@dobot-plus/template 1.3.0 → 1.3.3

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/userAPI.lua

@@ -2,7 +2,7 @@
 --- @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")
+require("$PLUGIN_NAME$.modbus")
 local $PLUGIN_NAME$ = require("$PLUGIN_NAME$")
 
 local userApiModule = {}

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": "1.3.0",
+  "version": "1.3.3",
   "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

package/lua/utils/num_convert.lua

@@ -1,41 +0,0 @@
-local NumberConversion = {}
-
--- 将二进制字符串转换为十进制数
-function NumberConversion.binaryToDecimal(binaryStr)
-    return tonumber(binaryStr, 2)
-end
-
--- 将十进制数转换为二进制字符串
-function NumberConversion.decimalToBinary(dec)
-    local binaryStr = ""
-    while dec > 0 do
-        local remainder = dec % 2
-        binaryStr = remainder .. binaryStr
-        dec = math.floor(dec / 2)
-    end
-    return binaryStr == "" and "0" or binaryStr
-end
-
--- 将十六进制字符串转换为十进制数
-function NumberConversion.hexToDecimal(hexStr)
-    return tonumber(hexStr, 16)
-end
-
--- 将十进制数转换为十六进制字符串
-function NumberConversion.decimalToHex(dec)
-    return string.format("%X", dec)
-end
-
--- 将二进制字符串转换为十六进制字符串
-function NumberConversion.binaryToHex(binaryStr)
-    local dec = NumberConversion.binaryToDecimal(binaryStr)
-    return NumberConversion.decimalToHex(dec)
-end
-
--- 将十六进制字符串转换为二进制字符串
-function NumberConversion.hexToBinary(hexStr)
-    local dec = NumberConversion.hexToDecimal(hexStr)
-    return NumberConversion.decimalToBinary(dec)
-end
-
-return NumberConversion

package/lua/utils/tcp.lua

@@ -1,31 +0,0 @@
---- 通用TCP连接函数
----@param ip string
----@param port number
----@param timeout number
----@return table result
-function CreateTCPConnection(ip, port, timeout)
-  -- 初始化错误码和socket对象
-  local SUCCESS = 0
-  local FAIL = 1
-  local err = SUCCESS
-  local Socket = nil
-
-  -- 创建TCP客户端
-  err, Socket = TCPCreate(false, ip, port)
-  if err ~= SUCCESS then
-      print("Create TCP Client failed, code:", err)
-      return { errorCode = err, socket = nil }
-  end
-
-  -- 尝试建立TCP连接
-  err = TCPStart(Socket, timeout or 10)  -- 使用传入的timeout，默认10秒
-  if err ~= SUCCESS then
-      print("Connect TCP Client failed, code:", err)
-      TCPDestroy(Socket)
-      return { errorCode = err, socket = nil }
-  end
-
-  -- 连接成功，返回成功状态和socket对象
-  print("Connect TCP Client Success!")
-  return { errorCode = nil, socket = Socket }
-end

package/lua/utils/util.lua

@@ -1,31 +0,0 @@
-local modbusIDS = {}
---- 使用modbus协议修改或读取数据
----@param cb function 创建modbus成功后执行的回调
----@param id number modebus链接的id
-function HandleByModbus(cb, id, baudRate)
-  local DEFAULT_BAUDRATE = 115200
-  local MODBUS_IP = "127.0.0.1"
-  local MODBUS_PORT = 60000
- 
-  
-  if type(id) ~= "number" then
-    return nil
-  end
-  
-  if modbusIDS[id] == nil then
-    local err, _modbus = ModbusCreate(MODBUS_IP, MODBUS_PORT, id, true)
-    if err ~= 0 then
-      return nil
-    else
-      modbusIDS[tonumber(id)] = _modbus
-    end
-  end
-
-  local res = nil
-
-  if type(cb) == "function" then
-    res = cb(modbusIDS[id])
-  end
-
-  return res
-end