Modbus-rtu/HostComputer/PLSR_Python_Tester/modbus_rtu.py

"""不依赖pyserial的Windows原生串口Modbus RTU客户端。"""

from __future__ import annotations

import ctypes
import queue
import threading
import time
import winreg
from ctypes import wintypes
from dataclasses import dataclass
from typing import List, Optional, Tuple


GENERIC_READ = 0x80000000
GENERIC_WRITE = 0x40000000
OPEN_EXISTING = 3
FILE_ATTRIBUTE_NORMAL = 0x80
PURGE_TXABORT = 0x0001
PURGE_RXABORT = 0x0002
PURGE_TXCLEAR = 0x0004
PURGE_RXCLEAR = 0x0008
INVALID_HANDLE_VALUE = ctypes.c_void_p(-1).value


class DCB(ctypes.Structure):
    _fields_ = [
        ("DCBlength", wintypes.DWORD),
        ("BaudRate", wintypes.DWORD),
        ("flags", wintypes.DWORD),
        ("wReserved", wintypes.WORD),
        ("XonLim", wintypes.WORD),
        ("XoffLim", wintypes.WORD),
        ("ByteSize", wintypes.BYTE),
        ("Parity", wintypes.BYTE),
        ("StopBits", wintypes.BYTE),
        ("XonChar", ctypes.c_char),
        ("XoffChar", ctypes.c_char),
        ("ErrorChar", ctypes.c_char),
        ("EofChar", ctypes.c_char),
        ("EvtChar", ctypes.c_char),
        ("wReserved1", wintypes.WORD),
    ]


class COMMTIMEOUTS(ctypes.Structure):
    _fields_ = [
        ("ReadIntervalTimeout", wintypes.DWORD),
        ("ReadTotalTimeoutMultiplier", wintypes.DWORD),
        ("ReadTotalTimeoutConstant", wintypes.DWORD),
        ("WriteTotalTimeoutMultiplier", wintypes.DWORD),
        ("WriteTotalTimeoutConstant", wintypes.DWORD),
    ]


def list_serial_ports() -> List[str]:
    """从Windows注册表枚举COM端口，不需要pyserial。"""
    ports = set()
    path = r"HARDWARE\DEVICEMAP\SERIALCOMM"
    try:
        with winreg.OpenKey(winreg.HKEY_LOCAL_MACHINE, path) as key:
            index = 0
            while True:
                try:
                    _, value, _ = winreg.EnumValue(key, index)
                    ports.add(str(value))
                    index += 1
                except OSError:
                    break
    except OSError:
        pass

    def sort_key(name: str) -> Tuple[str, int]:
        prefix = "".join(ch for ch in name if not ch.isdigit())
        digits = "".join(ch for ch in name if ch.isdigit())
        return prefix, int(digits or 0)

    return sorted(ports, key=sort_key)


class WinSerialPort:
    """使用同步Win32 API访问串口；由后台线程调用。"""

    def __init__(self) -> None:
        self._kernel32 = ctypes.WinDLL("kernel32", use_last_error=True)
        self._handle: Optional[int] = None
        self._configure_signatures()

    def _configure_signatures(self) -> None:
        kernel = self._kernel32
        kernel.CreateFileW.argtypes = [
            wintypes.LPCWSTR,
            wintypes.DWORD,
            wintypes.DWORD,
            wintypes.LPVOID,
            wintypes.DWORD,
            wintypes.DWORD,
            wintypes.HANDLE,
        ]
        kernel.CreateFileW.restype = wintypes.HANDLE
        kernel.CloseHandle.argtypes = [wintypes.HANDLE]
        kernel.CloseHandle.restype = wintypes.BOOL
        kernel.BuildCommDCBW.argtypes = [wintypes.LPCWSTR, ctypes.POINTER(DCB)]
        kernel.BuildCommDCBW.restype = wintypes.BOOL
        kernel.SetCommState.argtypes = [wintypes.HANDLE, ctypes.POINTER(DCB)]
        kernel.SetCommState.restype = wintypes.BOOL
        kernel.SetCommTimeouts.argtypes = [
            wintypes.HANDLE,
            ctypes.POINTER(COMMTIMEOUTS),
        ]
        kernel.SetCommTimeouts.restype = wintypes.BOOL
        kernel.SetupComm.argtypes = [wintypes.HANDLE, wintypes.DWORD, wintypes.DWORD]
        kernel.SetupComm.restype = wintypes.BOOL
        kernel.PurgeComm.argtypes = [wintypes.HANDLE, wintypes.DWORD]
        kernel.PurgeComm.restype = wintypes.BOOL
        kernel.ReadFile.argtypes = [
            wintypes.HANDLE,
            wintypes.LPVOID,
            wintypes.DWORD,
            ctypes.POINTER(wintypes.DWORD),
            wintypes.LPVOID,
        ]
        kernel.ReadFile.restype = wintypes.BOOL
        kernel.WriteFile.argtypes = [
            wintypes.HANDLE,
            wintypes.LPCVOID,
            wintypes.DWORD,
            ctypes.POINTER(wintypes.DWORD),
            wintypes.LPVOID,
        ]
        kernel.WriteFile.restype = wintypes.BOOL

    @property
    def is_open(self) -> bool:
        return self._handle is not None

    def open(self, port_name: str, baud_rate: int = 115200) -> None:
        self.close()
        device_name = rf"\\.\{port_name}"
        handle = self._kernel32.CreateFileW(
            device_name,
            GENERIC_READ | GENERIC_WRITE,
            0,
            None,
            OPEN_EXISTING,
            FILE_ATTRIBUTE_NORMAL,
            None,
        )
        if handle == INVALID_HANDLE_VALUE:
            self._raise_last_error(f"打开{port_name}失败")
        self._handle = handle

        try:
            dcb = DCB()
            dcb.DCBlength = ctypes.sizeof(DCB)
            config = f"baud={baud_rate} parity=e data=8 stop=1"
            if not self._kernel32.BuildCommDCBW(config, ctypes.byref(dcb)):
                self._raise_last_error("生成串口参数失败")
            if not self._kernel32.SetCommState(self._handle, ctypes.byref(dcb)):
                self._raise_last_error("设置串口参数失败")

            timeouts = COMMTIMEOUTS(
                ReadIntervalTimeout=20,
                ReadTotalTimeoutMultiplier=0,
                ReadTotalTimeoutConstant=20,
                WriteTotalTimeoutMultiplier=0,
                WriteTotalTimeoutConstant=300,
            )
            if not self._kernel32.SetCommTimeouts(
                self._handle, ctypes.byref(timeouts)
            ):
                self._raise_last_error("设置串口超时失败")
            if not self._kernel32.SetupComm(self._handle, 4096, 4096):
                self._raise_last_error("设置串口缓冲区失败")
            self.purge()
        except Exception:
            self.close()
            raise

    def close(self) -> None:
        if self._handle is not None:
            self._kernel32.CloseHandle(self._handle)
            self._handle = None

    def purge(self) -> None:
        self._require_open()
        flags = PURGE_TXABORT | PURGE_RXABORT | PURGE_TXCLEAR | PURGE_RXCLEAR
        if not self._kernel32.PurgeComm(self._handle, flags):
            self._raise_last_error("清理串口缓冲区失败")

    def write(self, data: bytes) -> None:
        self._require_open()
        buffer = ctypes.create_string_buffer(data)
        written = wintypes.DWORD(0)
        if not self._kernel32.WriteFile(
            self._handle,
            buffer,
            len(data),
            ctypes.byref(written),
            None,
        ):
            self._raise_last_error("串口发送失败")
        if written.value != len(data):
            raise OSError(f"串口只发送了{written.value}/{len(data)}字节")

    def read(self, maximum: int = 256) -> bytes:
        self._require_open()
        buffer = ctypes.create_string_buffer(maximum)
        received = wintypes.DWORD(0)
        if not self._kernel32.ReadFile(
            self._handle,
            buffer,
            maximum,
            ctypes.byref(received),
            None,
        ):
            self._raise_last_error("串口接收失败")
        return buffer.raw[: received.value]

    def _require_open(self) -> None:
        if self._handle is None:
            raise OSError("串口尚未打开")

    @staticmethod
    def _raise_last_error(prefix: str) -> None:
        code = ctypes.get_last_error()
        raise OSError(code, f"{prefix}：{ctypes.FormatError(code).strip()}")


def crc16(data: bytes) -> int:
    crc = 0xFFFF
    for byte in data:
        crc ^= byte
        for _ in range(8):
            crc = ((crc >> 1) ^ 0xA001) if (crc & 1) else (crc >> 1)
    return crc & 0xFFFF


def add_crc(data: bytes) -> bytes:
    crc = crc16(data)
    return data + bytes((crc & 0xFF, (crc >> 8) & 0xFF))


def valid_crc(frame: bytes) -> bool:
    if len(frame) < 4:
        return False
    received = frame[-2] | (frame[-1] << 8)
    return crc16(frame[:-2]) == received


def u16(value: int) -> bytes:
    return bytes(((value >> 8) & 0xFF, value & 0xFF))


def read_u16(data: bytes, offset: int) -> int:
    return (data[offset] << 8) | data[offset + 1]


def build_read_holding(slave: int, address: int, quantity: int) -> bytes:
    if not 1 <= slave <= 247:
        raise ValueError("从站地址必须在1到247之间")
    if not 1 <= quantity <= 125:
        raise ValueError("读取数量必须在1到125之间")
    return add_crc(bytes((slave, 0x03)) + u16(address) + u16(quantity))


def build_write_single(slave: int, address: int, value: int) -> bytes:
    if not 1 <= slave <= 247:
        raise ValueError("从站地址必须在1到247之间")
    return add_crc(bytes((slave, 0x06)) + u16(address) + u16(value))


def build_write_multiple(slave: int, address: int, values: List[int]) -> bytes:
    if not 1 <= slave <= 247:
        raise ValueError("从站地址必须在1到247之间")
    if not 1 <= len(values) <= 123:
        raise ValueError("写入数量必须在1到123之间")
    payload = b"".join(u16(value) for value in values)
    body = (
        bytes((slave, 0x10))
        + u16(address)
        + u16(len(values))
        + bytes((len(payload),))
        + payload
    )
    return add_crc(body)


@dataclass(frozen=True)
class Request:
    frame: bytes
    function: int
    address: int
    quantity_or_value: int
    context: str


class ModbusClient:
    """单事务后台客户端；GUI通过events队列接收结果。"""

    # STM32从站由RTOS任务轮询。连续请求之间留出恢复时间，避免上一帧刚发送
    # 完成时下一帧已经进入USART，导致从站状态机漏掉请求。
    INTER_REQUEST_DELAY_S = 0.03
    RESPONSE_TIMEOUT_S = 0.8
    MAX_ATTEMPTS = 2

    def __init__(self) -> None:
        self.events: "queue.Queue[tuple]" = queue.Queue()
        self._requests: "queue.Queue[Optional[Request]]" = queue.Queue()
        self._serial = WinSerialPort()
        self._thread: Optional[threading.Thread] = None
        self._stop_event = threading.Event()
        self._busy_event = threading.Event()
        self.slave_address = 1
        self.port_name = ""
        self._last_request_finished = 0.0

    @property
    def is_open(self) -> bool:
        return self._serial.is_open

    @property
    def is_busy(self) -> bool:
        return self._busy_event.is_set() or not self._requests.empty()

    def open(self, port_name: str, baud_rate: int, slave_address: int) -> None:
        if not 1 <= slave_address <= 247:
            raise ValueError("从站地址必须在1到247之间")
        self.close()
        self._serial.open(port_name, baud_rate)
        self.slave_address = slave_address
        self.port_name = port_name
        self._stop_event.clear()
        self._thread = threading.Thread(
            target=self._worker_loop,
            name="ModbusRtuWorker",
            daemon=True,
        )
        self._thread.start()

    def close(self) -> None:
        self._stop_event.set()
        if self._thread is not None and self._thread.is_alive():
            self._requests.put(None)
            self._thread.join(timeout=1.0)
        self._thread = None
        self._busy_event.clear()
        while not self._requests.empty():
            try:
                self._requests.get_nowait()
            except queue.Empty:
                break
        self._serial.close()
        self._last_request_finished = 0.0

    def read_holding(self, address: int, quantity: int, context: str = "") -> None:
        frame = build_read_holding(self.slave_address, address, quantity)
        self._requests.put(Request(frame, 0x03, address, quantity, context))

    def write_single(self, address: int, value: int, context: str = "") -> None:
        frame = build_write_single(self.slave_address, address, value)
        self._requests.put(Request(frame, 0x06, address, value, context))

    def write_multiple(
        self, address: int, values: List[int], context: str = ""
    ) -> None:
        frame = build_write_multiple(self.slave_address, address, values)
        self._requests.put(Request(frame, 0x10, address, len(values), context))

    def _worker_loop(self) -> None:
        while not self._stop_event.is_set():
            try:
                request = self._requests.get(timeout=0.1)
            except queue.Empty:
                continue
            if request is None:
                break
            self._busy_event.set()
            try:
                for attempt in range(1, self.MAX_ATTEMPTS + 1):
                    try:
                        self._wait_inter_request_gap()
                        self._execute(request)
                        break
                    except TimeoutError:
                        if attempt >= self.MAX_ATTEMPTS:
                            raise
                        self.events.put(("retry", request.context, attempt + 1))
            except Exception as exc:  # 将后台异常送回GUI线程
                self.events.put(("error", request.context, str(exc)))
            finally:
                self._last_request_finished = time.monotonic()
                self._busy_event.clear()

    def _wait_inter_request_gap(self) -> None:
        remaining = (
            self._last_request_finished + self.INTER_REQUEST_DELAY_S
            - time.monotonic()
        )
        if remaining > 0:
            time.sleep(remaining)

    def _execute(self, request: Request) -> None:
        self._serial.purge()
        self._serial.write(request.frame)
        self.events.put(("tx", request.frame))

        deadline = time.monotonic() + self.RESPONSE_TIMEOUT_S
        response = bytearray()
        expected_length: Optional[int] = None

        while time.monotonic() < deadline and not self._stop_event.is_set():
            chunk = self._serial.read(256)
            if chunk:
                response.extend(chunk)
            if len(response) >= 2:
                function = response[1]
                if function == (request.function | 0x80):
                    expected_length = 5
                elif function == 0x03 and len(response) >= 3:
                    expected_length = 5 + response[2]
                elif function in (0x06, 0x10):
                    expected_length = 8
            if expected_length is not None and len(response) >= expected_length:
                break

        if expected_length is None or len(response) < expected_length:
            raise TimeoutError("等待从站响应超时")

        frame = bytes(response[:expected_length])
        self.events.put(("rx", frame))
        if not valid_crc(frame):
            raise ValueError("响应CRC校验失败")
        if frame[0] != self.slave_address:
            raise ValueError("响应从站地址不匹配")

        function = frame[1]
        if function == (request.function | 0x80):
            self.events.put(
                ("exception", request.function, frame[2], request.context)
            )
            return
        if function != request.function:
            raise ValueError("响应功能码不匹配")

        if function == 0x03:
            byte_count = frame[2]
            if byte_count != request.quantity_or_value * 2:
                raise ValueError("读取响应数据长度不匹配")
            values = [
                read_u16(frame, offset)
                for offset in range(3, 3 + byte_count, 2)
            ]
            self.events.put(
                ("read", request.address, values, request.context)
            )
            return

        echoed_address = read_u16(frame, 2)
        echoed_value = read_u16(frame, 4)
        if (
            echoed_address != request.address
            or echoed_value != request.quantity_or_value
        ):
            raise ValueError("写响应回显与请求不一致")
        self.events.put(
            (
                "write",
                function,
                echoed_address,
                echoed_value,
                request.context,
            )
        )