modbus.modbus_wrapper_client.ModbusWrapperClient Class Reference

List of all members.

Public Member Functions
def	__init__
def	closeConnection
def	getReadingRegisters
def	getWritingRegisters
def	readRegisters
def	setOutput
def	setReadingRegisters
def	setWritingRegisters
def	startListening
def	stopListening
Public Attributes
	client
	listener_stopped
	post
	stop_listener
Private Member Functions
def	__reset
def	__updateModbusInput
def	__updateModbusOutput
def	__writeRegisters
Private Attributes
	__input
	__last_output_time
	__mutex
	__num_reading_registers
	__num_writing_registers
	__output
	__pub
	__rate
	__reading_delay
	__reading_register_start
	__reset_registers
	__sub
	__writing_registers_start

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Detailed Description

    Wrapper that integrates python modbus into standardized ros msgs.
    The wrapper is able to read from and write to a standard modbus tcp/ip server.

Definition at line 57 of file modbus_wrapper_client.py.

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Constructor & Destructor Documentation

def modbus.modbus_wrapper_client.ModbusWrapperClient.__init__	(		self,
			host,
			port = 502,
			rate = 50,
			reset_registers = True,
			sub_topic = "modbus_wrapper/output",
			pub_topic = "modbus_wrapper/input"
	)

    Use subscribers and publisher to communicate with the modbus server. Check the scripts for example code.
    :param host: Contains the IP adress of the modbus server
    :type host: string
    :param port: The port number, where the modbus server is runnning
    :type port: integer
    :param rate: How often the registers on the modbusserver should be read per second
    :type rate: float
    :param reset_registers: Defines if the holding registers should be reset to 0 after they have been read. Only possible if they are writeable
    :type reset_registers: bool

Definition at line 62 of file modbus_wrapper_client.py.

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Member Function Documentation

def modbus.modbus_wrapper_client.ModbusWrapperClient.__reset	(		self,
			address,
			timeout
	)		[private]

    Resets a register to 0 after a specific amount of time
    :param address: The register address to reset
    :type address: int
    :param timeout: The delay after the register is reset
    :type timeout: float

Definition at line 277 of file modbus_wrapper_client.py.

def modbus.modbus_wrapper_client.ModbusWrapperClient.__updateModbusInput	(		self,
			delay = 0
	)		[private]

    Loop that is listening to the readable modbus registers and publishes it on a topic
    :param delay: The delay time until the loop starts
    :type delay: float 

Definition at line 157 of file modbus_wrapper_client.py.

def modbus.modbus_wrapper_client.ModbusWrapperClient.__updateModbusOutput	(		self,
			msg
	)		[private]

    Callback from the subscriber to update the writeable modbus registers
    :param msg: value of the new registers
    :type msg: std_msgs.Int32MultiArray

Definition at line 197 of file modbus_wrapper_client.py.

def modbus.modbus_wrapper_client.ModbusWrapperClient.__writeRegisters	(		self,
			address,
			values
	)		[private]

    Writes modbus registers
    :param address: First address of the values to write
    :type address: int
    :param values: Values to write
    :type values: list

Definition at line 212 of file modbus_wrapper_client.py.

def modbus.modbus_wrapper_client.ModbusWrapperClient.closeConnection

(

self

)

    Closes the connection to the modbus

Definition at line 288 of file modbus_wrapper_client.py.

def modbus.modbus_wrapper_client.ModbusWrapperClient.getReadingRegisters

(

self

)

    :return: Returns the first address of the readable registers and the number of registers
    :rtype: int,int

Definition at line 143 of file modbus_wrapper_client.py.

def modbus.modbus_wrapper_client.ModbusWrapperClient.getWritingRegisters

(

self

)

    :return: Returns the first address of the writeable registers and the number of registers
    :rtype: int,int

Definition at line 150 of file modbus_wrapper_client.py.

def modbus.modbus_wrapper_client.ModbusWrapperClient.readRegisters	(		self,
			address = None,
			num_registers = None
	)

    Reads modbus registers
    :param address: First address of the registers to read
    :type address: int
    :param num_registers: Amount of registers to read
    :type num_registers: int

Definition at line 230 of file modbus_wrapper_client.py.

def modbus.modbus_wrapper_client.ModbusWrapperClient.setOutput	(		self,
			address,
			value,
			timeout = 0
	)

    Directly write one register
    :param address: The exact register address to write
    :type address: int
    :param value: What is written in the register
    :type value: int
    :param timeout: If set, the register is set after this time to 0
    :type timeout: float

Definition at line 261 of file modbus_wrapper_client.py.

def modbus.modbus_wrapper_client.ModbusWrapperClient.setReadingRegisters	(		self,
			start,
			num_registers
	)

    Sets the start address of the registers which should be read and their number
    :param start: First register that is readable
    :type start: int
    :param num_registers: Amount of readable registers
    :type num_registers: int

Definition at line 121 of file modbus_wrapper_client.py.

def modbus.modbus_wrapper_client.ModbusWrapperClient.setWritingRegisters	(		self,
			start,
			num_registers
	)

    Sets the start address of the registers which are writeable and their number
    :param start: First register that is writeable
    :type start: int
    :param num_registers: Amount of writeable registers
    :type num_registers: int

Definition at line 132 of file modbus_wrapper_client.py.

def modbus.modbus_wrapper_client.ModbusWrapperClient.startListening

(

self

)

    Non blocking call for starting the listener for the readable modbus server registers 

Definition at line 106 of file modbus_wrapper_client.py.

def modbus.modbus_wrapper_client.ModbusWrapperClient.stopListening

(

self

)

    Stops the listener loop

Definition at line 113 of file modbus_wrapper_client.py.

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Member Data Documentation

modbus::modbus_wrapper_client.ModbusWrapperClient::__input [private]

Definition at line 72 of file modbus_wrapper_client.py.

modbus::modbus_wrapper_client.ModbusWrapperClient::__last_output_time [private]

Definition at line 72 of file modbus_wrapper_client.py.

modbus::modbus_wrapper_client.ModbusWrapperClient::__mutex [private]

Definition at line 72 of file modbus_wrapper_client.py.

modbus::modbus_wrapper_client.ModbusWrapperClient::__num_reading_registers [private]

Definition at line 72 of file modbus_wrapper_client.py.

modbus::modbus_wrapper_client.ModbusWrapperClient::__num_writing_registers [private]

Definition at line 72 of file modbus_wrapper_client.py.

modbus::modbus_wrapper_client.ModbusWrapperClient::__output [private]

Definition at line 72 of file modbus_wrapper_client.py.

modbus::modbus_wrapper_client.ModbusWrapperClient::__pub [private]

Definition at line 72 of file modbus_wrapper_client.py.

modbus::modbus_wrapper_client.ModbusWrapperClient::__rate [private]

Definition at line 72 of file modbus_wrapper_client.py.

modbus::modbus_wrapper_client.ModbusWrapperClient::__reading_delay [private]

Definition at line 72 of file modbus_wrapper_client.py.

modbus::modbus_wrapper_client.ModbusWrapperClient::__reading_register_start [private]

Definition at line 72 of file modbus_wrapper_client.py.

modbus::modbus_wrapper_client.ModbusWrapperClient::__reset_registers [private]

Definition at line 72 of file modbus_wrapper_client.py.

modbus::modbus_wrapper_client.ModbusWrapperClient::__sub [private]

Definition at line 72 of file modbus_wrapper_client.py.

modbus::modbus_wrapper_client.ModbusWrapperClient::__writing_registers_start [private]

Definition at line 72 of file modbus_wrapper_client.py.

modbus::modbus_wrapper_client.ModbusWrapperClient::client

Definition at line 72 of file modbus_wrapper_client.py.

modbus::modbus_wrapper_client.ModbusWrapperClient::listener_stopped

Definition at line 161 of file modbus_wrapper_client.py.

modbus::modbus_wrapper_client.ModbusWrapperClient::post

Definition at line 72 of file modbus_wrapper_client.py.

modbus::modbus_wrapper_client.ModbusWrapperClient::stop_listener

Definition at line 115 of file modbus_wrapper_client.py.

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The documentation for this class was generated from the following file:

• modbus_wrapper_client.py