435 lines
19 KiB
Python
435 lines
19 KiB
Python
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import array
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import asyncio
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import sys
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import time
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import datetime
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import keyboard
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import serial
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import requests
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import threading
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import argparse
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import re
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import os
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from pymodbus.exceptions import ModbusIOException
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from pymodbus.server import StartTcpServer, StartAsyncTcpServer
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from pymodbus.datastore import ModbusSequentialDataBlock, ModbusSlaveContext, ModbusServerContext
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from multiprocessing import Process
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# 动态导入 ModbusPLC
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from modbus_plc import get_modbus_plc_class
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# 保持向后兼容的工厂函数
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ModbusPLC = lambda port, config: get_modbus_plc_class()(port, config)
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from mhi_plc import MitsubishiPLC
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import utils
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from utils import print_with_timestamp
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from pymodbus.client import ModbusSerialClient as ModbusSerialClient
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from pymodbus.exceptions import ModbusException, ConnectionException
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def test_modbus_plc1():
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# 创建Modbus RTU客户端
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with ModbusSerialClient(method="rtu", port="com1", baudrate=19200, parity="E", timeout=1) as client:
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if client.connect():
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print("Modbus RTU Client Connected")
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else:
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print("Failed to connect to Modbus RTU Client")
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result = client.write_coil(117, 0, 1)
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utils.condition_print('write coil result', result.isError())
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result = client.write_coil(118, 1, 1)
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utils.condition_print('write coil result', result.isError())
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client.close()
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from pymodbus.datastore import ModbusSequentialDataBlock
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class CustomDataBlock(ModbusSequentialDataBlock):
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def __init__(self, data_type, plc_devices=None, plc_address=0x01, com_port="com1", plc_type="mhi", *args, **kwargs):
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# print("CustomDataBlock init ", plc_address, com_port, plc_type)
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if plc_devices is None:
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plc_devices = []
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self.com_port = com_port # PLC 通讯串口号
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self.plc_address = plc_address # PLC的 站地址 如:1 3 4等
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self.plc_type = plc_type # PLC 类型
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self.data_type = data_type # 区分coil input_register holding_register
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self.address = 0 # 这个是client 进行读写的寄存器地址
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self.plc_devices = plc_devices # plc 设备的列表，每一台机器对应一个
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# plc_devices 中元素中的device 是 MitsubishiPLC的实例，用于和物理PLC的通讯
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# 机器的COM口相同的话，会共享相同的MitsubishiPLC的实例
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self.plc_comm_lock = threading.Lock() # 具体访问MitsubishiPLC的保护锁
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super().__init__(*args, **kwargs)
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def getValues(self, address, count):
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# plc_device_obj = [item for item in self.plc_devices if item["slave"] == self.plc_address] # 按照站地址进行匹配
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plc_device_obj = [item for item in self.plc_devices
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if item["slave"] == self.plc_address and item["com"] == self.com_port and item[
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'type'] == self.plc_type] # 按照站地址进行匹配
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plc_device = None
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if len(plc_device_obj) and plc_device_obj[0].get('device'):
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plc_device = plc_device_obj[0].get('device') # 得到访问物理PLC的MitsubishiPLC的实例
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if self.data_type == 'coil':
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# 处理线圈数据类型的逻辑
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# print('read coils address=', address) # modbus client 要读的寄存器地址
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if plc_device:
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with self.plc_comm_lock: # 保护访问资源，执行完缩进的代码块释放资源
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resp = plc_device.plc_read_bits(self.plc_address, 0xFF,
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plc_device.conv_to_plc_address('M', address), count)
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if resp and resp.get('status') == 'success' and resp.get('data') and resp.get('length'):
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return resp['data']
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else:
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return 0x00
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# raise ModbusIOException("Modbus server read coil failed--PLC response error")
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else:
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if address == 18:
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return [True, False, True]
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else:
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raise ModbusIOException("Modbus server read coil failed--PLC not connected")
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pass
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elif self.data_type == 'input_register':
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# 处理输入寄存器数据类型的逻辑
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default_value = [0x00 for _ in range(count)]
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if plc_device:
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with self.plc_comm_lock: # 保护访问资源，执行完缩进的代码块释放资源
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resp = plc_device.plc_read_words(self.plc_address, 0xFF,
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plc_device.conv_to_plc_address('D', address), count)
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if resp and resp.get('status') == 'success' and resp.get('data') and resp.get('length'):
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return resp['data']
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else:
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# raise ModbusIOException("Modbus server read input register failed--PLC response error")
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return default_value
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else:
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if address == 185:
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return [88, 89, 100]
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else:
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raise ModbusIOException("Modbus server read input register failed--PLC not connected")
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pass
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elif self.data_type == 'holding_register':
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# 处理保持寄存器数据类型的逻辑
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if address == 10: # 10 作为特殊的寄存器，用来返回PLC(物理)的连接状态
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if plc_device:
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# 直接返回缓存的值，无需实时读取
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# return plc_device.get_connect_state(plc_device.conv_to_plc_address('D', 10), self.plc_address)
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#print_with_timestamp(f"modbus server begin--0 get_connect_state_cache {plc_device.plc_port}")
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connect_state = plc_device.get_connect_state_cache(plc_device.conv_to_plc_address('D', 10), self.plc_address)
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#print_with_timestamp(f"modbus server end -- 1 get_connect_state_cache {plc_device.plc_port} ")
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return connect_state
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else:
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return [0, 0, 0, 0, 0, 0, 0, 0, 0]
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if plc_device:
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default_value = [0x00 for _ in range(count)]
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with self.plc_comm_lock: # 保护访问资源，执行完缩进的代码块释放资源
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resp = plc_device.plc_read_words(self.plc_address, 0xFF,
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plc_device.conv_to_plc_address('D', address), count)
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if resp and resp.get('status') == 'success' and resp.get('data') and resp.get('length'):
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return resp.get('data')
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else:
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# raise ModbusIOException("Modbus server read holding register failed--PLC response error")
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return default_value
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else:
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if address == 185:
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return [88, 89, 100]
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else:
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raise ModbusIOException("Modbus server read holding register failed--PLC not connected")
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pass
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def setValues(self, address, values):
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# print("CustomDataBlock setValues ", self.data_type, address, values)
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# plc_device_obj = [item for item in self.plc_devices if item["slave"] == self.plc_address]
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plc_device_obj = [item for item in self.plc_devices
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if item["slave"] == self.plc_address and item["com"] == self.com_port and item[
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'type'] == self.plc_type] # 按照站地址进行匹配
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plc_device = None
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if len(plc_device_obj) and plc_device_obj[0].get('device'):
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plc_device = plc_device_obj[0].get('device')
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# print("CustomDataBlock setValues plc_devices", self.plc_devices,plc_device) # cyx
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if self.data_type == 'coil':
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# 处理线圈数据类型的逻辑
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if plc_device:
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with self.plc_comm_lock: # 保护访问资源，执行完缩进的代码块释放资源
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resp = plc_device.plc_write_bit(self.plc_address, 0xFF,
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plc_device.conv_to_plc_address('M', address), values[0])
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if resp and resp.get('status') == 'success': # ACK
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pass
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else:
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# raise ModbusIOException("Modbus server set coil failed--PLC response error")
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pass
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else:
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# 如果读取不成功，抛出一个Modbus异常
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# raise ModbusIOException("Modbus server set coil failed--PLC not connected")
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pass
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elif self.data_type == 'input_register':
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# 处理输入寄存器数据类型的逻辑
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pass
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elif self.data_type == 'holding_register':
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# print("modbus server set holding register address=", address, len(values), values, self.plc_address) # cyx
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if plc_device:
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with self.plc_comm_lock: # 保护访问资源，执行完缩进的代码块释放资源
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if len(values) == 1:
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resp = plc_device.plc_write_word(self.plc_address, 0xFF,
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plc_device.conv_to_plc_address('D', address), values[0])
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if resp and resp.get('status') == 'success': # ACK
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pass
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else:
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raise ModbusIOException("Modbus server set holding register failed--PLC response error")
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if len(values) > 1:
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resp = plc_device.plc_write_words(self.plc_address, 0xFF,
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plc_device.conv_to_plc_address('D', address), len(values),
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values)
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if resp and resp.get('status') == 'success': # ACK
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pass
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else:
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raise ModbusIOException("Modbus server set holding register failed--PLC response error")
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# 处理保持寄存器数据类型的逻辑
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else:
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# 如果读取不成功，抛出一个Modbus异常
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# raise ModbusIOException("Modbus server set holding register failed--PLC not connected")
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pass
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exit_flag = False
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def getPlcConfig(serverUrl, params):
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result = {}
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query_string = params
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response = requests.get(serverUrl + '/get_machine_config', params=query_string, json={})
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if response.status_code == 200:
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result = response.json()
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else:
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print('请求失败')
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pass
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return result
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class ModbusServer(Process):
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def __init__(self, host='127.0.0.1', port=5020, machines_config=None, ready_event=None, mock_mode=False):
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super().__init__()
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self.host = host
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self.port = port
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self.machines_config = machines_config or []
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self.context = None
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self.server = None
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self.plc_devices = []
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self.ready_event = ready_event # 用于通知主进程，服务器已启动
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self.mock_mode = mock_mode # 添加模拟模式参数
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def _create_plc_devices(self):
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"""
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Create PLC devices based on the machine configuration.
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"""
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try:
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for config in self.machines_config:
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if config.get('type') == 'mhi' and config.get('com').startswith("com") and config.get('plcAddress'):
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device_matched = [
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device_json['device']
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for device_json in self.plc_devices
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if device_json["com"] == config.get('com') and device_json['type'] == config.get('type')
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]
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device_have_created = device_matched[0] if device_matched else None
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if device_have_created is None:
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device_have_created = MitsubishiPLC(config.get('com'), config.get('comm_config'))
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self.plc_devices.append({
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'slave': int(config.get('plcAddress')),
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'com': config.get('com'),
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'device': device_have_created,
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'type': config.get('type')
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})
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if config.get('type') == 'xinjie' and config.get('com').startswith("com") and config.get('plcAddress'):
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device_matched = [
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device_json['device']
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for device_json in self.plc_devices
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if device_json["com"] == config.get('com') and device_json['type'] == config.get('type')
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]
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device_have_created = device_matched[0] if device_matched else None
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if device_have_created is None:
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device_have_created = ModbusPLC(config.get('com'), config.get('comm_config'))
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self.plc_devices.append({
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'slave': int(config.get('plcAddress')),
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'com': config.get('com'),
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'device': device_have_created,
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'type': config.get('type')
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})
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except Exception as error:
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print(f"Error creating PLC devices: {error}")
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def _create_context(self):
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"""
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Create Modbus context for each PLC device.
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"""
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stores = {}
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for config in self.machines_config:
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plc_address = int(config.get('plcAddress'))
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coil_block = CustomDataBlock('coil', self.plc_devices, plc_address, config.get("com"), config.get("type"),
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0, [False] * 0x10000)
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holding_register_block = CustomDataBlock('holding_register', self.plc_devices, plc_address,
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config.get("com"), config.get("type"), 0, [0] * 0x10000)
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input_coil_block = CustomDataBlock('input_coil', self.plc_devices, plc_address, config.get("com"),
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config.get("type"), 0, [False] * 0x10000)
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input_register_block = CustomDataBlock('input_register', self.plc_devices, plc_address, config.get("com"),
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config.get("type"), 0, [0] * 0x10000)
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store = ModbusSlaveContext(
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di=input_coil_block,
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co=coil_block,
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hr=holding_register_block,
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ir=input_register_block,
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zero_mode=True
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)
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tcp_unit_id = int(config.get('tcp_modbus_unit'))
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stores[tcp_unit_id] = store
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self.context = ModbusServerContext(slaves=stores, single=False)
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async def _start_server(self):
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"""
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Start the Modbus TCP Server.
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"""
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self._create_context()
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print(f"Starting Modbus server on {self.host}:{self.port}")
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try:
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self.server = await StartAsyncTcpServer(self.context, address=(self.host, self.port))
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print(f"Modbus server started on {self.host}:{self.port}")
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# 通知主进程服务器已启动c
|
|||
|
|
if self.ready_event:
|
|||
|
|
self.ready_event.set()
|
|||
|
|
await self.server.serve_forever()
|
|||
|
|
except Exception as e:
|
|||
|
|
if self.ready_event:
|
|||
|
|
self.ready_event.set()
|
|||
|
|
print(f"Error starting Modbus server: {e}")
|
|||
|
|
|
|||
|
|
def run(self):
|
|||
|
|
"""
|
|||
|
|
Run the Modbus server in the Process.
|
|||
|
|
"""
|
|||
|
|
# 设置模拟模式
|
|||
|
|
if self.mock_mode:
|
|||
|
|
import modbus_plc
|
|||
|
|
modbus_plc.MOCK_MODE = True
|
|||
|
|
print("Modbus Server: 启用 PLC 模拟模式")
|
|||
|
|
else:
|
|||
|
|
print("Modbus Server: 使用真实 PLC 设备")
|
|||
|
|
|
|||
|
|
print("Modbus server begin start in a separate process")
|
|||
|
|
|
|||
|
|
# 创建 PLC 设备
|
|||
|
|
self._create_plc_devices()
|
|||
|
|
|
|||
|
|
# 创建新的事件循环
|
|||
|
|
loop = asyncio.new_event_loop()
|
|||
|
|
asyncio.set_event_loop(loop)
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
# 启动 Modbus 服务器
|
|||
|
|
loop.run_until_complete(self._start_server())
|
|||
|
|
except Exception as e:
|
|||
|
|
print(f"Failed to start Modbus server: {e}")
|
|||
|
|
finally:
|
|||
|
|
print("Modbus server shutting down.")
|
|||
|
|
if self.server:
|
|||
|
|
self.server.shutdown()
|
|||
|
|
loop.close()
|
|||
|
|
|
|||
|
|
def stop(self):
|
|||
|
|
"""
|
|||
|
|
Stop the Modbus server gracefully.
|
|||
|
|
"""
|
|||
|
|
try:
|
|||
|
|
for device_info in self.plc_devices:
|
|||
|
|
device = device_info.get('device')
|
|||
|
|
if hasattr(device, 'stop_polling'):
|
|||
|
|
device.stop_polling()
|
|||
|
|
|
|||
|
|
if self.server:
|
|||
|
|
self.server.shutdown()
|
|||
|
|
print("Modbus server stopped gracefully.")
|
|||
|
|
finally:
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
|
|||
|
|
modbus_server = None # 声明全局变量
|
|||
|
|
exit_flag = False
|
|||
|
|
|
|||
|
|
|
|||
|
|
def get_machine_configs(serverUrl='127.0.0.1:5050'):
|
|||
|
|
global modbus_server, exit_flag
|
|||
|
|
config_got = False
|
|||
|
|
while not config_got:
|
|||
|
|
try:
|
|||
|
|
resp = getPlcConfig(serverUrl, {})
|
|||
|
|
if resp.get('status') == 'success':
|
|||
|
|
config_got = True
|
|||
|
|
machine_config = resp.get('data', [])
|
|||
|
|
modbus_server = ModbusServer(machine_config)
|
|||
|
|
modbus_server.modbus_thread = threading.Thread(target=modbus_server.run_modbus_server)
|
|||
|
|
modbus_server.modbus_thread.start()
|
|||
|
|
|
|||
|
|
except Exception as error:
|
|||
|
|
pass
|
|||
|
|
time.sleep(3)
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
|
|||
|
|
def main():
|
|||
|
|
global modbus_server # 引用全局变量
|
|||
|
|
global exit_flag
|
|||
|
|
|
|||
|
|
get_machine_configs_thread = threading.Thread(target=get_machine_configs, args=(args.serverUrl,))
|
|||
|
|
get_machine_configs_thread.start()
|
|||
|
|
|
|||
|
|
def stop_server(): # 停止服务器的函数
|
|||
|
|
global exit_flag
|
|||
|
|
if modbus_server:
|
|||
|
|
modbus_server.stop_modbus_server()
|
|||
|
|
if modbus_server and modbus_server.modbus_thread:
|
|||
|
|
modbus_server.modbus_thread.join()
|
|||
|
|
get_machine_configs_thread.join()
|
|||
|
|
exit_flag = True
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
while not exit_flag:
|
|||
|
|
if keyboard.is_pressed('z'):
|
|||
|
|
# stop_server()
|
|||
|
|
pass
|
|||
|
|
time.sleep(0.1)
|
|||
|
|
except KeyboardInterrupt:
|
|||
|
|
print("用户强制退出（Ctrl+C）")
|
|||
|
|
stop_server()
|
|||
|
|
sys.exit(0)
|
|||
|
|
|
|||
|
|
|
|||
|
|
if __name__ == "__main__":
|
|||
|
|
# 创建解析器
|
|||
|
|
parser = argparse.ArgumentParser(description="My modbus and plc Description")
|
|||
|
|
# 添加参数
|
|||
|
|
parser.add_argument('--serverUrl', default="http://127.0.0.1:5050", help="Server URL")
|
|||
|
|
|
|||
|
|
# 添加参数
|
|||
|
|
parser.add_argument('--host', default="127.0.0.1", help="Seqrver URL")
|
|||
|
|
# 添加参数
|
|||
|
|
parser.add_argument('--port', default=5020, help="Server URL")
|
|||
|
|
parser.add_argument('--mock', action='store_true', help="启用 PLC 模拟模式")
|
|||
|
|
|
|||
|
|
# 解析参数
|
|||
|
|
args = parser.parse_args()
|
|||
|
|
|
|||
|
|
# 设置 MOCK_MODE
|
|||
|
|
if hasattr(args, 'mock') and args.mock:
|
|||
|
|
import modbus_plc
|
|||
|
|
modbus_plc.MOCK_MODE = True
|
|||
|
|
print("启用 PLC 模拟模式")
|
|||
|
|
else:
|
|||
|
|
print("使用真实 PLC 设备")
|
|||
|
|
|
|||
|
|
serverUrl = args.serverUrl
|
|||
|
|
main()
|