166 lines
5.4 KiB
C++
166 lines
5.4 KiB
C++
#ifndef PLC_MODBUS_CLIENT_H
|
||
#define PLC_MODBUS_CLIENT_H
|
||
|
||
#include <thread>
|
||
#include <mutex>
|
||
#include <functional>
|
||
#include <vector>
|
||
#include <atomic>
|
||
#include <string>
|
||
#include "IYModbusTCPClient.h"
|
||
|
||
/**
|
||
* @brief PLC Modbus 通信客户端（纯 std::thread 实现，无 Qt 依赖）
|
||
*
|
||
* 协议流程：
|
||
* 1. 轮询读取拍照请求寄存器（默认地址0），值=1时触发相机1，值=2时触发相机2
|
||
* 2. 拍照执行后，写 0 到拍照请求寄存器
|
||
* 3. 拍照完成，输出坐标数据到坐标数据起始地址（默认地址2）
|
||
* 4. 坐标数据输出完成，写 1 到数据完成寄存器（默认地址1）
|
||
*
|
||
* 线程模型：
|
||
* - 单一轮询线程：连接检测、自动重连、寄存器读取
|
||
* - 回调在轮询线程执行，调用方需注意线程安全
|
||
*
|
||
* 锁策略：
|
||
* - m_mutex: 保护 m_plcClient
|
||
* - m_callbackMutex: 保护回调函数指针
|
||
* - 回调通知时先复制回调再释放锁，避免死锁
|
||
*/
|
||
class PLCModbusClient
|
||
{
|
||
public:
|
||
// PLC 寄存器地址默认值
|
||
static constexpr int DEFAULT_ADDR_PHOTO_REQUEST = 0; // 拍照请求（1=相机1, 2=相机2）
|
||
static constexpr int DEFAULT_ADDR_DATA_COMPLETE = 1; // 数据完成标志
|
||
static constexpr int DEFAULT_ADDR_COORD_DATA_START = 2; // 坐标数据起始
|
||
|
||
// 数据字节序枚举
|
||
enum ByteOrder {
|
||
BIG_ENDIAN_ORDER = 0, // 大端序 (ABCD) - 高字节在前
|
||
LITTLE_ENDIAN_ORDER = 1 // 小端序 (DCBA) - 低字节在前
|
||
};
|
||
|
||
struct RegisterConfig {
|
||
int addrPhotoRequest = 0; // 拍照请求（1=相机1, 2=相机2）
|
||
int addrDataComplete = 1; // 数据完成标志
|
||
int addrCoordDataStart = 2; // 坐标数据起始
|
||
int byteOrder = BIG_ENDIAN_ORDER; // 数据字节序，默认大端序
|
||
};
|
||
|
||
struct CoordinateData {
|
||
float x = 0.0f;
|
||
float y = 0.0f;
|
||
float z = 0.0f;
|
||
float roll = 0.0f;
|
||
float pitch = 0.0f;
|
||
float yaw = 0.0f;
|
||
};
|
||
|
||
static constexpr int REGS_PER_POINT = 12;
|
||
static constexpr int MAX_POINTS = 10;
|
||
|
||
// 回调类型
|
||
using PhotoTriggerCallback = std::function<void(int cameraIndex)>;
|
||
using ConnectionStateCallback = std::function<void(bool connected)>;
|
||
using ErrorCallback = std::function<void(const std::string& errorMsg)>;
|
||
using ReconnectingCallback = std::function<void(const std::string& device, int attempt)>;
|
||
|
||
public:
|
||
PLCModbusClient();
|
||
~PLCModbusClient();
|
||
|
||
// 禁止拷贝和移动
|
||
PLCModbusClient(const PLCModbusClient&) = delete;
|
||
PLCModbusClient& operator=(const PLCModbusClient&) = delete;
|
||
PLCModbusClient(PLCModbusClient&&) = delete;
|
||
PLCModbusClient& operator=(PLCModbusClient&&) = delete;
|
||
|
||
// ========== 生命周期 ==========
|
||
bool Initialize(const std::string& plcIP, int plcPort = 502);
|
||
bool Initialize(const std::string& plcIP, int plcPort,
|
||
const RegisterConfig& regConfig);
|
||
void Shutdown();
|
||
void StartPolling(int intervalMs = 100);
|
||
void StopPolling();
|
||
|
||
// ========== 回调设置 ==========
|
||
void SetPhotoTriggerCallback(PhotoTriggerCallback callback);
|
||
void SetConnectionStateCallback(ConnectionStateCallback callback);
|
||
void SetErrorCallback(ErrorCallback callback);
|
||
void SetReconnectingCallback(ReconnectingCallback callback);
|
||
|
||
// ========== 配置 ==========
|
||
void SetReconnectInterval(int intervalMs);
|
||
void SetAutoReconnect(bool enable);
|
||
|
||
// ========== PLC 操作 ==========
|
||
bool SendCoordinateToPLC(const CoordinateData& coord, int pointIndex = 0);
|
||
bool NotifyDataComplete();
|
||
bool ClearPhotoRequest();
|
||
|
||
// ========== 轮询控制 ==========
|
||
void PausePhotoRequestPolling(); // 暂停读取拍照请求（检测期间调用）
|
||
void ResumePhotoRequestPolling(); // 恢复读取拍照请求（检测完成后调用）
|
||
bool IsPhotoRequestPollingPaused() const;
|
||
|
||
// ========== 状态查询 ==========
|
||
bool IsPLCConnected() const;
|
||
|
||
private:
|
||
// 轮询线程
|
||
void pollThreadFunc();
|
||
|
||
// 连接管理
|
||
bool checkConnection();
|
||
bool tryConnectPLC();
|
||
void disconnectPLC(); // 主动断开连接（用于触发重连）
|
||
|
||
// 寄存器操作
|
||
int readPhotoRequest();
|
||
void floatToRegisters(float value, uint16_t& high, uint16_t& low);
|
||
|
||
// 安全的回调通知（先复制回调，释放锁后再调用）
|
||
void notifyConnectionStateChanged(bool connected);
|
||
void notifyError(const std::string& errorMsg);
|
||
void notifyPhotoRequested(int cameraIndex);
|
||
void notifyReconnecting(const std::string& device, int attempt);
|
||
|
||
private:
|
||
// PLC 客户端
|
||
IYModbusTCPClient* m_plcClient;
|
||
|
||
// 回调函数
|
||
PhotoTriggerCallback m_photoCallback;
|
||
ConnectionStateCallback m_connectionStateCallback;
|
||
ErrorCallback m_errorCallback;
|
||
ReconnectingCallback m_reconnectingCallback;
|
||
|
||
// 连接配置
|
||
std::string m_plcIP;
|
||
int m_plcPort;
|
||
RegisterConfig m_registerConfig;
|
||
|
||
// 状态
|
||
bool m_lastPhotoRequestState;
|
||
bool m_lastConnectedState;
|
||
|
||
// 线程控制
|
||
std::thread m_pollThread;
|
||
std::atomic<bool> m_pollRunning;
|
||
std::atomic<bool> m_photoRequestPaused; // 暂停拍照请求轮询标志
|
||
int m_pollIntervalMs;
|
||
|
||
// 重连控制
|
||
std::atomic<bool> m_shutdownRequested;
|
||
std::atomic<bool> m_autoReconnect;
|
||
int m_reconnectInterval;
|
||
int m_plcReconnectAttempts;
|
||
|
||
// 互斥锁
|
||
mutable std::mutex m_mutex;
|
||
std::mutex m_callbackMutex;
|
||
};
|
||
|
||
#endif // PLC_MODBUS_CLIENT_H
|