调试更改+挡板电机添加线程和配置文件

conveyor_controller/modbus.py

@@ -161,10 +161,29 @@ class RTUSerialHandle:
         else:
             return unsigned_value
 
+    def uint32_to_int32(self, unsigned_value: int) -> int:
+        """
+        将32位无符号十进制数转换为32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32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 > 4294967295:
+            raise ValueError(f"输入必须是0~4294967295的整数，当前是{unsigned_value}")
+
+        # 核心转换逻辑
+        if unsigned_value > 2147483647:  # 0x7FFFFFFF
+            return unsigned_value - 4294967296  # 0x100000000
+        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]:
@@ -223,6 +242,7 @@ def open_serial_port(port: str, baudrate: int, databits: int, stopbits: int, par
     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
@@ -245,6 +265,7 @@ def close_serial_port(handle: int):
 
     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:
     """
@@ -269,6 +290,7 @@ def modbus_crc16(data: bytes) -> bytes:
     # 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
@@ -411,6 +433,7 @@ def read_holding_register(handle: int, station_addr: int, start_reg_addr: int,
     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:
     """
@@ -498,9 +521,10 @@ def write_single_register(handle: int, station_addr: int, reg_addr: int, write_v
         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}")
+    # 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:
     """
@@ -620,6 +644,7 @@ def write_multi_register(handle: int, station_addr: int, start_reg_addr: int, re
     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(