Modbus客户端及常用功能接口及实现

Modbus客户端管理实现

.gitignore

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+.idea/
+.vscode
+.air.toml
+.DS_Store
+output/
+
+# If you prefer the allow list template instead of the deny list, see community template:
+# https://github.com/github/gitignore/blob/main/community/Golang/Go.AllowList.gitignore
+#
+# Binaries for programs and plugins
+*.exe
+*.exe~
+*.dll
+*.so
+*.dylib
+
+# Test binary, built with `go test -c`
+*.test
+
+# Output of the go coverage tool, specifically when used with LiteIDE
+*.out
+
+# Dependency directories (remove the comment below to include it)
+vendor/
+
+# Go workspace file
+/pom.xml

README.md

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+# iot-gateway(Internet of Things)物联网网关模块
+
+用于提供各种硬件协议实现及应用抽象,将各种协议最终转换为 MQTT 协议实现应用功能
+
+# 硬件协议
+
+## Modbus(实现中)
+
+功能路线：
+
+- Modbus TCP 客户端接口及实现，支持自动重连 --- 已完成
+- Modbus 客户端管理实现 --- 已完成
+- Modbus TCP 常用功能接口实现 --- 已完成

go.mod

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+module joylink.club/iot
+
+go 1.21
+
+require github.com/simonvetter/modbus v1.6.0
+
+require github.com/goburrow/serial v0.1.0 // indirect

go.sum

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+github.com/goburrow/serial v0.1.0 h1:v2T1SQa/dlUqQiYIT8+Cu7YolfqAi3K96UmhwYyuSrA=
+github.com/goburrow/serial v0.1.0/go.mod h1:sAiqG0nRVswsm1C97xsttiYCzSLBmUZ/VSlVLZJ8haA=
+github.com/simonvetter/modbus v1.6.0 h1:RDHJevtc7LDIVoHAbhDun8fy+QwnGe+ZU+sLm9ZZzjc=
+github.com/simonvetter/modbus v1.6.0/go.mod h1:hh90ZaTaPLcK2REj6/fpTbiV0J6S7GWmd8q+GVRObPw=

main.go

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+package main
+
+import (
+	"fmt"
+	"time"
+
+	"joylink.club/iot/modbus"
+)
+
+func main() {
+	cli, err := modbus.NewClient("tcp://localhost:502")
+	if err != nil {
+		panic(err)
+	}
+	cli.Start()
+	// vb := false
+	for i := 0; i < 10; i++ {
+		time.Sleep(time.Second * 2)
+		// read a single 16-bit holding register at address 100
+		if i%2 == 0 {
+			// vb = !vb
+			// data := []bool{vb, !vb, vb, !vb, vb, !vb, vb, !vb}
+			// err := cli.WriteCoils(0, data)
+			// if err != nil {
+			// 	// error out
+			// 	fmt.Printf("第%d次写错误: %s\n", i, err)
+			// } else {
+			// 	fmt.Printf("第%d次写成功, value: %v\n", i, vb)
+			// }
+			data := []uint16{uint16(i + 1), uint16(i + 2), uint16(i + 3), uint16(i + 4), uint16(i + 5), uint16(i + 6), uint16(i + 7), uint16(i + 8)}
+			err := cli.WriteRegisters(0, data)
+			if err != nil {
+				// error out
+				fmt.Printf("第%d次写错误: %s\n", i, err)
+			} else {
+				fmt.Printf("第%d次写成功, value: %v\n", i, data)
+			}
+		} else {
+			// bs, err := cli.ReadCoil(0, 10)
+			// if err != nil {
+			// 	// error out
+			// 	fmt.Printf("第%d次读错误: %s\n", i, err)
+			// } else {
+			// 	fmt.Printf("第%d次读成功, value: %v\n", i, bs)
+			// }
+			bs, err := cli.ReadHoldingRegister(0, 10)
+			if err != nil {
+				// error out
+				fmt.Printf("第%d次读错误: %s\n", i, err)
+			} else {
+				fmt.Printf("第%d次读成功, value: %v\n", i, bs)
+			}
+		}
+	}
+
+}

modbus/api.go

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+package modbus
+
+// 在modbus协议中，主机正常是客户端
+type MasterClient interface {
+	// 启动
+	Start() error
+	// 停止
+	Stop() error
+	// 关闭,销毁
+	Close() error
+	// 是否连接
+	IsConnected() bool
+	// 读线圈,位操作,功能码为0x01
+	ReadCoil(addr uint16, quantity uint16) ([]bool, error)
+	// 读一个线圈
+	ReadCoilBit(addr uint16) (bool, error)
+	// 读离散输入,位操作，功能码为0x02
+	ReadDiscreteInput(addr uint16, quantity uint16) ([]bool, error)
+	// 读保持寄存器,字节操作，功能码为0x03
+	ReadHoldingRegister(addr uint16, quantity uint16) ([]uint16, error)
+	// 读一个保持寄存器
+	ReadHoldingRegisterUint16(addr uint16) (uint16, error)
+	// 读输入寄存器,字节操作，功能码为0x04
+	ReadInputRegister(addr uint16, quantity uint16) ([]uint16, error)
+	// 写单个线圈,功能码为0x05
+	WriteCoil(addr uint16, value bool) error
+	// 写多个线圈,功能码为0x0F
+	WriteCoils(addr uint16, values []bool) error
+	// 写单个保持寄存器,功能码为0x06
+	WriteRegister(addr uint16, value uint16) error
+	// 写多个保持寄存器,功能码为0x10
+	WriteRegisters(addr uint16, values []uint16) error
+}

modbus/client.go

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+package modbus
+
+import (
+	"context"
+	"fmt"
+	"log/slog"
+	"net"
+	"os"
+	"time"
+
+	"github.com/simonvetter/modbus"
+)
+
+type ConnectState int
+
+const ()
+
+type client struct {
+	url       string
+	cli       *modbus.ModbusClient
+	started   bool // 是否启动
+	connected bool // 是否连接
+	cancel    context.CancelFunc
+}
+
+func newClient(url string) (MasterClient, error) {
+	cli, err := modbus.NewClient(&modbus.ClientConfiguration{
+		URL:     url,
+		Timeout: 1 * time.Second,
+	})
+	if err != nil {
+		return nil, err
+	}
+	c := &client{
+		url:       url,
+		cli:       cli,
+		connected: false,
+	}
+	ctx, cancel := context.WithCancel(context.Background())
+	go c.connManage(ctx)
+	c.cancel = cancel
+	return c, err
+}
+
+func (c *client) Start() error {
+	c.started = true
+	return nil
+}
+
+func (c *client) Stop() error {
+	c.started = false
+	return nil
+}
+
+// 客户端连接管理
+func (c *client) connManage(ctx context.Context) {
+	for {
+		select {
+		case <-ctx.Done():
+			slog.Info("modbus客户端连接管理线程退出", "url", c.url)
+			return
+		default:
+		}
+		if c.started && !c.connected { // 已经启动, 尝试重连
+			err := c.cli.Open()
+			if err != nil {
+				slog.Error("modbus客户端尝试连接失败", "url", c.url, "err", err)
+			} else {
+				c.connected = true
+				slog.Info("modbus客户端连接成功", "url", c.url)
+			}
+		} else if !c.started && c.connected { // 未启动，尝试关闭
+			err := c.cli.Close()
+			if err != nil {
+				slog.Error("modbus客户端关闭错误", "url", c.url, "err", err)
+			}
+			c.connected = false
+			slog.Info("modbus客户端关闭", "url", c.url)
+		}
+		time.Sleep(time.Second)
+	}
+}
+func (c *client) IsConnected() bool {
+	return c.connected
+}
+
+// Close implements MasterClient.
+func (c *client) Close() error {
+	c.cancel()
+	if c.connected {
+		return c.cli.Close()
+	}
+	return nil
+}
+
+// 读请求执行
+func readExecute[T any](c *client, req func() (T, error)) (T, error) {
+	if !c.started {
+		return *new(T), fmt.Errorf("modbus客户端未启动")
+	}
+	if !c.connected {
+		return *new(T), fmt.Errorf("modbus客户端未连接或连接断开")
+	}
+	res, err := req()
+	if err != nil {
+		if newErr, ok := err.(*net.OpError); ok {
+			if se, ok := newErr.Err.(*os.SyscallError); ok {
+				c.connected = false
+				return res, se
+			}
+		}
+	}
+	return res, err
+}
+
+// 写请求执行
+func writeExecute(c *client, req func() error) error {
+	if !c.started {
+		return fmt.Errorf("modbus客户端未启动")
+	}
+	if !c.connected {
+		return fmt.Errorf("modbus客户端未连接或连接断开")
+	}
+	return req()
+}
+
+// ReadCoil implements MasterClient.
+func (c *client) ReadCoil(addr uint16, quantity uint16) ([]bool, error) {
+	return readExecute[[]bool](c, func() ([]bool, error) {
+		return c.cli.ReadCoils(addr, quantity)
+	})
+}
+
+func (c *client) ReadCoilBit(addr uint16) (bool, error) {
+	return readExecute[bool](c, func() (bool, error) {
+		return c.cli.ReadCoil(addr)
+	})
+}
+
+// ReadDiscreteInput implements MasterClient.
+func (c *client) ReadDiscreteInput(addr uint16, quantity uint16) ([]bool, error) {
+	return readExecute[[]bool](c, func() ([]bool, error) {
+		return c.cli.ReadDiscreteInputs(addr, quantity)
+	})
+}
+
+// ReadHoldingRegister implements MasterClient.
+func (c *client) ReadHoldingRegister(addr uint16, quantity uint16) ([]uint16, error) {
+	return readExecute[[]uint16](c, func() ([]uint16, error) {
+		return c.cli.ReadRegisters(addr, quantity, modbus.HOLDING_REGISTER)
+	})
+}
+
+// ReadHoldingRegisterUint16 implements MasterClient.
+func (c *client) ReadHoldingRegisterUint16(addr uint16) (uint16, error) {
+	return readExecute[uint16](c, func() (uint16, error) {
+		return c.cli.ReadRegister(addr, modbus.HOLDING_REGISTER)
+	})
+}
+
+// ReadInputRegister implements MasterClient.
+func (c *client) ReadInputRegister(addr uint16, quantity uint16) ([]uint16, error) {
+	return readExecute[[]uint16](c, func() ([]uint16, error) {
+		return c.cli.ReadRegisters(addr, quantity, modbus.INPUT_REGISTER)
+	})
+}
+
+// WriteCoil implements MasterClient.
+func (c *client) WriteCoil(addr uint16, value bool) error {
+	return writeExecute(c, func() error {
+		return c.cli.WriteCoil(addr, value)
+	})
+}
+
+// WriteCoils implements MasterClient.
+func (c *client) WriteCoils(addr uint16, values []bool) error {
+	return writeExecute(c, func() error {
+		return c.cli.WriteCoils(addr, values)
+	})
+}
+
+// WriteRegister implements MasterClient.
+func (c *client) WriteRegister(addr uint16, value uint16) error {
+	return writeExecute(c, func() error {
+		return c.cli.WriteRegister(addr, value)
+	})
+}
+
+// WriteRegisters implements MasterClient.
+func (c *client) WriteRegisters(addr uint16, values []uint16) error {
+	return writeExecute(c, func() error {
+		return c.cli.WriteRegisters(addr, values)
+	})
+}

modbus/function_code.go

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+package modbus
+
+// 功能码
+type FunctionCode int
+
+const (
+	// 读线圈
+	FCReadCoil FunctionCode = 0x01
+	// 读离散输入
+	FCReadDiscreteInput FunctionCode = 0x02
+	// 读多个寄存器
+	FCReadHoldingRegister FunctionCode = 0x03
+	// 读输入寄存器
+	FCReadInputRegister FunctionCode = 0x04
+	// 写单个线圈
+	FCWriteSingleCoil FunctionCode = 0x05
+	// 写单个寄存器
+	FCWriteSingleRegister FunctionCode = 0x06
+	// 写多个线圈
+	FCWriteMultipleCoil FunctionCode = 0x0F
+	// 写多个寄存器
+	FCWriteMultipleRegister FunctionCode = 0x10
+)

modbus/manage.go

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+package modbus
+
+import "sync"
+
+// modbus客户端管理
+type modbusManager struct {
+	lock      sync.Mutex
+	clientMap map[string]MasterClient
+}
+
+var manager = modbusManager{
+	clientMap: make(map[string]MasterClient),
+}
+
+// 获取modbus客户端
+func GetClient(url string) (MasterClient, bool) {
+	manager.lock.Lock()
+	defer manager.lock.Unlock()
+	client, ok := manager.clientMap[url]
+	return client, ok
+}
+
+// 新建客户端
+func NewClient(url string) (MasterClient, error) {
+	manager.lock.Lock()
+	defer manager.lock.Unlock()
+	client, err := newClient(url)
+	if err != nil {
+		return nil, err
+	}
+	manager.clientMap[url] = client
+	return client, err
+}
+
+// 获取或新建客户端
+func GetOrInitClient(url string) (MasterClient, error) {
+	client, ok := GetClient(url)
+	if ok {
+		return client, nil
+	}
+	return NewClient(url)
+}
+
+// 删除客户端
+func DeleteClient(url string) {
+	manager.lock.Lock()
+	defer manager.lock.Unlock()
+	c := manager.clientMap[url]
+	if c != nil {
+		c.Close()
+		delete(manager.clientMap, url)
+	}
+}