Initial commit

unilabos/devices/temperature/chiller.py

@@ -0,0 +1,67 @@
+import json
+import serial
+
+class Chiller():
+# def xuanzheng_temp_set(tempset: int):
+    # 设置目标温度
+    def __init__(self, port,rate=9600):
+        self.T_set = 24
+        self.success = True
+        self.ser = serial.Serial(
+            port=port,  
+            baudrate=rate,
+            bytesize=8,
+            parity='N',
+            stopbits=1,
+            timeout=1
+        )
+
+    def modbus_crc(self, data: bytes) -> bytes:
+        crc = 0xFFFF
+        for pos in data:
+            crc ^= pos
+            for _ in range(8):
+                if (crc & 0x0001) != 0:
+                    crc >>= 1
+                    crc ^= 0xA001
+                else:
+                    crc >>= 1
+        return crc.to_bytes(2, byteorder='little')
+
+    def build_modbus_frame(self,device_address: int, function_code: int, register_address: int, value: int) -> bytes:
+        frame = bytearray([
+            device_address,
+            function_code,
+            (register_address >> 8) & 0xFF,
+            register_address & 0xFF,
+            (value >> 8) & 0xFF,
+            value & 0xFF
+        ])
+        crc = self.modbus_crc(frame)
+        return frame + crc
+
+    def convert_temperature_to_modbus_value(self, temperature: float, decimal_points: int = 1) -> int:
+        factor = 10 ** decimal_points
+        value = int(temperature * factor)
+        return value & 0xFFFF
+
+    def set_temperature(self, command):
+        T_set = json.loads(command)['temperature']
+        self.T_set = int(T_set)
+        self.success = False
+
+        temperature_value = self.convert_temperature_to_modbus_value(self.T_set, decimal_points=1)
+        device_address = 0x01
+        function_code = 0x06  
+        register_address = 0x000B  
+        frame = self.build_modbus_frame(device_address, function_code, register_address, temperature_value)
+        self.ser.write(frame)
+        response = self.ser.read(8)
+        self.success = True
+    
+    def stop(self):
+        self.set_temperature(25)
+
+if __name__ == '__main__':
+    ch = Chiller(port='COM17')
+    ch.set_temperature(20)

unilabos/devices/temperature/prototype_sensor.py

@@ -0,0 +1,69 @@
+import serial
+import struct
+
+class TempSensor:
+    def __init__(self,port,baudrate=9600):
+        
+    # 配置串口
+        self.ser = serial.Serial(
+            port=port,
+            baudrate=baudrate,
+            bytesize=serial.EIGHTBITS,
+            parity=serial.PARITY_NONE,
+            stopbits=serial.STOPBITS_ONE,
+            timeout=1
+        )
+
+    def calculate_crc(self,data):
+        crc = 0xFFFF
+        for pos in data:
+            crc ^= pos
+            for i in range(8):
+                if (crc & 0x0001) != 0:
+                    crc >>= 1
+                    crc ^= 0xA001
+                else:
+                    crc >>= 1
+        return crc
+
+    def build_modbus_request(self, device_id, function_code, register_address, register_count):
+        request = struct.pack('>BBHH', device_id, function_code, register_address, register_count)
+        crc = self.calculate_crc(request)
+        request += struct.pack('<H', crc)
+        return request
+
+    def read_modbus_response(self,response):
+        if len(response) < 5:
+            return None
+        data = response[:-2]
+        crc_received = struct.unpack('<H', response[-2:])[0]
+        crc_calculated = self.calculate_crc(data)
+        if crc_received == crc_calculated:
+            return data[3:]
+        return None
+
+    def send_command(self ,command):
+        function_code = 0x04  # 读输入寄存器
+        register_address = 0x0003  # 温度高位寄存器地址
+        register_count = 0x0002  # 读取两个寄存器
+
+        request = self.build_modbus_request(command, function_code, register_address, register_count)
+        self.ser.write(request)
+        response = self.ser.read(9)  # 读取9字节的响应
+
+        data = self.read_modbus_response(response)
+        if data is None:
+            return None
+
+        high_value = struct.unpack('>H', data[:2])[0]
+        low_value = struct.unpack('>H', data[2:])[0]
+
+        # 组合高位和低位并计算实际温度
+        raw_temperature = (high_value << 16) | low_value
+        if raw_temperature & 0x8000:  # 如果低位寄存器最高位为1，表示负值
+            raw_temperature -= 0x10000  # 转换为正确的负数表示
+
+        actual_temperature = raw_temperature / 10.0
+        return actual_temperature
+
+    

unilabos/devices/temperature/sensor.py

@@ -0,0 +1,90 @@
+import serial
+import time
+import struct
+import tkinter as tk
+from tkinter import ttk
+
+# 配置串口
+ser = serial.Serial(
+    port='COM13',
+    baudrate=9600,
+    bytesize=serial.EIGHTBITS,
+    parity=serial.PARITY_NONE,
+    stopbits=serial.STOPBITS_ONE,
+    timeout=1
+)
+
+def calculate_crc(data):
+    crc = 0xFFFF
+    for pos in data:
+        crc ^= pos
+        for i in range(8):
+            if (crc & 0x0001) != 0:
+                crc >>= 1
+                crc ^= 0xA001
+            else:
+                crc >>= 1
+    return crc
+
+def build_modbus_request(device_id, function_code, register_address, register_count):
+    request = struct.pack('>BBHH', device_id, function_code, register_address, register_count)
+    crc = calculate_crc(request)
+    request += struct.pack('<H', crc)
+    return request
+
+def read_modbus_response(response):
+    if len(response) < 5:
+        return None
+    data = response[:-2]
+    crc_received = struct.unpack('<H', response[-2:])[0]
+    crc_calculated = calculate_crc(data)
+    if crc_received == crc_calculated:
+        return data[3:]
+    return None
+
+def read_temperature():
+    device_id = 0xC0  # 设备地址
+    function_code = 0x04  # 读输入寄存器
+    register_address = 0x0003  # 温度高位寄存器地址
+    register_count = 0x0002  # 读取两个寄存器
+
+    request = build_modbus_request(device_id, function_code, register_address, register_count)
+    ser.write(request)
+    response = ser.read(9)  # 读取9字节的响应
+
+    data = read_modbus_response(response)
+    if data is None:
+        return None
+
+    high_value = struct.unpack('>H', data[:2])[0]
+    low_value = struct.unpack('>H', data[2:])[0]
+
+    # 组合高位和低位并计算实际温度
+    raw_temperature = (high_value << 16) | low_value
+    if raw_temperature & 0x8000:  # 如果低位寄存器最高位为1，表示负值
+        raw_temperature -= 0x10000  # 转换为正确的负数表示
+
+    actual_temperature = raw_temperature / 10.0
+    return actual_temperature
+
+def update_temperature_label():
+    temperature = read_temperature()
+    if temperature is not None:
+        temperature_label.config(text=f"反应温度: {temperature:.1f} °C")
+    else:
+        temperature_label.config(text="Error reading temperature")
+    root.after(1000, update_temperature_label)  # 每秒更新一次
+
+# 创建主窗口
+root = tk.Tk()
+root.title("反应温度监控")
+
+# 创建标签来显示温度
+temperature_label = ttk.Label(root, text="反应温度: -- °C", font=("Helvetica", 20))
+temperature_label.pack(padx=20, pady=20)
+
+# 开始更新温度
+update_temperature_label()
+
+# 运行主循环
+root.mainloop()

unilabos/devices/temperature/sensor_node.py

@@ -0,0 +1,117 @@
+import json
+import threading,time
+
+# class TempSensorNode:
+#     def __init__(self,port,warning,address):
+#         self._value = 0.0
+#         self.warning = warning
+#         self.device_id = address
+
+#         self.hardware_interface = port
+#         # t = threading.Thread(target=self.read_temperature, daemon=True)
+#         # t.start()
+
+#     def send_command(self ,command):
+#         print('send_command---------------------')
+#         pass
+    
+#     @property
+#     def value(self) -> float:
+#         self._value = self.send_command(self.device_id)
+#         return self._value
+#     # def read_temperature(self):
+#     #     while True:
+#     #         self.value = self.send_command(self.device_id) 
+#     #         print(self.value,'-----------')
+#     #         time.sleep(1)
+
+#     def set_warning(self, warning_temp):
+#         self.warning = warning_temp
+    
+
+
+import serial
+import struct
+from rclpy.node import Node
+import rclpy
+import threading
+
+class TempSensorNode():
+    def __init__(self,port,warning,address,baudrate=9600):
+        self._value = 0.0
+        self.warning = warning
+        self.device_id = address
+        self.success = False
+    # 配置串口
+        self.hardware_interface = serial.Serial(
+            port=port,
+            baudrate=baudrate,
+            bytesize=serial.EIGHTBITS,
+            parity=serial.PARITY_NONE,
+            stopbits=serial.STOPBITS_ONE,
+            timeout=1
+        )
+        self.lock = threading.Lock()
+
+    def calculate_crc(self,data):
+        crc = 0xFFFF
+        for pos in data:
+            crc ^= pos
+            for i in range(8):
+                if (crc & 0x0001) != 0:
+                    crc >>= 1
+                    crc ^= 0xA001
+                else:
+                    crc >>= 1
+        return crc
+
+    def build_modbus_request(self, device_id, function_code, register_address, register_count):
+        request = struct.pack('>BBHH', device_id, function_code, register_address, register_count)
+        crc = self.calculate_crc(request)
+        request += struct.pack('<H', crc)
+        return request
+
+    def read_modbus_response(self,response):
+        if len(response) < 5:
+            return None
+        data = response[:-2]
+        crc_received = struct.unpack('<H', response[-2:])[0]
+        crc_calculated = self.calculate_crc(data)
+        if crc_received == crc_calculated:
+            return data[3:]
+        return None
+
+    def send_prototype_command(self ,command):
+        # with self.lock:
+            function_code = 0x04  # 读输入寄存器
+            register_address = 0x0003  # 温度高位寄存器地址
+            register_count = 0x0002  # 读取两个寄存器
+        
+            request = self.build_modbus_request(command, function_code, register_address, register_count)
+            self.hardware_interface.write(request)
+            response = self.hardware_interface.read(9)  # 读取9字节的响应
+            data = self.read_modbus_response(response)
+            if data is None:
+                return None
+
+            high_value = struct.unpack('>H', data[:2])[0]
+            low_value = struct.unpack('>H', data[2:])[0]
+
+            # 组合高位和低位并计算实际温度
+            raw_temperature = (high_value << 16) | low_value
+            if raw_temperature & 0x8000:  # 如果低位寄存器最高位为1，表示负值
+                raw_temperature -= 0x10000  # 转换为正确的负数表示
+
+            actual_temperature = raw_temperature / 10.0
+            return actual_temperature
+    
+    @property
+    def value(self) -> float:
+        self._value = self.send_prototype_command(self.device_id)
+        return self._value
+    
+    def set_warning(self, command):
+        self.success = False
+        temp = json.loads(command)["warning_temp"]
+        self.warning = round(float(temp), 1)
+        self.success = True