8/28git
This commit is contained in:
parent
5fc732b01c
commit
e39c4a298f
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@ -1,3 +1,5 @@
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mp_env
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.python-version
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uv.lock
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*.pyc
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.vscode/tasks.json
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@ -1,16 +1,16 @@
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{
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"version": 4,
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"configurations": [
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{
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"name": "windows-gcc-x64",
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"includePath": [
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"${workspaceFolder}/**",
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"C:/msys64/mingw64/include"
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],
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"compilerPath": "C:/msys64/mingw64/bin/gcc.exe",
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"cStandard": "c11",
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"name": "Win32",
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"compilerPath": "C:/msys64/mingw64/bin/g++.exe",
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"cStandard": "c17",
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"cppStandard": "c++17",
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"intelliSenseMode": "windows-gcc-x64"
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"intelliSenseMode": "windows-gcc-x64",
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"includePath": [
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"${workspaceFolder}/**"
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],
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"defines": []
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}
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],
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"version": 4
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]
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}
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@ -2,43 +2,18 @@
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"version": "0.2.0",
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"configurations": [
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{
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"name": "C Launch",
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"name": "Debug active .exe (gdb)",
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"type": "cppdbg",
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"request": "launch",
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"program": "${fileDirname}/${fileBasenameNoExtension}.exe",
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"args": [],
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"stopAtEntry": false,
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"cwd": "${fileDirname}",
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"cwd": "${workspaceFolder}",
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"environment": [],
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"externalConsole": true,
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"MIMode": "gdb",
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"miDebuggerPath": "C:/msys64/mingw64/bin/gdb.exe",
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"setupCommands": [
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{
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"description": "Enable pretty-printing for gdb",
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"text": "-enable-pretty-printing",
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"ignoreFailures": true
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}
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]
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},
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{
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"name": "C/C++ Runner: Debug Session",
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"type": "cppdbg",
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"request": "launch",
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"args": [],
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"stopAtEntry": false,
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"externalConsole": true,
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"cwd": "c:/Users/huiting/Desktop/py_document",
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"program": "c:/Users/huiting/Desktop/py_document/build/Debug/outDebug",
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"MIMode": "gdb",
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"miDebuggerPath": "gdb",
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"setupCommands": [
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{
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"description": "Enable pretty-printing for gdb",
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"text": "-enable-pretty-printing",
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"ignoreFailures": true
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}
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]
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"preLaunchTask": "g++ build active file"
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}
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]
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}
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@ -55,5 +55,9 @@
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"C_Cpp_Runner.useLeakSanitizer": false,
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"C_Cpp_Runner.showCompilationTime": false,
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"C_Cpp_Runner.useLinkTimeOptimization": false,
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"C_Cpp_Runner.msvcSecureNoWarnings": false
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"C_Cpp_Runner.msvcSecureNoWarnings": false,
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"files.associations": {
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"chrono": "cpp",
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"functional": "cpp"
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}
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}
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@ -0,0 +1,35 @@
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import can
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import time
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# === 修改成你的介面 ===
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# 如果你用 socketCAN-tcp (slcand) 綁到 can0：
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# bus = can.interface.Bus(bustype="socketcan", channel="can0", bitrate=500000)
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# 如果是 PCAN (Peak)：
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# bus = can.interface.Bus(bustype="pcan", channel="PCAN_USBBUS1", bitrate=500000)
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# 如果是 Kvaser：
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# bus = can.interface.Bus(bustype="kvaser", channel=0, bitrate=500000)
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# 這裡先假設你用 socketcan
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bus = can.interface.Bus(bustype="socketcan", channel="can0", bitrate=500000)
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# === 設定參數 ===
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node_id = 1
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cob_id = 0x200 + node_id # PLC 的 RxPDO1
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value = 1234 # 要送的整數值 (INT16)
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# 轉成小端 (因為 PLC 是 little endian)
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data_bytes = value.to_bytes(2, byteorder="little", signed=True)
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# 塞進 CAN 幀
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msg = can.Message(arbitration_id=cob_id, data=data_bytes, is_extended_id=False)
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# 傳送多次測試
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for i in range(10):
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try:
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bus.send(msg)
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print(f"Sent {value} to PLC (COB-ID=0x{cob_id:X})")
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except can.CanError:
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print("Message NOT sent")
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time.sleep(1)
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# pip install paho-mqtt
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import json
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import time
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from paho.mqtt import client as mqtt
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from MQTT_pub_Module import pub_to_plc
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BROKER_HOST = "169.254.11.130"
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BROKER_PORT = 1886
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TOPIC = "topic_plc_and_py_for_AXIS"
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# 建議測試用 QoS=1；retain=False
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QOS = 1
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RETAIN = False
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pub_to_plc(BROKER_HOST, BROKER_PORT, TOPIC, QOS, RETAIN)
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import time
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import json
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from paho.mqtt import client as mqtt
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def pub_to_plc(BROKER_HOST, BROKER_PORT, TOPIC, QOS, RETAIN):
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client = mqtt.Client(client_id="py_pub_plc_test", protocol=mqtt.MQTTv311)
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# 若 Broker 有帳密、TLS 在這裡設定（目前不需要）
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# client.username_pw_set("user", "pass")
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# client.tls_set(ca_certs="ca.pem") # 若是 TLS
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client.connect(BROKER_HOST, BROKER_PORT, keepalive=60)
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client.loop_start()
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time.sleep(0.3) # 等連線建立
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# ---- 第一組： ----
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payload_forward = {
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"Move_Forward": True, # BOOL
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"Move_Forward_Velocity": 1.2 # REAL (float)
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}
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msg1 = json.dumps(payload_forward, ensure_ascii=False)
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r1 = client.publish(TOPIC, msg1, qos=QOS, retain=RETAIN)
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r1.wait_for_publish()
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time.sleep(3)#第二顆馬達等等再開啟
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# ---- 第二組： ----
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payload_updown = {
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"Move_UPDown": True, # BOOL
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"Move_UPDown_Velocity": 55.1 # REAL (float)
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}
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msg2 = json.dumps(payload_updown, ensure_ascii=False)
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r2 = client.publish(TOPIC, msg2, qos=QOS, retain=RETAIN)
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r2.wait_for_publish()
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time.sleep(0.3)
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client.loop_stop()
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client.disconnect()
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# pip install paho-mqtt
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import json
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import re
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import time
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from paho.mqtt import client as mqtt
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# ========= 使用者設定 =========
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BROKER_HOST = "169.254.11.130"
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BROKER_PORT = 1886
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TOPIC = "topic_plc_and_py_for_AXIS"
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QOS = 1 # 建議測試用 1
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# ============================
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# 全域狀態（方便觀察最新值）
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state = {
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"BUTTON_Y": None,
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"Forward_RPM": None,
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"UPDown_RPM": None,
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}
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def _robust_json_parse(raw: str):
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"""
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將 PLC 端常見的非標準 JSON 嘗試修正後解析為 dict。
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例：'{Forward_RPM:1500,UPDown_RPM:800}' -> {'Forward_RPM':1500,'UPDown_RPM':800}
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也會把 TRUE/FALSE -> true/false
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"""
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s = raw.strip()
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# 去掉最外層引號（若有）
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if (s.startswith("'") and s.endswith("'")) or (s.startswith('"') and s.endswith('"')):
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s = s[1:-1].strip()
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# PLC 常見布林大寫 -> JSON 規範小寫
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s = s.replace("TRUE", "true").replace("FALSE", "false")
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# 自動補 key 的雙引號：{key: -> {"key":
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s = re.sub(r'([{,]\s*)([A-Za-z_]\w*)\s*:', r'\1"\2":', s)
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# 轉單引號為雙引號（若 payload 用了單引號包字串）
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# 放在補 key 後，避免 key 的引號再被替換
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s = s.replace("'", '"')
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return json.loads(s)
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def on_connect(client: mqtt.Client, userdata, flags, reason_code, properties=None):
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"""
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連上 Broker 後自動訂閱 Topic。
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paho-mqtt 2.x 的 on_connect 第四個參數是 reason_code（非 rc），名稱略有不同。
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"""
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if reason_code == 0:
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print(f"✅ 已連線到 MQTT Broker {BROKER_HOST}:{BROKER_PORT}")
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client.subscribe(TOPIC, qos=QOS)
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print(f"📡 已訂閱 Topic: {TOPIC}（QoS={QOS}）")
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else:
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print(f"❌ 連線失敗，reason_code={reason_code}")
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def on_message(client: mqtt.Client, userdata, msg: mqtt.MQTTMessage):
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payload_raw = msg.payload.decode("utf-8", errors="replace")
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print(f"\n📥 收到原始訊息：{payload_raw}")
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# 先試標準 JSON，失敗再用容錯解析
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try:
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data = json.loads(payload_raw)
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except json.JSONDecodeError:
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try:
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data = _robust_json_parse(payload_raw)
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except Exception as e:
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print(f"❌ 無法解析為 JSON：{payload_raw} ；錯誤：{e}")
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return
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# 只更新我們關心的欄位（有傳才改）
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for key in ("BUTTON_Y", "Forward_RPM", "UPDown_RPM"):
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if key in data:
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state[key] = data[key]
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print(
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f"✅ 解析後資料：{data}\n"
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f"📊 目前狀態：BUTTON_Y={state['BUTTON_Y']}, "
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f"Forward_RPM={state['Forward_RPM']}, UPDown_RPM={state['UPDown_RPM']}"
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)
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def on_disconnect(client: mqtt.Client, userdata, reason_code, properties=None):
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print(f"🔌 已斷線，reason_code={reason_code}")
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def sub_to_plc(broker_host: str, broker_port: int, topic: str):
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client = mqtt.Client(client_id="py_sub_plc_test", protocol=mqtt.MQTTv311)
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# 如需帳密或 TLS，在這裡設定
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# client.username_pw_set("user", "pass")
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# client.tls_set(ca_certs="ca.pem")
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# 自動重連延遲（paho-mqtt 2.x）
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client.reconnect_delay_set(min_delay=1, max_delay=10)
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client.on_connect = on_connect
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client.on_message = on_message
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client.on_disconnect = on_disconnect
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# 先連線，再進入 loop
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client.connect(broker_host, broker_port, keepalive=60)
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try:
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# loop_forever 會阻塞執行緒，內建自動重連
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client.loop_forever()
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except KeyboardInterrupt:
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print("\n🛑 收到中斷訊號，準備斷線...")
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finally:
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try:
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client.disconnect()
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except Exception:
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pass
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if __name__ == "__main__":
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print("🚀 啟動 MQTT 訂閱器...")
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print(f"Broker={BROKER_HOST}:{BROKER_PORT}, Topic={TOPIC}, QoS={QOS}")
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sub_to_plc(BROKER_HOST, BROKER_PORT, TOPIC)
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# pip install paho-mqtt
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import json
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import time
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from paho.mqtt import client as mqtt
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from MQTT_sub_Module import sub_to_plc
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BROKER_HOST = "169.254.11.130"
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BROKER_PORT = 1886
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TOPIC = "topic_plc_and_py_for_AXIS"
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# 建議測試用 QoS=1；retain=False
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QOS = 1
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RETAIN = False
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sub_to_plc(BROKER_HOST, BROKER_PORT, TOPIC)
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from opcua import ua, Server
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import time
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import random
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if __name__ == "__main__":
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server = Server()
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# 設定端點（本機：4840）
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server.set_endpoint("opc.tcp://0.0.0.0:4840")
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server.set_server_name("MyUA Server")
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# 新增命名空間（回傳 nsIndex）
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idx = server.register_namespace("urn:mycompany:demo")
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# 建立地址空間：一個 Object，底下放一個 Variable
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objects = server.get_objects_node()
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myobj = objects.add_object(idx, "DemoObject")
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#空間建好，可以設變數了
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temp_var = myobj.add_variable(idx, "Temperature", 25.0) # 初值 25.0
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A = myobj.add_variable(idx, "A_value", 1)
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#變數設好，打開Client寫入功能
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temp_var.set_writable() # 允許 Client 寫入
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A.set_writable() # 允許 Client 寫入
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# 啟動 Server
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server.start()
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print("Server started at opc.tcp://localhost:4840")
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x=0
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try:
|
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while True:
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# 模擬溫度改變
|
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new_value = 20.0 + random.random() * 10.0
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temp_var.set_value(ua.Variant(new_value, ua.VariantType.Float))
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x=x+1
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A.set_value(ua.Variant(x, ua.VariantType.Int64))
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print(A.get_value())
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print(temp_var.get_value())
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time.sleep(1)
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except KeyboardInterrupt:
|
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print("Server stopped by user")
|
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finally:
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server.stop()
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print("Resources released, server closed")
|
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|
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@ -0,0 +1,23 @@
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import can
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import os
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os.add_dll_directory(r"C:\Users\huiting\PCAN-Basic\x64") # 這裡放 64bit DLL 的資料夾
|
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# 把 DLL 所在資料夾加進搜尋路徑
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DLL_DIR = r"C:\Users\huiting\PCAN-Basic\x64" # 如果 Python 是 64bit 請換成 \x64
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if os.path.isdir(DLL_DIR):
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os.add_dll_directory(DLL_DIR)
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bus = can.interface.Bus(interface="pcan", channel="PCAN_USBBUS1", bitrate=500000)
|
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|
||||
NODE_ID = 1
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TPDO1_ID = 0x180 + NODE_ID # PLC 送出的 TPDO1
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print(f"Listening TPDO1 at 0x{TPDO1_ID:X} …")
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while True:
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msg = bus.recv(timeout=2.0)
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if not msg:
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continue
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if msg.arbitration_id == TPDO1_ID and len(msg.data) >= 2:
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val = int.from_bytes(msg.data[0:2], "little", signed=True)
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print(f"PLC TPDO1 -> 0x2000:00 = {val}")
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@ -0,0 +1,329 @@
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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CANopen ↔ PLC demo (python-can + canopen)
|
||||
----------------------------------------
|
||||
Fill in the CONFIG section to match your PLC / device.
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||||
Tested with python-can >= 4 and canopen >= 2.
|
||||
|
||||
Common use cases:
|
||||
- Python as CANopen "master" talking to a PLC/device node (slave).
|
||||
- Monitor/drive DS402-like nodes (Controlword/Statusword and Position/Velocity).
|
||||
|
||||
Author: ChatGPT
|
||||
"""
|
||||
|
||||
import time
|
||||
import threading
|
||||
from typing import Optional, Dict, Any
|
||||
|
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import can # python-can
|
||||
import canopen # python-canopen
|
||||
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||||
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||||
# =====================
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||||
# CONFIG (EDIT ME)
|
||||
# =====================
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||||
CONFIG: Dict[str, Any] = dict(
|
||||
# Choose a backend matching your CAN interface:
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||||
# Linux SocketCAN example: backend="socketcan", channel="can0"
|
||||
# PEAK PCAN example: backend="pcan", channel="PCAN_USBBUS1"
|
||||
# Kvaser example: backend="kvaser", channel="0"
|
||||
backend="socketcan",
|
||||
channel="can0",
|
||||
bitrate=500000, # 125000 / 250000 / 500000 / 1000000
|
||||
|
||||
# Target node (PLC or device) information
|
||||
node_id=2, # PLC/device CANopen Node-ID (1..127)
|
||||
eds_path="device.eds", # Path to the device EDS/DCF file (put the file next to this script)
|
||||
|
||||
# Heartbeat / SYNC (optional)
|
||||
heartbeat_consumer_time_ms=0, # Set >0 to expect heartbeat from node
|
||||
heartbeat_producer_time_ms=0, # Requires device support; 0 = don't change
|
||||
use_sync=True, # Use SYNC object for synchronous PDOs
|
||||
sync_period_ms=10, # SYNC period if acting as producer
|
||||
|
||||
# PDO mapping (DS402-like defaults) — adjust to your PLC/device map
|
||||
# RxPDO: what Python sends TO the device (e.g., Controlword, Target position)
|
||||
#rxpdo_map=(
|
||||
# {"index": 0x6040, "subindex": 0x00, "size": 16}, # Controlword (UINT16)
|
||||
# {"index": 0x607A, "subindex": 0x00, "size": 32}, # Target position (INT32)
|
||||
#),
|
||||
TxPDO: what Python receives FROM the device (e.g., Statusword, Actual position)
|
||||
txpdo_map=(
|
||||
{"index": 0x6041, "subindex": 0x00, "size": 16}, # Statusword (UINT16)
|
||||
{"index": 0x6064, "subindex": 0x00, "size": 32}, # Position actual value (INT32)
|
||||
),
|
||||
# Transmission types:
|
||||
# For SYNC: usually 1..240 (1=sub-every SYNC). For async/evented: 255.
|
||||
rxpdo_trans_type=1,
|
||||
txpdo_trans_type=1,
|
||||
|
||||
# Demo motion (for DS402 profile position mode)
|
||||
do_enable_sequence=True,
|
||||
target_positions=[0, 10000, -5000, 0],
|
||||
dwell_ms=500, # wait time after each command
|
||||
)
|
||||
|
||||
|
||||
# =============
|
||||
# Helpers
|
||||
# =============
|
||||
def make_bus(cfg: Dict[str, Any]) -> can.Bus:
|
||||
"""Create and return a python-can Bus."""
|
||||
backend = cfg["backend"].lower()
|
||||
if backend == "socketcan":
|
||||
bus = can.interface.Bus(bustype="socketcan", channel=cfg["channel"], bitrate=cfg["bitrate"])
|
||||
elif backend == "pcan":
|
||||
bus = can.interface.Bus(bustype="pcan", channel=cfg["channel"], bitrate=cfg["bitrate"])
|
||||
elif backend == "kvaser":
|
||||
bus = can.interface.Bus(bustype="kvaser", channel=cfg["channel"], bitrate=cfg["bitrate"])
|
||||
else:
|
||||
raise ValueError(f"Unsupported backend: {backend}")
|
||||
return bus
|
||||
|
||||
|
||||
def setup_network(cfg: Dict[str, Any]) -> canopen.Network:
|
||||
"""Attach canopen.Network to an existing python-can Bus."""
|
||||
bus = make_bus(cfg)
|
||||
net = canopen.Network()
|
||||
# Attach python-can bus
|
||||
net.connect(bustype="python-can", channel=bus)
|
||||
return net
|
||||
|
||||
|
||||
def add_node(net: canopen.Network, cfg: Dict[str, Any]) -> canopen.RemoteNode:
|
||||
"""Add a remote node using an EDS file."""
|
||||
node = canopen.RemoteNode(cfg["node_id"], cfg["eds_path"])
|
||||
net.add_node(node)
|
||||
return node
|
||||
|
||||
|
||||
def set_heartbeat(node: canopen.RemoteNode, cfg: Dict[str, Any]) -> None:
|
||||
"""Optionally configure heartbeat via SDO (if supported by device)."""
|
||||
try:
|
||||
if cfg.get("heartbeat_producer_time_ms", 0) > 0:
|
||||
node.sdo[0x1017].raw = int(cfg["heartbeat_producer_time_ms"])
|
||||
# Heartbeat consumer is typically configured on the *master* side; for canopen lib,
|
||||
# you can add a consumer to monitor a node. Here we use basic timeout checks in the loop.
|
||||
except Exception as e:
|
||||
print(f"[WARN] Heartbeat config skipped: {e}")
|
||||
|
||||
|
||||
def clear_pdos(node: canopen.RemoteNode) -> None:
|
||||
"""Disable and clear all existing PDO mappings before re-mapping."""
|
||||
# Disable all TxPDOs and RxPDOs
|
||||
for pdo in node.tpdo.values():
|
||||
pdo.enabled = False
|
||||
pdo.clear()
|
||||
pdo.save()
|
||||
for pdo in node.rpdo.values():
|
||||
pdo.enabled = False
|
||||
pdo.clear()
|
||||
pdo.save()
|
||||
|
||||
|
||||
def map_pdos(node: canopen.RemoteNode, cfg: Dict[str, Any]) -> None:
|
||||
"""Map RxPDO/TxPDO according to CONFIG and enable them."""
|
||||
# --- Map RxPDOs (what WE send TO device) ---
|
||||
rpdo1 = node.rpdo[1]
|
||||
rpdo1.clear()
|
||||
for m in cfg["rxpdo_map"]:
|
||||
rpdo1.add_variable(m["index"], m["subindex"], length=m["size"])
|
||||
rpdo1.trans_type = cfg["rxpdo_trans_type"]
|
||||
rpdo1.enabled = True
|
||||
rpdo1.save()
|
||||
|
||||
# --- Map TxPDOs (what device sends TO us) ---
|
||||
tpdo1 = node.tpdo[1]
|
||||
tpdo1.clear()
|
||||
for m in cfg["txpdo_map"]:
|
||||
tpdo1.add_variable(m["index"], m["subindex"], length=m["size"])
|
||||
tpdo1.trans_type = cfg["txpdo_trans_type"]
|
||||
tpdo1.enabled = True
|
||||
tpdo1.save()
|
||||
|
||||
# Apply configuration on device
|
||||
node.nmt.state = 'PRE-OPERATIONAL'
|
||||
node.nmt.state = 'OPERATIONAL'
|
||||
|
||||
|
||||
def start_sync_producer(net: canopen.Network, period_ms: int) -> threading.Thread:
|
||||
"""Start a SYNC producer thread (if this controller should emit SYNC)."""
|
||||
stop_flag = {"stop": False}
|
||||
|
||||
def _loop():
|
||||
sync = canopen.sync.SyncProducer(net)
|
||||
interval = max(0.001, period_ms / 1000.0)
|
||||
while not stop_flag["stop"]:
|
||||
sync.transmit()
|
||||
time.sleep(interval)
|
||||
|
||||
t = threading.Thread(target=_loop, daemon=True)
|
||||
t.stop_flag = stop_flag # type: ignore[attr-defined]
|
||||
t.start()
|
||||
return t
|
||||
|
||||
|
||||
# =============
|
||||
# DS402 helpers
|
||||
# =============
|
||||
CW_SHUTDOWN = 0x0006
|
||||
CW_SWITCH_ON = 0x0007
|
||||
CW_ENABLE_OPERATION = 0x000F
|
||||
CW_DISABLE_VOLTAGE = 0x0000
|
||||
CW_QUICK_STOP = 0x0002
|
||||
CW_FAULT_RESET = 0x0080
|
||||
|
||||
|
||||
def drive_enable_sequence(node: canopen.RemoteNode) -> None:
|
||||
"""Minimal DS402 enable sequence using SDO Controlword/Statusword."""
|
||||
cw = node.sdo[0x6040]
|
||||
sw = node.sdo[0x6041]
|
||||
|
||||
def _write(value: int):
|
||||
cw.raw = value
|
||||
time.sleep(0.05)
|
||||
|
||||
# Fault reset if needed
|
||||
if sw.raw & 0x0008: # Fault bit
|
||||
_write(CW_FAULT_RESET)
|
||||
time.sleep(0.1)
|
||||
|
||||
_write(CW_SHUTDOWN)
|
||||
_write(CW_SWITCH_ON)
|
||||
_write(CW_ENABLE_OPERATION)
|
||||
|
||||
|
||||
def set_mode_of_operation(node: canopen.RemoteNode, mode: int) -> None:
|
||||
"""Set DS402 mode of operation (e.g., 1=Profile Position, 3=Profile Velocity, 6=Homing, 8=CSP...)."""
|
||||
node.sdo[0x6060].raw = int(mode)
|
||||
# Optional: read back
|
||||
_ = node.sdo[0x6061].raw
|
||||
|
||||
|
||||
# =============
|
||||
# Main demo
|
||||
# =============
|
||||
def main() -> None:
|
||||
cfg = CONFIG
|
||||
print("Connecting CAN...")
|
||||
net = setup_network(cfg)
|
||||
print(f"Connected via {cfg['backend']}:{cfg['channel']} @ {cfg['bitrate']}")
|
||||
|
||||
# Add node
|
||||
node = add_node(net, cfg)
|
||||
|
||||
# NMT reset + pre-op
|
||||
print("Resetting node...")
|
||||
node.nmt.reset_node()
|
||||
time.sleep(0.5)
|
||||
node.nmt.state = 'PRE-OPERATIONAL'
|
||||
time.sleep(0.2)
|
||||
|
||||
# Optional: heartbeat
|
||||
set_heartbeat(node, cfg)
|
||||
|
||||
# PDO mapping
|
||||
print("Mapping PDOs...")
|
||||
clear_pdos(node)
|
||||
map_pdos(node, cfg)
|
||||
|
||||
# Optional: start SYNC producer if we are the controller
|
||||
sync_thread: Optional[threading.Thread] = None
|
||||
if cfg.get("use_sync", False):
|
||||
print(f"Starting SYNC producer @ {cfg['sync_period_ms']} ms")
|
||||
sync_thread = start_sync_producer(net, cfg["sync_period_ms"])
|
||||
|
||||
# Go operational
|
||||
print("Switching to OPERATIONAL")
|
||||
node.nmt.state = 'OPERATIONAL'
|
||||
time.sleep(0.1)
|
||||
|
||||
# Enable sequence (DS402)
|
||||
if cfg.get("do_enable_sequence", True):
|
||||
try:
|
||||
print("Setting mode of operation = 1 (Profile Position)")
|
||||
set_mode_of_operation(node, 1)
|
||||
except Exception as e:
|
||||
print(f"[WARN] Skipping mode set: {e}")
|
||||
print("Running enable sequence...")
|
||||
try:
|
||||
drive_enable_sequence(node)
|
||||
except Exception as e:
|
||||
print(f"[WARN] Enable sequence failed/skipped: {e}")
|
||||
|
||||
# Shortcut handles to mapped PDO variables
|
||||
# RxPDO1 variables we control
|
||||
try:
|
||||
rpdo1 = node.rpdo[1]
|
||||
cw_var = rpdo1['Controlword'] if 'Controlword' in rpdo1.map else rpdo1[0]
|
||||
tgt_pos_var = rpdo1['Target position'] if 'Target position' in rpdo1.map else rpdo1[1]
|
||||
except Exception:
|
||||
rpdo1 = None
|
||||
cw_var = None
|
||||
tgt_pos_var = None
|
||||
|
||||
# TxPDO1 variables we read
|
||||
try:
|
||||
tpdo1 = node.tpdo[1]
|
||||
sw_var = tpdo1['Statusword'] if 'Statusword' in tpdo1.map else tpdo1[0]
|
||||
act_pos_var = tpdo1['Position actual value'] if 'Position actual value' in tpdo1.map else tpdo1[1]
|
||||
except Exception:
|
||||
tpdo1 = None
|
||||
sw_var = None
|
||||
act_pos_var = None
|
||||
|
||||
# Demo loop: write a few target positions and read back status/position
|
||||
try:
|
||||
for idx, target in enumerate(cfg.get("target_positions", []), 1):
|
||||
print(f"\n[{idx}] Command target position = {target}")
|
||||
if rpdo1 is not None and tgt_pos_var is not None:
|
||||
tgt_pos_var.raw = int(target)
|
||||
# Ensure CW has Enable Operation bit set when using RxPDO
|
||||
if cw_var is not None:
|
||||
cw_var.raw = CW_ENABLE_OPERATION
|
||||
rpdo1.transmit()
|
||||
else:
|
||||
# Fallback via SDO
|
||||
print(" (No RxPDO mapped; writing via SDO 0x607A)")
|
||||
node.sdo[0x607A].raw = int(target)
|
||||
node.sdo[0x6040].raw = CW_ENABLE_OPERATION
|
||||
|
||||
# Read back
|
||||
t0 = time.time()
|
||||
while time.time() - t0 < (cfg.get("dwell_ms", 500) / 1000.0):
|
||||
if tpdo1 is not None:
|
||||
# Request update on SYNC; if evented/cyclic, values will refresh automatically
|
||||
time.sleep(0.01)
|
||||
try:
|
||||
sw = sw_var.raw if sw_var is not None else None
|
||||
pos = act_pos_var.raw if act_pos_var is not None else None
|
||||
print(f" TPDO: Status=0x{(sw or 0):04X}, Position={pos}")
|
||||
except Exception:
|
||||
pass
|
||||
else:
|
||||
# Read via SDO occasionally
|
||||
try:
|
||||
sw = node.sdo[0x6041].raw
|
||||
pos = node.sdo[0x6064].raw
|
||||
print(f" SDO: Status=0x{sw:04X}, Position={pos}")
|
||||
except Exception:
|
||||
pass
|
||||
time.sleep(0.05)
|
||||
|
||||
print("\nDemo completed.")
|
||||
finally:
|
||||
# Stop SYNC
|
||||
if sync_thread is not None:
|
||||
sync_thread.stop_flag["stop"] = True # type: ignore[attr-defined]
|
||||
time.sleep(0.05)
|
||||
# Disconnect
|
||||
try:
|
||||
net.disconnect()
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
import can
|
||||
import time
|
||||
|
||||
bus = can.interface.Bus(bustype="socketcan", channel="can0", bitrate=500000)
|
||||
|
||||
node_id = 1
|
||||
cob_id = 0x200 + node_id # 0x201
|
||||
value = 1234
|
||||
|
||||
data_bytes = value.to_bytes(2, byteorder="little", signed=True)
|
||||
msg = can.Message(arbitration_id=cob_id, data=data_bytes, is_extended_id=False)
|
||||
|
||||
for i in range(10):
|
||||
try:
|
||||
bus.send(msg)
|
||||
print(f"Sent {value} to PLC (COB-ID=0x{cob_id:X})")
|
||||
except can.CanError:
|
||||
print("Message NOT sent")
|
||||
time.sleep(1)
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
from mymodule import 範圍
|
||||
|
||||
print(範圍(60))
|
||||
|
|
@ -0,0 +1,5 @@
|
|||
def 範圍 (A):
|
||||
if 10>A:
|
||||
return "太小"
|
||||
else:
|
||||
return "正常"
|
||||
|
|
@ -1,4 +1,7 @@
|
|||
from pymodbus.client.sync import ModbusTcpClient
|
||||
import os
|
||||
os.add_dll_directory(r"C:\Users\huiting\Desktop\PCAN-Basic\x64") # 換成 DLL 的實際路徑
|
||||
|
||||
import time
|
||||
|
||||
# 設定 PLC IP 和 Port
|
||||
|
|
|
|||
|
|
@ -0,0 +1,14 @@
|
|||
import socket
|
||||
|
||||
PLC_IP = "169.254.11.8" # 換成你的 PLC IP
|
||||
PLC_PORT = 5000
|
||||
|
||||
message = "W=99;"
|
||||
|
||||
try:
|
||||
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
|
||||
s.connect((PLC_IP, PLC_PORT))
|
||||
s.sendall(message.encode())
|
||||
print(f"[Python] 已傳送: {message}")
|
||||
except Exception as e:
|
||||
print(f"[Python] 傳送失敗: {e}")
|
||||
|
|
@ -0,0 +1,25 @@
|
|||
// rclcpp 是 ROS2 的 C++ 客戶端函式庫（ROS Client Library for C++）
|
||||
// 提供 Node、Publisher/Subscriber、Timer、Logging 等 API。
|
||||
#include "rclcpp/rclcpp.hpp"
|
||||
// std_msgs/msg/string.hpp 是 ROS2 內建的訊息型別套件 std_msgs 裡的 String 訊息定義。
|
||||
// 這個訊息就只有一個欄位：std::string data;
|
||||
#include "std_msgs/msg/string.hpp"
|
||||
// <chrono> 讓我們能用 C++ 時間單位（例如 1s），搭配計時器使用。
|
||||
#include <chrono>
|
||||
// 匯入 chrono 的字面常數，例如 1s, 100ms。
|
||||
// 沒有這行的話，程式裡寫 1s 會編譯失敗。
|
||||
using namespace std::chrono_literals;
|
||||
|
||||
// 定義一個節點類別，繼承 rclcpp::Node。
|
||||
// 一個「節點（Node）」就是一個 ROS2 程式的執行單元，可以包含 Publisher/Subscriber/Service/Action 等。
|
||||
class MyfristRos2_pub : public rclcpp::Node{
|
||||
public:
|
||||
MyfristRos2_pub():Node("node_pub"),count_(0){
|
||||
publisher_=this->create_publisher<std_msgs::msg::String>("topic_for_vulue",10);
|
||||
timer_ = this->create_wall_timer(
|
||||
1s, std::bind(&MyfristRos2_pub::publish_message, this));
|
||||
}
|
||||
private:
|
||||
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
# file: write_sdo_min.py
|
||||
# pip install python-can canopen
|
||||
import time
|
||||
import can
|
||||
import canopen
|
||||
|
||||
# === 請依你的硬體改這裡 ===
|
||||
IFACE = "pcan" # pcan | kvaser | ixxat | slcan
|
||||
CHANNEL = "PCAN_USBBUS1" # kvaser/ixxat 用 0；slcan 用 "COM5"
|
||||
BITRATE = 500000
|
||||
NODE_ID = 1 # 你的 PLC Node-ID
|
||||
EDS = "PLC.eds" # 你的 EDS/DCF（放同資料夾）
|
||||
INDEX = 0x2000 # 你在 PLC 端對外開放的 OD 物件
|
||||
SUB = 0x00
|
||||
VALUE = 1234 # 要寫入的整數（型別需與 EDS 一致）
|
||||
|
||||
# === 建立 bus & network ===
|
||||
bus = can.interface.Bus(bustype=IFACE, channel=CHANNEL, bitrate=BITRATE)
|
||||
net = canopen.Network()
|
||||
net.connect(bustype="python-can", channel=bus)
|
||||
|
||||
node = canopen.RemoteNode(NODE_ID, EDS)
|
||||
net.add_node(node)
|
||||
|
||||
# 建議在 PRE-OP 寫參數
|
||||
node.nmt.state = "PRE-OPERATIONAL"
|
||||
node.sdo[INDEX][SUB].raw = VALUE
|
||||
time.sleep(0.05)
|
||||
print(f"SDO write OK -> {INDEX:04X}:{SUB:02X} = {VALUE}")
|
||||
|
||||
net.disconnect()
|
||||
Loading…
Reference in New Issue