import array import time import serial import threading import binascii import datetime import struct import requests from queue import Queue print_condition = False all_plc_recv = 0 # 定义颜色代码 RED = '\033[31m' GREEN = '\033[32m' YELLOW = '\033[33m' BLUE = '\033[34m' MAGENTA = '\033[35m' CYAN = '\033[36m' WHITE = '\033[37m' RESET = '\033[m' def bcd_coder_array(value=0, lenght=4): return int_to_bcd(value, lenght) def int_to_bcd(number=0, length=5): bcd_array = [] try: int_number = int(round(number)) # 使用round函数四舍五入，然后转成整数 while int_number > 0: bcd = int_number % 100 bcd_array.insert(0, (bcd // 10) << 4 | (bcd % 10)) int_number = int_number // 100 except: pass while len(bcd_array) < length: bcd_array.insert(0, 0) return bcd_array def int_to_ascii_array(number, length): # 将整数转换为ASCII码字符串 ascii_str = str(number) # 获取ASCII码字符串的长度 ascii_str_length = len(ascii_str) # 如果ASCII码字符串的长度小于指定长度，则在前面补0 if ascii_str_length < length: ascii_str = '0' * (length - ascii_str_length) + ascii_str # 将ASCII码字符串转换为ASCII码数组 ascii_array = [ord(c) for c in ascii_str] return ascii_array def str_to_ascii_array(str, length): # 获取ASCII码字符串的长度 ascii_str_length = len(str) # 如果ASCII码字符串的长度小于指定长度，则在前面补0 if ascii_str_length < length: ascii_str = '0' * (length - ascii_str_length) + str # 将ASCII码字符串转换为ASCII码数组 ascii_array = [ord(c) for c in str] return ascii_array def hex_to_ascii_arr(hex_num, lenth): str_num = hex(hex_num)[2:].upper().rjust(lenth, '0') array = [ord(c) for c in str_num] return array def convert_ascii_to_num(ascii_val): if ord('0') <= ascii_val <= ord('9'): return ascii_val - ord('0') elif ord('A') <= ascii_val <= ord('F'): return ascii_val - ord('A') + 10 elif ord('a') <= ascii_val <= ord('f'): return ascii_val - ord('a') + 10 else: return 0 def ascii_array_to_word(ascii_array): if len(ascii_array) != 4: return 0 return convert_ascii_to_num(ascii_array[0]) * 0x1000 + \ convert_ascii_to_num(ascii_array[1]) * 0x0100 + \ convert_ascii_to_num(ascii_array[2]) * 0x010 + \ convert_ascii_to_num(ascii_array[3]) def date_to_bcd(date_str): # 0:06:20.585233 # condition_print("date=",date_str,type(date_str)) # 移除日期中的"-"字符 date_str = date_str.replace("-", "") # 按照两位数字进行分割 date_parts = [date_str[i:i + 2] for i in range(0, len(date_str), 2)] # 将每个部分转换为十六进制数 bcd_array = [int(part, 16) for part in date_parts] return bcd_array def time_to_bcd(time_str): # 10:06:20.585233 time_str = time_str.split('.')[0] # 去除掉后面的毫秒 time_parts = time_str.split(':') # 按":"分割 bcd = [int(part) for part in time_parts] # 分别转为整数 bcd = [int(str(i), 16) for i in bcd] # 分别转为16进制 return bcd def condition_print(*args, **kwargs): global print_condition # 使用全局变量 message = ' '.join(str(arg) for arg in args) if kwargs: message += ', ' + ', '.join("{}={}".format(key, value) for key, value in kwargs.items()) if print_condition: print(message) class DevicePLC: def __init__(self, plc_port, comm_config): global print_condition, api_condition, all_plc_recv port_opened = False print("DevicePLC init") self.event_format_long = False try: self.ser = serial.Serial(port=plc_port, baudrate=comm_config['baudrate'], parity=comm_config['parity'], bytesize=comm_config['bytesize'], stopbits=comm_config['stopbits'], timeout=1, rtscts=False) except: condition_print("\033[91m {}\033[00m".format("plc " + plc_port + " open error")) try: self.ser = serial.Serial(port="com1", baudrate=baudrate, parity=serial.PARITY_EVEN, bytesize=serial.EIGHTBITS, stopbits=serial.STOPBITS_ONE, timeout=2, rtscts=False) except: condition_print("\033[91m {}\033[00m".format("plc " + "com1" + " open error")) else: port_opened = True condition_print("\033[92m {}\033[00m".format("plc " + "com1" + " open success")) else: port_opened = True condition_print("\033[92m {}\033[00m".format("plc " + plc_port + " open success--1")) finally: pass if port_opened: self.link_down_timer = threading.Timer(5.0, self.link_down_timeout) # 创建一个5秒后执行的定时器 # self.link_down_timer.start() self.link_down_event = threading.Event() if self.port_is_opened(): # self.recv_thread.start(); pass def port_is_opened(self): if hasattr(self, 'ser') and self.ser: return True else: return False return False def link_down_timeout(self): self.link_down_event.set() self.link_down_timer = threading.Timer(5.0, self.link_down_timeout) # 创建一个5秒后执行的定时器 self.link_down_timer.start() def reset_link_down_timer(self): if self.link_down_timer: self.link_down_timer.cancel() self.link_down_timer = threading.Timer(5.0, self.link_down_timeout) # 创建一个5秒后执行的定时器 self.link_down_timer.start() def send_heartBit(self): if self.port_is_opened(): pass def crc16_ccitt(self, data: bytearray): # CRC16/CCITT crcval = 0x0000 for c in data: q = (crcval ^ c) & 0x0F crcval = (crcval >> 4) ^ (q * 0o10201) q = (crcval ^ (c >> 4)) & 0x0F crcval = (crcval >> 4) ^ (q * 0o10201) return crcval def plc_read_frame(self, command, plc_no=0x01, pc_no=0xFF, address='D0160', len=0x02): frame = [] frame.append(0x05) frame.extend(hex_to_ascii_arr(plc_no, 2)) frame.extend(hex_to_ascii_arr(pc_no, 2)) frame.extend([ord(c) for c in command]) # word read command frame.append(0x30) frame.extend(str_to_ascii_array(address, 5)) # eg.D0160 frame.extend(int_to_ascii_array(len, 2)) checksum = sum(frame[1:]) & 0xFF frame.extend(hex_to_ascii_arr(checksum, 2)) # condition_print("frame=",frame,type(frame)) condition_print('frame intent to read plc: [', ', '.join('{:02x}'.format(x) for x in frame), ']') return frame def plc_write_frame(self, command, plc_no=0x01, pc_no=0xFF, address='D0160', date_len=0x02, data=[]): frame = [0x05] frame.extend(hex_to_ascii_arr(plc_no, 2)) frame.extend(hex_to_ascii_arr(pc_no, 2)) frame.extend([ord(c) for c in command]) # word write command bit write command frame.append(0x30) frame.extend(str_to_ascii_array(address, 5)) # eg.D0160 frame.extend(int_to_ascii_array(date_len, 2)) data_index = 0 while date_len > 0: value = data[data_index] data_index = data_index + 1 if command == 'BW': arr_len = 1 else: arr_len = 4 word_ascii_array = hex_to_ascii_arr(value, arr_len) # condition_print(word,'[', ', '.join('{:02x}'.format(x) for x in word_ascii_array), ']') frame.extend(word_ascii_array) date_len = date_len - 1 checksum = sum(frame[1:]) & 0xFF frame.extend(hex_to_ascii_arr(checksum, 2)) condition_print('frame intend to write plc: [', ', '.join('{:02x}'.format(x) for x in frame), ']') return frame # Symbol name Description Code (hexadecimal) # STX Start of Text 02H # ETX End of Text 03H # EOT End of Transmission 04H # ENQ Enquiry 05H # ACK Acknowledge 06H # LF Line Feed 0AH # CL Clear 0CH # CR Carriage Return ODH # NAK Negative Acknowledge 15H def frame_is_valid(self, frame): # 检查第一个字节是否为控制代码 control_code = frame[0] ETX: bool = False if control_code not in [0x05, 0x02, 0x03, 0x4, 0x06, 0x15]: condition_print("First byte is not a control code.") return False # 检查最后两个字节是否为校验和代码 hex_string = ''.join(chr(char) for char in frame[-2:]) # 然后，你可以使用int函数将这个16进制的字符串转换为一个整数，指定基数为16 checksum = int(hex_string, 16) if frame[0] == 0x02 and frame[-3] != 0x03: return False if frame[0] == 0x06 or frame[0] == 0x15: return True if frame[-3] == 0x03: ETX = True end_position = -3 if ETX else -2 checksum_calc = sum(frame[1:-2]) & 0xFF # 计算校验和并取第八位 if checksum != checksum_calc: condition_print("Last two bytes do not match checksum.", checksum, checksum_calc, frame[-2] - 0x30, frame[-1] - 0x30) return False # 创建一个包含所有有效字符的字符串 valid_chars = '0123456789abcdefABCDEF' # 定义一个函数来检查bytes对象中的每个元素 for i in frame[1:end_position]: char = chr(i) if char not in valid_chars: condition_print(f'{char} ({i}) is not a valid character.') # 在此处添加其他的逻辑处理代码，例如抛出异常 # raise ValueError(f'{char} ({i}) is not a valid character.') return False else: # condition_print(f'{char} ({i}) is a valid character.') pass return True def plc_write(self, command='WW', plc_no=0x01, pc_no=0xFF, address='D0160', len=0x02, data=0x00000000): frame = self.plc_write_frame(command, plc_no, pc_no, address, len, data) timeout = 2 # 设置超时时间为2秒 if hasattr(self, 'ser') and self.ser: self.ser.write(frame) frame = self.ser.read(1); time.sleep(0.06) start_time = time.time() # 记录开始时间 while self.ser.in_waiting: # 检查是否超时 if time.time() - start_time > timeout: condition_print("serial com read Time's out!--", time) return {"status": "error", "msg": "serial com read Time's out!"} break frame += self.ser.read(self.ser.in_waiting) # 读取剩余的数据 if self.frame_is_valid(frame) == False: condition_print("recv frame is not valid", '[', ', '.join('{:02x}'.format(x) for x in frame), ']') return {"status": "error", "msg": "recv frame is not valid"} else: condition_print("--write data to plc success", "resp", ' [', ', '.join('{:02x}'.format(x) for x in frame), ']') # condition_print('recv pld frame: [', ', '.join('{:02x}'.format(x) for x in frame), ']') return {"status": "success", "data": frame} else: return {"status":"error", "msg": "serial com is not open!"} pass def plc_read(self, command, plc_no=0x01, pc_no=0xFF, address='D0160', len=0x01): frame = self.plc_read_frame(command, plc_no, pc_no, address, len) timeout = 2 # 设置超时时间为2秒 if hasattr(self, 'ser') and self.ser: self.ser.write(frame) frame = self.ser.read(1); time.sleep(0.06) start_time = time.time() # 记录开始时间 while self.ser.in_waiting: # 检查是否超时 if time.time() - start_time > timeout: condition_print("serial com read Time's out!--", time) return {"status": "error", "msg": "serial com read Time's out!"} break frame += self.ser.read(self.ser.in_waiting) # 读取剩余的数据 if self.frame_is_valid(frame) == False: condition_print("recv frame is not valid") return {"status": "error", "msg": "recv frame is not valid"} else: condition_print('--read data return: [', ', '.join('{:02x}'.format(x) for x in frame), ']') return {"status": "success", "data": frame} else: return {"status":"error", "msg": "serial com is not open!"} def plc_read_words(self, plc_no=0x01, pc_no=0xFF, address='D0160', length=0x01): resp = {'status': 'error'} result = self.plc_read('WR', plc_no, pc_no, address, length) if result and 'status' in result and result['status'] == 'success' and 'data' in result: frame = result['data'] data_len = (len(frame) - 8) / 4 if data_len == length: value = [ascii_array_to_word(frame[5 + 4 * i:5 + 4 * (i + 1)]) for i in range(length)] resp = {'status': 'success', 'length': data_len, 'data': value} return resp def plc_read_bits(self, plc_no=0x01, pc_no=0xFF, address='D0160', length=0x01): resp = {'status': 'error'} result = self.plc_read('BR', plc_no, pc_no, address, length) condition_print('plc_read_bits result',result) #cyx if 'status' in result and result['status'] == 'success' and 'data' in result: frame = result['data'] data_len = (len(frame) - 8) / 1 if data_len == length: value = [(frame[5 + 1 * i] - 0x30) for i in range(length)] resp = {'status': 'success', 'length': data_len, 'data': value} return resp def plc_write_word(self, plc_no=0x01, pc_no=0xFF, address='D0160', data=0x0000): return self.plc_write('WW', plc_no, pc_no, address, 0x01, list([data])) def plc_write_dword(self, plc_no=0x01, pc_no=0xFF, address='D0160', data=0x00000000): return self.plc_write('WW', plc_no, pc_no, address, 0x02, list([data >> 16, data & 0xFFFF])) def plc_write_words(self, plc_no=0x01, pc_no=0xFF, start_addr='D0160', length=0x04, data=[]): return self.plc_write('WW', plc_no, pc_no, start_addr, length, data) def plc_write_bits(self, plc_no=0x01, pc_no=0xFF, address='D0160', length=0x01, data=[]): return self.plc_write('BW', plc_no, pc_no, address, length, data) class DtmMachine: def __init__(self, comm_port, comm_config={}, drop_register={}, plc_address=0x01): self.machine_plc = DevicePLC(comm_port, comm_config) self.drop_register = drop_register self.plc_address = plc_address self.plc_comm_lock = threading.Lock() pass def set_station_dropheight(self, station_no, height): value_return = {'status': 'error'} with self.plc_comm_lock: resp = self.machine_plc.plc_write_word(self.plc_address, 0xFF, self.drop_register[station_no]['height'], height) if 'status' in resp and resp['status'] == 'success' and 'data' in resp: if resp['data'][0] == 0x06: # ACK value_return = {'status': 'success'} condition_print(f'write {station_no} height {height} success') return value_return def set_station_cycles(self, station_no, cycles): value_return = {'status': 'error'} with self.plc_comm_lock: resp = self.machine_plc.plc_write_word(self.plc_address, 0xFF, self.drop_register[station_no]['cycles'], cycles) if 'status' in resp and resp['status'] == 'success' and 'data' in resp: if resp['data'][0] == 0x06: # ACK value_return = {'status': 'success'} condition_print(f'write {station_no} cycles {cycles} success') return value_return def set_station_finished(self, station_no, finished): value_return = {'status': 'error'} with self.plc_comm_lock: resp = self.machine_plc.plc_write_word(self.plc_address, 0xFF, self.drop_register[station_no]['cyclesFinished'], finished) if 'status' in resp and resp['status'] == 'success' and 'data' in resp: if resp['data'][0] == 0x06: # ACK value_return = {'status': 'success'} condition_print(f'write {station_no} cyclesFinished {finished} success') return value_return def read_station_dropheight(self, station_no): value_return = {'status': 'error'} with self.plc_comm_lock: resp = self.machine_plc.plc_read_words(self.plc_address, 0xFF, self.drop_register[station_no]['height'], 0x01) if 'status' in resp and resp['status'] == 'success' and 'data' in resp and resp['length'] == 0x01: value_return = {'status': 'success', 'value': resp['data'][0]} condition_print(f'read {station_no} height success', resp['data'][0]) return value_return def read_station_cyclesFinished(self, station_no): value_return = {'status': 'error'} with self.plc_comm_lock: resp = self.machine_plc.plc_read_words(self.plc_address, 0xFF, self.drop_register[station_no]['cyclesFinished'], 0x01) if 'status' in resp and resp['status'] == 'success' and 'data' in resp and resp['length'] == 0x01: value_return = {'status': 'success', 'value': resp['data'][0]} condition_print(f'read {station_no} cyclesFinished success', resp['data'][0]) return value_return def start_station(self, station_no): value_return = {'status': 'error'} with self.plc_comm_lock: resp1 = self.machine_plc.plc_write_bits(self.plc_address, 0xFF, self.drop_register[station_no]['start'], 0x01, [0x01]) resp2 = self.machine_plc.plc_write_bits(self.plc_address, 0xFF, self.drop_register[station_no]['stop'], 0x01, [0x00]) if 'status' in resp1 and resp1['status'] == 'success' and 'data' in resp1 and resp1['data'][0] == 0x06 and \ 'status' in resp2 and resp2['status'] == 'success' and 'data' in resp2 and resp2['data'][0] == 0x06: # ACK value_return = {'status': 'success'} condition_print(f'plc start {station_no} success') return value_return def resume_station(self, station_no): value_return = {'status': 'error'} with self.plc_comm_lock: resp1 = self.machine_plc.plc_write_bits(self.plc_address, 0xFF, self.drop_register[station_no]['start'], 0x01, [0x01]) resp2 = self.machine_plc.plc_write_bits(self.plc_address, 0xFF, self.drop_register[station_no]['stop'], 0x01, [0x00]) if 'status' in resp1 and resp1['status'] == 'success' and 'data' in resp1 and resp1['data'][0] == 0x06 and \ 'status' in resp2 and resp2['status'] == 'success' and 'data' in resp2 and resp2['data'][0] == 0x06: # ACK value_return = {'status': 'success'} condition_print(f'plc resume {station_no} success') return value_return def stop_station(self, station_no): value_return = {'status': 'error'} with self.plc_comm_lock: resp1 = self.machine_plc.plc_write_bits(self.plc_address, 0xFF, self.drop_register[station_no]['start'], 0x01, [0x00]) resp2 = self.machine_plc.plc_write_bits(self.plc_address, 0xFF, self.drop_register[station_no]['stop'], 0x01, [0x01]) if 'status' in resp1 and resp1['status'] == 'success' and 'data' in resp1 and resp1['data'][0] == 0x06 and \ 'status' in resp2 and resp2['status'] == 'success' and 'data' in resp2 and resp2['data'][0] == 0x06: # ACK value_return = {'status': 'success'} condition_print(f'plc stop {station_no} success') return value_return def station_start_status(self, station_no): value_return = {'status': 'error'} with self.plc_comm_lock: resp = self.machine_plc.plc_read_bits(self.plc_address, 0xFF, self.drop_register[station_no]['start'], 0x01) if 'status' in resp and resp['status'] == 'success' and 'data' in resp and resp['length'] == 0x01: value_return = {'status': 'success', 'value': resp['data'][0]} condition_print(f'plc read {station_no} cyclesFinished success', resp['data'][0]) return value_return