本项目提供了一个完整的Omron FINS TCP协议实现，用于与Omron PLC进行通信。驱动采用分层架构设计，具有良好的可扩展性、可维护性和可测试性。
This project provides a complete Omron FINS TCP protocol implementation for communicating with Omron PLCs. The driver features a layered architecture design with excellent extensibility, maintainability, and testability.
- ✅ FINS TCP协议帧编解码 (FINS TCP frame encoding/decoding)
- ✅ TCP连接管理与自动重连 (TCP connection management with auto-reconnection)
- ✅ 心跳检测机制 (Heartbeat monitoring)
- ✅ 批量点位优化调度 (Batch point optimization)
- ✅ 支持多种数据类型 (Multiple data types support)
- ✅ 支持多种内存区域 (Multiple memory areas support)
- ✅ 分级错误处理 (Hierarchical error handling)
- ✅ 线程安全设计 (Thread-safe design)
- ✅ Mock PLC服务器用于测试 (Mock PLC server for testing)
| 区域 / Area | 描述 / Description | 读写权限 / Read/Write |
|---|---|---|
| CIO | Input/Output relays | Read/Write |
| W | Work relays | Read/Write |
| H | Holding relays | Read/Write |
| A | Auxiliary relays | Read-only |
| D | Data Memory | Read/Write |
| P | PVs | Read/Write |
| F | Flag area | Read-only |
| EM0-EM15 | Extended Memory | Read/Write |
| T/C | Timer/Counter | Read/Write |
| 数据类型 / Type | 说明 / Description | 字节数 / Size |
|---|---|---|
| BIT | Single bit | 1 bit |
| UINT8 | Unsigned 8-bit integer | 1 byte |
| INT8 | Signed 8-bit integer | 1 byte |
| UINT16 | Unsigned 16-bit integer | 2 bytes |
| INT16 | Signed 16-bit integer | 2 bytes |
| UINT32 | Unsigned 32-bit integer | 4 bytes |
| INT32 | Signed 32-bit integer | 4 bytes |
| UINT64 | Unsigned 64-bit integer | 8 bytes |
| INT64 | Signed 64-bit integer | 8 bytes |
| FLOAT | 32-bit floating point | 4 bytes |
| DOUBLE | 64-bit floating point | 8 bytes |
| STRING | String data | configurable |
地址字符串格式: AREA ADDRESS[.BIT][.LEN[H][L]]
Address string format: AREA ADDRESS[.BIT][.LEN[H][L]]
| 示例 / Example | 说明 / Description |
|---|---|
D100 |
Data Memory area, word address 100 |
CIO0.0 |
CIO area, address 0, bit 0 |
D10.20 |
D area, address 10, string length 20 (byte order L) |
D10.20H |
D area, address 10, string length 20, byte order H |
EM10W100 |
EM10 area, word address 100 |
EM10W100.5 |
EM10 area, address 100, bit 5 |
F0 |
Flag area, bit address 0 |
go get github.com/anviod/finspackage main
import (
"context"
"fmt"
"github.com/anviod/fins"
)
func main() {
// 创建驱动 / Create driver
driver := fins.NewFinsTCPDriver()
// 配置驱动 / Configure driver
cfg := fins.DriverConfig{
Protocol: "omron-fins-tcp",
Config: map[string]interface{}{
"plcIP": "192.168.1.100",
"plcPort": 9600,
"timeout": 3000,
},
}
// 初始化驱动 / Initialize driver
if err := driver.Init(cfg); err != nil {
panic(err)
}
// 建立连接 / Connect
ctx := context.Background()
if err := driver.Connect(ctx); err != nil {
panic(err)
}
defer driver.Disconnect()
// 读取点位 / Read points
points := []fins.Point{
{ID: "temp", Address: "D100", DataType: fins.DataTypeFLOAT},
{ID: "status", Address: "CIO0.0", DataType: fins.DataTypeBIT},
}
results, err := driver.ReadPoints(ctx, points)
if err != nil {
panic(err)
}
// 输出结果 / Print results
for id, val := range results {
fmt.Printf("%s: %v (quality: %s)\n", id, val.Value, val.Quality)
}
}// 写入UINT16值
point := fins.Point{ID: "output", Address: "D200", DataType: fins.DataTypeUINT16}
err := driver.WritePoint(ctx, point, uint16(1234))
// 写入浮点值
point2 := fins.Point{ID: "setpoint", Address: "D300", DataType: fins.DataTypeFLOAT}
err = driver.WritePoint(ctx, point2, float32(25.5))
// 写入位值
point3 := fins.Point{ID: "coil", Address: "CIO100.0", DataType: fins.DataTypeBIT}
err = driver.WritePoint(ctx, point3, true)status := driver.Health()
metrics := driver.GetConnectionMetrics()
fmt.Printf("Health: %s, Connected: %v, Reconnects: %d\n",
status, metrics.Connected, metrics.TotalReconnects)| 参数 / Parameter | 类型 / Type | 默认值 / Default | 说明 / Description |
|---|---|---|---|
| plcIP | string | - | PLC IPv4地址 (required) |
| plcPort | int | 9600 | PLC端口号 |
| timeout | int | 3000 | 通信超时(毫秒) |
| maxFrameLength | int | 64 | 最大读取字数 |
| heartbeatInterval | int | 30000 | 心跳间隔(毫秒) |
| maxRetries | int | 3 | 最大重连次数 |
| retryInterval | int | 1000 | 重连基础间隔(毫秒) |
| srcNetworkAddr | int | 0 | 源网络地址 |
| srcNodeAddr | int | 1 | 源节点地址 |
| srcUnitAddr | int | 255 | 源单元地址 |
| dstNetworkAddr | int | 0 | 目标网络地址 |
| dstNodeAddr | int | 1 | 目标节点地址 |
| dstUnitAddr | int | 0 | 目标单元地址 |
fins/
├── protocol.go # 协议层 - FINS TCP帧编解码
├── transport.go # 传输层 - TCP连接管理
├── decoder.go # 解码器 - 地址解析与数据编解码
├── scheduler.go # 调度器 - 批量点位优化
├── fins.go # 驱动主模块 - Driver接口实现
├── types.go # 公共类型定义
├── mock_plc.go # Mock PLC服务器
├── doc.go # 包级文档
├── udp/ # UDP FINS协议实现(旧版)
└── *test.go # 测试文件
┌──────────────────────────────────────────────┐
│ Driver Layer │
│ (fins.go - FinsTCPDriver) │
│ 标准Driver接口，模块协调，对外API │
├──────────────────────────────────────────────┤
│ Scheduler Layer │
│ (scheduler.go - Scheduler) │
│ 批量点位分组，读写调度，统计指标 │
├──────────────────────────────────────────────┤
│ Decoder Layer │
│ (decoder.go - Decoder) │
│ 地址解析，数据类型编解码，区域映射 │
├──────────────────────────────────────────────┤
│ Transport Layer │
│ (transport.go - Transport) │
│ TCP连接管理，心跳检测，自动重连 │
├──────────────────────────────────────────────┤
│ Protocol Layer │
│ (protocol.go - 协议常量/编解码) │
│ FINS TCP帧结构，命令码，结束码 │
└──────────────────────────────────────────────┘
运行所有测试:
Run all tests:
go test -v -cover运行特定模块测试:
Run specific module tests:
go test -v -run TestTransport
go test -v -run TestDecoder
go test -v -run TestScheduler测试覆盖率: 83.8%
驱动实现了分级错误处理策略:
The driver implements hierarchical error handling:
-
连接错误 - 自动重连，指数退避策略 Connection errors - Auto-reconnection with exponential backoff
-
协议错误 - 直接返回给调用方 Protocol errors - Returned directly to caller
-
数据错误 - 标记为Bad质量 Data errors - Marked with Bad quality
-
超时错误 - 可配置超时和重试 Timeout errors - Configurable timeout with retry
获取错误描述:
Get error description:
code := fins.END_CODE_ADDR_RANGE_EXCEED
fmt.Println(fins.EndCodeText(code)) // "address range exceeded"启用调试日志:
Enable debug logging:
export FINS_DEBUG=1
go run your_program.go- Omron FINS Command Reference: W342-E1-15
- CP Series Communication: W343
- NJ/NX Series FINS: W527
MIT License
欢迎提交Issue和Pull Request！
Contributions are welcome!
Omron 和 FINS 是欧姆龙公司的商标。
Omron and FINS are trademarks of Omron Corporation.