143 lines
4.3 KiB
C++
143 lines
4.3 KiB
C++
#ifndef PLC_MODBUS_CLIENT_H
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#define PLC_MODBUS_CLIENT_H
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#include <thread>
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#include <mutex>
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#include <functional>
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#include <vector>
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#include <atomic>
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#include <string>
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#include "IYModbusTCPClient.h"
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/**
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* @brief PLC Modbus communication client implemented with std::thread.
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*
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* Workflow:
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* 1. Poll PLC register D1000 and trigger a photo request when the value is non-zero.
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* 2. Clear D1000 after the request is consumed.
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* 3. Write pose data to D2000+ on success.
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* 4. Write a result status code to D1002 after processing.
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*/
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class PLCModbusClient
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{
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public:
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static constexpr int DEFAULT_ADDR_PHOTO_REQUEST = 1001; // D1000
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static constexpr int DEFAULT_ADDR_DATA_COMPLETE = 1003; // D1002
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static constexpr int DEFAULT_ADDR_COORD_DATA_START = 2001; // D2000
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enum ByteOrder {
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BIG_ENDIAN_ORDER = 0, // ABCD
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LITTLE_ENDIAN_ORDER = 1 // DCBA
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};
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struct RegisterConfig {
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int addrPhotoRequest = 1001; // D1000
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int addrDataComplete = 1003; // D1002
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int addrCoordDataStart = 2001; // D2000
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int byteOrder = BIG_ENDIAN_ORDER;
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};
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struct CoordinateData {
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float x = 0.0f;
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float y = 0.0f;
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float z = 0.0f;
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float roll = 0.0f;
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float pitch = 0.0f;
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float yaw = 0.0f;
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};
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static constexpr int REGS_PER_POINT = 12;
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static constexpr int MAX_POINTS = 10;
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// D1002 result status codes.
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static constexpr int RESULT_SUCCESS = 1;
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static constexpr int RESULT_ABNORMAL_MATERIAL = 2;
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static constexpr int RESULT_NO_PRODUCT = 3;
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static constexpr int RESULT_ALGO_FAIL = 11;
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static constexpr int RESULT_CAMERA_FAIL = 12;
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using PhotoTriggerCallback = std::function<void(int cameraIndex)>;
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using ConnectionStateCallback = std::function<void(bool connected)>;
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using ErrorCallback = std::function<void(const std::string& errorMsg)>;
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using ReconnectingCallback = std::function<void(const std::string& device, int attempt)>;
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public:
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PLCModbusClient();
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~PLCModbusClient();
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PLCModbusClient(const PLCModbusClient&) = delete;
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PLCModbusClient& operator=(const PLCModbusClient&) = delete;
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PLCModbusClient(PLCModbusClient&&) = delete;
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PLCModbusClient& operator=(PLCModbusClient&&) = delete;
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bool Initialize(const std::string& plcIP, int plcPort = 502);
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bool Initialize(const std::string& plcIP, int plcPort,
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const RegisterConfig& regConfig);
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void Shutdown();
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void StartPolling(int intervalMs = 100);
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void StopPolling();
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void SetPhotoTriggerCallback(PhotoTriggerCallback callback);
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void SetConnectionStateCallback(ConnectionStateCallback callback);
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void SetErrorCallback(ErrorCallback callback);
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void SetReconnectingCallback(ReconnectingCallback callback);
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void SetReconnectInterval(int intervalMs);
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void SetAutoReconnect(bool enable);
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bool SendCoordinateToPLC(const CoordinateData& coord, int pointIndex = 0);
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bool NotifyDataComplete(int statusCode = RESULT_SUCCESS);
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bool ClearPhotoRequest();
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void PausePhotoRequestPolling();
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void ResumePhotoRequestPolling();
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bool IsPhotoRequestPollingPaused() const;
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bool IsPLCConnected() const;
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private:
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void pollThreadFunc();
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bool checkConnection();
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bool tryConnectPLC();
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void disconnectPLC();
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int readPhotoRequest();
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void floatToRegisters(float value, uint16_t& high, uint16_t& low);
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void notifyConnectionStateChanged(bool connected);
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void notifyError(const std::string& errorMsg);
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void notifyPhotoRequested(int cameraIndex);
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void notifyReconnecting(const std::string& device, int attempt);
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private:
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IYModbusTCPClient* m_plcClient;
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PhotoTriggerCallback m_photoCallback;
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ConnectionStateCallback m_connectionStateCallback;
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ErrorCallback m_errorCallback;
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ReconnectingCallback m_reconnectingCallback;
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std::string m_plcIP;
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int m_plcPort;
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RegisterConfig m_registerConfig;
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bool m_lastPhotoRequestState;
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bool m_lastConnectedState;
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std::thread m_pollThread;
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std::atomic<bool> m_pollRunning;
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std::atomic<bool> m_photoRequestPaused;
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int m_pollIntervalMs;
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std::atomic<bool> m_shutdownRequested;
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std::atomic<bool> m_autoReconnect;
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int m_reconnectInterval;
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int m_plcReconnectAttempts;
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mutable std::mutex m_mutex;
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std::mutex m_callbackMutex;
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};
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#endif // PLC_MODBUS_CLIENT_H
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