377 lines
18 KiB
Python
377 lines
18 KiB
Python
import customtkinter as ctk
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import paho.mqtt.client as mqtt
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import threading
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import time
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# ================= НАСТРОЙКИ MQTT =================
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MQTT_BROKER = "192.168.31.225" # Адрес MQTT брокера
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MQTT_PORT = 1883 # Порт MQTT
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MQTT_USER = "test" # Имя пользователя
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MQTT_PASSWORD = "1234" # Пароль
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# Цвета для индикаторов
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COLOR_OK = "#28a745"
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COLOR_ERR = "#dc3545"
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COLOR_OFF = "#555555"
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COLOR_ACTIVE = "#00d2ff"
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COLOR_PENDING = "#ffaa00" # Оранжевый для состояния "ожидание"
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class MotorSCADA:
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def __init__(self):
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# Инициализация GUI
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ctk.set_appearance_mode("Dark")
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ctk.set_default_color_theme("blue")
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self.root = ctk.CTk()
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self.root.title("🚀 Motor Control SCADA (TMC2209)")
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self.root.geometry("1100x800")
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self.root.minsize(900, 650)
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# Флаги состояния ожидания подтверждения
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self.driver_pending = False
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self.tmc_pending = False
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self.setup_gui()
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self.setup_mqtt()
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def setup_gui(self):
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# --- Шапка ---
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header = ctk.CTkFrame(self.root, height=60)
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header.pack(fill="x", padx=20, pady=(20, 10))
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header.pack_propagate(False)
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ctk.CTkLabel(header, text="Motor Control SCADA (TMC2209)", font=ctk.CTkFont(size=24, weight="bold")).pack(side="left", padx=20)
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self.lbl_status = ctk.CTkLabel(header, text="● Отключено", text_color=COLOR_ERR, font=ctk.CTkFont(size=16, weight="bold"))
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self.lbl_status.pack(side="right", padx=20)
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# --- Основной контейнер (Сетка) ---
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grid = ctk.CTkFrame(self.root, fg_color="transparent")
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grid.pack(fill="both", expand=True, padx=20, pady=10)
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grid.grid_columnconfigure((0, 1, 2), weight=1, uniform="col")
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grid.grid_rowconfigure(0, weight=1)
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# 1. Блок Управления
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self.create_control_frame(grid)
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# 2. Блок Режимов
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self.create_modes_frame(grid)
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# 3. Блок Телеметрии и Статусов
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self.create_telemetry_frame(grid)
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def create_control_frame(self, parent):
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frame = ctk.CTkFrame(parent)
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frame.grid(row=0, column=0, sticky="nsew", padx=(0, 10))
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ctk.CTkLabel(frame, text="⚙️ Управление", font=ctk.CTkFont(size=18, weight="bold")).pack(pady=(10, 20))
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# RPM (Слайдер + Точный ввод)
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ctk.CTkLabel(frame, text="Целевой RPM (Уставка):").pack(anchor="w", padx=20)
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rpm_frame = ctk.CTkFrame(frame, fg_color="transparent")
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rpm_frame.pack(fill="x", padx=20, pady=5)
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self.sld_rpm = ctk.CTkSlider(rpm_frame, from_=-1000, to=1000, command=self.on_rpm_slider_change)
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self.sld_rpm.pack(side="left", fill="x", expand=True, padx=(0, 10))
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# Поле для точного ввода
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self.ent_rpm = ctk.CTkEntry(rpm_frame, width=80, justify="right")
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self.ent_rpm.insert(0, "0")
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self.ent_rpm.pack(side="left", padx=(0, 10))
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self.ent_rpm.bind("<Return>", self.on_rpm_entry_apply)
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self.ent_rpm.bind("<FocusOut>", self.on_rpm_entry_apply)
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self.lbl_rpm_val = ctk.CTkLabel(rpm_frame, text="0", width=50)
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self.lbl_rpm_val.pack(side="right")
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# Current
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ctk.CTkLabel(frame, text="Ток (%):").pack(anchor="w", padx=20, pady=(15,0))
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cur_frame = ctk.CTkFrame(frame, fg_color="transparent")
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cur_frame.pack(fill="x", padx=20, pady=5)
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self.sld_current = ctk.CTkSlider(cur_frame, from_=0, to=100, command=self.on_current_change)
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self.sld_current.pack(side="left", fill="x", expand=True)
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self.lbl_cur_val = ctk.CTkLabel(cur_frame, text="50", width=50)
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self.lbl_cur_val.pack(side="right", padx=(10, 0))
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# StallGuard
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ctk.CTkLabel(frame, text="StallGuard (0-255):").pack(anchor="w", padx=20, pady=(15,0))
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self.ent_sg = ctk.CTkEntry(frame, width=100)
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self.ent_sg.insert(0, "0")
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self.ent_sg.pack(anchor="w", padx=20, pady=5)
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ctk.CTkButton(frame, text="Применить SG", width=150, command=self.on_sg_apply).pack(pady=5)
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# Microsteps
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ctk.CTkLabel(frame, text="Микрошаги:").pack(anchor="w", padx=20, pady=(15,0))
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self.opt_msteps = ctk.CTkOptionMenu(frame, values=["1", "2", "4", "8", "16", "32", "64", "128", "256"], command=self.on_msteps_change)
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self.opt_msteps.set("16")
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self.opt_msteps.pack(anchor="w", padx=20, pady=5)
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# Reset
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ctk.CTkButton(frame, text="Сбросить счетчик шагов", fg_color="#dc3545", hover_color="#b02a37", command=self.on_reset_steps).pack(pady=20)
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def create_modes_frame(self, parent):
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frame = ctk.CTkFrame(parent)
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frame.grid(row=0, column=1, sticky="nsew", padx=10)
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ctk.CTkLabel(frame, text="🔌 Режимы и Включение", font=ctk.CTkFont(size=18, weight="bold")).pack(pady=(10, 20))
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# Аппаратное включение с индикатором обратной связи
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self.sw_driver = self.create_switch_with_feedback(frame, "Аппаратное вкл. (Driver EN)", self.on_driver_change)
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# Программное включение с индикатором обратной связи
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self.sw_tmc_enable = self.create_switch_with_feedback(frame, "Программное вкл. (TMC Chip)", self.on_tmc_enable_change)
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ctk.CTkFrame(frame, height=2, fg_color="#4a4a6a").pack(fill="x", padx=20, pady=15) # Разделитель
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self.sw_stealth = self.create_switch(frame, "StealthChop (Тихий)", self.on_stealth_change)
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self.sw_cool = self.create_switch(frame, "CoolStep (Энергосбер.)", self.on_cool_change)
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def create_telemetry_frame(self, parent):
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frame = ctk.CTkFrame(parent)
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frame.grid(row=0, column=2, sticky="nsew", padx=(10, 0))
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ctk.CTkLabel(frame, text="📊 Телеметрия и Статусы", font=ctk.CTkFont(size=18, weight="bold")).pack(pady=(10, 10))
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# Телеметрия
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tel_frame = ctk.CTkFrame(frame)
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tel_frame.pack(fill="x", padx=10, pady=5)
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self.lbl_fb_rpm = self.create_telemetry_row(tel_frame, "Текущий RPM (Факт):")
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self.lbl_fb_steps = self.create_telemetry_row(tel_frame, "Всего шагов:")
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self.lbl_fb_run = self.create_telemetry_row(tel_frame, "Вращение:")
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self.lbl_fb_sg = self.create_telemetry_row(tel_frame, "SG Result:")
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self.lbl_fb_interstep = self.create_telemetry_row(tel_frame, "Interstep (ns):")
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self.lbl_fb_cscale = self.create_telemetry_row(tel_frame, "Current Scaling:")
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# Статусы (LEDs)
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ctk.CTkLabel(frame, text="🚨 Ошибки и Флаги", font=ctk.CTkFont(size=16, weight="bold")).pack(pady=(15, 5))
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stat_frame = ctk.CTkFrame(frame)
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stat_frame.pack(fill="x", padx=10, pady=5)
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self.led_over_temp = self.create_led_row(stat_frame, "Перегрев:")
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self.led_short_gnd = self.create_led_row(stat_frame, "КЗ на землю:")
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self.led_open_load = self.create_led_row(stat_frame, "Обрыв нагрузки:")
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self.led_stealth_act = self.create_led_row(stat_frame, "StealthChop активен:")
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self.led_standstill = self.create_led_row(stat_frame, "Остановка (Standstill):")
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# --- Вспомогательные методы GUI ---
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def create_switch(self, parent, text, command):
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frame = ctk.CTkFrame(parent, fg_color="transparent")
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frame.pack(fill="x", padx=20, pady=10)
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ctk.CTkLabel(frame, text=text).pack(side="left")
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switch = ctk.CTkSwitch(frame, text="", command=command)
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switch.pack(side="right")
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return switch
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def create_switch_with_feedback(self, parent, text, command):
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"""Создает переключатель с индикатором обратной связи"""
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frame = ctk.CTkFrame(parent, fg_color="transparent")
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frame.pack(fill="x", padx=20, pady=10)
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ctk.CTkLabel(frame, text=text).pack(side="left")
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# Индикатор обратной связи (справа от переключателя)
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feedback_led = ctk.CTkLabel(frame, text="●", font=ctk.CTkFont(size=20), text_color=COLOR_OFF)
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feedback_led.pack(side="right", padx=(10, 0))
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switch = ctk.CTkSwitch(frame, text="", command=command)
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switch.pack(side="right", padx=(10, 0))
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return switch, feedback_led
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def create_telemetry_row(self, parent, text):
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frame = ctk.CTkFrame(parent, fg_color="transparent")
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frame.pack(fill="x", pady=4)
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ctk.CTkLabel(frame, text=text, anchor="w").pack(side="left")
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val_lbl = ctk.CTkLabel(frame, text="0", font=ctk.CTkFont(weight="bold"), text_color=COLOR_ACTIVE, anchor="e")
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val_lbl.pack(side="right")
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return val_lbl
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def create_led_row(self, parent, text):
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frame = ctk.CTkFrame(parent, fg_color="transparent")
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frame.pack(fill="x", pady=4)
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ctk.CTkLabel(frame, text=text, anchor="w").pack(side="left")
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led_lbl = ctk.CTkLabel(frame, text="●", font=ctk.CTkFont(size=20), text_color=COLOR_OFF)
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led_lbl.pack(side="right")
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return led_lbl
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# ================= MQTT =================
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def setup_mqtt(self):
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self.client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2, client_id="python_scada")
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self.client.username_pw_set(MQTT_USER, MQTT_PASSWORD)
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self.client.on_connect = self.on_mqtt_connect
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self.client.on_disconnect = self.on_mqtt_disconnect
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self.client.on_message = self.on_mqtt_message
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try:
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self.client.connect(MQTT_BROKER, MQTT_PORT, 60)
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self.client.loop_start()
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except Exception as e:
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print(f"Ошибка подключения к MQTT: {e}")
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self.update_status(False)
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def on_mqtt_connect(self, client, userdata, flags, reason_code, properties):
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if reason_code == 0:
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self.root.after(0, self.update_status, True)
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client.subscribe("motor/feedback/#")
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else:
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print(f"Ошибка подключения MQTT. Код: {reason_code}")
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self.root.after(0, self.update_status, False)
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def on_mqtt_disconnect(self, client, userdata, flags, reason_code, properties):
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self.root.after(0, self.update_status, False)
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def on_mqtt_message(self, client, userdata, msg):
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topic = msg.topic
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val = msg.payload.decode('utf-8')
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self.root.after(0, self.process_feedback, topic, val)
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def process_feedback(self, topic, val):
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# Базовая телеметрия
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if topic == "motor/feedback/rpm":
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self.lbl_fb_rpm.configure(text=val)
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elif topic == "motor/feedback/totalsteps":
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self.lbl_fb_steps.configure(text=val)
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elif topic == "motor/feedback/is_run":
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is_running = val == "true"
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self.lbl_fb_run.configure(text="Вращается" if is_running else "Остановлен",
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text_color=COLOR_OK if is_running else COLOR_ERR)
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# Телеметрия TMC
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elif topic == "motor/feedback/tmc/current_percent":
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self.lbl_cur_val.configure(text=val)
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self.sld_current.set(int(val))
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elif topic == "motor/feedback/tmc/microsteps":
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self.opt_msteps.set(val)
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elif topic == "motor/feedback/tmc/sg_result":
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self.lbl_fb_sg.configure(text=val)
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elif topic == "motor/feedback/tmc/interstep_duration":
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self.lbl_fb_interstep.configure(text=val)
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elif topic == "motor/feedback/tmc/status/current_scaling":
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self.lbl_fb_cscale.configure(text=val)
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# Статусы TMC (LEDs)
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elif topic == "motor/feedback/tmc/status/over_temp":
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self.update_led(self.led_over_temp, val, is_error=True)
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elif topic == "motor/feedback/tmc/status/short_to_ground":
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self.update_led(self.led_short_gnd, val, is_error=True)
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elif topic == "motor/feedback/tmc/status/open_load":
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self.update_led(self.led_open_load, val, is_error=True)
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elif topic == "motor/feedback/tmc/status/stealth_chop_active":
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self.update_led(self.led_stealth_act, val, is_error=False)
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elif topic == "motor/feedback/tmc/status/standstill":
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self.update_led(self.led_standstill, val, is_error=False)
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# Общие статусы системы (Синхронизация переключателей с обратной связью)
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elif topic == "motor/feedback/driver/status":
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is_on = val == "on"
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# Снимаем флаг ожидания
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self.driver_pending = False
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# Синхронизируем переключатель
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if self.sw_driver[0].get() != is_on:
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if is_on:
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self.sw_driver[0].select()
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else:
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self.sw_driver[0].deselect()
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# Обновляем индикатор обратной связи (зеленый = подтверждено)
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self.sw_driver[1].configure(text_color=COLOR_OK if is_on else COLOR_OFF)
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elif topic == "motor/feedback/tmc/status":
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is_on = val == "on"
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# Снимаем флаг ожидания
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self.tmc_pending = False
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# Синхронизируем переключатель
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if self.sw_tmc_enable[0].get() != is_on:
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if is_on:
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self.sw_tmc_enable[0].select()
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else:
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self.sw_tmc_enable[0].deselect()
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# Обновляем индикатор обратной связи (зеленый = подтверждено)
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self.sw_tmc_enable[1].configure(text_color=COLOR_OK if is_on else COLOR_OFF)
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# ================= Обработчики событий GUI =================
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def publish(self, topic, payload):
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if self.client.is_connected():
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self.client.publish(topic, str(payload), qos=1)
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def update_status(self, is_online):
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if is_online:
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self.lbl_status.configure(text="● Подключено", text_color=COLOR_OK)
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else:
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self.lbl_status.configure(text="● Отключено", text_color=COLOR_ERR)
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def update_led(self, label, val, is_error):
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is_true = val in ["true", "1", "on"]
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if is_true:
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label.configure(text_color=COLOR_ERR if is_error else COLOR_OK)
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else:
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label.configure(text_color=COLOR_OFF)
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# --- RPM ---
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def on_rpm_slider_change(self, value):
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int_val = int(value)
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self.ent_rpm.delete(0, ctk.END)
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self.ent_rpm.insert(0, str(int_val))
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self.lbl_rpm_val.configure(text=str(int_val))
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self.publish("motor/control/rpm", int_val)
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def on_rpm_entry_apply(self, event=None):
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val_str = self.ent_rpm.get()
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try:
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int_val = int(val_str)
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int_val = max(-1000, min(1000, int_val))
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self.sld_rpm.set(int_val)
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self.lbl_rpm_val.configure(text=str(int_val))
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self.publish("motor/control/rpm", int_val)
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except ValueError:
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self.ent_rpm.delete(0, ctk.END)
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self.ent_rpm.insert(0, str(int(self.sld_rpm.get())))
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# --- Остальное управление ---
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def on_current_change(self, value):
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int_val = int(value)
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self.lbl_cur_val.configure(text=str(int_val))
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self.publish("motor/control/tmc/current_percent", int_val)
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def on_sg_apply(self):
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val = self.ent_sg.get()
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if val.isdigit() and 0 <= int(val) <= 255:
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self.publish("motor/control/tmc/stallguard", int(val))
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def on_msteps_change(self, choice):
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self.publish("motor/control/tmc/microsteps", int(choice))
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def on_reset_steps(self):
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self.publish("motor/control/totalsteps/reset", "1")
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# --- Обработчики включения с обратной связью ---
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def on_driver_change(self):
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"""Аппаратное управление пином EN с индикацией ожидания"""
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is_on = self.sw_driver[0].get()
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# Устанавливаем флаг ожидания и меняем цвет на оранжевый
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self.driver_pending = True
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self.sw_driver[1].configure(text_color=COLOR_PENDING)
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# Отправляем команду
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self.publish("motor/control/driver", "on" if is_on else "off")
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def on_tmc_enable_change(self):
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"""Программное включение чипа TMC2209 с индикацией ожидания"""
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is_on = self.sw_tmc_enable[0].get()
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# Устанавливаем флаг ожидания и меняем цвет на оранжевый
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self.tmc_pending = True
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self.sw_tmc_enable[1].configure(text_color=COLOR_PENDING)
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# Отправляем команду
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self.publish("motor/control/tmc/enable", "on" if is_on else "off")
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def on_stealth_change(self):
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self.publish("motor/control/tmc/stealthchop", "on" if self.sw_stealth.get() else "off")
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def on_cool_change(self):
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||
self.publish("motor/control/tmc/coolstep", "on" if self.sw_cool.get() else "off")
|
||
|
||
def run(self):
|
||
self.root.mainloop()
|
||
self.client.loop_stop()
|
||
self.client.disconnect()
|
||
|
||
if __name__ == "__main__":
|
||
app = MotorSCADA()
|
||
app.run() |