coil = bool.Parse(data[2]);
var rs_05 = await webModbusClient.Request_05(startIndex, coil);
break;
//写 读写一个寄存器
case 0x06:
startIndex = ushort.Parse(data[1]);
var register = ushort.Parse(data[2]);
var rs_06 = await webModbusClient.Request_06(startIndex, register);
break;
//写 读写多个线圈
case 0x0f:
startIndex = ushort.Parse(data[1]);
bool[] coils = new bool[data.Length - 2];
for (global::System.Int32 i = 2; i < data.Length; i++)
{
coils[i - 2] = bool.Parse(data[i]);
}
var rs_0f = await webModbusClient.Request_0f(startIndex, coils);
break;
//写 读写多个寄存器
case 0x10:
startIndex = ushort.Parse(data[1]);
ushort[] registers = new ushort[data.Length - 2];
for (global::System.Int32 i = 2; i < data.Length; i++)
{
registers[i - 2] = ushort.Parse(data[i]);
}
var rs_10 = await webModbusClient.Request_10(startIndex, registers);
break;
default:
//return Response_01(request);
break;
}
}
catch (Exception e)
{
}
}
}
完整代码
WebModbus.cs
/// <summary>
/// 数据仓库,144KB
/// </summary>
public class DataStore
{
/// <summary>
/// 读写16位寄存器，64KB
/// </summary>
public ushort[] HoldingRegisters;
/// <summary>
/// 只读16位寄存器，64KB
/// </summary>
public ushort[] InputRegisters;
/// <summary>
/// 读写1位线圈，8KB
/// </summary>
public bool[] CoilDiscretes;
/// <summary>
/// 只读1位线圈，8KB
/// </summary>
public bool[] CoilInputs;
public DataStore()
{
HoldingRegisters = new ushort[65536];
InputRegisters = new ushort[65536];
CoilDiscretes = new bool[65536];
CoilInputs = new bool[65536];
}
/// <summary>
/// 读 读写16位寄存器
/// </summary>
/// <param name="startIndex"></param>
/// <param name="length"></param>
/// <returns></returns>
public ushort[] ReadHoldingRegisters(ushort startIndex, ushort length)
{
return HoldingRegisters.Take(new Range(new Index(startIndex), new Index(startIndex + length))).ToArray();
}
/// <summary>
/// 读 只读16位寄存器
/// </summary>
/// <param name="startIndex"></param>
/// <param name="length"></param>
/// <returns></returns>
public ushort[] ReadInputRegisters(ushort startIndex, ushort length)
{
return InputRegisters.Take(new Range(new Index(startIndex), new Index(startIndex + length))).ToArray();
}
/// <summary>
/// 读 读写1位线圈
/// </summary>
/// <param name="startIndex"></param>
/// <param name="length"></param>
/// <returns></returns>
public bool[] ReadCoilDiscretes(ushort startIndex, ushort length)
{
return CoilDiscretes.Take(new Range(new Index(startIndex), new Index(startIndex + length))).ToArray();
}
/// <summary>
/// 读 只读1位线圈
/// </summary>
/// <param name="startIndex"></param>
/// <param name="length"></param>
/// <returns></returns>
public bool[] ReadCoilInputs(ushort startIndex, ushort length)
{
return CoilInputs.Take(new Range(new Index(startIndex), new Index(startIndex + length))).ToArray();
}
/// <summary>
/// 写 读写16位寄存器
/// </summary>
/// <param name="startIndex"></param>
/// <param name="data"></param>
public void WriteHoldingRegisters(ushort startIndex, ushort[] data)
{
for (int i = 0; i < data.Length; i++)
{
if (startIndex+i < 65536)
{
HoldingRegisters[startIndex + i] = data[i];
}
}
}
/// <summary>
/// 写 读写1位线圈
/// </summary>
/// <param name="startIndex"></param>
/// <param name="data"></param>
public void WriteCoilDiscretes(ushort startIndex, bool[] data)
{
for (int i = 0; i < data.Length; i++)
{
if (startIndex + i < 65536)
{
CoilDiscretes[startIndex + i] = data[i];
}
}
}
}
/// <summary>
/// Modbus报文
/// </summary>
public class ADUMessage
{
/// <summary>
/// 事务标识符
/// </summary>
public ushort Transaction { get; set; }
/// <summary>
/// 协议标识符
/// </summary>
public ushort Protocol { get; set; }
/// <summary>
/// 报文长度
/// </summary>
public ushort Length { get; set; }
/// <summary>
/// 单元标识符
/// </summary>
public byte Unit { get; set; }
/// <summary>
/// 功能码
/// </summary>
public byte FunctionCode { get; set; }
/// <summary>
/// 数据
/// </summary>
public byte[] Data { get; set; }
public static ADUMessage Deserialize(byte[] buffer)
{
//BinaryReader读取方式是小端（右边是高字节），而modbus是大端传输（左边是高字节）
BinaryReader reader = new BigEndianBinaryReader(new MemoryStream(buffer));
ADUMessage adu = new ADUMessage()
{
Transaction = reader.ReadUInt16(),
Protocol = reader.ReadUInt16(),
Length = reader.ReadUInt16(),
Unit = reader.ReadByte(),
FunctionCode = reader.ReadByte(),
Data = reader.ReadBytes(buffer.Length - 8)
};
return adu;
}
public static byte[] Serialze(ADUMessage message)
{
using (MemoryStream ms=new MemoryStream())
{
BinaryWriter writer = new BigEndianBinaryWriter(ms);
writer.Write(message.Transaction);
writer.Write(message.Protocol);
writer.Write(message.Length);
writer.Write(message.Unit);
writer.Write(message.FunctionCode);
writer.Write(message.Data);
return ms.ToArray();
}
}
}
/// <summary>
/// Modbus服务器
/// </summary>
public class WebModbusServer
{
public DataStore store = new DataStore();
public ADUMessage HandleRequest(byte[] buffer)
{
ADUMessage request = ADUMessage.Deserialize(buffer);
switch (request.FunctionCode)
{
//读 读写线圈
case 0x01:
return Response_01(request);
//读 只读线圈
case 0x02:
return Response_02(request);
//读 读写寄存器
case 0x03:
return Response_03(request);
//读 只读寄存器
case 0x04:
return Response_04(request);
//写 读写一个线圈
case 0x05:
return Response_05(request);
//写 读写一个寄存器
case 0x06:
return Response_06(request);
//写 读写多个线圈
case 0x0f:
return Response_0f(request);
//写 读写多个寄存器
case 0x10:
return Response_10(request);
default:
return Response_01(request);
}
}
public byte[] CoilToBytes(bool[] bools)
{
int byteCount = (bools.Length + 7) / 8; // 计算所需的字节数
byte[] bytes = new byte[byteCount];
for (int i = 0; i < bools.Length; i++)
{
int byteIndex = i / 8; // 计算当前布尔值应该存储在哪个字节中
int bitIndex = i % 8; // 计算当前布尔值应该存储在字节的哪个位上
if (bools[i])
{
// 设置对应位为 1
bytes[byteIndex] |= (byte)(1 << bitIndex);
}
else
{
// 对应位保持为 0，无需额外操作
}
}
return bytes;
}
/// <summary>
/// 读 读写线圈
/// </summary>
/// <param name="request"></param>
/// <returns></returns>
private ADUMessage Response_01(ADUMessage request)
{
BinaryReader reader = new BigEndianBinaryReader(new MemoryStream(request.Data));
BinaryWriter writer;
ushort StartAddress, DataNumber;
StartAddress = reader.ReadUInt16();
DataNumber = reader.ReadUInt16();
bool[] data = store.ReadCoilDiscretes(StartAddress, DataNumber);
byte[] coilBytes = CoilToBytes(data);
byte[] dataBytes = new byte[coilBytes.Length + 1];
writer = new BinaryWriter(new MemoryStream(dataBytes));
writer.Write((byte)coilBytes.Length);
writer.Write(coilBytes);
ADUMessage response = new ADUMessage()
{
Transaction = request.Transaction,
Protocol = request.Protocol,
Length = (ushort)(dataBytes.Length + 2),
Unit = request.Unit,
FunctionCode = request.FunctionCode,
Data = dataBytes,
};
return response;
}
/// <summary>
/// 读 只读线圈
/// </summary>
/// <param name="request"></param>
/// <returns></returns>
private ADUMessage Response_02(ADUMessage request)
{
BinaryReader reader = new BigEndianBinaryReader(new MemoryStream(request.Data));
BinaryWriter writer;
ushort StartAddress, DataNumber;
StartAddress = reader.ReadUInt16();
DataNumber = reader.ReadUInt16();
bool[] data = store.ReadCoilInputs(StartAddress, DataNumber);
byte[] coilBytes = CoilToBytes(data);
byte[] dataBytes = new byte[coilBytes.Length + 1];
writer = new BinaryWriter(new MemoryStream(dataBytes));
writer.Write((byte)coilBytes.Length);
writer.Write(coilBytes);
ADUMessage response = new ADUMessage()
{
Transaction = request.Transaction,
Protocol = request.Protocol,
Length = (ushort)(dataBytes.Length + 2),
Unit = request.Unit,
FunctionCode = request.FunctionCode,
Data = dataBytes,
};
return response;
}
/// <summary>
/// 读 读写寄存器
/// </summary>
/// <param name="request"></param>
/// <returns></returns>
private ADUMessage Response_03(ADUMessage request)
{
BinaryReader reader = new BigEndianBinaryReader(new MemoryStream(request.Data));
BinaryWriter writer;
ushort StartAddress, DataNumber;
StartAddress = reader.ReadUInt16();
DataNumber = reader.ReadUInt16();
ushort[] data = store.ReadHoldingRegisters(StartAddress, DataNumber);
byte[] dataBytes = new byte[data.Length * 2 + 1];
writer = new BigEndianBinaryWriter(new MemoryStream(dataBytes));
writer.Write((byte)(data.Length * 2));
foreach (ushort value in data)
{
writer.Write(value);
}
Array.Resize(ref dataBytes, dataBytes.Length + 1);
ADUMessage response = new ADUMessage()
{
Transaction = request.Transaction,
Protocol = request.Protocol,
Length = (ushort)(dataBytes.Length + 2),
Unit = request.Unit,
FunctionCode = request.FunctionCode,
Data = dataBytes,
};
return response;
}
/// <summary>
/// 读 只读寄存器
/// </summary>
/// <param name="request"></param>
/// <returns></returns>
private ADUMessage Response_04(ADUMessage request)
{
BinaryReader reader = new BigEndianBinaryReader(new MemoryStream(request.Data));
BinaryWriter writer;
ushort StartAddress, DataNumber;
StartAddress = reader.ReadUInt16();
DataNumber = reader.ReadUInt16();
ushort[] data = store.ReadInputRegisters(StartAddress, DataNumber);
byte[] dataBytes = new byte[data.Length * 2 + 1];
writer = new BigEndianBinaryWriter(new MemoryStream(dataBytes));
writer.Write((byte)(data.Length * 2));
foreach (ushort value in data)
{
writer.Write(value);
}
Array.Resize(ref dataBytes, dataBytes.Length + 1);
ADUMessage response = new ADUMessage()
{
Transaction = request.Transaction,
Protocol = request.Protocol,
Length = (ushort)(dataBytes.Length + 2),
Unit = request.Unit,
FunctionCode = request.FunctionCode,
Data = dataBytes,
};
return response;
}
/// <summary>
/// 写 读写一个线圈
/// </summary>
/// <param name="request"></param>
/// <returns></returns>
private ADUMessage Response_05(ADUMessage request)
{
BinaryReader reader = new BigEndianBinaryReader(new MemoryStream(request.Data));
ushort StartAddress, coli;
StartAddress = reader.ReadUInt16();
coli = reader.ReadUInt16();
store.WriteCoilDiscretes(StartAddress, new bool[] { coli ==0xff00?true:false});
return request;
}
/// <summary>
/// 写 读写一个寄存器
/// </summary>
/// <param name="request"></param>
/// <returns></returns>
private ADUMessage Response_06(ADUMessage request)
{
BinaryReader reader = new BigEndianBinaryReader(new MemoryStream(request.Data));
ushort StartAddress, register;
StartAddress = reader.ReadUInt16();
register = reader.ReadUInt16();
store.WriteHoldingRegisters(StartAddress, new ushort[] { register });
return request;
}
/// <summary>
/// 写 读写多个线圈
/// </summary>
/// <param name="request"></param>
/// <returns></returns>
private ADUMessage Response_0f(ADUMessage request)
{
BinaryReader reader = new BigEndianBinaryReader(new MemoryStream(request.Data));
ushort StartAddress, DataNumber;
StartAddress = reader.ReadUInt16();
DataNumber = reader.ReadUInt16();
byte byteNumber = reader.ReadByte();
//线圈是小端传输
byte[] bytes = reader.ReadBytes(byteNumber);
bool[] data=new bool[DataNumber];
byte index = 0;
foreach (var item in bytes)
{
//1000 0000
byte rr = (byte)0x01;
for (int i = 0; i < 8; i++)
{
if (index< DataNumber)
{
var result = rr & item;
if (result > 0)
{
data[index] = true;
}
else
{
data[index] = false;
}
//0100 0000
rr <<= 1;
index++;
}
else
{
break;
}
}
}
store.WriteCoilDiscretes(StartAddress, data);
return request;
}
/// <summary>
/// 写 读写多个寄存器
/// </summary>
/// <param name="request"></param>
/// <returns></returns>
private ADUMessage Response_10(ADUMessage request)
{
//寄存器是大端传输
BinaryReader reader = new BigEndianBinaryReader(new MemoryStream(request.Data));
ushort StartAddress, DataNumber;
StartAddress = reader.ReadUInt16();
DataNumber = reader.ReadUInt16();
byte byteNumber = reader.ReadByte();
ushort[] data = new ushort[byteNumber / 2];
for (int i = 0; i < data.Length; i++)
{
data[i] = reader.ReadUInt16();
}
store.WriteHoldingRegisters(StartAddress, data);
return request;
}
}
/// <summary>
/// Modbus客户端
/// </summary>
public class WebModbusClient
{
public ushort Transaction { get; set; }
public TcpClient Client { get; }
public WebSocket WebSocket { get; set; }
public ADUMessage request { get; set; }
public ADUMessage response { get; set; }
public WebModbusClient(TcpClient client)
{
Transaction = 0x00;
Client = client;
}
public WebModbusClient(WebSocket webSocket)
{
Transaction = 0x00;
WebSocket = webSocket;
}
private ADUMessage CreateMsg()
{
ADUMessage message = new ADUMessage();
message.Transaction = Transaction;
Transaction++;
message.Protocol = 0x00;
message.Unit = 0x00;
this.request = message;
return message;
}
public void PrintBytes(byte[] bytes, string prefix = "")
{
Console.Write(prefix);
for (int i = 0; i < bytes.Length; i++)
{
if (i < 2)
{
Console.ForegroundColor = ConsoleColor.Red;
}
else if (i < 4)
{
Console.ForegroundColor = ConsoleColor.Green;
}
else if (i < 6)
{
Console.ForegroundColor = ConsoleColor.Blue;
}
else if (i < 7)
{
Console.ForegroundColor = ConsoleColor.Yellow;
}
else if (i < 8)
{
Console.ForegroundColor = ConsoleColor.DarkCyan;
}
else
{
Console.ForegroundColor = ConsoleColor.White;
}
Console.Write(bytes[i].ToString("X2") + " ");
}
Console.WriteLine();
}
public bool[] BytesToBools(byte[] bytes,ushort dataNumber)
{
int index = 0;
bool[] bools = new bool[dataNumber];
foreach (var item in bytes)
{
//1000 0000
byte rr = (byte)0x01;
for (int i = 0; i < 8; i++)
{
if (index < dataNumber)
{
var result = rr & item;
if (result > 0)
{
bools[index] = true;
}
else
{
bools[index] = false;
}
//0100 0000
rr <<= 1;
index++;
}
else
{
break;
}
}
}
return bools;
}
private async Task<ADUMessage> SendWithResponse(ADUMessage request)
{
PrintBytes(ADUMessage.Serialze(request), "请求");
if (Client != null)
{
await Client.Client.SendAsync(new Memory<byte>(ADUMessage.Serialze(request)));
byte[] bytes = new byte[1024];
int msgLength = await Client.Client.ReceiveAsync(new ArraySegment<byte>(bytes));
this.response = ADUMessage.Deserialize(bytes.Take(msgLength).ToArray());
PrintBytes(bytes.Take(msgLength).ToArray(), "响应");
return response;
}
else if(WebSocket != null)
{
await WebSocket.SendAsync(new ArraySegment<byte>(ADUMessage.Serialze(request)),WebSocketMessageType.Binary,true,CancellationToken.None);
byte[] bytes = new byte[1024];
var result = await WebSocket.ReceiveAsync(new ArraySegment<byte>(bytes),CancellationToken.None);
this.response = ADUMessage.Deserialize(bytes.Take(result.Count).ToArray());
PrintBytes(bytes.Take(result.Count).ToArray(), "响应");
return response;
}
else
{
throw new Exception("没有传入连接");
}
}
private async Task SendNoResponse(ADUMessage request)
{
PrintBytes(ADUMessage.Serialze(request), "请求");
if (Client != null)
{
await Client.Client.SendAsync(new Memory<byte>(ADUMessage.Serialze(request)));
}
else if (WebSocket != null)
{
await WebSocket.SendAsync(new ArraySegment<byte>(ADUMessage.Serialze(request)), WebSocketMessageType.Binary, true, CancellationToken.None);
}
else
{
throw new Exception("没有传入连接");
}
}
public byte[] BoolToBytes(bool[] bools)
{
int byteCount = (bools.Length + 7) / 8; // 计算所需的字节数
byte[] bytes = new byte[byteCount];
for (int i = 0; i < bools.Length; i++)
{
int byteIndex = i / 8; // 计算当前布尔值应该存储在哪个字节中
int bitIndex = i % 8; // 计算当前布尔值应该存储在字节的哪个位上
if (bools[i])
{
// 设置对应位为 1
bytes[byteIndex] |= (byte)(1 << bitIndex);
}
else
{
// 对应位保持为 0，无需额外操作
}
}
return bytes;
}
/// <summary>
/// 读 读写线圈
/// </summary>
/// <param name="startIndex"></param>
/// <param name="length"></param>
/// <returns></returns>
public async Task<bool[]> Request_01(ushort startIndex, ushort length)
{
var request = CreateMsg();
request.Length = 0x06;
request.FunctionCode= 0x01;
request.Data = new byte[4];
BinaryWriter writer = new BigEndianBinaryWriter(new MemoryStream(request.Data));
writer.Write(startIndex);
writer.Write(length);
var response = await SendWithResponse(request);
BinaryReader reader = new BinaryReader(new MemoryStream(response.Data));
byte byteLength=reader.ReadByte();
byte[] bytes = reader.ReadBytes(byteLength);
bool[] bools= BytesToBools(bytes,length);
return bools;
}
/// <summary>
/// 读 只读线圈
/// </summary>
/// <param name="startIndex"></param>
/// <param name="length"></param>
/// <returns></returns>
public async Task<bool[]> Request_02(ushort startIndex, ushort length)
{
var request = CreateMsg();
request.Length = 0x06;
request.FunctionCode = 0x02;
request.Data = new byte[4];
BinaryWriter writer = new BigEndianBinaryWriter(new MemoryStream(request.Data));
writer.Write(startIndex);
writer.Write(length);
var response = await SendWithResponse(request);
BinaryReader reader = new BinaryReader(new MemoryStream(response.Data));
byte byteLength = reader.ReadByte();
byte[] bytes = reader.ReadBytes(byteLength);
bool[] bools = BytesToBools(bytes, length);
return bools;
}
/// <summary>
/// 读 读写寄存器
/// </summary>
/// <param name="startIndex"></param>
/// <param name="length"></param>
/// <returns></returns>
public async Task<ushort[]> Request_03(ushort startIndex, ushort length)
{
var request = CreateMsg();
request.Length = 0x06;
request.FunctionCode = 0x03;
request.Data = new byte[4];
BinaryWriter writer = new BigEndianBinaryWriter(new MemoryStream(request.Data));
writer.Write(startIndex);
writer.Write(length);
var response = await SendWithResponse(request);
BinaryReader reader = new BigEndianBinaryReader(new MemoryStream(response.Data));
byte byteLength = reader.ReadByte();
ushort[] registers = new ushort[length];
for (int i = 0; i < length; i++)
{
registers[i] = reader.ReadUInt16();
}
return registers;
}
/// <summary>
/// 读 只读寄存器
/// </summary>
/// <param name="startIndex"></param>
/// <param name="length"></param>
/// <returns></returns>
public async Task<ushort[]> Request_04(ushort startIndex, ushort length)
{
var request = CreateMsg();
request.Length = 0x06;
request.FunctionCode = 0x04;
request.Data = new byte[4];
BinaryWriter writer = new BigEndianBinaryWriter(new MemoryStream(request.Data));
writer.Write(startIndex);
writer.Write(length);
var response = await SendWithResponse(request);
BinaryReader reader = new BigEndianBinaryReader(new MemoryStream(response.Data));
byte byteLength = reader.ReadByte();
ushort[] registers = new ushort[length];
for (int i = 0; i < registers.Length; i++)
{
registers[i] = reader.ReadUInt16();
}
return registers;
}
/// <summary>
/// 写 读写一个线圈
/// </summary>
/// <param name="startIndex"></param>
/// <param name="coil"></param>
/// <returns></returns>
public async Task<ADUMessage> Request_05(ushort startIndex, bool coil)
{
var request = CreateMsg();
request.Length = 0x06;
request.FunctionCode = 0x05;
request.Data = new byte[4];
BinaryWriter writer = new BigEndianBinaryWriter(new MemoryStream(request.Data));
writer.Write(startIndex);
if (coil)
{
writer.Write((ushort)0xff00);
}
else
{
writer.Write((ushort)0x0000);
}
await SendNoResponse(request);
return request;
}
/// <summary>
/// 写 读写一个寄存器
/// </summary>
/// <param name="startIndex"></param>
/// <param name="register"></param>
/// <returns></returns>
public async Task<ADUMessage> Request_06(ushort startIndex, ushort register)
{
var request = CreateMsg();
request.Length = 0x06;
request.FunctionCode = 0x06;
request.Data = new byte[4];
BinaryWriter writer = new BigEndianBinaryWriter(new MemoryStream(request.Data));
writer.Write(startIndex);
writer.Write(register);
await SendNoResponse(request);
return request;
}
/// <summary>
/// 写 读写多个线圈
/// </summary>
/// <param name="startIndex"></param>
/// <param name="coils"></param>
/// <returns></returns>
public async Task<ADUMessage> Request_0f(ushort startIndex, bool[] coils)
{
var request = CreateMsg();
request.FunctionCode = 0x0f;
request.Data = new byte[4+1+(coils.Length+7)/8];
BinaryWriter writer = new BigEndianBinaryWriter(new MemoryStream(request.Data));
writer.Write((ushort)startIndex);
var coilBytes = BoolToBytes(coils);
request.Length = (ushort)(7 + coilBytes.Length);
writer.Write((ushort)coils.Length);
writer.Write((byte)coilBytes.Length);
writer.Write(coilBytes);
await SendNoResponse(request);
return request;
}
/// <summary>
/// 写 读写多个寄存器
/// </summary>
/// <param name="startIndex"></param>
/// <param name="registers"></param>
/// <returns></returns>
public async Task<ADUMessage> Request_10(ushort startIndex, ushort[] registers)
{
var request = CreateMsg();
request.Length = (ushort)(7+ registers.Length * 2);
request.FunctionCode = 0x10;
request.Data = new byte[4+1+registers.Length*2];
BinaryWriter writer = new BigEndianBinaryWriter(new MemoryStream(request.Data));
writer.Write((ushort)startIndex);
writer.Write((ushort)registers.Length);
writer.Write((byte)(registers.Length * 2));
for (int i = 0; i < registers.Length; i++)
{
writer.Write(registers[i]);
}
await SendNoResponse(request);
return request;
}
}
Program.cs
internal class Program
{
static WebModbusServer webModbusServer;
static void Main(string[] args)
{
webModbusServer = new WebModbusServer();
//服务器
if (args.Length == 1)
{
//webModbusServer.store.WriteCoilDiscretes(0, new bool[] { true, true });
//webModbusServer.store.CoilInputs[0] = true;
//webModbusServer.store.CoilInputs[1] = true;
StartServer(args[0]);
}
//客户端
else
{
Task.Run(async () =>
{
await StartClient(args);
}).Wait();
}
}
private static void StartServer(string args)
{
int serverPort = Convert.ToInt32(args);
var server = new TcpListener(IPAddress.Parse("127.0.0.1"), serverPort);
Console.WriteLine($"TCP服务器 127.0.0.1:{serverPort}");
server.Start();
int cnt = 0;
Task.Run(async () =>
{
List<TcpClient> clients = new List<TcpClient>();
while (true)
{
TcpClient client = await server.AcceptTcpClientAsync();
clients.Add(client);
cnt++;
var ep = client.Client.RemoteEndPoint as IPEndPoint;
Console.WriteLine($"TCP客户端_{cnt} {ep.Address}:{ep.Port}");
//给这个客户端开一个聊天线程
//操作系统将会根据游客端口对应表将控制权交给对应游客线程
//StartChat(client);
StartModbus(client);
}
}).Wait();
}
private static async Task StartClient(string[] args)
{
int clientPort = Convert.ToInt32(args[0]);
int serverPort = Convert.ToInt32(args[1]);
var client = new TcpClient(new IPEndPoint(IPAddress.Parse("127.0.0.1"), clientPort));
Console.WriteLine($"TCP客户端 127.0.0.1:{clientPort}");
await client.ConnectAsync(new IPEndPoint(IPAddress.Parse("127.0.0.1"), serverPort));
Console.WriteLine($"连接到 127.0.0.1:{serverPort}");
WebModbusClient webModbusClient = new WebModbusClient(client);
Console.WriteLine("【功能码】 【地址】 【数量|数据】");
while (true)
{
Console.WriteLine("请输入指令");
string? msg = Console.ReadLine();
while (msg == null)
{
//功能码 数据
msg = Console.ReadLine();
}
try
{
string[] data = msg.Split(' ');
ushort funCode = ushort.Parse(data[0],NumberStyles.HexNumber);
ushort startIndex;
ushort length;
switch (funCode)
{
//读 读写线圈
case 0x01:
startIndex = ushort.Parse(data[1]);
length= ushort.Parse(data[2]);
var rs_01 = await webModbusClient.Request_01(startIndex, length);
PrintBools(rs_01);
break;
//读 只读线圈
case 0x02:
startIndex = ushort.Parse(data[1]);
length = ushort.Parse(data[2]);
var rs_02 = await webModbusClient.Request_02(startIndex, length);
PrintBools(rs_02);
break;
//读 读写寄存器
case 0x03:
startIndex = ushort.Parse(data[1]);
length = ushort.Parse(data[2]);
var rs_03 = await webModbusClient.Request_03(startIndex, length);
for (global::System.Int32 i = 0; i < length; i++)
{
Console.Write(rs_03[i]+" ");
}
Console.WriteLine();
break;
//读 只读寄存器
case 0x04:
startIndex = ushort.Parse(data[1]);
length = ushort.Parse(data[2]);
var rs_04 = await webModbusClient.Request_04(startIndex, length);
for (global::System.Int32 i = 0; i < length; i++)
{
Console.Write(rs_04[i] + " ");
}
Console.WriteLine();
break;
//写 读写一个线圈
case 0x05:
startIndex = ushort.Parse(data[1]);
var coil = bool.Parse(data[2]);
var rs_05 = await webModbusClient.Request_05(startIndex, coil);
break;
//写 读写一个寄存器
case 0x06:
startIndex = ushort.Parse(data[1]);
var register = ushort.Parse(data[2]);
var rs_06 = await webModbusClient.Request_06(startIndex, register);
break;
//写 读写多个线圈
case 0x0f:
startIndex = ushort.Parse(data[1]);
bool[] coils = new bool[data.Length - 2];
for (global::System.Int32 i = 2; i < data.Length; i++)
{
coils[i - 2] = bool.Parse(data[i]);
}
var rs_0f = await webModbusClient.Request_0f(startIndex, coils);
break;
//写 读写多个寄存器
case 0x10:
startIndex = ushort.Parse(data[1]);
ushort[] registers = new ushort[data.Length - 2];
for (global::System.Int32 i = 2; i < data.Length; i++)
{
registers[i - 2] = ushort.Parse(data[i]);
}
var rs_10 = await webModbusClient.Request_10(startIndex, registers);
break;
default:
//return Response_01(request);
break;
}
}
catch (Exception e)
{
}
}
}
public static async Task StartModbus(TcpClient client)
{
var buffer = new byte[1024 * 4];
while (client.Connected)
{
int msgLength = await client.Client.ReceiveAsync(new ArraySegment<byte>(buffer));
//关闭连接时会接收到一次空消息，不知道为什么
if (msgLength>0)
{
PrintBytes(buffer.Take(msgLength).ToArray(), "请求 ");
ADUMessage response = webModbusServer.HandleRequest(buffer.Take(msgLength).ToArray());
await client.Client.SendAsync(ADUMessage.Serialze(response));
PrintBytes(ADUMessage.Serialze(response), "响应 ");
}
}
}
public static void PrintBytes(byte[] bytes,string prefix="")
{
Console.Write(prefix);
for (int i = 0; i < bytes.Length; i++)
{
if (i < 2)
{
Console.ForegroundColor = ConsoleColor.Red;
}
else if(i<4)
{
Console.ForegroundColor = ConsoleColor.Green;
}
else if(i<6)
{
Console.ForegroundColor= ConsoleColor.Blue;
}
else if (i < 7)
{
Console.ForegroundColor = ConsoleColor.Yellow;
}
else if (i<8)
{
Console.ForegroundColor = ConsoleColor.DarkCyan;
}
else
{
Console.ForegroundColor = ConsoleColor.White;
}
Console.Write(bytes[i].ToString("X2") + " ");
}
Console.WriteLine();
}
public static void PrintBools(bool[] bools)
{
for (int i = 0; i < bools.Length; i++)
{
Console.Write(bools[i] + " ");
}
Console.WriteLine();
}
}
BigEndianBinaryReader.cs
public class BigEndianBinaryReader : BinaryReader
{
public BigEndianBinaryReader(Stream input) : base(input)
{
}
public override short ReadInt16()
{
var data = base.ReadBytes(2);
Array.Reverse(data);
return BitConverter.ToInt16(data, 0);
}
public override ushort ReadUInt16()
{
var data = base.ReadBytes(2);
Array.Reverse(data);
return BitConverter.ToUInt16(data, 0);
}
public override int ReadInt32()
{
var data = base.ReadBytes(4);
Array.Reverse(data);
return BitConverter.ToInt32(data, 0);
}
public override uint ReadUInt32()
{
var data = base.ReadBytes(4);
Array.Reverse(data);
return BitConverter.ToUInt32(data, 0);
}
public override long ReadInt64()
{
var data = base.ReadBytes(8);
Array.Reverse(data);
return BitConverter.ToInt64(data, 0);
}
public override float ReadSingle()
{
var data = base.ReadBytes(4);
Array.Reverse(data);
return BitConverter.ToSingle(data, 0);
}
public override double ReadDouble()
{
var data = base.ReadBytes(8);
Array.Reverse(data);
return BitConverter.ToDouble(data, 0);
}
// 可以继续添加其他方法来支持更多数据类型的大端读取
}
public class BigEndianBinaryWriter : BinaryWriter
{
public BigEndianBinaryWriter(Stream input) : base(input)
{
}
public override void Write(ushort value)
{
var bytes = BitConverter.GetBytes(value);
Array.Reverse(bytes);
base.Write(bytes);
}
public override void Write(short value)
{
var bytes = BitConverter.GetBytes(value);
Array.Reverse(bytes);
base.Write(bytes);
}
public override void Write(uint value)
{
var bytes = BitConverter.GetBytes(value);
Array.Reverse(bytes);
base.Write(bytes);
}
public override void Write(int value)
{
var bytes = BitConverter.GetBytes(value);
Array.Reverse(bytes);
base.Write(bytes);
}
public override void Write(ulong value)
{
var bytes = BitConverter.GetBytes(value);
Array.Reverse(bytes);
base.Write(bytes);
}
public override void Write(long value)
{
var bytes = BitConverter.GetBytes(value);
Array.Reverse(bytes);
base.Write(bytes);
}
// 可以继续添加其他方法来支持更多数据类型的大端写入
}
程序所需命令行参数的一种方式是在项目文件种指定，这在调试时比较方便
<PropertyGroup>
<StartArguments>5234</StartArguments>
</PropertyGroup>
可以注意到ModbusTcp消息的解析和Tcp没有什么关系。因此，验证了服务器和客户端的正确性之后，就可以把Tcp连接改为WebSocket连接了。