修改传送带电机、舵机、达妙电机等相关接口
This commit is contained in:
392
conveyor_controller/conveyor_motor.py
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392
conveyor_controller/conveyor_motor.py
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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"""
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# @Time : 2026/2/10 09:42
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# @Author : reenrr
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# @File : conveyor_motor.py
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# @Desc : 传送带电机相关接口 需要测试
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"""
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import time
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from modbus import (write_single_register, open_serial_port, RTU_HANDLE_MAP, RTU_HANDLE_LOCK, read_holding_register)
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from error_code import ModbusError
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PORT = 'COM4'
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BAUDRATE = 115200
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DATABITS = 8
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STOPBITS = 1
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PARITY = 0
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# --------寄存器地址---------
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MODE_REG_ADDR = 0x6200
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SPEED_REG_ADDR = 0x6203
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ACCELERATION_REG_ADDR = 0x6204
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DECELERATION_REG_ADDR = 0x6205
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START_OR_STOP_REG_ADDR = 0x6002
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# ---------相关写入值------------
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START_CMD = 0x0010
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STOP_CMD = 0x0040
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SPEED_CMD = 0x0002
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ABSOLUTE_POSITION_CMD = 0x0001
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handle1 = open_serial_port(
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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
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)
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def _check_handle_valid():
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"""通用句柄校验函数"""
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if handle1 is None:
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err_msg = ModbusError.get_error_desc(ModbusError.MODBUS_ERR_SERIAL_HANDLE)
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print(f"错误：{err_msg}")
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raise RuntimeError(err_msg)
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with RTU_HANDLE_LOCK:
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handle_obj = RTU_HANDLE_MAP.get(handle1)
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if not handle_obj or not handle_obj.is_open:
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err_msg = f"{ModbusError.get_error_desc(ModbusError.MODBUS_ERR_SERIAL_HANDLE)}（句柄{handle1}）"
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print(f"错误：{err_msg}")
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raise RuntimeError(err_msg)
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def set_motor_speed(station_addr: int, speed_value: int) -> bool:
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"""
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设置伺服电机速度
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:param station_addr: 从机地址
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:param speed_value: 速度值
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:return: True--设置成功，False--设置失败
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"""
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_check_handle_valid()
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handle_obj = RTU_HANDLE_MAP.get(handle1)
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try:
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value = handle_obj.decimal_to_16bit(speed_value)
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print(f"速度值转换：{speed_value} → {value}（0x{value:04X}）")
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except Exception as e:
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err_msg = f"{ModbusError.get_error_desc(ModbusError.MODBUS_ERR_DATA_CONVERT)} - {str(e)}"
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print(f"错误：{err_msg}")
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raise ValueError(err_msg) from e # 转换失败抛ValueError，保留原始异常栈
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try:
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ret_code = write_single_register(handle1, station_addr, SPEED_REG_ADDR, value, 0, 1)
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if ret_code == ModbusError.MODBUS_SUCCESS:
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print(f"成功：电机速度设置完成（从站{station_addr}，地址0x{SPEED_REG_ADDR:04X}，值{value}）")
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return True
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else:
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# 写寄存器返回错误码：抛OSError
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err_desc = ModbusError.get_error_desc(
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ret_code) if ret_code in ModbusError.__members__.values() else f"未知错误码{ret_code}"
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err_msg = f"速度设置失败，{err_desc}"
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print(f"失败：{err_msg}")
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raise OSError(err_msg, ret_code) # 携带错误码，便于上层解析
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except OSError:
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raise
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except Exception as e:
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err_msg = f"{ModbusError.get_error_desc(ModbusError.MODBUS_ERR_REG_WRITE)} - {str(e)}"
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print(f"异常：{err_msg}")
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raise Exception(err_msg) from e
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def set_motor_acceleration(station_addr: int, value: int) -> bool:
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"""
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设置伺服电机加速度
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:param station_addr: 从机地址
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:param value: 加速度值
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:return: True--设置成功，False--设置失败
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"""
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_check_handle_valid()
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handle_obj = RTU_HANDLE_MAP.get(handle1)
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try:
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conv_value = handle_obj.decimal_to_16bit(value)
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print(f"加速度值转换：{value} → {conv_value}（0x{conv_value:04X}）")
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except Exception as e:
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err_msg = f"{ModbusError.get_error_desc(ModbusError.MODBUS_ERR_DATA_CONVERT)} - {str(e)}"
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print(f"错误：{err_msg}")
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raise ValueError(err_msg) from e
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try:
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ret_code = write_single_register(handle1, station_addr, ACCELERATION_REG_ADDR, conv_value, 0, 1)
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if ret_code == ModbusError.MODBUS_SUCCESS:
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print(f"成功：电机加速度设置完成（从站{station_addr}，地址0x{ACCELERATION_REG_ADDR:04X}，值{conv_value}）")
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return True
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else:
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# 写寄存器返回错误码：抛OSError（携带错误码）
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err_desc = ModbusError.get_error_desc(
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ret_code) if ret_code in ModbusError.__members__.values() else f"未知错误码{ret_code}"
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err_msg = f"加速度设置失败，{err_desc}"
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print(f"失败：{err_msg}")
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raise OSError(err_msg, ret_code) # 错误码存入args，上层可解析
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except OSError:
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# 主动抛出的OSError直接上抛，不做额外处理
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raise
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except Exception as e:
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# 其他未知异常：抛通用Exception，保留原始栈
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err_msg = f"{ModbusError.get_error_desc(ModbusError.MODBUS_ERR_REG_WRITE)} - {str(e)}"
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print(f"异常：{err_msg}")
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raise Exception(err_msg) from e
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def set_motor_deceleration(station_addr: int, value: int) -> bool:
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"""
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设置伺服电机减速度
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:param station_addr: 从机地址
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:param value: 减速度值
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:return: True--设置成功，False--设置失败
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"""
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_check_handle_valid()
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handle_obj = RTU_HANDLE_MAP.get(handle1)
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try:
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conv_value = handle_obj.decimal_to_16bit(value)
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print(f"减速度值转换：{value} → {conv_value}（0x{conv_value:04X}）")
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except Exception as e:
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err_msg = f"{ModbusError.get_error_desc(ModbusError.MODBUS_ERR_DATA_CONVERT)} - {str(e)}"
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print(f"错误：{err_msg}")
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raise ValueError(err_msg) from e
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try:
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ret_code = write_single_register(handle1, station_addr, DECELERATION_REG_ADDR, conv_value, 0, 1)
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if ret_code == ModbusError.MODBUS_SUCCESS:
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print(f"成功：电机减速度设置完成（从站{station_addr}，地址0x{DECELERATION_REG_ADDR:04X}，值{conv_value}）")
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return True
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else:
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err_desc = ModbusError.get_error_desc(
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ret_code) if ret_code in ModbusError.__members__.values() else f"未知错误码{ret_code}"
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err_msg = f"减速度设置失败，{err_desc}"
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print(f"失败：{err_msg}")
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raise OSError(err_msg, ret_code)
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except OSError:
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raise
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except Exception as e:
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err_msg = f"{ModbusError.get_error_desc(ModbusError.MODBUS_ERR_REG_WRITE)} - {str(e)}"
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print(f"异常：{err_msg}")
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raise Exception(err_msg) from e
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def set_motor_mode(station_addr: int, value: int) -> bool:
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"""
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设置电机模式
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:param station_addr: 从机地址
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:param value: 0--速度模式 1--绝对位置模式
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:return: bool 设置是否成功
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"""
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_check_handle_valid()
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try:
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if value == 0:
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write_cmd = SPEED_CMD
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mode_desc = "速度模式"
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elif value == 1:
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write_cmd = ABSOLUTE_POSITION_CMD
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mode_desc = "绝对位置模式"
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ret_code = write_single_register(handle1, station_addr, MODE_REG_ADDR, write_cmd, 0, 1)
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if ret_code == ModbusError.MODBUS_SUCCESS:
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print(f"成功：电机模式设置完成（从站{station_addr}，地址0x{MODE_REG_ADDR:04X}，模式：{mode_desc}）")
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return True
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else:
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err_desc = ModbusError.get_error_desc(
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ret_code) if ret_code in ModbusError.__members__.values() else f"未知错误码{ret_code}"
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err_msg = f"电机{mode_desc}设置失败，{err_desc}"
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print(f"失败：{err_msg}")
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raise OSError(err_msg, ret_code)
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except OSError:
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# 主动抛出的OSError直接上抛，不做额外处理
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raise
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except Exception as e:
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err_msg = f"{ModbusError.get_error_desc(ModbusError.MODBUS_ERR_MOTOR_MODE)} - {str(e)}"
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print(f"异常：{err_msg}")
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raise Exception(err_msg) from e
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def get_motor_speed(station_addr: int) -> int:
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"""
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获取电机速度
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:param station_addr: 从站地址
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:return: 返回电机速度值
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"""
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_check_handle_valid()
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handle_obj = RTU_HANDLE_MAP.get(handle1)
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try:
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reg_values = read_holding_register(handle1, station_addr, SPEED_REG_ADDR, 1, 0, [], 1)
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if not reg_values or len(reg_values) != 1:
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err_msg = f"{ModbusError.get_error_desc(ModbusError.MODBUS_ERR_DATA_FORMAT)}，数据:{reg_values}"
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print(f"错误：{err_msg}")
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raise OSError(err_msg)
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unsigned_speed = reg_values[0]
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signed_speed = handle_obj.uint16_to_int16(unsigned_speed)
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print(f"成功：获取电机速度（从站{station_addr})-->无符号值:{unsigned_speed}-->有符号值:{signed_speed}")
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return signed_speed
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except OSError:
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raise
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except Exception as e:
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err_msg = f"{ModbusError.get_error_desc(ModbusError.MODBUS_ERR_REG_READ)} - {str(e)}"
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print(f"错误：{err_msg}")
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raise Exception(err_msg) from e
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def get_motor_acceleration(station_addr: int) -> int:
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"""
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获取电机加速度
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:param station_addr: 从站地址
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:return: 电机加速度值
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"""
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_check_handle_valid()
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handle_obj = RTU_HANDLE_MAP.get(handle1)
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try:
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reg_values = read_holding_register(handle1, station_addr, ACCELERATION_REG_ADDR, 1, 0, [], 1)
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if not reg_values or len(reg_values) != 1:
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err_msg = f"{ModbusError.get_error_desc(ModbusError.MODBUS_ERR_DATA_FORMAT)}，数据:{reg_values}"
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print(f"错误：{err_msg}")
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raise OSError(err_msg)
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unsigned_speed = reg_values[0]
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signed_speed = handle_obj.uint16_to_int16(unsigned_speed)
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print(f"成功：获取电机加速度（从站{station_addr})-->无符号值:{unsigned_speed}-->有符号值:{signed_speed}")
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return signed_speed
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except OSError:
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raise
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except Exception as e:
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err_msg = f"{ModbusError.get_error_desc(ModbusError.MODBUS_ERR_REG_READ)} - {str(e)}"
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print(f"错误：{err_msg}")
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raise Exception(err_msg) from e
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def get_motor_deceleration(station_addr: int) -> int:
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"""
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获取电机减速度
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:param station_addr: 从站地址
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:return: i电机减速度值
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"""
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_check_handle_valid()
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handle_obj = RTU_HANDLE_MAP.get(handle1)
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try:
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reg_values = read_holding_register(handle1, station_addr, DECELERATION_REG_ADDR, 1, 0, [], 1)
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if not reg_values or len(reg_values) != 1:
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err_msg = f"{ModbusError.get_error_desc(ModbusError.MODBUS_ERR_DATA_FORMAT)}，数据:{reg_values}"
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print(f"错误：{err_msg}")
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raise OSError(err_msg)
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unsigned_speed = reg_values[0]
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signed_speed = handle_obj.uint16_to_int16(unsigned_speed)
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print(f"成功：获取电机减速度（从站{station_addr})-->无符号值:{unsigned_speed}-->有符号值:{signed_speed}")
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return signed_speed
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except OSError:
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raise
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except Exception as e:
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err_msg = f"{ModbusError.get_error_desc(ModbusError.MODBUS_ERR_REG_READ)} - {str(e)}"
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print(f"错误：{err_msg}")
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raise Exception(err_msg) from e
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def move_motor(station_addr: int, value: bool) -> bool:
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"""
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启停电机
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:param station_addr: 从站地址
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:param value: True--启动电机，False--停止电机
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:return: 是否设置成功
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"""
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_check_handle_valid()
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try:
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if value:
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write_cmd = START_CMD
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op = "启动"
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else:
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write_cmd = STOP_CMD
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op = "停止"
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ret_code = write_single_register(handle1, station_addr, START_OR_STOP_REG_ADDR, write_cmd, 0,1)
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if ret_code == ModbusError.MODBUS_SUCCESS:
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print(f"成功：电机{op}指令已发送（从站{station_addr}）")
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return True
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else:
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err_desc = ModbusError.get_error_desc(
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ret_code) if ret_code in ModbusError.__members__.values() else f"未知错误码{ret_code}"
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err_msg = f"电机{op}指令发送失败，{err_desc}"
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print(f"失败：{err_msg}")
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raise OSError(err_msg, ret_code)
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except OSError:
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raise
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except Exception as e:
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op = "启动" if value else "停止"
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err_msg = f"异常：电机{op}指令执行失败 - {str(e)}"
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print(f"异常:{err_msg}")
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raise Exception(err_msg)
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def sync_motor_move(value: bool):
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"""
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同步传送带电机
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:param value: 启停传送点电机 True--同步启动传送带电机 False--同步停止传送带电机
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"""
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op_desc = "启动" if value else "停止"
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if not isinstance(value, bool):
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err_msg = f"{ModbusError.get_error_desc(ModbusError.MODBUS_ERR_PARAM_TYPE)}（同步{op_desc}）：参数必须是布尔值，当前值：{value}（类型：{type(value)}）"
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print(f"错误：{err_msg}")
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raise TypeError(err_msg)
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try:
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print(f"开始同步{op_desc}传送带电机（从站1、2）...")
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move_motor(1, value)
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move_motor(2, value)
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print(f"成功：所有传送带电机已同步{op_desc}完成")
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except Exception as e:
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err_msg = f"{ModbusError.get_error_desc(ModbusError.MODBUS_ERR_MOTOR_SYNC)}（{op_desc}）：{str(e)}"
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print(f"错误：{err_msg}")
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# 抛RuntimeError，保留原始异常链，便于上层定位具体失败电机
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raise RuntimeError(err_msg) from e
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# ------------调试接口----------
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if __name__ == '__main__':
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# 配置传送带电机参数 只需配置一次
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set_motor_mode(1, 0) # 配置成速度模式
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set_motor_speed(1, -30)
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set_motor_acceleration(1, 50)
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set_motor_deceleration(1, 50)
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set_motor_mode(2, 0) # 配置成速度模式
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set_motor_speed(2, -30)
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set_motor_acceleration(2, 50)
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set_motor_deceleration(2, 50)
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sync_motor_move(True)
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time.sleep(1)
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sync_motor_move(False)
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68
conveyor_controller/error_code.py
Normal file
68
conveyor_controller/error_code.py
Normal file
@ -0,0 +1,68 @@
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#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
# @Time : 2026/2/6 17:15
|
||||
# @Author : reenrr
|
||||
# @File : error_code.py
|
||||
# @Desc : Modbus RTU错误码定义
|
||||
"""
|
||||
from enum import IntEnum
|
||||
|
||||
class ModbusError(IntEnum):
|
||||
"""Modbus RTU操作错误码枚举（覆盖传送带电机所有场景）"""
|
||||
# 基础成功/通用错误
|
||||
MODBUS_SUCCESS = 0 # 成功返回码（对齐C接口）
|
||||
MODBUS_ERR_UNKNOWN = 99 # 未知错误
|
||||
|
||||
# 串口相关错误
|
||||
MODBUS_ERR_SERIAL = 1 # 串口错误（打开/关闭/配置失败）
|
||||
MODBUS_ERR_SERIAL_HANDLE = 10 # 串口句柄无效/未初始化/未打开
|
||||
MODBUS_ERR_SERIAL_TIMEOUT = 5 # 串口通信超时
|
||||
|
||||
# 数据校验/转换错误
|
||||
MODBUS_ERR_CRC = 2 # CRC校验错误
|
||||
MODBUS_ERR_DATA_CONVERT = 11 # 十进制<->16位数据转换失败
|
||||
MODBUS_ERR_DATA_FORMAT = 12 # 寄存器返回数据格式异常（长度/值非法）
|
||||
|
||||
# 参数错误
|
||||
MODBUS_ERR_PARAM = 4 # 参数错误（通用）
|
||||
MODBUS_ERR_PARAM_STATION = 13 # 从站地址非法（非1-247）
|
||||
MODBUS_ERR_PARAM_VALUE = 14 # 数值超出范围（如速度/加速度超出int16）
|
||||
MODBUS_ERR_PARAM_TYPE = 15 # 参数类型错误（如启停指令非布尔值）
|
||||
|
||||
# 响应/寄存器操作错误
|
||||
MODBUS_ERR_RESPONSE = 3 # 响应异常（从站无响应/响应非法）
|
||||
MODBUS_ERR_REG_WRITE = 20 # 写寄存器失败（返回非0码）
|
||||
MODBUS_ERR_REG_READ = 21 # 读寄存器失败（返回数据为空/长度不匹配）
|
||||
MODBUS_ERR_REG_ADDR = 22 # 寄存器地址非法
|
||||
|
||||
# 电机模式/控制错误
|
||||
MODBUS_ERR_MOTOR_MODE = 30 # 电机模式设置失败
|
||||
MODBUS_ERR_MOTOR_START_STOP = 31 # 电机启停指令执行失败
|
||||
MODBUS_ERR_MOTOR_SYNC = 32 # 电机同步操作失败
|
||||
|
||||
@classmethod
|
||||
def get_error_desc(cls, err_code: int) -> str:
|
||||
"""获取错误码对应的描述信息"""
|
||||
desc_map = {
|
||||
cls.MODBUS_SUCCESS: "操作成功",
|
||||
cls.MODBUS_ERR_UNKNOWN: "未知错误",
|
||||
cls.MODBUS_ERR_SERIAL: "串口错误（打开/关闭/配置失败）",
|
||||
cls.MODBUS_ERR_SERIAL_HANDLE: "串口句柄无效/未初始化/未打开",
|
||||
cls.MODBUS_ERR_SERIAL_TIMEOUT: "串口通信超时",
|
||||
cls.MODBUS_ERR_CRC: "CRC校验错误",
|
||||
cls.MODBUS_ERR_DATA_CONVERT: "十进制<->16位数据转换失败",
|
||||
cls.MODBUS_ERR_DATA_FORMAT: "寄存器返回数据格式异常",
|
||||
cls.MODBUS_ERR_PARAM: "参数错误（通用）",
|
||||
cls.MODBUS_ERR_PARAM_STATION: "从站地址非法（必须是1-247的整数）",
|
||||
cls.MODBUS_ERR_PARAM_VALUE: "数值超出范围（如int16：-32768~32767）",
|
||||
cls.MODBUS_ERR_PARAM_TYPE: "参数类型错误",
|
||||
cls.MODBUS_ERR_RESPONSE: "从站响应异常",
|
||||
cls.MODBUS_ERR_REG_WRITE: "写寄存器失败",
|
||||
cls.MODBUS_ERR_REG_READ: "读寄存器失败",
|
||||
cls.MODBUS_ERR_REG_ADDR: "寄存器地址非法",
|
||||
cls.MODBUS_ERR_MOTOR_MODE: "电机模式设置失败",
|
||||
cls.MODBUS_ERR_MOTOR_START_STOP: "电机启停指令执行失败",
|
||||
cls.MODBUS_ERR_MOTOR_SYNC: "电机同步操作失败"
|
||||
}
|
||||
return desc_map.get(err_code, f"未定义的错误码：{err_code}")
|
||||
698
conveyor_controller/modbus.py
Normal file
698
conveyor_controller/modbus.py
Normal file
@ -0,0 +1,698 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
# @Time : 2026/2/6 16:45
|
||||
# @Author : reenrr
|
||||
# @File : modbus.py
|
||||
# @Desc : Modbus RTU通用接口
|
||||
"""
|
||||
import time
|
||||
import serial
|
||||
import threading
|
||||
|
||||
from typing import Optional
|
||||
|
||||
from error_code import ModbusError
|
||||
|
||||
# -------全局485半双工锁--------
|
||||
RTU_GLOBAL_LOCKS: dict[str, threading.Lock] = {} # key=串口号，value=独占锁
|
||||
RTU_LOCK_INIT_LOCK = threading.Lock() # 锁初始化的线程安全锁
|
||||
|
||||
# -------全局句柄管理-------
|
||||
RTU_HANDLE_MAP: dict[int, "RTUSerialHandle"] = {} # 句柄ID
|
||||
RTU_NEXT_HANDLE_ID = 1
|
||||
RTU_HANDLE_LOCK = threading.Lock()
|
||||
|
||||
# -------Modbus RTU 核心常量-----------
|
||||
MODBUS_FUNC_READ_HOLDING_REG = 0x03 # 读保持寄存器功能码
|
||||
MODBUS_FUNC_WRITE_SINGLE_REG = 0x06 # 写单个寄存器功能码
|
||||
MODBUS_FUNC_WRITE_MULTI_REG = 0x10 # 写多个寄存器功能码
|
||||
MODBUS_CRC_LENGTH = 2 # CRC校验码长度
|
||||
MODBUS_MAX_READ_REG = 125 # 读寄存器最大数量（协议规定）
|
||||
MODBUS_MAX_WRITE_MULTI_REG = 123 # 写多寄存器最大数量（协议规定）
|
||||
MODBUS_REG_VAL_MAX = 0xFFFF # 单寄存器最大取值（16位）
|
||||
MODBUS_STATION_ADDR_MIN = 1 # 从站地址最小值
|
||||
MODBUS_STATION_ADDR_MAX = 247 # 从站地址最大值
|
||||
|
||||
class RTUSerialHandle:
|
||||
"""
|
||||
Modbus RTU串口句柄类，封装串口实例、配置、状态
|
||||
"""
|
||||
def __init__(self, port: str, baudrate: int,
|
||||
databits: int, stopbits: int, parity: str):
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.databits = databits
|
||||
self.stopbits = stopbits
|
||||
self.parity = parity # 校验位
|
||||
self.ser: Optional[serial.Serial] = None # 串口实例
|
||||
self.is_open = False
|
||||
|
||||
def open(self) -> int:
|
||||
"""
|
||||
打开串口，转换pyserial兼容参数，初始化485锁
|
||||
:return: ModbusError错误码
|
||||
"""
|
||||
try:
|
||||
# 串口参数转换：将类内存储的参数转为pyserial可识别的格式
|
||||
# 1. 停止位转换（int -> pyserial常量）
|
||||
stopbits_map = {
|
||||
1: serial.STOPBITS_ONE,
|
||||
2: serial.STOPBITS_TWO
|
||||
}
|
||||
pyserial_stopbits = stopbits_map.get(self.stopbits, serial.STOPBITS_ONE)
|
||||
|
||||
# 2. 数据位转换（int -> pyserial常量）
|
||||
databits_map = {
|
||||
7: serial.SEVENBITS,
|
||||
8: serial.EIGHTBITS
|
||||
}
|
||||
pyserial_databits = databits_map.get(self.databits, serial.EIGHTBITS)
|
||||
|
||||
self.ser = serial.Serial(
|
||||
port=self.port,
|
||||
baudrate=self.baudrate,
|
||||
bytesize=pyserial_databits,
|
||||
stopbits=pyserial_stopbits,
|
||||
parity=self.parity,
|
||||
timeout=0.1,
|
||||
write_timeout=0.1,
|
||||
xonxoff=False,
|
||||
rtscts=False,
|
||||
dsrdtr=False
|
||||
)
|
||||
|
||||
if self.ser.is_open:
|
||||
self.is_open = True
|
||||
# 初始化该串口的485半双工锁
|
||||
with RTU_LOCK_INIT_LOCK:
|
||||
if self.port not in RTU_GLOBAL_LOCKS:
|
||||
RTU_GLOBAL_LOCKS[self.port] = threading.Lock()
|
||||
return ModbusError.MODBUS_SUCCESS
|
||||
return ModbusError.MODBUS_ERR_SERIAL
|
||||
|
||||
except Exception as e:
|
||||
print(f"串口打开失败{self.port}:{e}")
|
||||
return ModbusError.MODBUS_ERR_SERIAL
|
||||
|
||||
def close(self):
|
||||
"""关闭串口，清理资源，置空状态"""
|
||||
if self.ser and self.is_open:
|
||||
try:
|
||||
self.ser.reset_input_buffer()
|
||||
self.ser.reset_output_buffer()
|
||||
self.ser.close()
|
||||
except Exception as e:
|
||||
print(f"【串口警告】关闭{self.port}时异常：{str(e)}")
|
||||
finally:
|
||||
self.is_open = False
|
||||
self.ser = None
|
||||
|
||||
def get_lock(self) ->threading.Lock:
|
||||
"""
|
||||
获取当前串口的485半双工锁
|
||||
:return: 独占锁实例
|
||||
"""
|
||||
with RTU_LOCK_INIT_LOCK:
|
||||
return RTU_GLOBAL_LOCKS.get(self.port, threading.Lock())
|
||||
|
||||
def decimal_to_16bit(self, value: int) -> int:
|
||||
"""
|
||||
将十进制有符号整数转换成十六进制字符串
|
||||
:param value: 十进制有符号整数
|
||||
:return: 十六进制字符串
|
||||
"""
|
||||
# 1. 限制数值在16位有符号整数范围内（-32768 ~ 32767）
|
||||
min_16bit = -32768 # 16位有符号整数最小值
|
||||
max_16bit = 32767 # 16位有符号整数最大值
|
||||
|
||||
# 超出范围自动截断并提示
|
||||
if value < min_16bit:
|
||||
print(f"警告：数值{value}超出16位最小值{min_16bit}，已截断为{min_16bit}")
|
||||
value = min_16bit
|
||||
elif value > max_16bit:
|
||||
print(f"警告：数值{value}超出16位最大值{max_16bit}，已截断为{max_16bit}")
|
||||
value = max_16bit
|
||||
|
||||
# 2. 转换为16位无符号补码（核心逻辑）
|
||||
if value < 0:
|
||||
unsigned_value = 65536 + value # 负数转补码（如-30 → 65506）
|
||||
else:
|
||||
unsigned_value = value # 正数直接保留（如30 → 30）
|
||||
|
||||
# 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）
|
||||
return unsigned_value
|
||||
|
||||
def uint16_to_int16(self, unsigned_value: int) -> int:
|
||||
"""
|
||||
将16位无符号十进制数转换为16位有符号十进制数
|
||||
:param unsigned_value: 无符号十进制数
|
||||
:return: 有符号十进制数
|
||||
"""
|
||||
# 先校验输入范围（必须是16位无符号数）
|
||||
if not isinstance(unsigned_value, int):
|
||||
raise ValueError(f"输入必须是整数，当前是{type(unsigned_value)}")
|
||||
if unsigned_value < 0 or unsigned_value > 65535:
|
||||
raise ValueError(f"输入必须是0~65535的整数，当前是{unsigned_value}")
|
||||
|
||||
# 核心转换逻辑
|
||||
if unsigned_value > 32767:
|
||||
return unsigned_value - 65536
|
||||
else:
|
||||
return unsigned_value
|
||||
|
||||
def __del__(self):
|
||||
"""析构函数，程序退出时自动关闭串口，防止资源泄露"""
|
||||
self.close()
|
||||
|
||||
# -------对外接口--------
|
||||
# public
|
||||
def open_serial_port(port: str, baudrate: int, databits: int, stopbits: int, parity: int) -> Optional[int]:
|
||||
"""
|
||||
打开并初始化Modbus串口
|
||||
:param port: 串口号
|
||||
:param baudrate: 波特率
|
||||
:param databits: 数据位
|
||||
:param stopbits: 停止位
|
||||
:param parity: 校验位
|
||||
:return: 串口句柄
|
||||
"""
|
||||
# 1. 参数合法性校验
|
||||
if not port:
|
||||
print("参数错误：串口号不能为空")
|
||||
return None
|
||||
if baudrate <= 0:
|
||||
print(f"参数错误：波特率{baudrate}非法（必须>0）")
|
||||
return None
|
||||
if databits not in [7, 8]:
|
||||
print(f"参数错误：数据位{databits}非法（仅支持7/8）")
|
||||
return None
|
||||
if stopbits not in [1, 2]:
|
||||
print(f"参数错误：停止位{stopbits}非法（仅支持1/2）")
|
||||
return None
|
||||
if parity not in [0, 1, 2]:
|
||||
print(f"参数错误：校验位{parity}非法（仅支持0=无/1=奇/2=偶）")
|
||||
return None
|
||||
|
||||
# 2. 校验位转换（int -> 字符串：0->N，1->O，2->E）
|
||||
parity_map = {0: 'N', 1: 'O', 2: 'E'}
|
||||
parity_str = parity_map[parity] # 已校验parity在0-2，无需默认值
|
||||
|
||||
# 3. 创建串口句柄实例
|
||||
handle_obj = RTUSerialHandle(
|
||||
port=port,
|
||||
baudrate=baudrate,
|
||||
databits=databits,
|
||||
stopbits=stopbits,
|
||||
parity=parity_str
|
||||
)
|
||||
|
||||
# 4. 打开串口
|
||||
ret = handle_obj.open()
|
||||
if ret != ModbusError.MODBUS_SUCCESS:
|
||||
print(f"串口{port}打开失败，错误码：{ret}")
|
||||
return None
|
||||
|
||||
# 5. 分配全局句柄ID并存储
|
||||
global RTU_NEXT_HANDLE_ID
|
||||
with RTU_HANDLE_LOCK:
|
||||
handle_id = RTU_NEXT_HANDLE_ID
|
||||
RTU_HANDLE_MAP[handle_id] = handle_obj
|
||||
RTU_NEXT_HANDLE_ID += 1
|
||||
|
||||
print(f"串口[{port}]打开成功，句柄ID：{handle_id}")
|
||||
return handle_id
|
||||
|
||||
def close_serial_port(handle: int):
|
||||
"""
|
||||
关闭Modbus串口
|
||||
:param handle:串口句柄ID
|
||||
"""
|
||||
with RTU_HANDLE_LOCK:
|
||||
handle_obj = RTU_HANDLE_MAP.get(handle)
|
||||
if not handle_obj:
|
||||
print(f"句柄{handle}不存在，关闭失败")
|
||||
return
|
||||
|
||||
# 关闭串口并清理资源
|
||||
handle_obj.close()
|
||||
del RTU_HANDLE_MAP[handle]
|
||||
|
||||
# 清理485半双工锁（可选）
|
||||
with RTU_LOCK_INIT_LOCK:
|
||||
if handle_obj.port in RTU_GLOBAL_LOCKS:
|
||||
del RTU_GLOBAL_LOCKS[handle_obj.port]
|
||||
|
||||
print(f"句柄{handle}（串口[{handle_obj.port}]）已关闭")
|
||||
|
||||
# --------Modbus RTU CRC16校验函数-----------
|
||||
def modbus_crc16(data: bytes) -> bytes:
|
||||
"""
|
||||
计算Modbus RTU CRC16校验码（小端序）
|
||||
:param data: 待校验的字节流（不含CRC）
|
||||
:return: 2字节校验码
|
||||
"""
|
||||
crc = 0xFFFF
|
||||
for byte in data:
|
||||
crc ^= byte
|
||||
|
||||
# 对当前字节的每1位（共8位）做移位+异或操作
|
||||
for _ in range(8):
|
||||
# 判断CRC寄存器的最低位是否为1
|
||||
if crc & 0x0001:
|
||||
# 如果最低位是1：先右移1位，再和多项式0xA001异或
|
||||
crc = (crc >> 1) ^ 0xA001
|
||||
else:
|
||||
# 如果最低位是0：仅右移1位
|
||||
crc >>= 1
|
||||
|
||||
# 把16位CRC值拆成2个字节（小端序：低字节在前，高字节在后）
|
||||
return bytes([crc & 0xFF, (crc >> 8) & 0xFF])
|
||||
|
||||
def verify_modbus_crc(data: bytes) -> bool:
|
||||
"""
|
||||
验证Modbus RTU数据的CRC16校验码
|
||||
:param data: 包含CRC的完整字节流
|
||||
:return: True=校验通过，False=校验失败
|
||||
"""
|
||||
if len(data) < MODBUS_CRC_LENGTH:
|
||||
return False
|
||||
|
||||
# 拆分出“原始数据部分”（去掉最后2字节的CRC）
|
||||
data_part = data[:-MODBUS_CRC_LENGTH]
|
||||
|
||||
# 拆分出“附带的CRC校验码部分”（取最后2字节）
|
||||
crc_part = data[-MODBUS_CRC_LENGTH:]
|
||||
|
||||
# 核心验证：重新计算原始数据的CRC，和附带的CRC对比
|
||||
return modbus_crc16(data_part) == crc_part
|
||||
|
||||
|
||||
# ------Modbus RTU核心接口-------
|
||||
def read_holding_register(handle: int, station_addr: int, start_reg_addr: int,
|
||||
reg_count: int, resp_offset: int, out_buffer: list[int], use_crc: int) -> list[int]:
|
||||
"""
|
||||
读保持寄存器
|
||||
:param handle: 串口句柄ID
|
||||
:param station_addr: 从机地址
|
||||
:param start_reg_addr: 起始寄存器地址
|
||||
:param reg_count: 读取寄存器数量
|
||||
:param resp_offset: 响应数据偏移量
|
||||
:param out_buffer: 输出缓冲区
|
||||
:param use_crc: 是否启用crc校验
|
||||
:return: 读取到的寄存器值列表
|
||||
"""
|
||||
# 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")
|
||||
raise 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）")
|
||||
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)
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user