modbus_client_s7_1200.py

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#!/usr/bin/env python
########################################################################### 
# This software is graciously provided by HumaRobotics 
# under the Simplified BSD License on
# github: git@www.humarobotics.com:baxter_tasker
# HumaRobotics is a trademark of Generation Robots.
# www.humarobotics.com 

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import rospy
from modbus_plc_siemens.s7_modbus_client import S7ModbusClient 
from std_msgs.msg import Int32MultiArray as HoldingRegister

if __name__=="__main__":
    rospy.init_node("modbus_client_s7_1200")
    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 = "192.168.0.198"
    port = 502
    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:=\"192.168.0.198\"'",host)
    if rospy.has_param("~port"):
        port =  rospy.get_param("~port")
    else:
        rospy.loginfo("For not using the default port %d, add an arg e.g.: '_port:=1234'",port)
    # setup modbus client for siemens s7 PLC  
    modclient = S7ModbusClient(host,port)
    rospy.loginfo("Setup complete")
        
    #################        
    # Example 1 
    # Set single registers using the python interface - yeah knight rider is coming!
    outputs = xrange(8,14)
    outputs2 = range(13,7,-1)
    #inputs = range(1,9) 
    
    # for i in xrange(5):
    #     for output in outputs:    
    #         modclient.setOutput(output,1,0.3)
    #         rospy.sleep(0.1)
    #     for output in outputs2:            
    #         modclient.setOutput(output,1,0.3)
    #         rospy.sleep(0.1)
    # rospy.sleep(0.3)
    #################
      
    #################
    # Example 2
    # Create a listener that show us a message if anything on the readable modbus registers change
    rospy.loginfo("All done. Listening to inputs... Terminate by Ctrl+c")
    def showUpdatedRegisters(msg):
        rospy.loginfo("Modbus server registers have been updated: %s",str(msg.data))
    sub = rospy.Subscriber("modbus_wrapper/input",HoldingRegister,showUpdatedRegisters,queue_size=500)
    rospy.spin()
    #################
    
     #################
    # Example 3
    # writing to modbus registers using a standard ros publisher
    
    pub = rospy.Publisher("modbus_wrapper/output",HoldingRegister,queue_size=500)
    output = HoldingRegister()
    output.data = [1 for x in xrange(0,6)]
    output2 = HoldingRegister()
    output2.data = [0 for x in xrange(0,6)]
     
    rospy.loginfo("Sending arrays to the modbus server")
    for i in xrange(5):
        rospy.sleep(1)
        pub.publish(output)
        rospy.sleep(1)
        pub.publish(output2)
    #################
    
    rospy.loginfo("Outputs tests all done, just listening to inputs. Stop listening by pressing Ctrl+c")
    # Stops the listener on the modbus
    modclient.stopListening()