pub_topic="modbus_wrapper/input")
modclient.setReadingRegisters(ADDRESS_READ_START, NUM_REGISTERS)
modclient.setWritingRegisters(ADDRESS_WRITE_START, NUM_REGISTERS)
rospy.loginfo("Setup complete")
# start listening to modbus and publish changes to the rostopic
modclient.startListening(unit=0x01)
rospy.loginfo("Listener started")
#################
# Example 1
# Sets an individual register using the python interface, which can automatically be reset, if a timeout is given.
register = 40020
value = 1
timeout = 0.5
modclient.setOutput(register, value, timeout, unit=0x01)
rospy.loginfo("Set an individual output")
#################
#################
# Example 2
# Create a listener that show us a message if anything on the readable modbus registers change
rospy.loginfo("All done. Listening to inputs... Terminate by Ctrl+c")
def showUpdatedRegisters(msg):
rospy.loginfo("Modbus server registers have been updated: %s",
str(msg.data))
sub = rospy.Subscriber("modbus_wrapper/input",
HoldingRegister,
showUpdatedRegisters,
pub_topic="modbus_wrapper/input")
modclient.setReadingRegisters(ADDRESS_READ_START, NUM_REGISTERS)
modclient.setWritingRegisters(ADDRESS_WRITE_START, NUM_REGISTERS)
rospy.loginfo("Setup complete")
# start listening to modbus and publish changes to the rostopic
modclient.startListening()
rospy.loginfo("Listener started")
#################
# Example 1
# Sets an individual register using the python interface, which can automatically be reset, if a timeout is given.
register = 40020
value = 1
timeout = 0.5
modclient.setOutput(register, value, timeout)
rospy.loginfo("Set and individual output")
#################
#################
# Example 2
# Create a listener that show us a message if anything on the readable modbus registers change
rospy.loginfo("All done. Listening to inputs... Terminate by Ctrl+c")
def showUpdatedRegisters(msg):
rospy.loginfo("Modbus server registers have been updated: %s",
str(msg.data))
sub = rospy.Subscriber("modbus_wrapper/input",
HoldingRegister,
showUpdatedRegisters,
modclient = ModbusWrapperClient(host,port=port,rate=50,reset_registers=False,sub_topic="modbus_wrapper/output",pub_topic="modbus_wrapper/input")
modclient.setReadingRegisters(ADDRESS_READ_START,NUM_REGISTERS)
modclient.setWritingRegisters(ADDRESS_WRITE_START,NUM_REGISTERS)
rospy.loginfo("Setup complete")
# start listening to modbus and publish changes to the rostopic
modclient.startListening()
rospy.loginfo("Listener started")
#################
# Example 1
# Sets an individual register using the python interface, which can automatically be reset, if a timeout is given.
register = 40020
value = 1
timeout = 0.5
modclient.setOutput(register,value,timeout)
rospy.loginfo("Set and individual output")
#################
#################
# Example 2
# Create a listener that show us a message if anything on the readable modbus registers change
rospy.loginfo("All done. Listening to inputs... Terminate by Ctrl+c")
def showUpdatedRegisters(msg):
rospy.loginfo("Modbus server registers have been updated: %s",str(msg.data))
sub = rospy.Subscriber("modbus_wrapper/input",HoldingRegister,showUpdatedRegisters,queue_size=500)
#################
#################
