286 lines
9.6 KiB
Python
286 lines
9.6 KiB
Python
import json
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import struct
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import sys
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from dataclasses import dataclass
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from PySide6.QtCore import QCoreApplication, QByteArray, Slot
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from PySide6.QtNetwork import QTcpServer, QTcpSocket, QHostAddress
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from PySide6.QtCore import Signal
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from param_manager import ParamManager
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import modbus_tk
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import modbus_tk.defines as cst
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import modbus_tk.modbus_rtu as modbus_rtu
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from typing import Dict
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import serial
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@dataclass
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class Parameter:
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name: str
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offset: int
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data_type: str
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array_index: int = -1
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def __str__(self):
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return f"{self.name} at offset {self.offset} ({self.data_type})"
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class ParameterManager:
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def __init__(self):
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self.parameters: Dict[str, Parameter] = {}
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self._load_parameters()
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def _load_parameters(self):
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# Load parameters from the structure file
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with open('struct_members_2.txt', 'r') as f:
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for line in f:
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parts = line.strip().split(':')
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if len(parts) != 2:
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continue
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name = parts[0].strip()
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offset_type = parts[1].strip().split()
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offset = int(offset_type[1])
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data_type = offset_type[2].strip('()')
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self.parameters[name] = Parameter(name, offset, data_type)
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class ModbusController:
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def __init__(self, modbus_config):
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self.master = modbus_rtu.RtuMaster(
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serial.Serial(port=modbus_config["com_port"], baudrate=modbus_config["baud_rate"], bytesize=8, parity='N', stopbits=1)
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)
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self.master.set_timeout(1.0)
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self.slave_addr = 1
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self.cst = cst
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def _byte_addr_to_register_addr(self, byte_addr: int) -> int:
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"""Convert byte address to Modbus register address"""
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return byte_addr // 2
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def read_parameter(self, param: Parameter):
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# Calculate register address from byte offset
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reg_addr = self._byte_addr_to_register_addr(param.offset)
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print(reg_addr)
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print('--------------')
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print(param.data_type)
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# Read two consecutive 16-bit registers
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registers = self.master.execute(
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self.slave_addr,
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self.cst.READ_HOLDING_REGISTERS,
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reg_addr,
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2
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)
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swapped_registers = (registers[0], registers[1])
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bytes_value = struct.pack('<HH', *swapped_registers)
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# Convert to float32 little endian byte-swap
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# For byte-swap, we need to swap the registers and then interpret as little endian
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if param.data_type == "float32":
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return struct.unpack('<f', bytes_value)[0]
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elif param.data_type == "int32_t":
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return struct.unpack('<i', bytes_value)[0]
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else:
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pass
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return 0
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# throw an error. { param.datatype } dataType not supported.
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def write_parameter(self, param: Parameter, value):
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# Calculate register address from byte offset
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reg_addr = self._byte_addr_to_register_addr(param.offset)
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if param.data_type == "float":
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print('convert')
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# Convert float to two 16-bit registers using little endian byte-swap
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bytes_value = struct.pack('<f', float(value))
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elif param.data_type == "int32_t":
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# Convert float to two 16-bit registers using little endian byte-swap
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bytes_value = struct.pack('<i', int(value))
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else:
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bytes_value = 0
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registers = struct.unpack('<HH', bytes_value)
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# Swap registers for byte-swap format
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swapped_registers = (registers[0], registers[1])
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print(swapped_registers)
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self.master.execute(
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self.slave_addr,
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self.cst.WRITE_MULTIPLE_REGISTERS,
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reg_addr,
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output_value=swapped_registers
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)
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def __del__(self):
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try:
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self.master.close()
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except:
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pass
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class TcpServer(QCoreApplication):
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def __init__(self, server_config, modbus_config):
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super().__init__(sys.argv)
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# 创建一个 TCP 服务器对象
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self.server = QTcpServer(self)
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self.host = server_config["host"]
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self.port = server_config["port"]
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# 连接信号，新的客户端连接时触发
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self.server.newConnection.connect(self.on_new_connection)
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# self.param_manager = ParamManager()
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self.param_manager = ParameterManager()
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self.modbus = ModbusController(modbus_config)
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# 绑定并开始监听指定的地址和端口
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if not self.server.listen(QHostAddress(self.host), self.port):
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print(f"Server could not start on {self.host}:{self.port}")
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sys.exit(1)
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print(f"Server started on {self.host}:{self.port}")
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self.buffer_size = 65536 # Increased buffer size
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@Slot()
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def on_new_connection(self):
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# 获取客户端连接的 socket 对象
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client_socket = self.server.nextPendingConnection()
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# 连接信号
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client_socket.readyRead.connect(lambda: self.on_ready_read(client_socket))
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client_socket.disconnected.connect(lambda: self.on_disconnected(client_socket))
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print(f"New connection from {client_socket.peerAddress().toString()}:{client_socket.peerPort()}")
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# 发送欢迎消息给客户端
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client_socket.flush() # 确保数据已发送
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@Slot()
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def on_ready_read(self, client_socket: QTcpSocket):
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try:
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# Read all available data until we have a complete message
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data = QByteArray()
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while client_socket.bytesAvailable():
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data.append(client_socket.readAll())
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# Wait a short time for more data if needed
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if client_socket.waitForReadyRead(100): # 100ms timeout
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continue
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break
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if not data:
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return
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print(f"Received from client: {data.data().decode()}")
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try:
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data_obj = json.loads(data.data().decode())
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res, res_data = self.request_process(data_obj)
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token = data_obj["token"]
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cmd_type = data_obj["cmd"]
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if res:
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if cmd_type == "get_params":
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res_obj = {
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"cmd": cmd_type,
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"token": token,
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"status": 0,
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"data": res_data
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}
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if cmd_type == "set_params":
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res_obj = {
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"cmd": cmd_type,
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"token": token,
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"status": 0,
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}
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except json.JSONDecodeError as e:
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print(f"JSON decode error: {e}")
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res_obj = {
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"status": -1,
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"msg": "JSON decode error."
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}
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except Exception as e:
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print(f"Processing error: {e}")
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res_obj = {
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"status": -1,
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"msg": str(e)
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}
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# Send response
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response = json.dumps(res_obj)
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response_data = response.encode()
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print(response)
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# Ensure complete send
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total_sent = 0
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while total_sent < len(response_data):
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sent = client_socket.write(response_data[total_sent:])
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if sent == 0:
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raise RuntimeError("Socket connection broken")
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total_sent += sent
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client_socket.flush()
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except Exception as e:
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print(f"Error in on_ready_read: {e}")
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@Slot()
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def on_disconnected(self, client_socket: QTcpSocket):
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print(f"Connection from {client_socket.peerAddress().toString()}:{client_socket.peerPort()} closed.")
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client_socket.deleteLater() # 清理套接字资源
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def request_process(self, data_obj):
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try:
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#print(data_obj['param_names'])
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cmd_type = data_obj["cmd"]
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res_data = None
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res = False
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match cmd_type:
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case "get_params":
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params = data_obj["data"]["params"]
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param_data = self.handle_get_params(params)
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res_data = param_data
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res = True
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case "set_params":
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params = data_obj["data"]["params"]
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if self.handle_set_params(params): # 如果参数设置成功
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res = True
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return res, res_data
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except Exception as e:
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print(e)
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def handle_get_params(self, params: Dict) -> Dict:
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result = {}
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for param_name in params:
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if param_name in self.param_manager.parameters:
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param = self.param_manager.parameters[param_name]
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value = self.modbus.read_parameter(param)
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result[param_name] = value
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return result
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def handle_set_params(self, params: Dict) -> bool:
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print('handle set')
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for param_name, value in params.items():
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if param_name in self.param_manager.parameters:
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param = self.param_manager.parameters[param_name]
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self.modbus.write_parameter(param, value)
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return True
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if __name__ == "__main__":
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# app = TcpServer("192.168.5.4", 12345)
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app = TcpServer(server_config={"host": "192.168.5.4", "port": 12345}, modbus_config={"com_port": "COM21", "baud_rate": 9600})
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sys.exit(app.exec())
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