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Assets/Plugin.meta

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Assets/Plugin/NModbus.Serial.dll.meta

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Assets/Scenes/driver.unity.meta

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Assets/Scripts.meta

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Assets/Scripts/AppStart.cs

+using System;
+using Assets.Scripts.ModBus;
+using Assets.Scripts.Serial;
+using UnityEngine;
+using UnityEngine.UI;
+
+namespace Assets.Scripts
+{
+    public class AppStart : MonoBehaviour
+    {
+        private void Awake()
+        {
+        }
+
+        private void Start()
+        {
+            var uiRoot = GameObject.Find("UIRoot").transform;
+            var uiCamera = GameObject.Find("UICamera").GetComponent<Camera>();
+            var motionControl = uiRoot.Find("MotionControl");
+
+            var mainUi = uiRoot.Find("MainUi");
+            var mainGrid = mainUi.Find("MainGrid");
+            var grid = mainGrid.Find("Grid");
+            var btnOpenSerial = grid.Find("Btn1").GetComponent<Button>();
+            btnOpenSerial.onClick.AddListener(OnBtnOpenSerial);
+            var btnCloseSerial = grid.Find("Btn2").GetComponent<Button>();
+            btnCloseSerial.onClick.AddListener(OnBtnCloseSerialClick);
+            var btnSendData = grid.Find("Btn3").GetComponent<Button>();
+            btnSendData.onClick.AddListener(OnBtnSendDataClick);
+
+            var grid2 = mainGrid.Find("Grid2");
+            var btnHoldingRegister = grid2.Find("Btn1").GetComponent<Button>();
+            btnHoldingRegister.onClick.AddListener(OnBtnHoldingRegisterClick);
+            var btnInputRegister = grid2.Find("Btn2").GetComponent<Button>();
+            btnInputRegister.onClick.AddListener(OnBtnInputRegisterClick);
+            var btnMultipleRegister = grid2.Find("Btn3").GetComponent<Button>();
+            btnMultipleRegister.onClick.AddListener(OnBtnMultipleRegisterClick);
+
+            var grid3 = mainGrid.Find("Grid3");
+            var btnSetRtuSlave = grid3.Find("Btn1").GetComponent<Button>();
+            btnSetRtuSlave.onClick.AddListener(OnBtnSetRtuSlaveClick);
+
+            SerialModel.Instance.SetSerialPort();
+            ModBusRtu.Instance.Init();
+        }
+
+        private void OnBtnOpenSerial()
+        {
+            try
+            {
+                SerialModel.Instance.Open();
+            }
+            catch (Exception e)
+            {
+                Debug.LogError("无法打开此串口，请检查是否被占用");
+                throw;
+            }
+        }
+
+        private void OnBtnCloseSerialClick()
+        {
+            SerialModel.Instance.Close();
+        }
+
+        private void OnBtnSendDataClick()
+        {
+            SerialModel.Instance.SendData("hello!");
+        }
+
+        private void OnBtnHoldingRegisterClick()
+        {
+            var registers = ModBusRtu.Instance.ModbusSerialRtuMasterReadHoldingRegisters();
+            for (int i = 0; i < registers.Length; i++)
+            {
+                Debug.Log($"index:{i},value:{registers[i]}");
+            }
+        }
+
+        private void OnBtnInputRegisterClick()
+        {
+            var registers = ModBusRtu.Instance.ModbusSerialRtuMasterReadInputRegisters();
+            for (int i = 0; i < registers.Length; i++)
+            {
+                Debug.Log($"index:{i},value:{registers[i]}");
+            }
+        }
+
+        private void OnBtnMultipleRegisterClick()
+        {
+            ModBusRtu.Instance.ModbusSerialRtuMasterWriteMultipleRegisters();
+        }
+
+        private void OnBtnSetRtuSlaveClick()
+        {
+            ModBusRtu.Instance.StartModbusSerialRtuSlave();
+        }
+
+        void OnApplicationQuit()
+        {
+            ModBusRtu.Instance.Dispose();
+        }
+    }
+}
\ No newline at end of file

Assets/Scripts/AppStart.cs.meta

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Assets/Scripts/ModBus.meta

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Assets/Scripts/ModBus/ModBusHelper.cs

+using System;
+using UnityEngine;
+using UnityEngine.UI;
+
+namespace Assets.Scripts.ModBus
+{
+    public static class ModBusHelper
+    {
+        public static byte[] Crc16(byte[] data)
+        {
+            var len = data.Length;
+            if (len <= 0) return new byte[] { 0, 0 };
+
+            ushort crc = 0xFFFF;
+            for (int i = 0; i < len; i++)
+            {
+                crc = (ushort)(crc ^ (data[i]));
+                for (int j = 0; j < 8; j++)
+                {
+                    crc = (crc & 1) != 0 ? (ushort)((crc >> 1) ^ 0xA001) : (ushort)(crc >> 1);
+                }
+            }
+
+            byte hi = (byte)((crc & 0xFF00) >> 8); //λ
+            byte lo = (byte)(crc & 0x00FF); //λ
+
+            return BitConverter.IsLittleEndian ? new byte[] { lo, hi } : new byte[] { hi, lo };
+        }
+    }
+}
\ No newline at end of file

Assets/Scripts/ModBus/ModBusHelper.cs.meta

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Assets/Scripts/ModBus/ModBusRtu.cs

+using System;
+using System.IO.Ports;
+using System.Threading;
+using System.Threading.Tasks;
+using NModbus;
+using NModbus.Serial;
+using UnityEngine;
+
+namespace Assets.Scripts.ModBus
+{
+    public class ModBusRtu
+    {
+        private static ModBusRtu m_Instance;
+        public static ModBusRtu Instance
+        {
+            get
+            {
+                if (m_Instance == null)
+                    m_Instance = new ModBusRtu();
+                return m_Instance;
+            }
+        }
+        
+        private string masterPortName = "COM2";
+        private string slavePortName = "COM3";
+        private byte slaveAddress = 0x01;
+        private ushort startAddress = 0;
+        private ushort numberOfPoints = 10;
+
+        private CancellationToken token;
+        private CancellationTokenSource cts;
+        
+        public void Init()
+        {
+            if (cts != null)
+            {
+                cts.Cancel();
+                cts = null;
+            }
+            cts = new CancellationTokenSource();
+            token = cts.Token;
+        }
+
+        public void Dispose()
+        {
+            cts.Cancel();
+        }
+        
+        public ushort[] ModbusSerialRtuMasterReadHoldingRegisters()
+        {
+            // configure serial port
+            using SerialPort masterPort = new SerialPort(masterPortName);
+            masterPort.BaudRate = 9600;
+            masterPort.DataBits = 8;
+            masterPort.Parity = Parity.None;
+            masterPort.StopBits = StopBits.One;
+            masterPort.Open();
+
+            var factory = new ModbusFactory();
+            IModbusSerialMaster master = factory.CreateRtuMaster(masterPort);
+
+            // read register
+            ushort[] registers = master.ReadHoldingRegisters(slaveAddress, startAddress, numberOfPoints);
+            return registers;
+        }
+
+        public ushort[] ModbusSerialRtuMasterReadInputRegisters()
+        {
+            // configure serial port
+            using SerialPort masterPort = new SerialPort(masterPortName);
+            masterPort.BaudRate = 9600;
+            masterPort.DataBits = 8;
+            masterPort.Parity = Parity.None;
+            masterPort.StopBits = StopBits.One;
+            masterPort.Open();
+
+            var factory = new ModbusFactory();
+            IModbusSerialMaster master = factory.CreateRtuMaster(masterPort);
+
+            // read register
+            ushort[] registers = master.ReadInputRegisters(slaveAddress, startAddress, numberOfPoints);
+            return registers;
+        }
+
+        public void ModbusSerialRtuMasterWriteMultipleRegisters()
+        {
+            // configure serial port
+            using SerialPort port = new SerialPort(masterPortName);
+            port.BaudRate = 9600;
+            port.DataBits = 8;
+            port.Parity = Parity.None;
+            port.StopBits = StopBits.One;
+            port.Open();
+
+            var factory = new ModbusFactory();
+            IModbusMaster master = factory.CreateRtuMaster(port);
+                
+            ushort[] data = new ushort[] { 10, 20, 30, 0, 0 };
+
+            // write register
+            master.WriteMultipleRegisters(slaveAddress, startAddress, data);
+        }
+
+        public void StartModbusSerialRtuSlave()
+        {
+            StartModbusSerialRtuSlaveWithCustomStoreAsync(token);
+        }
+
+        public async void StartModbusSerialRtuSlaveWithCustomStoreAsync(CancellationToken ct)
+        {
+            if (ct.IsCancellationRequested) return;
+            // configure serial port
+            using SerialPort slavePort = new SerialPort(slavePortName);
+            slavePort.BaudRate = 9600;
+            slavePort.DataBits = 8;
+            slavePort.Parity = Parity.None;
+            slavePort.StopBits = StopBits.One;
+            slavePort.Open();
+
+            var factory = new ModbusFactory();
+            var slaveNetwork = factory.CreateRtuSlaveNetwork(slavePort);
+
+            slavePort.ReadTimeout = 50;
+            slavePort.WriteTimeout = 1000;
+
+            var dataStore = new SlaveStorage();
+
+            dataStore.CoilDiscretes.StorageOperationOccurred += (sender, args) =>
+            {
+                Debug.Log(GetSlaveMsg("CoilDiscretes", args));
+            };
+            dataStore.CoilInputs.StorageOperationOccurred += (sender, args) =>
+            {
+                Debug.Log(GetSlaveMsg("CoilInputs", args));
+
+            };
+            dataStore.InputRegisters.StorageOperationOccurred += (sender, args) =>
+            {
+                Debug.Log(GetSlaveMsg("InputRegisters", args));
+
+            };
+            dataStore.HoldingRegisters.StorageOperationOccurred += (sender, args) =>
+            {
+                Debug.Log(GetSlaveMsg("HoldingRegisters", args));
+            };
+
+            IModbusSlave slave = factory.CreateSlave(slaveAddress, dataStore);
+
+            slaveNetwork.AddSlave(slave);
+
+            // listen async
+            await Task.Run(() => { slaveNetwork.ListenAsync(ct); }, ct);
+        }
+
+        private string GetSlaveMsg(string type, StorageEventArgs<bool> args)
+        {
+            string value = type + $":{args.Operation} StartingAddress:{args.StartingAddress} ";
+            for (int i = 0; i < args.Points.Length; i++)
+            {
+                value += $"Point{i + args.StartingAddress}:{args.Points[i]} ";
+            }
+            return value;
+        }
+
+        private string GetSlaveMsg(string type, StorageEventArgs<ushort> args)
+        {
+            string value = type + $":{args.Operation} StartingAddress:{args.StartingAddress} ";
+            for (int i = 0; i < args.Points.Length; i++)
+            {
+                value += $"Point{i + args.StartingAddress}:{args.Points[i]} ";
+            }
+            return value;
+        }
+
+        public void StartModbusBand()
+        {
+            // configure serial port
+            using SerialPort port = new SerialPort(masterPortName);
+            port.BaudRate = 9600;
+            port.DataBits = 8;
+            port.Parity = Parity.None;
+            port.StopBits = StopBits.One;
+            port.Open();
+
+            var factory = new ModbusFactory();
+            IModbusMaster master = factory.CreateRtuMaster(port);
+        }
+    }
+}
\ No newline at end of file

Assets/Scripts/ModBus/ModBusRtu.cs.meta

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Assets/Scripts/ModBus/SlaveStorage.cs

+using System;
+using System.Collections.Generic;
+using NModbus;
+
+namespace Assets.Scripts.ModBus
+{
+    public class SlaveStorage : ISlaveDataStore
+    {
+        private readonly SparsePointSource<bool> m_CoilDiscretes;
+        private readonly SparsePointSource<bool> m_CoilInputs;
+        private readonly SparsePointSource<ushort> m_HoldingRegisters;
+        private readonly SparsePointSource<ushort> m_InputRegisters;
+
+        public SlaveStorage()
+        {
+            m_CoilDiscretes = new SparsePointSource<bool>();
+            m_CoilInputs = new SparsePointSource<bool>();
+            m_HoldingRegisters = new SparsePointSource<ushort>();
+            m_InputRegisters = new SparsePointSource<ushort>();
+        }
+
+        public SparsePointSource<bool> CoilDiscretes => m_CoilDiscretes;
+
+        public SparsePointSource<bool> CoilInputs => m_CoilInputs;
+
+        public SparsePointSource<ushort> HoldingRegisters => m_HoldingRegisters;
+        
+        public SparsePointSource<ushort> InputRegisters => m_InputRegisters;
+
+        IPointSource<bool> ISlaveDataStore.CoilDiscretes => m_CoilDiscretes;
+
+        IPointSource<bool> ISlaveDataStore.CoilInputs => m_CoilInputs;
+
+        IPointSource<ushort> ISlaveDataStore.HoldingRegisters => m_HoldingRegisters;
+
+        IPointSource<ushort> ISlaveDataStore.InputRegisters => m_InputRegisters;
+    }
+
+    /// <summary>
+    /// Sparse storage for points.
+    /// </summary>
+    public class SparsePointSource<TPoint> : IPointSource<TPoint>
+    {
+        private readonly Dictionary<ushort, TPoint> _values = new Dictionary<ushort, TPoint>();
+
+        public event EventHandler<StorageEventArgs<TPoint>> StorageOperationOccurred;
+
+        /// <summary>
+        /// Gets or sets the value of an individual point wih tout 
+        /// </summary>
+        /// <param name="registerIndex"></param>
+        /// <returns></returns>
+        public TPoint this[ushort registerIndex]
+        {
+            get
+            {
+                if (_values.TryGetValue(registerIndex, out var value))
+                    return value;
+
+                return default(TPoint);
+            }
+            set { _values[registerIndex] = value; }
+        }
+
+        public TPoint[] ReadPoints(ushort startAddress, ushort numberOfPoints)
+        {
+            var points = new TPoint[numberOfPoints];
+
+            for (ushort index = 0; index < numberOfPoints; index++)
+            {
+                points[index] = this[(ushort) (index + startAddress)];
+            }
+
+            StorageOperationOccurred?.Invoke(this,
+                new StorageEventArgs<TPoint>(PointOperation.Read, startAddress, points));
+
+            return points;
+        }
+
+        public void WritePoints(ushort startAddress, TPoint[] points)
+        {
+            for (ushort index = 0; index < points.Length; index++)
+            {
+                this[(ushort) (index + startAddress)] = points[index];
+            }
+
+            StorageOperationOccurred?.Invoke(this,
+                new StorageEventArgs<TPoint>(PointOperation.Write, startAddress, points));
+        }
+    }
+
+    public class StorageEventArgs<TPoint> : EventArgs
+    {
+        public StorageEventArgs(PointOperation pointOperation, ushort startingAddress, TPoint[] points)
+        {
+            Operation = pointOperation;
+            StartingAddress = startingAddress;
+            Points = points;
+        }
+
+        public ushort StartingAddress { get; }
+
+        public TPoint[] Points { get; }
+
+        public PointOperation Operation { get; }
+    }
+
+    public enum PointOperation
+    {
+        Read,
+        Write
+    }
+}
\ No newline at end of file

Assets/Scripts/ModBus/SlaveStorage.cs.meta

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Assets/Scripts/Serial.meta

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Assets/Scripts/Serial/SerialPort.cs

+using System.IO.Ports;
+using UnityEngine;
+
+namespace Assets.Scripts.Serial
+{
+    public class SerialModel
+    {
+        private static SerialModel m_Instance;
+        public static SerialModel Instance
+        {
+            get
+            {
+                if (m_Instance == null)
+                    m_Instance = new SerialModel();
+                return m_Instance;
+            }
+        }
+
+        private SerialPort m_SerialPort;
+        
+        public void SetSerialPort()
+        {
+            string[] serialPortArray = SerialPort.GetPortNames();
+            foreach (string serialPort in serialPortArray)
+            {
+                Debug.Log($"Serial Port Name:{serialPort}");
+            }
+
+            m_SerialPort = new SerialPort();
+
+            //端口名
+            m_SerialPort.PortName = "COM2";
+
+            //波特率
+            m_SerialPort.BaudRate = 9600;
+
+            //奇偶校验
+            m_SerialPort.Parity = Parity.None;
+
+            //数据位
+            m_SerialPort.DataBits = 8;
+
+            //停止位
+            m_SerialPort.StopBits = StopBits.One;
+
+            //串口接收数据事件
+            m_SerialPort.DataReceived += ReceiveData;
+        }
+
+        public void Open()
+        {
+            m_SerialPort.Open();
+        }
+
+        public void Close()
+        {
+            m_SerialPort.Close();
+        }
+
+        public void SendData(byte[] data)
+        {
+            var isOpen = m_SerialPort.IsOpen;
+            if (!isOpen)
+            {
+                Open();
+            }
+
+            //发送字节数组
+            //参数1：包含要写入端口的数据的字节数组。
+            //参数2：参数中从零开始的字节偏移量，从此处开始将字节复制到端口。
+            //参数3：要写入的字节数。 
+            m_SerialPort.Write(data, 0, data.Length);
+        }
+
+        public void SendData(string data)
+        {
+            var isOpen = m_SerialPort.IsOpen;
+            if (!isOpen)
+            {
+                Open();
+            }
+
+            //直接发送字符串
+            m_SerialPort.Write(data);
+        }
+
+        private void ReceiveData(object obj, SerialDataReceivedEventArgs e)
+        {
+            //读取串口缓冲区的字节数据
+            byte[] result = new byte[m_SerialPort.BytesToRead];
+            m_SerialPort.Read(result, 0, m_SerialPort.BytesToRead);
+        }
+    }
+}
\ No newline at end of file

Assets/Scripts/Serial/SerialPort.cs.meta

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Packages/manifest.json

+{
+  "dependencies": {
+    "com.unity.collab-proxy": "1.13.5",
+    "com.unity.ide.rider": "2.0.7",
+    "com.unity.ide.visualstudio": "2.0.15",
+    "com.unity.ide.vscode": "1.2.5",
+    "com.unity.test-framework": "1.1.31",
+    "com.unity.textmeshpro": "3.0.6",
+    "com.unity.timeline": "1.4.8",
+    "com.unity.ugui": "1.0.0",
+    "com.unity.modules.ai": "1.0.0",
+    "com.unity.modules.androidjni": "1.0.0",
+    "com.unity.modules.animation": "1.0.0",
+    "com.unity.modules.assetbundle": "1.0.0",
+    "com.unity.modules.audio": "1.0.0",
+    "com.unity.modules.cloth": "1.0.0",
+    "com.unity.modules.director": "1.0.0",
+    "com.unity.modules.imageconversion": "1.0.0",
+    "com.unity.modules.imgui": "1.0.0",
+    "com.unity.modules.jsonserialize": "1.0.0",
+    "com.unity.modules.particlesystem": "1.0.0",
+    "com.unity.modules.physics": "1.0.0",
+    "com.unity.modules.physics2d": "1.0.0",
+    "com.unity.modules.screencapture": "1.0.0",
+    "com.unity.modules.terrain": "1.0.0",
+    "com.unity.modules.terrainphysics": "1.0.0",
+    "com.unity.modules.tilemap": "1.0.0",
+    "com.unity.modules.ui": "1.0.0",
+    "com.unity.modules.uielements": "1.0.0",
+    "com.unity.modules.umbra": "1.0.0",
+    "com.unity.modules.unityanalytics": "1.0.0",
+    "com.unity.modules.unitywebrequest": "1.0.0",
+    "com.unity.modules.unitywebrequestassetbundle": "1.0.0",
+    "com.unity.modules.unitywebrequestaudio": "1.0.0",
+    "com.unity.modules.unitywebrequesttexture": "1.0.0",
+    "com.unity.modules.unitywebrequestwww": "1.0.0",
+    "com.unity.modules.vehicles": "1.0.0",
+    "com.unity.modules.video": "1.0.0",
+    "com.unity.modules.vr": "1.0.0",
+    "com.unity.modules.wind": "1.0.0",
+    "com.unity.modules.xr": "1.0.0"
+  }
+}

Packages/packages-lock.json

+{
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+      }
+    },
+    "com.unity.modules.vehicles": {
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+      "source": "builtin",
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+    },
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+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.physics": "1.0.0",
+        "com.unity.modules.jsonserialize": "1.0.0",
+        "com.unity.modules.subsystems": "1.0.0"
+      }
+    }
+  }
+}