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Updated to .Net8.0, updated to latest NuGets, replaced Rockwell libra…
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…ry for one that can read all tag info from the PLC and updated the sample WoT file.
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@barnstee
barnstee committed Oct 2, 2024
1 parent 063a454 commit b944f38
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Showing 7 changed files with 331 additions and 35 deletions.
4 changes: 2 additions & 2 deletions Dockerfile
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@@ -1,10 +1,10 @@
#See https://aka.ms/containerfastmode to understand how Visual Studio uses this Dockerfile to build your images for faster debugging.

FROM mcr.microsoft.com/dotnet/aspnet:6.0 AS base
FROM mcr.microsoft.com/dotnet/aspnet:8.0 AS base
WORKDIR /app
EXPOSE 4840

FROM mcr.microsoft.com/dotnet/sdk:6.0 AS build
FROM mcr.microsoft.com/dotnet/sdk:8.0 AS build
WORKDIR /src
COPY ["UAEdgeTranslator.csproj", "."]
RUN dotnet restore "./UAEdgeTranslator.csproj"
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2 changes: 1 addition & 1 deletion Program.cs
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Expand Up @@ -67,7 +67,7 @@ private static void OPCUAClientCertificateValidationCallback(CertificateValidato
{
// check if we have a trusted issuer cert yet
bool provisioningMode = (Directory.EnumerateFiles(Path.Combine(Directory.GetCurrentDirectory(), "pki", "issuer", "certs")).Count() == 0);

// we allow conections in provisoning mode, but limit access to the server
if ((e.Error.StatusCode == StatusCodes.BadCertificateUntrusted) && provisioningMode)
{
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330 changes: 313 additions & 17 deletions RockwellClient.cs
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@@ -1,15 +1,56 @@

namespace Opc.Ua.Edge.Translator
{
using libplctag;
using Opc.Ua.Edge.Translator.Interfaces;
using Serilog;
using Sres.Net.EEIP;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

public class RockwellClient : IAsset
{
private EEIPClient _eeipClient = null;
class TagInfo
{
public uint Id { get; set; }

public ushort Type { get; set; }

public string Name { get; set; }

public ushort Length { get; set; }

public uint[] Dimensions { get; set; }
}

class UdtFieldInfo
{
public string Name { get; set; }

public ushort Type { get; set; }

public ushort Metadata { get; set; }

public uint Offset { get; set; }
}

class UdtInfo
{
public uint Size { get; set; }

public string Name { get; set; }

public ushort Id { get; set; }

public ushort NumFields { get; set; }

public ushort Handle { get; set; }

public UdtFieldInfo[] Fields { get; set; }
}

private string _endpoint = string.Empty;

public void Connect(string ipAddress, int port)
Expand All @@ -18,26 +59,233 @@ public void Connect(string ipAddress, int port)
{
_endpoint = ipAddress;

_eeipClient = new EEIPClient();
_eeipClient.IPAddress = _endpoint;
Tag tags = new()
{
Gateway = ipAddress,
Path = "1,0",
PlcType = PlcType.ControlLogix,
Protocol = Protocol.ab_eip,
Name = "@tags",
Timeout = TimeSpan.FromSeconds(10),
};

uint result = _eeipClient.RegisterSession();
tags.Read();

Log.Logger.Information("Connected to Rockwell PLC: " + result.ToString());
Log.Logger.Information("Connected to Rockwell ControlLogix PLC at " + ipAddress);

TagInfo[] tagInfos = DecodeAllTags(tags);
foreach (TagInfo tag in tagInfos)
{
if (!IsTag(tag))
{
// not interested in anything that is not a tag
continue;
}

if (TagIsUdt(tag))
{
int udtTypeId = GetUdtId(tag);

Tag udtTag = new()
{
Gateway = ipAddress,
Path = "1,0",
PlcType = PlcType.ControlLogix,
Protocol = Protocol.ab_eip,
Name = $"@udt/{udtTypeId}",
};

udtTag.Read();

UdtInfo udt = DecodeUdtInfo(udtTag);
foreach (UdtFieldInfo f in udt.Fields)
{
Log.Logger.Information($"EIP Tag: Id={tag.Name} Name={udt.Name} FieldName={f.Name} Offset={f.Offset} Metadata={f.Metadata} Type=" + ParseDataType(f.Type));
}
}
else
{
Log.Logger.Information($"EIP Tag: Id={tag.Name} Type=" + ParseDataType(tag.Type));
}
}
}
catch (Exception ex)
{
Log.Logger.Error(ex.Message, ex);
}
}

public void Disconnect()
private string ParseDataType(ushort eipDataTypeId)
{
// Data Type: Tag Type Value: Size of Transmitted Data:
// BOOL 0x0nC1 1 byte
// The BOOL value includes an additional field (n) for specifying the bit position within the SINT (n = 0 - 7).
if ((eipDataTypeId & 0xC1) == 0xC1)
{
return "BOOL";
}

switch (eipDataTypeId)
{
case 0xC2: return "SINT";
case 0xC3: return "INT";
case 0xC4: return "DINT";
case 0xC5: return "LINT";
case 0xC6: return "USINT";
case 0xC7: return "UINT";
case 0xC8: return "UDINT";
case 0xC9: return "ULINT";
case 0xCA: return "REAL";
case 0xCB: return "LREAL";
default: return eipDataTypeId.ToString();
}
}

private TagInfo DecodeOneTagInfo(Tag tag, int offset, out int elementSize)
{

var tagInstanceId = tag.GetUInt32(offset);
var tagType = tag.GetUInt16(offset + 4);
var tagLength = tag.GetUInt16(offset + 6);
var tagArrayDims = new uint[]
{
tag.GetUInt32(offset + 8),
tag.GetUInt32(offset + 12),
tag.GetUInt32(offset + 16)
};

var apparentTagNameLength = (int)tag.GetUInt16(offset + 20);
var actualTagNameLength = Math.Min(apparentTagNameLength, 200 * 2 - 1);

var tagNameBytes = Enumerable.Range(offset + 22, actualTagNameLength)
.Select(o => tag.GetUInt8(o))
.Select(Convert.ToByte)
.ToArray();

var tagName = Encoding.ASCII.GetString(tagNameBytes);

elementSize = 22 + actualTagNameLength;

return new TagInfo()
{
Id = tagInstanceId,
Type = tagType,
Name = tagName,
Length = tagLength,
Dimensions = tagArrayDims
};

}

private TagInfo[] DecodeAllTags(Tag tag)
{
var buffer = new List<TagInfo>();

var tagSize = tag.GetSize();

int offset = 0;
while (offset < tagSize)
{
buffer.Add(DecodeOneTagInfo(tag, offset, out int elementSize));
offset += elementSize;
}

return buffer.ToArray();
}

private UdtInfo DecodeUdtInfo(Tag tag)
{
if (_eeipClient != null)

var template_id = tag.GetUInt16(0);
var member_desc_size = tag.GetUInt32(2);
var udt_instance_size = tag.GetUInt32(6);
var num_members = tag.GetUInt16(10);
var struct_handle = tag.GetUInt16(12);

var udtInfo = new UdtInfo()
{
Fields = new UdtFieldInfo[num_members],
NumFields = num_members,
Handle = struct_handle,
Id = template_id,
Size = udt_instance_size
};

var offset = 14;

for (int field_index = 0; field_index < num_members; field_index++)
{
_eeipClient.UnRegisterSession();
_eeipClient = null;
ushort field_metadata = tag.GetUInt16(offset);
offset += 2;

ushort field_element_type = tag.GetUInt16(offset);
offset += 2;

ushort field_offset = tag.GetUInt16(offset);
offset += 4;

var field = new UdtFieldInfo()
{
Offset = field_offset,
Metadata = field_metadata,
Type = field_element_type,
};

udtInfo.Fields[field_index] = field;
}

var name_str = tag.GetString(offset).Split(';')[0];
udtInfo.Name = name_str;

offset += tag.GetStringTotalLength(offset);

for (int field_index = 0; field_index < num_members; field_index++)
{
udtInfo.Fields[field_index].Name = tag.GetString(offset);
offset += tag.GetStringTotalLength(offset);
}

return udtInfo;

}

private bool TagIsUdt(TagInfo tag)
{
const ushort TYPE_IS_STRUCT = 0x8000;
const ushort TYPE_IS_SYSTEM = 0x1000;

return ((tag.Type & TYPE_IS_STRUCT) != 0) && !((tag.Type & TYPE_IS_SYSTEM) != 0);
}

private int GetUdtId(TagInfo tag)
{
const ushort TYPE_UDT_ID_MASK = 0x0FFF;
return tag.Type & TYPE_UDT_ID_MASK;
}

private bool IsTag(TagInfo tag)
{
if (tag.Name.StartsWith("Program:"))
{
return false;
}

if (tag.Name.StartsWith("Task:"))
{
return false;
}

if (tag.Name.StartsWith("Map:"))
{
return false;
}

return true;
}

public void Disconnect()
{
// nothing to do
}

public string GetRemoteEndpoint()
Expand All @@ -47,17 +295,65 @@ public string GetRemoteEndpoint()

public Task<byte[]> Read(string addressWithinAsset, byte unitID, string function, ushort count)
{
// the generic input is mapped to Ethernet/IP parameters like so:
// address -> Ethernet/IP class ID
// unitID -> Ethernet/IP instance ID
// function -> Ethernet/IP attribute ID
byte[] result = _eeipClient.GetAttributeSingle(int.Parse(addressWithinAsset), unitID, int.Parse(function));
return Task.FromResult(result);
var tag = new Tag()
{
Name = addressWithinAsset,
Gateway = _endpoint,
Path = "1,0",
PlcType = PlcType.ControlLogix,
Protocol = Protocol.ab_eip
};

tag.Read();

switch (unitID)
{
case 0xC1: return Task.FromResult(BitConverter.GetBytes(tag.GetBit(count)));
case 0xC2: return Task.FromResult(new byte[] { (byte) tag.GetInt8(count) } );
case 0xC3: return Task.FromResult(BitConverter.GetBytes(tag.GetInt16(count)));
case 0xC4: return Task.FromResult(BitConverter.GetBytes(tag.GetInt32(count)));
case 0xC5: return Task.FromResult(BitConverter.GetBytes(tag.GetInt64(count)));
case 0xC6: return Task.FromResult(new byte[] { tag.GetUInt8(count) } );
case 0xC7: return Task.FromResult(BitConverter.GetBytes(tag.GetUInt16(count)));
case 0xC8: return Task.FromResult(BitConverter.GetBytes(tag.GetUInt32(count)));
case 0xC9: return Task.FromResult(BitConverter.GetBytes(tag.GetUInt64(count)));
case 0xCA: return Task.FromResult(BitConverter.GetBytes(tag.GetFloat32(count)));
case 0xCB: return Task.FromResult(BitConverter.GetBytes(tag.GetFloat64(count)));
default: return Task.FromResult((byte[]) null);
}
}

public Task Write(string addressWithinAsset, byte unitID, byte[] values, bool singleBitOnly)
{
_eeipClient.SetAttributeSingle(int.Parse(addressWithinAsset), unitID, 1, values);
var tag = new Tag()
{
Name = addressWithinAsset,
Gateway = _endpoint,
Path = "1,0",
PlcType = PlcType.ControlLogix,
Protocol = Protocol.ab_eip
};

tag.Read();

int offset = 0; // TODO: Allow offsets greater than 0!

switch (unitID)
{
case 0xC1: tag.SetBit(offset, BitConverter.ToBoolean(values)); break;
case 0xC2: tag.SetInt8(offset, (sbyte) BitConverter.ToChar(values)); break;
case 0xC3: tag.SetInt16(offset, BitConverter.ToInt16(values)); break;
case 0xC4: tag.SetInt32(offset, BitConverter.ToInt32(values)); break;
case 0xC5: tag.SetInt64(offset, BitConverter.ToInt64(values)); break;
case 0xC6: tag.SetUInt8(offset, values[0]); break;
case 0xC7: tag.SetUInt16(offset, BitConverter.ToUInt16(values)); break;
case 0xC8: tag.SetUInt32(offset, BitConverter.ToUInt32(values)); break;
case 0xC9: tag.SetUInt64(offset, BitConverter.ToUInt64(values)); break;
case 0xCA: tag.SetFloat32(offset, BitConverter.ToSingle(values)); break;
case 0xCB: tag.SetFloat64(offset, BitConverter.ToDouble(values)); break;
default: break;
}

return Task.CompletedTask;
}
}
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