156 lines
6.0 KiB
C++
156 lines
6.0 KiB
C++
#pragma once
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#include <array>
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#include <cstddef>
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#include <cstdint>
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#include <optional>
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#include <string>
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#include <vector>
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namespace line_laser_modbus {
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// 以下协议常量来自 py/docs/proto.md V1.2。
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//
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// 协议有意只保留很小的 Modbus 接口面：功能码 0x03 用于读取保持寄存器，
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// 功能码 0x10 用于写多个保持寄存器。把公共常量集中在这里，可以避免
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// 上位机和下位机在寄存器表变更时出现不一致。
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constexpr std::uint8_t kDefaultSlaveId = 0x08;
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constexpr std::uint8_t kReadHoldingRegisters = 0x03;
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constexpr std::uint8_t kWriteMultipleRegisters = 0x10;
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constexpr std::uint16_t kModeCommandAddress = 0xD000;
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constexpr std::uint16_t kDeviceStateAddress = 0xD001;
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constexpr std::uint16_t kCurrentPoseAddress = 0xD00A;
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constexpr std::uint16_t kTargetPoseAddress = 0xD020;
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constexpr std::uint16_t kCorrectionAddress = 0xD036;
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constexpr std::uint16_t kCalibrationReserveAddress = 0xD04C;
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constexpr std::uint16_t kLastMappedAddress = 0xD06B;
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constexpr std::uint16_t kPoseRegisterCount = 14;
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constexpr std::size_t kAxisCount = 6;
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using ByteVector = std::vector<std::uint8_t>;
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using RegisterVector = std::vector<std::uint16_t>;
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using PoseRegisters = std::array<std::uint16_t, kPoseRegisterCount>;
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enum class WorkMode : std::uint16_t {
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StandbyReset = 0,
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Calibration = 1,
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PreWeldTeaching = 2,
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OnlineTracking = 3,
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BatchReplay = 4,
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EmergencyStop = 5,
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};
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enum class DeviceState : std::uint16_t {
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StandbyReady = 0,
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MotionRunning = 1,
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TeachingComplete = 2,
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OnlineTrackingNormal = 3,
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Alarm = 4,
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CalibrationComplete = 5,
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EmergencyTriggered = 6,
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};
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struct Pose6D {
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// 所有位姿类数据块都按下面的顺序存储：
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// uint32 timestamp_ms, float X, float Y, float Z, float A, float B, float C。
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//
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// 每个 32 位值拆成两个 16 位保持寄存器，并按大端字序保存。最终 RTU
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// 帧的 CRC 字节顺序仍然遵循 Modbus 标准：低字节在前，高字节在后。
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std::uint32_t timestamp_ms = 0;
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float x = 0.0F;
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float y = 0.0F;
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float z = 0.0F;
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float a = 0.0F;
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float b = 0.0F;
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float c = 0.0F;
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};
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struct ReadRequest {
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std::uint8_t slave_id = 0;
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std::uint16_t start_address = 0;
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std::uint16_t quantity = 0;
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};
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struct ReadResponse {
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std::uint8_t slave_id = 0;
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RegisterVector registers;
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};
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struct WriteRequest {
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std::uint8_t slave_id = 0;
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std::uint16_t start_address = 0;
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RegisterVector registers;
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};
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struct WriteResponse {
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std::uint8_t slave_id = 0;
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std::uint16_t start_address = 0;
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std::uint16_t quantity = 0;
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};
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struct ParseError {
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std::string message;
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};
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template <typename T>
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struct ParseResult {
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// 这里使用 std::optional 而不是异常，让固件版本的错误处理保持显式且低开销。
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// 调用方可以自行决定无效帧是忽略、记录、重试，还是转换为 Modbus 异常响应。
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std::optional<T> value;
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std::optional<ParseError> error;
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[[nodiscard]] bool ok() const noexcept { return value.has_value(); }
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};
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[[nodiscard]] bool is_valid_work_mode(std::uint16_t raw) noexcept;
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[[nodiscard]] bool is_valid_device_state(std::uint16_t raw) noexcept;
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[[nodiscard]] bool is_mode_transition_allowed(WorkMode current,
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WorkMode next) noexcept;
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// CRC16 使用 Modbus RTU 参数：多项式 0xA001，初始值 0xFFFF。
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// append_crc() 会按 Modbus RTU 要求先追加低字节，再追加高字节。
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[[nodiscard]] std::uint16_t crc16(const std::uint8_t* data,
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std::size_t size) noexcept;
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[[nodiscard]] std::uint16_t crc16(const ByteVector& frame) noexcept;
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[[nodiscard]] bool has_valid_crc(const ByteVector& frame) noexcept;
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void append_crc(ByteVector& frame);
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[[nodiscard]] std::uint16_t read_u16_be(const std::uint8_t* data) noexcept;
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void append_u16_be(ByteVector& frame, std::uint16_t value);
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// 在业务层位姿结构和协议文档规定的保持寄存器布局之间转换。
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// 上位机和下位机共用这组函数，避免两边各自实现 float 序列化导致差异。
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[[nodiscard]] PoseRegisters encode_pose_registers(const Pose6D& pose) noexcept;
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[[nodiscard]] Pose6D decode_pose_registers(const PoseRegisters& registers) noexcept;
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// 帧构造函数始终返回包含 CRC 的完整 RTU 帧。调用方应通过实际传输层原样发送。
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[[nodiscard]] ByteVector build_read_request(std::uint8_t slave_id,
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std::uint16_t start_address,
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std::uint16_t quantity);
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[[nodiscard]] ByteVector build_read_response(std::uint8_t slave_id,
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const RegisterVector& registers);
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[[nodiscard]] ByteVector build_write_request(std::uint8_t slave_id,
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std::uint16_t start_address,
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const RegisterVector& registers);
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[[nodiscard]] ByteVector build_write_response(std::uint8_t slave_id,
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std::uint16_t start_address,
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std::uint16_t quantity);
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[[nodiscard]] ByteVector build_exception_response(std::uint8_t slave_id,
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std::uint8_t function_code,
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std::uint8_t exception_code);
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// 解析函数会先校验帧长度、功能码、字节数和 CRC，再返回结构化数据。
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// 应用层地址范围不在这里检查，而是由 DeviceServer/RegisterBank 负责。
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[[nodiscard]] ParseResult<ReadRequest> parse_read_request(const ByteVector& frame);
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[[nodiscard]] ParseResult<ReadResponse> parse_read_response(const ByteVector& frame);
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[[nodiscard]] ParseResult<WriteRequest> parse_write_request(const ByteVector& frame);
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[[nodiscard]] ParseResult<WriteResponse> parse_write_response(const ByteVector& frame);
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[[nodiscard]] RegisterVector pose_to_register_vector(const Pose6D& pose);
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[[nodiscard]] std::optional<Pose6D> pose_from_register_vector(
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const RegisterVector& registers);
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} // 命名空间 line_laser_modbus
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