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C#使用libmodbus库与工业设备进行读写测试_c# modbus库

作者：知新_RL | 2024-05-13 23:18:17

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c# modbus库

一.编译libmodbus库供C#使用

如何编译？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：
  1. using System;
  2. using System.Collections.Generic;
  3. using System.Linq;
  4. using System.Runtime.InteropServices;
  5. using System.Text;
  6. using System.Threading.Tasks;
  7.  
  8. namespace Robotics_Studio
  9. {
  10.     class libmodbus
  11.     {
  12.         ///[modbus.h]MODBUS_API int modbus_set_slave(modbus_t *ctx, int slave);
  13.         [DllImport("modbus.dll", EntryPoint = "modbus_set_slave", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  14.         public static extern int modbus_set_slave(IntPtr ctx, int slave);
  15.  
  16.         ///[modbus.h]MODBUS_API int modbus_get_slave(modbus_t *ctx);
  17.         [DllImport("modbus.dll", EntryPoint = "modbus_get_slave", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  18.         public static extern int modbus_get_slave(IntPtr ctx);
  19.  
  20.         ///[modbus.h]MODBUS_API int modbus_set_socket(modbus_t *ctx, int s);
  21.         [DllImport("modbus.dll", EntryPoint = "modbus_set_socket", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  22.         public static extern int modbus_set_socket(IntPtr ctx, int s);
  23.  
  24.         ///[modbus.h]MODBUS_API int modbus_get_socket(modbus_t *ctx);
  25.         [DllImport("modbus.dll", EntryPoint = "modbus_get_socket", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  26.         public static extern int modbus_get_socket(IntPtr ctx);
  27.  
  28.         ///[modbus.h]MODBUS_API int modbus_get_response_timeout(modbus_t* ctx, uint32_t* to_sec, uint32_t* to_usec);
  29.         [DllImport("modbus.dll", EntryPoint = "modbus_get_response_timeout", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  30.         public static extern int modbus_get_response_timeout(IntPtr ctx, UInt32[] to_sec, UInt32[] to_usec);
  31.  
  32.         ///[modbus.h]MODBUS_API int modbus_set_response_timeout(modbus_t* ctx, uint32_t to_sec, uint32_t to_usec);
  33.         [DllImport("modbus.dll", EntryPoint = "modbus_set_response_timeout", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  34.         public static extern int modbus_set_response_timeout(IntPtr ctx, UInt32 to_sec, UInt32 to_usec);
  35.  
  36.         ///[modbus-rtu.h]MODBUS_API modbus_t *modbus_new_rtu(const char *device, int band, char parity, int data_bit, int stop_bit);
  37.         [DllImport("modbus.dll", EntryPoint = "modbus_new_rtu", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  38.         public static extern IntPtr modbus_new_rtu(string device, int baud, char parity, int data_bit, int stop_bit);
  39.  
  40.         ///[modbus-tcp.h]MODBUS_API modbus_t *modbus_new_tcp(const char *ip_address, int port);
  41.         [DllImport("modbus.dll", EntryPoint = "modbus_new_tcp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  42.         public static extern IntPtr modbus_new_tcp(string ip_address, int port);
  43.  
  44.         ///[modbus-tcp.h]MODBUS_API int modbus_tcp_listen(modbus_t *ctx, int nb_connection);
  45.         [DllImport("modbus.dll", EntryPoint = "modbus_tcp_listen", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  46.         public static extern IntPtr modbus_tcp_listen(IntPtr ctx, int nb_connection);
  47.  
  48.         ///[modbus-tcp.h]MODBUS_API int modbus_tcp_accept(modbus_t *ctx, int *s);
  49.         [DllImport("modbus.dll", EntryPoint = "modbus_tcp_accept", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  50.         public static extern IntPtr modbus_tcp_accept(IntPtr ctx, int[] s);
  51.  
  52.         ///[modbus.h]MODBUS_API int modbus_connect(modbus_t *ctx);
  53.         [DllImport("modbus.dll", EntryPoint = "modbus_connect", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  54.         public static extern int modbus_connect(IntPtr ctx);
  55.  
  56.         ///[modbus.h]MODBUS_API void modbus_close(modbus_t *ctx);
  57.         [DllImport("modbus.dll", EntryPoint = "modbus_close", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  58.         public static extern void modbus_close(IntPtr ctx);
  59.  
  60.         ///[modbus.h]MODBUS_API void modbus_free(modbus_t *ctx);
  61.         [DllImport("modbus.dll", EntryPoint = "modbus_free", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  62.         public static extern void modbus_free(IntPtr ctx);
  63.  
  64.         ///[modbus.h]MODBUS_API void modbus_flush(modbus_t *ctx);
  65.         [DllImport("modbus.dll", EntryPoint = "modbus_flush", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  66.         public static extern void modbus_flush(IntPtr ctx);
  67.  
  68.         ///[modbus.h]MODBUS_API int modbus_read_bits(modbus_t *ctx, int addr, int nb, uint8_t *dest);
  69.         [DllImport("modbus.dll", EntryPoint = "modbus_read_bits", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  70.         public static extern int modbus_read_bits(IntPtr ctx, int addr, int nb, byte[] dest);
  71.  
  72.         ///[modbus.h]MODBUS_API int modbus_read_input_bits(modbus_t *ctx, int addr, int nb, uint8_t *dest);
  73.         [DllImport("modbus.dll", EntryPoint = "modbus_read_input_bits", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  74.         public static extern int modbus_read_input_bits(IntPtr ctx, int addr, int nb, byte[] dest);
  75.  
  76.         ///[modbus.h]MODBUS_API int modbus_read_registers(modbus_t *ctx, int addr, int nb, uint16_t *dest);
  77.         [DllImport("modbus.dll", EntryPoint = "modbus_read_registers", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  78.         public static extern int modbus_read_registers(IntPtr ctx, int addr, int nb, UInt16[] dest);
  79.  
  80.         ///[modbus.h]MODBUS_API int modbus_read_input_registers(modbus_t* ctx, int addr, int nb, uint16_t* dest);
  81.         [DllImport("modbus.dll", EntryPoint = "modbus_read_input_registers", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  82.         public static extern int modbus_read_input_registers(IntPtr ctx, int addr, int nb, UInt16[] dest);
  83.  
  84.         ///[modbus.h]MODBUS_API int modbus_write_bit(modbus_t *ctx, int coil_addr, int status);
  85.         [DllImport("modbus.dll", EntryPoint = "modbus_write_bit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  86.         public static extern int modbus_write_bit(IntPtr ctx, int coil_addr, int status);
  87.  
  88.         ///[modbus.h]MODBUS_API int modbus_write_register(modbus_t *ctx, int reg_addr, const uint16_t value);
  89.         [DllImport("modbus.dll", EntryPoint = "modbus_write_register", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  90.         public static extern int modbus_write_register(IntPtr ctx, int reg_addr, UInt16 value);
  91.  
  92.         ///[modbus.h]MODBUS_API int modbus_write_bits(modbus_t *ctx, int addr, int nb, const uint8_t *data);
  93.         [DllImport("modbus.dll", EntryPoint = "modbus_write_bits", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  94.         public static extern int modbus_write_bits(IntPtr ctx, int addr, int nb, byte[] data);
  95.  
  96.         ///[modbus.h]MODBUS_API int modbus_write_registers(modbus_t* ctx, int addr, int nb, const uint16_t* data);
  97.         [DllImport("modbus.dll", EntryPoint = "modbus_write_registers", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  98.         public static extern int modbus_write_registers(IntPtr ctx, int addr, int nb, UInt16[] data);
  99.  
  100.         ///[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);
  101.         [DllImport("modbus.dll", EntryPoint = "modbus_write_and_read_registers", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
  102.         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);
  103.     }
  104. }
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

  1. libmodbus modbus_tcp = new libmodbus();
  2. 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
 

  1. //libmodbus modbus_tcp = new libmodbus();//注释掉此行
  2. 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：

  1.         private void button_Connect_Click(object sender, EventArgs e)
  2.         {
  3.             if (button_Connect.Text == "连接")
  4.             {
  5.                 string RobotIP = this.textBox_IP.Text.Trim();
  6.                 //by libmodbus
  7.                 IntPtr Machine = libmodbus.modbus_new_tcp(RobotIP, 502);//创建TCP连接
  8.                 libmodbus.modbus_set_slave(Machine, 2);
  9.                 int connectSta = 0;
  10.                 int connectCnt = 0;
  11.                 while (true)
  12.                 {
  13.                     connectSta = libmodbus.modbus_connect(Machine);
  14.                     if (connectSta == 0)//连接状态
  15.                     {
  16.                         break;
  17.                     }
  18.                     connectCnt += 1;
  19.                     if(connectCnt == 4)//连接失败次数计数
  20.                     {
  21.                         connectSta = -1;
  22.                         break;
  23.                     }
  24.                 }
  25.                 if (connectSta == -1)
  26.                 { 
  27.                     MessageBox.Show("Try many times were failed,Try again please!", "Info:");
  28.                     return;
  29.                 }
  30.                 try
  31.                 {
  32.                     //读单个保持寄存器
  33.                     ushort[] servoSta = { 0 };//伺服状态
  34.                     libmodbus.modbus_read_registers(Machine, 0x0006, 1, servoSta);
  35.                     Console.WriteLine("read servo status: {0}", servoSta[0]);
  36.  
  37.                     //读多个保持寄存器
  38.                     ushort[] current_pos = new ushort[12];//位置坐标
  39.                     libmodbus.modbus_read_registers(Machine, 0x00F0, 12, current_pos);
  40.                     Console.WriteLine("read xH,xL: {0},{1}", current_pos[0], current_pos[1]);
  41.                     Console.WriteLine("read yH,yL: {0},{1}", current_pos[2], current_pos[3]);
  42.                     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
  43.                     Console.WriteLine("read cH,cL: {0},{1}", current_pos[10], current_pos[11]);
  44.                     Console.WriteLine("read x: {0}", Two16Int_2_One32Int(current_pos[0], current_pos[1]));
  45.                     Console.WriteLine("read y: {0}", Two16Int_2_One32Int(current_pos[2], current_pos[3]));
  46.                     Console.WriteLine("read z: {0}", Two16Int_2_One32Int(current_pos[4], current_pos[5]));
  47.                     Console.WriteLine("read c: {0}", Two16Int_2_One32Int(current_pos[10], current_pos[11]));
  48.  
  49.                     //写单个保持寄存器
  50.                     ushort value1 = 32767;//write Int16 (2^15)-1 = 32767
  51.                     libmodbus.modbus_write_register(Machine, 0x2000, value1);
  52.  
  53.                     //写单个保持寄存器
  54.                     ushort[] value2 = { 32767 };//write Int16 (2^15)-1 = 32767
  55.                     libmodbus.modbus_write_registers(Machine, 0x2002, 1, value2);
  56.  
  57.                     //写多个保持寄存器
  58.                     ushort[] value3 = { 65535,32767 };//write Int32 (2^31)-1 = 2147483647
  59.                     libmodbus.modbus_write_registers(Machine, 0x2004, 2, value3);
  60.                 }
  61.                 catch(Exception ex)
  62.                 {
  63.                     MessageBox.Show("Read error!\n" + ex.Message, "Info:");
  64.                 }
  65.             }
  66.         }

运行结果如下：

工业设备端：

 

 完结

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