class LoggingContextReader(object):
def __init__(self, output):
""" Initialize a new instance of the logger
:param output: The output file to save to
"""
self.output = output
self.context = ModbusSlaveContext(
di=ModbusSequentialDataBlock.create(),
co=ModbusSequentialDataBlock.create(),
hr=ModbusSequentialDataBlock.create(),
ir=ModbusSequentialDataBlock.create())
def write(self, response):
""" Handle the next modbus response
:param response: The response to process
"""
log.info("Read Data: %s" % str(response))
fx, address, values = response
self.context.setValues(fx, address, values)
def finalize(self):
with open(self.output, "wb") as handle:
pickle.dump(self.context, handle)
class LoggingContextReader(object):
def __init__(self, output):
""" Initialize a new instance of the logger
:param output: The output file to save to
"""
self.output = output
self.context = ModbusSlaveContext(
di = ModbusSequentialDataBlock.create(),
co = ModbusSequentialDataBlock.create(),
hr = ModbusSequentialDataBlock.create(),
ir = ModbusSequentialDataBlock.create())
def write(self, response):
""" Handle the next modbus response
:param response: The response to process
"""
log.info("Read Data: %s" % str(response))
fx, address, values = response
self.context.setValues(fx, address, values)
def finalize(self):
with open(self.output, "w") as handle:
pickle.dump(self.context, handle)
class VirtualModbusTCPServer:
def __init__(self, port):
self.port = port
self.block = ModbusSequentialDataBlock.create()
self.store = ModbusSlaveContext(ir=self.block)
self.context = ModbusServerContext(slaves=self.store, single=True)
self.scheduler = BackgroundScheduler()
params = {
'hour': os.environ.get("VIRTUAL_SERVER_UPDATE_CRON_HOUR_TRIGGER"),
'minute': os.environ.get("VIRTUAL_SERVER_UPDATE_CRON_MINUTE_TRIGGER"),
'second': os.environ.get("VIRTUAL_SERVER_UPDATE_CRON_SECOND_TRIGGER"),
}
self.main_job = self.scheduler.add_job(**params, func=self.set_datastore, trigger='cron')
def set_datastore(self):
FUNCTION_CODE = 0x04
ADDRESS = 0x00
builder = BinaryPayloadBuilder(byteorder=Endian.Big, wordorder=Endian.Big)
builder.add_32bit_float(3.14)
self.store.setValues(FUNCTION_CODE, ADDRESS, builder.to_registers())
def start(self):
self.scheduler.start()
StartTcpServer(self.context, address=("0.0.0.0", self.port))
def test_decode(self):
test_store = ModbusSlaveContext(t=ModbusSequentialDataBlock.create())
test_env = {'fields':
{'scale_8_int':
{'reg_type': CO, 'address': 1,
'encode': {'e_type': SCALE, 's_factor': 10, 'd_type': INT8}
},
'scale_8_uint':
{'reg_type': CO, 'address': 4,
'encode': {'e_type': SCALE, 's_factor': 10, 'd_type': UINT8}
},
'scale_16_int':
{'reg_type': CO, 'address': 6,
'encode': {'e_type': SCALE, 's_factor': 100, 'd_type': INT16}
},
'scale_16_uint':
{'reg_type': CO, 'address': 8,
'encode': {'e_type': SCALE, 's_factor': 100, 'd_type': UINT16}
}},
'byte_order': '<',
'word_order': '<',
'default_scaling_factor': 1000}
test_fields = test_env['fields']
test_handler = PayloadHandler(test_env, test_store)
test_builder = BinaryPayloadBuilder('<', '<')
test_builder.reset()
test_builder.add_8bit_int(100)
test_store.setValues(1, 1, test_builder.to_registers())
self.assertEqual(10,
test_handler.decode(1, 1, test_fields['scale_8_int']['encode']))
test_builder.reset()
test_builder.add_8bit_uint(100)
test_store.setValues(1, 4, test_builder.to_registers())
self.assertEqual(10,
test_handler.decode(1, 4, test_fields['scale_8_uint']['encode']))
test_builder.reset()
test_builder.add_16bit_int(1350)
test_store.setValues(1, 6, test_builder.to_registers())
self.assertEqual(13.5,
test_handler.decode(1, 6, test_fields['scale_16_int']['encode']))
test_builder.reset()
test_builder.add_16bit_uint(3287)
test_store.setValues(1, 8, test_builder.to_registers())
self.assertEqual(32.87,
test_handler.decode(1, 8, test_fields['scale_16_uint']['encode']))
test_builder.reset()
def run_server():
store = ModbusSlaveContext(di=ModbusSequentialDataBlock(0, [0] * 10000),
co=ModbusSequentialDataBlock(0, [0] * 10000),
hr=ModbusSequentialDataBlock(0, [0] * 10000),
ir=ModbusSequentialDataBlock(0, [0] * 10000))
context = ModbusServerContext(slaves=store, single=True)
identity = ModbusDeviceIdentification()
identity.VendorName = 'Pymodbus'
identity.ProductCode = 'PM'
# identity.VendorUrl = 'http://github.com/riptideio/pymodbus/'
identity.ProductName = 'Pymodbus Server'
identity.ModelName = 'Pymodbus Server'
identity.MajorMinorRevision = '1.5'
#-----------------------------------------------------
print("debug started\n\n")
print(dir(store))
store.setValues(3, 53, [30000])
print("\n\ndebug finished")
#-----------------------------------------------------
print("Listening on {}:{}".format(HOST, PORT))
StartTcpServer(context, identity=identity, address=(HOST, PORT))
def test_no_e_type(self):
test_store = ModbusSlaveContext(t=ModbusSequentialDataBlock.create())
test_env = {'fields':
{'8_int':
{'reg_type': CO, 'address': 1,
'encode': {'d_type': INT8}
},
'8_uint':
{'reg_type': CO, 'address': 2,
'encode': {'d_type': UINT8}
},
'16_int':
{'reg_type': CO, 'address': 3,
'encode': {'d_type': INT16}
},
'16_uint':
{'reg_type': CO, 'address': 4,
'encode': {'d_type': UINT16}
},
'32_int':
{'reg_type': CO, 'address': 5,
'encode': {'d_type': INT32}
},
'32_uint':
{'reg_type': CO, 'address': 6,
'encode': {'d_type': UINT32}
}},
'byte_order': '<',
'word_order': '<',
'default_scaling_factor': 1000}
test_fields = test_env['fields']
test_handler = PayloadHandler(test_env, test_store)
test_store.setValues(1, 1, test_handler.encode(1, test_fields['8_int']['encode']))
self.assertEqual(1, test_handler.decode(1, 1, test_fields['8_int']['encode']))
test_store.setValues(1, 2, test_handler.encode(10, test_fields['8_uint']['encode']))
self.assertEqual(10, test_handler.decode(1, 2, test_fields['8_uint']['encode']))
test_store.setValues(1, 3, test_handler.encode(12, test_fields['16_int']['encode']))
self.assertEqual(12, test_handler.decode(1, 3, test_fields['16_int']['encode']))
test_store.setValues(1, 4, test_handler.encode(32, test_fields['16_uint']['encode']))
self.assertEqual(32, test_handler.decode(1, 4, test_fields['16_uint']['encode']))
test_store.setValues(1, 5, test_handler.encode(1000, test_fields['32_int']['encode']))
self.assertEqual(1000, test_handler.decode(1, 5, test_fields['32_int']['encode']))
test_store.setValues(1, 6, test_handler.encode(63, test_fields['32_uint']['encode']))
self.assertEqual(63, test_handler.decode(1, 6, test_fields['32_uint']['encode']))
def test_combo(self):
test_store = ModbusSlaveContext(t=ModbusSequentialDataBlock.create())
test_env = {'fields':
{'scale_8_int':
{'reg_type': CO, 'address': 1,
'encode': {'e_type': SCALE, 's_factor': 100, 'd_type': INT8}
},
'scale_8_uint':
{'reg_type': CO, 'address': 2,
'encode': {'e_type': SCALE, 's_factor': 10, 'd_type': UINT8}
},
'scale_16_int':
{'reg_type': CO, 'address': 3,
'encode': {'e_type': SCALE, 's_factor': 100, 'd_type': INT16}
},
'scale_16_uint':
{'reg_type': CO, 'address': 4,
'encode': {'e_type': SCALE, 's_factor': 100, 'd_type': UINT16}
},
'scale_32_int':
{'reg_type': CO, 'address': 5, 'encode': {'e_type': SCALE, 'd_type': INT32}
},
'scale_32_uint':
{'reg_type': CO, 'address': 6, 'encode': {'e_type': SCALE, 'd_type': UINT32}
},
'scale_32_float':
{'reg_type': CO, 'address': 7,
'encode': {'e_type': SCALE, 's_factor': 10, 'd_type': FLOAT32}
},
'comb_32_float':
{'reg_type': CO, 'address': 8, 'encode': {'e_type': COMB, 'd_type': FLOAT32}
}},
'byte_order': '<',
'word_order': '<',
'default_scaling_factor': 1000}
test_fields = test_env['fields']
test_handler = PayloadHandler(test_env, test_store)
test_store.setValues(1, 1, test_handler.encode(1, test_fields['scale_8_int']['encode']))
self.assertEqual(1, test_handler.decode(1, 1, test_fields['scale_8_int']['encode']))
test_store.setValues(1, 2, test_handler.encode(10, test_fields['scale_8_uint']['encode']))
self.assertEqual(10, test_handler.decode(1, 2, test_fields['scale_8_uint']['encode']))
test_store.setValues(1, 3, test_handler.encode(12.5, test_fields['scale_16_int']['encode']))
self.assertEqual(12.5, test_handler.decode(1, 3, test_fields['scale_16_int']['encode']))
test_store.setValues(1, 4, test_handler.encode(32.991, test_fields['scale_16_uint']['encode']))
self.assertEqual(32.99, test_handler.decode(1, 4, test_fields['scale_16_uint']['encode']))
test_store.setValues(1, 5, test_handler.encode(1000, test_fields['scale_32_int']['encode']))
self.assertEqual(1000, test_handler.decode(1, 5, test_fields['scale_32_int']['encode']))
test_store.setValues(1, 6, test_handler.encode(63.2, test_fields['scale_32_uint']['encode']))
self.assertEqual(63.2, test_handler.decode(1, 6, test_fields['scale_32_uint']['encode']))
test_store.setValues(1, 7, test_handler.encode(1.333, test_fields['scale_32_float']['encode']))
self.assertEqual(1.3, test_handler.decode(1, 7, test_fields['scale_32_float']['encode']))
test_store.setValues(1, 8, test_handler.encode(789.4375, test_fields['comb_32_float']['encode']))
self.assertEqual(789.4375, test_handler.decode(1, 8, test_fields['comb_32_float']['encode']))
block_1601.add_16bit_int(10000) # power/energy adjustment l1
block_1601.add_16bit_int(10000) # power/energy adjustment l2
block_1601.add_16bit_int(10000) # power/energy adjustment l3
block_1601.add_16bit_int(-1000) # ct phase angle adjustment l1
block_1601.add_16bit_int(-1000) # ct phase angle adjustment l2
block_1601.add_16bit_int(-1000) # ct phase angle adjustment l3
block_1601.add_16bit_int(1500) # minimum power reading
block_1601.add_16bit_int(
confparser[meter].getint("phase_offset",
fallback=default_config["meters"]
["phase_offset"])) # phase offset
block_1601.add_16bit_int(0) # reset energy
block_1601.add_16bit_int(0) # reset demand
block_1601.add_16bit_int(20000) # current scale
block_1601.add_16bit_int(0) # io pin mode
slave_ctx.setValues(3, 1600, block_1601.to_registers())
block_1651 = BinaryPayloadBuilder(byteorder=Endian.Big,
wordorder=Endian.Little)
block_1651.add_16bit_int(0) # apply config
block_1651.add_16bit_int(address) # modbus address
block_1651.add_16bit_int(4) # baud rate
block_1651.add_16bit_int(0) # parity mode
block_1651.add_16bit_int(0) # modbus mode
block_1651.add_16bit_int(5) # message delay
slave_ctx.setValues(3, 1650, block_1651.to_registers())
block_1701 = BinaryPayloadBuilder(byteorder=Endian.Big,
wordorder=Endian.Little)
block_1701.add_32bit_int(confparser[meter].getint(
"serial_number",
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)
def run_server():
store = ModbusSlaveContext(di=ModbusSequentialDataBlock(0, [0] * 10000),
co=ModbusSequentialDataBlock(0, [0] * 10000),
hr=ModbusSequentialDataBlock(0, [0] * 10000),
ir=ModbusSequentialDataBlock(0, [0] * 10000))
context = ModbusServerContext(slaves=store, single=True)
identity = ModbusDeviceIdentification()
identity.VendorName = 'Pymodbus'
identity.ProductCode = 'PM'
# identity.VendorUrl = 'http://github.com/riptideio/pymodbus/'
identity.ProductName = 'Pymodbus Server'
identity.ModelName = 'Pymodbus Server'
identity.MajorMinorRevision = '1.5'
#-----------------------------------------------------
# print("debug started\n\n")
# print(dir(store))
store.setValues(3, 53, [30000])
store.setValues(3, 32, [14373])
store.setValues(3, 33, [28911])
store.setValues(3, 61, [59626])
store.setValues(3, 26, [22288])
store.setValues(3, 89, [59530])
store.setValues(3, 90, [22198])
store.setValues(3, 2, [27306])
store.setValues(3, 10, [24285])
store.setValues(3, 52, [9160])
store.setValues(3, 32, [8707])
store.setValues(3, 74, [41718])
store.setValues(3, 78, [40553])
store.setValues(3, 93, [44444])
store.setValues(3, 65, [45136])
store.setValues(3, 24, [39191])
store.setValues(2, 1, [1])
store.setValues(2, 12, [1])
store.setValues(2, 101, [1])
store.setValues(2, 8, [1])
store.setValues(2, 94, [1])
store.setValues(2, 23, [1])
store.setValues(2, 34, [1])
store.setValues(2, 65, [1])
store.setValues(2, 66, [1])
store.setValues(2, 67, [1])
store.setValues(2, 97, [1])
store.setValues(2, 99, [1])
store.setValues(2, 14, [1])
store.setValues(2, 76, [1])
store.setValues(1, 1, [1])
store.setValues(1, 11, [1])
store.setValues(1, 21, [1])
store.setValues(1, 31, [1])
store.setValues(1, 41, [1])
store.setValues(1, 42, [1])
store.setValues(1, 101, [1])
store.setValues(1, 129, [1])
store.setValues(1, 259, [1])
store.setValues(1, 111, [1])
store.setValues(1, 192, [1])
store.setValues(4, 0, [22])
store.setValues(4, 19, [69])
store.setValues(4, 40, [99])
store.setValues(4, 51, [14])
store.setValues(4, 17, [35])
store.setValues(4, 28, [24])
store.setValues(4, 54, [31])
store.setValues(4, 7, [84])
store.setValues(4, 12, [31])
store.setValues(4, 43, [7])
store.setValues(4, 53, [54])
store.setValues(4, 2, [69])
store.setValues(4, 35, [38])
store.setValues(4, 53, [50])
store.setValues(4, 17, [99])
# print("\n\ndebug finished")
#-----------------------------------------------------
print("Listening on {}:{}".format(HOST, PORT))
StartTcpServer(context, identity=identity, address=(HOST, PORT))
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,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):
"""
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)
