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modbus_server_example_baxter.py
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#!/usr/bin/env python
###########################################################################
# This software is graciously provided by HumaRobotics
# under the Simplified BSD License on
# github: [email protected]:baxter_tasker
# HumaRobotics is a trademark of Generation Robots.
# www.humarobotics.com
# Copyright (c) 2013, Generation Robots.
# All rights reserved.
# www.generationrobots.com
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
# PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
# BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
# THE POSSIBILITY OF SUCH DAMAGE.
#
# The views and conclusions contained in the software and documentation are
# those of the authors and should not be interpreted as representing official
# policies, either expressed or implied, of the FreeBSD Project.
from time import sleep
from modbus_wrapper_server import ModbusWrapperServer
if __name__=="__main__":
port = 502 # default modbus port
# Init modbus server with specific port
mws = ModbusWrapperServer(port)
# Starts the server in a non blocking call
mws.startServer()
print "Server started"
print "setting line 0 to True"
mws.setDigitalInput(0,1) # args: address , value. sets address to value
print "waiting for line 0 to be set to True"
result = mws.waitForCoilOutput(0,10) # args: address,timeout in sec. timeout of 0 is infinite. waits until address is true
if result:
print "got line 0 is True from baxter"
else:
print "timeout waiting for signal on line 0"
mws.stopServer()
sleep(1)