DCS_V1.0/protocol/HartRtuSlaveManager.py

"""
HART模拟MODBUS-RTU从站管理器
使用modbus_tk实现HART一个主变量和三个动态变量的通讯
使用COM1端口，站地址1，寄存器地址0,3,5,7
"""

import threading
import time
import struct
from typing import Optional, List, Dict, Any
import modbus_tk
import modbus_tk.defines as cst
from modbus_tk import modbus_rtu
from protocol.ModBus.ByteOrder import *


class HartRtuSlaveManager:
    """HART模拟MODBUS-RTU从站管理器"""
    
    def __init__(self, comPort='COM1', slaveId=1, baudRate=9600):
        """
        初始化HART RTU从站管理器
        
        :param comPort: 串口端口，默认COM1
        :param slaveId: 从站地址，默认1
        :param baudRate: 波特率，默认9600
        """
        self.comPort = comPort
        self.slaveId = slaveId
        self.baudRate = baudRate
        self.rtuServer = None
        self.rtuSlave = None
        self.isConnected = False
        self.isRunning = False
        self.lock = threading.Lock()
        
        # HART变量寄存器地址映射
        self.registerMap = {
            'primaryVariable': 0,      # 主变量 - 寄存器地址0
            'dynamicVariable1': 3,     # 动态变量1 - 寄存器地址3
            'dynamicVariable2': 5,     # 动态变量2 - 寄存器地址5
            'dynamicVariable3': 7      # 动态变量3 - 寄存器地址7
        }
        
        # 变量值缓存
        self.variableValues = {
            'primaryVariable': 0.0,
            'dynamicVariable1': 0.0,
            'dynamicVariable2': 0.0,
            'dynamicVariable3': 0.0
        }
    
    def _initializeRegisters(self):
        """初始化寄存器数据"""
        if not self.rtuSlave:
            return
        
        try:
            # 初始化主变量寄存器（地址0）
            self.rtuSlave.set_values("primary_var", 0, [0, 0])
            # 初始化动态变量1寄存器（地址3）
            self.rtuSlave.set_values("dynamic_var1", 3, [0, 0])
            # 初始化动态变量2寄存器（地址5）
            self.rtuSlave.set_values("dynamic_var2", 5, [0, 0])
            # 初始化动态变量3寄存器（地址7）
            self.rtuSlave.set_values("dynamic_var3", 7, [0, 0])
        except Exception as e:
            print(f"初始化寄存器失败: {e}")
    
    def _floatToRegisters(self, value: float) -> tuple:
        """将浮点数转换为两个16位寄存器值"""
        return floatToBADC(value)
    
    def _registersToFloat(self, high: int, low: int) -> float:
        """将两个16位寄存器值转换为浮点数"""
        return BADCToFloat([high, low])
    
    def startSlave(self) -> bool:
        """启动RTU从站"""
        try:
            with self.lock:
                if self.isConnected:
                    return True
                
                # 创建串口对象
                import serial
                serialPort = serial.Serial(
                    port=self.comPort,
                    baudrate=self.baudRate,
                    bytesize=8,
                    parity='N',
                    stopbits=1,
                    timeout=1.0
                )
                
                # 创建RTU服务器
                self.rtuServer = modbus_rtu.RtuServer(serialPort)
                
                # 启动服务器
                self.rtuServer.start()
                
                # 添加从站
                self.rtuSlave = self.rtuServer.add_slave(self.slaveId)
                
                # 为每个HART变量添加独立的保持寄存器块
                # 主变量：寄存器0-1（起始地址0，长度2）
                self.rtuSlave.add_block("primary_var", cst.HOLDING_REGISTERS, 0, 2)
                # 动态变量1：寄存器3-4（起始地址3，长度2）
                self.rtuSlave.add_block("dynamic_var1", cst.HOLDING_REGISTERS, 3, 2)
                # 动态变量2：寄存器5-6（起始地址5，长度2）
                self.rtuSlave.add_block("dynamic_var2", cst.HOLDING_REGISTERS, 5, 2)
                # 动态变量3：寄存器7-8（起始地址7，长度2）
                self.rtuSlave.add_block("dynamic_var3", cst.HOLDING_REGISTERS, 7, 2)
                
                # 初始化寄存器
                self._initializeRegisters()
                
                self.isConnected = True
                self.isRunning = True
                print(f"HART RTU从站启动成功: {self.comPort}, 站地址: {self.slaveId}")
                
                return True
                    
        except Exception as e:
            print(f"启动HART RTU从站时出错: {e}")
            self.isConnected = False
            return False
    
    def stopSlave(self):
        """停止RTU从站"""
        try:
            with self.lock:
                self.isRunning = False
                
                if self.rtuServer:
                    self.rtuServer.stop()
                    self.rtuServer = None
                
                self.rtuSlave = None
                self.isConnected = False
                print("HART RTU从站已停止")
                
        except Exception as e:
            print(f"停止HART RTU从站时出错: {e}")
    
    # 移除数据同步线程相关方法，modbus_tk会自动处理
    
    def writeVariable(self, variableName: str, value: float) -> bool:
        """
        写入HART变量值
        
        :param variableName: 变量名称 ('primaryVariable', 'dynamicVariable1', etc.)
        :param value: 变量值
        :return: 写入是否成功
        """
        if not self.isConnected or variableName not in self.registerMap:
            return False
        
        try:
            with self.lock:
                # 更新变量值缓存
                self.variableValues[variableName] = value
                
                # 获取对应的寄存器块名称
                blockName = self._getBlockName(variableName)
                if not blockName:
                    return False
                
                # 将浮点数转换为寄存器值
                high, low = self._floatToRegisters(value)
                
                # 获取寄存器地址
                regAddr = self.registerMap[variableName]
                
                # 直接写入RTU从站寄存器（使用绝对地址）
                if self.rtuSlave and self.isConnected:
                    self.rtuSlave.set_values(blockName, regAddr, [high, low])
                
                return True
                
        except Exception as e:
            print(f"写入HART变量 {variableName} 失败: {e}")
            return False
    
    def readVariable(self, variableName: str) -> Optional[float]:
        """
        读取HART变量值
        
        :param variableName: 变量名称
        :return: 变量值，失败返回None
        """
        if not self.isConnected or variableName not in self.registerMap:
            return None
        
        try:
            with self.lock:
                # 获取对应的寄存器块名称
                blockName = self._getBlockName(variableName)
                if not blockName:
                    return None
                
                # 获取寄存器地址
                regAddr = self.registerMap[variableName]
                
                # 从RTU从站读取最新数据（使用绝对地址）
                if self.rtuSlave:
                    values = self.rtuSlave.get_values(blockName, regAddr, 2)
                    
                    if len(values) == 2:
                        high, low = values
                        value = self._registersToFloat(high, low)
                        self.variableValues[variableName] = value
                        return value
                
                # 如果从RTU从站读取失败，返回缓存值
                return self.variableValues.get(variableName, 0.0)
                
        except Exception as e:
            print(f"读取HART变量 {variableName} 失败: {e}")
            return None
    
    def _getBlockName(self, variableName: str) -> Optional[str]:
        """根据变量名获取对应的寄存器块名称"""
        blockMapping = {
            'primaryVariable': 'primary_var',
            'dynamicVariable1': 'dynamic_var1',
            'dynamicVariable2': 'dynamic_var2',
            'dynamicVariable3': 'dynamic_var3'
        }
        return blockMapping.get(variableName)
    
    def isCommunicationOk(self) -> bool:
        """检查通讯是否正常"""
        return self.isConnected and self.rtuServer is not None and self.rtuSlave is not None