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ModbusTcp报文详细解析见 ModbusTCP协议报文解析 写入常用的四个功能码#xff0c;线圈 05,15#xff08;0x0F#xff09;,寄存器06,16#xff08;0x10#xff09;
详细报文如下#xff1a;
//00 01 00 00 00 06 FF 05 00 01 FF 00 写单个线圈
//00 01 …写入报文分析
ModbusTcp报文详细解析见 ModbusTCP协议报文解析 写入常用的四个功能码线圈 05,150x0F,寄存器06,160x10
详细报文如下
//00 01 00 00 00 06 FF 05 00 01 FF 00 写单个线圈
//00 01 00 00 00 06 FF 06 00 05 00 23 写单个寄存器//写多个寄存器
//00 06 00 00 00 0B FF 10 00 02 00 02 04 00 21 00 2A//前7位相同第八位功能码不同九、十位写入地址这是格式一样部分
线圈基本都是单个写入这里就使用05功能码
寄存器写入可能多个同时写入如int32float等需要四个字节则需要2个寄存器并且数据的两个寄存器是连续的其他的如Int64double则需要4个寄存器我们可以一起写入调高效率。
跟读报文一样定义一个写入报文的头前10个报文再接收到写入数据是再在后面接上对应的数据字段
//读报文
byte[] _writebytes new byte[]{0x00,0x01,0x00,0x00,0x00,0x06,0xFF,0x01,0x00,0x01};然后再初始化的时候修改从站地址
写入实现
增加写入功能码关系
public readonly Dictionarystring, byte WriteFuncCodes new Dictionarystring, byte();void Init(){//...WriteFuncCodes.Add(Coil, 5);WriteFuncCodes.Add(HoldingRegister, 16);//...}
实现写入报文处理方法
定义一个写入方法WriteData用于写入报文发送和返回处理
/// summary
/// modbustcp写入方法
/// /summary
/// param namepoint/param
private void WriteData(RegisterPoint point)
{}然后再监控方法中将等待周期拆分成10份循环十次等待每次查询写入队列是否有值如果有就执行写入 /// summary/// 启动主采集线程循环采集/// /summarypublic void DoMonitor(){Task.Run(() {//防止重复启动if (IsMonitored)return;IsMonitored true;while (true){//。。。。原逻辑//循环10次间隔如果写入队列不为空则执行写入for (int i 0; i 10; i){while (_writeQueue.Count 0){var point _writeQueue.Dequeue();WriteData(point);}Task.Delay(_timeSpan).Wait();}}});}
写入发送报文处理
修改相同格式的报文部分功能码和地址 //修改功能码_writebytes[7] WriteFuncCodes[point.RegisterType];//修改写入地址var addressBytes BitConverter.GetBytes(point.Address);_writebytes[8] addressBytes[1];_writebytes[9] addressBytes[0];然后再根据不同类型功能码处理数据部分
var writebuffer _writebytes.ToList();
if (point.RegisterType Coil)
{writebuffer[5] 0x06;if (point.WriteValue.Equals(true)){writebuffer.Add(0xFF);}else{writebuffer.Add(0x00);}writebuffer.Add(0x00);
}
else if (point.RegisterType HoldingRegister)
{byte dataLen (byte)(point.Length * 2);writebuffer[5] Convert.ToByte(7 dataLen);//修改读寄存器数量var LengthBytes BitConverter.GetBytes(point.Length);writebuffer.Add(LengthBytes[1]);writebuffer.Add(LengthBytes[0]);//添加数据长度writebuffer.Add(dataLen);//转换成字节数组var converterMothed typeof(BitConverter).GetMethod(GetBytes,BindingFlags.Public | BindingFlags.Static,new[] { point.Type });var valueBytes (byte[])converterMothed.Invoke(null, new object[] { point.WriteValue });//转字节序byte[] newbytes new byte[point.Length * 2];for (int i 0; i point.Length; i){newbytes[2 * i] valueBytes[2 * i 1];newbytes[2 * i 1] valueBytes[2 * i];}writebuffer.AddRange(newbytes);
}处理完报文就执行发送接收操作 var client _tcpClient.Client;client.Send(writebuffer.ToArray());//接收报文正常接收说明写入成功byte[] recvBytes Recevice(12, 9);补充
接收报文通信过程跟读报文发送之后的接收报文操作基本一致同样进行粘包处理然后异常判断所以将接收进行封装只需要传入正常报文长度和异常报文长度自行
byte[] Recevice(int receiveLen, int errLen)
{//接收报文byte[] recvBytes new byte[receiveLen];//报文总长int recevTotalLength 0;while (recevTotalLength receiveLen recevTotalLength ! errLen){try{int needLength receiveLen - recevTotalLength;var recvLen _client.Receive(recvBytes,recevTotalLength,needLength,SocketFlags.None);if (recvLen 0){throw new Exception(未接收到响应数据);}recevTotalLength recvLen;}catch (Exception ex){throw new Exception(接收响应数据异常! ex.Message);}}if (recvBytes.Length errLen){throw new Exception(返回异常报文);}return recvBytes;
}响应报文分析
根据下面不同功能码响应报文可以看出正常响应报文长度就是12异常是9所以前面接收传入的参数就是 Recevice(12, 9)
响应
00 01 00 00 00 06 FF 05 00 01 FF 00 -05
00 01 00 00 00 06 01 0F 00 05 00 0A -15
00 05 00 00 00 06 FF 06 00 05 00 23 -06
00 06 00 00 00 06 FF 10 00 02 00 02 -16长度12错误响应
00 01 00 00 00 03 01 8F 02 长度 9
实现效果 完整代码 public class ModbusTcp{/// summary/// 功能码映射关系/// /summarypublic readonly Dictionarystring, byte ReadFuncCodes new Dictionarystring, byte();public readonly Dictionarystring, byte WriteFuncCodes new Dictionarystring, byte();//读报文byte[] _readbytes new byte[]{0x00,0x01,0x00,0x00,0x00,0x06,0xFF,0x01,0x00,0x01,0x00,0x10};//写报文前10位byte[] _writebytes new byte[]{0x00,0x01,0x00,0x00,0x00,0x06,0xFF,0x01,0x00,0x01,};private DeviceLink _link;private ListRegisterPoint _registers;private TcpClient _tcpClient;private int _timeSpan 100; // 1000/10 ms 1s1000ms,然后切成10个片段循环插空进行写入/// summary/// 连接状态/// /summarypublic bool IsConnected _tcpClient ! null _tcpClient.Connected;private bool IsMonitored false;public event ActionRegisterPoint, object ValueUpdated;/// summary/// 写入队列/// /summaryprivate QueueRegisterPoint _writeQueue new QueueRegisterPoint();private Socket _client;public ModbusTcp(DeviceLink link){if (link null){throw new ArgumentNullException(传入配置为空无法初始化);}_link link;_timeSpan (int)(link.AcqTimeSpan * 100);_registers link.Points;_tcpClient new TcpClient();Init();}void Init(){ReadFuncCodes.Add(Coil, 1);ReadFuncCodes.Add(DiscreteInput, 2);ReadFuncCodes.Add(HoldingRegister, 3);ReadFuncCodes.Add(InputRegister, 4);WriteFuncCodes.Add(Coil, 5);WriteFuncCodes.Add(HoldingRegister, 16);//修改从站地址_readbytes[6] Convert.ToByte(_link.SlaveID);_writebytes[6] Convert.ToByte(_link.SlaveID);}/// summary/// 连接/// /summaryprivate void Connect(){try{_tcpClient.Connect(IPAddress.Parse(_link.Ip), _link.Port);_client _tcpClient.Client;}catch (Exception ex) { }}/// summary/// 启动主采集线程循环采集/// /summarypublic void DoMonitor(){Task.Run(() {//防止重复启动if (IsMonitored)return;IsMonitored true;while (true){if (!_tcpClient.Connected){Connect();}else{try{foreach (RegisterPoint point in _registers){SetSendBytes(point);//发送读报文_client.Send(_readbytes);int len ReceviceDataLength(point.Length);var errLen 9;var normalLen 9 len;//接收报文byte[] recvBytes Recevice(normalLen, errLen);//提取数据部分byte[] dataBytes new byte[len];Array.Copy(recvBytes, 9, dataBytes, 0, len);//数据处理DealData(point, dataBytes);}}catch (Exception ex){Console.WriteLine(ex.Message);}}//循环10次间隔如果写入队列不为空则执行写入for (int i 0; i 10; i){while (_writeQueue.Count 0){var point _writeQueue.Dequeue();WriteData(point);}Task.Delay(_timeSpan).Wait();}}});}/// summary/// 返回报文数据长度/// /summary/// param namepointLength/param/// returns/returnsprivate int ReceviceDataLength(int pointLength){int len;if (_readbytes[7] 2){len pointLength / 8 1;}else{len pointLength * 2;}return len;}/// summary/// 设置查询发送报文/// /summary/// param namepoint/paramprivate void SetSendBytes(RegisterPoint point){//修改功能码_readbytes[7] ReadFuncCodes[point.RegisterType];//修改起始地址var addressBytes BitConverter.GetBytes(point.Address);_readbytes[8] addressBytes[1];_readbytes[9] addressBytes[0];//修改读寄存器数量var LengthBytes BitConverter.GetBytes(point.Length);_readbytes[10] LengthBytes[1];_readbytes[11] LengthBytes[0];}/// summary/// 数据处理方法/// /summary/// param namepoint/param/// param namebytes/paramvoid DealData(RegisterPoint point, byte[] bytes){//处理返回数据var funcCode ReadFuncCodes[point.RegisterType];object value;if (funcCode 2){//单点查询线圈只查询一个byte中不等于0就是truevalue bytes[0] ! 0;}else{if (point.Type typeof(byte)){value bytes[1];}else{//字节序处理byte[] newbytes new byte[point.Length * 2];//优化for (int i 0; i point.Length; i){newbytes[2 * i] bytes[2 * i 1];newbytes[2 * i 1] bytes[2 * i];}// 优化var converterMothed typeof(BitConverter).GetMethod(To point.Type.Name,BindingFlags.Public | BindingFlags.Static,new[] { typeof(byte[]), typeof(int) });value converterMothed.Invoke(null, new object[] { newbytes, 0 });}}//赋值if (!value.Equals(point.Value)){point.Value value;ValueUpdated?.Invoke(point, value);}}/// summary/// modbustcp写入方法/// /summary/// param namepoint/paramprivate void WriteData(RegisterPoint point){try{//00 01 00 00 00 06 FF 05 00 01 FF 00//00 05 00 00 00 06 FF 06 00 05 00 23//发送长度都一样格式完全一样//前7位相同第八位功能码不同九、十位写入地址_writebytes[7] WriteFuncCodes[point.RegisterType];//修改写入地址var addressBytes BitConverter.GetBytes(point.Address);_writebytes[8] addressBytes[1];_writebytes[9] addressBytes[0];var writebuffer _writebytes.ToList();if (point.RegisterType Coil){writebuffer[5] 0x06;if (point.WriteValue.Equals(true)){writebuffer.Add(0xFF);}else{writebuffer.Add(0x00);}writebuffer.Add(0x00);}else if (point.RegisterType HoldingRegister){byte dataLen (byte)(point.Length * 2);writebuffer[5] Convert.ToByte(7 dataLen);//修改读寄存器数量var LengthBytes BitConverter.GetBytes(point.Length);writebuffer.Add(LengthBytes[1]);writebuffer.Add(LengthBytes[0]);//添加数据长度writebuffer.Add(dataLen);//转换成字节数组var converterMothed typeof(BitConverter).GetMethod(GetBytes,BindingFlags.Public | BindingFlags.Static,new[] { point.Type });var valueBytes (byte[])converterMothed.Invoke(null, new object[] { point.WriteValue });//转字节序byte[] newbytes new byte[point.Length * 2];for (int i 0; i point.Length; i){newbytes[2 * i] valueBytes[2 * i 1];newbytes[2 * i 1] valueBytes[2 * i];}writebuffer.AddRange(newbytes);}var client _tcpClient.Client;client.Send(writebuffer.ToArray());//接收报文正常接收说明写入成功byte[] recvBytes Recevice(12, 9);}catch (Exception ex){Console.WriteLine(ex.Message);}}//写入值先加入一个队列public void Write(RegisterPoint point){_writeQueue.Enqueue(point);}byte[] Recevice(int receiveLen, int errLen){//接收报文byte[] recvBytes new byte[receiveLen];//报文总长int recevTotalLength 0;while (recevTotalLength receiveLen recevTotalLength ! errLen){try{int needLength receiveLen - recevTotalLength;var recvLen _client.Receive(recvBytes,recevTotalLength,needLength,SocketFlags.None);if (recvLen 0){throw new Exception(未接收到响应数据);}recevTotalLength recvLen;}catch (Exception ex){throw new Exception(接收响应数据异常! ex.Message);}}if (recvBytes.Length errLen){throw new Exception(返回异常报文);}return recvBytes;}}
