174 lines
5.7 KiB
C++
174 lines
5.7 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 通信客户端（纯 std::thread 实现，无 Qt 依赖）
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*
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* 协议流程（0-based 地址）：
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* 1. 轮询读取地址0（触发寄存器），边沿 0→1 时触发工作
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* 2. 触发后写 0 到地址0（清除触发）
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* 3. 写 0 到地址1（工作状态=正在工作）
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* 4. 工作完成，输出坐标数据到地址2开始
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* 5. 写 1 到地址1（工作状态=完成正常），或写 2（错误）
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*
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* 线程模型：
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* - 单一轮询线程：连接检测、自动重连、寄存器读取
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* - 回调在轮询线程执行，调用方需注意线程安全
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*
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* 锁策略：
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* - m_mutex: 保护 m_plcClient
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* - m_callbackMutex: 保护回调函数指针
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* - 回调通知时先复制回调再释放锁，避免死锁
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*/
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class PLCModbusClient
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{
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public:
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// 寄存器地址默认值（0-based 协议）
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static constexpr int DEFAULT_ADDR_TRIGGER = 0; // 触发寄存器
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static constexpr int DEFAULT_ADDR_WORK_STATUS = 1; // 工作状态寄存器
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static constexpr int DEFAULT_ADDR_COORD_DATA_START = 2; // 坐标数据起始
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// 工作状态值枚举
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enum WorkStatusValue {
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WORK_STATUS_WORKING = 0, // 正在工作
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WORK_STATUS_COMPLETE_OK = 1, // 完成正常
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WORK_STATUS_ERROR = 2 // 错误
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};
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// 数据字节序枚举
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enum ByteOrder {
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BIG_ENDIAN_ORDER = 0, // 大端序 (ABCD) - 高字节在前
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LITTLE_ENDIAN_ORDER = 1 // 小端序 (DCBA) - 低字节在前
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};
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struct RegisterConfig {
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int addrTrigger = 0; // 触发寄存器地址
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int addrWorkStatus = 1; // 工作状态寄存器地址
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int addrCoordDataStart = 2; // 坐标数据起始地址
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int byteOrder = BIG_ENDIAN_ORDER; // 数据字节序，默认大端序
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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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// 回调类型
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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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// 禁止拷贝和移动
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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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// ========== 生命周期 ==========
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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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// ========== 回调设置 ==========
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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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// ========== 配置 ==========
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void SetReconnectInterval(int intervalMs);
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void SetAutoReconnect(bool enable);
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// ========== PLC 操作 ==========
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bool SendCoordinateToPLC(const CoordinateData& coord, int pointIndex = 0);
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bool WriteWorkStatus(WorkStatusValue status);
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bool ClearTrigger();
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// ========== 轮询控制 ==========
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void PauseTriggerPolling(); // 暂停读取触发寄存器（检测期间调用）
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void ResumeTriggerPolling(); // 恢复读取触发寄存器（检测完成后调用）
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bool IsTriggerPollingPaused() const;
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// ========== 状态查询 ==========
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bool IsPLCConnected() const;
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private:
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// 轮询线程
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void pollThreadFunc();
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// 连接管理
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bool checkConnection();
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bool tryConnectPLC();
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void disconnectPLC(); // 主动断开连接（用于触发重连）
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// 寄存器操作
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int readTriggerRegister();
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void floatToRegisters(float value, uint16_t& high, uint16_t& low);
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// 安全的回调通知（先复制回调，释放锁后再调用）
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void notifyConnectionStateChanged(bool connected);
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void notifyError(const std::string& errorMsg);
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void notifyTriggerRequested(int cameraIndex);
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void notifyReconnecting(const std::string& device, int attempt);
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private:
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// PLC 客户端
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IYModbusTCPClient* m_plcClient;
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// 回调函数
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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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// 连接配置
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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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// 状态
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bool m_lastTriggerState;
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bool m_lastConnectedState;
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// 线程控制
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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_triggerPollingPaused; // 暂停触发寄存器轮询标志
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int m_pollIntervalMs;
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// 重连控制
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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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// 互斥锁
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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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