import time from pymodbus.client import ModbusTcpClient from pymodbus.pdu import ExceptionResponse # 定义 Modbus TCP 相关参数 MODBUS_IP = "192.168.11.210" MODBUS_PORT = 6000 # 定义各部分数据地址范围 TOUCH_SENSOR_BASE_ADDR_PINKY = 3000 # 小拇指 TOUCH_SENSOR_END_ADDR_PINKY = 3369 TOUCH_SENSOR_BASE_ADDR_RING = 3370 # 无名指 TOUCH_SENSOR_END_ADDR_RING = 3739 TOUCH_SENSOR_BASE_ADDR_MIDDLE = 3740 # 中指 TOUCH_SENSOR_END_ADDR_MIDDLE = 4109 TOUCH_SENSOR_BASE_ADDR_INDEX = 4110 # 食指 TOUCH_SENSOR_END_ADDR_INDEX = 4479 TOUCH_SENSOR_BASE_ADDR_THUMB = 4480 # 大拇指 TOUCH_SENSOR_END_ADDR_THUMB = 4899 TOUCH_SENSOR_BASE_ADDR_PALM = 4900 # 掌心 TOUCH_SENSOR_END_ADDR_PALM = 5123 # Modbus 每次最多读取寄存器的数量 MAX_REGISTERS_PER_READ = 125 def read_register_range(client, start_addr, end_addr): """ 批量读取指定地址范围内的寄存器数据。 """ register_values = [] # 分段读取寄存器 for addr in range(start_addr, end_addr + 1, MAX_REGISTERS_PER_READ * 2): current_count = min(MAX_REGISTERS_PER_READ, (end_addr - addr) // 2 + 1) response = client.read_holding_registers(address=addr, count=current_count) if isinstance(response, ExceptionResponse) or response.isError(): print(f"读取寄存器 {addr} 失败: {response}") register_values.extend([0] * current_count) else: register_values.extend(response.registers) return register_values def format_finger_data(finger_name, data): """ 格式化四指触觉数据。 """ result = {} if finger_name != "大拇指": # 四指格式 if len(data) < 185: print(f"{finger_name} 数据长度不足，至少185个数据，实际：{len(data)}") return None idx = 0 # 指端数据 3x3 result['tip_end'] = [data[idx + i*3: idx + (i+1)*3] for i in range(3)] idx += 9 # 指尖触觉数据 12x8 result['tip_touch'] = [data[idx + i*8: idx + (i+1)*8] for i in range(12)] idx += 96 # 指腹触觉数据 10x8 result['finger_pad'] = [data[idx + i*8: idx + (i+1)*8] for i in range(10)] idx += 80 else: # 大拇指格式 if len(data) < 210: print(f"{finger_name} 数据长度不足，至少210个数据，实际：{len(data)}") return None idx = 0 # 指端数据 3x3 result['tip_end'] = [data[idx + i*3: idx + (i+1)*3] for i in range(3)] idx += 9 # 指尖触觉数据 12x8 result['tip_touch'] = [data[idx + i*8: idx + (i+1)*8] for i in range(12)] idx += 96 # 指中触觉数据 3x3 result['middle_touch'] = [data[idx + i*3: idx + (i+1)*3] for i in range(3)] idx += 9 # 指腹触觉数据 12x8 finger_pad = [data[idx + i*8: idx + (i+1)*8] for i in range(12)] idx += 96 # 指腹触觉数据行元素反转 # finger_pad = [row[::-1] for row in finger_pad] # 指腹触觉数据行顺序反转 #finger_pad.reverse() result['finger_pad'] = finger_pad return result def format_palm_data(data): """ 格式化掌心数据为14x8矩阵，然后转置为8x14矩阵。 """ expected_len = 14 * 8 if len(data) < expected_len: print(f"掌心数据长度不足，至少{expected_len}个数据，实际：{len(data)}") return None # 生成原始矩阵（14行8列） palm_matrix = [data[i*8:(i+1)*8] for i in range(14)] # 转置矩阵 transposed = list(map(list, zip(*palm_matrix))) return transposed def print_formatted_finger_data(finger_name, formatted_data): if formatted_data is None: print(f"{finger_name} 数据格式化失败") return print(f"--- {finger_name} 指端指端数据 (3x3) ---") for row in formatted_data.get('tip_end', []): print(row) print(f"--- {finger_name} 指尖触觉数据 (12x8) ---") for row in formatted_data.get('tip_touch', []): print(row) if finger_name == "大拇指": if 'middle_touch' in formatted_data: print(f"--- {finger_name} 指中触觉数据 (3x3) ---") for row in formatted_data['middle_touch']: print(row) else: print(f"{finger_name} 指中触觉数据缺失") print(f"--- {finger_name} 指腹触觉数据 ({'12x8' if finger_name == '大拇指' else '10x8'}) ---") for row in formatted_data.get('finger_pad', []): print(row) def print_formatted_palm_data(palm_data): if palm_data is None: print("掌心数据格式化失败") return print("--- 掌心数据 (8x14) ---") for row in palm_data: print(row) def read_firmware_version(client): """ 读取固件版本，返回十六进制字符串 地址14 """ response = client.read_holding_registers(address=14, count=1) if isinstance(response, ExceptionResponse) or response.isError(): print(f"读取固件版本失败：{response}") return None else: reg_value = response.registers[0] # 转换为16进制字符串 hex_str = format(reg_value, '04X') # 4位，补零 return hex_str def read_multiple_registers(): client = ModbusTcpClient(MODBUS_IP, port=MODBUS_PORT) client.connect() try: while True: start_time = time.time() # 读取各部分数据 pinky_register_values = read_register_range( client, TOUCH_SENSOR_BASE_ADDR_PINKY, TOUCH_SENSOR_END_ADDR_PINKY ) ring_register_values = read_register_range( client, TOUCH_SENSOR_BASE_ADDR_RING, TOUCH_SENSOR_END_ADDR_RING ) middle_register_values = read_register_range( client, TOUCH_SENSOR_BASE_ADDR_MIDDLE, TOUCH_SENSOR_END_ADDR_MIDDLE ) index_register_values = read_register_range( client, TOUCH_SENSOR_BASE_ADDR_INDEX, TOUCH_SENSOR_END_ADDR_INDEX ) thumb_register_values = read_register_range( client, TOUCH_SENSOR_BASE_ADDR_THUMB, TOUCH_SENSOR_END_ADDR_THUMB ) palm_register_values = read_register_range( client, TOUCH_SENSOR_BASE_ADDR_PALM, TOUCH_SENSOR_END_ADDR_PALM ) end_time = time.time() frequency = 1 / (end_time - start_time) if end_time > start_time else float('inf') # 格式化数据 pinky_formatted = format_finger_data("小拇指", pinky_register_values) ring_formatted = format_finger_data("无名指", ring_register_values) middle_formatted = format_finger_data("中指", middle_register_values) index_formatted = format_finger_data("食指", index_register_values) thumb_formatted = format_finger_data("大拇指", thumb_register_values) palm_formatted = format_palm_data(palm_register_values) # 打印格式化数据 print_formatted_finger_data("小拇指", pinky_formatted) print_formatted_finger_data("无名指", ring_formatted) print_formatted_finger_data("中指", middle_formatted) print_formatted_finger_data("食指", index_formatted) print_formatted_finger_data("大拇指", thumb_formatted) print_formatted_palm_data(palm_formatted) print(f"读取频率：{frequency:.2f} Hz") print("\n" + "="*40 + "\n") firmware_version_int = read_firmware_version(client) if firmware_version_int is not None: print(f"固件版本：{firmware_version_int}") finally: client.close() if __name__ == "__main__": read_multiple_registers()