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修改ModbusTCP 端口映射功能 & 更新README端口说明

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This commit is contained in:
yiyi 2025-12-30 00:05:31 +08:00
parent e6199c1bf2
commit 12a1a0e738
9 changed files with 75 additions and 70 deletions
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10
GrabBagPrj/pkg_grabbagapp.sh
View File

@ -176,26 +176,26 @@ After=network.target
[Service]
Type=oneshot
ExecStart=/bin/bash -c 'iptables -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020'
ExecStart=/bin/bash -c 'iptables-legacy -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020'
RemainAfterExit=yes
[Install]
WantedBy=multi-user.target
PORTEOF
systemctl daemon-reload
systemctl enable vr-port-mapping.service
systemctl start vr-port-mapping.service
else
echo "端口映射服务已存在，跳过创建..."
# 确保服务处于启用状态
systemctl enable vr-port-mapping.service 2>/dev/null || true
systemctl start vr-port-mapping.service 2>/dev/null || true
fi
# 检查iptables规则是否已存在
if ! iptables -t nat -C PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null; then
if ! iptables-legacy -t nat -C PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null; then
echo "添加iptables端口映射规则..."
iptables -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020
iptables-legacy -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020
else
echo "iptables规则已存在，跳过添加..."
fi
@ -310,7 +310,7 @@ if [ "${REMAINING_APPS}" -eq 0 ]; then
rm -f /etc/systemd/system/vr-port-mapping.service
# 清理iptables规则
iptables -t nat -D PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null || true
iptables-legacy -t nat -D PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null || true
# 清理注册目录
rm -rf "${REGISTRY_DIR}"

16
GrabBagPrj/pkg_lapweld.sh
View File

@ -177,7 +177,7 @@ After=network.target
[Service]
Type=oneshot
ExecStart=/bin/bash -c 'iptables -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020'
ExecStart=/bin/bash -c 'iptables-legacy -t nat -A PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020'
RemainAfterExit=yes
[Install]
@ -193,12 +193,12 @@ else
systemctl start vr-port-mapping.service 2>/dev/null || true
fi
# 检查iptables规则是否已存在
if ! iptables -t nat -C PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null; then
echo "添加iptables端口映射规则..."
iptables -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020
# 检查iptables-legacy规则是否已存在
if ! iptables-legacy -t nat -C PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null; then
echo "添加iptables-legacy端口映射规则..."
iptables-legacy -t nat -A PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020
else
echo "iptables规则已存在，跳过添加..."
echo "iptables-legacy规则已存在，跳过添加..."
fi
# 检查并创建当前用户的桌面快捷方式
@ -310,8 +310,8 @@ if [ "${REMAINING_APPS}" -eq 0 ]; then
systemctl disable vr-port-mapping.service 2>/dev/null || true
rm -f /etc/systemd/system/vr-port-mapping.service
# 清理iptables规则
iptables -t nat -D PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null || true
# 清理iptables-legacy规则
iptables-legacy -t nat -D PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null || true
# 清理注册目录
rm -rf "${REGISTRY_DIR}"

16
GrabBagPrj/pkg_particlesize.sh
View File

@ -176,7 +176,7 @@ After=network.target
[Service]
Type=oneshot
ExecStart=/bin/bash -c 'iptables -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020'
ExecStart=/bin/bash -c 'iptables-legacy -t nat -A PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020'
RemainAfterExit=yes
[Install]
@ -192,12 +192,12 @@ else
systemctl start vr-port-mapping.service 2>/dev/null || true
fi
# 检查iptables规则是否已存在
if ! iptables -t nat -C PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null; then
echo "添加iptables端口映射规则..."
iptables -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020
# 检查iptables-legacy规则是否已存在
if ! iptables-legacy -t nat -C PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null; then
echo "添加iptables-legacy端口映射规则..."
iptables-legacy -t nat -A PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020
else
echo "iptables规则已存在，跳过添加..."
echo "iptables-legacy规则已存在，跳过添加..."
fi
# 检查并创建当前用户的桌面快捷方式
@ -309,8 +309,8 @@ if [ "${REMAINING_APPS}" -eq 0 ]; then
systemctl disable vr-port-mapping.service 2>/dev/null || true
rm -f /etc/systemd/system/vr-port-mapping.service
# 清理iptables规则
iptables -t nat -D PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null || true
# 清理iptables-legacy规则
iptables-legacy -t nat -D PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null || true
# 清理注册目录
rm -rf "${REGISTRY_DIR}"

16
GrabBagPrj/pkg_tunnelchannel.sh
View File

@ -187,7 +187,7 @@ After=network.target
[Service]
Type=oneshot
ExecStart=/bin/bash -c 'iptables -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020'
ExecStart=/bin/bash -c 'iptables-legacy -t nat -A PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020'
RemainAfterExit=yes
[Install]
@ -203,12 +203,12 @@ else
systemctl start vr-port-mapping.service 2>/dev/null || true
fi
# 检查iptables规则是否已存在
if ! iptables -t nat -C PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null; then
echo "添加iptables端口映射规则..."
iptables -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020
# 检查iptables-legacy规则是否已存在
if ! iptables-legacy -t nat -C PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null; then
echo "添加iptables-legacy端口映射规则..."
iptables-legacy -t nat -A PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020
else
echo "iptables规则已存在，跳过添加..."
echo "iptables-legacy规则已存在，跳过添加..."
fi
# 检查并创建当前用户的桌面快捷方式
@ -320,8 +320,8 @@ if [ "${REMAINING_APPS}" -eq 0 ]; then
systemctl disable vr-port-mapping.service 2>/dev/null || true
rm -f /etc/systemd/system/vr-port-mapping.service
# 清理iptables规则
iptables -t nat -D PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null || true
# 清理iptables-legacy规则
iptables-legacy -t nat -D PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null || true
# 清理注册目录
rm -rf "${REGISTRY_DIR}"

10
GrabBagPrj/pkg_wheelmeasure.sh
View File

@ -180,26 +180,26 @@ After=network.target
[Service]
Type=oneshot
ExecStart=/bin/bash -c 'iptables -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020'
ExecStart=/bin/bash -c 'iptables-legacy -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020'
RemainAfterExit=yes
[Install]
WantedBy=multi-user.target
PORTEOF
systemctl daemon-reload
systemctl enable vr-port-mapping.service
systemctl start vr-port-mapping.service
else
echo "端口映射服务已存在，跳过创建..."
# 确保服务处于启用状态
systemctl enable vr-port-mapping.service 2>/dev/null || true
systemctl start vr-port-mapping.service 2>/dev/null || true
fi
# 检查iptables规则是否已存在
if ! iptables -t nat -C PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null; then
if ! iptables-legacy -t nat -C PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null; then
echo "添加iptables端口映射规则..."
iptables -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020
iptables-legacy -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020
else
echo "iptables规则已存在，跳过添加..."
fi
@ -314,7 +314,7 @@ if [ "${REMAINING_APPS}" -eq 0 ]; then
rm -f /etc/systemd/system/vr-port-mapping.service
# 清理iptables规则
iptables -t nat -D PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null || true
iptables-legacy -t nat -D PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null || true
# 清理注册目录
rm -rf "${REGISTRY_DIR}"

16
GrabBagPrj/pkg_workpiece.sh
View File

@ -176,7 +176,7 @@ After=network.target
[Service]
Type=oneshot
ExecStart=/bin/bash -c 'iptables -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020'
ExecStart=/bin/bash -c 'iptables-legacy -t nat -A PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020'
RemainAfterExit=yes
[Install]
@ -192,12 +192,12 @@ else
systemctl start vr-port-mapping.service 2>/dev/null || true
fi
# 检查iptables规则是否已存在
if ! iptables -t nat -C PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null; then
echo "添加iptables端口映射规则..."
iptables -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020
# 检查iptables-legacy规则是否已存在
if ! iptables-legacy -t nat -C PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null; then
echo "添加iptables-legacy端口映射规则..."
iptables-legacy -t nat -A PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020
else
echo "iptables规则已存在，跳过添加..."
echo "iptables-legacy规则已存在，跳过添加..."
fi
# 检查并创建当前用户的桌面快捷方式
@ -309,8 +309,8 @@ if [ "${REMAINING_APPS}" -eq 0 ]; then
systemctl disable vr-port-mapping.service 2>/dev/null || true
rm -f /etc/systemd/system/vr-port-mapping.service
# 清理iptables规则
iptables -t nat -D PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null || true
# 清理iptables-legacy规则
iptables-legacy -t nat -D PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null || true
# 清理注册目录
rm -rf "${REGISTRY_DIR}"

16
GrabBagPrj/pkg_workpieceposition.sh
View File

@ -181,7 +181,7 @@ After=network.target
[Service]
Type=oneshot
ExecStart=/bin/bash -c 'iptables -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020'
ExecStart=/bin/bash -c 'iptables-legacy -t nat -A PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020'
RemainAfterExit=yes
[Install]
@ -197,12 +197,12 @@ else
systemctl start vr-port-mapping.service 2>/dev/null || true
fi
# 检查iptables规则是否已存在
if ! iptables -t nat -C PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null; then
echo "添加iptables端口映射规则..."
iptables -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020
# 检查iptables-legacy规则是否已存在
if ! iptables-legacy -t nat -C PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null; then
echo "添加iptables-legacy端口映射规则..."
iptables-legacy -t nat -A PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020
else
echo "iptables规则已存在，跳过添加..."
echo "iptables-legacy规则已存在，跳过添加..."
fi
# 检查并创建当前用户的桌面快捷方式
@ -314,8 +314,8 @@ if [ "${REMAINING_APPS}" -eq 0 ]; then
systemctl disable vr-port-mapping.service 2>/dev/null || true
rm -f /etc/systemd/system/vr-port-mapping.service
# 清理iptables规则
iptables -t nat -D PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null || true
# 清理iptables-legacy规则
iptables-legacy -t nat -D PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null || true
# 清理注册目录
rm -rf "${REGISTRY_DIR}"

16
GrabBagPrj/pkg_workpiecesplice.sh
View File

@ -178,7 +178,7 @@ After=network.target
[Service]
Type=oneshot
ExecStart=/bin/bash -c 'iptables -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020'
ExecStart=/bin/bash -c 'iptables-legacy -t nat -A PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020'
RemainAfterExit=yes
[Install]
@ -194,12 +194,12 @@ else
systemctl start vr-port-mapping.service 2>/dev/null || true
fi
# 检查iptables规则是否已存在
if ! iptables -t nat -C PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null; then
echo "添加iptables端口映射规则..."
iptables -t nat -A PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020
# 检查iptables-legacy规则是否已存在
if ! iptables-legacy -t nat -C PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null; then
echo "添加iptables-legacy端口映射规则..."
iptables-legacy -t nat -A PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020
else
echo "iptables规则已存在，跳过添加..."
echo "iptables-legacy规则已存在，跳过添加..."
fi
# 检查并创建当前用户的桌面快捷方式
@ -311,8 +311,8 @@ if [ "${REMAINING_APPS}" -eq 0 ]; then
systemctl disable vr-port-mapping.service 2>/dev/null || true
rm -f /etc/systemd/system/vr-port-mapping.service
# 清理iptables规则
iptables -t nat -D PREROUTING -p tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null || true
# 清理iptables-legacy规则
iptables-legacy -t nat -D PREROUTING -p tcp -m tcp --dport 502 -j REDIRECT --to-port 5020 2>/dev/null || true
# 清理注册目录
rm -rf "${REGISTRY_DIR}"

29
README.md
View File

@ -73,18 +73,23 @@ GrabBag/
## 应用程序说明
| 应用名称 | 功能描述 | 位置 | 备注 |
|---------|---------|------|------|
| GrabBagApp | 编织袋视觉定位与拆垛 | `App/GrabBag/` | 支持 1-2 个相机，TCP 服务端与机器人通信 |
| BeltTearingApp | 实时检测传送带撕裂情况 | `App/BeltTearing/` | 客户端-服务端分离（App + Server） |
| LapWeldApp | 焊缝质量检测 | `App/LapWeld/` | - |
| WorkpieceApp | 工件角点检测与定位 | `App/Workpiece/` | - |
| WorkpiecePositionApp | 双传感器工件抓取定位 | `App/WorkpieceProject/` | WorkpieceProject 子应用 |
| WorkpieceSpliceApp | 闭环控制工件拼接组装 | `App/WorkpieceProject/` | WorkpieceProject 子应用 |
| BinocularMarkApp | 3D Mark 点检测服务 | `App/BinocularMark/` | - |
| ParticleSizeApp | 颗粒粒度分析 | `App/ParticleSize/` | - |
| TunnelChannelApp | 隧道通道检测 | `App/TunnelChannel/` | - |
| WheelMeasureApp | 轮毂尺寸测量 | `App/WheelMeasure/` | - |
| 应用名称 | 功能描述 | 使用设备 | TCP | Modbus TCP | Modbus RTU | 备注 |
|---------|---------|---------|-----|------------|------------|------|
| GrabBagApp | 编织袋视觉定位与拆垛 | VzNL 3D相机 | 6800 | 502→5020 | - | 支持 1-2 个相机 |
| BeltTearingApp | 实时检测传送带撕裂情况 | VzNL 3D相机 | 5800（客户协议）<br>5900（上下位机） | 502→5020 | 温度读取 | 客户端-服务端分离 |
| LapWeldApp | 焊缝质量检测 | VzNL 3D相机 | 5020 | - | - | - |
| WorkpieceApp | 工件角点检测与定位 | VzNL 3D相机 | 7800 | 502→5020 | - | - |
| WorkpiecePositionApp | 双传感器工件抓取定位 | EpicEye + VzNL 3D相机 | 客户端连接5901 | 502→5020 | - | 连接 BinocularMarkApp |
| WorkpieceSpliceApp | 闭环控制工件拼接组装 | VzNL 3D相机 | 客户端连接5901 | 502→5020 | - | 连接 BinocularMarkApp |
| BinocularMarkApp | 3D Mark 点检测服务 | 大恒相机（双目） | 5901 | - | - | 无 Modbus |
| ParticleSizeApp | 颗粒粒度分析 | VzNL 3D相机 | 7900 | 502→5020 | - | - |
| TunnelChannelApp | 隧道通道检测 | 海康相机 + VzNL 3D相机 | - | 502→5020 | - | 2D+3D 融合 |
| WheelMeasureApp | 轮毂尺寸测量 | VzNL 3D相机 | - | 502→5020 | - | - |
> **协议说明：**
> - **TCP**：用于与机器人/上位机通信的自定义协议
> - **Modbus TCP**：502 为标准端口，由于系统默认不允许非 root 用户监听 502 端口，通过 iptables 映射到 5020
> - **Modbus RTU**：仅 BeltTearingApp 支持，通过串口读取温度传感器数据
## 构建说明