class ModbusWrapperServer():
def __init__(self,
port=1234,
sub_topic="modbus_server/write_to_registers",
pub_topic="modbus_server/read_from_registers"):
"""
Creates a Modbus TCP Server object
.. note:: The default port for modbus is 502. This modbus server uses port 1234 by default, otherwise superuser rights are required.
.. note:: Use "startServer" to start the listener.
:param port: Port for the modbus TCP server
:type port: int
:param sub_topic: ROS topic name for the subscriber that updates the modbus registers
:type sub_topic: string
:param pub_topic: ROS topic name for the publisher that publishes a message, once there is something written to the writeable modbus registers
:type pub_topic: string
"""
chr = CustomHoldingRegister(ADDRESS_WRITE_START, [17] * 100, sub_topic,
pub_topic)
self.store = ModbusSlaveContext(
di=ModbusSequentialDataBlock(ADDRESS_WRITE_START, [17] * 100),
co=ModbusSequentialDataBlock(ADDRESS_WRITE_START, [17] * 100),
hr=chr,
ir=ModbusSequentialDataBlock(ADDRESS_WRITE_START, [17] * 100))
self.context = ModbusServerContext(slaves=self.store, single=True)
self.identity = ModbusDeviceIdentification()
self.identity.VendorName = 'Pymodbus'
self.identity.ProductCode = 'PM'
self.identity.VendorUrl = 'http://github.com/bashwork/pymodbus/'
self.identity.ProductName = 'Pymodbus Server'
self.identity.ModelName = 'Pymodbus Server'
self.identity.MajorMinorRevision = '1.0'
self.store.setValues(2, 0, [0] * 1)
self.post = Post(self)
framer = ModbusSocketFramer
self.server = ModbusTcpServer(self.context,
framer,
self.identity,
address=("0.0.0.0", port))
def startServer(self):
"""
Non blocking call to start the server
"""
self.post.__startServer()
rospy.loginfo("Modbus server started")
def __startServer(self):
self.server.serve_forever()
def stopServer(self):
"""
Closes the server
"""
self.server.server_close()
self.server.shutdown()
def waitForCoilOutput(self, address, timeout=2):
"""
Blocks for the timeout in seconds (or forever) until the specified address becomes true. Adapt this to your needs
:param address: Address of the register that wanted to be read.
:type address: int
:param timeout: The time in seconds until the function should return latest.
:type: float/int
"""
now = time.time()
while True:
values = self.store.getValues(1, address, 1)
if values[0] is True:
return True
else:
if timeout <= 0 or now + timeout > time.time():
time.sleep(1 / 50)
else:
return False
def setDigitalInput(self, address, values):
"""
Writes to the digital input of the modbus server
:param address: Starting address of the values to write
:type: int
:param values: List of values to write
:type list/boolean/int
"""
if not values is list:
values = [values]
self.store.setValues(2, address, values)
class ModbusWrapperServer():
def __init__(self,port=1234,sub_topic="modbus_server/write_to_registers",pub_topic="modbus_server/read_from_registers"):
"""
Creates a Modbus TCP Server object
.. note:: The default port for modbus is 502. This modbus server uses port 1234 by default, otherwise superuser rights are required.
.. note:: Use "startServer" to start the listener.
:param port: Port for the modbus TCP server
:type port: int
:param sub_topic: ROS topic name for the subscriber that updates the modbus registers
:type sub_topic: string
:param pub_topic: ROS topic name for the publisher that publishes a message, once there is something written to the writeable modbus registers
:type pub_topic: string
"""
chr = CustomHoldingRegister(ADDRESS_WRITE_START, [17]*100,sub_topic,pub_topic)
self.store = ModbusSlaveContext(
di = ModbusSequentialDataBlock(ADDRESS_WRITE_START, [17]*100),
co = ModbusSequentialDataBlock(ADDRESS_WRITE_START, [17]*100),
hr = chr,
ir = ModbusSequentialDataBlock(ADDRESS_WRITE_START, [17]*100))
self.context = ModbusServerContext(slaves=self.store, single=True)
self.identity = ModbusDeviceIdentification()
self.identity.VendorName = 'Pymodbus'
self.identity.ProductCode = 'PM'
self.identity.VendorUrl = 'http://github.com/bashwork/pymodbus/'
self.identity.ProductName = 'Pymodbus Server'
self.identity.ModelName = 'Pymodbus Server'
self.identity.MajorMinorRevision = '1.0'
self.store.setValues(2,0,[0]*1)
self.post = Post(self)
framer = ModbusSocketFramer
self.server = ModbusTcpServer(self.context, framer, self.identity, address=("0.0.0.0", port))
def startServer(self):
"""
Non blocking call to start the server
"""
self.post.__startServer()
rospy.loginfo("Modbus server started")
def __startServer(self):
self.server.serve_forever()
def stopServer(self):
"""
Closes the server
"""
self.server.server_close()
self.server.shutdown()
def waitForCoilOutput(self,address,timeout=2):
"""
Blocks for the timeout in seconds (or forever) until the specified address becomes true. Adapt this to your needs
:param address: Address of the register that wanted to be read.
:type address: int
:param timeout: The time in seconds until the function should return latest.
:type: float/int
"""
now = time.time()
while True:
values = self.store.getValues(1,address, 1)
if values[0] is True:
return True
else:
if timeout <=0 or now + timeout > time.time():
time.sleep(1/50)
else:
return False
def setDigitalInput(self,address,values):
"""
Writes to the digital input of the modbus server
:param address: Starting address of the values to write
:type: int
:param values: List of values to write
:type list/boolean/int
"""
if not values is list:
values = [values]
self.store.setValues(2,address,values)
class plcSlave():
def __init__(self, plcIP, plcPort, initialRegisters, plcName):
self.plcIP=plcIP
self.plcPort=plcPort
self.dataStore = 0
self.context = 0
self.identity = 0
self.initialRegisters = initialRegisters
self.plcName = plcName
self.run_async_server(address=(self.plcIP,self.plcPort))
def run_async_server(self, address):
# ----------------------------------------------------------------------- #
# initialize your data store
# ----------------------------------------------------------------------- #
# The datastores only respond to the addresses that they are initialized to
# Therefore, if you initialize a DataBlock to addresses from 0x00 to 0xFF,
# a request to 0x100 will respond with an invalid address exception.
# This is because many devices exhibit this kind of behavior (but not all)
#
# block = ModbusSequentialDataBlock(0x00, [0]*0xff)
#
# Continuing, you can choose to use a sequential or a sparse DataBlock in
# your data context. The difference is that the sequential has no gaps in
# the data while the sparse can. Once again, there are devices that exhibit
# both forms of behavior::
#
# block = ModbusSparseDataBlock({0x00: 0, 0x05: 1})
# block = ModbusSequentialDataBlock(0x00, [0]*5)
#
# Alternately, you can use the factory methods to initialize the DataBlocks
# or simply do not pass them to have them initialized to 0x00 on the full
# address range::
#
# store = ModbusSlaveContext(di = ModbusSequentialDataBlock.create())
# store = ModbusSlaveContext()
#
# Finally, you are allowed to use the same DataBlock reference for every
# table or you you may use a seperate DataBlock for each table.
# This depends if you would like functions to be able to access and modify
# the same data or not::
#
# block = ModbusSequentialDataBlock(0x00, [0]*0xff)
# store = ModbusSlaveContext(di=block, co=block, hr=block, ir=block)
#
# The server then makes use of a server context that allows the server to
# respond with different slave contexts for different unit ids. By default
# it will return the same context for every unit id supplied (broadcast
# mode).
# However, this can be overloaded by setting the single flag to False
# and then supplying a dictionary of unit id to context mapping::
#
# slaves = {
# 0x01: ModbusSlaveContext(...),
# 0x02: ModbusSlaveContext(...),
# 0x03: ModbusSlaveContext(...),
# }
# context = ModbusServerContext(slaves=slaves, single=False)
#
# The slave context can also be initialized in zero_mode which means that a
# request to address(0-7) will map to the address (0-7). The default is
# False which is based on section 4.4 of the specification, so address(0-7)
# will map to (1-8)::
#
# store = ModbusSlaveContext(..., zero_mode=True)
# ----------------------------------------------------------------------- #
self.dataStore = ModbusSlaveContext(
di=ModbusSequentialDataBlock(0, [17]*100),
co=ModbusSequentialDataBlock(0, [17]*100),
hr=ModbusSequentialDataBlock(0, [17]*100),
ir=ModbusSequentialDataBlock(0, [17]*100))
self.context = ModbusServerContext(slaves=self.dataStore, single=True)
# ----------------------------------------------------------------------- #
# initialize the server information
# ----------------------------------------------------------------------- #
# If you don't set this or any fields, they are defaulted to empty strings.
# ----------------------------------------------------------------------- #
self.identity = ModbusDeviceIdentification()
self.identity.VendorName = 'Pymodbus'
self.identity.ProductCode = 'PM'
self.identity.VendorUrl = 'http://github.com/bashwork/pymodbus/'
self.identity.ProductName = 'Pymodbus Server'
self.identity.ModelName = 'Pymodbus Server'
self.identity.MajorMinorRevision = '1.0'
# ----------------------------------------------------------------------- #
# run the server (listener)
# ----------------------------------------------------------------------- #
framer = ModbusSocketFramer
factory = ModbusServerFactory(self.context, framer, self.identity)
reactor.listenTCP(address[1], factory, interface=address[0])
def start(self):
coil_list = 1
holdregister = 3
self.setCoils(0x00,[1,0,0,0,0,0,0,0,0,0,0,0,0])
self.setHoldingRegisters(0x00,self.initialRegisters)
threading.Thread(target = self.operateLightTimer).start()
def getHoldingRegisters(self, startByte, bytesCount):
return self.dataStore.getValues(3, startByte,count=bytesCount)
def getCoils(self, startBit, bitCount):
return self.dataStore.getValues(1,startBit,count=bitCount)
def setHoldingRegisters(self,address,values):
self.dataStore.setValues(3,address,values)
def setCoils(self, address, values):
self.dataStore.setValues(1,address,values)
def changeLightColor(self,northsouth, color):
registers = self.getHoldingRegisters(0x00,4)
if northsouth == 1:
registers[0] = color
registers[2] = color
else:
registers[1] = color
registers[3] = color
self.dataStore.setValues(3,0x00,registers)
def operateLightTimer(self):
#################################
# coils[0] = 1 - machine initialization (move to normal operations)
# coils[1] = 1 - machine moved to normal operations
# coils[2] = 1 - east/west side is green or yellow
# coils[3] = 1 - north/south side is green yellow
# coils[4] = 1 - put the machine into maintenancemode (ALL FLASHING RED LIGHTS)
# coils[5] = 1 - machine moved to mainteance mode
# coils[6] = 1 - puts the machine into TEST Mode (ALL LIGHTS ON)
# coils[7] = 1 - machine moved to TEST mode
# holdingRegister[0,2] - north/south light state 0 = red, 1 = yellow, 2 = green, 3 = ALL OFF, 4 = ALL ON
# holdingRegister[1,3] - east/west light state
# holdingRegister [4] - timer/counter
# holdingRegisters [5,6,7] - timer values that cause an increment in logic
################
coils = self.getCoils(0,10)
#this is the main operation loop
while True:
coils = self.getCoils(0,10)
regs = self.getHoldingRegisters(0,10)
if coils[0] == 1: #initialize NORMAL OPS
print("The traffic light at: " + str(self.plcName) + " is starting")
self.setCoils(0x00,[0,1,1,0,0,0,0,0,0])
self.setHoldingRegisters(0x00,[0,2,0,2,0,10,12,14])
elif coils[4] == 1: #move into MAINTENANCE
print("The traffic light at: " + str(self.plcName) + " is going into MAINTENANCE")
self.setCoils(0x00,[0,0,0,0,0,1,0,0,0])
self.setHoldingRegisters(0x00,[0,0,0,0,0])
elif coils[6] == 1: #move into TEST
print("The traffic light at: " + str(self.plcName) + " is going into TEST mode")
self.setCoils(0x00,[0,0,0,0,0,0,0,1,0])
self.setHoldingRegisters(0x00,[0,0,0,0,0])
counter = regs[4]
print(self.plcName + "....Coils: " + str(coils[0:10]) +"\t\tRegisters: " + str(regs[0:10]))
if coils[1] == True: ##standard traffic light operation
self.setHoldingRegisters(4,[counter + 1])
if counter == regs[5]: #change the green to yellow
sys.stdout.write("X")
sys.stdout.flush()
if coils[2] == 1:
self.changeLightColor(0, 1) #change the east west side to yellow
if coils[3] == 1:
self.changeLightColor(1,1) #change the north/south side to yellow
elif counter == regs[6]: #everyone goes to red
sys.stdout.write("X")
sys.stdout.flush()
self.changeLightColor(1,0)
self.changeLightColor(0,0)
elif counter == regs[7]: #change the red light to green (for the favored side)
sys.stdout.write("X")
sys.stdout.flush()
if coils[2] == 1: #east/west was green, change it to red
self.setCoils(0x02,[0,1])
self.changeLightColor(1,2)
elif coils[3] == 1: #north/south was green, change it to red
self.setCoils(0x02,[1,0])
self.changeLightColor(0,2)
self.setHoldingRegisters(0x04,[0])
else:
sys.stdout.write(".")
sys.stdout.flush()
time.sleep(1)
elif coils[5] == True: ##maintenance
if regs[0] == 0: #displaying a red light, make it flash
self.setHoldingRegisters(0,[3,3,3,3])
elif regs[0] == 3: #blank light, change to red
self.setHoldingRegisters(0,[0,0,0,0])
else:
self.setHoldingRegisters(0,[3,3,3,3])
time.sleep(1)
elif coils[7] == True: #test mode
if regs[0] == 3: #displaying a red light, make it flash
self.setHoldingRegisters(0,[4,4,4,4])
elif regs[0] == 4: #blank light, change to red
self.setHoldingRegisters(0,[3,3,3,3])
else:
self.setHoldingRegisters(0,[3,3,3,3])
time.sleep(1)
class ModbusWrapperServer():
def __init__(self,port=1234):
"""
Creates a Modbus TCP Server object
.. note:: The default port for modbus is 502. This modbus server uses port 1234 by default, otherwise superuser rights are required.
.. note:: Use "startServer" to start the listener.
:param port: Port for the modbus TCP server
:type port: int
"""
# chr = CustomHoldingRegister(ADDRESS_WRITE_START, [16]*100)
# cdi = CustomHoldingRegister(ADDRESS_WRITE_START, [16]*100)
self.onShutdown=False;
self.state_changed = Signal()
cco = CustomHoldingRegister(ADDRESS_WRITE_START, [16]*100)
self.store = ModbusSlaveContext(
di = ModbusSequentialDataBlock(ADDRESS_WRITE_START, [16]*100),
co = cco,
hr = ModbusSequentialDataBlock(ADDRESS_WRITE_START, [16]*100),
ir = ModbusSequentialDataBlock(ADDRESS_WRITE_START, [16]*100))
self.context = ModbusServerContext(slaves=self.store, single=True)
self.identity = ModbusDeviceIdentification()
self.identity.VendorName = 'Pymodbus'
self.identity.ProductCode = 'PM'
self.identity.VendorUrl = 'http://github.com/bashwork/pymodbus/'
self.identity.ProductName = 'Pymodbus Server'
self.identity.ModelName = 'Pymodbus Server'
self.identity.MajorMinorRevision = '1.0'
self.store.setValues(2,0,[0]*1)
self.post = Post(self)
framer = ModbusSocketFramer
self.server = ModbusTcpServer(self.context, framer, self.identity, address=("0.0.0.0", port))
def startServer(self):
"""
Non blocking call to start the server
"""
self.post._startServer()
def _startServer(self):
print "Modbus server started"
self.server.serve_forever()
def stopServer(self):
"""
Closes the server
"""
self.onShutdown = True
self.server.server_close()
self.server.shutdown()
def waitForCoilOutput(self,address,timeout=2):
now = time.time()
while not self.onShutdown:
values = self.store.getValues(1,address, 1)
if values[0] is True:
return True
else:
if timeout > 0 and now + timeout > time.time():
time.sleep(1/50)
else:
return False
def stateChangeListener(self,address):
self.post.__stateChangeListener(address)
def __stateChangeListener(self,address):
old_state = 0;
while not self.onShutdown:
value = self.store.getValues(1,address, 1)[0]
if old_state != value:
old_state = value
self.state_changed(address,value)
#print "state has changed"
time.sleep(1/50)
def setDigitalInput(self,address,values):
if not values is list:
values = [values]
self.store.setValues(2,address,values)
def triggerInput(self,address,timeout=0.5):
self.setDigitalInput(address, True)
self.post.resetInput(address, timeout)
def resetInput(self,address,timeout):
time.sleep(timeout)
self.setDigitalInput(address, False)
