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