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modbus_wrapper_server.py
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modbus_wrapper_server.py
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###########################################################################
# This software is graciously provided by HumaRobotics
# under the BSD License on
# github: https://github.com/Humarobotics/modbus_wrapper
# HumaRobotics is a trademark of Generation Robots.
# www.humarobotics.com
#
# Copyright (c) 2015, Generation Robots.
# All rights reserved.
# www.generationrobots.com
#
# This wrapper package is based on the pymodbus library developed by:
# Galen Collins
# github: https://github.com/bashwork/pymodbus
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
# PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
# BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
# THE POSSIBILITY OF SUCH DAMAGE.
#
# The views and conclusions contained in the software and documentation are
# those of the authors and should not be interpreted as representing official
# policies, either expressed or implied, of the FreeBSD Project.
from post_threading import Post
from signals import Signal
import time
import sys
sys.path.append('/home/pi/pymodbus')
try:
from pymodbus.server.sync import ModbusSocketFramer, ModbusTcpServer
from pymodbus.device import ModbusDeviceIdentification
from pymodbus.datastore import ModbusSequentialDataBlock
from pymodbus.datastore import ModbusSlaveContext, ModbusServerContext
except Exception,e:
print "-- INSTALL DEPENDENCIES -- "
print "sudo apt-get install python-pymodbus"
print "or from source:"
print "git clone git@github.com:bashwork/pymodbus.git"
print "cd pymodbus"
print "sudo python setup.py install"
print "and"
print "sudo apt-get install python-pyasn1 python-twisted-conch"
print e
exit()
ADDRESS_WRITE_START = 0
ADDRESS_READ_START = 0
class CustomHoldingRegister(ModbusSequentialDataBlock):
def __init__(self,address,value):
"""
Creates a custom holding register to add a publisher and subscriber to the modbus server
:param address: The starting address of the holding register
:type address: int
:param values: The initial values for the holding registers
:type values: list[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
"""
super(CustomHoldingRegister,self).__init__(address,value)
self.reading_start = ADDRESS_READ_START
self.writing_start = ADDRESS_WRITE_START
def setValues(self, address, value):
"""
Sets the requested values to the holding registers
:param address: The starting address
:type address: int
:param values: The new values to be set
:type values: list[int]
"""
#print "address",address,"value",value
ModbusSequentialDataBlock.setValues(self,address, value)
def __updateWriteableRegisters(self,msg):
if len(msg.data) > self.reading_start+1: # how does this one work?
print "Message to long. Shorten it or it will be ignored"
self.setValues(self.writing_start, list(msg.data))
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)