C# + WPF 打造石墨岛搬移上位机：MVVM、Modbus TCP 与状态机落地

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用户12687280

修改于 2026-09-23 16:06:51

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在工控上位机领域，C# + WPF 仍是性价比很高的组合：WPF 的数据绑定、命令、模板和样式，适合做状态监控、参数配置、报警追溯；C# 的异步、依赖注入和生态，适合封装通信与业务逻辑。本文以石墨岛搬移系统为例，给出可落地的架构与核心代码。

一、架构设计

推荐分层：View（XAML）→ ViewModel（状态与命令）→ Service（业务状态机）→ Communication（Modbus TCP/OPC UA）→ PLC。安全联锁必须独立于上位机，急停、光栅、限位直接接入安全 PLC 或安全继电器。上位机只做调度、监控和追溯。

项目结构：

BoatMove.Host/
├── Views/MainWindow.xaml
├── ViewModels/MainViewModel.cs
├── Services/BoatMoveService.cs
├── Communication/IPlcService.cs
├── Communication/ModbusPlcService.cs
├── Infrastructure/RelayCommand.cs
└── App.xaml.cs

二、通信层封装

先抽象接口，便于替换 Modbus、S7 或 OPC UA：

public interface IPlcService
{
    Task<bool> ReadCoilAsync(ushort addr);
    Task WriteCoilAsync(ushort addr, bool value);
    Task<ushort> ReadRegisterAsync(ushort addr);
    Task WriteRegisterAsync(ushort addr, ushort value);
    Task<bool> ReadInputAsync(ushort addr);
}

基于 NModbus 的实现：

using NModbus;
using System.Net.Sockets;

public class ModbusPlcService : IPlcService, IDisposable
{
    private TcpClient? _tcp;
    private IModbusMaster? _master;

    public async Task ConnectAsync(string ip, int port)
    {
        _tcp = new TcpClient();
        await _tcp.ConnectAsync(ip, port);
        _master = new ModbusFactory().CreateMaster(_tcp);
    }

    public Task<bool> ReadCoilAsync(ushort addr)
        => Task.Run(() => _master!.ReadCoils(1, addr, 1)[0]);

    public Task WriteCoilAsync(ushort addr, bool value)
        => Task.Run(() => _master!.WriteSingleCoil(1, addr, value));

    public Task<ushort> ReadRegisterAsync(ushort addr)
        => Task.Run(() => _master!.ReadHoldingRegisters(1, addr, 1)[0]);

    public Task WriteRegisterAsync(ushort addr, ushort value)
        => Task.Run(() => _master!.WriteSingleRegister(1, addr, value));

    public Task<bool> ReadInputAsync(ushort addr)
        => Task.Run(() => _master!.ReadInputs(1, addr, 1)[0]);

    public void Dispose() => _tcp?.Dispose();
}

三、搬移状态机

状态机建议单线程驱动或加锁，避免并发写 PLC：

public enum BoatState { Idle, Homing, Ready, Picking, Moving, Placing, Error }

public class BoatMoveService
{
    private readonly IPlcService _plc;
    public BoatState State { get; private set; } = BoatState.Idle;
    public event Action<BoatState>? StateChanged;

    public BoatMoveService(IPlcService plc) => _plc = plc;

    public async Task StepAsync()
    {
        if (!await SafetyOkAsync()) { SetState(BoatState.Error); return; }

        switch (State)
        {
            case BoatState.Idle:
                if (await _plc.ReadCoilAsync(0)) SetState(BoatState.Homing);
                break;
            case BoatState.Homing:
                await _plc.WriteCoilAsync(10, true);
                if (await _plc.ReadCoilAsync(11)) SetState(BoatState.Ready);
                break;
            case BoatState.Ready:
                if (await _plc.ReadCoilAsync(1)) SetState(BoatState.Picking);
                break;
            case BoatState.Picking:
                await _plc.WriteCoilAsync(20, true);
                if (await _plc.ReadCoilAsync(21)) SetState(BoatState.Moving);
                break;
            case BoatState.Moving:
                await _plc.WriteRegisterAsync(30, 1000);
                if (await _plc.ReadCoilAsync(31)) SetState(BoatState.Placing);
                break;
            case BoatState.Placing:
                await _plc.WriteCoilAsync(40, true);
                if (await _plc.ReadCoilAsync(41)) SetState(BoatState.Idle);
                break;
        }
    }

    private async Task<bool> SafetyOkAsync()
        => await _plc.ReadInputAsync(0)
        && await _plc.ReadInputAsync(1)
        && await _plc.ReadInputAsync(2);

    private void SetState(BoatState s)
    {
        State = s;
        StateChanged?.Invoke(s);
    }
}

四、ViewModel 与命令

public class MainViewModel : INotifyPropertyChanged
{
    private readonly BoatMoveService _move;
    public string StateText => _move.State.ToString();
    public ICommand StartCommand { get; }

    public MainViewModel(BoatMoveService move)
    {
        _move = move;
        _move.StateChanged += _ =>
            Application.Current.Dispatcher.Invoke(() =>
                OnPropertyChanged(nameof(StateText)));
        StartCommand = new RelayCommand(async _ =>
        {
            using var timer = new PeriodicTimer(TimeSpan.FromMilliseconds(100));
            while (await timer.WaitForNextTickAsync())
                await _move.StepAsync();
        });
    }

    public event PropertyChangedEventHandler? PropertyChanged;
    private void OnPropertyChanged(string name)
        => PropertyChanged?.Invoke(this, new(name));
}

RelayCommand 可自行实现 ICommand，核心是 Execute 调用委托，CanExecute 控制按钮可用性。

五、XAML 绑定

<Window x:Class="BoatMove.Host.Views.MainWindow"
        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml">
  <StackPanel Margin="20">
    <TextBlock Text="{Binding StateText}" FontSize="24"/>
    <Button Content="启动搬移" Command="{Binding StartCommand}"
            Height="40" Margin="0,10"/>
    <ListBox ItemsSource="{Binding Logs}" Height="200"/>
  </StackPanel>
</Window>

六、工程要点

所有 PLC 读写加超时、重试、断线重连；写后读校验关键线圈。
UI 更新必须回 Dispatcher，状态机在后台线程运行。
安全联锁独立于上位机，软件只做二次判断。
日志记录舟号、批次、状态迁移、报警码、操作员，推荐 Serilog。
配方、位置偏移、通信参数放 appsettings.json，支持多舟型切换。
与 MES 对接使用幂等设计，避免重复上报。

总结：C# + WPF 做搬移上位机，关键在通信稳定、状态机清晰、安全联锁独立、界面只做展示与命令。先保证可观测与可追溯，再优化节拍与自动化。

原创声明：本文系作者授权腾讯云开发者社区发表，未经许可，不得转载。

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