Public Member Functions
def	__init__
def	setDigitalInput
def	startServer
def	stopServer
def	waitForCoilOutput
Public Attributes
	context
	identity
	post
	server
	store
Private Member Functions
def	__startServer

Detailed Description

Definition at line 115 of file modbus_wrapper_server.py.

Constructor & Destructor Documentation

def modbus.modbus_wrapper_server.ModbusWrapperServer.__init__	(	self,
		port = `1234`,
		sub_topic = `"modbus_server/write_to_registers"`,
		pub_topic = `"modbus_server/read_from_registers"`
	)

    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
    :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

Definition at line 116 of file modbus_wrapper_server.py.

Member Function Documentation

def modbus.modbus_wrapper_server.ModbusWrapperServer.__startServer ( self ) [private]

Definition at line 159 of file modbus_wrapper_server.py.

def modbus.modbus_wrapper_server.ModbusWrapperServer.setDigitalInput	(	self,
		address,
		values
	)

    Writes to the digital input of the modbus server
    :param address: Starting address of the values to write
    :type: int
    :param values: List of values to write
    :type list/boolean/int

Definition at line 188 of file modbus_wrapper_server.py.

def modbus.modbus_wrapper_server.ModbusWrapperServer.startServer ( self )

    Non blocking call to start the server

Definition at line 152 of file modbus_wrapper_server.py.

def modbus.modbus_wrapper_server.ModbusWrapperServer.stopServer ( self )

    Closes the server

Definition at line 162 of file modbus_wrapper_server.py.

def modbus.modbus_wrapper_server.ModbusWrapperServer.waitForCoilOutput	(	self,
		address,
		timeout = `2`
	)

    Blocks for the timeout in seconds (or forever) until the specified address becomes true. Adapt this to your needs
    :param address: Address of the register that wanted to be read.
    :type address: int
    :param timeout: The time in seconds until the function should return latest.
    :type: float/int

Definition at line 169 of file modbus_wrapper_server.py.