前言
Modbus通讯协议在工控行业的应用是很多的，并且也是上位机开发的基本技能之一。相关的类库也很多也很好用。以前只负责用，对其并没有深入学习和了解。前段时间有点空就在这块挖了挖。想做到知其然还要知其所以然。所以就有了自己封装的Modbus工具类库的想法。一来是练练手，二来是自己封装的用的更顺手。
Modbus通讯协议我在工作中目前只用到了两种一个是串口通讯ModbusRTU，还有一个是网络通讯ModbusTcp。所以本文只有这两种通讯的实现。
设计思想
C#是高级语言有很多好用的东西，如面像对像，设计模式等。但我在工作中还是经常看到面像过程的编程。如有多个串口设备就有多个代码类似的工具类。代码重复非常严重。我认为这种事还是要发点时间总结和代码一下代码，把它封装工具类库。以便后继在其他上的使用。
本次的封装用了一点面像对像的方法，设计了一个多个Modbus 基类将一些公共方法放在基类中，子类就可以继续使用。不同的子类有不同的功能。可以按需调用。使用简单方便。
调用示例
cs
var _serialPort = new ModbusRTUCoil(portName, baudRate, parity, dataBits, stopBits);
var isOk = false;
var resultModel = _serialPort.ReadDataCoil(1, 1, ModbusFunctionCode.ReadInputCoil, (ushort)type.GetHashCode());
if (resultModel.ResultList != null && resultModel.ResultList.Count > 0)
{
isOk = resultModel.ResultList.FirstOrDefault();
}类库项目结构
代码
Modbus结果实体
cs
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace CJH.ModbusTool
{
/// <summary>
/// Modbus结果实体
/// </summary>
/// <typeparam name="DateType"></typeparam>
public class ModbusResultModel
{
public ModbusResultModel()
{
IsSucceed = false;
Msg = "失败(默认)";
}
private bool _isSucceed = false;
/// <summary>
/// 是否成功
/// </summary>
public bool IsSucceed
{
get
{
return _isSucceed;
}
set
{
_isSucceed = value;
if (IsSucceed)
{
Msg = "成功";
}
}
}
/// <summary>
/// 返回消息
/// </summary>
public string Msg { get; set; }
/// <summary>
/// 发送报文
/// </summary>
public string SendDataStr { get; set; }
/// <summary>
/// 原始数据
/// </summary>
public byte[] Datas { get; set; }
}
/// <summary>
/// Modbus结果实体
/// </summary>
/// <typeparam name="DateType"></typeparam>
public class ModbusResultModel<DateType> : ModbusResultModel
{
public ModbusResultModel() : base()
{
ResultList = new List<DateType>();
}
/// <summary>
/// 解析后的数据
/// </summary>
public List<DateType> ResultList { get; set; }
}
}Modbus 基类
cs
using System;
using System.Collections;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace CJH.ModbusTool
{
/// <summary>
/// Modbus 基类
/// </summary>
public abstract class ModbusBase
{
/// <summary>
/// 生成读取报文的 公共方法
/// </summary>
/// <param name="devAddr">从站地址</param>
/// <param name="length">寄存器数量</param>
/// <param name="functionCode">功能码</param>
/// <param name="startAddr">起始寄存器地址</param>
/// <returns>返回报文(协议格式：站地址+功能码+起始寄存器地址+寄存器数量)</returns>
protected byte[] GenerateReadCommandBytes(byte devAddr, ushort length, ModbusFunctionCode functionCode = ModbusFunctionCode.ReadRegister, ushort startAddr = 0)
{
//1.拼接报文:
var sendCommand = new List<byte>();
//协议格式：站地址+功能码+起始寄存器地址+寄存器数量
//站地址
sendCommand.Add(devAddr);
//功能码
sendCommand.Add((byte)functionCode.GetHashCode());
//起始寄存器地址
sendCommand.Add((byte)(startAddr / 256));
sendCommand.Add((byte)(startAddr % 256));
//寄存器数量
sendCommand.Add((byte)(length / 256));
sendCommand.Add((byte)(length % 256));
//CRC
//byte[] crc = Crc16(sendCommand.ToArray(), sendCommand.Count);
//sendCommand.AddRange(crc);
return sendCommand.ToArray();
}
/// <summary>
/// 生成读取报文的 公共方法
/// </summary>
/// <param name="devAddr">从站地址</param>
/// <param name="data">定入数据</param>
/// <param name="functionCode">功能码</param>
/// <param name="startAddr">写入地址</param>
/// <returns>返回报文(协议格式：站地址+功能码+起始寄存器地址+寄存器数量)</returns>
protected byte[] GenerateWriteCommandBytes(byte devAddr, ushort data, ModbusFunctionCode functionCode = ModbusFunctionCode.ReadRegister, ushort startAddr = 0)
{
//1.拼接报文:
var sendCommand = new List<byte>();
//协议格式：站地址+功能码+起始寄存器地址+寄存器数量
//站地址
sendCommand.Add(devAddr);
//功能码
sendCommand.Add((byte)functionCode.GetHashCode());
//写入地址
sendCommand.Add((byte)(startAddr / 256));
sendCommand.Add((byte)(startAddr % 256));
//写入数据
var temp_bytes = BitConverter.GetBytes(data);
if (BitConverter.IsLittleEndian)
{
//temp_bytes.Reverse();
Array.Reverse(temp_bytes);
}
sendCommand.AddRange(temp_bytes);
//CRC
//byte[] crc = Crc16(sendCommand.ToArray(), sendCommand.Count);
//sendCommand.AddRange(crc);
return sendCommand.ToArray();
}
/// <summary>
/// 生成发送命令报文
/// </summary>
/// <param name="sendCommand"></param>
/// <returns></returns>
protected string generateSendCommandStr(byte[] sendCommand)
{
var sendCommandStr = string.Empty;
foreach (var item in sendCommand)
{
sendCommandStr += Convert.ToString(item, 16) + " ";
}
return sendCommandStr;
}
/// <summary>
/// 验证CRC
/// </summary>
/// <param name="value">要验证的数据</param>
/// <returns></returns>
protected bool CheckCRC(byte[] value)
{
var isOk = false;
if (value != null && value.Length >= 2)
{
int length = value.Length;
byte[] buf = new byte[length - 2];
Array.Copy(value, 0, buf, 0, buf.Length);
//自己验证的结果
byte[] CRCbuf = Crc16(buf, buf.Length);
//把上面验证的结果和串口返回的校验码（最后两个）进行比较
if (CRCbuf[0] == value[length - 2] && CRCbuf[1] == value[length - 1])
{
isOk = true;
}
}
return isOk;
}
protected byte[] Crc16(byte[] pucFrame, int usLen)
{
int i = 0;
byte[] res = new byte[2] { 0xFF, 0xFF };
ushort iIndex;
while (usLen-- > 0)
{
iIndex = (ushort)(res[0] ^ pucFrame[i++]);
res[0] = (byte)(res[1] ^ aucCRCHi[iIndex]);
res[1] = aucCRCLo[iIndex];
}
return res;
}
protected readonly byte[] aucCRCHi = {
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40
};
protected readonly byte[] aucCRCLo = {
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,
0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E,
0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9,
0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,
0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,
0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,
0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF,
0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,
0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB,
0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97,
0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E,
0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,
0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
0x41, 0x81, 0x80, 0x40
};
/// <summary>
/// CRC校验
/// </summary>
/// <param name="pucFrame">字节数组</param>
/// <param name="usLen">验证长度</param>
/// <returns>2个字节</returns>
protected byte[] CalculateCRC(byte[] pucFrame, int usLen)
{
int i = 0;
byte[] res = new byte[2] { 0xFF, 0xFF };
ushort iIndex;
while (usLen-- > 0)
{
iIndex = (ushort)(res[0] ^ pucFrame[i++]);
res[0] = (byte)(res[1] ^ aucCRCHi[iIndex]);
res[1] = aucCRCLo[iIndex];
}
return res;
}
}
/// <summary>
/// Modbus 功能码
/// </summary>
public enum ModbusFunctionCode
{
/// <summary>
/// 读取输出线圈
/// </summary>
[Description("读取输出线圈")]
ReadOutCoil = 1,
/// <summary>
/// 读取输入线圈
/// </summary>
[Description("读取输入线圈")]
ReadInputCoil = 2,
/// <summary>
/// 读取保持寄存器
/// </summary>
[Description("读取保持寄存器")]
ReadRegister = 3,
/// <summary>
/// 读取输入寄存器
/// </summary>
[Description("读取输入寄存器")]
ReadInputRegister = 4,
/// <summary>
/// (写入)预置单线圈
/// </summary>
[Description("(写入)预置单线圈")]
WriteCoil = 5,
/// <summary>
/// (写入)预置单个寄存器
/// </summary>
[Description("(写入)预置单个寄存器")]
WriteRegister = 6,
/// <summary>
/// (写入)预置多寄存器
/// </summary>
[Description("(写入)预置多寄存器")]
WriteRegisterMultiple = 16,
}
}RTU
串口基类 SerialPortBase
cs
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace CJH.ModbusTool.RTU
{
//Modbus 规定4个存储区
// 区号 名称 读写 范围
// 0区 输出线圈 可读可写 00001-09999
// 1区 输入线圈 只读 10001-19999
// 2区 输入寄存器 只读 30001-39999
// 4区 保存寄存器 可读可写 40001-19999
//功能码
//01H 读取输出线圈
//02H 读取输入线圈
//03H 读取保持寄存器
//04H 读取输入寄存器
//05H （写入）预置单线圈
//06H （写入）预置寄存器
//0FH （写入）预置多线圈
//10H （写入）预置多寄存器
/// <summary>
/// 串口基类
/// </summary>
public abstract class SerialPortBase : ModbusBase
{
protected SerialPort SerialPortObj;
/// <summary>
/// 初始化
/// </summary>
/// <param name="portName">COM口名称</param>
/// <param name="baudRate">波特率</param>
/// <param name="parity">检验位</param>
/// <param name="dataBits">数据位</param>
/// <param name="stopBits">停止位</param>
protected void Init(string portName, int baudRate = 9600, Parity parity = Parity.None, int dataBits = 8, StopBits stopBits = StopBits.One)
{
SerialPortObj = new SerialPort(portName, baudRate, parity, dataBits, stopBits);
if (SerialPortObj.IsOpen)
{
SerialPortObj.Close();
}
SerialPortObj.Open();
}
/// <summary>
/// 关闭
/// </summary>
public void Close()
{
if (SerialPortObj.IsOpen)
{
SerialPortObj.Close();
SerialPortObj.Dispose();
SerialPortObj = null;
}
}
}
//功能码
//01H 读取输出线圈
//02H 读取输入线圈
//03H 读取保持寄存器
//04H 读取输入寄存器
//05H (写入)预置单线圈
//06H (写入)预置寄存器
//0FH (写入)预置多线圈
//10H (写入)预置多寄存器
}Modbus 串口通讯
(串口操作的所有功能这个类都能做)
cs
using System;
using System.Collections.Generic;
using System.ComponentModel.Design;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace CJH.ModbusTool.RTU
{
/// <summary>
/// Modbus 串口通讯
/// </summary>
public class ModbusRTU : SerialPortBase
{
private string _className = "ModbusRTU";
/// <summary>
/// Modbus 串口通讯
/// </summary>
/// <param name="portName">COM口名称</param>
/// <param name="baudRate">波特率</param>
/// <param name="parity">检验位</param>
/// <param name="dataBits">数据位</param>
/// <param name="stopBits">停止位</param>
public ModbusRTU(string portName, int baudRate = 9600, Parity parity = Parity.None, int dataBits = 8, StopBits stopBits = StopBits.One)
{
Init(portName, baudRate, parity, dataBits, stopBits);
//SerialPortObj.DataReceived += new SerialDataReceivedEventHandler(ComDataReceived);
}
/// <summary>
/// 读取线圈数据 ok
/// </summary>
/// <param name="devAddr">从站地址</param>
/// <param name="length">寄存器数量</param>
/// <param name="functionCode">功能码</param>
/// <param name="startAddr">起始寄存器地址</param>
/// <returns>线圈数据</returns>
public ModbusResultModel ReadData(byte devAddr, ushort length, ModbusFunctionCode functionCode = ModbusFunctionCode.ReadRegister, ushort startAddr = 0)
{
return ReadData(devAddr, length, (byte)functionCode, startAddr);
}
/// <summary>
/// 读取数据 ok
/// </summary>
/// <param name="devAddr">从站地址</param>
/// <param name="length">寄存器数量</param>
/// <param name="functionCode">功能码</param>
/// <param name="startAddr">起始寄存器地址</param>
/// <returns>线圈数据</returns>
public ModbusResultModel ReadData(byte devAddr, ushort length, byte functionCode = 2, ushort startAddr = 0)
{
var resultModel = new ModbusResultModel();
//byte[] datas = null;
if (functionCode >= 1 && functionCode <= 4)
{
try
{
//1.拼接报文:
var sendCommand = new List<byte>();
//协议格式：站地址+功能码+起始寄存器地址+寄存器数量+CRC
//站地址
sendCommand.Add(devAddr);
//功能码
sendCommand.Add(functionCode);
//起始寄存器地址
sendCommand.Add((byte)(startAddr / 256));
sendCommand.Add((byte)(startAddr % 256));
//寄存器数量
sendCommand.Add((byte)(length / 256));
sendCommand.Add((byte)(length % 256));
//CRC
byte[] crc = Crc16(sendCommand.ToArray(), sendCommand.Count);
sendCommand.AddRange(crc);
resultModel.SendDataStr = generateSendCommandStr(sendCommand.ToArray());
//2.发送报文
SerialPortObj.Write(sendCommand.ToArray(), 0, sendCommand.Count);
//3.接收报文
Thread.Sleep(50);//要延时一下，才能读到数据
//读取响应报文
byte[] respBytes = new byte[SerialPortObj.BytesToRead];
SerialPortObj.Read(respBytes, 0, respBytes.Length);
// respBytes -> 01 01 02 00 00 B9 FC
resultModel.Datas = respBytes;
// 检查一个校验位
//if (CheckCRC(respBytes) && (respBytes.Length == 5 + length * 2)
// && respBytes[0] == devAdd && respBytes[1] == functionCode && respBytes[1] == length * 2)
if (CheckCRC(respBytes) && respBytes[0] == devAddr && respBytes[1] == functionCode)
{
//datas = respBytes;
resultModel.IsSucceed = true;
}
else
{
resultModel.Msg = "响应报文校验失败";
}
}
catch (Exception ex)
{
resultModel.Msg = "异常:" + ex.Message;
}
}
else
{
//throw new Exception("功能码不正确[1-4]");
resultModel.Msg = "功能码不正确[1-4]";
}
//SerialPortObj.Close();
return resultModel;
}
/// <summary>
/// 写入单个寄存器 ok
/// 数据示例: 200
/// 功能码 6
/// </summary>
/// <param name="devAddr">从站地址</param>
/// <param name="value">写入的数据</param>
/// <param name="startAddr">写入地址</param>
/// <returns>是否成功</returns>
public ModbusResultModel WriteDataShort(int devAddr, short value, short startAddr = 0)
{
var resultModel = new ModbusResultModel();
try
{
//bool isOk = false;
//1.拼接报文:
//var sendCommand = GetSingleDataWriteMessage(devAdd, startAddr, value); //ok
var sendCommand = GetSingleDataWriteMessageList(devAddr, startAddr, value); //ok
//var sendCommandStr = string.Join(' ', sendCommand.ToArray());
resultModel.SendDataStr = generateSendCommandStr(sendCommand);
//2.发送报文
SerialPortObj.Write(sendCommand.ToArray(), 0, sendCommand.Length);
//3.接收报文
Thread.Sleep(50);//要延时一下，才能读到数据
//读取响应报文
byte[] respBytes = new byte[SerialPortObj.BytesToRead];
SerialPortObj.Read(respBytes, 0, respBytes.Length);
// respBytes -> 01 01 02 00 00 B9 FC
// 检查一个校验位
if (CheckCRC(respBytes) && respBytes[0] == devAddr && respBytes[1] == 0x06)
{
//isOk = true;
resultModel.IsSucceed = true;
}
else
{
resultModel.Msg = "响应报文校验失败";
}
}
catch (Exception ex)
{
resultModel.Msg = "异常:" + ex.Message;
}
//SerialPortObj.Close();
return resultModel;
}
/// <summary>
/// 写入单个寄存器 ok
/// 数据示例: 200
/// 功能码 6
/// </summary>
/// <param name="devAddr">站地址</param>
/// <param name="dataList">写入的数据集合</param>
/// <param name="startAddr">写入地址</param>
/// <returns>是否成功</returns>
public ModbusResultModel WriteDataShort(int devAddr, List<short> dataList, short startAddr = 0)
{
var resultModel = new ModbusResultModel();
if (dataList != null && dataList.Count > 0)
{
foreach (var item in dataList)
{
resultModel = WriteDataShort(devAddr, item, startAddr);
startAddr++;
}
}
return resultModel;
}
/// <summary>
/// 获取写入单个寄存器的报文
/// </summary>
/// <param name="slaveStation">从站地址</param>
/// <param name="startAddr">寄存器地址</param>
/// <param name="value">写入值</param>
/// <returns>写入单个寄存器的报文</returns>
private byte[] GetSingleDataWriteMessage(int slaveStation, short startAddr, short value)
{
//从站地址
byte station = (byte)slaveStation;
//功能码
byte type = 0x06;//06H （写入）预置寄存器
//寄存器地址
byte[] start = BitConverter.GetBytes(startAddr);
//值
byte[] valueBytes = BitConverter.GetBytes(value);
//根据计算机大小端存储方式进行高低字节转换
if (BitConverter.IsLittleEndian)
{
Array.Reverse(start);
Array.Reverse(valueBytes);
}
//拼接报文
byte[] result = new byte[] { station, type };
result = result.Concat(start.Concat(valueBytes).ToArray()).ToArray();
//计算校验码并拼接，返回最后的报文结果
return result.Concat(Crc16(result, result.Length)).ToArray();
}
/// <summary>
/// 获取写入单个寄存器的报文
/// </summary>
/// <param name="slaveStation">从站地址</param>
/// <param name="startAddr">寄存器地址</param>
/// <param name="data">写入值</param>
/// <returns>写入单个寄存器的报文</returns>
private byte[] GetSingleDataWriteMessageList(int slaveStation, short startAddr, short data)
{
//1.拼接报文:
var sendCommand = new List<byte>();
//从站地址
byte station = (byte)slaveStation;
//功能码
byte type = 0x06;//06H （写入）预置寄存器
//寄存器地址
byte[] start = BitConverter.GetBytes(startAddr);
//值
byte[] valueBytes = BitConverter.GetBytes(data);
//根据计算机大小端存储方式进行高低字节转换
if (BitConverter.IsLittleEndian)
{
Array.Reverse(start);
Array.Reverse(valueBytes);
}
sendCommand.Add((byte)slaveStation);
sendCommand.Add(type);
sendCommand.AddRange(start);
sendCommand.AddRange(valueBytes);
byte[] crc = Crc16(sendCommand.ToArray(), sendCommand.Count);
sendCommand.AddRange(crc);
return sendCommand.ToArray();
}
/// <summary>
/// 写入多个寄存器 ok
/// 数据示例: 123.45f, 14.3f
/// 功能码 10
/// </summary>
/// <param name="devAddr">从站地址</param>
/// <param name="data">写入的数据</param>
/// <param name="startAddr">写入地址</param>
/// <returns>是否成功</returns>
public ModbusResultModel WriteDataFloat(byte devAddr, float data, ushort startAddr = 0)
{
return WriteDataFloat(devAddr, new List<float>() { data }, startAddr);
}
/// <summary>
/// 写入多个寄存器 ok
/// 数据示例: 123.45f, 14.3f
/// 功能码 10
/// </summary>
/// <param name="devAdd">从站地址</param>
/// <param name="dataList">写入的数据</param>
/// <param name="startAddr">写入地址</param>
/// <returns>是否成功</returns>
public ModbusResultModel WriteDataFloat(byte devAddr, List<float> dataList, ushort startAddr = 0)
{
var resultModel = new ModbusResultModel();
if (dataList != null && dataList.Count > 0)
{
try
{
byte functionCode = (byte)ModbusFunctionCode.WriteRegisterMultiple.GetHashCode();
int length = dataList.Count * 2;
//1.拼接报文:
var sendCommand = new List<byte>();
//协议格式：站地址+功能码+起始寄存器地址+寄存器数量+CRC
//站地址
sendCommand.Add(devAddr);
//功能码
sendCommand.Add(functionCode);
//写入地址
sendCommand.Add((byte)(startAddr / 256));
sendCommand.Add((byte)(startAddr % 256));
//寄存器数量
sendCommand.Add((byte)(length / 256));
sendCommand.Add((byte)(length % 256));
// 获取数值的byte[]
List<byte> valueBytes = new List<byte>();
foreach (var data in dataList)
{
List<byte> temp = new List<byte>(BitConverter.GetBytes(data));
temp.Reverse();// 调整字节序
valueBytes.AddRange(temp);
}
// 字节数
sendCommand.Add((byte)valueBytes.Count);
sendCommand.AddRange(valueBytes);
//CRC
byte[] crc = Crc16(sendCommand.ToArray(), sendCommand.Count);
sendCommand.AddRange(crc);
//000004 - Rx:01 10 00 02 00 04 08 42 F6 E6 66 41 64 CC CD 83 23
//000005 - Tx:01 10 00 02 00 04 60 0A
//000006 - Rx:01 0A 00 02 00 04 08 42 F6 E6 66 41 64 CC CD 98 F9
//000007 - Tx:01 8A 01 86 A0 //报错了
//2.发送报文
SerialPortObj.Write(sendCommand.ToArray(), 0, sendCommand.Count);
//3.接收报文
Thread.Sleep(50);//要延时一下，才能读到数据
//读取响应报文
byte[] respBytes = new byte[SerialPortObj.BytesToRead];
SerialPortObj.Read(respBytes, 0, respBytes.Length);
// respBytes -> 01 01 02 00 00 B9 FC
// 检查一个校验位
if (CheckCRC(respBytes) && respBytes[0] == devAddr && respBytes[1] == functionCode)
{
resultModel.IsSucceed = true;
}
else
{
resultModel.Msg = "响应报文校验失败";
}
}
catch (Exception ex)
{
resultModel.Msg = "异常:" + ex.Message;
}
//SerialPortObj.Close();
}
else
{
resultModel.Msg = "dataLis参数不能为NULL 且 Count 要大于0";
}
return resultModel;
}
/// <summary>
/// 写单个线圈输出 ok
/// </summary>
/// <param name="on">开关</param>
/// <param name="devAddr">从站地址</param>
/// <param name="startAddr">写入地址</param>
/// <returns></returns>
public ModbusResultModel WriteSingleOutOnOff(bool on, byte devAddr = 1, ushort startAddr = 0)
{
var resultModel = new ModbusResultModel();
try
{
//var isOk = false;
//1.拼接报文:
var sendCommand = new List<byte>();
//协议格式：站地址+功能码+起始寄存器地址+寄存器数量+CRC
//站地址
sendCommand.Add(devAddr);
//功能码
byte functionCode = 0x05;
sendCommand.Add(functionCode);
//写入地址
sendCommand.Add((byte)(startAddr / 256));
sendCommand.Add((byte)(startAddr % 256));
//写入数据
sendCommand.Add((byte)(on ? 0xFF : 0x00));//true : 0xFF 开，false : 0x00 关
sendCommand.Add(0x00);
//CRC
byte[] crc = Crc16(sendCommand.ToArray(), sendCommand.Count);
sendCommand.AddRange(crc);
//2.发送报文
SerialPortObj.Write(sendCommand.ToArray(), 0, sendCommand.Count);
//isOk = true;
resultModel.IsSucceed = true;
}
catch (Exception ex)
{
resultModel.Msg = "异常:" + ex.Message;
}
return resultModel;
}
}
}Modbus 串口通讯 读线圈状态
（这个类是针对线圈的 突出读取数据）
cs
using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace CJH.ModbusTool.RTU
{
/// <summary>
/// Modbus 串口通讯 读线圈状态
/// </summary>
public class ModbusRTUCoil : ModbusRTU
{
//ModbusRTU rtu = new ModbusRTU(portName);
//var resultModel = rtu.ReadData(1, readLen, ModbusFunctionCode.ReadOutCoil);
/// <summary>
/// Modbus 串口通讯
/// </summary>
/// <param name="portName">COM口名称</param>
/// <param name="baudRate">波特率</param>
/// <param name="parity">检验位</param>
/// <param name="dataBits">数据位</param>
/// <param name="stopBits">停止位</param>
public ModbusRTUCoil(string portName, int baudRate = 9600, Parity parity = Parity.None, int dataBits = 8, StopBits stopBits = StopBits.One)
: base(portName, baudRate, parity, dataBits, stopBits)
{
//Init(portName, baudRate, parity, dataBits, stopBits);
//SerialPortObj.DataReceived += new SerialDataReceivedEventHandler(ComDataReceived);
}
/// <summary>
/// 读取线圈数据 ok
/// </summary>
/// <param name="devAdd">从站地址</param>
/// <param name="length">寄存器数量</param>
/// <param name="functionCode">功能码</param>
/// <param name="startAddr">起始寄存器地址</param>
/// <returns>线圈数据</returns>
public ModbusResultModel<bool> ReadDataCoil(byte devAdd, ushort length, ModbusFunctionCode functionCode = ModbusFunctionCode.ReadRegister, ushort startAddr = 0)
{
var resultModel = new ModbusResultModel<bool>();
var model = ReadData(devAdd, length, (byte)functionCode, startAddr);
if (model != null && model.Datas != null && model.Datas.Length > 5)
{
resultModel.IsSucceed = model.IsSucceed;
//报文解析
// 检查一个校验位
List<byte> respList = new List<byte>(model.Datas);
respList.RemoveRange(0, 3);
respList.RemoveRange(respList.Count - 2, 2);
// 00 00
//集合反转
respList.Reverse();
//转换成2进制
var respStrList = respList.Select(r => Convert.ToString(r, 2)).ToList();
var values = string.Join("", respStrList).ToList();
values.Reverse();
//values.ForEach(c => Console.WriteLine(Convert.ToBoolean(int.Parse(c.ToString()))));
foreach (var v in values)
{
resultModel.ResultList.Add(v.ToString() == "1");
}
}
return resultModel;
}
}
}TCP
ModbusTCP 基类
cs
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net.Sockets;
using System.Runtime.InteropServices;
using System.Security.Cryptography;
using System.Text;
using System.Threading.Tasks;
namespace CJH.ModbusTool.TCP
{
/// <summary>
/// ModbusTCP 基类
/// </summary>
public abstract class ModbusTCPBase : ModbusBase
{
private Socket _socket = null;
ushort _tid = 0;//TransactionId 最大 65535
/// <summary>
/// 异常码 字典
/// </summary>
protected Dictionary<int, string> Errors = new Dictionary<int, string>() {
{ 0x01 , "非法功能码"},
{ 0x02 , "非法数据地址"},
{ 0x03 , "非法数据值"},
{ 0x04 , "从站设备故障"},
{ 0x05 , "确认，从站需要一个耗时操作"},
{ 0x06 , "从站忙"},
{ 0x08 , "存储奇偶性差错"},
{ 0x0A , "不可用网关路径"},
{ 0x0B , "网关目标设备响应失败"},
};
/// <summary>
/// Modbus TCP 通讯 初始化
/// </summary>
/// <param name="host">主机地址</param>
/// <param name="port">端口</param>
protected void Init(string host, int port)
{
_socket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
_socket.Connect(host, port);
}
/// <summary>
/// 读取报文的 公共方法
/// </summary>
/// <param name="devAddr">从站地址</param>
/// <param name="length">寄存器数量</param>
/// <param name="functionCode">功能码</param>
/// <param name="startAddr">起始寄存器地址</param>
/// <returns>返回报文(协议格式：TransactionId+协议标识+后续字节数+站地址+功能码+起始寄存器地址+寄存器数量)</returns>
protected byte[] GenerateTcpCommandReadBytes(byte devAddr, ushort length, ModbusFunctionCode functionCode = ModbusFunctionCode.ReadRegister, ushort startAddr = 0)
{
var baseCommand = GenerateReadCommandBytes(devAddr, length, functionCode, startAddr);
var sendCommand = new List<byte>();
//TransactionId
sendCommand.Add((byte)(_tid / 256));
sendCommand.Add((byte)(_tid % 256));
//Modbus 协议标识
sendCommand.Add(0x00);
sendCommand.Add(0x00);
//后续字节数
sendCommand.Add((byte)(baseCommand.Length / 256));
sendCommand.Add((byte)(baseCommand.Length % 256));
_tid++;
_tid %= 65535;
sendCommand.AddRange(baseCommand);
return sendCommand.ToArray();
}
/// <summary>
/// 读取报文的 公共方法
/// </summary>
/// <param name="devAddr">从站地址</param>
/// <param name="data">输入数据</param>
/// <param name="functionCode">功能码</param>
/// <param name="startAddr">起始寄存器地址</param>
/// <returns>返回报文(协议格式：TransactionId+协议标识+后续字节数+站地址+功能码+起始寄存器地址+寄存器数量)</returns>
protected byte[] GenerateTcpCommandWriteBytes(byte devAddr, ushort data, ModbusFunctionCode functionCode = ModbusFunctionCode.WriteRegister, ushort startAddr = 0)
{
var baseCommand = GenerateWriteCommandBytes(devAddr, data, functionCode, startAddr);
var sendCommand = new List<byte>();
//TransactionId
sendCommand.Add((byte)(_tid / 256));
sendCommand.Add((byte)(_tid % 256));
//Modbus 协议标识
sendCommand.Add(0x00);
sendCommand.Add(0x00);
//后续字节数
sendCommand.Add((byte)(baseCommand.Length / 256));
sendCommand.Add((byte)(baseCommand.Length % 256));
_tid++;
_tid %= 65535;
sendCommand.AddRange(baseCommand);
return sendCommand.ToArray();
}
protected ModbusResultModel SendCommand(byte[] sendCommand)
{
var resultModel = new ModbusResultModel();
try
{
//报文
//TransactionId Modbus 协议标识 后续字节数 从站地址 功能码 起始寄存器地址 寄存器数量 CRC
//0x00 0x01 0x00 0x00 0x00 0x06 devAddr functionCode 0x00 0x0A
resultModel.SendDataStr = generateSendCommandStr(sendCommand.ToArray());
_socket.Send(sendCommand.ToArray());
//000002-Rx:00 00 00 00 00 06 01 03 00 01 00 05
//000003-Tx:00 00 00 00 00 0D 01 03 0A 00 00 00 00 00 00 00 00 00 00
// 00 00 00 00 00 0D 前6位
// 01 03 0A (0,1,2)
// 0A 数据长度 （0A=10）
//先取前6位，固定返回
var resp_bytes = new byte[6];// 00 00 00 00 00 0D 前6位
_socket.Receive(resp_bytes, 0, resp_bytes.Length, SocketFlags.None);
//取出下标为 ：4和5的数据[00 0D]
var len_bytes = resp_bytes.ToList().GetRange(4, 2);
//起始寄存器地址 的反向操作
//将下标为4和5 两个字节转成10进制数
int len = len_bytes[0] * 256 + len_bytes[1];
//获取数据的长度
//01 03 0A 00 00 00 00 00 00 00 00 00 00 [正常]
//01 83 02 [异常，83， 异常代码 ：02]
resp_bytes = new byte[len];
_socket.Receive(resp_bytes, 0, len, SocketFlags.None);
//检查响应报文是否正常
//0x83 1000 0011
//01 83 02 [异常，83， 异常代码 ：02]
if (resp_bytes[1] > 0x08)//判断是否异常
{
//resp_bytes[2] = 异常代码 ：02
//说明响应是异常报文
//返回异常信息，根据resp_bytes字节进行异常关联
if (Errors.ContainsKey(resp_bytes[2]))
{
resultModel.Msg = Errors[resp_bytes[2]];//获取异常码对应的异常说明
}
}
else
{
//resp_bytes[2] = 0A 数据长度 （0A=10）
//正常
resultModel.Datas = resp_bytes.ToList().GetRange(3, resp_bytes[2]).ToArray();
resultModel.IsSucceed = true;
}
}
catch (Exception ex)
{
resultModel.Msg = ex.Message;
}
return resultModel;
}
/// <summary>
/// 解析数据
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="datas"></param>
/// <returns></returns>
public List<T> AnalysisDatas<T>(byte[] datas)
{
//data_bytes 每两个字节转成一个数字， float 4个字节转成一个数字，double 8个字节转成一个数字
//2 ushort short int16 uint32 float
//4 int uint int32 uint32 float
//8 double
//16 decimal
var resultValue = new List<T>();
try
{
var type_len = Marshal.SizeOf(typeof(T));
for (int i = 0; i < datas.Length; i += type_len)
{
var temp_bytes = datas.ToList().GetRange(i, type_len);
if (BitConverter.IsLittleEndian)
{
temp_bytes.Reverse();
}
//反射 方法
Type bitConverter_type = typeof(BitConverter);
var typeMethodList = bitConverter_type.GetMethods().ToList();
//找到返回类型和传入的类型一至，且方法的参数是2个的方法
var method = typeMethodList.FirstOrDefault(mi => mi.ReturnType == typeof(T)
&& mi.GetParameters().Length == 2);
if (method == null)
{
throw new Exception("数据转换类型出错!");
}
else
{
//由 bitConverter_type 执行找到的 method方法，注意参数数量，上面找是的两个参数的方法
var value = method.Invoke(bitConverter_type, new object[] { temp_bytes.ToArray(), 0 });
resultValue.Add((T)value);
}
}
}
catch (Exception ex)
{
}
return resultValue;
}
}
}Modbus TCP 通讯
cs
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Net.Sockets;
namespace CJH.ModbusTool.TCP
{
/// <summary>
/// Modbus TCP 通讯
/// </summary>
public class ModbusTCP : ModbusTCPBase
{
/// <summary>
/// Modbus TCP 通讯
/// </summary>
/// <param name="host">主机地址</param>
/// <param name="port">端口</param>
public ModbusTCP(string host, int port)
{
//_socket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
//_socket.Connect(host, port);
Init(host, port);
}
/// <summary>
/// 读取保持型寄存器 03
/// </summary>
/// <param name="devAddr">从站地址</param>
/// <param name="count">数量</param>
/// <param name="functionCode">功能码</param>
/// <param name="startAddr">起始地址</param>
//public ModbusResultModel ReadHoldingRegister(byte devAddr, ushort length, byte functionCode = 3, ushort startAddr = 0)
//{
// var resultModel = new ModbusResultModel();
// //报文
// //TransactionId Modbus 协议标识 后续字节数 从站地址 功能码 起始寄存器地址 寄存器数量 CRC
// //0x00 0x01 0x00 0x00 0x00 0x06 devAddr functionCode 0x00 0x0A
// try
// {
// ushort tid = 0;//TransactionId 最大 65535
// var sendCommand = new List<byte>();
// //TransactionId
// sendCommand.Add((byte)(tid / 256));
// sendCommand.Add((byte)(tid % 256));
// //Modbus 协议标识
// sendCommand.Add(0x00);
// sendCommand.Add(0x00);
// //后续字节数
// sendCommand.Add(0x00);
// sendCommand.Add(0x06);
// //从站地址
// sendCommand.Add(devAddr);
// //功能码
// sendCommand.Add(functionCode);
// //起始寄存器地址
// sendCommand.Add((byte)(startAddr / 256));
// sendCommand.Add((byte)(startAddr % 256));
// //寄存器数量
// sendCommand.Add((byte)(length / 256));
// sendCommand.Add((byte)(length % 256));
// //CRC
// //byte[] crc = Crc16(sendCommand.ToArray(), sendCommand.Count);
// //sendCommand.AddRange(crc);
// tid++;
// tid %= 65535;
// resultModel.SendDataStr = generateSendCommandStr(sendCommand.ToArray());
// _socket.Send(sendCommand.ToArray());
// //000002-Rx:00 00 00 00 00 06 01 03 00 01 00 05
// //000003-Tx:00 00 00 00 00 0D 01 03 0A 00 00 00 00 00 00 00 00 00 00
// // 00 00 00 00 00 0D 前6位
// // 01 03 0A (0,1,2)
// // 0A 数据长度 （0A=10）
// //先取前6位，固定返回
// var resp_bytes = new byte[6];// 00 00 00 00 00 0D 前6位
// _socket.Receive(resp_bytes, 0, resp_bytes.Length, SocketFlags.None);
// //取出下标为 ：4和5的数据[00 0D]
// var len_bytes = resp_bytes.ToList().GetRange(4, 2);
// //起始寄存器地址 的反向操作
// //将下标为4和5 两个字节转成10进制数
// int len = resp_bytes[4] * 256 + resp_bytes[5];
// //获取数据的长度
// //01 03 0A 00 00 00 00 00 00 00 00 00 00 [正常]
// //01 83 02 [异常，83， 异常代码 ：02]
// resp_bytes = new byte[len];
// _socket.Receive(resp_bytes, 0, len, SocketFlags.None);
// //检查响应报文是否正常
// //0x83 1000 0011
// //01 83 02 [异常，83， 异常代码 ：02]
// if (resp_bytes[1] > 0x08)//判断是否异常
// {
// //resp_bytes[2] = 异常代码 ：02
// //说明响应是异常报文
// //返回异常信息，根据resp_bytes字节进行异常关联
// if (Errors.ContainsKey(resp_bytes[2]))
// {
// resultModel.Msg = Errors[resp_bytes[2]];//获取异常码对应的异常说明
// }
// }
// else
// {
// //resp_bytes[2] = 0A 数据长度 （0A=10）
// //正常
// resultModel.Datas = resp_bytes.ToList().GetRange(3, resp_bytes[2]).ToArray();
// resultModel.IsSucceed = true;
// }
// }
// catch (Exception ex)
// {
// resultModel.Msg = ex.Message;
// }
// return resultModel;
//}
/// <summary>
/// 读取保持型寄存器 03
/// </summary>
/// <param name="devAddr">从站地址</param>
/// <param name="length">数量</param>
/// <param name="functionCode">功能码</param>
/// <param name="startAddr">起始地址</param>
/// <returns>返回对象</returns>
public ModbusResultModel<T> ReadHoldingRegister<T>(byte devAddr, ushort length, ModbusFunctionCode functionCode = ModbusFunctionCode.ReadRegister, ushort startAddr = 0)
{
var resultModel = new ModbusResultModel<T>();
try
{
var command = GenerateTcpCommandReadBytes(devAddr, length, functionCode, startAddr);
resultModel.SendDataStr = generateSendCommandStr(command.ToArray());
var receptionModel = SendCommand(command.ToArray());
if (receptionModel.IsSucceed
&& receptionModel.Datas != null && receptionModel.Datas.Length > 0)
{
resultModel.Datas = receptionModel.Datas;
resultModel.ResultList = AnalysisDatas<T>(receptionModel.Datas);
resultModel.IsSucceed = true;
}
}
catch (Exception ex)
{
resultModel.Msg = ex.Message;
}
return resultModel;
}
/// <summary>
/// 写入保持型寄存器 03
/// </summary>
/// <param name="devAddr">从站地址</param>
/// <param name="datas">写入数据</param>
/// <param name="functionCode">功能码</param>
/// <param name="startAddr">起始地址</param>
/// <returns>返回对象</returns>
public ModbusResultModel WriteHoldingRegister(byte devAddr, ushort data, ModbusFunctionCode functionCode = ModbusFunctionCode.WriteRegister, ushort startAddr = 0)
{
var resultModel = new ModbusResultModel();
try
{
var command = GenerateTcpCommandWriteBytes(devAddr, data, functionCode, startAddr);
resultModel.SendDataStr = generateSendCommandStr(command.ToArray());
var receptionModel = SendCommand(command.ToArray());
if (receptionModel.IsSucceed)
{
resultModel.IsSucceed = true;
}
}
catch (Exception ex)
{
resultModel.Msg = ex.Message;
}
return resultModel;
}
}
}这就是全部的代码。如有使用的问题可以给我发评论。