@dobot-plus/template 1.3.5 → 1.3.7
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- package/lua/utils/modbus.lua +21 -8
- package/package.json +1 -1
package/lua/utils/modbus.lua
CHANGED
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@@ -1,30 +1,38 @@
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1
1
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require('$PLUGIN_NAME$.variables')
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2
2
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require("$PLUGIN_NAME$.util")
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3
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-
local lockerName = "
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3
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+
local lockerName = "dobot_485_lock"
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4
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+
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5
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+
local modbus = {}
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4
6
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5
7
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--- SetTool485(baudrate, parity, stop, identify)
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6
8
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--- err, id = ModbusCreate(ip, port, slaveId, isRTU): use endTool for 485 communication
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7
9
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--- err:int, 0: success, 1: over max master num, 2: master init failed, 3: master connect to poll failed
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8
10
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--- err, id = ModbusRTUCreate(slave_id, baud, parity, data_bit, stop_bit): use controller for 485 communication
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9
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-
function
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10
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-
SetTool485(
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11
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+
modbus.createModbusMasterClient = function(slaveID)
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12
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--- SetTool485(baudrate, parity, stop)
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13
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SetTool485(115200, 'E', 1)
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11
14
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local err, id = ModbusCreate("127.0.0.1", 60000, tonumber(slaveID), true)
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12
15
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--- local err, id = ModbusRTUCreate(slave_id, baud, parity, data_bit, stop_bit)
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13
16
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if err ~= 0 then
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14
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-
print("
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17
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print("ModbusCreate error:"..err)
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15
18
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return nil
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16
19
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end
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20
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return id
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18
21
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end
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19
22
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20
23
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--- @param reg table {addrDec: number, length: number}
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21
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-
function
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22
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-
local clientID = createModbusMasterClient(slaveID)
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24
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+
modbus.getRegsData = function(reg, slaveID)
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25
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local clientID = modbus.createModbusMasterClient(slaveID)
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23
26
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if clientID == nil then
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24
27
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return {}
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25
28
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end
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26
29
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local result = Lock(lockerName, 10000, 10000)
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27
30
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Wait(10)
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31
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if result == false then
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32
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print("getRegsData lock failed")
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33
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ModbusClose(clientID)
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34
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return {}
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35
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end
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28
36
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local data = GetHoldRegs(clientID, reg.addrDec, reg.length)
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29
37
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Wait(10)
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30
38
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UnLock(lockerName)
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@@ -35,13 +43,18 @@ end
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35
43
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--- @param reg table {addrDec: number, length: number}
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36
44
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--- @param values table length should be the same as reg.length
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37
45
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--- @return err int, 0: success, -1: failed
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38
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-
function
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39
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-
local clientID = createModbusMasterClient(slaveID)
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46
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+
modbus.setRegsData = function(reg, values, slaveID)
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47
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local clientID = modbus.createModbusMasterClient(slaveID)
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40
48
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if clientID == nil then
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49
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return -1
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50
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end
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43
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local result = Lock(lockerName, 10000, 10000)
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44
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Wait(10)
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53
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if result == false then
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54
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print("setRegsData lock failed")
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55
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ModbusClose(clientID)
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56
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return -1
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57
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end
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45
58
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local err = SetHoldRegs(clientID, reg.addrDec, reg.length, values, 'U16')
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46
59
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Wait(10)
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47
60
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UnLock(lockerName)
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