699 lines
26 KiB
Python
699 lines
26 KiB
Python
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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"""
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# @Time : 2026/2/6 16:45
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# @Author : reenrr
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# @File : modbus.py
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# @Desc : Modbus RTU通用接口
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"""
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import time
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import serial
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import threading
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from typing import Optional
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from error_code import ModbusError
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# -------全局485半双工锁--------
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RTU_GLOBAL_LOCKS: dict[str, threading.Lock] = {} # key=串口号，value=独占锁
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RTU_LOCK_INIT_LOCK = threading.Lock() # 锁初始化的线程安全锁
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# -------全局句柄管理-------
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RTU_HANDLE_MAP: dict[int, "RTUSerialHandle"] = {} # 句柄ID
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RTU_NEXT_HANDLE_ID = 1
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RTU_HANDLE_LOCK = threading.Lock()
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# -------Modbus RTU 核心常量-----------
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MODBUS_FUNC_READ_HOLDING_REG = 0x03 # 读保持寄存器功能码
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MODBUS_FUNC_WRITE_SINGLE_REG = 0x06 # 写单个寄存器功能码
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MODBUS_FUNC_WRITE_MULTI_REG = 0x10 # 写多个寄存器功能码
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MODBUS_CRC_LENGTH = 2 # CRC校验码长度
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MODBUS_MAX_READ_REG = 125 # 读寄存器最大数量（协议规定）
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MODBUS_MAX_WRITE_MULTI_REG = 123 # 写多寄存器最大数量（协议规定）
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MODBUS_REG_VAL_MAX = 0xFFFF # 单寄存器最大取值（16位）
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MODBUS_STATION_ADDR_MIN = 1 # 从站地址最小值
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MODBUS_STATION_ADDR_MAX = 247 # 从站地址最大值
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class RTUSerialHandle:
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"""
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Modbus RTU串口句柄类，封装串口实例、配置、状态
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"""
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def __init__(self, port: str, baudrate: int,
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databits: int, stopbits: int, parity: str):
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self.port = port
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self.baudrate = baudrate
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self.databits = databits
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self.stopbits = stopbits
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self.parity = parity # 校验位
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self.ser: Optional[serial.Serial] = None # 串口实例
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self.is_open = False
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def open(self) -> int:
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"""
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打开串口，转换pyserial兼容参数，初始化485锁
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:return: ModbusError错误码
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"""
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try:
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# 串口参数转换：将类内存储的参数转为pyserial可识别的格式
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# 1. 停止位转换（int -> pyserial常量）
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stopbits_map = {
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1: serial.STOPBITS_ONE,
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2: serial.STOPBITS_TWO
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}
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pyserial_stopbits = stopbits_map.get(self.stopbits, serial.STOPBITS_ONE)
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# 2. 数据位转换（int -> pyserial常量）
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databits_map = {
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7: serial.SEVENBITS,
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8: serial.EIGHTBITS
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}
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pyserial_databits = databits_map.get(self.databits, serial.EIGHTBITS)
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self.ser = serial.Serial(
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port=self.port,
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baudrate=self.baudrate,
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bytesize=pyserial_databits,
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stopbits=pyserial_stopbits,
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parity=self.parity,
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timeout=0.1,
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write_timeout=0.1,
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xonxoff=False,
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rtscts=False,
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dsrdtr=False
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)
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if self.ser.is_open:
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self.is_open = True
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# 初始化该串口的485半双工锁
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with RTU_LOCK_INIT_LOCK:
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if self.port not in RTU_GLOBAL_LOCKS:
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RTU_GLOBAL_LOCKS[self.port] = threading.Lock()
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return ModbusError.MODBUS_SUCCESS
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return ModbusError.MODBUS_ERR_SERIAL
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except Exception as e:
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print(f"串口打开失败{self.port}:{e}")
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return ModbusError.MODBUS_ERR_SERIAL
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def close(self):
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"""关闭串口，清理资源，置空状态"""
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if self.ser and self.is_open:
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try:
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self.ser.reset_input_buffer()
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self.ser.reset_output_buffer()
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self.ser.close()
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except Exception as e:
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print(f"【串口警告】关闭{self.port}时异常：{str(e)}")
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finally:
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self.is_open = False
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self.ser = None
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def get_lock(self) ->threading.Lock:
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"""
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获取当前串口的485半双工锁
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:return: 独占锁实例
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"""
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with RTU_LOCK_INIT_LOCK:
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return RTU_GLOBAL_LOCKS.get(self.port, threading.Lock())
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def decimal_to_16bit(self, value: int) -> int:
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"""
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将十进制有符号整数转换成十六进制字符串
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:param value: 十进制有符号整数
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:return: 十六进制字符串
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"""
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# 1. 限制数值在16位有符号整数范围内（-32768 ~ 32767）
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min_16bit = -32768 # 16位有符号整数最小值
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max_16bit = 32767 # 16位有符号整数最大值
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# 超出范围自动截断并提示
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if value < min_16bit:
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print(f"警告：数值{value}超出16位最小值{min_16bit}，已截断为{min_16bit}")
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value = min_16bit
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elif value > max_16bit:
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print(f"警告：数值{value}超出16位最大值{max_16bit}，已截断为{max_16bit}")
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value = max_16bit
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# 2. 转换为16位无符号补码（核心逻辑）
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if value < 0:
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unsigned_value = 65536 + value # 负数转补码（如-30 → 65506）
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else:
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unsigned_value = value # 正数直接保留（如30 → 30）
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# 3. 返回十六进制格式的整数（0x开头，Python中整数本质不变，仅显示格式）
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return unsigned_value
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def uint16_to_int16(self, unsigned_value: int) -> int:
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"""
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将16位无符号十进制数转换为16位有符号十进制数
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:param unsigned_value: 无符号十进制数
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:return: 有符号十进制数
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"""
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# 先校验输入范围（必须是16位无符号数）
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if not isinstance(unsigned_value, int):
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raise ValueError(f"输入必须是整数，当前是{type(unsigned_value)}")
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if unsigned_value < 0 or unsigned_value > 65535:
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raise ValueError(f"输入必须是0~65535的整数，当前是{unsigned_value}")
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# 核心转换逻辑
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if unsigned_value > 32767:
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return unsigned_value - 65536
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else:
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return unsigned_value
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def __del__(self):
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"""析构函数，程序退出时自动关闭串口，防止资源泄露"""
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self.close()
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# -------对外接口--------
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# public
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def open_serial_port(port: str, baudrate: int, databits: int, stopbits: int, parity: int) -> Optional[int]:
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"""
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打开并初始化Modbus串口
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:param port: 串口号
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:param baudrate: 波特率
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:param databits: 数据位
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:param stopbits: 停止位
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:param parity: 校验位
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:return: 串口句柄
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"""
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# 1. 参数合法性校验
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if not port:
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print("参数错误：串口号不能为空")
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return None
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if baudrate <= 0:
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print(f"参数错误：波特率{baudrate}非法（必须>0）")
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return None
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if databits not in [7, 8]:
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print(f"参数错误：数据位{databits}非法（仅支持7/8）")
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return None
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if stopbits not in [1, 2]:
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print(f"参数错误：停止位{stopbits}非法（仅支持1/2）")
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return None
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if parity not in [0, 1, 2]:
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print(f"参数错误：校验位{parity}非法（仅支持0=无/1=奇/2=偶）")
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return None
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# 2. 校验位转换（int -> 字符串：0->N，1->O，2->E）
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parity_map = {0: 'N', 1: 'O', 2: 'E'}
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parity_str = parity_map[parity] # 已校验parity在0-2，无需默认值
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# 3. 创建串口句柄实例
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handle_obj = RTUSerialHandle(
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port=port,
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baudrate=baudrate,
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databits=databits,
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stopbits=stopbits,
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parity=parity_str
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)
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# 4. 打开串口
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ret = handle_obj.open()
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if ret != ModbusError.MODBUS_SUCCESS:
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print(f"串口{port}打开失败，错误码：{ret}")
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return None
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# 5. 分配全局句柄ID并存储
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global RTU_NEXT_HANDLE_ID
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with RTU_HANDLE_LOCK:
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handle_id = RTU_NEXT_HANDLE_ID
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RTU_HANDLE_MAP[handle_id] = handle_obj
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RTU_NEXT_HANDLE_ID += 1
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print(f"串口[{port}]打开成功，句柄ID：{handle_id}")
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return handle_id
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def close_serial_port(handle: int):
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"""
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关闭Modbus串口
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:param handle:串口句柄ID
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"""
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with RTU_HANDLE_LOCK:
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handle_obj = RTU_HANDLE_MAP.get(handle)
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if not handle_obj:
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print(f"句柄{handle}不存在，关闭失败")
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return
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# 关闭串口并清理资源
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handle_obj.close()
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del RTU_HANDLE_MAP[handle]
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# 清理485半双工锁（可选）
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with RTU_LOCK_INIT_LOCK:
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if handle_obj.port in RTU_GLOBAL_LOCKS:
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del RTU_GLOBAL_LOCKS[handle_obj.port]
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print(f"句柄{handle}（串口[{handle_obj.port}]）已关闭")
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# --------Modbus RTU CRC16校验函数-----------
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def modbus_crc16(data: bytes) -> bytes:
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"""
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计算Modbus RTU CRC16校验码（小端序）
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:param data: 待校验的字节流（不含CRC）
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:return: 2字节校验码
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"""
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crc = 0xFFFF
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for byte in data:
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crc ^= byte
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# 对当前字节的每1位（共8位）做移位+异或操作
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for _ in range(8):
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# 判断CRC寄存器的最低位是否为1
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if crc & 0x0001:
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# 如果最低位是1：先右移1位，再和多项式0xA001异或
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crc = (crc >> 1) ^ 0xA001
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else:
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# 如果最低位是0：仅右移1位
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crc >>= 1
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# 把16位CRC值拆成2个字节（小端序：低字节在前，高字节在后）
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return bytes([crc & 0xFF, (crc >> 8) & 0xFF])
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def verify_modbus_crc(data: bytes) -> bool:
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"""
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验证Modbus RTU数据的CRC16校验码
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:param data: 包含CRC的完整字节流
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:return: True=校验通过，False=校验失败
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"""
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if len(data) < MODBUS_CRC_LENGTH:
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return False
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# 拆分出“原始数据部分”（去掉最后2字节的CRC）
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data_part = data[:-MODBUS_CRC_LENGTH]
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# 拆分出“附带的CRC校验码部分”（取最后2字节）
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crc_part = data[-MODBUS_CRC_LENGTH:]
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# 核心验证：重新计算原始数据的CRC，和附带的CRC对比
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return modbus_crc16(data_part) == crc_part
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# ------Modbus RTU核心接口-------
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def read_holding_register(handle: int, station_addr: int, start_reg_addr: int,
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reg_count: int, resp_offset: int, out_buffer: list[int], use_crc: int) -> list[int]:
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"""
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读保持寄存器
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:param handle: 串口句柄ID
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:param station_addr: 从机地址
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:param start_reg_addr: 起始寄存器地址
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:param reg_count: 读取寄存器数量
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:param resp_offset: 响应数据偏移量
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:param out_buffer: 输出缓冲区
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:param use_crc: 是否启用crc校验
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:return: 读取到的寄存器值列表
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"""
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# 1. 句柄校验
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with RTU_HANDLE_LOCK:
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handle_obj = RTU_HANDLE_MAP.get(handle)
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if not handle_obj or not handle_obj.is_open:
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print(f"句柄{handle}无效或串口未打开")
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raise ModbusError.MODBUS_ERR_SERIAL
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|||
|
|
|
|||
|
|
# 2. 参数合法性校验
|
|||
|
|
if station_addr < 1 or station_addr > 247:
|
|||
|
|
print(f"从站地址错误：{station_addr}（必须1-247）")
|
|||
|
|
raise ModbusError.MODBUS_ERR_PARAM
|
|||
|
|
if reg_count < 1 or reg_count > 125: # Modbus RTU最大读取125个寄存器
|
|||
|
|
print(f"寄存器数量错误：{reg_count}（必须1-125）")
|
|||
|
|
raise ModbusError.MODBUS_ERR_PARAM
|
|||
|
|
if resp_offset < 0:
|
|||
|
|
print(f"响应偏移量错误：{resp_offset}（必须≥0）")
|
|||
|
|
raise ModbusError.MODBUS_ERR_PARAM
|
|||
|
|
if use_crc not in [0, 1]:
|
|||
|
|
print(f"CRC参数错误：{use_crc}（必须0/1）")
|
|||
|
|
raise ModbusError.MODBUS_ERR_PARAM
|
|||
|
|
|
|||
|
|
# 3. 构建Modbus RTU读指令帧
|
|||
|
|
cmd = bytearray()
|
|||
|
|
cmd.append(station_addr)
|
|||
|
|
cmd.append(MODBUS_FUNC_READ_HOLDING_REG)
|
|||
|
|
cmd.extend(start_reg_addr.to_bytes(2, byteorder='big')) # 起始寄存器地址（大端）
|
|||
|
|
cmd.extend(reg_count.to_bytes(2, byteorder='big')) # 寄存器数量（大端）
|
|||
|
|
|
|||
|
|
# 添加CRC校验（如果启用）
|
|||
|
|
if use_crc == 1:
|
|||
|
|
crc = modbus_crc16(bytes(cmd))
|
|||
|
|
cmd.extend(crc)
|
|||
|
|
cmd_bytes = bytes(cmd)
|
|||
|
|
|
|||
|
|
# 4. 485半双工发送+接收（加全局锁）
|
|||
|
|
lock = handle_obj.get_lock()
|
|||
|
|
with lock:
|
|||
|
|
# 清空缓冲区
|
|||
|
|
handle_obj.ser.reset_input_buffer()
|
|||
|
|
handle_obj.ser.reset_output_buffer()
|
|||
|
|
|
|||
|
|
# 发送指令
|
|||
|
|
try:
|
|||
|
|
handle_obj.ser.write(cmd_bytes)
|
|||
|
|
handle_obj.ser.flush()
|
|||
|
|
except Exception as e:
|
|||
|
|
print(f"发送读指令失败:{e}")
|
|||
|
|
raise ModbusError.MODBUS_ERR_SERIAL
|
|||
|
|
|
|||
|
|
# 接收响应
|
|||
|
|
start_time = time.time()
|
|||
|
|
response = b""
|
|||
|
|
# 最小响应长度：地址（1）+功能码（1）+字节数（1）+数据（2*N）+CRC（2）
|
|||
|
|
min_resp_len = 3 + 2 * reg_count +(MODBUS_CRC_LENGTH if use_crc == 1 else 0)
|
|||
|
|
while (time.time() - start_time) < handle_obj.ser.timeout * 3:
|
|||
|
|
if handle_obj.ser.in_waiting > 0:
|
|||
|
|
response += handle_obj.ser.read(handle_obj.ser.in_waiting)
|
|||
|
|
if len(response) >= min_resp_len:
|
|||
|
|
break
|
|||
|
|
time.sleep(0.001)
|
|||
|
|
if len(response) == 0:
|
|||
|
|
print(f"读寄存器超时（从站{station_addr}，起始地址{start_reg_addr}）")
|
|||
|
|
raise ModbusError.MODBUS_ERR_TIMEOUT
|
|||
|
|
|
|||
|
|
# 5. CRC校验（如果启用）
|
|||
|
|
if use_crc == 1:
|
|||
|
|
if not verify_modbus_crc(response):
|
|||
|
|
print(f"CRC校验失败 | 响应数据：{response.hex(' ')}")
|
|||
|
|
raise ModbusError.MODBUS_ERR_CRC
|
|||
|
|
response = response[:-MODBUS_CRC_LENGTH] # 去掉CRC
|
|||
|
|
|
|||
|
|
# 6. 响应格式校验
|
|||
|
|
if len(response) < 3:
|
|||
|
|
print(f"响应数据过短：{response.hex(' ')}")
|
|||
|
|
raise ModbusError.MODBUS_ERR_RESPONSE
|
|||
|
|
# 校验从站地址和功能码
|
|||
|
|
if response[0] != station_addr:
|
|||
|
|
print(f"从站地址不匹配：请求{station_addr}，响应{response[0]}")
|
|||
|
|
raise ModbusError.MODBUS_ERR_RESPONSE
|
|||
|
|
if response[1] != MODBUS_FUNC_READ_HOLDING_REG:
|
|||
|
|
# 功能码最高位为1表示错误响应
|
|||
|
|
if response[1] == MODBUS_FUNC_READ_HOLDING_REG | 0x80:
|
|||
|
|
err_code = response[2] # 提取错误差
|
|||
|
|
print(f"Modbus错误响应：从站{station_addr}，错误码{err_code}")
|
|||
|
|
else:
|
|||
|
|
print(f"功能码不匹配：请求{MODBUS_FUNC_READ_HOLDING_REG}，响应{response[1]}")
|
|||
|
|
raise ModbusError.MODBUS_ERR_RESPONSE
|
|||
|
|
# 校验数据长度
|
|||
|
|
resp_byte_count = response[2]
|
|||
|
|
expected_byte_count = 2 * reg_count
|
|||
|
|
if resp_byte_count != expected_byte_count:
|
|||
|
|
print(f"数据长度不匹配：预期{expected_byte_count}字节，实际{resp_byte_count}字节")
|
|||
|
|
raise ModbusError.MODBUS_ERR_RESPONSE
|
|||
|
|
|
|||
|
|
# 7. 解析数据并填充输出缓冲区
|
|||
|
|
data_part = response[3 + resp_offset:] # 跳过偏移量
|
|||
|
|
if len(data_part) < 2 * reg_count:
|
|||
|
|
print(f"偏移后数据不足：需要{2 * reg_count}字节，实际{len(data_part)}字节")
|
|||
|
|
raise ModbusError.MODBUS_ERR_RESPONSE
|
|||
|
|
|
|||
|
|
out_buffer.clear()
|
|||
|
|
for i in range(reg_count):
|
|||
|
|
reg_data = data_part[2 * i: 2 * (i + 1)]
|
|||
|
|
reg_value = int.from_bytes(reg_data, byteorder='big')
|
|||
|
|
out_buffer.append(reg_value)
|
|||
|
|
|
|||
|
|
print(f"读寄存器成功 | 从站{station_addr} | 起始地址{start_reg_addr} | 数量{reg_count} | 数据：{out_buffer}")
|
|||
|
|
return out_buffer
|
|||
|
|
|
|||
|
|
def write_single_register(handle: int, station_addr: int, reg_addr: int, write_value: int,
|
|||
|
|
resp_offset: int, use_crc: int) -> int:
|
|||
|
|
"""
|
|||
|
|
写单个寄存器
|
|||
|
|
:param handle: 串口句柄ID
|
|||
|
|
:param station_addr: 从站地址
|
|||
|
|
:param reg_addr: 寄存器地址
|
|||
|
|
:param write_value: 写入值
|
|||
|
|
:param resp_offset: 响应数据偏移量
|
|||
|
|
:param use_crc: 是否启用CRC校验
|
|||
|
|
:return: 状态码
|
|||
|
|
"""
|
|||
|
|
# 1. 句柄校验
|
|||
|
|
with RTU_HANDLE_LOCK:
|
|||
|
|
handle_obj = RTU_HANDLE_MAP.get(handle)
|
|||
|
|
if not handle_obj or not handle_obj.is_open:
|
|||
|
|
print(f"句柄{handle}无效或串口未打开")
|
|||
|
|
return ModbusError.MODBUS_ERR_SERIAL
|
|||
|
|
|
|||
|
|
# 2. 参数合法性校验
|
|||
|
|
if station_addr < 1 or station_addr > 247:
|
|||
|
|
print(f"从站地址错误：{station_addr}（必须1-247）")
|
|||
|
|
return ModbusError.MODBUS_ERR_PARAM
|
|||
|
|
if write_value < 0 or write_value > 0xFFFF:
|
|||
|
|
print(f"写入值错误：{write_value}（必须0-65535）")
|
|||
|
|
return ModbusError.MODBUS_ERR_PARAM
|
|||
|
|
if use_crc not in [0, 1]:
|
|||
|
|
print(f"CRC参数错误：{use_crc}（必须0/1）")
|
|||
|
|
return ModbusError.MODBUS_ERR_PARAM
|
|||
|
|
|
|||
|
|
# 3. 构建Modbus RTU写指令帧
|
|||
|
|
cmd = bytearray()
|
|||
|
|
cmd.append(station_addr) # 从站地址
|
|||
|
|
cmd.append(MODBUS_FUNC_WRITE_SINGLE_REG) # 功能码
|
|||
|
|
cmd.extend(reg_addr.to_bytes(2, byteorder='big')) # 寄存器地址（大端）
|
|||
|
|
cmd.extend(write_value.to_bytes(2, byteorder='big')) # 写入值（大端）
|
|||
|
|
|
|||
|
|
# 添加CRC校验（如果启用）
|
|||
|
|
if use_crc == 1:
|
|||
|
|
crc = modbus_crc16(bytes(cmd))
|
|||
|
|
cmd.extend(crc)
|
|||
|
|
cmd_bytes = bytes(cmd)
|
|||
|
|
|
|||
|
|
print(f"命令：{cmd_bytes.hex(' ')}")
|
|||
|
|
|
|||
|
|
# 4. 485半双工发送+接收
|
|||
|
|
lock = handle_obj.get_lock()
|
|||
|
|
with lock:
|
|||
|
|
handle_obj.ser.reset_input_buffer()
|
|||
|
|
handle_obj.ser.reset_output_buffer()
|
|||
|
|
|
|||
|
|
# 发送指令
|
|||
|
|
try:
|
|||
|
|
handle_obj.ser.write(cmd_bytes)
|
|||
|
|
handle_obj.ser.flush()
|
|||
|
|
except Exception as e:
|
|||
|
|
print(f"发送写指令失败：{e}")
|
|||
|
|
return ModbusError.MODBUS_ERR_SERIAL
|
|||
|
|
|
|||
|
|
# 接收响应（写单个寄存器的响应和请求帧一致）
|
|||
|
|
start_time = time.time()
|
|||
|
|
response = b""
|
|||
|
|
expected_resp_len = len(cmd_bytes) - (MODBUS_CRC_LENGTH if use_crc == 1 else 0)
|
|||
|
|
while (time.time() - start_time) < handle_obj.ser.timeout * 3:
|
|||
|
|
if handle_obj.ser.in_waiting > 0:
|
|||
|
|
response += handle_obj.ser.read(handle_obj.ser.in_waiting)
|
|||
|
|
if len(response) >= expected_resp_len:
|
|||
|
|
break
|
|||
|
|
time.sleep(0.001)
|
|||
|
|
|
|||
|
|
if len(response) == 0:
|
|||
|
|
print(f"写寄存器超时（从站{station_addr}，地址{reg_addr}）")
|
|||
|
|
return ModbusError.MODBUS_ERR_TIMEOUT
|
|||
|
|
|
|||
|
|
# 5. CRC校验（如果启用）
|
|||
|
|
if use_crc == 1:
|
|||
|
|
if not verify_modbus_crc(response):
|
|||
|
|
print(f"CRC校验失败 | 响应数据：{response.hex(' ')}")
|
|||
|
|
return ModbusError.MODBUS_ERR_CRC
|
|||
|
|
response = response[:-MODBUS_CRC_LENGTH]
|
|||
|
|
|
|||
|
|
# 6. 响应校验（跳过偏移量后匹配）
|
|||
|
|
expected_resp = cmd_bytes[:-MODBUS_CRC_LENGTH] if use_crc == 1 else cmd_bytes
|
|||
|
|
if response[resp_offset:] != expected_resp[resp_offset:]:
|
|||
|
|
print(f"写响应不匹配 | 请求：{expected_resp.hex(' ')} | 响应：{response.hex(' ')}")
|
|||
|
|
return ModbusError.MODBUS_ERR_RESPONSE
|
|||
|
|
|
|||
|
|
print(f"写单个寄存器成功 | 从站{station_addr} | 地址{reg_addr} | 值{write_value}")
|
|||
|
|
return ModbusError.MODBUS_SUCCESS
|
|||
|
|
|
|||
|
|
def write_multi_register(handle: int, station_addr: int, start_reg_addr: int, reg_count: int,
|
|||
|
|
write_values: list[int], resp_offset: int, use_crc: int) -> int:
|
|||
|
|
"""
|
|||
|
|
写多个寄存器
|
|||
|
|
:param handle: 串口句柄ID
|
|||
|
|
:param station_addr: 从站地址
|
|||
|
|
:param start_reg_addr: 起始寄存器地址
|
|||
|
|
:param reg_count: 写入寄存器数量
|
|||
|
|
:param write_values: 写入值列表
|
|||
|
|
:param resp_offset: 响应数据偏移量
|
|||
|
|
:param use_crc: 是否启用CRC校验
|
|||
|
|
:return: 状态码
|
|||
|
|
"""
|
|||
|
|
# 1. 句柄校验
|
|||
|
|
with RTU_HANDLE_LOCK:
|
|||
|
|
handle_obj = RTU_HANDLE_MAP.get(handle)
|
|||
|
|
if not handle_obj or not handle_obj.is_open:
|
|||
|
|
print(f"句柄{handle}无效或串口未打开")
|
|||
|
|
return ModbusError.MODBUS_ERR_SERIAL
|
|||
|
|
|
|||
|
|
# 2. 参数合法性校验
|
|||
|
|
if station_addr < 1 or station_addr > 247:
|
|||
|
|
print(f"从站地址错误：{station_addr}（必须1-247）")
|
|||
|
|
return ModbusError.MODBUS_ERR_PARAM
|
|||
|
|
if reg_count < 1 or reg_count > 123: # Modbus RTU最大写入123个寄存器
|
|||
|
|
print(f"寄存器数量错误：{reg_count}（必须1-123）")
|
|||
|
|
return ModbusError.MODBUS_ERR_PARAM
|
|||
|
|
if len(write_values) != reg_count:
|
|||
|
|
print(f"写入值数量不匹配：预期{reg_count}个，实际{len(write_values)}个")
|
|||
|
|
return ModbusError.MODBUS_ERR_PARAM
|
|||
|
|
for val in write_values:
|
|||
|
|
if val < 0 or val > 0xFFFF:
|
|||
|
|
print(f"写入值错误：{val}（必须0-65535）")
|
|||
|
|
return ModbusError.MODBUS_ERR_PARAM
|
|||
|
|
if use_crc not in [0, 1]:
|
|||
|
|
print(f"CRC参数错误：{use_crc}（必须0/1）")
|
|||
|
|
return ModbusError.MODBUS_ERR_PARAM
|
|||
|
|
|
|||
|
|
# 3. 构建Modbus RTU批量写指令帧
|
|||
|
|
cmd = bytearray()
|
|||
|
|
cmd.append(station_addr) # 从站地址
|
|||
|
|
cmd.append(MODBUS_FUNC_WRITE_MULTI_REG) # 功能码
|
|||
|
|
cmd.extend(start_reg_addr.to_bytes(2, byteorder='big')) # 起始地址（大端）
|
|||
|
|
cmd.extend(reg_count.to_bytes(2, byteorder='big')) # 寄存器数量（大端）
|
|||
|
|
cmd.append(2 * reg_count) # 字节数（每个寄存器2字节）
|
|||
|
|
# 追加写入值
|
|||
|
|
for val in write_values:
|
|||
|
|
cmd.extend(val.to_bytes(2, byteorder='big'))
|
|||
|
|
# 添加CRC校验（如果启用）
|
|||
|
|
if use_crc == 1:
|
|||
|
|
crc = modbus_crc16(bytes(cmd))
|
|||
|
|
cmd.extend(crc)
|
|||
|
|
cmd_bytes = bytes(cmd)
|
|||
|
|
|
|||
|
|
print(f"命令：{cmd_bytes.hex(' ')}")
|
|||
|
|
|
|||
|
|
# 4. 485半双工发送+接收
|
|||
|
|
lock = handle_obj.get_lock()
|
|||
|
|
with lock:
|
|||
|
|
handle_obj.ser.reset_input_buffer()
|
|||
|
|
handle_obj.ser.reset_output_buffer()
|
|||
|
|
|
|||
|
|
# 发送指令
|
|||
|
|
try:
|
|||
|
|
handle_obj.ser.write(cmd_bytes)
|
|||
|
|
handle_obj.ser.flush()
|
|||
|
|
except Exception as e:
|
|||
|
|
print(f"发送批量写指令失败：{e}")
|
|||
|
|
return ModbusError.MODBUS_ERR_SERIAL
|
|||
|
|
|
|||
|
|
# 接收响应（批量写响应帧：地址+功能码+起始地址+数量+CRC）
|
|||
|
|
start_time = time.time()
|
|||
|
|
response = b""
|
|||
|
|
expected_resp_len = 7 + (MODBUS_CRC_LENGTH if use_crc == 1 else 0) # 基础响应长度
|
|||
|
|
while (time.time() - start_time) < handle_obj.ser.timeout * 3:
|
|||
|
|
if handle_obj.ser.in_waiting > 0:
|
|||
|
|
response += handle_obj.ser.read(handle_obj.ser.in_waiting)
|
|||
|
|
if len(response) >= expected_resp_len:
|
|||
|
|
break
|
|||
|
|
time.sleep(0.001)
|
|||
|
|
|
|||
|
|
if len(response) == 0:
|
|||
|
|
print(f"批量写寄存器超时（从站{station_addr}，起始地址{start_reg_addr}）")
|
|||
|
|
return ModbusError.MODBUS_ERR_TIMEOUT
|
|||
|
|
|
|||
|
|
# 5. CRC校验（如果启用）
|
|||
|
|
if use_crc == 1:
|
|||
|
|
if not verify_modbus_crc(response):
|
|||
|
|
print(f"CRC校验失败 | 响应数据：{response.hex(' ')}")
|
|||
|
|
return ModbusError.MODBUS_ERR_CRC
|
|||
|
|
response = response[:-MODBUS_CRC_LENGTH]
|
|||
|
|
|
|||
|
|
# 6. 响应格式校验
|
|||
|
|
if len(response) < 7:
|
|||
|
|
print(f"批量写响应过短：{response.hex(' ')}")
|
|||
|
|
return ModbusError.MODBUS_ERR_RESPONSE
|
|||
|
|
|
|||
|
|
resp_data = response[resp_offset:]
|
|||
|
|
if len(resp_data) < 6: # 偏移后至少保留：地址(1)+功能码(1)+起始地址(2)+数量(2)
|
|||
|
|
print(f"【响应错误】偏移后数据不足 | 偏移量{resp_offset} | 剩余长度{len(resp_data)}字节（需≥6）")
|
|||
|
|
return ModbusError.MODBUS_ERR_RESPONSE
|
|||
|
|
|
|||
|
|
# 校验核心字段
|
|||
|
|
if response[0] != station_addr:
|
|||
|
|
print(f"从站地址不匹配：请求{station_addr}，响应{response[0]}")
|
|||
|
|
return ModbusError.MODBUS_ERR_RESPONSE
|
|||
|
|
if response[1] != MODBUS_FUNC_WRITE_MULTI_REG:
|
|||
|
|
print(f"功能码不匹配：请求{MODBUS_FUNC_WRITE_MULTI_REG}，响应{response[1]}")
|
|||
|
|
return ModbusError.MODBUS_ERR_RESPONSE
|
|||
|
|
resp_start_addr = int.from_bytes(response[2:4], byteorder='big')
|
|||
|
|
resp_reg_count = int.from_bytes(response[4:6], byteorder='big')
|
|||
|
|
if resp_start_addr != start_reg_addr or resp_reg_count != reg_count:
|
|||
|
|
print(
|
|||
|
|
f"批量写响应参数不匹配 | 预期(start={start_reg_addr}, count={reg_count}) | 实际(start={resp_start_addr}, count={resp_reg_count})")
|
|||
|
|
return ModbusError.MODBUS_ERR_RESPONSE
|
|||
|
|
|
|||
|
|
print(f"批量写寄存器成功 | 从站{station_addr} | 起始地址{start_reg_addr} | 数量{reg_count} | 值：{write_values}")
|
|||
|
|
return ModbusError.MODBUS_SUCCESS
|
|||
|
|
|
|||
|
|
# ---------测试接口--------
|
|||
|
|
if __name__ == '__main__':
|
|||
|
|
# handle1 = open_serial_port(
|
|||
|
|
# port='COM4',
|
|||
|
|
# baudrate=115200,
|
|||
|
|
# databits=8,
|
|||
|
|
# stopbits=1,
|
|||
|
|
# parity=0
|
|||
|
|
# )
|
|||
|
|
#
|
|||
|
|
# #
|
|||
|
|
# # if handle1:
|
|||
|
|
# # close_serial_port(handle1)
|
|||
|
|
#
|
|||
|
|
# # 测试校验码是否正确
|
|||
|
|
# # data1 = b'\x01\x06\x62\x00\x00\x02'
|
|||
|
|
# # crc1 = modbus_crc16(data1)
|
|||
|
|
# # print(f"计算出的CRC16（小端序，十六进制）：{crc1.hex(' ')}") # 预期结果：84 0A
|
|||
|
|
# # print(f"完整Modbus指令帧：{(data1 + crc1).hex(' ')}\n")
|
|||
|
|
# 手动构造句柄（无硬件时）
|
|||
|
|
handle_id = None
|
|||
|
|
mock_handle = None
|
|||
|
|
|
|||
|
|
if not handle_id:
|
|||
|
|
|
|||
|
|
mock_handle = RTUSerialHandle(
|
|||
|
|
port="COM99", baudrate=9600, databits=8, stopbits=1, parity="N"
|
|||
|
|
)
|
|||
|
|
mock_handle.is_open = True
|
|||
|
|
mock_handle.ser = None
|
|||
|
|
|
|||
|
|
with RTU_HANDLE_LOCK:
|
|||
|
|
handle_id = RTU_NEXT_HANDLE_ID
|
|||
|
|
RTU_HANDLE_MAP[handle_id] = mock_handle
|
|||
|
|
RTU_NEXT_HANDLE_ID += 1
|
|||
|
|
print(f"已创建模拟句柄，ID：{handle_id}")
|
|||
|
|
|
|||
|
|
result = mock_handle.decimal_to_16bit(-30)
|
|||
|
|
print("result:{result}")
|
|||
|
|
|
|||
|
|
write_single_register(
|
|||
|
|
handle_id,
|
|||
|
|
1,
|
|||
|
|
0x6203,
|
|||
|
|
result,
|
|||
|
|
0,
|
|||
|
|
1
|
|||
|
|
)
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
# ret = write_multi_register(
|
|||
|
|
# handle=handle_id,
|
|||
|
|
# station_addr=1,
|
|||
|
|
# start_reg_addr=0x6000,
|
|||
|
|
# reg_count=3,
|
|||
|
|
# write_values=[1, 2, 3],
|
|||
|
|
# resp_offset=0,
|
|||
|
|
# use_crc=1
|
|||
|
|
# )
|
|||
|
|
#
|
|||
|
|
# # 步骤4：验证结果
|
|||
|
|
# print("\n===== 测试结果 =====")
|
|||
|
|
# print(f"函数返回码：{ret} (0=成功，5=超时，2=CRC错误，3=响应错误)")
|
|||
|
|
# print(f"测试是否成功：{ret == ModbusError.MODBUS_SUCCESS}")
|
|||
|
|
|
|||
|
|
# 步骤5：清理资源
|
|||
|
|
close_serial_port(handle_id)
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|