# coding:UTF-8 import threading import time import serial from serial import SerialException # 串口配置 Serial Port Configuration class SerialConfig: # 串口号 portName = '' # 波特率 baud = 9600 # 设备实例 Device instance class DeviceModel: # region 属性 attribute # 设备名称 deviceName deviceName = "我的设备" # 设备modbus ID列表 addrLis = [] # 设备数据字典 Device Data Dictionary deviceData = {} # 设备是否开启 isOpen = False # 是否循环读取 Whether to loop read loop = False # 串口 Serial port serialPort = None # 串口配置 Serial Port Configuration serialConfig = SerialConfig() # 临时数组 Temporary array TempBytes = [] # 起始寄存器 Start register statReg = None # endregion # region 计算CRC Calculate CRC auchCRCHi = [ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40] auchCRCLo = [ 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80, 0x40] # endregion 计算CRC def __init__(self, deviceName, portName, baud, addrLis, callback_method): print("初始化设备模型") # 设备名称（自定义） Device Name self.deviceName = deviceName # 串口号 Serial port number self.serialConfig.portName = portName # 串口波特率 baud self.serialConfig.baud = baud # modbus ID 设备地址 self.addrLis = addrLis self.deviceData = {} # 数据回调方法 Data callback method self.callback_method = callback_method # 初始化设备数据字典 Initialize device data dictionary for addr in addrLis: self.deviceData[addr] = {} # 获得CRC校验 Obtain CRC verification def get_crc(self, datas, dlen): tempH = 0xff # 高 CRC 字节初始化 High CRC byte initialization tempL = 0xff # 低 CRC 字节初始化 Low CRC byte initialization for i in range(0, dlen): tempIndex = (tempH ^ datas[i]) & 0xff tempH = (tempL ^ self.auchCRCHi[tempIndex]) & 0xff tempL = self.auchCRCLo[tempIndex] return (tempH << 8) | tempL pass # region 获取设备数据 Obtain device data # 设置设备数据 Set device data def set(self, ADDR, key, value): # 将设备数据存到键值 Saving device data to key values self.deviceData[ADDR][key] = value # 获得设备数据 Obtain device data def get(self, ADDR, key): # 从键值中获取数据，没有则返回None Obtaining data from key values if ADDR in self.deviceData: if key in self.deviceData[ADDR]: return self.deviceData[ADDR][key] else: return None else: return None # 删除设备数据 Delete device data def remove(self, ADDR, key): # 删除设备键值 if ADDR in self.deviceData: if key in self.deviceData[ADDR]: del self.deviceData[ADDR][key] # endregion # 打开设备 open Device def openDevice(self): # 先关闭端口 Turn off the device first self.closeDevice() try: self.serialPort = serial.Serial(self.serialConfig.portName, self.serialConfig.baud, timeout=0.5) self.isOpen = True print("{}已打开".format(self.serialConfig.portName)) # 开启一个线程持续监听串口数据 Start a thread to continuously listen to serial port data t = threading.Thread(target=self.readDataTh, args=("Data-Received-Thread", 10,)) t.start() print("设备打开成功") except SerialException: print("打开" + self.serialConfig.portName + "失败") # 监听串口数据线程 Listening to serial data threads def readDataTh(self, threadName, delay): print("启动" + threadName) while True: # 如果串口打开了 if self.isOpen: try: tLen = self.serialPort.inWaiting() if tLen > 0: data = self.serialPort.read(tLen) self.onDataReceived(data) except Exception as ex: print(ex) else: time.sleep(0.1) print("串口未打开") break # 关闭设备 close Device def closeDevice(self): if self.serialPort is not None: self.serialPort.close() print("端口关闭了") self.isOpen = False print("设备关闭了") # region 数据解析 data analysis # 串口数据处理 Serial port data processing def onDataReceived(self, data): tempdata = bytes.fromhex(data.hex()) for val in tempdata: self.TempBytes.append(val) # 判断ID是否正确 Determine if the ID is correct if self.TempBytes[0] not in self.addrLis: del self.TempBytes[0] continue # 判断是否是03读取功能码 Determine whether it is 03 to read the function code if len(self.TempBytes) > 2: if not (self.TempBytes[1] == 0x03): del self.TempBytes[0] continue tLen = len(self.TempBytes) # 拿到一包完整协议数据 Get a complete package of protocol data if tLen == self.TempBytes[2] + 5: # CRC校验 tempCrc = self.get_crc(self.TempBytes, tLen - 2) if (tempCrc >> 8) == self.TempBytes[tLen - 2] and (tempCrc & 0xff) == self.TempBytes[tLen - 1]: self.processData(self.TempBytes[2]) else: del self.TempBytes[0] # 数据解析 data analysis def processData(self, length): # 　数据解析 ADDR = self.TempBytes[0] if length == 24: AccX = self.getSignInt16(self.TempBytes[3] << 8 | self.TempBytes[4]) / 32768 * 16 AccY = self.getSignInt16(self.TempBytes[5] << 8 | self.TempBytes[5]) / 32768 * 16 AccZ = self.getSignInt16(self.TempBytes[7] << 8 | self.TempBytes[8]) / 32768 * 16 self.set(ADDR, "AccX", round(AccX, 3)) self.set(ADDR, "AccY", round(AccY, 3)) self.set(ADDR, "AccZ", round(AccZ, 3)) AsX = self.getSignInt16(self.TempBytes[9] << 8 | self.TempBytes[10]) / 32768 * 2000 AsY = self.getSignInt16(self.TempBytes[11] << 8 | self.TempBytes[12]) / 32768 * 2000 AsZ = self.getSignInt16(self.TempBytes[13] << 8 | self.TempBytes[14]) / 32768 * 2000 self.set(ADDR, "AsX", round(AsX, 3)) self.set(ADDR, "AsY", round(AsY, 3)) self.set(ADDR, "AsZ", round(AsZ, 3)) HX = self.getSignInt16(self.TempBytes[15] << 8 | self.TempBytes[16]) * 13 / 1000 HY = self.getSignInt16(self.TempBytes[17] << 8 | self.TempBytes[18]) * 13 / 1000 HZ = self.getSignInt16(self.TempBytes[19] << 8 | self.TempBytes[20]) * 13 / 1000 self.set(ADDR, "HX", round(HX, 3)) self.set(ADDR, "HY", round(HY, 3)) self.set(ADDR, "HZ", round(HZ, 3)) AngX = self.getSignInt16(self.TempBytes[21] << 8 | self.TempBytes[22]) / 32768 * 180 AngY = self.getSignInt16(self.TempBytes[23] << 8 | self.TempBytes[24]) / 32768 * 180 AngZ = self.getSignInt16(self.TempBytes[25] << 8 | self.TempBytes[26]) / 32768 * 180 self.set(ADDR, "AngX", round(AngX, 3)) self.set(ADDR, "AngY", round(AngY, 3)) self.set(ADDR, "AngZ", round(AngZ, 3)) self.callback_method(self) else: if self.statReg is not None: for i in range(int(length / 2)): value = self.getSignInt16(self.TempBytes[2 * i + 3] << 8 | self.TempBytes[2 * i + 4]) value = value / 32768 self.set(ADDR, str(self.statReg), round(value, 3)) self.statReg += 1 self.TempBytes.clear() # endregion @staticmethod def getSignInt16(num): if num >= pow(2, 15): num -= pow(2, 16) return num @staticmethod def getSignInt32(num): if num >= pow(2, 31): num -= pow(2, 32) return num # 发送串口数据 Sending serial port data def sendData(self, data): try: self.serialPort.write(data) except Exception as ex: print(ex) # 读取寄存器 read register def readReg(self, ADDR, regAddr, regCount): # 从指令中获取起始寄存器 （处理回传数据需要用到） Get start register from instruction self.statReg = regAddr # 封装读取指令并向串口发送数据 Encapsulate read instructions and send data to the serial port self.sendData(self.get_readBytes(ADDR, regAddr, regCount)) # 写入寄存器 Write Register def writeReg(self, ADDR, regAddr, sValue): # 解锁 unlock self.unlock(ADDR) # 延迟100ms Delay 100ms time.sleep(0.1) # 封装写入指令并向串口发送数据 self.sendData(self.get_writeBytes(ADDR, regAddr, sValue)) # 延迟100ms Delay 100ms time.sleep(0.1) # 保存 save self.save(ADDR) # 发送读取指令封装 Send read instruction encapsulation def get_readBytes(self, devid, regAddr, regCount): # 初始化 tempBytes = [None] * 8 # 设备modbus地址 tempBytes[0] = devid # 读取功能码 tempBytes[1] = 0x03 # 寄存器高8位 tempBytes[2] = regAddr >> 8 # 寄存器低8位 tempBytes[3] = regAddr & 0xff # 读取寄存器个数高8位 tempBytes[4] = regCount >> 8 # 读取寄存器个数低8位 tempBytes[5] = regCount & 0xff # 获得CRC校验 tempCrc = self.get_crc(tempBytes, len(tempBytes) - 2) # CRC校验高8位 tempBytes[6] = tempCrc >> 8 # CRC校验低8位 tempBytes[7] = tempCrc & 0xff return tempBytes # 发送写入指令封装 Send write instruction encapsulation def get_writeBytes(self, devid, regAddr, sValue): # 初始化 tempBytes = [None] * 8 # 设备modbus地址 tempBytes[0] = devid # 写入功能码 tempBytes[1] = 0x06 # 寄存器高8位 tempBytes[2] = regAddr >> 8 # 寄存器低8位 tempBytes[3] = regAddr & 0xff # 寄存器值高8位 tempBytes[4] = sValue >> 8 # 寄存器值低8位 tempBytes[5] = sValue & 0xff # 获得CRC校验 tempCrc = self.get_crc(tempBytes, len(tempBytes) - 2) # CRC校验高8位 tempBytes[6] = tempCrc >> 8 # CRC校验低8位 tempBytes[7] = tempCrc & 0xff return tempBytes # 开始循环读取 Start loop reading def startLoopRead(self): # 循环读取控制 self.loop = True # 开启读取线程 Enable read thread t = threading.Thread(target=self.loopRead, args=()) t.start() # 循环读取线程 Loop reading data def loopRead(self): print("循环读取开始") while self.loop: for addr in self.addrLis: self.readReg(addr, 0x34, 12) time.sleep(0.2) print("循环读取结束") # 关闭循环读取 Close loop reading def stopLoopRead(self): self.loop = False # 解锁 def unlock(self, ADDR): cmd = self.get_writeBytes(ADDR, 0x69, 0xb588) self.sendData(cmd) # 保存 def save(self, ADDR): cmd = self.get_writeBytes(ADDR, 0x00, 0x0000) self.sendData(cmd)