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- package at.acdp.urweb.fhpp;
- import java.util.ArrayList;
- import java.util.List;
- import java.util.concurrent.*;
- import at.acdp.urweb.Params;
- import com.digitalpetri.modbus.codec.Modbus;
- import com.digitalpetri.modbus.master.ModbusTcpMaster;
- import com.digitalpetri.modbus.master.ModbusTcpMasterConfig;
- import com.digitalpetri.modbus.requests.*;
- import com.digitalpetri.modbus.responses.ReadHoldingRegistersResponse;
- import io.netty.util.ReferenceCountUtil;
- import org.slf4j.Logger;
- import org.slf4j.LoggerFactory;
- public class FHMaster {
- private final Logger logger = LoggerFactory.getLogger(getClass());
- public static int posfaktorNum=1;
- public static int posfaktorDiv=1;
- private ModbusTcpMaster master;
- private final ScheduledExecutorService scheduler = Executors.newSingleThreadScheduledExecutor();
- private volatile boolean started = false;
- public FHMaster() {
- }
- public void start(Params app) throws InterruptedException {
- started = true;
- ModbusTcpMasterConfig config = new ModbusTcpMasterConfig.Builder(app.axisIP)
- .setPort(app.axisPort)
- .build();
- master = new ModbusTcpMaster(config);
- while(true) {
- Thread.sleep(1000);
- readStatus();
- }
- }
- private void sendRequests(ModbusTcpMaster master, List<ModbusRequest> reqs) {
- for(var req: reqs) {
- var future=master.sendRequest(req, 0);
- future.whenCompleteAsync((response, ex) -> {
- if (response != null) {
- ReferenceCountUtil.release(response);
- }
- else {
- logger.error("Completed exceptionally, message={}", ex.getMessage(), ex);
- }
- }, Modbus.sharedExecutor());
- }
- }
- private void send(byte[] bytes, int quantity) {
- CompletableFuture<ReadHoldingRegistersResponse> f =
- master.sendRequest(new WriteMultipleRegistersRequest(0, quantity, bytes), 0);
- f.join();
- }
- public void direktAuftrag(int pos, int speed, int start, boolean relative) {
- byte ccon=0x0;
- ccon|=(1<<0); // Enable drive
- ccon|=(1<<1); // !Stop
- ccon|=(1<<2); // Release Brake
- ccon|=(0<<3); //Reset fault
- ccon|=(0<<4); //Reserved
- ccon|=(0<<5); //lock software
- ccon|=(1<<6 |0 <<7); //lock software
- // 0,0 Satzselektion
- // 1,0 Direktauftrag
- // 0,1 Reserviert
- // 1,1 Reserviert
- byte cpos=0x0;
- cpos|=(1<<0); // !Halt
- cpos|=(start<<1); // start fahrauftrag
- cpos|=(0<<2); // start homing
- cpos|=(0<<3); // jog pos
- cpos|=(0<<4); // jog neg
- cpos|=(0<<5); // teach value
- cpos|=(0<<6); // clear remaining pos.
- cpos|=(0<<7); // Reserved
- byte cdir=0x0;
- cdir|=((relative==true?1:0) <<0); // relative(1), absolute(0)
- cdir|= (0<<1| 0<<2); //absolute/relative
- // 0,0 Positionsregelung
- // 0,1 Kraftbetrieb
- // 1,0 Geschwindigkeitsregelung
- // 1,1 Reserviert
- cdir|=(0<<3); // Function Number Kurvenscheibenfunktion (0=nein)
- cdir|=(0<<4); // Function Number Kurvenscheibenfunktion (0=nein)
- cdir|=(0<<5); // Function Group Kurvenscheibenfunktion (0=nein)
- cdir|=(0<<6); // Function Group Kurvenscheibenfunktion (0=nein)
- cdir|=(0<<7); // 0 = normal; 1=kurvenscheibenfunktion
- byte sbyte4= (byte) speed; // Geschw, in % vom Basiswert (PNU540
- byte sbyte8= (byte)(pos& 0xff);
- byte sbyte7= (byte)((pos>>8) & 0xff);
- byte sbyte6= (byte)((pos>>16) & 0xff);
- byte sbyte5= (byte)((pos>>24) & 0xff);
- send(new byte[]{ccon,
- cpos,
- cdir,
- sbyte4,
- sbyte5,
- sbyte6,
- sbyte7,
- sbyte8,
- },4);
- }
- public CompletableFuture<Status> readStatus() {
- if(master==null)
- return null;
- CompletableFuture<ReadHoldingRegistersResponse> f =master.sendRequest(new ReadHoldingRegistersRequest(0,4), 0);
- CompletableFuture<Status> fc= f.thenApply((response) -> {
- if (response != null) {
- var bb=response.getRegisters();
- try {
- byte[] bytes = new byte[bb.readableBytes()];
- bb.readBytes(bytes);
- Status s=new Status();
- s.read(bytes);
- return s;
- // System.out.println(s.toString());
- // System.out.println(ByteBufUtil.hexDump(bb));
- }
- catch (Exception e) {
- e.printStackTrace();
- }
- ReferenceCountUtil.release(response);
- }
- else {
- logger.error("Completed exceptionally, message={}", "null");
- }
- return null;
- });
- return fc;
- }
- public void bereitschaft() {
- List<ModbusRequest> blist = new ArrayList<>();
- blist.add(new WriteMultipleRegistersRequest(0,4, new byte[]{0b01000111,0,0,0,0,0,0,0}));
- try {
- Thread.sleep(10);
- sendRequests(master, blist);
- Thread.sleep(10);
- } catch (InterruptedException e) {
- e.printStackTrace();
- }
- }
- public void stop() {
- started = false;
- }
- }
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