def setupCommunication():
try:
config = pyprofibus.PbConf.fromFile(
"/home/david/robot_ws/src/vr_driver/config/panaprofi.conf")
phy = config.makePhy()
master = pyprofibus.DPM1(phy=phy,
masterAddr=config.dpMasterAddr,
debug=False)
# slaveConf = config.slaveConfs[0]
# slaveConf = config.slaveConfs.__next__()
for slaveConf in config.slaveConfs:
gsd = slaveConf.gsd
slaveDesc = pyprofibus.DpSlaveDesc(
identNumber=gsd.getIdentNumber(), slaveAddr=slaveConf.addr)
slaveDesc.setCfgDataElements(gsd.getCfgDataElements())
slaveDesc.setSyncMode(slaveConf.syncMode)
slaveDesc.setFreezeMode(slaveConf.freezeMode)
slaveDesc.setGroupMask(slaveConf.groupMask)
slaveDesc.setWatchdog(slaveConf.watchdogMs)
master.addSlave(slaveDesc)
master.initialize()
return master, slaveDesc
except pyprofibus.ProfibusError as e:
print("Terminating: %s" % str(e))
return None, None
def test_dummy_phy(self):
phy = pyprofibus.phy_dummy.CpPhyDummySlave(debug=True)
phy.setConfig(baudrate=19200)
master = pyprofibus.DPM1(phy=phy, masterAddr=42, debug=True)
slaveDesc = pyprofibus.DpSlaveDesc(gsd=None, slaveAddr=84)
slaveDesc.setCfgDataElements([
pyprofibus.DpCfgDataElement(
pyprofibus.DpCfgDataElement.ID_TYPE_OUT),
pyprofibus.DpCfgDataElement(
pyprofibus.DpCfgDataElement.ID_TYPE_IN),
])
slaveDesc.setUserPrmData(bytearray([
1,
2,
3,
4,
]))
slaveDesc.setSyncMode(True)
slaveDesc.setFreezeMode(True)
slaveDesc.setGroupMask(1)
slaveDesc.setWatchdog(300)
master.addSlave(slaveDesc)
master.initialize()
# Run slave initialization state machine.
for i in range(25):
slaveDesc.setOutData(bytearray([
1,
]))
master.run()
# Check dummy-slave response to Data_Exchange.
for i in range(100):
print("testing %d" % i)
j = 0
while True:
j += 1
self.assertTrue(j < 10)
slaveDesc.setOutData(bytearray([
i,
]))
master.run()
ret = slaveDesc.getInData()
if j >= 5 and ret is not None:
break
self.assertEqual(bytearray(ret), bytearray([
i ^ 0xFF,
]))
# Create a PHY (layer 1) interface object phy = config.makePhy() print "file: example_dummy.py lines:20" # Create a DP class 1 master with DP address 1 master = pyprofibus.DPM1(phy = phy, masterAddr = config.dpMasterAddr, debug = True) print "file: example_dummy.py lines:25" exit(-1) # Create a slave descriptions. for slaveConf in config.slaveConfs: gsd = slaveConf.gsd slaveDesc = pyprofibus.DpSlaveDesc( identNumber = gsd.getIdentNumber(), slaveAddr = slaveConf.addr) # Create Chk_Cfg telegram elements slaveDesc.setCfgDataElements(gsd.getCfgDataElements()) # Set User_Prm_Data dp1PrmMask = bytearray((DpTelegram_SetPrm_Req.DPV1PRM0_FAILSAFE, DpTelegram_SetPrm_Req.DPV1PRM1_REDCFG, 0x00)) dp1PrmSet = bytearray((DpTelegram_SetPrm_Req.DPV1PRM0_FAILSAFE, DpTelegram_SetPrm_Req.DPV1PRM1_REDCFG, 0x00)) slaveDesc.setUserPrmData(gsd.getUserPrmData(dp1PrmMask = dp1PrmMask, dp1PrmSet = dp1PrmSet))
# Enable verbose debug messages? debug = True # Create a PHY (layer 1) interface object phy = pyprofibus.CpPhy(debug=False) # Create a DP class 1 master with DP address 1 master = pyprofibus.DPM1(phy = phy, masterAddr = 1, debug = debug) # Create a slave description for an ET-200S. # The ET-200S has got the DP address 8 set via DIP-switches. et200s = pyprofibus.DpSlaveDesc(identNumber = 0x817A, slaveAddr = 3, inputAddressRangeSize = 22, outputAddressRangeSize = 6) # Create Chk_Cfg telegram elements for elem in (\ pyprofibus.DpCfgDataElement(0xC1), # 1 In-Byte & 1 Out-Byte follows pyprofibus.DpCfgDataElement(0x06-1), # DI 22 Bytes pyprofibus.DpCfgDataElement(0x16-1), # DO 6 Bytes pyprofibus.DpCfgDataElement(0x00)): # et200s.chkCfgTelegram.addCfgDataElement(elem) # Set User_Prm_Data et200s.setPrmTelegram.addUserPrmData([0x03,0x02,0x07,0x00,0x00]) # Set various standard parameters et200s.setSyncMode(False) # Sync-mode not supported
import pyprofibus
# Enable verbose debug messages?
debug = True
# Create a PHY (layer 1) interface object
phy = pyprofibus.CpPhy(debug=debug)
# Create a DP class 1 master with DP address 1
master = pyprofibus.DPM1(phy=phy, masterAddr=1, debug=debug)
# Create a slave description for an ET-200S.
# The ET-200S has got the DP address 8 set via DIP-switches.
et200s = pyprofibus.DpSlaveDesc(identNumber=0x806A,
slaveAddr=8,
inputAddressRangeSize=1,
outputAddressRangeSize=2)
# Create Chk_Cfg telegram elements
for elem in (
pyprofibus.DpCfgDataElement(0), # PM-E module
pyprofibus.DpCfgDataElement(0x20), # 2-DO module
pyprofibus.DpCfgDataElement(0x20), # 2-DO module
pyprofibus.DpCfgDataElement(0x10)): # 4-DI module
et200s.chkCfgTelegram.addCfgDataElement(elem)
# Set User_Prm_Data
et200s.setPrmTelegram.addUserPrmData([0x11 | 0x40])
# Set various standard parameters
et200s.setSyncMode(True) # Sync-mode supported