com.github.xingshuangs.iot.protocol.s7.service.PLCNetwork Maven / Gradle / Ivy
/*
* MIT License
*
* Copyright (c) 2021-2099 Oscura (xingshuang)
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
package com.github.xingshuangs.iot.protocol.s7.service;
import com.github.xingshuangs.iot.common.buff.ByteReadBuff;
import com.github.xingshuangs.iot.common.buff.ByteWriteBuff;
import com.github.xingshuangs.iot.common.constant.GeneralConst;
import com.github.xingshuangs.iot.exceptions.S7CommException;
import com.github.xingshuangs.iot.net.client.TcpClientBasic;
import com.github.xingshuangs.iot.protocol.s7.algorithm.S7ComGroup;
import com.github.xingshuangs.iot.protocol.s7.algorithm.S7ComItem;
import com.github.xingshuangs.iot.protocol.s7.algorithm.S7SequentialGroupAlg;
import com.github.xingshuangs.iot.protocol.s7.constant.ErrorCode;
import com.github.xingshuangs.iot.protocol.s7.enums.*;
import com.github.xingshuangs.iot.protocol.s7.model.*;
import lombok.Data;
import lombok.EqualsAndHashCode;
import lombok.extern.slf4j.Slf4j;
import java.util.Collections;
import java.util.List;
import java.util.function.BiConsumer;
import java.util.stream.Collectors;
/**
* plc的网络通信
* 最大读取字节数组大小是240-18=222，480-18=462,960-18=942
* 根据测试S1200[CPU 1214C]，单次读多字节
* 发送：最大字节读取长度是 216 = 240 - 24, 24(请求报文的PDU)=10(header)+14(parameter)
* 接收：最大字节读取长度是 222 = 240 - 18, 18(响应报文的PDU)=12(header)+2(parameter)+4(dataItem)
* 根据测试S1200[CPU 1214C]，单次写多字节
* 发送：最大字节写入长度是 212 = 240 - 28, 28(请求报文的PDU)=10(header)+14(parameter)+4(dataItem)
* 接收：最大字节写入长度是 225 = 240 - 15, 15(响应报文的PDU)=12(header)+2(parameter)+1(dataItem)
*
* @author xingshuang
*/
@Data
@EqualsAndHashCode(callSuper = true)
@SuppressWarnings("DuplicatedCode")
@Slf4j
public class PLCNetwork extends TcpClientBasic {
/**
* locker.
*/
private final Object objLock = new Object();
/**
* PLC type.
* (PLC的类型)
*/
protected EPlcType plcType = EPlcType.S1200;
/**
* PLC rack.
* (PLC机架号)
*/
protected int rack = 0;
/**
* PLC Slot.
* (PLC槽号，S7-300 = 2)
*/
protected int slot = 1;
/**
* PDU length, different PLC corresponding to different values, there are 240,480,960.
* (最大的PDU长度，不同PLC对应不同值，有240,480,960，目前默认240)
*/
protected int pduLength;
/**
* Persistence, true: long connection, false: short connection.
* (是否持久化，默认是持久化，对应长连接，true：长连接，false：短连接)
*/
private boolean persistence = true;
/**
* Communication callback, first parameter is tag, second is package content.
* (通信回调，第一个参数是tag标签，指示该报文含义；第二个参数是具体报文内容)
*/
private BiConsumer comCallback;
public PLCNetwork() {
super();
}
public PLCNetwork(String host, int port) {
super(host, port);
this.tag = "S7";
}
@Override
public void connect() {
try {
super.connect();
} finally {
if (!this.persistence) {
this.close();
}
}
}
//region socket连接后握手操作
/**
* Do after connected.
* (连接成功之后要做的动作)
*/
@Override
protected void doAfterConnected() {
this.connectionRequest();
// 存在设置的PDULength != 实际PLC的PDULength，因此以PLC的为准
this.pduLength = this.connectDtData();
log.debug("PLC[{}] handshake success, rack[{}]，slot[{}]，PDULength[{}]", this.plcType, this.rack, this.slot, this.pduLength);
}
/**
* Connection request.
* (连接请求)
*
* TSAP包含两个字节，远程TSAP地址是连接的远程PC Access所设置的地址，
* 第一个字节标识访问的资源，01是PG，02是OP，03是S7单边（服务器模式），10（16进制）及以上是S7双边通信；
* 第二个字节是访问点，是CPU的槽号+CP槽号
* 第一个字节：0x01+连接数目（S7-200）或者0x03+连接数目（S7-300/400)
* 第二个字节：模块位置（S7-200）或者机架和槽位（S7-300/400）
* 1500 1200 300 400 200 200Smart
* 0x0102 0x0102 0x0102 0x0102 0x4d57 0x1000
* 0x0100 0x0100 0x0102 0x0103 0x4d57 0x0300
* ------------------------------------------------
* 0x0100 0x0100 0x0100 0x0100 0x4d57 0x1000
* 0x0300 0x0300 0x0302 0x0303 0x4d57 0x0300
*/
private void connectionRequest() {
// 对应0xC1
int local = 0x0100;
// 对应0xC2 | 经测试：S1200支持0x0100、0x0200、0x0300，S200Smart支持0x0200、0x0300
int remote = 0x0300;
switch (this.plcType) {
case S200:
// S7net中写的是0x1000,0x1001
local = 0x4D57;
remote = 0x4D57;
break;
case S200_SMART:
local = 0x1000;
// 远程只能设置为0x0200,0x0201,0x0300,0x0301
remote = 0x0300;
break;
case S300:
case S400:
case S1200:
case S1500:
remote += 0x20 * this.rack + this.slot;
break;
case SINUMERIK_828D:
local = 0x0400;
remote = 0x0D04;
break;
}
S7Data req = S7Data.createConnectRequest(local, remote);
S7Data ack = this.readFromServer(req);
if (ack.getCotp().getPduType() != EPduType.CONNECT_CONFIRM) {
// 连接请求被拒绝
throw new S7CommException("The connection request was denied");
}
}
/**
* Connection setup.
* (连接setup)
*
* @return pduLength pdu长度
*/
private int connectDtData() {
S7Data req = S7Data.createConnectDtData(this.pduLength);
S7Data ack = this.readFromServer(req);
if (ack.getCotp().getPduType() != EPduType.DT_DATA) {
// 连接Setup响应错误
throw new S7CommException("Connection Setup response error");
}
if (ack.getHeader() == null || ack.getHeader().byteArrayLength() != AckHeader.BYTE_LENGTH) {
// 连接Setup响应错误，缺失响应头header或响应头长度不够[12]
throw new S7CommException("Connection Setup response error, missing response header or insufficient response header length [12]");
}
int length = ((SetupComParameter) ack.getParameter()).getPduLength();
if (length <= 0) {
// PDU的最大长度小于0
throw new S7CommException("The maximum length of a PDU is less than 0");
}
return length;
}
//endregion
//region 底层数据通信部分
/**
* Read data from server, core interaction.
* (从服务器读取数据)
*
* @param req req data
* @return ack data
*/
private S7Data readFromServer(S7Data req) {
byte[] sendData = req.toByteArray();
byte[] total = this.readFromServer(sendData);
S7Data ack = S7Data.fromBytes(total);
this.checkPostedCom(req, ack);
return ack;
}
/**
* Data interaction with the server as byte array
* (以字节数组的方式和服务器进行数据交互)
*
* @param sendData byte array of request
* @return byte array of response
*/
private byte[] readFromServer(byte[] sendData) {
if (this.comCallback != null) {
this.comCallback.accept(GeneralConst.PACKAGE_REQ, sendData);
}
// 将报文中的TPKT和COTP减掉，剩下PDU的内容，7=4(tpkt)+3(cotp)
if (this.pduLength > 0 && sendData.length - 7 > this.pduLength) {
// 发送请求的字节数过长[%d]，已经大于最大的PDU长度[%d]
throw new S7CommException(String.format("The number of bytes sent for the request is too long [%d], which is larger than the maximum PDU length [%d].", sendData.length, this.pduLength));
}
TPKT tpkt;
int len;
byte[] total;
synchronized (this.objLock) {
this.write(sendData);
byte[] data = new byte[TPKT.BYTE_LENGTH];
len = this.read(data);
if (len < TPKT.BYTE_LENGTH) {
// TPKT 无效，长度不一致
throw new S7CommException("The TPKT is invalid and the length is inconsistent");
}
tpkt = TPKT.fromBytes(data);
total = new byte[tpkt.getLength()];
System.arraycopy(data, 0, total, 0, data.length);
len = this.read(total, TPKT.BYTE_LENGTH, tpkt.getLength() - TPKT.BYTE_LENGTH);
}
if (len < total.length - TPKT.BYTE_LENGTH) {
// TPKT后面的数据长度，长度不一致
throw new S7CommException("The length of the data after TPKT is inconsistent");
}
if (this.comCallback != null) {
this.comCallback.accept(GeneralConst.PACKAGE_ACK, total);
}
return total;
}
/**
* Contains persistent reads from the server, external inheritance uses this method for interaction, not internal use.
* (包含持久化的从服务器读取数据，外部继承使用该方法进行交互，内部不使用)
*
* @param req req data
* @return ack data
*/
public S7Data readFromServerByPersistence(S7Data req) {
try {
return this.readFromServer(req);
} finally {
if (!this.persistence) {
this.close();
}
}
}
/**
* Contains persistent reads from the server, external inheritance uses this method for interaction, not internal use.
* (包含持久化的从服务器读取数据，外部继承使用该方法进行交互，内部不使用)
*
* @param req req data
* @return ack data
*/
public byte[] readFromServerByPersistence(byte[] req) {
try {
return this.readFromServer(req);
} finally {
if (!this.persistence) {
this.close();
}
}
}
/**
* Post-communication processing, once verifying the request and response data.
* (后置通信处理，对请求和响应数据进行一次校验)
*
* @param req req data
* @param ack ack data
*/
private void checkPostedCom(S7Data req, S7Data ack) {
if (ack.getHeader() == null) {
return;
}
// 响应头正确
AckHeader ackHeader = (AckHeader) ack.getHeader();
if (ackHeader.getErrorClass() == null) {
// 响应异常，未知异常
throw new S7CommException(String.format("Response exception, unknown exception：%s", ErrorCode.MAP.getOrDefault(ackHeader.getErrorCode(), "The error code does not exist")));
}
if (ackHeader.getErrorClass() != EErrorClass.NO_ERROR) {
// 响应异常，错误类型：%s，错误原因
throw new S7CommException(String.format("Response exception, error type: %s, error cause：%s",
ackHeader.getErrorClass().getDescription(), ErrorCode.MAP.getOrDefault(ackHeader.getErrorCode(), "The error code does not exist")));
}
// 发送和接收的PDU编号一致
if (ackHeader.getPduReference() != req.getHeader().getPduReference()) {
// pdu引用编号不一致，数据有误
throw new S7CommException("The PDU references are inconsistent, causing incorrect data");
}
if (ack.getDatum() == null) {
return;
}
if (!(ack.getDatum() instanceof ReadWriteDatum)) {
return;
}
ReadWriteDatum datum = (ReadWriteDatum) ack.getDatum();
// 请求的数据个数一致
List returnItems = datum.getReturnItems();
ReadWriteParameter parameter = (ReadWriteParameter) req.getParameter();
if (returnItems.size() != parameter.getItemCount()) {
// 返回的数据个数和请求的数据个数不一致
throw new S7CommException("The returned data quantity is different from the requested data quantity");
}
// 返回结果校验
for (int i = 0; i < returnItems.size(); i++) {
if (returnItems.get(i).getReturnCode() != EReturnCode.SUCCESS) {
// 返回第[%d]个结果异常，原因：%s
throw new S7CommException(String.format("Return [%d] result exception, cause: %s", i + 1, returnItems.get(i).getReturnCode().getDescription()));
}
}
}
//endregion
//region S7数据读写部分
/**
* Read S7 data.
* (读取S7协议数据)
*
* @param requestItems request items
* @return ack data items
*/
public List readS7Data(List requestItems) {
if (requestItems == null || requestItems.isEmpty()) {
// 请求项缺失，无法获取数据
throw new S7CommException("The request item is missing and the data cannot be retrieved");
}
// 根据原始请求列表提取每个请求数据大小
List rawNumbers = requestItems.stream().map(RequestItem::getCount).collect(Collectors.toList());
// 根据原始请求列表构建最终结果列表
List resultList = requestItems.stream().map(x -> DataItem.createReq(new byte[x.getCount()],
x.getVariableType() == EParamVariableType.BIT ? EDataVariableType.BIT : EDataVariableType.BYTE_WORD_DWORD))
.collect(Collectors.toList());
// 根据顺序分组算法得出分组结果，
// 发送： 12=10(header)+2(parameter前),12(parameter后)
// 接收： 14=12(header)+2(parameter),5(DataItem)，dataItem可能4或5，统一采用5
List s7ComGroups = S7SequentialGroupAlg.readRecombination(rawNumbers, this.pduLength - 14, 5, 12);
try {
s7ComGroups.forEach(x -> {
// 根据分组构建对应的请求列表
List comItemList = x.getItems();
List newRequestItems = comItemList.stream().map(i -> {
RequestItem item = requestItems.get(i.getIndex()).copy();
item.setCount(i.getRipeSize());
item.setByteAddress(item.getByteAddress() + i.getSplitOffset());
return item;
}).collect(Collectors.toList());
// S7数据请求
S7Data req = S7Data.createReadRequest(newRequestItems);
S7Data ack = this.readFromServer(req);
ReadWriteDatum datum = (ReadWriteDatum) ack.getDatum();
List dataItems = datum.getReturnItems().stream().map(DataItem.class::cast).collect(Collectors.toList());
// 将获取的数据重装实际结果列表中
for (int i = 0; i < comItemList.size(); i++) {
S7ComItem comItem = comItemList.get(i);
byte[] src = dataItems.get(i).getData();
byte[] des = resultList.get(comItem.getIndex()).getData();
System.arraycopy(src, 0, des, comItem.getSplitOffset(), src.length);
}
});
return resultList;
} finally {
if (!this.persistence) {
this.close();
}
}
}
/**
* Read S7 data.
* (读取S7协议数据)
*
* @param requestItem request item
* @return ack data item
*/
public DataItem readS7Data(RequestItem requestItem) {
return this.readS7Data(Collections.singletonList(requestItem)).get(0);
}
/**
* Write S7 data.
* (写S7协议数据)
*
* @param requestItem request item
* @param dataItem data item
*/
public void writeS7Data(RequestItem requestItem, DataItem dataItem) {
this.writeS7Data(Collections.singletonList(requestItem), Collections.singletonList(dataItem));
}
/**
* Write S7 data.
* (写S7协议)
*
* @param requestItems request items
* @param dataItems data items
*/
public void writeS7Data(List requestItems, List dataItems) {
if (requestItems.size() != dataItems.size()) {
// 写操作过程中，requestItems和dataItems数据个数不一致
throw new S7CommException("During the write operation, the number of requestItems and dataItems is inconsistent. Procedure");
}
// 根据原始请求列表提取每个请求数据大小
List rawNumbers = requestItems.stream().map(RequestItem::getCount).collect(Collectors.toList());
// 根据顺序分组算法得出分组结果
// 发送：12=10(header)+2(parameter前),17=12(parameter后)+5(dataItem)，dataItem可能4或5，统一采用5
// 接收：14=12(header)+2(parameter),1(DataItem)
List s7ComGroups = S7SequentialGroupAlg.writeRecombination(rawNumbers, this.pduLength - 12, 17);
try {
s7ComGroups.forEach(x -> {
// 根据分组构建对应的请求列表
List comItemList = x.getItems();
List newRequestItems = comItemList.stream().map(i -> {
RequestItem item = requestItems.get(i.getIndex()).copy();
item.setCount(i.getRipeSize());
item.setByteAddress(item.getByteAddress() + i.getSplitOffset());
return item;
}).collect(Collectors.toList());
// 根据分组构建对应的数据列表
List newDataItems = comItemList.stream().map(i -> {
DataItem item = dataItems.get(i.getIndex()).copy();
item.setCount(i.getRipeSize());
item.setData(ByteReadBuff.newInstance(item.getData()).getBytes(i.getSplitOffset(), i.getRipeSize()));
return item;
}).collect(Collectors.toList());
// S7数据请求
S7Data req = S7Data.createWriteRequest(newRequestItems, newDataItems);
this.readFromServer(req);
});
} finally {
if (!this.persistence) {
this.close();
}
}
}
//endregion
//region 读取NCK数据
/**
* Read S7 nck data.
* (读取S7协议NCK数据)
*
* @param requestItem request item.
* @return ack data item
*/
public DataItem readS7NckData(RequestNckItem requestItem) {
return this.readS7NckData(Collections.singletonList(requestItem)).get(0);
}
/**
* Read S7 nck data. It is not possible to limit the number of requests precisely because the content length of the response varies
* (读取S7协议NCK数据，无法精确限制请求数量，因为响应的内容长度不定)
*
* @param requestItems request items
* @return data items
*/
public List readS7NckData(List requestItems) {
try {
S7Data s7Data = NckRequestBuilder.creatNckRequest(requestItems);
S7Data ack = this.readFromServer(s7Data);
ReadWriteDatum datum = (ReadWriteDatum) ack.getDatum();
return datum.getReturnItems().stream().map(DataItem.class::cast).collect(Collectors.toList());
} finally {
if (!this.persistence) {
this.close();
}
}
}
//endregion
//region 上传下载
/**
* Downloading files has been successfully tested on the s200smart.
* (下载文件，已在s200smart中测试成功)
*
* @param mc7 Mc7File file object
*/
public void downloadFile(Mc7File mc7) {
try {
// 开始下载
EDestinationFileSystem destinationFileSystem = EDestinationFileSystem.P;
S7Data reqStartDownload = S7Data.createStartDownload(mc7.getBlockType(), mc7.getBlockNumber(), destinationFileSystem,
mc7.getLoadMemoryLength(), mc7.getMC7CodeLength());
this.readFromServer(reqStartDownload);
// 下载中
ByteReadBuff buff = new ByteReadBuff(mc7.getData());
while (buff.getRemainSize() > 0) {
boolean moreDataFollowing = buff.getRemainSize() > this.pduLength - 32;
byte[] tmpData = buff.getBytes(Math.min(buff.getRemainSize(), this.pduLength - 32));
S7Data reqDownload = S7Data.createDownload(mc7.getBlockType(), mc7.getBlockNumber(), destinationFileSystem, moreDataFollowing, tmpData);
this.readFromServer(reqDownload);
}
// 下载结束
S7Data reqEndDownload = S7Data.createEndDownload(mc7.getBlockType(), mc7.getBlockNumber(), destinationFileSystem);
this.readFromServer(reqEndDownload);
} finally {
if (!this.persistence) {
this.close();
}
}
}
/**
* Uploading file content from PLC to PC has been successfully tested in s200smart
* (从PLC上传文件内容到PC，已在s200smart中测试成功)
*
* @param blockType block type 数据块类型
* @param blockNumber block number 数据块编号
* @return byte array
*/
public byte[] uploadFile(EFileBlockType blockType, int blockNumber) {
try {
// 开始上传
S7Data reqStartDownload = S7Data.createStartUpload(blockType, blockNumber, EDestinationFileSystem.A);
S7Data ackStartDownload = this.readFromServer(reqStartDownload);
StartUploadAckParameter startUploadAckParameter = (StartUploadAckParameter) ackStartDownload.getParameter();
// 上传中
ByteWriteBuff buff = new ByteWriteBuff(startUploadAckParameter.getBlockLength());
UploadAckParameter uploadAckParameter = new UploadAckParameter();
uploadAckParameter.setMoreDataFollowing(true);
while (uploadAckParameter.isMoreDataFollowing()) {
S7Data reqUpload = S7Data.createUpload(startUploadAckParameter.getId());
S7Data ackUpload = this.readFromServer(reqUpload);
uploadAckParameter = (UploadAckParameter) ackUpload.getParameter();
if (uploadAckParameter.isErrorStatus()) {
throw new S7CommException("Upload error occurred");
}
UpDownloadDatum datum = (UpDownloadDatum) ackUpload.getDatum();
buff.putBytes(datum.getData());
}
// 上传结束
S7Data reqEndUpload = S7Data.createEndUpload(startUploadAckParameter.getId());
this.readFromServer(reqEndUpload);
return buff.getData();
} finally {
if (!this.persistence) {
this.close();
}
}
}
//endregion
}