基于libmodbus库在ros实现驱动编写简单示例

1.linux安装libmodbus库

    git clone git://github.com/stephane/libmodbus
    cd libmodbus
    ./autogen.sh

    如果报错，安装
    sudo apt-get install libtool

    接着配置，在libmodbus文件夹里新建一个install文件夹用来存放编译生成的相关文件
 
    mkdir install

    cd install
    ./configure --prefix=/home/orangepi/lou/libmodbus/install   //home/orangepi/lou/libmodbus/install为安装路径

    make
    make install

    sudo cp -r lib/libmodbus.so* /usr/lib

2.部分示例代码

class PLCModbusTCP {
public:
    PLCModbusTCP(const std::string& server_ip, int port);
    ~PLCModbusTCP();

    bool connect();
    void disconnect();
    void start();
    void stop();
    void readRegisters();
    bool writeRegisters(const std::vector<uint16_t>& values);
    void floatToRegisters(float value,uint16_t* low, uint16_t* high);
    
    //回调函数
    ....

private:
    void readLoop();
    void writeLoop();
    ros::Subscriber heartbeat_Sub;          
    ros::Publisher heartbeat_Pub;           
 
    
    modbus_t *ctx_;
    std::string server_ip_;
    int port_;
    bool running_;
    std::thread read_thread_;
    std::thread write_thread_;
    std::mutex mtx_;
    std::vector<uint16_t> write_values_;
    int starting_address_;
    int  quantity_;
};
     

源文件部分代码示意：

void PLCModbusTCP::readRegisters() {
    uint16_t tab_reg[10];  // Adjust the size according to your needs
    int rc = modbus_read_registers(ctx_, 0, 10, tab_reg);
    if (rc == -1) {
        std::cerr << "Read failed: " << modbus_strerror(errno) << std::endl;
    } else {
        std::cout << "Registers read successfully:" << std::endl;
        for (int i = 0; i < rc; ++i) {
            std::cout << "Register " << i << ": " << tab_reg[i] << std::endl;
        }
    }
}


// Write values to the PLC
bool PLCModbusTCP::writeRegisters(const std::vector<uint16_t>& values) {
    write_values_ = values;
    if (!write_values_.empty()) 
    {
        return 1;
    }
    else
    {

        return 0;
    }
}

主函数：

int main(int argc, char **argv) {
    ros::init(argc, argv, "plc_modbus_node");
    PLCModbusTCP plc_driver("192.168.1.5", 502);     //
    if (!plc_driver.connect()) {
        return 1;
    }
    std::vector<uint16_t> values (20,0);  //初始化写入数据数组   
    if (!plc_driver.writeRegisters(values)) {  

        ROS_ERROR("Failed to write registers to PLC.");  
    }  

    plc_driver.start();                   //开始线程读取

    // Example write operation
 
    plc_driver.writeRegisters(values);  

    ros::Rate loop_rate(50);
    while (ros::ok()) 
    {
        ros::spinOnce();
        loop_rate.sleep();
    }
    std::cout<<"1"<<std::endl;
    plc_driver.stop();
    plc_driver.disconnect();
     std::cout<<"2"<<std::endl;

    return 0;
}

ROS运行结果：

链接：Linux安装libmodbus库_linux libmodbus-CSDN博客