module_universal_io/tools/modbus.py

import time
from serial import Serial
import colorama
import struct
from colorama import Fore, Style 
from typing import Sequence, Union
from binascii import b2a_hex

DEFAULT_MB_CRC_TABLE = (
    00000, 49345, 49537,   320, 49921,   960,   640, 49729, 50689,  1728,  1920,
    51009,  1280, 50625, 50305,  1088, 52225,  3264,  3456, 52545,  3840, 53185,
    52865,  3648,  2560, 51905, 52097,  2880, 51457,  2496,  2176, 51265, 55297,
    6_336,  6528, 55617,  6912, 56257, 55937,  6720,  7680, 57025, 57217,  8000,
    56577,  7616,  7296, 56385,  5120, 54465, 54657,  5440, 55041,  6080,  5760,
    54849, 53761,  4800,  4992, 54081,  4352, 53697, 53377,  4160, 61441, 12480,
    12672, 61761, 13056, 62401, 62081, 12864, 13824, 63169, 63361, 14144, 62721,
    13760, 13440, 62529, 15360, 64705, 64897, 15680, 65281, 16320, 16000, 65089,
    64001, 15040, 15232, 64321, 14592, 63937, 63617, 14400, 10240, 59585, 59777,
    10560, 60161, 11200, 10880, 59969, 60929, 11968, 12160, 61249, 11520, 60865,
    60545, 11328, 58369,  9408,  9600, 58689,  9984, 59329, 59009,  9792,  8704,
    58049, 58241,  9024, 57601,  8640,  8320, 57409, 40961, 24768, 24960, 41281,
    25344, 41921, 41601, 25152, 26112, 42689, 42881, 26432, 42241, 26048, 25728,
    42049, 27648, 44225, 44417, 27968, 44801, 28608, 28288, 44609, 43521, 27328,
    27520, 43841, 26880, 43457, 43137, 26688, 30720, 47297, 47489, 31040, 47873,
    31680, 31360, 47681, 48641, 32448, 32640, 48961, 32000, 48577, 48257, 31808,
    46081, 29888, 30080, 46401, 30464, 47041, 46721, 30272, 29184, 45761, 45953,
    29504, 45313, 29120, 28800, 45121, 20480, 37057, 37249, 20800, 37633, 21440,
    21120, 37441, 38401, 22208, 22400, 38721, 21760, 38337, 38017, 21568, 39937,
    23744, 23936, 40257, 24320, 40897, 40577, 24128, 23040, 39617, 39809, 23360,
    39169, 22976, 22656, 38977, 34817, 18624, 18816, 35137, 19200, 35777, 35457,
    19008, 19968, 36545, 36737, 20288, 36097, 19904, 19584, 35905, 17408, 33985,
    34177, 17728, 34561, 18368, 18048, 34369, 33281, 17088, 17280, 33601, 16640,
    33217, 32897, 16448)

class NoResponseError(IOError):
    pass

class ChecksumError(IOError):
    pass

class MBError(IOError):
    pass

class ModbusMixin:
    def print_hex(self, text: str, data: bytes):
        print(text, *tuple(map(lambda x: '0x{:02X}'.format(x), (i for i in data))))


class Modbus(ModbusMixin):

    # MB_CRC_TABLE: Sequence[int] = DEFAULT_MB_CRC_TABLE
    REF_TYPE = 6
    MB_TIMEOUT: float = 0.05 # 0.05
    MB_CRC_TABLE: Sequence[int] = DEFAULT_MB_CRC_TABLE
    MB_DEBUG: bool = False
    MB_TRIES: int = 3

    # def __init__(self, tty: str, brate: int, address: int):
    def __init__(self, serial: Serial, address: int):
        self.serial = serial
        self.address = address

    @classmethod
    def test(cls):
        print(type(cls.MB_CRC_TABLE))

    @classmethod
    def _crc(cls, data: bytes) -> bytes:
        crc = 0xFFFF
        crc_table = cls.MB_CRC_TABLE
        for char in data:
            crc = (crc >> 8) ^ crc_table[(crc ^ char) & 0xFF]
        return crc.to_bytes(2, 'little')

    def raw_communicate(self, data: bytes, predicted_length:int = -1) -> bytes:
        """Send request and return it back with checksum"""
        # print('start')
        time.sleep(0.001)
        if self.MB_DEBUG:
            self.print_hex('Request:', data)
        self.serial.write(data)
        response_bytes = bytearray()
        start_time = time.time()
        while True:
            b = self.serial.read(1)
            if len(b):
                new_byte = bytearray(b)
                response_bytes.extend(new_byte)
            elif time.time() - start_time > self.MB_TIMEOUT:
                break
            if len(response_bytes) == predicted_length:
                # print('!')
                break
        if self.MB_DEBUG:
            self.print_hex('Responce:', response_bytes)
        return response_bytes
    
    def communicate(self, request: bytes, predicted_length: int = -1) -> bytes:
        """Send request and return rewponse after checksum check"""
        pl = predicted_length + 2 if predicted_length != -1 else -1
        response = self.raw_communicate(request + self._crc(request), pl)
        if len(response) == 0:
            raise NoResponseError('No response frome module')
        crc_received = response[-2:]
        crc_calculated = self._crc(response[:-2])
        if crc_received != crc_calculated:
            raise ChecksumError("CRC check failed (got: 0x{}, calculated: 0x{})".format(
                b2a_hex(crc_received).decode().upper(), b2a_hex(crc_calculated).decode().upper()))
        return response

    def mb_func(self, code: int, req: bytes, predicted_response_length: int = -1):
        """Call typical MB function with address and function code check,
        return just response, no header and checksum included"""
        error = None
        for i in range(self.MB_TRIES):
            try:
                pl = predicted_response_length + 2 if predicted_response_length != -1 else -1
                response = self.communicate(b''.join((self.address.to_bytes(1, 'big'),
                                                      code.to_bytes(1, 'big'), req)), pl)
                if response[0] != self.address:
                    raise MBError("Modbus address mismatch in request and response ({}/{})".format(
                        self.address, response[0]))
                elif response[1] != code:
                    raise MBError("Modbus function opcode mismatch in request and response ({}/{})".format(
                        code, response[1]))
                return response[2:-2]
            except (MBError, ChecksumError, NoResponseError) as e:
                if self.MB_DEBUG:
                    print(e)
                error = e
                time.sleep(0.5)
        raise error

    def _read_registers(self, opcode: int, address: int, count: int, raw: bool = False) -> Union[Sequence[int], bytes]:
        """Read values of inpurt/holding registers from device"""
        response = self.mb_func(opcode, address.to_bytes(2, 'big') + count.to_bytes(2, 'big'), 1 + 2*count)
        try:
            if raw:
                return response[1:]
            inp_count = response[0] // 2
            return tuple(int.from_bytes(response[i:i + 2], 'big') for i in range(1, inp_count*2, 2))
        except KeyError:
            raise MBError("Incorrect response payload")

    # 0x03
    def read_holding_registers(self, address: int, count: int) -> Sequence[int]:
        return self._read_registers(3, address, count)

    def read_holding_registers_raw(self, address: int, count: int) -> bytes:
        return self._read_registers(3, address, count, True)

    def read_uint32_holding(self, address: int) -> int:
        """Read 32-bit integer from holding registers"""
        return struct.unpack('>I', self.read_holding_registers_raw(address, 2))[0]

    def read_uint64_holding(self, address: int) -> int:
        """Read 64-bit integer from holding registers"""
        return struct.unpack('>Q', self.read_holding_registers_raw(address, 4))[0]        

    def read_float_holding(self, address: int) -> float:
        """Read float integer from two holding registers"""
        return struct.unpack('>f', self.read_holding_registers_raw(address, 2))[0]

    # 0x14
    def read_file_record(self, rec_type: int, channel_number: int, rec_index: int, rec_num: int):
        """Read file record
        rec_type - код записи, 0x06 - архив, 0x07 - журнал
        channel_number - номер канала архива (0 если это журнал)
        rec_index - порядковый номер (индекс) записи
        rec_num - количество записей
        """
        request = bytearray((self.address,  0x14, 7, rec_type))
        request += rec_index.to_bytes(2, 'big')
        request += channel_number.to_bytes(2, 'big')
        request += rec_num.to_bytes(2, 'big')
        return self.raw_communicate(request + self._crc(request))

    # 0x10
    def write_holding_registers_raw(self, address:int, values: bytes):
        """Write 16-bit integers to holding registers on device"""
        request = bytearray(address.to_bytes(2, 'big'))
        request += (len(values) // 2).to_bytes(2, 'big')
        request += len(values).to_bytes(1, 'big')
        request += values
        response = self.mb_func(16, bytes(request), 4)
        if request[:4] != response:
            raise MBError('Incorrect response payload')
    
    #
    def write_holding_register(self, address: int, value: int):
        """Write 16-bit integer to register on device"""
        request = address.to_bytes(2, 'big') + value.to_bytes(2, 'big')
        response = self.mb_func(6, request, len(request))
        if request != response:
            raise MBError('Incorrect response payload')

    def write_uint32(self, address: int, value: int):
        """Write 32-bit integer to holding register"""
        self.write_holding_registers_raw(address, struct.pack('>I', value))

    def write_uint64(self, address: int, value: int):
        """Write 64-bit integer to holding register"""
        self.write_holding_registers_raw(address, struct.pack('>Q', value))

    def write_float(self, address: int, value: float):
        """Write float to two holding registers"""
        self.write_holding_registers_raw(address, struct.pack('>f', value))

    def test_send(self, data: bytes):
        while True:
            self.serial.write(data)
            time.sleep(1)

    def send_recv(self, data, number):
        self.serial.write(data)
        
        # while True:
        #     self.serial.write(data)
        #     recv = self.serial.read_all()
        #     print(recv)
        #     print(recv.decode('utf_8'))
        #     time.sleep(1)

def main():
    ADDR = 1
    colorama.init()
    dev = Modbus('COM22', 115200, ADDR)
    

    # print(dev.read_holding_registers(0x0100, 1))
    # print(dev.read_uint32_holding(0x0100))
    # time.sleep(1)


if __name__ == '__main__':
    main()