EmersonAirCalibTest/APS7100TestTool/Services/ModbusTcpServerService.cs

using System;
using System.Collections.Generic;
using System.Globalization;
using System.Linq;
using System.Net;
using System.Net.Sockets;
using System.Threading;
using System.Threading.Tasks;
using APS7100TestTool.Controllers;
using APS7100TestTool.Models;
using NModbus;

namespace APS7100TestTool.Services
{
    public class ModbusTcpServerService : IDisposable
    {
        private TcpListener _tcpListener;
        private IModbusSlaveNetwork _modbusNetwork;
        private IModbusSlave _slave;
        private IPowerSupplyController _controllerAPS7100;  // APS7100 控制器
        private IPowerSupplyController _controllerPSW250;   // PSW250 控制器
        private List<ModbusRegisterMapping> _mappings;
        private CancellationTokenSource _cts;
        private Task _syncTask;
        
        // 缓存上一次的写入值，用于检测变化（使用数值比较避免字符串格式不一致问题）
        private Dictionary<int, double> _lastWriteValues = new Dictionary<int, double>();
        
        // 线程安全锁
        private readonly object _controllerLock = new object();
        private readonly object _dataStoreLock = new object();
        private volatile bool _isStopping = false;
        
        // 暂停轮询标志（用于保持设备在本地模式）
        private volatile bool _isPollingSuspended = false;
        
        // 心跳相关
        private ushort _heartbeatCounter = 0;
        private ushort _heartbeatRegisterAddress = 1;      // 心跳寄存器地址（默认1，避免地址0的兼容性问题）
        private ushort _deviceStatusRegisterAddress = 2;   // 设备状态寄存器地址
        
        // 设备连接状态 (由外部更新)
        private bool _isAPS7100Connected = false;
        private bool _isPSW250Connected = false;
        
        // 客户端连接跟踪
        private readonly object _clientLock = new object();
        private HashSet<string> _connectedClients = new HashSet<string>();
        private int _totalRequests = 0;
        private DateTime _lastRequestTime = DateTime.MinValue;
        private Task _connectionMonitorTask;
        
        public event Action<string> OnLog;
        public event Action<int, int, DateTime> OnClientStatusChanged; // (客户端数, 请求数, 最后请求时间)
        public bool IsRunning { get; private set; }
        public int ConnectedClientCount => _connectedClients.Count;
        public int TotalRequests => _totalRequests;
        public DateTime LastRequestTime => _lastRequestTime;
        
        /// <summary>
        /// 仿真模式：当设备未连接时，也会生成并记录命令（不实际发送）
        /// </summary>
        public bool SimulationMode { get; set; } = false;
        
        /// <summary>
        /// 轮询是否已暂停
        /// 暂停轮询后，Modbus 服务将不再向设备发送 SCPI 命令
        /// 用于保持设备在本地模式
        /// </summary>
        public bool IsPollingSuspended => _isPollingSuspended;
        
        /// <summary>
        /// 暂停设备轮询
        /// 暂停后 Modbus 服务不再向设备发送 SCPI 命令，设备可保持本地模式
        /// </summary>
        public void SuspendPolling()
        {
            _isPollingSuspended = true;
            Log("⚠ 设备轮询已暂停 - 设备将保持当前模式");
        }
        
        /// <summary>
        /// 恢复设备轮询
        /// 恢复后 Modbus 服务将继续向设备发送 SCPI 命令
        /// ⚠ 注意：这会使 APS7100 自动切换到远程模式
        /// </summary>
        public void ResumePolling()
        {
            _isPollingSuspended = false;
            Log("✓ 设备轮询已恢复");
        }
        
        /// <summary>
        /// 当前心跳计数值
        /// </summary>
        public ushort HeartbeatValue => _heartbeatCounter;
        
        /// <summary>
        /// 当前设备状态 (Bit0=APS7100, Bit1=PSW250)
        /// </summary>
        public (bool APS7100, bool PSW250) DeviceStatus => (_isAPS7100Connected, _isPSW250Connected);

        public ModbusTcpServerService(IPowerSupplyController controllerAPS7100, IPowerSupplyController controllerPSW250)
        {
            _controllerAPS7100 = controllerAPS7100;
            _controllerPSW250 = controllerPSW250;
        }

        /// <summary>
        /// 设置心跳寄存器地址
        /// </summary>
        public void SetHeartbeatAddresses(ushort heartbeatAddress, ushort deviceStatusAddress)
        {
            _heartbeatRegisterAddress = heartbeatAddress;
            _deviceStatusRegisterAddress = deviceStatusAddress;
        }

        /// <summary>
        /// 更新设备连接状态 (由主窗体调用)
        /// </summary>
        public void UpdateDeviceStatus(bool aps7100Connected, bool psw250Connected)
        {
            _isAPS7100Connected = aps7100Connected;
            _isPSW250Connected = psw250Connected;
        }

        public void UpdateControllers(IPowerSupplyController controllerAPS7100, IPowerSupplyController controllerPSW250)
        {
            lock (_controllerLock)
            {
                _controllerAPS7100 = controllerAPS7100;
                _controllerPSW250 = controllerPSW250;
            }
        }
        
        /// <summary>
        /// 根据设备目标获取对应的控制器
        /// </summary>
        private IPowerSupplyController GetController(string deviceTarget)
        {
            if (string.IsNullOrEmpty(deviceTarget) || deviceTarget.Equals("Universal", StringComparison.OrdinalIgnoreCase))
            {
                // Universal: 优先使用 APS7100，如果没有则用 PSW250
                return _controllerAPS7100 ?? _controllerPSW250;
            }
            
            if (deviceTarget.Equals("APS7100", StringComparison.OrdinalIgnoreCase))
            {
                return _controllerAPS7100;
            }
            
            if (deviceTarget.Equals("PSW250", StringComparison.OrdinalIgnoreCase))
            {
                return _controllerPSW250;
            }
            
            return null;
        }

        /// <summary>
        /// 启动 Modbus TCP 服务器（绑定所有接口）
        /// </summary>
        public void Start(int port, List<ModbusRegisterMapping> mappings)
        {
            Start("0.0.0.0", port, mappings);
        }

        /// <summary>
        /// 启动 Modbus TCP 服务器（绑定指定IP）
        /// </summary>
        /// <param name="bindIpAddress">绑定的IP地址，0.0.0.0表示所有接口</param>
        /// <param name="port">端口号</param>
        /// <param name="mappings">寄存器映射配置</param>
        public void Start(string bindIpAddress, int port, List<ModbusRegisterMapping> mappings)
        {
            if (IsRunning) return;

            _mappings = mappings;
            try
            {
                // 解析绑定IP地址
                IPAddress bindAddress;
                if (string.IsNullOrEmpty(bindIpAddress) || bindIpAddress == "0.0.0.0")
                {
                    bindAddress = IPAddress.Any;
                }
                else
                {
                    if (!IPAddress.TryParse(bindIpAddress, out bindAddress))
                    {
                        throw new Exception($"无效的IP地址: {bindIpAddress}");
                    }
                }

                _tcpListener = new TcpListener(bindAddress, port);
                _tcpListener.Start();

                var factory = new ModbusFactory();
                _modbusNetwork = factory.CreateSlaveNetwork(_tcpListener);
                _slave = factory.CreateSlave(1); // Slave ID 1
                _modbusNetwork.AddSlave(_slave);
                
                _modbusNetwork.ListenAsync();

                _cts = new CancellationTokenSource();
                _syncTask = Task.Run(() => SyncLoop(_cts.Token));
                
                // 启动连接监控任务
                _connectionMonitorTask = Task.Run(() => MonitorConnections(_cts.Token));

                IsRunning = true;
                _totalRequests = 0;
                _lastRequestTime = DateTime.MinValue;
                lock (_clientLock) { _connectedClients.Clear(); }
                
                string bindInfo = bindAddress.Equals(IPAddress.Any) ? "所有接口" : bindIpAddress;
                Log($"Modbus TCP 服务器已启动，绑定: {bindInfo}:{port}");
            }
            catch (Exception ex)
            {
                IsRunning = false;
                throw new Exception($"启动 Modbus 服务失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 监控客户端连接
        /// </summary>
        private async Task MonitorConnections(CancellationToken token)
        {
            int lastClientCount = 0;
            int lastRequestCount = 0;
            
            while (!token.IsCancellationRequested && !_isStopping)
            {
                try
                {
                    // 检查活动的 TCP 连接
                    var activeConnections = GetActiveTcpConnections();
                    
                    lock (_clientLock)
                    {
                        _connectedClients = activeConnections;
                    }
                    
                    int currentClientCount = _connectedClients.Count;
                    int currentRequestCount = _totalRequests;
                    
                    // 如果有变化，触发事件
                    if (currentClientCount != lastClientCount || currentRequestCount != lastRequestCount)
                    {
                        lastClientCount = currentClientCount;
                        lastRequestCount = currentRequestCount;
                        OnClientStatusChanged?.Invoke(currentClientCount, currentRequestCount, _lastRequestTime);
                    }
                    
                    await Task.Delay(500, token);
                }
                catch (TaskCanceledException)
                {
                    break;
                }
                catch { }
            }
        }

        /// <summary>
        /// 获取当前活动的 TCP 连接
        /// </summary>
        private HashSet<string> GetActiveTcpConnections()
        {
            var connections = new HashSet<string>();
            try
            {
                var properties = System.Net.NetworkInformation.IPGlobalProperties.GetIPGlobalProperties();
                var tcpConnections = properties.GetActiveTcpConnections();
                
                var localEndpoint = _tcpListener?.LocalEndpoint as IPEndPoint;
                if (localEndpoint != null)
                {
                    foreach (var conn in tcpConnections)
                    {
                        // 检查是否是连接到我们服务器端口的客户端
                        if (conn.LocalEndPoint.Port == localEndpoint.Port && 
                            conn.State == System.Net.NetworkInformation.TcpState.Established)
                        {
                            connections.Add(conn.RemoteEndPoint.ToString());
                        }
                    }
                }
            }
            catch { }
            return connections;
        }

        /// <summary>
        /// 记录请求（供外部调用或内部调用）
        /// </summary>
        public void RecordRequest()
        {
            Interlocked.Increment(ref _totalRequests);
            _lastRequestTime = DateTime.Now;
        }

        public void Stop()
        {
            if (!IsRunning) return;

            _isStopping = true;
            _cts?.Cancel();
            
            // 等待同步任务结束
            try
            {
                if (_syncTask != null && !_syncTask.IsCompleted)
                {
                    _syncTask.Wait(2000); // 最多等待 2 秒
                }
            }
            catch { /* 忽略取消异常 */ }
            
            try { _tcpListener?.Stop(); } catch { }
            try { _modbusNetwork?.Dispose(); } catch { }
            
            IsRunning = false;
            _isStopping = false;
            Log("Modbus TCP 服务器已停止");
        }

        private async Task SyncLoop(CancellationToken token)
        {
            while (!token.IsCancellationRequested && !_isStopping)
            {
                // 更新心跳和设备状态（这些不涉及设备通讯，始终执行）
                UpdateHeartbeat();
                UpdateDeviceStatusRegister();
                
                // 如果轮询已暂停，跳过设备通讯操作
                // 这样可以保持设备在本地模式
                if (!_isPollingSuspended)
                {
                    try
                    {
                        // 处理写入命令（根据配置的设备目标分发到对应设备）
                        ProcessWriteCommands();
                        // 处理读取状态（根据配置的设备目标从对应设备读取）
                        ProcessReadStatus();
                    }
                    catch (Exception ex)
                    {
                        Log($"同步错误: {ex.Message}");
                    }
                }
                
                try
                {
                    await Task.Delay(200, token);
                }
                catch (TaskCanceledException)
                {
                    break;
                }
            }
        }

        /// <summary>
        /// 更新心跳寄存器 (每次调用+1，溢出后从0重新开始)
        /// PLC可以通过监测此值是否变化来判断APP是否正常运行
        /// </summary>
        private void UpdateHeartbeat()
        {
            lock (_dataStoreLock)
            {
                if (_slave == null) return;
                
                try
                {
                    _heartbeatCounter++;
                    var dataStore = _slave.DataStore;
                    dataStore.HoldingRegisters.WritePoints(_heartbeatRegisterAddress, new[] { _heartbeatCounter });
                }
                catch { }
            }
        }

        /// <summary>
        /// 更新设备状态寄存器
        /// Bit 0: APS7100 连接状态 (1=已连接, 0=未连接)
        /// Bit 1: PSW250 连接状态 (1=已连接, 0=未连接)
        /// Bit 2-15: 预留
        /// </summary>
        private void UpdateDeviceStatusRegister()
        {
            lock (_dataStoreLock)
            {
                if (_slave == null) return;
                
                try
                {
                    ushort status = 0;
                    if (_isAPS7100Connected) status |= 0x0001; // Bit 0
                    if (_isPSW250Connected) status |= 0x0002;  // Bit 1
                    
                    var dataStore = _slave.DataStore;
                    dataStore.HoldingRegisters.WritePoints(_deviceStatusRegisterAddress, new[] { status });
                }
                catch { }
            }
        }

        private void ProcessWriteCommands()
        {
            if (_mappings == null) return;
            
            // 浮点数比较的容差值（用于判断值是否变化、是否为零、是否匹配触发值）
            const double VALUE_TOLERANCE = 0.0001;
            
            var writeMappings = _mappings.Where(m => m.GetOpType() == ModbusOperationType.WriteCommand).ToList();

            // 按地址分组，先读取所有地址的当前值
            var addressGroups = writeMappings.GroupBy(m => m.Address);
            
            foreach (var group in addressGroups)
            {
                if (_isStopping) return;
                
                int address = group.Key;
                string currentValueStr = ReadFromDataStore(group.First());
                
                double currentValue = 0;
                try 
                {
                    currentValue = double.Parse(currentValueStr);
                }
                catch { continue; }
                
                // 检测该地址的值是否变化（使用数值比较，避免字符串格式不一致问题）
                bool addressValueChanged = false;
                
                if (!_lastWriteValues.ContainsKey(address))
                {
                    _lastWriteValues[address] = currentValue;
                    // 首次运行也检测触发（如果当前值正好等于某个触发值）
                    addressValueChanged = true;
                }
                else if (Math.Abs(_lastWriteValues[address] - currentValue) > VALUE_TOLERANCE)
                {
                    // 数值变化超过容差，认为值变化了
                    addressValueChanged = true;
                    _lastWriteValues[address] = currentValue;
                }
                
                if (!addressValueChanged) continue;
                
                // 值变化了，检查该地址下的所有配置，找到匹配的触发值
                // 特殊处理：当值变为0时，将所有配置了确认地址的映射的确认地址也设置为0（复位）
                if (Math.Abs(currentValue) < VALUE_TOLERANCE)
                {
                    foreach (var map in group)
                    {
                        if (map.ResponseAddress.HasValue && map.ResponseAddress.Value > 0)
                        {
                            WriteResponseValue(map, 0);
                            Log($"[复位] 地址:{address} 值为0 -> 确认地址:{map.ResponseAddress.Value} <- 0");
                        }
                    }
                    continue; // 值为0时不执行任何命令，仅复位确认地址
                }
                
                foreach (var map in group)
                {
                    if (_isStopping) return;
                    
                    // 根据配置的设备目标获取对应的控制器
                    var controller = GetController(map.DeviceTarget);
                    bool isSimulation = (controller == null && SimulationMode);
                    
                    // 非仿真模式下，设备未连接则跳过
                    if (controller == null && !SimulationMode) continue;
                    
                    // 检查 TriggerValue 是否匹配
                    if (map.TriggerValue.HasValue)
                    {
                        // 触发模式：只有当前值等于触发值时才执行
                        if (Math.Abs(currentValue - map.TriggerValue.Value) > VALUE_TOLERANCE)
                        {
                            continue; // 不匹配，跳过
                        }
                    }
                    // 没有 TriggerValue 的是数值同步模式，任何变化都执行
                    
                    try
                    {
                        string cmd;
                        if (map.TriggerValue.HasValue)
                        {
                            // Trigger 模式
                            if (!map.ScpiCommand.Contains("{0}"))
                            {
                                cmd = map.ScpiCommand;
                            }
                            else
                            {
                                // 命令包含 {0}，需要从数据地址读取值
                                double commandValue;
                                if (map.DataAddress.HasValue && map.DataAddress.Value > 0)
                                {
                                    var dataAddressType = map.GetDataAddressType();
                                    var dummyMap = new ModbusRegisterMapping 
                                    { 
                                        Address = map.DataAddress.Value,
                                        DataType = dataAddressType.ToString(),
                                    };
                                    string dataValStr = ReadFromDataStore(dummyMap);
                                    if (double.TryParse(dataValStr, out double dVal))
                                    {
                                        commandValue = dVal;
                                    }
                                    else
                                    {
                                        commandValue = 0;
                                    }
                                }
                                else
                                {
                                    commandValue = currentValue;
                                }

                                double physicalValue = commandValue * map.ScaleFactor;
                                cmd = string.Format(CultureInfo.InvariantCulture, map.ScpiCommand, physicalValue);
                            }
                        }
                        else
                        {
                            // 数值同步模式
                            double physicalValue = currentValue * map.ScaleFactor;
                            cmd = string.Format(CultureInfo.InvariantCulture, map.ScpiCommand, physicalValue);
                        }
                        
                        // 仿真模式：只记录命令，不实际发送
                        if (isSimulation)
                        {
                            RecordRequest();
                            Log($"[仿真->{map.DeviceTarget}] 地址:{map.Address} 触发值:{map.TriggerValue?.ToString() ?? "无"} 当前值:{currentValue} -> 命令:{cmd}");
                            
                            // 写入确认值（仿真模式也写入，方便测试）
                            WriteResponseValue(map, (short)currentValue);
                        }
                        else
                        {
                            RecordRequest();
                            controller.SendCustomCommand(cmd);
                            Log($"[Modbus->{map.DeviceTarget}] 地址:{map.Address} 触发值:{map.TriggerValue?.ToString() ?? "无"} 当前值:{currentValue} -> 发送:{cmd}");
                            
                            // 执行成功，写入确认值（触发值）
                            WriteResponseValue(map, (short)currentValue);
                        }
                    }
                    catch (Exception ex)
                    {
                        Log($"执行命令失败 (Addr {map.Address}, {map.DeviceTarget}): {ex.Message}");
                        
                        // 执行失败，写入 -1
                        WriteResponseValue(map, -1);
                    }
                }
            }
        }

        private void ProcessReadStatus()
        {
            if (_mappings == null) return;
            var readMappings = _mappings.Where(m => m.GetOpType() == ModbusOperationType.ReadStatus);

            foreach (var map in readMappings)
            {
                // 检查是否正在停止
                if (_isStopping) return;
                
                // 根据配置的设备目标获取对应的控制器
                var controller = GetController(map.DeviceTarget);
                if (controller == null) continue; // 对应设备未连接，跳过

                try
                {
                    string response = controller.SendCustomQuery(map.ScpiCommand);
                    if (double.TryParse(response, out double val))
                    {
                        double regValueDouble = val / map.ScaleFactor;
                        WriteToDataStore(map, regValueDouble);
                    }
                }
                catch
                {
                    // 忽略读取错误
                }
            }
        }

        private string ReadFromDataStore(ModbusRegisterMapping map)
        {
            lock (_dataStoreLock)
            {
                if (_slave == null) return "0";
                
                try
                {
                    var dataStore = _slave.DataStore;
                    ushort[] registers;
                    
                    if (map.GetDataType() == ModbusDataType.Float)
                    {
                        registers = dataStore.HoldingRegisters.ReadPoints((ushort)map.Address, 2);
                        float f = GetFloatFromRegisters(registers);
                        return f.ToString();
                    }
                    else
                    {
                        registers = dataStore.HoldingRegisters.ReadPoints((ushort)map.Address, 1);
                        if (map.GetDataType() == ModbusDataType.Int16)
                            return ((short)registers[0]).ToString();
                        else
                            return registers[0].ToString();
                    }
                }
                catch (Exception)
                {
                    return "0";
                }
            }
        }

        private void WriteToDataStore(ModbusRegisterMapping map, double value)
        {
            lock (_dataStoreLock)
            {
                if (_slave == null) return;
                
                try
                {
                    var dataStore = _slave.DataStore;
                    var collection = map.GetRegType() == ModbusRegisterType.Input 
                        ? dataStore.InputRegisters 
                        : dataStore.HoldingRegisters;

                    if (map.GetDataType() == ModbusDataType.Float)
                    {
                        ushort[] regs = GetRegistersFromFloat((float)value);
                        collection.WritePoints((ushort)map.Address, regs);
                    }
                    else
                    {
                        ushort val;
                        if (map.GetDataType() == ModbusDataType.Int16)
                            val = (ushort)((short)value);
                        else
                            val = (ushort)value;
                        
                        collection.WritePoints((ushort)map.Address, new[] { val });
                    }
                }
                catch (Exception)
                {
                    // 忽略写入错误
                }
            }
        }

        /// <summary>
        /// 写入命令执行确认值（只写一次）
        /// 成功：写入触发值；失败：写入 -1
        /// </summary>
        private void WriteResponseValue(ModbusRegisterMapping map, short value)
        {
            if (!map.ResponseAddress.HasValue || map.ResponseAddress.Value <= 0)
                return; // 未配置确认地址，跳过
            
            lock (_dataStoreLock)
            {
                if (_slave == null) return;
                
                try
                {
                    var dataStore = _slave.DataStore;
                    dataStore.HoldingRegisters.WritePoints((ushort)map.ResponseAddress.Value, new[] { (ushort)value });
                    
                    if (value >= 0)
                        Log($"[确认] 地址:{map.ResponseAddress.Value} <- {value} (成功)");
                    else
                        Log($"[确认] 地址:{map.ResponseAddress.Value} <- {value} (失败)");
                }
                catch (Exception ex)
                {
                    Log($"写入确认值失败: {ex.Message}");
                }
            }
        }

        private float GetFloatFromRegisters(ushort[] regs)
        {
            if (regs.Length < 2) return 0;
            byte[] bytes = new byte[4];
            // 假设 AB CD 顺序
            byte[] high = BitConverter.GetBytes(regs[0]); // AB ? No, Modbus register is 16-bit
            // 通常 Modbus Float:
            // Reg1: High Word, Reg2: Low Word (Big Endian Modbus)
            // 或者 Reg1: Low Word, Reg2: High Word (Little Endian Modbus)
            // 这是一个常见的坑。这里我们使用最简单的 Little Endian Words 组合
            
            Buffer.BlockCopy(regs, 0, bytes, 0, 4);
            return BitConverter.ToSingle(bytes, 0);
        }

        private ushort[] GetRegistersFromFloat(float value)
        {
            byte[] bytes = BitConverter.GetBytes(value);
            ushort[] regs = new ushort[2];
            Buffer.BlockCopy(bytes, 0, regs, 0, 4);
            return regs;
        }

        private void Log(string msg)
        {
            OnLog?.Invoke($"[Modbus] {msg}");
        }

        #region 公共读取寄存器方法

        /// <summary>
        /// 读取指定地址的 Holding 寄存器值（单个 UInt16）
        /// </summary>
        public ushort? ReadHoldingRegister(ushort address)
        {
            lock (_dataStoreLock)
            {
                if (_slave == null) return null;
                try
                {
                    var registers = _slave.DataStore.HoldingRegisters.ReadPoints(address, 1);
                    return registers[0];
                }
                catch { return null; }
            }
        }

        /// <summary>
        /// 读取指定地址的多个 Holding 寄存器值
        /// </summary>
        public ushort[] ReadHoldingRegisters(ushort startAddress, ushort count)
        {
            lock (_dataStoreLock)
            {
                if (_slave == null) return null;
                try
                {
                    return _slave.DataStore.HoldingRegisters.ReadPoints(startAddress, count);
                }
                catch { return null; }
            }
        }

        /// <summary>
        /// 读取指定地址的 Float 值（占用 2 个寄存器）
        /// </summary>
        public float? ReadHoldingFloat(ushort address)
        {
            lock (_dataStoreLock)
            {
                if (_slave == null) return null;
                try
                {
                    var registers = _slave.DataStore.HoldingRegisters.ReadPoints(address, 2);
                    return GetFloatFromRegisters(registers);
                }
                catch { return null; }
            }
        }

        /// <summary>
        /// 获取当前配置的映射列表
        /// </summary>
        public List<ModbusRegisterMapping> GetMappings()
        {
            return _mappings ?? new List<ModbusRegisterMapping>();
        }

        /// <summary>
        /// 读取所有配置的寄存器值，返回地址和值的字典
        /// </summary>
        public Dictionary<int, (string RawValue, string Description, string DataType)> ReadAllConfiguredRegisters()
        {
            var result = new Dictionary<int, (string RawValue, string Description, string DataType)>();
            
            if (_mappings == null || _slave == null) return result;

            lock (_dataStoreLock)
            {
                foreach (var map in _mappings)
                {
                    try
                    {
                        string value = "";
                        if (map.GetDataType() == ModbusDataType.Float)
                        {
                            var registers = _slave.DataStore.HoldingRegisters.ReadPoints((ushort)map.Address, 2);
                            float f = GetFloatFromRegisters(registers);
                            value = f.ToString("F4");
                        }
                        else
                        {
                            var registers = _slave.DataStore.HoldingRegisters.ReadPoints((ushort)map.Address, 1);
                            if (map.GetDataType() == ModbusDataType.Int16)
                                value = ((short)registers[0]).ToString();
                            else
                                value = registers[0].ToString();
                        }
                        
                        result[map.Address] = (value, map.Description ?? "", map.DataType ?? "Int16");
                    }
                    catch
                    {
                        result[map.Address] = ("读取失败", map.Description ?? "", map.DataType ?? "Int16");
                    }
                }
            }
            
            return result;
        }

        #endregion

        public void Dispose()
        {
            Stop();
        }
    }
}