做电影分享网站违法吗,域名注册商网站,wordpress 有广告,云浮住房和城乡建设部官方网站一.编译libmodbus库供C#使用
如何编译#xff1f;请移步#xff1a;https://blog.csdn.net/weixin_42205408/article/details/119530811
上面博主的文章除了所写的modbus.cs内的代码有点问题外#xff08;可能上面博主和我的Win 10 64位 Visual Studio 2019平台不一样吧请移步https://blog.csdn.net/weixin_42205408/article/details/119530811
上面博主的文章除了所写的modbus.cs内的代码有点问题外可能上面博主和我的Win 10 64位 Visual Studio 2019平台不一样吧其他写的很详细。
二.实际应用
把编译得到的modbus.dll文件添加到C#项目中
我在他的基础上更改了modbus.cs我的是libmodbus.cs,其实类名可以自己定义。
1.libmodbus.cs类如下
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;namespace Robotics_Studio
{class libmodbus{///[modbus.h]MODBUS_API int modbus_set_slave(modbus_t *ctx, int slave);[DllImport(modbus.dll, EntryPoint modbus_set_slave, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern int modbus_set_slave(IntPtr ctx, int slave);///[modbus.h]MODBUS_API int modbus_get_slave(modbus_t *ctx);[DllImport(modbus.dll, EntryPoint modbus_get_slave, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern int modbus_get_slave(IntPtr ctx);///[modbus.h]MODBUS_API int modbus_set_socket(modbus_t *ctx, int s);[DllImport(modbus.dll, EntryPoint modbus_set_socket, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern int modbus_set_socket(IntPtr ctx, int s);///[modbus.h]MODBUS_API int modbus_get_socket(modbus_t *ctx);[DllImport(modbus.dll, EntryPoint modbus_get_socket, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern int modbus_get_socket(IntPtr ctx);///[modbus.h]MODBUS_API int modbus_get_response_timeout(modbus_t* ctx, uint32_t* to_sec, uint32_t* to_usec);[DllImport(modbus.dll, EntryPoint modbus_get_response_timeout, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern int modbus_get_response_timeout(IntPtr ctx, UInt32[] to_sec, UInt32[] to_usec);///[modbus.h]MODBUS_API int modbus_set_response_timeout(modbus_t* ctx, uint32_t to_sec, uint32_t to_usec);[DllImport(modbus.dll, EntryPoint modbus_set_response_timeout, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern int modbus_set_response_timeout(IntPtr ctx, UInt32 to_sec, UInt32 to_usec);///[modbus-rtu.h]MODBUS_API modbus_t *modbus_new_rtu(const char *device, int band, char parity, int data_bit, int stop_bit);[DllImport(modbus.dll, EntryPoint modbus_new_rtu, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern IntPtr modbus_new_rtu(string device, int baud, char parity, int data_bit, int stop_bit);///[modbus-tcp.h]MODBUS_API modbus_t *modbus_new_tcp(const char *ip_address, int port);[DllImport(modbus.dll, EntryPoint modbus_new_tcp, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern IntPtr modbus_new_tcp(string ip_address, int port);///[modbus-tcp.h]MODBUS_API int modbus_tcp_listen(modbus_t *ctx, int nb_connection);[DllImport(modbus.dll, EntryPoint modbus_tcp_listen, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern IntPtr modbus_tcp_listen(IntPtr ctx, int nb_connection);///[modbus-tcp.h]MODBUS_API int modbus_tcp_accept(modbus_t *ctx, int *s);[DllImport(modbus.dll, EntryPoint modbus_tcp_accept, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern IntPtr modbus_tcp_accept(IntPtr ctx, int[] s);///[modbus.h]MODBUS_API int modbus_connect(modbus_t *ctx);[DllImport(modbus.dll, EntryPoint modbus_connect, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern int modbus_connect(IntPtr ctx);///[modbus.h]MODBUS_API void modbus_close(modbus_t *ctx);[DllImport(modbus.dll, EntryPoint modbus_close, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern void modbus_close(IntPtr ctx);///[modbus.h]MODBUS_API void modbus_free(modbus_t *ctx);[DllImport(modbus.dll, EntryPoint modbus_free, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern void modbus_free(IntPtr ctx);///[modbus.h]MODBUS_API void modbus_flush(modbus_t *ctx);[DllImport(modbus.dll, EntryPoint modbus_flush, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern void modbus_flush(IntPtr ctx);///[modbus.h]MODBUS_API int modbus_read_bits(modbus_t *ctx, int addr, int nb, uint8_t *dest);[DllImport(modbus.dll, EntryPoint modbus_read_bits, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern int modbus_read_bits(IntPtr ctx, int addr, int nb, byte[] dest);///[modbus.h]MODBUS_API int modbus_read_input_bits(modbus_t *ctx, int addr, int nb, uint8_t *dest);[DllImport(modbus.dll, EntryPoint modbus_read_input_bits, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern int modbus_read_input_bits(IntPtr ctx, int addr, int nb, byte[] dest);///[modbus.h]MODBUS_API int modbus_read_registers(modbus_t *ctx, int addr, int nb, uint16_t *dest);[DllImport(modbus.dll, EntryPoint modbus_read_registers, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern int modbus_read_registers(IntPtr ctx, int addr, int nb, UInt16[] dest);///[modbus.h]MODBUS_API int modbus_read_input_registers(modbus_t* ctx, int addr, int nb, uint16_t* dest);[DllImport(modbus.dll, EntryPoint modbus_read_input_registers, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern int modbus_read_input_registers(IntPtr ctx, int addr, int nb, UInt16[] dest);///[modbus.h]MODBUS_API int modbus_write_bit(modbus_t *ctx, int coil_addr, int status);[DllImport(modbus.dll, EntryPoint modbus_write_bit, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern int modbus_write_bit(IntPtr ctx, int coil_addr, int status);///[modbus.h]MODBUS_API int modbus_write_register(modbus_t *ctx, int reg_addr, const uint16_t value);[DllImport(modbus.dll, EntryPoint modbus_write_register, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern int modbus_write_register(IntPtr ctx, int reg_addr, UInt16 value);///[modbus.h]MODBUS_API int modbus_write_bits(modbus_t *ctx, int addr, int nb, const uint8_t *data);[DllImport(modbus.dll, EntryPoint modbus_write_bits, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern int modbus_write_bits(IntPtr ctx, int addr, int nb, byte[] data);///[modbus.h]MODBUS_API int modbus_write_registers(modbus_t* ctx, int addr, int nb, const uint16_t* data);[DllImport(modbus.dll, EntryPoint modbus_write_registers, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern int modbus_write_registers(IntPtr ctx, int addr, int nb, UInt16[] data);///[modbus.h]MODBUS_API int modbus_write_and_read_registers(modbus_t *ctx, int write_addr, int write_nb, const uint16_t* src, int read_addr, int read_nb, uint16_t *dest);[DllImport(modbus.dll, EntryPoint modbus_write_and_read_registers, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]public static extern int modbus_write_and_read_registers(IntPtr ctx, int write_addr, int write_nb, UInt16[] scr, int read_addr, int read_nb, UInt16[] dest);}
}2.C#逻辑主程序
注意事项
2.1 假设你的类名叫 libmodbus.cs
需注意类中的引用部分例如
[DllImport(modbus.dll, EntryPoint modbus_new_tcp, CharSet CharSet.Ansi)]
全部都需要加上 CallingConvention CallingConvention.Cdecl
即
[DllImport(modbus.dll, EntryPoint modbus_new_tcp, CharSet CharSet.Ansi, CallingConvention CallingConvention.Cdecl)]
否则出现原因可能是托管的PInvoke签名与非托管的目标签名不匹配
上面的libmodbus.cs就是已经改好过来的。
2.2 使用类时需注意
libmodbus modbus_tcp new libmodbus();
modbus_tcp.modbus_set_slave(modbus_tcp.modbus_new_tcp(ip1, 502),2);//此行会报错无法使用实例引用来访问成员请改用类型名来限定它
应改为
//libmodbus modbus_tcp new libmodbus();//注释掉此行
libmodbus.modbus_set_slave(modbus_tcp.modbus_new_tcp(ip1, 502),2);//更改后
2.3 已测试好的例子如下 private void button_Connect_Click(object sender, EventArgs e){if (button_Connect.Text 连接){string RobotIP this.textBox_IP.Text.Trim();//by libmodbusIntPtr Machine libmodbus.modbus_new_tcp(RobotIP, 502);//创建TCP连接libmodbus.modbus_set_slave(Machine, 2);int connectSta 0;int connectCnt 0;while (true){connectSta libmodbus.modbus_connect(Machine);if (connectSta 0)//连接状态{break;}connectCnt 1;if(connectCnt 4)//连接失败次数计数{connectSta -1;break;}}if (connectSta -1){ MessageBox.Show(Try many times were failed,Try again please!, Info:);return;}try{//读单个保持寄存器ushort[] servoSta { 0 };//伺服状态libmodbus.modbus_read_registers(Machine, 0x0006, 1, servoSta);Console.WriteLine(read servo status: {0}, servoSta[0]);//读多个保持寄存器ushort[] current_pos new ushort[12];//位置坐标libmodbus.modbus_read_registers(Machine, 0x00F0, 12, current_pos);Console.WriteLine(read xH,xL: {0},{1}, current_pos[0], current_pos[1]);Console.WriteLine(read yH,yL: {0},{1}, current_pos[2], current_pos[3]);Console.WriteLine(read zH,zL: {0},{1}, (Int16)current_pos[4], (Int16)current_pos[5]);//(Int16)是把无符号16位整型转有符号16位整型Console.WriteLine(read cH,cL: {0},{1}, current_pos[10], current_pos[11]);Console.WriteLine(read x: {0}, Two16Int_2_One32Int(current_pos[0], current_pos[1]));Console.WriteLine(read y: {0}, Two16Int_2_One32Int(current_pos[2], current_pos[3]));Console.WriteLine(read z: {0}, Two16Int_2_One32Int(current_pos[4], current_pos[5]));Console.WriteLine(read c: {0}, Two16Int_2_One32Int(current_pos[10], current_pos[11]));//写单个保持寄存器ushort value1 32767;//write Int16 (2^15)-1 32767libmodbus.modbus_write_register(Machine, 0x2000, value1);//写单个保持寄存器ushort[] value2 { 32767 };//write Int16 (2^15)-1 32767libmodbus.modbus_write_registers(Machine, 0x2002, 1, value2);//写多个保持寄存器ushort[] value3 { 65535,32767 };//write Int32 (2^31)-1 2147483647libmodbus.modbus_write_registers(Machine, 0x2004, 2, value3);}catch(Exception ex){MessageBox.Show(Read error!\n ex.Message, Info:);}}}
运行结果如下 工业设备端 完结
