Initial commit

unilabos/device_comms/modbus_plc/test/client.py

@@ -0,0 +1,107 @@
+import time
+from pymodbus.client import ModbusTcpClient
+from unilabos.device_comms.modbus_plc.node.modbus import Coil, HoldRegister
+from pymodbus.payload import BinaryPayloadDecoder
+from pymodbus.constants import Endian
+
+# client = ModbusTcpClient('localhost', port=5020)
+client = ModbusTcpClient('192.168.3.2', port=502)
+
+client.connect()
+
+                                                                                                                
+coil1 = Coil(client=client, name='coil_test1', data_type=bool, address=4502*8)
+coil1.write(True)
+time.sleep(3)
+coil1.write(False)
+
+
+
+coil1 = Coil(client=client, name='coil_test1', data_type=bool, address=4503*8)
+coil1.write(True)
+time.sleep(3)
+coil1.write(False)
+
+
+exit(0)
+
+
+
+register1 = HoldRegister(client=client, name="test-1", address=7040)
+
+
+coil1 = Coil(client=client, name='coil_test1', address=7002*8)
+
+
+coil1.write(True)
+
+while True:
+    # result = client.read_holding_registers(address=7040, count=2, slave=1)  # unit=1 是从站地址
+    result = register1.read(2, slave=1)
+    if result.isError():
+        print("读取失败")
+    else:
+        print("读取成功:", result.registers)
+        decoder = BinaryPayloadDecoder.fromRegisters(
+            result.registers, byteorder=Endian.BIG, wordorder=Endian.LITTLE
+        )
+        real_value = decoder.decode_32bit_float()
+        print("这里的值是: ", real_value)
+        if real_value > 42:
+            coil1.write(False)
+            break
+    time.sleep(1)
+
+
+# # 创建 Modbus TCP 客户端，连接到本地模拟的服务器
+# client = ModbusClient('localhost', port=5020)
+
+# # 连接到服务器
+
+# # 读取保持寄存器（地址 0，读取 10 个寄存器）
+# # address: int,
+# # *,
+# # count: int = 1,
+# # slave: int = 1,
+# response = client.read_holding_registers(
+# 	address=0, count=10, slave=1
+# )
+
+# response = coil1.read(2, slave=1)
+#
+# if response.isError():
+#     print(f"Error reading registers: {response}")
+# else:
+#     print(f"Read holding registers: {response.bits}")
+#
+# coil1.write(1, slave=1)
+# print("Wrote value 1234 to holding register 0")
+#
+# response = coil1.read(2, slave=1)
+# if response.isError():
+#     print(f"Error reading registers: {response}")
+# else:
+#     print(f"Read holding registers after write: {response.bits}")
+#
+#
+# if response.isError():
+#     print(f"Error reading registers: {response}")
+# else:
+    # print(f"Read holding registers after write: {response.bits}")
+ 
+client.close()
+
+# # 写入保持寄存器（地址 0，值为 1234）
+# client.write_register(0, 1234, slave=1)
+# print("Wrote value 1234 to holding register 0")
+
+# # 再次读取寄存器，确认写入成功
+# response = client.read_holding_registers(address=0, count=10, slave=1)
+# if response.isError():
+#     print(f"Error reading registers: {response}")
+# else:
+#     print(f"Read holding registers after write: {response.registers}")
+
+# # 关闭连接
+# client.close()
+

unilabos/device_comms/modbus_plc/test/node_test.py

@@ -0,0 +1,45 @@
+# coding=utf-8
+from pymodbus.client import ModbusTcpClient
+from unilabos.device_comms.modbus_plc.node.modbus import Coil
+import time
+
+
+client = ModbusTcpClient('192.168.3.2', port=502)
+client.connect()
+
+coil1 = Coil(client=client, name='0', address=7012*8)
+
+coil2 = Coil(client=client, name='0', address=7062*8)
+coil3 = Coil(client=client, name='0', address=7054*8)
+
+
+while True:
+    time.sleep(1)
+    resp, isError = coil2.read(1)
+    resp1, isError = coil3.read(1)
+    print(resp[0], resp1[0])
+
+
+
+
+
+# hr = HoldRegister(client, '1', 100)
+# resp = hr.write([666.3, 777.4], data_type=DATATYPE.FLOAT32, word_order=WORDORDER.BIG)
+# print('write ===== hr1', resp)
+# time.sleep(1)
+# h_resp = hr.read(4, data_type=DATATYPE.FLOAT32, word_order=WORDORDER.BIG)
+# print('=======hr1', h_resp)
+#
+#
+# resp = hr.write([666, 777], data_type=DATATYPE.INT32, word_order=WORDORDER.BIG)
+# print('write ===== hr1', resp)
+# time.sleep(1)
+# h_resp = hr.read(4, data_type=DATATYPE.INT32, word_order=WORDORDER.BIG)
+# print('=======hr1', h_resp)
+#
+#
+# resp = hr.write('hello world!', data_type=DATATYPE.STRING, word_order=WORDORDER.BIG)
+# print('write ===== hr1', resp)
+# time.sleep(1)
+# h_resp = hr.read(12, data_type=DATATYPE.STRING, word_order=WORDORDER.BIG)
+# print('=======hr1', h_resp)

unilabos/device_comms/modbus_plc/test/server.py

@@ -0,0 +1,42 @@
+import modbus_tk.modbus_tcp as modbus_tcp
+import modbus_tk.defines as cst
+from modbus_tk.modbus import Slave
+
+# 创建一个 Modbus TCP 服务器
+server = modbus_tcp.TcpServer(
+	address="localhost", port=5020, timeout_in_sec=1
+)
+
+# 设置服务器的地址和端口
+# server.set_address("localhost", 5020)  # 监听在本地端口5020
+
+# 添加一个从设备，Slave ID 设为 1
+slave: Slave = server.add_slave(1)
+
+
+# 向从设备添加一个保持寄存器块，假设从地址0开始，10个寄存器
+# def add_block(self, block_name, block_type, starting_address, size)
+# slave.add_block('0', cst.HOLDING_REGISTERS, 0, 10)
+
+# 添加一个线圈
+# 0 名字， 从 16 字节内存位置开始，分配连续两个字节的内存大小，注意地址只能是 8 的整数倍
+slave.add_block('0', cst.COILS, 2*8, 2)
+
+# 1 名字，100 起始地址， 8 是从 100 的位置分配 8 个字节内存， 两个线圈的量
+slave.add_block('1', cst.HOLDING_REGISTERS, 100, 8)
+slave.add_block('2', cst.HOLDING_REGISTERS, 200, 16)
+
+# slave.add_block('2', cst.DISCRETE_INPUTS , 200, 2)
+# slave.add_block('3', cst.ANALOG_INPUTS , 300, 2)
+# 启动服务器
+server.start()
+
+print("Modbus TCP server running on localhost:5020")
+
+# 保持服务器运行，直到按下 Ctrl+C
+try:
+    while True:
+        pass
+except KeyboardInterrupt:
+    server.stop()
+    print("Server stopped.")

unilabos/device_comms/modbus_plc/test/test_workflow.py

@@ -0,0 +1,168 @@
+import time
+from typing import Callable
+from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusWorkflow, WorkflowAction, load_csv
+from unilabos.device_comms.modbus_plc.node.modbus import Base as ModbusNodeBase
+
+############ 第一种写法 ##############
+
+
+# modbus_tcp_client_test1 = TCPClient('192.168.3.2', 502)
+#
+#
+# node_list = [
+#     ModbusNode(name="left_move_coli", device_type=DeviceType.COIL, address=7003 * 8),
+#     ModbusNode(name="right_move_coli", device_type=DeviceType.COIL, address=7002 * 8),
+#     ModbusNode(name="position_register", device_type=DeviceType.HOLD_REGISTER, address=7040),
+# ]
+#
+# def judge_position(node: ModbusNodeBase):
+#     idx = 0
+#     while idx <= 5:
+#         result, is_err = node.read(2)
+#         if is_err:
+#             print("读取失败")
+#         else:
+#             print("读取成功:", result)
+#         idx+=1
+#         time.sleep(1)
+#
+# workflow_move_2_right = PLCWorkflow(name="测试水平向右移动", actions=[
+#     lambda use_node: use_node('left_move_coli').write(False),
+#     lambda use_node: use_node('right_move_coli').write(True),
+#     lambda use_node: judge_position(use_node('position_register')),
+#     lambda use_node: use_node('right_move_coli').write(False),
+# ])
+#
+#
+# workflow_move_2_left = PLCWorkflow(name="测试水平向左移动", actions=[
+#     lambda use_node: use_node('right_move_coli').write(False),
+#     lambda use_node: use_node('left_move_coli').write(True),
+#     lambda use_node: judge_position(use_node('position_register')),
+#     lambda use_node: use_node('left_move_coli').write(False),
+# ])
+#
+#
+# workflow_test_1 = PLCWorkflow(name="测试水平移动并停止", actions=[
+#     workflow_move_2_right,
+#     workflow_move_2_left,
+# ])
+#
+# modbus_tcp_client_test1 \
+#     .register_node_list(node_list) \
+#     .run_plc_workflow(workflow_test_1)
+#
+
+
+############ 第二种写法 ##############
+
+modbus_tcp_client_test2 = TCPClient('192.168.3.2', 502)
+
+# def judge_position(node: ModbusNodeBase):
+#     idx = 0
+#     while idx <= 5:
+#         result, is_err = node.read(2)
+#         if is_err:
+#             print("读取失败")
+#         else:
+#             print("读取成功:", result)
+#         idx+=1
+#         time.sleep(1)
+
+
+
+# def move_2_right_init(use_node: Callable[[str], ModbusNodeBase]) -> bool:
+#     use_node('left_move_coli').write(False)
+#     use_node('right_move_coli').write(True)
+#     return True
+
+# def move_2_right_start(use_node: Callable[[str], ModbusNodeBase]) -> bool:
+#     judge_position(use_node('position_register'))
+#     return True
+    
+# def move_2_right_stop(use_node: Callable[[str], ModbusNodeBase]) -> bool:
+#     use_node('right_move_coli').write(False)
+#     return True
+
+# move_2_right_workflow = ModbusWorkflow(name="测试水平向右移动", actions=[WorkflowAction(
+#     init=move_2_right_init,
+#     start=move_2_right_start,
+#     stop=move_2_right_stop,
+# )])
+
+# move_2_right_workflow = ModbusWorkflow(name="测试水平向右移动", actions=[WorkflowAction(
+#     init=move_2_right_init,
+#     start= None,
+#     stop= None,
+#     cleanup=None,
+#     )])
+
+
+def idel_init(use_node: Callable[[str], ModbusNodeBase]) -> bool:
+    # 修改速度
+    use_node('M01_idlepos_velocity_rw').write(20.0)
+    # 修改位置
+    # use_node('M01_idlepos_position_rw').write(35.22)
+    return True
+
+def idel_position(use_node: Callable[[str], ModbusNodeBase]) -> bool:
+    use_node('M01_idlepos_coil_w').write(True)
+    while True:
+        pos_idel, idel_err = use_node('M01_idlepos_coil_r').read(1)
+        pos_stop, stop_err  = use_node('M01_manual_stop_coil_r').read(1)
+        time.sleep(0.5)
+        if not idel_err and not stop_err and  pos_idel[0] and pos_stop[0]:
+            break
+
+    return True
+    
+def idel_stop(use_node: Callable[[str], ModbusNodeBase]) -> bool:
+    use_node('M01_idlepos_coil_w').write(False)
+    return True
+
+move_idel= ModbusWorkflow(name="测试待机位置", actions=[WorkflowAction(
+    init=idel_init,
+    start=idel_position,
+    stop=idel_stop,
+)])
+
+def pipetter_init(use_node: Callable[[str], ModbusNodeBase]) -> bool:
+    # 修改速度
+    # use_node('M01_idlepos_velocity_rw').write(10.0)
+    # 修改位置
+    # use_node('M01_idlepos_position_rw').write(35.22)
+    return True
+
+def pipetter_position(use_node: Callable[[str], ModbusNodeBase]) -> bool:
+    use_node('M01_pipette0_coil_w').write(True)
+    while True:
+        pos_idel, isError = use_node('M01_pipette0_coil_r').read(1)
+        pos_stop, isError = use_node('M01_manual_stop_coil_r').read(1)
+        time.sleep(0.5)
+        if pos_idel[0] and pos_stop[0]:
+            break
+
+    return True
+    
+def pipetter_stop(use_node: Callable[[str], ModbusNodeBase]) -> bool:
+    use_node('M01_pipette0_coil_w').write(False)
+    return True
+
+move_pipetter= ModbusWorkflow(name="测试待机位置", actions=[WorkflowAction(
+    init=None,
+    start=pipetter_position,
+    stop=pipetter_stop,
+)])
+
+
+
+workflow_test_2 = ModbusWorkflow(name="测试水平移动并停止", actions=[
+    move_idel,
+    move_pipetter,
+])
+
+nodes = load_csv('/Users/dingshinn/Desktop/lbg/uni-lab/M01.csv')
+
+modbus_tcp_client_test2 \
+    .register_node_list(nodes) \
+    .run_modbus_workflow(workflow_test_2)
+    # .run_modbus_workflow(move_2_left_workflow)