@dobot-plus/template 1.2.17 → 1.3.2

package/lua/control.lua

@@ -1,19 +1,19 @@
---- @module control
+--- @module $PLUGIN_NAME$
 --- @description This is the control module for the plugin.
 --- 该模块为插件的功能模块，用于实现各种控制功能。
 
-local control = {}
+local $PLUGIN_NAME$ = {}
 
-control.controlMethod1 = function(params)
+$PLUGIN_NAME$.controlMethod1 = function(params)
   -- TODO 实现函数逻辑
 end
 
-control.controlMethod2 = function(params)
+$PLUGIN_NAME$.controlMethod2 = function(params)
   -- TODO 实现函数逻辑
 end
 
-control.controlMethod3 = function(params)
+$PLUGIN_NAME$.controlMethod3 = function(params)
 	-- TODO 实现函数逻辑
 end
 
-return control
+return $PLUGIN_NAME$

package/lua/daemon.lua

@@ -2,7 +2,7 @@
 --- @description This is the daemon module for the plugin.
 --- 该模块插件的入口进程，在插件安装成功后自动执行该文件中的 EventLoop 方法，该方法会不断的执行，直到程序退出。
 
-local mqtt = require('utils.mqtt')
+local mqtt = require('$PLUGIN_NAME$.mqtt')
 
 local function handleInLoop()
   local data = {}

package/lua/httpAPI.lua

@@ -2,7 +2,7 @@
 --- @description This is the http module for the plugin.
 --- 该模块为控制器处理插件的 http 请求提供接口
 
-local control = require("control")
+local $PLUGIN_NAME$ = require("$PLUGIN_NAME$")
 
 local httpModule = {}
 
@@ -32,7 +32,7 @@ end
 --- 该方法会在http请求接收到后，自动执行，对应请求的 url为: http://<控制器ip>:<插件端口>/dobotPlus/[插件名]_[插件版本]/demoMethod1。
 httpModule.demoMethod1 = function(params)
 	-- TODO 需要在接收到http请求后执行的操作
-	control.controlMethod1(params)
+	$PLUGIN_NAME$.controlMethod1(params)
 	return {
 		--- Your responce data
     status = true
@@ -44,7 +44,7 @@ end
 --- @param params table
 --- @return string 
 httpModule.demoMethod2 = function(params)
-	control.controlMethod2(params)
+	$PLUGIN_NAME$.controlMethod2(params)
 	return {
 		--- Your responce data
 		status = true
@@ -56,7 +56,7 @@ end
 --- @param params table
 --- @return string The return value will response the http request, the return value is not necessory
 httpModule.demoMethod3 = function(params)
-	control.controlMethod3(params)
+	$PLUGIN_NAME$.controlMethod3(params)
 	return {
 		--- Your responce data
 		status = true

package/lua/userAPI.lua

@@ -2,8 +2,8 @@
 --- @description This is the user API module for the plugin.
 --- 该模块为脚本编程和积木编程提供插件接口
 
-require("utils.await485")
-local control = require("control")
+require("$PLUGIN_NAME$.modbus")
+local $PLUGIN_NAME$ = require("$PLUGIN_NAME$")
 
 local userApiModule = {}
 
@@ -16,21 +16,21 @@ end
 --- This function can be used in the httpAPI module also
 ---@param params table
 function userApiModule.demoMethod1(params)
-		return control.controlMethod1(params)
+		return $PLUGIN_NAME$.controlMethod1(params)
 end
 
 --- This function will be called when you add it in the blockly programming or script programming
 --- This function can be used in the httpAPI module also
 ---@param params table
 function userApiModule.demoMethod2(params)
-	return control.controlMethod2(params)
+	return $PLUGIN_NAME$.controlMethod2(params)
 end
 
 --- This function will be called when you add it in the blockly programming or script programming
 --- This function can be used in the httpAPI module also
 ---@param params table
 function userApiModule.demoMethod3(params)
-		return control.controlMethod3(params)
+		return $PLUGIN_NAME$.controlMethod3(params)
 end
 
 -- This function will be called when the plugin is installed

package/lua/utils/modbus.lua

@@ -0,0 +1,50 @@
+require('$PLUGIN_NAME$.variables')
+require("$PLUGIN_NAME$.util")
+local lockerName = "$PLUGIN_NAME$_Locker"
+
+--- SetTool485(baudrate, parity, stop, identify)
+--- err, id = ModbusCreate(ip, port, slaveId, isRTU): use endTool for 485 communication
+--- err:int, 0: success, 1: over max master num, 2: master init failed, 3: master connect to poll failed
+--- err, id = ModbusRTUCreate(slave_id, baud, parity, data_bit, stop_bit): use controller for 485 communication
+function createModbusMasterClient(slaveID)
+    SetTool485(115200, 'E', 1, 1)
+    local err, id = ModbusCreate("127.0.0.1", 60000, tonumber(slaveID), true)
+    --- local err, id = ModbusRTUCreate(slave_id, baud, parity, data_bit, stop_bit)
+    if err ~= 0 then
+        print("Schunk ModbusCreate error:"..err)
+        return nil
+    end
+    return id
+end
+
+--- @param reg table {addrDec: number, length: number}
+function getRegsData(reg, slaveID)
+    local clientID = createModbusMasterClient(slaveID)
+    if clientID == nil then
+        return {}
+    end
+    local result = Lock(lockerName, 10000, 10000)
+    Wait(10)
+    local data = GetHoldRegs(clientID, reg.addrDec, reg.length)
+    Wait(10)
+    UnLock(lockerName)
+    ModbusClose(clientID)
+    return data
+end
+
+--- @param reg table {addrDec: number, length: number}
+--- @param values table length should be the same as reg.length
+--- @return err int, 0: success, -1: failed
+function setRegsData(reg, values, slaveID)
+    local clientID = createModbusMasterClient(slaveID)
+    if clientID == nil then
+        return -1
+    end
+    local result = Lock(lockerName, 10000, 10000)
+    Wait(10)
+    local err = SetHoldRegs(clientID, reg.addrDec, reg.length, values, 'U16')
+    Wait(10)
+    UnLock(lockerName)
+    ModbusClose(clientID)
+    return err
+end

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@dobot-plus/template",
-  "version": "1.2.17",
+  "version": "1.3.2",
   "engines": {
     "node": "20"
   },

package/lua/utils/await485.lua

@@ -1,55 +0,0 @@
-require('utils.variables')
-require("utils.util")
-local lockerName = "dobot_485_lock"
-
---- 配置并锁定 485 接口。
---- @param duration number|nil  锁定持续时间（毫秒），默认为 10000 毫秒。
---- @param waitTime number|nil  等待锁定的最大时间（毫秒），默认为 10000 毫秒。
---- @return boolean  返回是否成功锁定。
-function Use485(duration, waitTime)
-  local _duration = 10000
-  if duration then
-    _duration = duration
-  end
-  
-  local result = Lock(lockerName, _duration, waitTime == nil and 10000 or waitTime)
-  Wait(10)
-  return result
-end
-
---- 使用 485 接口写入 Modbus 寄存器。
---- @param modbusID number  Modbus 从机地址。
---- @param address number  寄存器地址。
---- @param datas table  要写入的数据列表。
---- @return boolean  返回是否成功写入。
-function WriteBy485(modbusID, address, datas)
-  local result = Lock(lockerName, 10000, 10000)
-  Wait(10)
-
-  SetHoldRegs(modbusID, address, #datas, datas)
-  
-  Wait(10)
-  UnLock485()
-  return result
-end
-
---- 使用 485 接口读取 Modbus 寄存器。
---- @param modbusID number  Modbus 从机地址。
---- @param address number  寄存器地址。
---- @param num number  要读取的寄存器数量。
---- @return table  返回读取的数据列表。
-function ReadBy485(modbusID, address, num)
-  local result = Lock(lockerName, 10000, 10000)
-  Wait(10)
-
-  local registerData = GetHoldRegs(modbusID, address, num)
-  
-  Wait(10)
-  UnLock485()
-  return registerData
-end
-
---- 解锁 485 接口。
-function UnLock485()
-  UnLock(lockerName)
-end