mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-05 14:05:12 +00:00
feat: migrate to pymodbus 3.11.4 and update bioyond configs
PyModbus 3.x Migration: - Copied modbus.py and client.py from dev branch for compatibility - Rewrote FLOAT32 decoding using struct module in coin_cell_assembly.py - Fixed STRING decoding for QR codes (battery and electrolyte barcodes) - Tested successfully on hardware with correct data decoding Bioyond Studio Updates: - Updated bioyond_studio config.py - Modified bioyond_cell_workstation.py - Enhanced warehouse.py and decks.py - Added README_WAREHOUSE.md documentation Parameter Enhancements: - Enhanced coin_cell_workstation.yaml parameter descriptions - Added matrix position ranges and indexing rules Breaking changes: - Requires pymodbus >= 3.9.0 - Removed deprecated BinaryPayloadDecoder/BinaryPayloadBuilder - Updated to use client.convert_from/to_registers() methods
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Andy6M
@@ -4,7 +4,8 @@ import traceback
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from typing import Any, Union, List, Dict, Callable, Optional, Tuple
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from pydantic import BaseModel
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from pymodbus.client.sync import ModbusSerialClient, ModbusTcpClient
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from pymodbus.client import ModbusSerialClient, ModbusTcpClient
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from pymodbus.framer import FramerType
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from typing import TypedDict
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from unilabos.device_comms.modbus_plc.modbus import DeviceType, HoldRegister, Coil, InputRegister, DiscreteInputs, DataType, WorderOrder
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@@ -402,7 +403,7 @@ class TCPClient(BaseClient):
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class RTUClient(BaseClient):
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def __init__(self, port: str, baudrate: int, timeout: int):
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super().__init__()
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self._set_client(ModbusSerialClient(method='rtu', port=port, baudrate=baudrate, timeout=timeout))
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self._set_client(ModbusSerialClient(framer=FramerType.RTU, port=port, baudrate=baudrate, timeout=timeout))
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self._connect()
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if __name__ == '__main__':
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@@ -1,26 +1,12 @@
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# coding=utf-8
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from enum import Enum
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from abc import ABC, abstractmethod
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from typing import Tuple, Union, Optional, TYPE_CHECKING
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from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder
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from pymodbus.constants import Endian
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if TYPE_CHECKING:
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from pymodbus.client.sync import ModbusSerialClient, ModbusTcpClient
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# Define DataType enum for pymodbus 2.5.3 compatibility
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class DataType(Enum):
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INT16 = "int16"
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UINT16 = "uint16"
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INT32 = "int32"
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UINT32 = "uint32"
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INT64 = "int64"
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UINT64 = "uint64"
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FLOAT32 = "float32"
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FLOAT64 = "float64"
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STRING = "string"
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BOOL = "bool"
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from pymodbus.client import ModbusBaseSyncClient
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from pymodbus.client.mixin import ModbusClientMixin
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from typing import Tuple, Union, Optional
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DataType = ModbusClientMixin.DATATYPE
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class WorderOrder(Enum):
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BIG = "big"
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@@ -33,96 +19,8 @@ class DeviceType(Enum):
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INPUT_REGISTER = 'input_register'
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def _convert_from_registers(registers, data_type: DataType, word_order: str = 'big'):
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"""Convert registers to a value using BinaryPayloadDecoder.
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Args:
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registers: List of register values
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data_type: DataType enum specifying the target data type
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word_order: 'big' or 'little' endian
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Returns:
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Converted value
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"""
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# Determine byte and word order based on word_order parameter
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if word_order == 'little':
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byte_order = Endian.Little
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word_order_enum = Endian.Little
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else:
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byte_order = Endian.Big
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word_order_enum = Endian.Big
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decoder = BinaryPayloadDecoder.fromRegisters(registers, byteorder=byte_order, wordorder=word_order_enum)
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if data_type == DataType.INT16:
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return decoder.decode_16bit_int()
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elif data_type == DataType.UINT16:
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return decoder.decode_16bit_uint()
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elif data_type == DataType.INT32:
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return decoder.decode_32bit_int()
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elif data_type == DataType.UINT32:
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return decoder.decode_32bit_uint()
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elif data_type == DataType.INT64:
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return decoder.decode_64bit_int()
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elif data_type == DataType.UINT64:
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return decoder.decode_64bit_uint()
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elif data_type == DataType.FLOAT32:
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return decoder.decode_32bit_float()
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elif data_type == DataType.FLOAT64:
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return decoder.decode_64bit_float()
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elif data_type == DataType.STRING:
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return decoder.decode_string(len(registers) * 2)
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else:
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raise ValueError(f"Unsupported data type: {data_type}")
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def _convert_to_registers(value, data_type: DataType, word_order: str = 'little'):
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"""Convert a value to registers using BinaryPayloadBuilder.
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Args:
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value: Value to convert
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data_type: DataType enum specifying the source data type
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word_order: 'big' or 'little' endian
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Returns:
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List of register values
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"""
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# Determine byte and word order based on word_order parameter
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if word_order == 'little':
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byte_order = Endian.Little
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word_order_enum = Endian.Little
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else:
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byte_order = Endian.Big
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word_order_enum = Endian.Big
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builder = BinaryPayloadBuilder(byteorder=byte_order, wordorder=word_order_enum)
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if data_type == DataType.INT16:
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builder.add_16bit_int(value)
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elif data_type == DataType.UINT16:
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builder.add_16bit_uint(value)
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elif data_type == DataType.INT32:
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builder.add_32bit_int(value)
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elif data_type == DataType.UINT32:
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builder.add_32bit_uint(value)
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elif data_type == DataType.INT64:
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builder.add_64bit_int(value)
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elif data_type == DataType.UINT64:
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builder.add_64bit_uint(value)
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elif data_type == DataType.FLOAT32:
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builder.add_32bit_float(value)
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elif data_type == DataType.FLOAT64:
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builder.add_64bit_float(value)
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elif data_type == DataType.STRING:
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builder.add_string(value)
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else:
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raise ValueError(f"Unsupported data type: {data_type}")
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return builder.to_registers()
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class Base(ABC):
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def __init__(self, client, name: str, address: int, typ: DeviceType, data_type):
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def __init__(self, client: ModbusBaseSyncClient, name: str, address: int, typ: DeviceType, data_type: DataType):
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self._address: int = address
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self._client = client
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self._name = name
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@@ -160,11 +58,7 @@ class Coil(Base):
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count = value,
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slave = slave)
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# 检查是否读取出错
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if resp.isError():
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return [], True
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return resp.bits, False
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return resp.bits, resp.isError()
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def write(self,value: Union[int, float, bool, str, list[bool], list[int], list[float]], data_type: Optional[DataType ]= None, word_order: WorderOrder = WorderOrder.LITTLE, slave = 1) -> bool:
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if isinstance(value, list):
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@@ -197,18 +91,8 @@ class DiscreteInputs(Base):
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count = value,
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slave = slave)
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# 检查是否读取出错
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if resp.isError():
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# 根据数据类型返回默认值
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if data_type in [DataType.FLOAT32, DataType.FLOAT64]:
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return 0.0, True
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elif data_type == DataType.STRING:
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return "", True
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else:
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return 0, True
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# noinspection PyTypeChecker
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return _convert_from_registers(resp.registers, data_type, word_order=word_order.value), False
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return self._client.convert_from_registers(resp.registers, data_type, word_order=word_order.value), resp.isError()
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def write(self,value: Union[int, float, bool, str, list[bool], list[int], list[float]], data_type: Optional[DataType ]= None, word_order: WorderOrder = WorderOrder.LITTLE, slave = 1) -> bool:
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raise ValueError('discrete inputs only support read')
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@@ -228,19 +112,8 @@ class HoldRegister(Base):
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address = self.address,
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count = value,
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slave = slave)
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# 检查是否读取出错
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if resp.isError():
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# 根据数据类型返回默认值
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if data_type in [DataType.FLOAT32, DataType.FLOAT64]:
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return 0.0, True
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elif data_type == DataType.STRING:
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return "", True
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else:
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return 0, True
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# noinspection PyTypeChecker
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return _convert_from_registers(resp.registers, data_type, word_order=word_order.value), False
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return self._client.convert_from_registers(resp.registers, data_type, word_order=word_order.value), resp.isError()
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def write(self,value: Union[int, float, bool, str, list[bool], list[int], list[float]], data_type: Optional[DataType ]= None, word_order: WorderOrder = WorderOrder.LITTLE, slave = 1) -> bool:
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@@ -259,7 +132,7 @@ class HoldRegister(Base):
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return self._client.write_register(self.address, value, slave= slave).isError()
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else:
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# noinspection PyTypeChecker
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encoder_resp = _convert_to_registers(value, data_type=data_type, word_order=word_order.value)
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encoder_resp = self._client.convert_to_registers(value, data_type=data_type, word_order=word_order.value)
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return self._client.write_registers(self.address, encoder_resp, slave=slave).isError()
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@@ -280,19 +153,8 @@ class InputRegister(Base):
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address = self.address,
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count = value,
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slave = slave)
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# 检查是否读取出错
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if resp.isError():
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# 根据数据类型返回默认值
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if data_type in [DataType.FLOAT32, DataType.FLOAT64]:
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return 0.0, True
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elif data_type == DataType.STRING:
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return "", True
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else:
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return 0, True
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# noinspection PyTypeChecker
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return _convert_from_registers(resp.registers, data_type, word_order=word_order.value), False
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return self._client.convert_from_registers(resp.registers, data_type, word_order=word_order.value), resp.isError()
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def write(self,value: Union[int, float, bool, str, list[bool], list[int], list[float]], data_type: Optional[DataType ]= None, word_order: WorderOrder = WorderOrder.LITTLE, slave = 1) -> bool:
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raise ValueError('input register only support read')
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