Initial commit

2026-07-03 16:37:12 +07:00
commit 63b8c1ea8b
1931 changed files with 640587 additions and 0 deletions
--- a/srcs/RobotNet10/Commons/RobotNet10.ScriptEngine/IO/ModbusTcpConnection.cs
+++ b/srcs/RobotNet10/Commons/RobotNet10.ScriptEngine/IO/ModbusTcpConnection.cs
@@ -0,0 +1,134 @@
+using Modbus.Device;
+using RobotNet10.Script.IO;
+using System.Net.Sockets;
+
+namespace RobotNet10.ScriptEngine.IO;
+
+/// <summary>
+/// Implementation of ModbusTCP connection using NModbus4 library.
+/// </summary>
+public class ModbusTcpConnection(string ipAddress, int port = 502, byte slaveId = 1, int connectTimeoutMs = 5000) : IModbusTcpConnection
+{
+    private TcpClient? _tcpClient;
+    private ModbusMaster? _modbusMaster;
+    private bool _disposed;
+
+    public string IpAddress { get; } = ipAddress;
+    public int Port { get; } = port;
+    public byte SlaveId { get; } = slaveId;
+    public int ConnectTimeoutMs { get; } = connectTimeoutMs;
+    public bool IsConnected { get; private set; } = false;
+
+    public async Task ConnectAsync()
+    {
+        if (IsConnected)
+            return;
+
+        try
+        {
+            _tcpClient = new TcpClient();
+            
+            // Sử dụng ConnectTimeout
+            using (var cts = new CancellationTokenSource(TimeSpan.FromMilliseconds(ConnectTimeoutMs)))
+            {
+                await _tcpClient.ConnectAsync(IpAddress, Port).WaitAsync(cts.Token);
+            }
+            
+            _modbusMaster = ModbusIpMaster.CreateIp(_tcpClient);
+            IsConnected = true;
+        }
+        catch (OperationCanceledException)
+        {
+            Disconnect();
+            throw new TimeoutException($"Connection to {IpAddress}:{Port} timed out after {ConnectTimeoutMs}ms");
+        }
+        catch
+        {
+            Disconnect();
+            throw;
+        }
+    }
+
+    public Task DisconnectAsync()
+    {
+        Disconnect();
+        return Task.CompletedTask;
+    }
+
+    private void Disconnect()
+    {
+        IsConnected = false;
+        _modbusMaster?.Dispose();
+        _modbusMaster = null;
+        _tcpClient?.Close();
+        _tcpClient?.Dispose();
+        _tcpClient = null;
+    }
+
+    public async Task<ushort[]> ReadHoldingRegistersAsync(ushort startAddress, ushort numberOfPoints)
+    {
+        EnsureConnected();
+        return await Task.Run(() => _modbusMaster!.ReadHoldingRegisters(SlaveId, startAddress, numberOfPoints));
+    }
+
+    public async Task<ushort[]> ReadInputRegistersAsync(ushort startAddress, ushort numberOfPoints)
+    {
+        EnsureConnected();
+        return await Task.Run(() => _modbusMaster!.ReadInputRegisters(SlaveId, startAddress, numberOfPoints));
+    }
+
+    public async Task<bool[]> ReadCoilsAsync(ushort startAddress, ushort numberOfPoints)
+    {
+        EnsureConnected();
+        return await Task.Run(() => _modbusMaster!.ReadCoils(SlaveId, startAddress, numberOfPoints));
+    }
+
+    public async Task<bool[]> ReadDiscreteInputsAsync(ushort startAddress, ushort numberOfPoints)
+    {
+        EnsureConnected();
+        return await Task.Run(() => _modbusMaster!.ReadInputs(SlaveId, startAddress, numberOfPoints));
+    }
+
+    public async Task WriteSingleCoilAsync(ushort coilAddress, bool value)
+    {
+        EnsureConnected();
+        await Task.Run(() => _modbusMaster!.WriteSingleCoil(SlaveId, coilAddress, value));
+    }
+
+    public async Task WriteMultipleCoilsAsync(ushort startAddress, bool[] values)
+    {
+        EnsureConnected();
+        await Task.Run(() => _modbusMaster!.WriteMultipleCoils(SlaveId, startAddress, values));
+    }
+
+    public async Task WriteSingleRegisterAsync(ushort registerAddress, ushort value)
+    {
+        EnsureConnected();
+        await Task.Run(() => _modbusMaster!.WriteSingleRegister(SlaveId, registerAddress, value));
+    }
+
+    public async Task WriteMultipleRegistersAsync(ushort startAddress, ushort[] values)
+    {
+        EnsureConnected();
+        await Task.Run(() => _modbusMaster!.WriteMultipleRegisters(SlaveId, startAddress, values));
+    }
+
+    private void EnsureConnected()
+    {
+        if (!IsConnected || _modbusMaster == null)
+        {
+            throw new InvalidOperationException("ModbusTCP connection is not connected. Call ConnectAsync() first.");
+        }
+    }
+
+    public void Dispose()
+    {
+        if (!_disposed)
+        {
+            Disconnect();
+            _disposed = true;
+        }
+        GC.SuppressFinalize(this);
+    }
+}
+