Cannot talk with PLC

[zfxw0206]

I have a ControlLogix PLC, and want to realize the communication between ROS and this PLC. Previously, I was using slot 0 of PLC, it was fine, but now after changing to slot 4, I could not send the tag to PLC even though I can ping the PLC. Does anybody can help me? Thank you!

[pjkundert]

You can supply a different route_path when you create the operation. It defaults to slot 1. Change that to port:0, slot:4. See the documentation at https://github.com/pjkundert/cpppo

On Monday, June 27, 2016, zfxw0206 notifications@github.com wrote:

I have a ControlLogix PLC, and want to realize the communication between ROS and this PLC. Previously, I was using slot 0 of PLC, it was fine, but now after changing to slot 4, I could not send the tag to PLC even though I can ping the PLC. Does anybody can help me? Thank you!

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-pjk

[zfxw0206]

I found the default route_path in " cpppo/server/enip/main.py" : route_path_default = [{'link': 0, 'port': 1}] Do you mean I should change it to "route_path_default = [{'link': 4, 'port': 0}]" or "route_path_default = [{'link': 0, 'port': 4}]"?

[datasim]

No, pass link 0, port 1 in the route_path argument to client.parse_operations.

On Monday, June 27, 2016, zfxw0206 notifications@github.com wrote:

I found the default route_path in " cpppo/server/enip/main.py" : route_path_default = [{'link': 0, 'port': 1}] Do you mean I should change it to route_path_default = [{'link': 4, 'port': 0}]?

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-pjk

[zfxw0206]

I did not see the route_path set in client.parse_operations. Do I need to add it?

[datasim]

I notice that I haven't updated the documentation! Sorry about that. I'll fix it.

Just pass route_path=... as a keyword parameter to client.parse_operations, with your custom value. It will use it (instead of the default) in the resultant sequence of operations.

On Monday, June 27, 2016, zfxw0206 notifications@github.com wrote:

I did not see the route_path set in client.parse_operations. Do I need to add it?

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-pjk

[zfxw0206]

client.parse_operations yield "opr" which is a dictionary. Do you mean add "route_path" in this dictionary? Can you give me more details about where to add "route_path" and how this parameter looks link? Is it "opr['route_path'] = {'link': 4, 'port': 0} (I am using slot 4)"? Thank you!

[datasim]

Just pass another keyword parameter when you call parse_operations( ..., route_path={'link': 4, 'port': 0} http://i%20am%20using%20slot%204/ )

It takes all remaining unrecognized keywords and adds then to each operation it yields.

On Tuesday, June 28, 2016, zfxw0206 notifications@github.com wrote:

client.parse_operations yield "opr" which is a dictionary. Do you mean add "route_path" in this dictionary? Can you give me more details about where to add "route_path" and how this parameter looks link? Is it "opr['route_path'] = {'link': 4, 'port': 0} http://I%20am%20using%20slot%204"? Thank you!

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-pjk

[zfxw0206]

I have a code named "write_to_plc", in this code, I didn't call parse_operations, but called "client.main". previously, my code is like this: result = client.main(["-a", plc_ip_address, combinedTag])

Now, I want to add "--route-path" like: result = client.main(["-a", plc_ip_address, combinedTag]["--route-path", [{'link': 4, 'port': 1}]])

Then, I got the following error: [ERROR] [WallTime: 1467144731.410220] bad callback: <bound method CallbackListener.ros_heartbeat_callback of <main.CallbackListener instance at 0x7faf9584f710>> Traceback (most recent call last): result = client.main(["-a", plc_ip_address, combinedTag]["--route-path", [{'link': 4, 'port': 1}]]) TypeError: list indices must be integers, not tuple

Can I set the route path in "client.main"? If I can, how to fix this error? Thank you!

[datasim]

Ah, if you are using cpppo.server.enip client.main, then you need to supply the --route-path as valid JSON. Only double-quoted dictionary keys are allowed. So, change your code to ... [ "--route-path", '[{"link": 4, "port": 1}]' ]

I assumed you were using the client API directly, and therefore calling client.parse_operations directly in your code.

-pjk

On Tue, Jun 28, 2016 at 2:20 PM, zfxw0206 notifications@github.com wrote:

I have a code named "write_to_plc", in this code, I didn't call parse_operations, but called "client.main". previously, my code is like this: _result = client.main(["-a", plc_ipaddress, combinedTag])

Now, I want to add "--route-path" like: _result = client.main(["-a", plc_ipaddress, combinedTag]["--route-path", [{'link': 4, 'port': 1}]])

Then, I got the following error:

_[ERROR] [WallTime: 1467144731.410220] bad callback: > Traceback (most recent call last): result = client.main(["-a", plc_ipaddress, combinedTag]["--route-path", [{'link': 4, 'port': 1}]]) TypeError: list indices must be integers, not tuple

Can I set the route path in "client.main"? If I can, how to fix this error? Thank you!

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[zfxw0206]

I changed the route path to '[{"link": 4, "port": 1}]', but it still doesn't work. Except for setting route path, is there other option to write to plc when the plc uses slot 4?

[datasim]

I'm almost certain that it should be link:0, port:4.

-pjk

On Tue, Jun 28, 2016 at 3:03 PM, zfxw0206 notifications@github.com wrote:

I changed the route path to '[{"link": 4, "port": 1}]', but it still doesn't work. Except for setting route path, is there other option to write to plc when the plc uses slot 4?

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[zfxw0206]

Because I am calling client.main and client.main calls parse_operations, I want to print route path in client.main to check if I set it successfully. I add the print after line 1518 of client.py , but it prints nothing. Can you tell me a way to display the route path, then I can check it. Thank you!

[datasim]

I would recommend adding some -v options to increase verbosity; the logging should display the route_path used.

On Wednesday, June 29, 2016, zfxw0206 notifications@github.com wrote:

Because I am calling client.main and client.main calls parse_operations, I want to print route path in client.main to check if I set it successfully. I add the print after line 1518 of client.py , but it print nothing. Can you tell me a way to display the route path, then I can check it. Thank you!

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-pjk

[zfxw0206]

I did something wrong yesterday. Now I am using '[{"link": 4, "port": 1}]', it is working. Thank you very much!