sub_topic = rospy.get_param('~sub_topic', 'output')
pub_topic = rospy.get_param('~pub_topic', 'input')
address_read_start = int(rospy.get_param('~address_read_start', 0))
address_write_start = int(rospy.get_param('~address_write_start', 0))
num_registers = int(rospy.get_param('~num_registers', 20))
rospy.loginfo('Modbus server: {}:{}'.format(host, port))
rospy.loginfo('Modbus id: {}'.format(str(unit)))
rospy.loginfo('address_read_start: {}'.format(address_read_start))
rospy.loginfo('address_write_start: {}'.format(address_write_start))
rospy.loginfo('num_registers: {}'.format(num_registers))
nh = ModbusWrapperClient(
host, port=port, unit=unit, reset_registers=False,
sub_topic=sub_topic, pub_topic=pub_topic
)
nh.setReadingRegisters(address_read_start, num_registers)
nh.setWritingRegisters(address_write_start, num_registers)
rospy.loginfo('Setup complete')
# start listening to modbus and publish changes to the rostopic
nh.startListening()
rospy.loginfo('Listener started')
rospy.spin()
# modclient.stopListening()
"For not using the default IP %s, add an arg e.g.: '_ip:=\"192.168.0.199\"'",
host)
if rospy.has_param("~port"):
port = rospy.get_param("~port")
else:
rospy.loginfo(
"For not using the default port %d, add an arg e.g.: '_port:=1234'",
port)
# setup modbus client
modclient = ModbusWrapperClient(host,
port=port,
rate=50,
reset_registers=False,
sub_topic="modbus_wrapper/output",
pub_topic="modbus_wrapper/input")
modclient.setReadingRegisters(ADDRESS_READ_START, NUM_REGISTERS)
modclient.setWritingRegisters(ADDRESS_WRITE_START, NUM_REGISTERS)
rospy.loginfo("Setup complete")
# start listening to modbus and publish changes to the rostopic
modclient.startListening()
rospy.loginfo("Listener started")
#################
# Example 1
# Sets an individual register using the python interface, which can automatically be reset, if a timeout is given.
register = 40020
value = 1
timeout = 0.5
modclient.setOutput(register, value, timeout)
rospy.loginfo("Set and individual output")
To see sent something to the modbus use a publisher on the topic /modbus_wrapper/output
This file contains a sample publisher.
""")
host = "192.168.0.123"
port = 502
if rospy.has_param("~ip"):
host = rospy.get_param("~ip")
else:
rospy.loginfo("For not using the default IP %s, add an arg e.g.: '_ip:=\"192.168.0.199\"'",host)
if rospy.has_param("~port"):
port = rospy.get_param("~port")
else:
rospy.loginfo("For not using the default port %d, add an arg e.g.: '_port:=1234'",port)
# setup modbus client
modclient = ModbusWrapperClient(host,port=port,rate=50,reset_registers=False,sub_topic="modbus_wrapper/output",pub_topic="modbus_wrapper/input")
modclient.setReadingRegisters(ADDRESS_READ_START,NUM_REGISTERS)
modclient.setWritingRegisters(ADDRESS_WRITE_START,NUM_REGISTERS)
rospy.loginfo("Setup complete")
# start listening to modbus and publish changes to the rostopic
modclient.startListening()
rospy.loginfo("Listener started")
#################
# Example 1
# Sets an individual register using the python interface, which can automatically be reset, if a timeout is given.
register = 40020
value = 1
timeout = 0.5
modclient.setOutput(register,value,timeout)
rospy.loginfo("Set and individual output")
