Andrey Kruchinkin
02da823a94
Собрано из SETGUI/src/gui_desktop/core (protocan, can_transport, protocol, gas_catalog); в CAN_to_RS485/template/python лежала такая же копия. Только stdlib: ни Qt, ни pyserial — модулям передают bytes, порт и таймауты остаются делом вызывающего кода. Кодировщики совпадают побайтово с c/protocan-transport, что зафиксировано эталонами в его тестах. Добавлен __init__.py: gas_catalog импортирует protocol относительным импортом, без пакета копия в CAN_to_RS485/template не собиралась.
520 lines
20 KiB
Python
520 lines
20 KiB
Python
# -*- coding: utf-8 -*-
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"""Разбор и сборка сообщений ProtoCAN — прикладного уровня шины CAN.
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Раскладка полей повторяет ``ProtoCanId_t`` из SETCAN/Inc/protocan.h:
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битовые поля укладываются от младших бит к старшим.
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Модуль не импортирует Qt: разбор переносим и проверяется host-тестами.
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Источник контракта — CAN_to_RS485/docs/PROTOCOL.md, §1.
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"""
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from __future__ import annotations
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from dataclasses import dataclass, field
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from enum import IntEnum
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from typing import List, Optional
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# --------------------------------------------------------------------------
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# Перечисления протокола
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# --------------------------------------------------------------------------
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class Priority(IntEnum):
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CRITICAL = 0
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STANDARD = 1
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class Route(IntEnum):
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FROM_PM = 0
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FROM_DEVICE = 1
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class MsgType(IntEnum):
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BROADCAST = 0b0000
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DISCRETE = 0b0001
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ANALOG = 0b0010
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GENERAL_ADDRESS_SPACE = 0b0011
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MODBUS_COIL = 0b0100
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MODBUS_DISCRETE = 0b0101
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MODBUS_HOLDING = 0b0110
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MODBUS_INPUT = 0b0111
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ERROR = 0b1000
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PULSE = 0b1111
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class BroadcastType(IntEnum):
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STATUS = 0
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ONOFF = 1
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RESTARTDEVICE = 2
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RTCSETUP = 3
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END = 0xFFF
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class DiscreteType(IntEnum):
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ACCIDENT = 0
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WARNING = 1
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CONTROL_SIGNALS = 2
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FLAGS = 3
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RESET = 4
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CHANGE_MODE = 5
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REQUEST_LIST_OF_PARAMETERS = 6
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END = 0xF
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class AnalogType(IntEnum):
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UNIVERSAL = 0
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SETTINGS = 1
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U = 2
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I = 3
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T = 4
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END = 0xF
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PRIORITY_RU = {
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Priority.CRITICAL: "критический",
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Priority.STANDARD: "стандартный",
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}
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ROUTE_RU = {
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Route.FROM_PM: "от мастера (PM)",
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Route.FROM_DEVICE: "от устройства",
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}
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MSGTYPE_RU = {
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MsgType.BROADCAST: "Broadcast",
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MsgType.DISCRETE: "Discrete",
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MsgType.ANALOG: "Analog",
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MsgType.GENERAL_ADDRESS_SPACE: "General Address Space",
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MsgType.MODBUS_COIL: "Modbus Coil",
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MsgType.MODBUS_DISCRETE: "Modbus Discrete",
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MsgType.MODBUS_HOLDING: "Modbus Holding",
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MsgType.MODBUS_INPUT: "Modbus Input",
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MsgType.ERROR: "Error",
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MsgType.PULSE: "Pulse",
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}
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BROADCAST_RU = {
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BroadcastType.STATUS: "запрос статуса",
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BroadcastType.ONOFF: "вкл/выкл пульса",
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BroadcastType.RESTARTDEVICE: "перезапуск устройства",
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BroadcastType.RTCSETUP: "установка RTC",
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BroadcastType.END: "конец диапазона",
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}
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DISCRETE_RU = {
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DiscreteType.ACCIDENT: "авария",
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DiscreteType.WARNING: "предупреждение",
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DiscreteType.CONTROL_SIGNALS: "управляющие сигналы",
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DiscreteType.FLAGS: "флаги",
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DiscreteType.RESET: "сброс",
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DiscreteType.CHANGE_MODE: "смена режима",
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DiscreteType.REQUEST_LIST_OF_PARAMETERS: "запрос списка параметров",
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DiscreteType.END: "конец диапазона",
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}
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ANALOG_RU = {
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AnalogType.UNIVERSAL: "универсальный",
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AnalogType.SETTINGS: "уставки",
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AnalogType.U: "напряжение U",
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AnalogType.I: "ток I",
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AnalogType.T: "температура T",
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AnalogType.END: "конец диапазона",
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}
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WEEKDAY_RU = {
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1: "Пн", 2: "Вт", 3: "Ср", 4: "Чт", 5: "Пт", 6: "Сб", 7: "Вс", 0: "?",
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}
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def _name(enum_cls, value, table):
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"""Имя элемента перечисления либо «резерв» для неизвестного кода."""
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try:
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item = enum_cls(value)
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except ValueError:
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return "резерв 0x%X" % value
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return "%s (%s)" % (item.name, table.get(item, ""))
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# --------------------------------------------------------------------------
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# Идентификатор
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# --------------------------------------------------------------------------
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@dataclass
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class ProtoCanId:
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"""Разобранный 29-битный идентификатор."""
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raw: int
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msg_body: int
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msg_type: int
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device_id: int
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device_type: int
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route: int
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priority: int
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@staticmethod
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def parse(raw: int) -> "ProtoCanId":
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raw &= 0x1FFFFFFF
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return ProtoCanId(
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raw=raw,
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msg_body=raw & 0xFFFF,
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msg_type=(raw >> 16) & 0xF,
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device_id=(raw >> 20) & 0xF,
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device_type=(raw >> 24) & 0x7,
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route=(raw >> 27) & 0x1,
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priority=(raw >> 28) & 0x1,
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)
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@staticmethod
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def build(priority: int, route: int, device_type: int, device_id: int,
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msg_type: int, msg_body: int) -> int:
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return (((priority & 0x1) << 28)
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| ((route & 0x1) << 27)
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| ((device_type & 0x7) << 24)
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| ((device_id & 0xF) << 20)
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| ((msg_type & 0xF) << 16)
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| (msg_body & 0xFFFF))
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@property
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def msg_type_name(self) -> str:
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try:
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return MSGTYPE_RU[MsgType(self.msg_type)]
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except ValueError:
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return "резерв 0x%X" % self.msg_type
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# --------------------------------------------------------------------------
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# Раскладки MsgBody
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# --------------------------------------------------------------------------
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def split_broadcast(body: int):
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"""BROADCAST: Body[3:0], Type[15:4]."""
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return body & 0xF, (body >> 4) & 0xFFF
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def split_discrete(body: int):
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"""DISCRETE: Body[11:0], Type[15:12]."""
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return body & 0xFFF, (body >> 12) & 0xF
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def split_analog(body: int):
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"""ANALOG: SensorID[11:0], Type[15:12]."""
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return body & 0xFFF, (body >> 12) & 0xF
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def split_modbus(body: int):
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"""MODBUS: RegCount[3:0], StrAdr[15:4]."""
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return (body >> 4) & 0xFFF, body & 0xF
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def split_error(body: int):
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"""ERROR: ErrorCode[7:0], Info[15:8]."""
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return body & 0xFF, (body >> 8) & 0xFF
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def merge_broadcast(bcast_type: int, body: int) -> int:
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return ((bcast_type & 0xFFF) << 4) | (body & 0xF)
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def merge_discrete(disc_type: int, body: int) -> int:
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return ((disc_type & 0xF) << 12) | (body & 0xFFF)
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def merge_analog(an_type: int, sensor_id: int) -> int:
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return ((an_type & 0xF) << 12) | (sensor_id & 0xFFF)
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def merge_modbus(str_adr: int, reg_count: int) -> int:
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return ((str_adr & 0xFFF) << 4) | (reg_count & 0xF)
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def merge_error(info: int, code: int) -> int:
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return ((info & 0xFF) << 8) | (code & 0xFF)
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def sensor_to_modbus_register(sensor_type: int, sensor_id: int) -> int:
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"""Макрос SensorToModbusRegister из protocan.h."""
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return ((sensor_type << 11) | sensor_id) & 0xFFFF
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def regs_le(data: bytes) -> List[int]:
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"""Пары байт -> регистры u16 little-endian (порядок из PROTOCAN_SEND_*)."""
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return [data[i] | (data[i + 1] << 8) for i in range(0, len(data) - 1, 2)]
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# --------------------------------------------------------------------------
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# Результат разбора
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# --------------------------------------------------------------------------
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@dataclass
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class Decoded:
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"""Полный разбор одного кадра."""
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id: ProtoCanId
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dlc: int
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data: bytes
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ide: bool = True
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rtr: bool = False
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#: Короткая сводка для колонки таблицы
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summary: str = ""
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#: Пары (поле, значение) для панели подробностей
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fields: List[tuple] = field(default_factory=list)
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#: Регистры, если сообщение их несёт
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registers: Optional[List[tuple]] = None
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#: Замечания о нарушениях протокола
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warnings: List[str] = field(default_factory=list)
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def _ascii(data: bytes) -> str:
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return "".join(chr(b) if 32 <= b < 127 else "." for b in data)
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def decode(raw_id: int, data: bytes, ide: bool = True, rtr: bool = False) -> Decoded:
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"""Разбирает кадр ProtoCAN в структуру Decoded."""
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pid = ProtoCanId.parse(raw_id)
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data = bytes(data[:8])
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res = Decoded(id=pid, dlc=len(data), data=data, ide=ide, rtr=rtr)
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res.fields.append(("Priority", "%d — %s" % (
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pid.priority, PRIORITY_RU.get(Priority(pid.priority), ""))))
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res.fields.append(("Route", "%d — %s" % (
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pid.route, ROUTE_RU.get(Route(pid.route), ""))))
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res.fields.append(("DeviceType", "%d (0b{:03b})".format(pid.device_type) % pid.device_type))
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res.fields.append(("DeviceID", "%d (0b{:04b})".format(pid.device_id) % pid.device_id))
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res.fields.append(("MsgType", "0x%X — %s" % (pid.msg_type, pid.msg_type_name)))
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res.fields.append(("MsgBody", "0x%04X" % pid.msg_body))
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if not ide:
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res.warnings.append("Стандартный ID: ProtoCAN использует расширенный (29 бит)")
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if rtr:
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res.warnings.append("Remote frame: полезная нагрузка отсутствует")
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handler = {
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MsgType.BROADCAST: _decode_broadcast,
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MsgType.DISCRETE: _decode_discrete,
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MsgType.ANALOG: _decode_analog,
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MsgType.GENERAL_ADDRESS_SPACE: _decode_gas,
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MsgType.MODBUS_COIL: _decode_modbus_bit,
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MsgType.MODBUS_DISCRETE: _decode_modbus_bit,
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MsgType.MODBUS_HOLDING: _decode_modbus_reg,
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MsgType.MODBUS_INPUT: _decode_modbus_reg,
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MsgType.ERROR: _decode_error,
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MsgType.PULSE: _decode_pulse,
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}
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try:
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fn = handler[MsgType(pid.msg_type)]
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except ValueError:
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res.summary = "Неизвестный MsgType 0x%X" % pid.msg_type
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res.warnings.append("MsgType 0x%X не описан в protocan.h" % pid.msg_type)
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if data:
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res.fields.append(("Data ASCII", _ascii(data)))
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return res
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fn(res)
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return res
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def _decode_broadcast(res: Decoded) -> None:
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body, btype = split_broadcast(res.id.msg_body)
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res.fields.append((" Broadcast.Type", "0x%03X — %s" % (
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btype, _name(BroadcastType, btype, BROADCAST_RU))))
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res.fields.append((" Broadcast.Body", "0x%X (%d)" % (body, body)))
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if btype == BroadcastType.STATUS:
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res.summary = "BROADCAST STATUS"
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if res.dlc == 7:
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h, m, s, yy, mo, dd, wd = res.data
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res.summary = "BROADCAST STATUS: 20%02d-%02d-%02d %02d:%02d:%02d" % (
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yy, mo, dd, h, m, s)
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res.fields += [
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(" Время", "%02d:%02d:%02d" % (h, m, s)),
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(" Дата", "20%02d-%02d-%02d" % (yy, mo, dd)),
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(" День недели", "%d (%s)" % (wd, WEEKDAY_RU.get(wd, "?"))),
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]
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_check_datetime(res, h, m, s, yy, mo, dd, wd)
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elif res.dlc == 0:
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res.summary = "BROADCAST STATUS (запрос)"
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else:
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res.warnings.append("STATUS-ответ должен иметь DLC = 7, получено %d" % res.dlc)
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elif btype == BroadcastType.ONOFF:
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res.summary = "BROADCAST ONOFF (инверсия флага пульса)"
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elif btype == BroadcastType.RESTARTDEVICE:
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page = int.from_bytes(res.data, "little") if res.data else 0
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ids = [i for i in range(res.dlc * 8) if (page >> i) & 1]
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res.summary = "BROADCAST RESTART: устройства %s" % (ids if ids else "нет")
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res.fields.append((" Битовая карта", "0x%X" % page))
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res.fields.append((" Перезапустить ID", ", ".join(map(str, ids)) or "—"))
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if res.dlc == 0:
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res.warnings.append("RESTART с DLC = 0 отвергается устройством")
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elif btype == BroadcastType.RTCSETUP:
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res.summary = "BROADCAST RTCSETUP"
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if res.dlc == 7:
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h, m, s, yy, mo, dd, wd = res.data
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res.summary = "BROADCAST RTCSETUP: 20%02d-%02d-%02d %02d:%02d:%02d" % (
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yy, mo, dd, h, m, s)
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res.fields += [
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(" Время", "%02d:%02d:%02d" % (h, m, s)),
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(" Дата", "20%02d-%02d-%02d" % (yy, mo, dd)),
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(" День недели", "%d (%s)" % (wd, WEEKDAY_RU.get(wd, "?"))),
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]
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_check_datetime(res, h, m, s, yy, mo, dd, wd)
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else:
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res.warnings.append("RTCSETUP принимается только при DLC = 7, получено %d" % res.dlc)
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else:
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res.summary = "BROADCAST 0x%03X" % btype
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def _is_leap(year: int) -> bool:
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"""Совпадает с IsLeapYear() в protocan.c: год двузначный, 2000-е."""
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y = 2000 + year
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return (y % 4 == 0 and y % 100 != 0) or y % 400 == 0
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_DAYS = [31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31]
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def _check_datetime(res: Decoded, h, m, s, yy, mo, dd, wd) -> None:
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if h > 23:
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res.warnings.append("Часы %d > 23" % h)
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if m > 59:
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res.warnings.append("Минуты %d > 59" % m)
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if s > 59:
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res.warnings.append("Секунды %d > 59" % s)
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if yy > 99:
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res.warnings.append("Год %d > 99" % yy)
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if mo == 0 or mo > 12:
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res.warnings.append("Месяц %d вне диапазона 1..12" % mo)
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else:
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limit = _DAYS[mo - 1] + (1 if (mo == 2 and _is_leap(yy)) else 0)
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if dd == 0 or dd > limit:
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res.warnings.append("Число %d вне диапазона 1..%d" % (dd, limit))
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if wd > 6:
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res.warnings.append("День недели %d > 6" % wd)
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def _decode_discrete(res: Decoded) -> None:
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body, dtype = split_discrete(res.id.msg_body)
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res.fields.append((" Discrete.Type", "0x%X — %s" % (
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dtype, _name(DiscreteType, dtype, DISCRETE_RU))))
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res.fields.append((" Discrete.Body", "0x%03X (%d)" % (body, body)))
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res.summary = "DISCRETE %s, body=%d, %d байт" % (
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_name(DiscreteType, dtype, DISCRETE_RU), body, res.dlc)
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if res.data:
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bits = " ".join("{:08b}".format(b) for b in reversed(res.data))
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res.fields.append((" Data биты (MSB..LSB)", bits))
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res.fields.append((" Data ASCII", _ascii(res.data)))
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if dtype == DiscreteType.REQUEST_LIST_OF_PARAMETERS:
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mask = int.from_bytes(res.data, "little") if res.data else 0
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idx = [i for i in range(res.dlc * 8) if (mask >> i) & 1]
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res.fields.append((" Запрошены параметры", ", ".join(map(str, idx)) or "—"))
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def _decode_analog(res: Decoded) -> None:
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sensor_id, atype = split_analog(res.id.msg_body)
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res.fields.append((" Analog.Type", "0x%X — %s" % (
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atype, _name(AnalogType, atype, ANALOG_RU))))
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res.fields.append((" Analog.SensorID", "%d (0x%03X)" % (sensor_id, sensor_id)))
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res.fields.append((" Modbus-регистр", "0x%04X" % sensor_to_modbus_register(atype, sensor_id)))
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text = _ascii(res.data)
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res.summary = "ANALOG %s, sensor %d" % (_name(AnalogType, atype, ANALOG_RU), sensor_id)
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if res.data:
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res.fields.append((" Data ASCII", text))
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res.summary += ", '%s'" % text
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if len(res.data) >= 6 and res.data[:2] in (b"US", b"IS", b"TS"):
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digits = res.data[2:6].decode("ascii", "replace")
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if digits.isdigit():
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res.fields.append((" Ответ по датчику", "%s №%d" % (
|
||
res.data[:2].decode(), int(digits))))
|
||
if int(digits) != sensor_id:
|
||
res.warnings.append(
|
||
"SensorID в ASCII (%d) не совпадает с ID в MsgBody (%d)"
|
||
% (int(digits), sensor_id))
|
||
if res.dlc == 0:
|
||
res.summary += " (запрос)"
|
||
|
||
|
||
def _decode_gas(res: Decoded) -> None:
|
||
start = res.id.msg_body
|
||
res.fields.append((" Адрес первого регистра", "0x%04X (%d)" % (start, start)))
|
||
if res.dlc % 2:
|
||
res.warnings.append("DLC = %d нечётный: регистры GAS передаются парами байт" % res.dlc)
|
||
vals = regs_le(res.data)
|
||
if len(vals) > 4:
|
||
res.warnings.append("В одном кадре GAS не более 4 регистров, получено %d" % len(vals))
|
||
res.registers = [(start + i, v) for i, v in enumerate(vals)]
|
||
if res.data[:4] == b"GAS-":
|
||
res.summary = "GAS отклик '%s'" % _ascii(res.data)
|
||
res.fields.append((" Data ASCII", _ascii(res.data)))
|
||
res.registers = None
|
||
return
|
||
for adr, v in res.registers:
|
||
res.fields.append((" Reg 0x%04X" % adr, "0x%04X (%d)" % (v, v)))
|
||
if vals:
|
||
res.summary = "GAS: %d рег. с 0x%04X = %s" % (
|
||
len(vals), start, " ".join("%04X" % v for v in vals))
|
||
else:
|
||
res.summary = "GAS: запрос по адресу 0x%04X" % start
|
||
|
||
|
||
def _decode_modbus_bit(res: Decoded) -> None:
|
||
str_adr, reg_count = split_modbus(res.id.msg_body)
|
||
kind = "COIL" if res.id.msg_type == MsgType.MODBUS_COIL else "DISCRETE"
|
||
res.fields.append((" Modbus.StrAdr", "0x%03X (%d)" % (str_adr, str_adr)))
|
||
res.fields.append((" Modbus.RegCount", "%d" % reg_count))
|
||
expected = reg_count % 8 + 1
|
||
if res.dlc and res.dlc != expected:
|
||
res.warnings.append(
|
||
"Для %s ожидается DLC = RegCount %% 8 + 1 = %d, получено %d"
|
||
% (kind, expected, res.dlc))
|
||
if len(res.data) >= 2:
|
||
val = res.data[0] | (res.data[1] << 8)
|
||
bits = ["%d" % ((val >> i) & 1) for i in range(16)]
|
||
res.registers = [(str_adr, val)]
|
||
res.fields.append((" Значение", "0x%04X" % val))
|
||
res.fields.append((" Биты 0..15", " ".join(bits)))
|
||
res.summary = "MODBUS %s @0x%03X x%d = 0x%04X" % (kind, str_adr, reg_count, val)
|
||
else:
|
||
res.summary = "MODBUS %s @0x%03X x%d (запрос)" % (kind, str_adr, reg_count)
|
||
|
||
|
||
def _decode_modbus_reg(res: Decoded) -> None:
|
||
str_adr, reg_count = split_modbus(res.id.msg_body)
|
||
kind = "HOLDING" if res.id.msg_type == MsgType.MODBUS_HOLDING else "INPUT"
|
||
res.fields.append((" Modbus.StrAdr", "0x%03X (%d)" % (str_adr, str_adr)))
|
||
res.fields.append((" Modbus.RegCount", "%d" % reg_count))
|
||
if res.dlc and res.dlc != reg_count * 2:
|
||
res.warnings.append(
|
||
"Для %s ожидается DLC = 2 * RegCount = %d, получено %d"
|
||
% (kind, reg_count * 2, res.dlc))
|
||
if reg_count > 4:
|
||
res.warnings.append("В одном кадре не более 4 регистров, в ID указано %d" % reg_count)
|
||
vals = regs_le(res.data)
|
||
res.registers = [(str_adr + i, v) for i, v in enumerate(vals)]
|
||
for adr, v in res.registers:
|
||
res.fields.append((" Reg 0x%04X" % adr, "0x%04X (%d)" % (v, v)))
|
||
if vals:
|
||
res.summary = "MODBUS %s @0x%03X: %s" % (
|
||
kind, str_adr, " ".join("%04X" % v for v in vals))
|
||
else:
|
||
res.summary = "MODBUS %s @0x%03X x%d (запрос)" % (kind, str_adr, reg_count)
|
||
|
||
|
||
def _decode_error(res: Decoded) -> None:
|
||
code, info = split_error(res.id.msg_body)
|
||
res.fields.append((" Error.Code", "0x%02X (%d)" % (code, code)))
|
||
res.fields.append((" Error.Info", "0x%02X (%d)" % (info, info)))
|
||
res.summary = "ERROR code=0x%02X info=0x%02X" % (code, info)
|
||
if code == 0xFF and info == 0x00:
|
||
res.summary += " — необработанный запрос (PROTOCAN_RequestError)"
|
||
if res.dlc:
|
||
res.warnings.append("ERROR передаётся с DLC = 0, получено %d" % res.dlc)
|
||
|
||
|
||
def _decode_pulse(res: Decoded) -> None:
|
||
if res.dlc >= 1:
|
||
res.summary = "PULSE, счётчик %d" % res.data[0]
|
||
res.fields.append((" Счётчик пульса", "%d (0x%02X)" % (res.data[0], res.data[0])))
|
||
else:
|
||
res.summary = "PULSE (без счётчика)"
|
||
res.warnings.append("PULSE передаётся с DLC = 1")
|
||
if res.id.msg_body:
|
||
res.warnings.append("MsgBody у PULSE должен быть 0, получено 0x%04X" % res.id.msg_body)
|