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380 lines
14 KiB
Python
380 lines
14 KiB
Python
# -*- coding: utf-8 -*-
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"""
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XKC RS485 液位传感器 (Modbus RTU)
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说明:
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1. 遵循 Modbus-RTU 协议。
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2. 数据寄存器: 0x0001 (液位状态, 1=有液, 0=无液), 0x0002 (RSSI 信号强度)。
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3. 地址寄存器: 0x0004 (可读写, 范围 1-254)。
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4. 波特率寄存器: 0x0005 (可写, 代码表见 change_baudrate 方法)。
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"""
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import struct
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import threading
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import time
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import logging
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import serial
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from typing import Optional, Dict, Any, List
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from unilabos.device_comms.universal_driver import UniversalDriver
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class TransportManager:
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"""
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统一通信管理类。
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仅支持 串口 (Serial/有线) 连接。
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"""
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def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None):
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self.port = port
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self.baudrate = baudrate
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self.timeout = timeout
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self.logger = logger
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self.lock = threading.RLock() # 线程锁，确保多设备共用一个连接时不冲突
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self.serial = None
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self._connect_serial()
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def _connect_serial(self):
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try:
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self.serial = serial.Serial(
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port=self.port,
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baudrate=self.baudrate,
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timeout=self.timeout
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)
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except Exception as e:
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raise ConnectionError(f"Serial open failed: {e}")
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def close(self):
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"""关闭连接"""
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if self.serial and self.serial.is_open:
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self.serial.close()
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def clear_buffer(self):
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"""清空缓冲区 (Thread-safe)"""
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with self.lock:
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if self.serial:
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self.serial.reset_input_buffer()
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def write(self, data: bytes):
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"""发送原始字节"""
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with self.lock:
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if self.serial:
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self.serial.write(data)
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def read(self, size: int) -> bytes:
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"""读取指定长度字节"""
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if self.serial:
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return self.serial.read(size)
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return b''
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class XKCSensorDriver(UniversalDriver):
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"""XKC RS485 液位传感器 (Modbus RTU)"""
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def __init__(self, port: str, baudrate: int = 9600, device_id: int = 6,
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threshold: int = 300, timeout: float = 3.0, debug: bool = False):
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super().__init__()
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self.port = port
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self.baudrate = baudrate
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self.device_id = device_id
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self.threshold = threshold
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self.timeout = timeout
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self.debug = debug
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self.level = False
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self.rssi = 0
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self.status = {"level": self.level, "rssi": self.rssi}
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try:
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self.transport = TransportManager(port, baudrate, timeout, logger=self.logger)
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self.logger.info(f"XKCSensorDriver connected to {port} (ID: {device_id})")
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except Exception as e:
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self.logger.error(f"Failed to connect XKCSensorDriver: {e}")
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self.transport = None
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# 启动背景轮询线程，确保 status 实时刷新
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self._stop_event = threading.Event()
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self._polling_thread = threading.Thread(
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target=self._update_loop,
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name=f"XKCPolling_{port}",
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daemon=True
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)
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if self.transport:
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self._polling_thread.start()
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def _update_loop(self):
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"""背景循环读取传感器数据"""
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while not self._stop_event.is_set():
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try:
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self.read_level()
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except Exception as e:
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if self.debug:
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self.logger.error(f"Polling error: {e}")
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time.sleep(2.0) # 每2秒刷新一次数据
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def _crc(self, data: bytes) -> bytes:
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crc = 0xFFFF
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for byte in data:
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crc ^= byte
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for _ in range(8):
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if crc & 0x0001: crc = (crc >> 1) ^ 0xA001
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else: crc >>= 1
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return struct.pack('<H', crc)
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def read_level(self) -> Optional[Dict[str, Any]]:
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"""
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读取液位。
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返回: {'level': bool, 'rssi': int}
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"""
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if not self.transport:
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return None
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with self.transport.lock:
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self.transport.clear_buffer()
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# Modbus Read Registers: 01 03 00 01 00 02 CRC
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payload = struct.pack('>HH', 0x0001, 0x0002)
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msg = struct.pack('BB', self.device_id, 0x03) + payload
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msg += self._crc(msg)
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if self.debug:
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self.logger.info(f"TX (ID {self.device_id}): {msg.hex().upper()}")
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self.transport.write(msg)
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# Read header
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h = self.transport.read(3) # Addr, Func, Len
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if self.debug:
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self.logger.info(f"RX Header: {h.hex().upper()}")
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if len(h) < 3: return None
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length = h[2]
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# Read body + CRC
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body = self.transport.read(length + 2)
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if self.debug:
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self.logger.info(f"RX Body+CRC: {body.hex().upper()}")
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if len(body) < length + 2:
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# Firmware bug fix specific to some modules
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if len(body) == 4 and length == 4:
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pass
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else:
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return None
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data = body[:-2]
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# 根据手册说明:
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# 寄存器 0x0001 (data[0:2]): 液位状态 (00 01 为有液, 00 00 为无液)
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# 寄存器 0x0002 (data[2:4]): 信号强度 RSSI
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hw_level = False
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rssi = 0
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if len(data) >= 4:
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hw_level = ((data[0] << 8) | data[1]) == 1
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rssi = (data[2] << 8) | data[3]
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elif len(data) == 2:
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# 兼容模式: 某些老固件可能只返回 1 个寄存器
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rssi = (data[0] << 8) | data[1]
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hw_level = rssi > self.threshold
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else:
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return None
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# 最终判定: 优先使用硬件层级的 level 判定，但 RSSI 阈值逻辑作为补充/校验
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# 注意: 如果用户显式设置了 THRESHOLD，我们可以在逻辑中做权衡
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self.level = hw_level or (rssi > self.threshold)
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self.rssi = rssi
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result = {
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'level': self.level,
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'rssi': self.rssi
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}
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self.status = result
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return result
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def wait_level(self, target_state: bool, timeout: float = 60.0) -> bool:
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"""
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等待液位达到目标状态 (阻塞式)
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"""
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self.logger.info(f"Waiting for level: {target_state}")
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start_time = time.time()
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while (time.time() - start_time) < timeout:
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res = self.read_level()
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if res and res.get('level') == target_state:
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return True
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time.sleep(0.5)
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self.logger.warning(f"Wait level timeout ({timeout}s)")
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return False
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def wait_for_liquid(self, target_state: bool, timeout: float = 120.0) -> bool:
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"""
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实时检测电导率(RSSI)并等待用户指定的“有液”或“无液”状态。
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一旦检测到符合目标状态，立即返回。
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Args:
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target_state: True 为“有液”, False 为“无液”
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timeout: 最大等待时间(秒)
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"""
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state_str = "有液" if target_state else "无液"
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self.logger.info(f"开始实时检测电导率，等待状态: {state_str} (超时: {timeout}s)")
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start_time = time.time()
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while (time.time() - start_time) < timeout:
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res = self.read_level() # 内部已更新 self.level 和 self.rssi
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if res:
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current_level = res.get('level')
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current_rssi = res.get('rssi')
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if current_level == target_state:
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self.logger.info(f"✅ 检测到目标状态: {state_str} (当前电导率/RSSI: {current_rssi})")
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return True
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if self.debug:
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self.logger.debug(f"当前状态: {'有液' if current_level else '无液'}, RSSI: {current_rssi}")
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time.sleep(0.2) # 高频采样
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self.logger.warning(f"❌ 等待 {state_str} 状态超时 ({timeout}s)")
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return False
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def set_threshold(self, threshold: int):
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"""设置液位判定阈值"""
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self.threshold = int(threshold)
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self.logger.info(f"Threshold updated to: {self.threshold}")
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def change_device_id(self, new_id: int) -> bool:
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"""
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修改设备的 Modbus 从站地址。
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寄存器: 0x0004, 功能码: 0x06
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"""
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if not (1 <= new_id <= 254):
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self.logger.error(f"Invalid device ID: {new_id}. Must be 1-254.")
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return False
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self.logger.info(f"Changing device ID from {self.device_id} to {new_id}")
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success = self._write_single_register(0x0004, new_id)
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if success:
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self.device_id = new_id # 更新内存中的地址
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self.logger.info(f"Device ID update command sent successfully (target {new_id}).")
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return success
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def change_baudrate(self, baud_code: int) -> bool:
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"""
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更改通讯波特率 (寄存器: 0x0005)。
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设置成功后传感器 LED 会闪烁，通常无数据返回。
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波特率代码对照表 (16进制):
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05: 2400
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06: 4800
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07: 9600 (默认)
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08: 14400
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09: 19200
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0A: 28800
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0C: 57600
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0D: 115200
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0E: 128000
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0F: 256000
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"""
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self.logger.info(f"Sending baudrate change command (Code: {baud_code:02X})")
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# 写入寄存器 0x0005
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self._write_single_register(0x0005, baud_code)
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self.logger.info("Baudrate change command executed. Device LED should flash. Please update connection settings.")
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return True
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def factory_reset(self) -> bool:
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"""
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恢复出厂设置 (通过广播地址 FF)。
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设置地址为 01，逻辑为向 0x0004 写入 0x0002
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"""
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self.logger.info("Sending factory reset command via broadcast address FF...")
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# 广播指令通常无回显
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self._write_single_register(0x0004, 0x0002, slave_id=0xFF)
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self.logger.info("Factory reset command sent. Device address should be 01 now.")
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return True
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def _write_single_register(self, reg_addr: int, value: int, slave_id: Optional[int] = None) -> bool:
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"""内部辅助函数: Modbus 功能码 06 写单个寄存器"""
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if not self.transport: return False
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target_id = slave_id if slave_id is not None else self.device_id
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msg = struct.pack('BBHH', target_id, 0x06, reg_addr, value)
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msg += self._crc(msg)
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with self.transport.lock:
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self.transport.clear_buffer()
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if self.debug:
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self.logger.info(f"TX Write (Reg {reg_addr:#06x}): {msg.hex().upper()}")
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self.transport.write(msg)
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# 广播地址、波特率修改或厂家特定指令可能无回显
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if target_id == 0xFF or reg_addr == 0x0005:
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time.sleep(0.5)
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return True
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# 等待返回 (正常应返回相同报文)
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resp = self.transport.read(len(msg))
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if self.debug:
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self.logger.info(f"RX Write Response: {resp.hex().upper()}")
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return resp == msg
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def close(self):
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if self.transport:
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self.transport.close()
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if __name__ == "__main__":
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# 快速实例化测试
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import logging
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# 减少冗余日志，仅显示重要信息
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logging.basicConfig(level=logging.INFO, format='%(levelname)s: %(message)s')
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# 硬件配置 (根据实际情况修改)
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TEST_PORT = "/dev/tty.usbserial-3110"
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SLAVE_ID = 1
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THRESHOLD = 300
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print("\n" + "="*50)
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print(f" XKC RS485 传感器独立测试程序")
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print(f" 端口: {TEST_PORT} | 地址: {SLAVE_ID} | 阈值: {THRESHOLD}")
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print("="*50)
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sensor = XKCSensorDriver(port=TEST_PORT, device_id=SLAVE_ID, threshold=THRESHOLD, debug=False)
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try:
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if sensor.transport:
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print(f"\n开始实时连续采样测试 (持续 15 秒)...")
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print(f"按 Ctrl+C 可提前停止\n")
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start_time = time.time()
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duration = 15
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count = 0
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while time.time() - start_time < duration:
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count += 1
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res = sensor.read_level()
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if res:
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rssi = res['rssi']
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level = res['level']
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status_str = "【有液】" if level else "【无液】"
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# 使用 \r 实现单行刷新显示 (或者不刷，直接打印历史)
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# 为了方便查看变化，我们直接打印
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elapsed = time.time() - start_time
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print(f" [{elapsed:4.1f}s] 采样 {count:<3}: 电导率/RSSI = {rssi:<5} | 判定结果: {status_str}")
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else:
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print(f" [{time.time()-start_time:4.1f}s] 采样 {count:<3}: 通信失败 (无响应)")
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time.sleep(0.5) # 每秒采样 2 次
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print(f"\n--- 15 秒采样测试完成 (总计 {count} 次) ---")
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# [3] 测试动态修改阈值
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print(f"\n[3] 动态修改阈值演示...")
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new_threshold = 400
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sensor.set_threshold(new_threshold)
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res = sensor.read_level()
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if res:
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print(f" 采样 (当前阈值={new_threshold}): 电导率/RSSI = {res['rssi']:<5} | 判定结果: {'【有液】' if res['level'] else '【无液】'}")
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sensor.set_threshold(THRESHOLD) # 还原
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except KeyboardInterrupt:
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print("\n[!] 用户中断测试")
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except Exception as e:
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print(f"\n[!] 测试运行出错: {e}")
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finally:
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sensor.close()
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print("\n--- 测试程序已退出 ---\n")
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