Modbus-rtu/HostComputer/plsr_control_panel.py

"""Tkinter control panel for the 2026 PLSR Modbus register map."""

from __future__ import annotations

import argparse
import queue
import threading
import time
import tkinter as tk
import tkinter.font as tkfont
from tkinter import messagebox, ttk

import serial
from serial.tools import list_ports

# Keep one RTU implementation for the board tests and this operator panel.
from plsr_modbus_product_test import (
    COMMAND_CLEAR,
    COMMAND_START,
    COMMAND_STOP,
    COMMON_WORDS,
    CONFIG_BASE,
    CONTROL,
    ModbusException,
    RtuClient,
    SEGMENT_1_BASE,
    SEGMENT_WORDS,
    TestFailure,
    read_status,
    split_i32,
    split_u32,
)


BAUD_RATE = 9600
SERIAL_TIMEOUT_SECONDS = 0.8
STATUS_POLL_SECONDS = 0.25
SEGMENT_COUNT = 10
SEGMENT_STRIDE = 0x10
MAX_FREQUENCY_HZ = 100_000

PULSE_OPTIONS = (
    ("Y0 (0)", 0),
    ("Y1 (1)", 1),
    ("Y2 (2)", 2),
    ("Y3 (3)", 3),
)
DIRECTION_OPTIONS = (
    ("Y12 (0)", 0),
    ("Y13 (1)", 1),
    ("Y14 (2)", 2),
    ("Y15 (3)", 3),
)
INPUT_OPTIONS = (("X4 (0)", 0), ("X5 (1)", 1))
SEND_OPTIONS = (("脉冲发送完毕 (0)", 0), ("后续段 (1)", 1))
LOGIC_OPTIONS = (("正逻辑 (0)", 0), ("负逻辑 (1)", 1))
CURVE_OPTIONS = (("直线 (0)", 0), ("S 曲线 (1)", 1), ("正弦曲线 (2)", 2))
POSITION_OPTIONS = (("相对位置 (0)", 0), ("绝对位置 (1)", 1))
WAIT_OPTIONS = (
    ("WAIT 时间 (0)", 0),
    ("WAIT 信号 (1)", 1),
    ("ACT 时间 (2)", 2),
    ("EXT 信号 (3)", 3),
    ("EXT 或完成 (4)", 4),
)

STATUS_NAMES = {
    0: "未初始化",
    1: "空闲",
    2: "加速",
    3: "运行",
    4: "减速",
    5: "等待",
    6: "暂停",
    7: "完成",
    8: "停止",
    9: "错误",
}
ERROR_NAMES = {
    0: "无错误",
    1: "状态转换非法",
    2: "资源冲突",
    3: "资源非法",
    4: "定时器错误",
    5: "计数错误",
    6: "正限位",
    7: "负限位",
    8: "急停",
    9: "内部错误",
}


def option_labels(options):
    return tuple(label for label, _value in options)


def option_label(options, value):
    for label, candidate in options:
        if candidate == value:
            return label
    return str(value)


def option_value(options, label, field_name):
    for candidate_label, value in options:
        if candidate_label == label:
            return value
    raise ValueError("%s 不是有效选项" % field_name)


def parse_integer(text, field_name, minimum, maximum):
    raw = text.strip()
    if not raw:
        raise ValueError("%s 不能为空" % field_name)
    try:
        value = int(raw, 0)
    except ValueError:
        try:
            value = int(raw, 10)
        except ValueError as error:
            raise ValueError("%s 必须是整数" % field_name) from error
    if value < minimum or value > maximum:
        raise ValueError(
            "%s 必须在 %d 到 %d 之间" % (field_name, minimum, maximum)
        )
    return value


class SerialWorker(threading.Thread):
    """Own the serial port and report all results through a queue."""

    def __init__(self):
        super().__init__(name="plsr-serial", daemon=True)
        self.commands = queue.Queue()
        self.results = queue.Queue()
        self.stop_event = threading.Event()
        self.client = None
        self.next_status_poll = 0.0

    def submit(self, command, **payload):
        self.commands.put((command, payload))

    def close(self):
        self.stop_event.set()
        self.commands.put(("shutdown", {}))

    def _emit(self, event, **payload):
        self.results.put((event, payload))

    def _disconnect(self, notify=True, reason=""):
        client = self.client
        self.client = None
        if client is not None:
            try:
                client.__exit__(None, None, None)
            except (OSError, serial.SerialException):
                pass
        if notify:
            self._emit("connection", connected=False, reason=reason)

    def _require_client(self):
        if self.client is None:
            raise RuntimeError("串口尚未连接")
        return self.client

    def _read_configuration(self):
        client = self._require_client()
        common = client.read_holding(CONFIG_BASE, COMMON_WORDS)
        segments = []
        for index in range(SEGMENT_COUNT):
            address = SEGMENT_1_BASE + index * SEGMENT_STRIDE
            segments.append(client.read_holding(address, SEGMENT_WORDS))
        self._emit("configuration", common=common, segments=segments)

    def _handle_connection_error(self, operation, error):
        self._disconnect(notify=True, reason=str(error))
        self._emit("error", operation=operation, message=str(error), modal=True)

    def _handle_command(self, command, payload):
        if command == "connect":
            self._disconnect(notify=False)
            try:
                client = RtuClient(
                    payload["port"],
                    BAUD_RATE,
                    payload["slave"],
                    SERIAL_TIMEOUT_SECONDS,
                )
                client.__enter__()
                self.client = client
                self.next_status_poll = 0.0
                self._emit(
                    "connection",
                    connected=True,
                    port=payload["port"],
                    slave=payload["slave"],
                )
                self._read_configuration()
            except (OSError, serial.SerialException) as error:
                self._handle_connection_error("连接", error)
            except (TestFailure, ModbusException, RuntimeError) as error:
                self._disconnect(notify=True, reason=str(error))
                self._emit(
                    "error", operation="读取参数", message=str(error), modal=True
                )
            return

        if command == "disconnect":
            self._disconnect(notify=True)
            return

        try:
            client = self._require_client()
            if command == "read_configuration":
                self._read_configuration()
                self._emit("operation", message="参数读取完成")
            elif command == "write_common":
                client.write_multiple(CONFIG_BASE, payload["words"])
                common = client.read_holding(CONFIG_BASE, COMMON_WORDS)
                self._emit("common", words=common)
                self._emit("operation", message="公共参数写入并回读完成")
            elif command == "write_segments":
                for index, words in enumerate(payload["segments"]):
                    address = SEGMENT_1_BASE + index * SEGMENT_STRIDE
                    client.write_multiple(address, words)
                segments = []
                for index in range(SEGMENT_COUNT):
                    address = SEGMENT_1_BASE + index * SEGMENT_STRIDE
                    segments.append(client.read_holding(address, SEGMENT_WORDS))
                self._emit("segments", words=segments)
                self._emit("operation", message="10 段参数写入并回读完成")
            elif command == "control":
                client.write_single(CONTROL, payload["value"])
                self._emit("operation", message=payload["message"])
            else:
                raise RuntimeError("未知后台命令: %s" % command)
        except (OSError, serial.SerialException) as error:
            self._handle_connection_error(payload.get("operation", "通信"), error)
        except (TestFailure, ModbusException, RuntimeError) as error:
            self._emit(
                "error",
                operation=payload.get("operation", "通信"),
                message=str(error),
                modal=True,
            )

    def _poll_status(self):
        try:
            status = read_status(self._require_client())
            self._emit("status", status=status)
            self.next_status_poll = time.monotonic() + STATUS_POLL_SECONDS
        except (OSError, serial.SerialException) as error:
            self._handle_connection_error("状态轮询", error)
        except (TestFailure, ModbusException, RuntimeError) as error:
            self._emit(
                "error", operation="状态轮询", message=str(error), modal=False
            )
            self.next_status_poll = time.monotonic() + 1.0

    def run(self):
        try:
            while not self.stop_event.is_set():
                try:
                    command, payload = self.commands.get(timeout=0.05)
                except queue.Empty:
                    command = None
                    payload = None

                if command == "shutdown":
                    break
                if command is not None:
                    self._handle_command(command, payload)

                if (
                    self.client is not None
                    and time.monotonic() >= self.next_status_poll
                ):
                    self._poll_status()
        finally:
            self._disconnect(notify=False)


class PlsrControlPanel:
    def __init__(self, root):
        self.root = root
        self.root.title("PLSR 控制面板")
        self.root.geometry("1180x720")
        self.root.minsize(980, 650)
        self.root.protocol("WM_DELETE_WINDOW", self._on_close)

        self.connected = False
        self.operation_pending = False
        self.worker = SerialWorker()
        self.worker.start()

        self.port_var = tk.StringVar()
        self.slave_var = tk.StringVar(value="1")
        self.connection_var = tk.StringVar(value="未连接")
        self.footer_var = tk.StringVar(value="请选择串口并连接")
        self.status_vars = {
            "position": tk.StringVar(value="--"),
            "frequency": tk.StringVar(value="--"),
            "state": tk.StringVar(value="--"),
            "segment": tk.StringVar(value="--"),
            "error": tk.StringVar(value="--"),
        }
        self.common_vars = {}
        self.segment_vars = []
        self.connection_widgets = []
        self.action_buttons = []

        self._configure_style()
        self._build_ui()
        self.refresh_ports()
        self._set_connected(False)
        self.root.after(50, self._drain_results)

    def _configure_style(self):
        default_font = tkfont.nametofont("TkDefaultFont")
        default_font.configure(family="Microsoft YaHei UI", size=10)
        text_font = tkfont.nametofont("TkTextFont")
        text_font.configure(family="Microsoft YaHei UI", size=10)
        style = ttk.Style(self.root)
        style.configure("Connected.TLabel", foreground="#18794e")
        style.configure("Disconnected.TLabel", foreground="#5f6368")
        style.configure("Error.TLabel", foreground="#b42318")
        style.configure("StatusValue.TLabel", font=("Microsoft YaHei UI", 11, "bold"))

    def _build_ui(self):
        self.root.columnconfigure(0, weight=1)
        self.root.rowconfigure(2, weight=1)

        connection = ttk.LabelFrame(self.root, text="连接")
        connection.grid(row=0, column=0, padx=10, pady=(10, 6), sticky="ew")
        connection.columnconfigure(7, weight=1)

        ttk.Label(connection, text="串口").grid(row=0, column=0, padx=(8, 4), pady=8)
        self.port_box = ttk.Combobox(
            connection, textvariable=self.port_var, width=13, state="readonly"
        )
        self.port_box.grid(row=0, column=1, padx=4, pady=8)
        refresh_button = ttk.Button(connection, text="刷新", command=self.refresh_ports)
        refresh_button.grid(row=0, column=2, padx=(0, 12), pady=8)
        ttk.Label(connection, text="串口参数").grid(row=0, column=3, padx=4, pady=8)
        ttk.Label(connection, text="9600, 8E1").grid(row=0, column=4, padx=(4, 12), pady=8)
        ttk.Label(connection, text="从站地址").grid(row=0, column=5, padx=4, pady=8)
        slave_entry = ttk.Entry(connection, textvariable=self.slave_var, width=7)
        slave_entry.grid(row=0, column=6, padx=(4, 12), pady=8)
        self.connect_button = ttk.Button(
            connection, text="连接", command=self._toggle_connection
        )
        self.connect_button.grid(row=0, column=8, padx=8, pady=8)
        self.connection_label = ttk.Label(
            connection,
            textvariable=self.connection_var,
            style="Disconnected.TLabel",
            width=28,
            anchor="e",
        )
        self.connection_label.grid(row=0, column=7, padx=8, pady=8, sticky="e")
        self.connection_widgets = [self.port_box, refresh_button, slave_entry]

        self._build_runtime_status()

        notebook = ttk.Notebook(self.root)
        notebook.grid(row=2, column=0, padx=10, pady=6, sticky="nsew")
        common_tab = ttk.Frame(notebook, padding=12)
        segment_tab = ttk.Frame(notebook, padding=12)
        notebook.add(common_tab, text="公共参数 0x1000-0x1013")
        notebook.add(segment_tab, text="10 段参数 0x1100-0x1197")
        self._build_common_tab(common_tab)
        self._build_segment_tab(segment_tab)

        footer = ttk.Frame(self.root)
        footer.grid(row=3, column=0, padx=10, pady=(4, 10), sticky="ew")
        footer.columnconfigure(4, weight=1)
        read_button = ttk.Button(footer, text="读取全部参数", command=self._read_all)
        read_button.grid(row=0, column=0, padx=(0, 6))
        common_button = ttk.Button(
            footer, text="写入公共参数", command=self._write_common
        )
        common_button.grid(row=0, column=1, padx=6)
        segment_button = ttk.Button(
            footer, text="写入 10 段参数", command=self._write_segments
        )
        segment_button.grid(row=0, column=2, padx=6)
        self.action_buttons.extend([read_button, common_button, segment_button])
        self.footer_label = ttk.Label(
            footer, textvariable=self.footer_var, anchor="e"
        )
        self.footer_label.grid(row=0, column=4, padx=(12, 0), sticky="ew")

    def _build_runtime_status(self):
        frame = ttk.LabelFrame(self.root, text="实时状态 0x2000-0x2006")
        frame.grid(row=1, column=0, padx=10, pady=6, sticky="ew")
        for column in range(11):
            frame.columnconfigure(column, weight=1 if column % 2 else 0)

        fields = (
            ("累计位置", "position"),
            ("当前频率", "frequency"),
            ("运行状态", "state"),
            ("当前段", "segment"),
            ("错误码", "error"),
        )
        for index, (label, key) in enumerate(fields):
            ttk.Label(frame, text=label).grid(
                row=0, column=index * 2, padx=(8, 4), pady=9, sticky="e"
            )
            ttk.Label(
                frame, textvariable=self.status_vars[key], style="StatusValue.TLabel"
            ).grid(row=0, column=index * 2 + 1, padx=(4, 12), pady=9, sticky="w")

        commands = ttk.Frame(frame)
        commands.grid(row=0, column=10, padx=8, pady=6, sticky="e")
        start_button = ttk.Button(
            commands, text="启动", command=lambda: self._send_control(COMMAND_START)
        )
        stop_button = ttk.Button(
            commands, text="停止", command=lambda: self._send_control(COMMAND_STOP)
        )
        clear_button = ttk.Button(commands, text="清零", command=self._clear_position)
        start_button.grid(row=0, column=0, padx=3)
        stop_button.grid(row=0, column=1, padx=3)
        clear_button.grid(row=0, column=2, padx=3)
        self.action_buttons.extend([start_button, stop_button, clear_button])

    def _add_entry(self, parent, row, group, key, label, default="0", width=13):
        column = group * 2
        ttk.Label(parent, text=label).grid(
            row=row, column=column, padx=(8, 4), pady=7, sticky="e"
        )
        variable = tk.StringVar(value=default)
        ttk.Entry(parent, textvariable=variable, width=width).grid(
            row=row, column=column + 1, padx=(4, 18), pady=7, sticky="w"
        )
        self.common_vars[key] = variable

    def _add_combo(self, parent, row, group, key, label, options):
        column = group * 2
        ttk.Label(parent, text=label).grid(
            row=row, column=column, padx=(8, 4), pady=7, sticky="e"
        )
        variable = tk.StringVar(value=options[0][0])
        ttk.Combobox(
            parent,
            textvariable=variable,
            values=option_labels(options),
            state="readonly",
            width=18,
        ).grid(row=row, column=column + 1, padx=(4, 18), pady=7, sticky="w")
        self.common_vars[key] = variable

    def _build_common_tab(self, parent):
        for column in (1, 3, 5):
            parent.columnconfigure(column, weight=1)

        self._add_combo(
            parent, 0, 0, "pulse_output", "脉冲输出（单逻辑 PLSR）", PULSE_OPTIONS
        )
        self._add_combo(
            parent, 0, 1, "direction_output", "方向输出", DIRECTION_OPTIONS
        )
        self._add_entry(parent, 0, 2, "direction_delay", "方向延时 ms")

        self._add_combo(parent, 1, 0, "wait_input", "WAIT 输入", INPUT_OPTIONS)
        self._add_combo(parent, 1, 1, "ext_input", "EXT 输入", INPUT_OPTIONS)
        self._add_combo(parent, 1, 2, "send_mode", "发送模式", SEND_OPTIONS)

        self._add_combo(parent, 2, 0, "negative_logic", "方向逻辑", LOGIC_OPTIONS)
        self._add_combo(parent, 2, 1, "curve_mode", "曲线模式", CURVE_OPTIONS)
        self._add_combo(parent, 2, 2, "position_mode", "位置模式", POSITION_OPTIONS)

        self._add_entry(parent, 3, 0, "segment_count", "段数", default="1")
        self._add_entry(parent, 3, 1, "start_segment", "起始段", default="1")
        self._add_entry(parent, 3, 2, "default_speed", "基准速度 Hz", default="1000")

        self._add_entry(parent, 4, 0, "start_speed", "启动速度 Hz", default="100")
        self._add_entry(parent, 4, 1, "stop_speed", "停止速度 Hz", default="100")
        self._add_entry(parent, 4, 2, "acceleration", "加速时间 ms")

        self._add_entry(parent, 5, 0, "deceleration", "减速时间 ms")

    def _build_segment_tab(self, parent):
        headers = (
            ("段 / 基址", 15),
            ("频率 Hz", 13),
            ("脉冲数", 15),
            ("等待类型", 19),
            ("WAIT ms", 11),
            ("ACT ms", 11),
            ("跳转段", 9),
        )
        for column, (label, _width) in enumerate(headers):
            parent.columnconfigure(column, weight=1 if column in (1, 2, 3) else 0)
            ttk.Label(parent, text=label, anchor="center").grid(
                row=0, column=column, padx=4, pady=(0, 6), sticky="ew"
            )

        for index in range(SEGMENT_COUNT):
            address = SEGMENT_1_BASE + index * SEGMENT_STRIDE
            ttk.Label(parent, text="%d / 0x%04X" % (index + 1, address)).grid(
                row=index + 1, column=0, padx=(2, 8), pady=4, sticky="e"
            )
            variables = {
                "frequency": tk.StringVar(value="1000"),
                "pulses": tk.StringVar(value="0"),
                "wait_type": tk.StringVar(value=WAIT_OPTIONS[0][0]),
                "wait_ms": tk.StringVar(value="0"),
                "act_ms": tk.StringVar(value="0"),
                "jump": tk.StringVar(value="0"),
            }
            ttk.Entry(parent, textvariable=variables["frequency"], width=13).grid(
                row=index + 1, column=1, padx=4, pady=4, sticky="ew"
            )
            ttk.Entry(parent, textvariable=variables["pulses"], width=15).grid(
                row=index + 1, column=2, padx=4, pady=4, sticky="ew"
            )
            ttk.Combobox(
                parent,
                textvariable=variables["wait_type"],
                values=option_labels(WAIT_OPTIONS),
                state="readonly",
                width=19,
            ).grid(row=index + 1, column=3, padx=4, pady=4, sticky="ew")
            ttk.Entry(parent, textvariable=variables["wait_ms"], width=11).grid(
                row=index + 1, column=4, padx=4, pady=4
            )
            ttk.Entry(parent, textvariable=variables["act_ms"], width=11).grid(
                row=index + 1, column=5, padx=4, pady=4
            )
            ttk.Entry(parent, textvariable=variables["jump"], width=9).grid(
                row=index + 1, column=6, padx=4, pady=4
            )
            self.segment_vars.append(variables)

    def refresh_ports(self):
        ports = [item.device for item in list_ports.comports()]
        self.port_box["values"] = ports
        if ports and self.port_var.get() not in ports:
            self.port_var.set(ports[0])
        elif not ports:
            self.port_var.set("")

    def _set_connected(self, connected, description=""):
        self.connected = connected
        self.connect_button.configure(
            text="断开" if connected else "连接", state="normal"
        )
        connection_state = "disabled" if connected else "normal"
        for widget in self.connection_widgets:
            if widget is self.port_box:
                widget.configure(state="disabled" if connected else "readonly")
            else:
                widget.configure(state=connection_state)
        if connected:
            self.connection_var.set(description or "已连接")
            self.connection_label.configure(style="Connected.TLabel")
        else:
            self.connection_var.set(description or "未连接")
            self.connection_label.configure(
                style="Error.TLabel" if description else "Disconnected.TLabel"
            )
            for variable in self.status_vars.values():
                variable.set("--")
        self._update_action_state()

    def _update_action_state(self):
        state = "normal" if self.connected and not self.operation_pending else "disabled"
        for button in self.action_buttons:
            button.configure(state=state)

    def _start_operation(self, message):
        if not self.connected:
            messagebox.showerror("未连接", "请先连接 PLSR 从站")
            return False
        if self.operation_pending:
            return False
        self.operation_pending = True
        self.footer_var.set(message)
        self._update_action_state()
        return True

    def _finish_operation(self, message):
        self.operation_pending = False
        self.footer_var.set(message)
        self.footer_label.configure(style="TLabel")
        self._update_action_state()

    def _toggle_connection(self):
        if self.connected:
            self.operation_pending = False
            self.footer_var.set("正在断开")
            self.worker.submit("disconnect")
            return
        port = self.port_var.get().strip()
        if not port:
            messagebox.showerror("连接参数", "请选择可用串口")
            return
        try:
            slave = parse_integer(self.slave_var.get(), "从站地址", 1, 247)
        except ValueError as error:
            messagebox.showerror("连接参数", str(error))
            return
        self.connect_button.configure(state="disabled")
        self.operation_pending = True
        self._update_action_state()
        self.connection_var.set("正在连接 %s" % port)
        self.footer_var.set("正在打开串口并读取参数")
        self.worker.submit("connect", port=port, slave=slave)

    def _common_words(self):
        values = self.common_vars
        segment_count = parse_integer(values["segment_count"].get(), "段数", 1, 10)
        start_segment = parse_integer(
            values["start_segment"].get(), "起始段", 1, 10
        )
        if start_segment > segment_count:
            raise ValueError("起始段不能大于段数")

        words = [0] * COMMON_WORDS
        words[0] = option_value(
            PULSE_OPTIONS, values["pulse_output"].get(), "脉冲输出"
        )
        words[1] = option_value(
            DIRECTION_OPTIONS, values["direction_output"].get(), "方向输出"
        )
        words[2] = option_value(INPUT_OPTIONS, values["wait_input"].get(), "WAIT 输入")
        words[3] = option_value(INPUT_OPTIONS, values["ext_input"].get(), "EXT 输入")
        words[4] = option_value(SEND_OPTIONS, values["send_mode"].get(), "发送模式")
        words[5] = parse_integer(
            values["direction_delay"].get(), "方向延时", 0, 0xFFFF
        )
        words[6] = option_value(
            LOGIC_OPTIONS, values["negative_logic"].get(), "方向逻辑"
        )
        words[7] = option_value(CURVE_OPTIONS, values["curve_mode"].get(), "曲线模式")
        words[8] = option_value(
            POSITION_OPTIONS, values["position_mode"].get(), "位置模式"
        )
        words[9] = segment_count
        words[10] = start_segment
        words[11:13] = split_u32(
            parse_integer(
                values["default_speed"].get(), "基准速度", 1, MAX_FREQUENCY_HZ
            )
        )
        words[13:15] = split_u32(
            parse_integer(
                values["start_speed"].get(), "启动速度", 0, MAX_FREQUENCY_HZ
            )
        )
        words[15] = 0
        words[16:18] = split_u32(
            parse_integer(
                values["stop_speed"].get(), "停止速度", 0, MAX_FREQUENCY_HZ
            )
        )
        words[18] = parse_integer(values["acceleration"].get(), "加速时间", 0, 0xFFFF)
        words[19] = parse_integer(values["deceleration"].get(), "减速时间", 0, 0xFFFF)
        return words

    def _segment_words(self):
        segment_count = parse_integer(
            self.common_vars["segment_count"].get(), "段数", 1, SEGMENT_COUNT
        )
        encoded = []
        for index, variables in enumerate(self.segment_vars):
            name = "第 %d 段" % (index + 1)
            frequency = parse_integer(
                variables["frequency"].get(), name + "频率", 1, MAX_FREQUENCY_HZ
            )
            pulses = parse_integer(
                variables["pulses"].get(), name + "脉冲数", -(1 << 31), (1 << 31) - 1
            )
            wait_type = option_value(
                WAIT_OPTIONS, variables["wait_type"].get(), name + "等待类型"
            )
            wait_ms = parse_integer(
                variables["wait_ms"].get(), name + " WAIT 时间", 0, 0xFFFF
            )
            act_ms = parse_integer(
                variables["act_ms"].get(), name + " ACT 时间", 0, 0xFFFF
            )
            jump = parse_integer(variables["jump"].get(), name + "跳转段", 0, 10)
            if index < segment_count and jump > segment_count:
                raise ValueError(
                    "%s跳转段必须为 0 或不大于脉冲总段数 %d"
                    % (name, segment_count)
                )
            words = split_u32(frequency) + split_i32(pulses)
            words.extend((wait_type, wait_ms, act_ms, jump))
            encoded.append(words)
        return encoded

    def _set_common_words(self, words):
        if len(words) != COMMON_WORDS:
            raise ValueError("公共参数回读长度错误")
        values = self.common_vars
        values["pulse_output"].set(option_label(PULSE_OPTIONS, words[0]))
        values["direction_output"].set(option_label(DIRECTION_OPTIONS, words[1]))
        values["wait_input"].set(option_label(INPUT_OPTIONS, words[2]))
        values["ext_input"].set(option_label(INPUT_OPTIONS, words[3]))
        values["send_mode"].set(option_label(SEND_OPTIONS, words[4]))
        values["direction_delay"].set(str(words[5]))
        values["negative_logic"].set(option_label(LOGIC_OPTIONS, words[6]))
        values["curve_mode"].set(option_label(CURVE_OPTIONS, words[7]))
        values["position_mode"].set(option_label(POSITION_OPTIONS, words[8]))
        values["segment_count"].set(str(words[9]))
        values["start_segment"].set(str(words[10]))
        values["default_speed"].set(str(words[11] | (words[12] << 16)))
        values["start_speed"].set(str(words[13] | (words[14] << 16)))
        values["stop_speed"].set(str(words[16] | (words[17] << 16)))
        values["acceleration"].set(str(words[18]))
        values["deceleration"].set(str(words[19]))

    def _set_segment_words(self, segments):
        if len(segments) != SEGMENT_COUNT:
            raise ValueError("段参数回读数量错误")
        for index, words in enumerate(segments):
            if len(words) != SEGMENT_WORDS:
                raise ValueError("第 %d 段回读长度错误" % (index + 1))
            variables = self.segment_vars[index]
            frequency = words[0] | (words[1] << 16)
            pulse_bits = words[2] | (words[3] << 16)
            pulses = pulse_bits - (1 << 32) if pulse_bits & 0x80000000 else pulse_bits
            variables["frequency"].set(str(frequency))
            variables["pulses"].set(str(pulses))
            variables["wait_type"].set(option_label(WAIT_OPTIONS, words[4]))
            variables["wait_ms"].set(str(words[5]))
            variables["act_ms"].set(str(words[6]))
            variables["jump"].set(str(words[7]))

    def _read_all(self):
        if self._start_operation("正在读取公共参数和 10 段参数"):
            self.worker.submit("read_configuration", operation="读取参数")

    def _write_common(self):
        try:
            words = self._common_words()
        except ValueError as error:
            messagebox.showerror("参数错误", str(error))
            return
        if self._start_operation("正在写入公共参数"):
            self.worker.submit(
                "write_common", words=words, operation="写入公共参数"
            )

    def _write_segments(self):
        try:
            segments = self._segment_words()
        except ValueError as error:
            messagebox.showerror("参数错误", str(error))
            return
        if self._start_operation("正在写入 10 段参数"):
            self.worker.submit(
                "write_segments", segments=segments, operation="写入段参数"
            )

    def _send_control(self, command):
        messages = {
            COMMAND_START: "启动命令已发送",
            COMMAND_STOP: "停止命令已发送",
            COMMAND_CLEAR: "清零命令已发送",
        }
        if self._start_operation("正在发送控制命令"):
            self.worker.submit(
                "control",
                value=command,
                message=messages[command],
                operation="控制命令",
            )

    def _clear_position(self):
        if messagebox.askyesno("确认清零", "确认将累计位置清零？"):
            self._send_control(COMMAND_CLEAR)

    def _show_status(self, status):
        self.status_vars["position"].set(str(status.position))
        self.status_vars["frequency"].set("%d Hz" % status.frequency_hz)
        self.status_vars["state"].set(
            "%s (%d)" % (STATUS_NAMES.get(status.state, "未知"), status.state)
        )
        self.status_vars["segment"].set(str(status.segment))
        self.status_vars["error"].set(
            "%s (%d)" % (ERROR_NAMES.get(status.error, "未知"), status.error)
        )

    def _handle_result(self, event, payload):
        if event == "connection":
            if payload["connected"]:
                description = "%s / 从站 %d" % (payload["port"], payload["slave"])
                self._set_connected(True, description)
                self.footer_var.set("已连接，正在读取参数")
            else:
                reason = payload.get("reason", "")
                self.operation_pending = False
                self.connect_button.configure(state="normal")
                self._set_connected(False, reason)
                self.footer_var.set("连接已断开" if not reason else "通信错误")
        elif event == "configuration":
            self._set_common_words(payload["common"])
            self._set_segment_words(payload["segments"])
            self._finish_operation("全部参数已读取")
        elif event == "common":
            self._set_common_words(payload["words"])
        elif event == "segments":
            self._set_segment_words(payload["words"])
        elif event == "status":
            self._show_status(payload["status"])
        elif event == "operation":
            self._finish_operation(payload["message"])
        elif event == "error":
            message = "%s失败：%s" % (payload["operation"], payload["message"])
            self._finish_operation(message)
            self.footer_label.configure(style="Error.TLabel")
            if payload.get("modal", False):
                messagebox.showerror("PLSR 通信错误", message)

    def _drain_results(self):
        try:
            while True:
                event, payload = self.worker.results.get_nowait()
                try:
                    self._handle_result(event, payload)
                except (KeyError, ValueError) as error:
                    self._finish_operation("界面数据错误：%s" % error)
        except queue.Empty:
            pass
        self.root.after(50, self._drain_results)

    def _on_close(self):
        self.worker.close()
        self.root.destroy()


class _SelfTestVariable:
    def __init__(self, value):
        self.value = str(value)

    def get(self):
        return self.value

    def set(self, value):
        self.value = str(value)


def self_test():
    assert BAUD_RATE == 9600
    assert INPUT_OPTIONS == (("X4 (0)", 0), ("X5 (1)", 1))
    assert [SEGMENT_1_BASE + index * SEGMENT_STRIDE
            for index in range(SEGMENT_COUNT)] == [
        0x1100, 0x1110, 0x1120, 0x1130, 0x1140,
        0x1150, 0x1160, 0x1170, 0x1180, 0x1190,
    ]
    assert parse_integer("0x10", "测试值", 0, 16) == 16
    try:
        parse_integer("17", "测试值", 0, 16)
    except ValueError:
        pass
    else:
        raise AssertionError("range validation did not reject 17")

    panel = PlsrControlPanel.__new__(PlsrControlPanel)
    panel.common_vars = {
        "pulse_output": _SelfTestVariable(PULSE_OPTIONS[3][0]),
        "direction_output": _SelfTestVariable(DIRECTION_OPTIONS[3][0]),
        "wait_input": _SelfTestVariable(INPUT_OPTIONS[1][0]),
        "ext_input": _SelfTestVariable(INPUT_OPTIONS[0][0]),
        "send_mode": _SelfTestVariable(SEND_OPTIONS[1][0]),
        "direction_delay": _SelfTestVariable(25),
        "negative_logic": _SelfTestVariable(LOGIC_OPTIONS[1][0]),
        "curve_mode": _SelfTestVariable(CURVE_OPTIONS[2][0]),
        "position_mode": _SelfTestVariable(POSITION_OPTIONS[1][0]),
        "segment_count": _SelfTestVariable(10),
        "start_segment": _SelfTestVariable(2),
        "default_speed": _SelfTestVariable(100000),
        "start_speed": _SelfTestVariable(0),
        "stop_speed": _SelfTestVariable(65536),
        "acceleration": _SelfTestVariable(1000),
        "deceleration": _SelfTestVariable(2000),
    }
    common = panel._common_words()
    assert common[:11] == [3, 3, 1, 0, 1, 25, 1, 2, 1, 10, 2]
    assert common[11:20] == [34464, 1, 0, 0, 0, 0, 1, 1000, 2000]

    panel.segment_vars = []
    for index in range(SEGMENT_COUNT):
        panel.segment_vars.append({
            "frequency": _SelfTestVariable(1000 + index),
            "pulses": _SelfTestVariable(-1 if index == 0 else index),
            "wait_type": _SelfTestVariable(WAIT_OPTIONS[4][0]),
            "wait_ms": _SelfTestVariable(index),
            "act_ms": _SelfTestVariable(index + 1),
            "jump": _SelfTestVariable(0),
        })
    segments = panel._segment_words()
    assert len(segments) == SEGMENT_COUNT
    assert all(len(words) == SEGMENT_WORDS for words in segments)
    assert segments[0] == [1000, 0, 0xFFFF, 0xFFFF, 4, 0, 1, 0]

    panel.common_vars["segment_count"].set(1)
    panel.segment_vars[0]["jump"].set(2)
    try:
        panel._segment_words()
    except ValueError:
        pass
    else:
        raise AssertionError("active segment jump exceeded segment count")
    print("PLSR control panel self-test passed; no GUI or serial port was opened")


def parse_arguments(arguments=None):
    parser = argparse.ArgumentParser(description=__doc__)
    parser.add_argument(
        "--self-test",
        action="store_true",
        help="validate register encoding without opening the GUI or serial port",
    )
    return parser.parse_args(arguments)


def main(arguments=None):
    args = parse_arguments(arguments)
    if args.self_test:
        self_test()
        return 0
    root = tk.Tk()
    PlsrControlPanel(root)
    root.mainloop()
    return 0


if __name__ == "__main__":
    raise SystemExit(main())