Display_D_HP/TeamAAS-VM/Core/PLCs/OPCuaClientPLC.cs

using Opc.Ua;
using Opc.Ua.Client;
using OpcUaHelper;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;

namespace TeamAAS_VP.Core.PLCs
{
    public class OpcUaClientPLC : IPlc
    {
        public Guid Id{ get; private set; }

        public CommunicationType CommunicationType { get; private set; }

        public string EndpointUrl { get; private set; }

        public int Index { get; set; } 

        public string Name { get; private set; }

        public OpcUaClient OpcUaClient { get; private set; }

        public bool IsConnected { get { return OpcUaClient.Connected; } }

        /// <summary>
        /// 节点头
        /// </summary>
        public string NodeHeader { get; private set; }

        public event Action<object, bool> ConnectChangedEvent;

        public OpcUaClientPLC(Guid id,int index, string name, string endpointUrl,string nodeHeader, CommunicationType communicationType)
        {
            Id = id;
            Index = index;
            Name = name;
            EndpointUrl = endpointUrl;
            NodeHeader = nodeHeader;
            CommunicationType = communicationType;
            OpcUaClient = new OpcUaClient();
            // 初始化PLC连接
            OpcUaClient.UserIdentity = new UserIdentity(new AnonymousIdentityToken());
            // connect to server, this is a sample
            try
            {
                OpcUaClient.ConnectComplete += OpcUaClient_ConnectComplete;
                OpcUaClient.ReconnectStarting += OpcUaClient_ReconnectStarting;
                OpcUaClient.ReconnectComplete += OpcUaClient_ReconnectComplete;
                OpcUaClient.OpcStatusChange += OpcUaClient_OpcStatusChange;
            }
            catch (Exception)
            {
                return;
            }
        }

        public OpcUaClientPLC(PlcInfo plcInfo)
        {
            Id = plcInfo.Id;
            Index=plcInfo.Index;
            Name = plcInfo.Name;
            EndpointUrl = plcInfo.EndpointUrl;
            CommunicationType = plcInfo.CommunicationType;
            OpcUaClient = new OpcUaClient();
            // 初始化PLC连接
            OpcUaClient.UserIdentity = new UserIdentity(new AnonymousIdentityToken());
            // connect to server, this is a sample
            try
            {
                OpcUaClient.ConnectComplete += OpcUaClient_ConnectComplete;
                OpcUaClient.ReconnectStarting += OpcUaClient_ReconnectStarting;
                OpcUaClient.ReconnectComplete += OpcUaClient_ReconnectComplete;
                OpcUaClient.OpcStatusChange += OpcUaClient_OpcStatusChange;
            }
            catch (Exception)
            {
                return;
            }
        }

        public void Connect()
        {
            OpcUaClient.ConnectServer(EndpointUrl);
        }

        public Task ConnectAsync()
        {
            return OpcUaClient.ConnectServer(EndpointUrl);
        }

        public void Disconnect()
        {
            OpcUaClient.Disconnect();
        }

        public void Dispose()
        {
            OpcUaClient.Disconnect();
            OpcUaClient.ConnectComplete -= OpcUaClient_ConnectComplete;
            OpcUaClient.ReconnectStarting -= OpcUaClient_ReconnectStarting;
            OpcUaClient.ReconnectComplete -= OpcUaClient_ReconnectComplete;
            OpcUaClient.OpcStatusChange -= OpcUaClient_OpcStatusChange;
        }

        /// <summary>
        /// 读取多个节点的值
        /// </summary>
        /// <param name="nodeIds"></param>
        /// <returns></returns>
        public Dictionary<string, object> ReadNodes(string[] nodeIds)
        {
            var result = new Dictionary<string, object>();
            var readNodeIds = nodeIds.Select(s =>
            {
                if (s.StartsWith(NodeHeader))
                {
                    return s;
                }
                else
                {
                    return NodeHeader + s;
                }
            }).ToArray();
            List<NodeId> readNodeIdList = new List<NodeId>();
            foreach (var readNodeId in readNodeIds)
            {
                readNodeIdList.Add(new NodeId(readNodeId));
            }
            var values = OpcUaClient.ReadNodes(readNodeIdList.ToArray());
            for (int i = 0; i < nodeIds.Length; i++)
            {
                result[nodeIds[i]] = values[i].Value;
            }
            return result;
        }

        /// <summary>
        /// 异步读取多个节点的值
        /// </summary>
        /// <param name="nodeIds"></param>
        /// <returns></returns>
        public async Task<Dictionary<string, object>> ReadNodesAsync(string[] nodeIds)
        {
            var result = new Dictionary<string, object>();
            var readNodeIds = nodeIds.Select(s =>
            {
                if (s.StartsWith(NodeHeader))
                {
                    return s;
                }
                else
                {
                    return NodeHeader + s;
                }
            }).ToArray();
            List<NodeId> readNodeIdList = new List<NodeId>();
            foreach (var readNodeId in readNodeIds)
            {
                readNodeIdList.Add(new NodeId(readNodeId));
            }
            var values = await OpcUaClient.ReadNodesAsync(readNodeIdList.ToArray());
            for (int i = 0; i < nodeIds.Length; i++)
            {
                result[nodeIds[i]] = values[i].Value;
            }
            return result;
        }

        /// <summary>
        /// 读取单个节点的值
        /// </summary>
        /// <param name="nodeId"></param>
        /// <returns></returns>
        public object ReadNode(string nodeId)
        {
            string readNodeId = nodeId;
            if (!nodeId.StartsWith(NodeHeader))
            {
                readNodeId = NodeHeader + nodeId;
            }

            var value = OpcUaClient.ReadNode(new NodeId(readNodeId));
            return value.Value;
        }

        /// <summary>
        /// 异步读取单个节点的值
        /// </summary>
        /// <param name="nodeId"></param>
        /// <returns></returns>
        public Task<object> ReadNodeAsync(string nodeId)
        {
            return Task.Run(() =>
            {
                return ReadNode(nodeId);
            });
        }

        /// <summary>
        /// 读取单个节点的值
        /// </summary>
        /// <typeparam name="T"></typeparam>
        /// <param name="nodeId"></param>
        /// <returns></returns>
        public T ReadNode<T>(string nodeId)
        {
            string readNodeId = nodeId;
            if (!nodeId.StartsWith(NodeHeader))
            {
                readNodeId = NodeHeader + nodeId;
            }
            return OpcUaClient.ReadNode<T>(NodeHeader + nodeId);
        }

        /// <summary>
        /// 异步读取单个节点的值
        /// </summary>
        /// <typeparam name="T"></typeparam>
        /// <param name="nodeId"></param>
        /// <returns></returns>
        public async Task<T> ReadNodeAsync<T>(string nodeId)
        {
            string readNodeId = nodeId;
            if (!nodeId.StartsWith(NodeHeader))
            {
                readNodeId = NodeHeader + nodeId;
            }
            return await OpcUaClient.ReadNodeAsync<T>(NodeHeader + nodeId);
        }

        /// <summary>
        /// 写入单个节点的值
        /// </summary>
        /// <typeparam name="T"></typeparam>
        /// <param name="nodeId"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        public bool WriteNode<T>(string nodeId, T value)
        {
            string writeNodeId = nodeId;
            if (!nodeId.StartsWith(NodeHeader))
            {
                writeNodeId = NodeHeader + nodeId;
            }
            return OpcUaClient.WriteNode<T>(writeNodeId, value);
        }

        /// <summary>
        /// 异步写入单个节点的值
        /// </summary>
        /// <typeparam name="T"></typeparam>
        /// <param name="nodeId"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        public async Task<bool> WriteNodeAsync<T>(string nodeId, T value)
        {
            string writeNodeId = nodeId;
            if (!nodeId.StartsWith(NodeHeader))
            {
                writeNodeId = NodeHeader + nodeId;
            }
            return await OpcUaClient.WriteNodeAsync<T>(writeNodeId, value);
        }

        /// <summary>
        /// 写入多个节点
        /// </summary>
        /// <param name="nodeValues"></param>
        /// <returns></returns>
        public bool WriteNodes(Dictionary<string, object> nodeValues)
        {
            var writeNodeValues = new Dictionary<string, object>();
            foreach (var kvp in nodeValues)
            {
                string writeNodeId = kvp.Key;
                if (!kvp.Key.StartsWith(NodeHeader))
                {
                    writeNodeId = NodeHeader + kvp.Key;
                }
                writeNodeValues[writeNodeId] = kvp.Value;
            }
            return OpcUaClient.WriteNodes(writeNodeValues.Keys.ToArray(), writeNodeValues.Values.ToArray());
        }

        /// <summary>
        /// 写入多个节点异步
        /// </summary>
        /// <param name="nodeValues"></param>
        /// <returns></returns>
        public Task<bool> WriteNodesAsync(Dictionary<string, object> nodeValues)
        {
            return Task.Run(() =>
            {
                return WriteNodes(nodeValues);
            });
        }

        /// <summary>
        /// 订阅多个节点
        /// </summary>
        /// <param name="key"></param>
        /// <param name="nodeIds"></param>
        /// <param name="dataChangeHandler"></param>
        public void SubscribeNodes(string key, List<string> nodeIds, Action<(string key,string nodeId,object value)> dataChangeHandler)
        {
            OpcUaClient.AddSubscription("InputOutput", nodeIds.Select(s =>
            {
                if (s.StartsWith(NodeHeader))
                {
                    return s;
                }
                else
                {
                    return NodeHeader + s;
                }
            }).ToArray(), (key1, monitoredItem, args) =>
            {
                MonitoredItemNotification notification = args.NotificationValue as MonitoredItemNotification;
                if (notification == null)
                {
                    return;
                }
                string nodeId = monitoredItem.StartNodeId.ToString();
                if (nodeId.StartsWith(NodeHeader))
                {
                    nodeId= nodeId.Substring(NodeHeader.Length);
                }
                // 触发数据变化事件
                dataChangeHandler?.Invoke((key, nodeId, notification.Value.WrappedValue.Value));
            });
        }
        #region OPC事件
        private void OpcUaClient_OpcStatusChange(object sender, OpcUaStatusEventArgs e)
        {
            //LogHelper.WriteLogInfo($"OPC状态发生改变：Error：{e.Error},Time：{e.Time},Text：{e.Text}");
        }

        private void OpcUaClient_ReconnectComplete(object sender, EventArgs e)
        {
            ConnectChangedEvent?.Invoke(this, OpcUaClient.Connected);
        }

        private void OpcUaClient_ReconnectStarting(object sender, EventArgs e)
        {
            ConnectChangedEvent?.Invoke(this, OpcUaClient.Connected);
        }

        private void OpcUaClient_ConnectComplete(object sender, EventArgs e)
        {
            ConnectChangedEvent?.Invoke(this, OpcUaClient.Connected);
        }
        #endregion
    }
}