modbus_client_insight7200.py

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#!/usr/bin/env python
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from modbus_cognex_insight.insight_modbus_client import InsightModbusClient 
from std_msgs.msg import Int32MultiArray as HoldingRegister
import rospy

if __name__=="__main__":
    rospy.init_node("modbus_client_insight7200")
    rospy.loginfo("""
    This file shows the usage of the Modbus Wrapper Client.
    To see the read registers of the modbus server use: rostopic echo /modbus_wrapper/input
    To see sent something to the modbus use a publisher on the topic /modbus_wrapper/output
    This file contains a sample publisher.
    """)
    host = "192.168.0.110"
    
    if rospy.has_param("~ip"):
        host =  rospy.get_param("~ip")
    else:
        rospy.loginfo("For not using the default IP %s, add an arg e.g.: '_ip:=\"192.168.0.199\"'",host)
    sim=True
    if rospy.has_param("~sim"):
        sim =  rospy.get_param("~sim")
    
    
    # setup modbus client    
    modclient = InsightModbusClient(host,sim)
    rospy.loginfo("Setup complete")
        
    # change the cognex insight job and request the result
    for job_id in xrange(1,5): 
        rospy.loginfo("Result for job_id %d: %d",job_id,modclient.startVisualInspection(job_id))

    rospy.loginfo("All done.")
    rospy.sleep(0.5)