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