114 lines
3.6 KiB
C#
114 lines
3.6 KiB
C#
using System;
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using System.Net.Sockets;
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using System.Threading.Tasks;
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using UnityEngine;
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public class ModbusTcpClient
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{
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private TcpClient tcpClient;
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private string serverIp = "127.0.0.1";
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private int serverPort = 12315;
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public ModbusTcpClient()
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{
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tcpClient = new TcpClient();
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}
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public async Task ConnectToServer()
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{
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try
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{
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await tcpClient.ConnectAsync(serverIp, serverPort);
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Debug.Log("Connected to Modbus server.");
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await SendModbusRequest();
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}
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catch (Exception ex)
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{
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Debug.Log("Error connecting to Modbus server: " + ex.Message);
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}
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}
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private async Task SendModbusRequest()
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{
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byte[] request = new byte[] { 0x00, 0x00, 0x00, 0x00, 0x06, 0x01, 0x03, 0x00, 0x00, 0x00, 0x10 };
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NetworkStream stream = tcpClient.GetStream();
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if (stream.CanWrite)
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{
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await stream.WriteAsync(request, 0, request.Length);
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Debug.Log("Modbus request sent.");
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await ReadResponse(stream);
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}
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}
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private async Task ReadResponse(NetworkStream stream)
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{
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byte[] response = new byte[256];
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int bytesRead = await stream.ReadAsync(response, 0, response.Length);
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Debug.Log("Received response from Modbus server.");
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if (bytesRead > 9) // 确保响应长度足够
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{
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// 解析响应数据
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int length = response[5]; // 获取数据长度
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byte deviceId = response[6]; // 设备编号
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byte functionCode = response[7]; // 功能码
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Debug.Log($"Device ID: {deviceId}, Function Code: {functionCode}, Data Length: {length}");
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// 从第9个字节开始，每两个字节解析一个数据
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for (int i = 9; i < 9 + length; i += 2)
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{
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ushort dataValue = (ushort)(response[i] << 8 | response[i + 1]);
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switch ((i - 9) / 2)
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{
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case 0: // 钥匙开关数据
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Debug.Log($"Key Switch Data: {dataValue}");
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break;
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case 1: // 方向盘数据
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Debug.Log($"Steering Wheel Data: {dataValue}");
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break;
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case 2: // 方向盘上喇叭状态
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Debug.Log($"Horn Status: {dataValue}");
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break;
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case 3: // 刹车踏板数据
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Debug.Log($"Brake Pedal Data: {dataValue}");
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break;
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case 4: // 油门踏板数据
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Debug.Log($"Throttle Pedal Data: {dataValue}");
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break;
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case 5: // 离合踏板数据
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Debug.Log($"Clutch Pedal Data: {dataValue}");
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break;
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case 6: // 手刹数据
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Debug.Log($"Handbrake Data: {dataValue}");
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break;
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// 其他预留数据的解析
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default:
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Debug.Log($"Reserved Data {i/2 - 4}: {dataValue}");
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break;
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}
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}
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}
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else
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{
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Debug.Log("Invalid response length.");
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}
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}
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public void CloseConnection()
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{
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if (tcpClient != null)
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{
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if (tcpClient.Connected)
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{
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tcpClient.GetStream().Close();
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tcpClient.Close();
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Debug.Log("Connection to Modbus server closed.");
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}
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}
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}
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}
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