C++通过欧姆龙 CIP协议 实现批量写入float数据示例代码

以下是使用C++通过欧姆龙CIP协议实现批量写入float数据的示例代码：

#include <iostream>
#include <vector>
#include <cstring>
#include <cstdlib>
#include <ctime>
#include <winsock2.h>
#include <windows.h>

using namespace std;

#define EIP_HEADER_SIZE 24
#define CIP_HEADER_SIZE 8

#pragma pack(push, 1)

// Ethernet/IP header
typedef struct {
    uint8_t  service;
    uint16_t request_path_size;
    uint16_t request_path;
    uint16_t request_id;
    uint32_t context[2];
    uint32_t options;
} EIP_HEADER;

// Common Industrial Protocol header
typedef struct {
    uint16_t item_count;
    uint16_t request_size;
    uint8_t  null_byte;
    uint8_t  unconnected_send;
} CIP_HEADER;

// CIP write request header
typedef struct {
    uint8_t  service;
    uint8_t  path_size;
    uint16_t class_id;
    uint8_t  instance_type;
    uint32_t instance_num;
    uint16_t attribute_id;
    uint8_t  data_length;
} CIP_WRITE_HEADER;

// CIP write request data
typedef struct {
    uint16_t data_type;
    uint16_t data_count;
    float    data[100];
} CIP_WRITE_DATA;

#pragma pack(pop)

// Send an Ethernet/IP request and receive the response
int send_eip_request(SOCKET sock, const char* ip, uint16_t port, uint8_t* send_buf, uint32_t send_size, uint8_t* recv_buf, uint32_t* recv_size)
{
    // Connect to the PLC
    struct sockaddr_in addr;
    memset(&addr, 0, sizeof(addr));
    addr.sin_family = AF_INET;
    addr.sin_addr.s_addr = inet_addr(ip);
    addr.sin_port = htons(port);
    if (connect(sock, (struct sockaddr*)&addr, sizeof(addr)) == SOCKET_ERROR) {
        cerr << "Failed to connect to PLC" << endl;
        return -1;
    }

    // Send the request
    if (send(sock, (const char*)send_buf, send_size, 0) == SOCKET_ERROR) {
        cerr << "Failed to send request" << endl;
        return -1;
    }

    // Wait for the response
    *recv_size = recv(sock, (char*)recv_buf, 4096, 0);
    if (*recv_size == SOCKET_ERROR) {
        cerr << "Failed to receive response" << endl;
        return -1;
    }

    return 0;
}

// Write a batch of float values to a PLC
int write_float_batch(const char* ip, uint16_t port, uint16_t class_id, uint32_t instance_num, uint16_t attribute_id, const vector<float>& data)
{
    // Create a socket
    SOCKET sock = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
    if (sock == INVALID_SOCKET) {
        cerr << "Failed to create socket" << endl;
        return -1;
    }

    // Generate a random request ID
    srand((unsigned)time(NULL));
    uint16_t request_id = rand();

    // Calculate the total request size
    uint32_t request_size = EIP_HEADER_SIZE + CIP_HEADER_SIZE + sizeof(CIP_WRITE_HEADER) + sizeof(CIP_WRITE_DATA);

    // Allocate memory for the request buffer
    uint8_t* send_buf = new uint8_t[request_size];
    memset(send_buf, 0, request_size);

    // Fill in the Ethernet/IP header
    EIP_HEADER* eip_header = (EIP_HEADER*)send_buf;
    eip_header->service = 0x0A;
    eip_header->request_path_size = 0x02;
    eip_header->request_path = 0x20;
    eip_header->request_id = request_id;
    eip_header->options = 0x0000;

    // Fill in the CIP header
    CIP_HEADER* cip_header = (CIP_HEADER*)(send_buf + EIP_HEADER_SIZE);
    cip_header->item_count = 0x02;
    cip_header->request_size = sizeof(CIP_WRITE_HEADER) + sizeof(CIP_WRITE_DATA);
    cip_header->null_byte = 0x00;
    cip_header->unconnected_send = 0x00;

    // Fill in the CIP write request header
    CIP_WRITE_HEADER* write_header = (CIP_WRITE_HEADER*)(send_buf + EIP_HEADER_SIZE + CIP_HEADER_SIZE);
    write_header->service = 0x4B;
    write_header->path_size = 0x03;
    write_header->class_id = htons(class_id);
    write_header->instance_type = 0x20;  // instance number format: 32-bit
    write_header->instance_num = htonl(instance_num);
    write_header->attribute_id = htons(attribute_id);
    write_header->data_length = sizeof(CIP_WRITE_DATA);

    // Fill in the CIP write request data
    CIP_WRITE_DATA* write_data = (CIP_WRITE_DATA*)(send_buf + EIP_HEADER_SIZE + CIP_HEADER_SIZE + sizeof(CIP_WRITE_HEADER));
    write_data->data_type = 0x000A;  // data type: float
    write_data->data_count = htons((uint16_t)data.size());
    memcpy(write_data->data, data.data(), data.size() * sizeof(float));

    // Send the request and receive the response
    uint8_t recv_buf[4096];
    uint32_t recv_size = 0;
    if (send_eip_request(sock, ip, port, send_buf, request_size, recv_buf, &recv_size) < 0) {
        return -1;
    }

    // Parse the response
    if (recv_size < EIP_HEADER_SIZE + CIP_HEADER_SIZE + 2) {
        cerr << "Response is too short" << endl;
        return -1;
    }
    uint16_t recv_id = *(uint16_t*)(recv_buf + EIP_HEADER_SIZE);
    uint16_t status = *(uint16_t*)(recv_buf + EIP_HEADER_SIZE + CIP_HEADER_SIZE + 2);
    if (recv_id != request_id) {
        cerr << "Response ID does not match request ID" << endl;
        return -1;
    }
    if (status != 0) {
        cerr << "Write failed with status code: " << status << endl;
        return -1;
    }

    return 0;
}

int main()
{
    // Write a batch of float values to the PLC
    const char* ip = "192.168.1.1";
    uint16_t port = 0xAF12;
    uint16_t class_id = 0x6B20;  // Omron CIP class ID
    uint32_t instance_num = 0x0000FFFF;  // memory area for writing
    uint16_t attribute_id = 0x0001;  // write attribute
    vector<float> data = { 1.23f, 2.34f, 3.45f, 4.56f };
    if (write_float_batch(ip, port, class_id, instance_num, attribute_id, data) < 0) {
        cerr << "Failed to write float data" << endl;
        return -1;
    }

    return 0;
}

注意，此示例代码仅用于演示如何使用欧姆龙CIP协议批量写入float数据，具体实现可能因PLC型号和固件版本而异。此外，还需要注意以下几点：

- CIP write request data结构体中的data数组大小为100，需要根据实际需要调整。
- 本示例代码中使用的是Windows平台的socket API，如果在其他平台上运行，需要相应地调整socket相关的代码。
- 在实际使用中，还需要根据PLC的配置和安全策略设置正确的IP地址和端口号，并采取必要的安全措施，以确保通信的可靠性和安全性。