Inheritance diagram for modbus_cognex_insight.insight_modbus_client.InsightModbusClient:
Public Member Functions | |
| def | __init__ |
| def | changeTrigger |
| def | getString |
| def | startHeartbeat |
| def | startVisualInspection |
Public Attributes | |
| sim | |
| write_start | |
Private Member Functions | |
| def | __decodeString |
| def | __evaluateResponse |
| def | __getResponse |
| def | __sendHeartbeat |
Detailed Description
Wrapper that integrates python modbus into standardized ros msgs.
The wrapper is able to read from and write to a modbus server running on a Cognex Insight 7200.
The corresponding Insight Explorer project should also be contained in this ros package
Definition at line 42 of file insight_modbus_client.py.
Constructor & Destructor Documentation
| def modbus_cognex_insight.insight_modbus_client.InsightModbusClient.__init__ | ( | self, | |
| host, | |||
sim = True, |
|||
rate = 50 |
|||
| ) |
:param host: Contains the IP adress of the modbus server
:type host: string
: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 48 of file insight_modbus_client.py.
Member Function Documentation
| def modbus_cognex_insight.insight_modbus_client.InsightModbusClient.__decodeString | ( | self, | |
| ascii | |||
| ) | [private] |
Converts an ascii number to a string
:param ascii: Integer code of a string encoded in ascii
:type ascii: int
:return: Returns two characters as string
:rtype: string
Definition at line 156 of file insight_modbus_client.py.
| def modbus_cognex_insight.insight_modbus_client.InsightModbusClient.__evaluateResponse | ( | self, | |
| job_id, | |||
| response, | |||
| start_time, | |||
| timeout | |||
| ) | [private] |
Evaluates the response
:param job_id: The job from which we expect an answer
:type job_id: int
:param response: Contains the response from the modbus registers [is_alive,job_id,job_pass,job_fail,barcode]
:type response: list
:param start_time: Contains the time when the request was sent
:type start_time: float
:param timeout: Duration until the latest response of the inspection
:type timeout: float
:return: Depending on the job if it has passed or failed
:rtype: bool
Definition at line 120 of file insight_modbus_client.py.
| def modbus_cognex_insight.insight_modbus_client.InsightModbusClient.__getResponse | ( | self, | |
| id, | |||
| start_time, | |||
| timeout | |||
| ) | [private] |
Reads the registers from the camera in the correct order:
is alive
job_id
job_pass
job_fail
barcode
:param job_id: The job from which we expect an answer
:type job_id: int
:param start_time: Contains the time when the request was sent
:type start_time: float
:param timeout: Duration until the latest response of the inspection
:type timeout: float
Definition at line 85 of file insight_modbus_client.py.
| def modbus_cognex_insight.insight_modbus_client.InsightModbusClient.__sendHeartbeat | ( | self | ) | [private] |
Sends an is alive signal to the cognex camera. If this is not send, the camera times out 1 hour after the last message in the best case scenario
Definition at line 224 of file insight_modbus_client.py.
Changes the trigger on the camera to manual and back to continous. This gives the camera some time to update its parameters
Definition at line 186 of file insight_modbus_client.py.
| def modbus_cognex_insight.insight_modbus_client.InsightModbusClient.getString | ( | self, | |
| start, | |||
| num_registers | |||
| ) |
Reads num_registers from start and tries to recover the string that has been send by the modbus server
:param start: Starting address of the modbus register to read the string
:type: int
:param:number of registers to read
:type: int
:return: Returns a string
:rtype: string
Definition at line 168 of file insight_modbus_client.py.
Non blocking call to start the heartbeat loop
Definition at line 217 of file insight_modbus_client.py.
| def modbus_cognex_insight.insight_modbus_client.InsightModbusClient.startVisualInspection | ( | self, | |
| job_id, | |||
timeout = 5.0 |
|||
| ) |
Sends a modbus request to change the part detection. job_id 0 is reserved for the heartbeat
:param job_id: part id in the insight explorer that should be detected
:type job_id: int
:param timeout: Duration how long this method should wait for a positive response from the part inspection. The default value should be sufficient.
:type timeout: float
Definition at line 70 of file insight_modbus_client.py.
Member Data Documentation
Definition at line 55 of file insight_modbus_client.py.
Definition at line 55 of file insight_modbus_client.py.
The documentation for this class was generated from the following file: