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"""
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HART模拟MODBUS-RTU从站管理器
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使用modbus_tk实现HART一个主变量和三个动态变量的通讯
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使用COM1端口，站地址1，寄存器地址0,3,5,7
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"""
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import threading
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import time
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import struct
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from typing import Optional, List, Dict, Any
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import modbus_tk
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import modbus_tk.defines as cst
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from modbus_tk import modbus_rtu
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from protocol.ModBus.ByteOrder import *
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class HartRtuSlaveManager:
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"""HART模拟MODBUS-RTU从站管理器"""
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def __init__(self, comPort='COM1', slaveId=1, baudRate=9600):
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"""
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初始化HART RTU从站管理器
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:param comPort: 串口端口，默认COM1
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:param slaveId: 从站地址，默认1
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:param baudRate: 波特率，默认9600
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"""
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self.comPort = comPort
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self.slaveId = slaveId
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self.baudRate = baudRate
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self.rtuServer = None
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self.rtuSlave = None
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self.isConnected = False
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self.isRunning = False
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self.lock = threading.Lock()
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# HART变量寄存器地址映射
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self.registerMap = {
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'primaryVariable': 0, # 主变量 - 寄存器地址0
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'dynamicVariable1': 3, # 动态变量1 - 寄存器地址3
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'dynamicVariable2': 5, # 动态变量2 - 寄存器地址5
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'dynamicVariable3': 7 # 动态变量3 - 寄存器地址7
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}
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# 变量值缓存
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self.variableValues = {
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'primaryVariable': 0.0,
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'dynamicVariable1': 0.0,
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'dynamicVariable2': 0.0,
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'dynamicVariable3': 0.0
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}
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def _initializeRegisters(self):
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"""初始化寄存器数据"""
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if not self.rtuSlave:
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return
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try:
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# 初始化主变量寄存器（地址0）
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self.rtuSlave.set_values("primary_var", 0, [0, 0])
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# 初始化动态变量1寄存器（地址3）
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self.rtuSlave.set_values("dynamic_var1", 3, [0, 0])
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# 初始化动态变量2寄存器（地址5）
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self.rtuSlave.set_values("dynamic_var2", 5, [0, 0])
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# 初始化动态变量3寄存器（地址7）
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self.rtuSlave.set_values("dynamic_var3", 7, [0, 0])
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except Exception as e:
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print(f"初始化寄存器失败: {e}")
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def _floatToRegisters(self, value: float) -> tuple:
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"""将浮点数转换为两个16位寄存器值"""
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return floatToBADC(value)
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def _registersToFloat(self, high: int, low: int) -> float:
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"""将两个16位寄存器值转换为浮点数"""
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return BADCToFloat([high, low])
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def startSlave(self) -> bool:
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"""启动RTU从站"""
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try:
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with self.lock:
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if self.isConnected:
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return True
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# 创建串口对象
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import serial
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serialPort = serial.Serial(
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port=self.comPort,
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baudrate=self.baudRate,
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bytesize=8,
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parity='N',
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stopbits=1,
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timeout=1.0
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)
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# 创建RTU服务器
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self.rtuServer = modbus_rtu.RtuServer(serialPort)
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# 启动服务器
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self.rtuServer.start()
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# 添加从站
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self.rtuSlave = self.rtuServer.add_slave(self.slaveId)
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# 为每个HART变量添加独立的保持寄存器块
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# 主变量：寄存器0-1（起始地址0，长度2）
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self.rtuSlave.add_block("primary_var", cst.HOLDING_REGISTERS, 0, 2)
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# 动态变量1：寄存器3-4（起始地址3，长度2）
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self.rtuSlave.add_block("dynamic_var1", cst.HOLDING_REGISTERS, 3, 2)
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# 动态变量2：寄存器5-6（起始地址5，长度2）
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self.rtuSlave.add_block("dynamic_var2", cst.HOLDING_REGISTERS, 5, 2)
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# 动态变量3：寄存器7-8（起始地址7，长度2）
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self.rtuSlave.add_block("dynamic_var3", cst.HOLDING_REGISTERS, 7, 2)
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# 初始化寄存器
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self._initializeRegisters()
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self.isConnected = True
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self.isRunning = True
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print(f"HART RTU从站启动成功: {self.comPort}, 站地址: {self.slaveId}")
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return True
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except Exception as e:
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print(f"启动HART RTU从站时出错: {e}")
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self.isConnected = False
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return False
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def stopSlave(self):
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"""停止RTU从站"""
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try:
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with self.lock:
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self.isRunning = False
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if self.rtuServer:
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self.rtuServer.stop()
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self.rtuServer = None
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self.rtuSlave = None
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self.isConnected = False
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print("HART RTU从站已停止")
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except Exception as e:
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print(f"停止HART RTU从站时出错: {e}")
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# 移除数据同步线程相关方法，modbus_tk会自动处理
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def writeVariable(self, variableName: str, value: float) -> bool:
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"""
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写入HART变量值
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:param variableName: 变量名称 ('primaryVariable', 'dynamicVariable1', etc.)
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:param value: 变量值
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:return: 写入是否成功
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"""
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if not self.isConnected or variableName not in self.registerMap:
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return False
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try:
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with self.lock:
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# 更新变量值缓存
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self.variableValues[variableName] = value
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# 获取对应的寄存器块名称
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blockName = self._getBlockName(variableName)
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if not blockName:
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return False
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# 将浮点数转换为寄存器值
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high, low = self._floatToRegisters(value)
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# 获取寄存器地址
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regAddr = self.registerMap[variableName]
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# 直接写入RTU从站寄存器（使用绝对地址）
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if self.rtuSlave and self.isConnected:
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self.rtuSlave.set_values(blockName, regAddr, [high, low])
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return True
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except Exception as e:
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print(f"写入HART变量 {variableName} 失败: {e}")
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return False
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def readVariable(self, variableName: str) -> Optional[float]:
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"""
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读取HART变量值
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:param variableName: 变量名称
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:return: 变量值，失败返回None
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"""
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if not self.isConnected or variableName not in self.registerMap:
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return None
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try:
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with self.lock:
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# 获取对应的寄存器块名称
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blockName = self._getBlockName(variableName)
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if not blockName:
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return None
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# 获取寄存器地址
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regAddr = self.registerMap[variableName]
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# 从RTU从站读取最新数据（使用绝对地址）
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if self.rtuSlave:
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values = self.rtuSlave.get_values(blockName, regAddr, 2)
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if len(values) == 2:
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high, low = values
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value = self._registersToFloat(high, low)
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self.variableValues[variableName] = value
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return value
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# 如果从RTU从站读取失败，返回缓存值
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return self.variableValues.get(variableName, 0.0)
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except Exception as e:
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print(f"读取HART变量 {variableName} 失败: {e}")
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return None
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def _getBlockName(self, variableName: str) -> Optional[str]:
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"""根据变量名获取对应的寄存器块名称"""
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blockMapping = {
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'primaryVariable': 'primary_var',
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'dynamicVariable1': 'dynamic_var1',
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'dynamicVariable2': 'dynamic_var2',
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'dynamicVariable3': 'dynamic_var3'
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}
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return blockMapping.get(variableName)
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def isCommunicationOk(self) -> bool:
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"""检查通讯是否正常"""
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return self.isConnected and self.rtuServer is not None and self.rtuSlave is not None |