dsr_service_modbus_simple.py

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#!/usr/bin/env python
# -*- coding: utf-8 -*-
# ##
# @brief    [py example simple] motion basic test for doosan robot
# @author   Kab Kyoum Kim (kabkyoum.kim@doosan.com)   

import rospy
import os
import threading, time
import sys
sys.dont_write_bytecode = True
sys.path.append( os.path.abspath(os.path.join(os.path.dirname(__file__),"../../../../common/imp")) ) # get import pass : DSR_ROBOT.py 

# for single robot 

ROBOT_SYSTEM_VIRTUAL = 1
ROBOT_SYSTEM_REAL = 0
ROBOT_ID     = "dsr01"
ROBOT_MODEL  = "m1013"
import DR_init
DR_init.__dsr__id = ROBOT_ID
DR_init.__dsr__model = ROBOT_MODEL
from DSR_ROBOT import *

def shutdown():
    print "shutdown time!"
    print "shutdown time!"
    print "shutdown time!"

    pub_stop.publish(stop_mode=STOP_TYPE_QUICK)
    return 0

def msgRobotState_cb(msg):
    msgRobotState_cb.count += 1

    if (0==(msgRobotState_cb.count % 100)): 
        rospy.loginfo("________ ROBOT STATUS ________")
        print("  robot_state       : %d" % (msg.robot_state))
        print("  robot_state_str   : %s" % (msg.robot_state_str))
        print("  current_posj      : %7.3f %7.3f %7.3f %7.3f %7.3f %7.3f" % (msg.current_posj[0],msg.current_posj[1],msg.current_posj[2],msg.current_posj[3],msg.current_posj[4],msg.current_posj[5]))
        #print("  current_posx      : %7.3f %7.3f %7.3f %7.3f %7.3f %7.3f" % (msg.current_posx[0],msg.current_posx[1],msg.current_posx[2],msg.current_posx[3],msg.current_posx[4],msg.current_posx[5]))

        #print("  io_control_box    : %d" % (msg.io_control_box))
        
        print("  speed             : %d" % (msg.speed))
        #print("  mastering_need    : %d" % (msg.mastering_need))
        #print("  drl_stopped       : %d" % (msg.drl_stopped))
        #print("  disconnected      : %d" % (msg.disconnected))
msgRobotState_cb.count = 0

def thread_subscriber():
    rospy.Subscriber('/'+ROBOT_ID +ROBOT_MODEL+'/state', RobotState, msgRobotState_cb)
    rospy.spin()
    #rospy.spinner(2)    
  
if __name__ == "__main__":
    rospy.init_node('dsr_simple_test_py')
    rospy.on_shutdown(shutdown)

    t1 = threading.Thread(target=thread_subscriber)
    t1.daemon = True 
    t1.start()

    pub_stop = rospy.Publisher('/'+ROBOT_ID +ROBOT_MODEL+'/stop', RobotStop, queue_size=10)           

    add_modbus_signal("di1","192.168.137.50", 502, MODBUS_REGISTER_TYPE_DISCRETE_INPUTS, 3)
    add_modbus_signal("do1", "192.168.137.50", 502, MODBUS_REGISTER_TYPE_COILS, 3)
    add_modbus_signal("ro1", "192.168.137.50", 502, MODBUS_REGISTER_TYPE_HOLDING_REGISTER, 7)
    add_modbus_signal("ro2", "192.168.137.50", 502, MODBUS_REGISTER_TYPE_HOLDING_REGISTER, 6)
    
    while not rospy.is_shutdown():
        set_modbus_output("ro2", 80)
        set_modbus_output("do1", 1)

        if get_modbus_input("di1") == 1:
            set_modbus_output("ro1", 30)

    print 'good bye!'