def PI_PLC(Head_Angle_Current):
PLC = ClxDriver()
print("Opening Connection To PLC...")
if PLC.open('192.168.1.150'):
print("*********************************")
PLC_Known_Head_Angle, _ = PLC.read_tag(
"R_PI_User_Head_Angle"
) # Read the current head angle the PLC knows of
print("PLC_Known_Head_Angle: " + str(PLC_Known_Head_Angle)
) # Print the current head angle the PLC knows of
print("Head_Angle_Current: " + str(Head_Angle_Current)
) # Print the head angle passed into this argument
PLC.write_tag('R_PI_User_Head_Angle', Head_Angle_Current,
'INT') # Tell the PLC the new angle
PLC.write_tag(
'R_PI_Comm_Check', random.randint(-25, 25), 'INT'
) # Send a random value to the PLC to make sure data is received
PLC_Known_Head_Angle, _ = PLC.read_tag(
"R_PI_User_Head_Angle") # Read the new angle
print("NEW PLC_Known_Head_Angle: " + str(PLC_Known_Head_Angle)
) # Print the current head angle the PLC knows of
# Make sure the PLC Read the new angle
if Head_Angle_Current != PLC_Known_Head_Angle:
print("FAULT: PI -> PLC TRANSMISSION FAILED!!!")
print("Closing Connection...")
print("********************************* \n")
PLC.close()
PLC.close()
def __init__(self, plc='clx', ip='0.0.0.0'):
if plc == 'clx':
self.driver = ClxDriver()
if plc == 'slc':
self.driver = SlcDriver()
self.ip = ip
self.open()
def read_tag(addr, tag, plc_type="CLX"):
"""Read a tag from the PLC."""
direct = plc_type == "Micro800"
addr = str(addr)
c = ClxDriver()
try:
if c.open(addr, direct_connection=direct):
try:
if type(tag) == type([]):
read_values = []
for t in tag:
read_values.append(c.read_tag(t))
return read_values
else:
return c.read_tag(tag)
return v
except DataError as e:
c.close()
time.sleep(TAG_DATAERROR_SLEEPTIME)
print("Data Error during readTag({}, {}, plc_type='{}'): {}".
format(addr, tag, plc_type, e))
else:
raise DataError("no data")
except CommError:
# err = c.get_status()
c.close()
print("Could not connect during readTag({}, {})".format(addr, tag))
# print err
except AttributeError as e:
c.close()
print("AttributeError during readTag({}, {}): \n{}".format(
addr, tag, e))
c.close()
def read_plc(plc_ip, tag_name):
plc = ClxDriver()
if plc.open(plc_ip):
tag_value = plc.read_tag(tag_name)[0]
plc.close()
return tag_value
else:
print("Unable to open: ", plc_ip)
def enip_read(plc_ip, tag_name):
"""Read a plc tag and print the rx data
"""
plc = ClxDriver()
if plc.open(plc_ip):
print(plc.read_tag(tag_name))
plc.close()
else:
print("Unable to open", plc_ip)
def read_plc(ipaddress: str, tag_name: str):
result = None
c = ClxDriver()
try:
c.open(ipaddress)
is_open = True
except:
is_open = False
return False
return c.read_tag(tag_name)
def enip_write(plc_ip, tag_name, value, tag_type):
"""Write a plc tag and print the resutl
:value: TODO
:tag_type: TODO
"""
plc = ClxDriver()
if plc.open(plc_ip):
print(plc.write_tag(tag_name, value, tag_type))
plc.close()
else:
print("Unable to open", plc_ip)
def write_plc(plc_ip, tag_name, value, tag_type):
plc = ClxDriver()
if plc.open(plc_ip):
if plc.write_tag(tag_name, value, tag_type):
print("Success")
print("Target: " + plc_ip)
print("Tag Name: " + tag_name)
print("Value: " + str(value))
print("Tag Type: " + tag_type)
else:
print("Failed to write to " + plc_ip)
plc.close()
else:
print("Unable to open: ", plc_ip)
def write_tag(addr, tag, val, plc_type="CLX"):
"""Write a tag value to the PLC."""
direct = plc_type == "Micro800"
clx = ClxDriver()
if clx.open(addr, direct_connection=direct):
try:
prevval = clx.read_tag(tag)
if direct:
time.sleep(1)
write_result = clx.write_tag(tag, val, prevval[1])
return write_result
except Exception:
print("Error during writeTag({}, {}, {})".format(addr, tag, val))
err = clx.get_status()
clx.close()
print(err)
return False
clx.close()
return False
def write_plc(ipaddress: str, tag_name: str, data_type: str, tag_value):
result = None
c = ClxDriver()
try:
c.open(ipaddress)
is_open = True
except:
is_open = False
return False
if is_open:
# Verify tag value matches data type.#
if(data_type == "DINT"):
try:
result = int(tag_value)
except:
c.close()
return False
elif(data_type == "REAL"):
try:
result = float(tag_value)
except:
c.close()
return False
else:
c.close()
return False
# write value to tag #
if result != None:
c.write_tag(tag_name, result, data_type)
c.close()
return True
c.close()
return False
else:
print("Could not interface with PLC at this IP Address.")
return False
def main():
global c
c = ClxDriver()
update()
def update():
global c
try:
if c.open('192.168.1.95'):
#print(c.read_tag(['SimulatedDT_Remaining'])[0][1])
f_array = c.read_array("line1.FaultCode", 1500)
t_array = c.read_array("line1.TimeStamp", 1500)
d_array = c.read_array("line1.Duration", 1500)
p_array = c.read_array("line1.ProductCount", 1500)
c.close()
conn = pyodbc.connect(r'Driver={SQL Server};Server=nth-server-12\SQLEXPRESS;Database=nth;Trusted_Connection=yes;')
conn.autocommit = True
cursor = conn.cursor()
cursor.executemany(
"BEGIN TRY INSERT INTO line1 VALUES (?, ?, ?, ?) END TRY BEGIN CATCH END CATCH",
zip(zip(*t_array)[1],zip(*f_array)[1],zip(*d_array)[1],zip(*p_array)[1]))
cursor.close()
conn.close()
global cycles
cycles+=1
print(cycles)
except:
pass
threading.Timer(10, update).start()
return
if __name__ == '__main__':
main()
def _connect(self):
# each instance of ClxDriver can open connection to only 1 host
# subsequent calls to open() are quietly ignored, and close()
# does not take any args, so one host per block instance for now
self.cnxn = ClxDriver()
self.cnxn.open(self.host())
def __init__(self):
super().__init__()
self.cnxn = ClxDriver()
# some global variables for the PLC Thread
plc_ip_address = '192.168.1.5'
# accuracy desired in degree
accuracy_desired = 0.1
#table precision, set it to a value lower than accuracy_desired
table_precision = 0.01
message_json = None
command = None
logging.basicConfig(filename="ClxDriver.log",
format="%(levelname)-10s %(asctime)s %(message)s",
level=logging.DEBUG)
# initialize the communication driver
# this is a global variable that will only be used from the second thread.
c = ClxDriver()
# used to track the last index reached in the table motion vector
curr_index = -1
def reset():
'''
This is called by one of the motion options in the PLC thread.
:. It must already by opened when the function is called.
'''
#print("Driver Reset: ", c.write_tag(
# 'Drive_1_Command.RESET', 1, 'BOOL'))
#print("Driver Reset: ", c.write_tag(
# 'Drive_1_Command.RESET', 0, 'BOOL'))
# Stop automatic motion
def __init__(self):
# initialize a thread safe queue
# load queue with a single plc obj
self.plc = ClxDriver()
self.mutex = Lock()
1] = Avg_Sum[Avg_Count] # Shift each one up a spot
Avg_Sum[0] = Angle # Store value in array
Avg = round(
np.average(Avg_Sum,
axis=None,
weights=Avg_Sum_WT,
returned=False))
print("Avg: {}".format(Avg))
# Check and see if face exceeded limits to reduce noise and jitter
if (
((TX_Prev - Avg_Threshold) < Avg < (TX_Prev + Avg_Threshold))
): # If the new location is not within the range dont update robot.
print("Not a big enough change")
else:
TX_Angle = Angle
print("TX_Angle")
print(TX_Angle)
SD_Huber_Tag_Handle_20190116.PI_PLC(int(TX_Angle))
TX_Prev = TX_Angle # Previous angle sent
if cv2.waitKey(1) & 0xFF == ord('q'):
break
if __name__ == '__main__':
logging.basicConfig(filename="ClxDriver.log",
format="%(levelname)-10s %(asctime)s %(message)s",
level=logging.DEBUG)
PLC = ClxDriver()
main()
