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增加modbus支持

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调整protocol node以更好支持多种类型的read和write
This commit is contained in:
Xuwznln
2025-06-10 21:46:49 +08:00
parent d297abfd19
commit 90169981c1
2 changed files with 8 additions and 8 deletions
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2
unilabos/registry/device_comms/modbus_ioboard.yaml
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@@ -5,6 +5,6 @@ io_snrd:
type: python
hardware_interface:
name: modbus_client
extra_info: address
extra_info: []
read: read_io_coil
write: write_io_coil

14
unilabos/ros/nodes/presets/protocol_node.py
View File

@@ -241,15 +241,15 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
def _setup_hardware_proxy(self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method):
"""为设备设置硬件接口代理"""
extra_info = [getattr(device.driver_instance, info) for info in communication_device.ros_node_instance._hardware_interface.get("extra_info", [])]
write_func = getattr(communication_device.ros_node_instance, communication_device.ros_node_instance._hardware_interface["write"])
read_func = getattr(communication_device.ros_node_instance, communication_device.ros_node_instance._hardware_interface["read"])
# extra_info = [getattr(device.driver_instance, info) for info in communication_device.ros_node_instance._hardware_interface.get("extra_info", [])]
write_func = getattr(communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["write"])
read_func = getattr(communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["read"])
def _read():
return read_func(*extra_info)
def _read(*args, **kwargs):
return read_func(*args, **kwargs)
def _write(command):
return write_func(*extra_info, command)
def _write(*args, **kwargs):
return write_func(*args, **kwargs)
if read_method:
setattr(device.driver_instance, read_method, _read)