/// <summary>
/// 检查当前的Modbus-Rtu响应是否是正确的
/// </summary>
/// <param name="send">发送的数据信息</param>
/// <returns>带是否成功的结果数据</returns>
protected virtual OperateResult <byte[]> CheckModbusTcpResponse(byte[] send)
{
// 核心交互
OperateResult <byte[]> result = ReadBase(send);
if (!result.IsSuccess)
{
return(result);
}
// 长度校验
if (result.Content.Length < 5)
{
return(new OperateResult <byte[]>(StringResources.Language.ReceiveDataLengthTooShort + "5"));
}
// 检查crc
if (!SoftCRC16.CheckCRC16(result.Content))
{
return(new OperateResult <byte[]>(StringResources.Language.ModbusCRCCheckFailed));
}
// 发生了错误
if ((send[1] + 0x80) == result.Content[1])
{
return(new OperateResult <byte[]>(result.Content[2], ModbusInfo.GetDescriptionByErrorCode(result.Content[2])));
}
// 移除CRC校验
byte[] buffer = new byte[result.Content.Length - 2];
Array.Copy(result.Content, 0, buffer, 0, buffer.Length);
return(OperateResult.CreateSuccessResult(buffer));
}
/// <summary>
/// 重写的数据接收方法，需要连续接收，直到CRC校验成功或是超时，接收时间会比较久
/// </summary>
/// <param name="sender">串口对象</param>
/// <param name="e">串口的数据对象</param>
protected override void SP_ReadData_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
while (true)
{
Thread.Sleep(40);
try
{
if (SP_ReadData.BytesToRead < 1)
{
continue;
}
// 继续接收数据
receiveCount += SP_ReadData.Read(buffer, receiveCount, SP_ReadData.BytesToRead);
// CRC校验成功及退出
byte[] data = new byte[receiveCount];
Array.Copy(buffer, 0, data, 0, receiveCount);
if (SoftCRC16.CheckCRC16(data))
{
break;
}
}
catch (Exception ex)
{
isComError = true;
ComErrorMsg = ex.Message;
break;
}
}
resetEvent.Set( );
}
/// <summary>
/// socket发送
/// </summary>
/// <param name="msg"></param>
void send(string msg)
{
writeListBox("发送内容：" + msg);
try
{
//byte[] buffer = new byte[1024 * 1024 * 3];
//buffer = Encoding.UTF8.GetBytes(msg)
/**
*
* 接触网
* SocketDateStruct data = new SocketDateStruct();
* data.devId = "ID133";
* data.temperature = -12;
* data.valueB = 11;
* data.accelerationX = 33;
* data.accelerationY = 44;
* data.accelerationZ = 55;
* data.pitchAngle = 180;
* data.rollAngle = 120;
* data.headingAngle = 90;
* //data.isAlarm = 1;
* //byte[] sendStruct = MarshalHelper.StructToBytes(data);
* //byte[] mybtye = SoftCRC16.CRC16(sendStruct);
* //socketSend.Send(mybtye);
*
* byte[] zhaiTeacherDate = new byte[] { 0x00, 0x0D, 0xC9, 0x42, 0x01, 0x47, 0x7F, 0xEF, 0x00, 0x00, 0x03, 0xB2, 0xCF, 0x00, 0x3B, 0x00, 0x79, 0x00, 0x5C, 0x00, 0x20, 0xF9, 0x24, 0x3D, 0x00, 0x00, 0x00, 0xF2, 0xFF };
* byte[] mybtye = SoftCRC16.CRC16(zhaiTeacherDate);
* socketSend.Send(mybtye);
*/
//byte[] zhaiTeacherDate = new byte[] { 0x00, 0x0D};
//byte[] mybtye = SoftCRC16.CRC16(zhaiTeacherDate);
//socketSend.Send(mybtye);
//Array.Copy(sendStruct, sendStruct.Length, mybtye,0, mybtye.Length);
//发送数据
//byte[] sendData = new byte[sendStruct.Length + 2];
//sendData[sendData.Length - 1] = DataCheck(sendData);
//Agv测试
R_CarStatus r_CarStatus = new R_CarStatus();
r_CarStatus.AgvCarId = "123";
r_CarStatus.CarAction = 1;
r_CarStatus.CarState = 1;
r_CarStatus.PositionX = 12.01f;
byte[] sendStruct = MarshalHelper.StructToBytes(r_CarStatus);
sendStruct[0] = 255;
sendStruct[1] = 3;
sendStruct[2] = 0;
sendStruct[5] = 49;
byte[] mybtye = SoftCRC16.CRC16(sendStruct);
socketSend.Send(mybtye);
}
catch { }
}
/// <summary>
/// 检查当前的Modbus-Tcp响应是否是正确的
/// </summary>
/// <param name="send">发送的数据信息</param>
/// <returns>带是否成功的结果数据</returns>
private OperateResult <byte[]> CheckModbusTcpResponse(byte[] send)
{
OperateResult <byte[]> result = ReadBase(send);
if (!result.IsSuccess)
{
return(result);
}
if (result.Content.Length < 5)
{
return(new OperateResult <byte[]>( )
{
IsSuccess = false,
Message = "接收数据长度不能小于5",
});
}
if (!SoftCRC16.CheckCRC16(result.Content))
{
return(new OperateResult <byte[]>( )
{
IsSuccess = false,
Message = "CRC校验失败",
});
}
if ((send[1] + 0x80) == result.Content[1])
{
// 发生了错误
return(new OperateResult <byte[]>( )
{
IsSuccess = false,
Message = ModbusInfo.GetDescriptionByErrorCode(result.Content[2]),
ErrorCode = result.Content[2],
});
}
else
{
// 移除CRC校验
byte[] buffer = new byte[result.Content.Length - 2];
Array.Copy(result.Content, 0, buffer, 0, buffer.Length);
return(OperateResult.CreateSuccessResult(buffer));
}
}
/// <summary>
/// 检查当前的Modbus-Rtu响应是否是正确的
/// </summary>
/// <param name="send">发送的数据信息</param>
/// <returns>带是否成功的结果数据</returns>
protected virtual OperateResult <byte[]> CheckModbusTcpResponse(byte[] send)
{
// 核心交互
OperateResult <byte[]> result = ReadBase(send);
if (!result.IsSuccess)
{
return(result);
}
// 长度校验
if (result.Content.Length < 5)
{
return new OperateResult <byte[]>( )
{
IsSuccess = false, Message = "接收数据长度不能小于5"
}
}
;
// 检查crc
if (!SoftCRC16.CheckCRC16(result.Content))
{
return new OperateResult <byte[]>( )
{
Message = "CRC校验失败"
}
}
;
// 发生了错误
if ((send[1] + 0x80) == result.Content[1])
{
return new OperateResult <byte[]>( )
{
ErrorCode = result.Content[2], Message = ModbusInfo.GetDescriptionByErrorCode(result.Content[2])
}
}
;
// 移除CRC校验
byte[] buffer = new byte[result.Content.Length - 2];
Array.Copy(result.Content, 0, buffer, 0, buffer.Length);
return(OperateResult.CreateSuccessResult(buffer));
}
private OperateResult <byte[]> BuildWriteOneRegisterCommand(string address, byte[] data)
{
OperateResult <int> analysis = AnalysisAddress(address);
if (!analysis.IsSuccess)
{
return(OperateResult.CreateFailedResult <byte[]>(analysis));
}
byte[] buffer = new byte[6];
buffer[0] = station;
buffer[1] = ModbusInfo.WriteOneRegister;
buffer[2] = (byte)(analysis.Content / 256);
buffer[3] = (byte)(analysis.Content % 256);
buffer[4] = data[1];
buffer[5] = data[0];
return(OperateResult.CreateSuccessResult(SoftCRC16.CRC16(buffer)));
}
private OperateResult <byte[]> BuildWriteOneCoilCommand(string address, bool value)
{
OperateResult <int> analysis = AnalysisAddress(address);
if (!analysis.IsSuccess)
{
return(OperateResult.CreateFailedResult <byte[]>(analysis));
}
byte[] buffer = new byte[6];
buffer[0] = station;
buffer[1] = ModbusInfo.WriteOneCoil;
buffer[2] = (byte)(analysis.Content / 256);
buffer[3] = (byte)(analysis.Content % 256);
buffer[4] = (byte)(value ? 0xFF : 0x00);
buffer[5] = 0x00;
return(OperateResult.CreateSuccessResult(SoftCRC16.CRC16(buffer)));
}
/// <summary>
/// 读取数据的基础指令，需要指定指令码，地址，长度
/// </summary>
/// <param name="code"></param>
/// <param name="address"></param>
/// <param name="count"></param>
/// <returns></returns>
private OperateResult <byte[]> BuildReadCommandBase(byte code, string address, ushort count)
{
OperateResult <int> analysis = AnalysisAddress(address);
if (!analysis.IsSuccess)
{
return(OperateResult.CreateFailedResult <byte[]>(analysis));
}
byte[] buffer = new byte[6];
buffer[0] = station;
buffer[1] = code;
buffer[2] = (byte)(analysis.Content / 256);
buffer[3] = (byte)(analysis.Content % 256);
buffer[4] = (byte)(count / 256);
buffer[5] = (byte)(count % 256);
return(OperateResult.CreateSuccessResult(SoftCRC16.CRC16(buffer)));
}
private OperateResult <byte[]> BuildWriteCoilCommand(string address, bool[] values)
{
byte[] data = SoftBasic.BoolArrayToByte(values);
OperateResult <int> analysis = AnalysisAddress(address);
if (!analysis.IsSuccess)
{
return(OperateResult.CreateFailedResult <byte[]>(analysis));
}
byte[] buffer = new byte[7 + data.Length];
buffer[0] = station;
buffer[1] = ModbusInfo.WriteCoil;
buffer[2] = (byte)(analysis.Content / 256);
buffer[3] = (byte)(analysis.Content % 256);
buffer[4] = (byte)(values.Length / 256);
buffer[5] = (byte)(values.Length % 256);
buffer[6] = (byte)(data.Length);
data.CopyTo(buffer, 7);
return(OperateResult.CreateSuccessResult(SoftCRC16.CRC16(buffer)));
}
/// <summary>
/// 接收客户端发来的信息，客户端套接字对象
/// </summary>
/// <param name="socketclientpara"></param>
private void recv(object socketclientpara)
{
Socket socketServer = socketclientpara as Socket;
while (true)
{
//创建字节数组接收客户端的数据 返回值length表示接收了多少字节的数据,根据结构体计算出来长度大小
byte[] arrServerRecMsg = new byte[Marshal.SizeOf(typeof(SocketDateStruct)) + 2];
//将接收到的信息存入到内存缓冲区，并返回其字节数组的长度
try
{
int length = socketServer.Receive(arrServerRecMsg);
byte[] dataValue = new byte[Marshal.SizeOf(typeof(SocketDateStruct))]; //数据用于crc
Array.Copy(arrServerRecMsg, 0, dataValue, 0, length - 2);
byte[] myCRC = SoftCRC16.CRC16(dataValue);
if (myCRC[myCRC.Length - 1] == arrServerRecMsg[myCRC.Length - 1] && myCRC[myCRC.Length - 2] == arrServerRecMsg[myCRC.Length - 2]) //验证CRC高位和地位是否相等
{
SocketDateStruct socketDateStruct = new SocketDateStruct();
socketDateStruct = MarshalHelper.BytesToStruct <SocketDateStruct>(arrServerRecMsg);
string strStruct = socketDateStruct.devId + ";" + socketDateStruct.Temperature.ToString() + ";" + socketDateStruct.Humidity.ToString() +
";" + socketDateStruct.Distance.ToString() + ";" + socketDateStruct.XAxisAcceleration.ToString() +
";" + socketDateStruct.YAxisAcceleration.ToString() + ";" + socketDateStruct.ZAxisAcceleration.ToString() +
";" + socketDateStruct.PitchAngle.ToString() + ";" + socketDateStruct.RollAngle.ToString() + ";" + socketDateStruct.CourseAngle.ToString();
writeListBox("接收到了一条消息：结构体数据->" + strStruct);
}
else
{
writeListBox("接收到了一条消息：收到的数据CRC错误");
}
string strData2 = BitConverter.ToString(arrServerRecMsg); //只把接收到的数据（0 - length）进行转化
writeListBox("接收到了一条消息：原始的byte->" + strData2);
//将机器接受到的字节数组转换为人可以读懂的字符串
//string strSRecMsg = Encoding.UTF8.GetString(arrServerRecMsg, 0, length);
string strSRecMsg = "12345";
//将发送的字符串信息附加到文本框txtMsg上
writeListBox("\r\n[客户端：" + socketServer.RemoteEndPoint + " 时间：" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss:fff") + "]\r\n" + strSRecMsg);
//Thread.Sleep(3000);
//socketServer.Send(Encoding.UTF8.GetBytes("[" + socketServer.RemoteEndPoint + "]："+strSRecMsg));
//发送客户端数据
if (ClientConnectionItems.Count > 0)
{
foreach (var socketTemp in ClientConnectionItems)
{
socketTemp.Value.Send(Encoding.UTF8.GetBytes("[" + socketServer.RemoteEndPoint + "]：" + strSRecMsg));
}
}
}
catch (Exception)
{
ClientConnectionItems.Remove(socketServer.RemoteEndPoint.ToString());
//提示套接字监听异常
writeListBox("\r\n[客户端\"" + socketServer.RemoteEndPoint + "\"已经中断连接！ 客户端数量：" + ClientConnectionItems.Count + "]");
//关闭之前accept出来的和客户端进行通信的套接字
socketServer.Close();
break;
}
}
}
/// <summary>
/// 检查当前接收的字节数据是否正确的
/// </summary>
/// <param name="rBytes"></param>
/// <returns></returns>
protected override bool CheckReceiveBytes(byte[] rBytes)
{
return(SoftCRC16.CheckCRC16(rBytes));
}
