intera_modbus.py

#!/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 

# Copyright (c) 2015, Generation Robots.
# All rights reserved.
# www.generationrobots.com
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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import signal
import sys
from modbus_wrapper_server import ModbusWrapperServer
import random

if __name__=="__main__":
    port = 502
    
    
    input_line = 0
    def read_callback(*msg):
        
        if msg[1] is True and msg[0] == input_line: # if signal is high and address is 0
            defective = random.randint(0,4)
            
            if defective == 0:
                print "Part defective"
                mws.triggerInput(1,3.0)# args: address , time to raise level - default 0.5
            else:
                print "Part OK"
                mws.triggerInput(0,3.0)# args: address , time to raise level - default 0.5
        
    mws = ModbusWrapperServer(port)
    mws.startServer()
    
    # handler to exit on ctrl+c
    def signal_handler(signal, frame):
            print('You pressed Ctrl+C!')
            mws.stopServer()
            sys.exit(0)
    signal.signal(signal.SIGINT, signal_handler)
    print('Press Ctrl+C')

    mws.stateChangeListener(input_line) # listens to line 0 of baxter
    mws.state_changed.connect(read_callback) # links a callback
    
    
    signal.pause()