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)
