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Received ModbusException(Modbus Error: [Connection] ModbusTcpClient(1…
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…92.168.8.152:502): Connection unexpectedly closed 5.7697296142578125e-05 seconds into read of 8 bytes without response from slave before it closed connection) from library
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TAN Hongkui committed Aug 15, 2023
1 parent b62925e commit 0aa3de5
Showing 1 changed file with 69 additions and 86 deletions.
155 changes: 69 additions & 86 deletions seed_modbus.py
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Expand Up @@ -67,18 +67,17 @@ def connect_socket():
f"Local address: {client.getsockname()} <-connected-> Remote address: {client.getpeername()}"
)
return client
except ConnectionRefusedError as e:
except (TimeoutError, ConnectionRefusedError, OSError) as e:
if client:
client.close()
# logging.warning(f"Errno: {e.errno}")
logging.warning(e)
time.sleep(5)

cc = connect_socket()
client = connect_socket()
while True:
try:
# read the socket
data = cc.recv(unpacker.size)
# I use "ncat -l 9011" to test
# TODO server closes, but recv() does not raise any error
# upack the data (= interpret the datagram)
data = client.recv(unpacker.size)
if not data:
continue
unpacked_data = unpacker.unpack(data)
Expand All @@ -95,35 +94,17 @@ def connect_socket():
"localization_state": unpacked_data[3],
}
logging.debug(pose)
return pose
except TimeoutError as e:
logging.warning(e)
# except TimeoutError as e:
# logging.warning(e)
except struct.error as e:
logging.exception(e)
except OSError as e:
# except OSError as e:
except (TimeoutError, OSError) as e:
logging.exception(e)
if cc:
cc.close()
if client:
client.close()
time.sleep(5)
cc = connect_socket()


def connect_socket():
cc = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

# if there is a socket error, close the socket and start the loop again to try to reconnect
# cc.close()
# logging.error("Socket error. Reconnecting...")
# while True:
# try:
# # create a new socket and try to reconnect
# cc = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# # cc.settimeout(5)
# cc.connect((host, port))
# break
# except OSError:
# logging.error("Failed to reconnect. Retrying in 5 seconds...")
# time.sleep(5)
client = connect_socket()


def clientLocalizationSetSeed(
Expand Down Expand Up @@ -153,7 +134,11 @@ def clientLocalizationSetSeed(

logging.debug(f"x={x}, y={y}, a={a}")
response = requests.post(url=url, json=payload)
# print(response.json())
logging.debug(response.json())
if response.json()["result"]["response"]["responseCode"] == 0:
return True
else:
return False


def sessionLogin() -> str:
Expand All @@ -176,12 +161,10 @@ def sessionLogin() -> str:
}
id = id + 1
logging.debug(payload)

response = requests.post(url=url, json=payload)
logging.debug(response.json())
sessionId = response.json()["result"]["response"]["sessionId"]

return sessionId
return sessionId # an empty string in case of a sessionLogin failure


def sessionLogout(sessionId: str = None):
Expand All @@ -200,6 +183,10 @@ def sessionLogout(sessionId: str = None):

response = requests.post(url=url, json=payload)
logging.debug(response.json())
if response.json()["result"]["response"]["responseCode"] == 0:
return True
else:
return False


def update_seed_0(host, port, address, byte_order, word_order):
Expand All @@ -219,15 +206,17 @@ def update_seed_0(host, port, address, byte_order, word_order):
or abs(pose_b["y"] - pose_a["y"]) > 0.005
or abs(pose_b["yaw"] - pose_a["yaw"]) > 0.0087
):
assert client.connect()
mb_set_pose(client, address, pose_b, byte_order, word_order)
assert client.connect(), "Modbus connection failed."
assert mb_set_pose(
client, address, pose_b, byte_order, word_order
), "Could not update pose of seed 0."
logging.info(
f"seed 0 updated, x={pose_b['x']}, y={pose_b['y']}, yaw={pose_b['yaw']}"
)
pose_a = pose_b
time.sleep(0.5)
except (AssertionError, ConnectionException):
logging.info("Connection error: Reconnect in 3 seconds...")
except (AssertionError, ConnectionException) as e:
logging.warning(e)
time.sleep(3)


Expand All @@ -246,31 +235,21 @@ def teach_or_set_seed(
# Set up the Modbus client
client = ModbusTcpClient(host, port)

# while True:
# try:
# assert client.connect()
# # Retrieve the data
# bits_a = mb_get_bits(
# bits_starting_addr, seed_num, client, byte_order, word_order
# )
# logging.debug(f"bits_a, length={len(bits_a)}: {bits_a}")
# break
# except (AssertionError, ConnectionException):
# logging.warning("Modbus onnection error: Reconnect in 3 seconds...")
# time.sleep(3)
bits_a = {}
while True:
try:
assert client.connect()
assert client.connect(), "Modbus connection failed."
if bits_a == {}:
bits_a = mb_get_bits(
bits_starting_addr, seed_num, client, byte_order, word_order
)
assert bits_a, "Could not get seed bits_a."
time.sleep(0.5)
bits_b = mb_get_bits(
bits_starting_addr, seed_num, client, byte_order, word_order
)
if bits_b is None or bits_b == bits_a:
assert bits_b, "Could not get seed bits_b."
if bits_b == bits_a:
continue
logging.debug(f"bits_a, length={len(bits_a)}: {bits_a}")
logging.debug(f"bits_b, length={len(bits_b)}: {bits_b}")
Expand All @@ -280,62 +259,64 @@ def teach_or_set_seed(
# read current pose from Locator and write it to pose i in the data block
pose_current = pose
assert pose_current["localization_state"] >= 2, "NOT_LOCALIZED"
mb_set_pose(
assert mb_set_pose(
client,
poses_starting_addr + i * 6,
pose_current,
byte_order,
word_order,
)
), f"Could not set pose of seed {i}."
logging.info(
f"seed {i} taught, x={pose_current['x']}, y={pose_current['y']}, yaw={pose_current['yaw']}"
)
# reset bit teachSeed in modbus data block
bits_b[i][2] = False
logging.debug(f"bits_b, length={len(bits_b)}: {bits_b}")
mb_set_bits(
assert mb_set_bits(
client,
bits_starting_addr,
bits_b,
byte_order,
word_order,
)
), "Could not set bits."
break

# set seed
if not bits_a[i][3] and bits_b[i][3]:
# TODO if any JSON-API method fails
session_id = sessionLogin()
pose_x, pose_y, pose_yaw = mb_get_pose(
seed_pose = mb_get_pose(
poses_starting_addr, i, client, byte_order, word_order
)
clientLocalizationSetSeed(
assert seed_pose, "Could not get pose of seed {i}."
session_id = sessionLogin()
assert session_id, "Locator client session login failed."
assert clientLocalizationSetSeed(
sessionId=session_id,
x=pose_x,
y=pose_y,
a=pose_yaw,
x=seed_pose[0],
y=seed_pose[1],
a=seed_pose[2],
enforceSeed=bits_b[i][0],
uncertainSeed=bits_b[i][1],
)
# TODO if setting seed fails
sessionLogout(session_id)
), "Setting seed failed."
assert sessionLogout(
session_id
), "Locator client session logout failed."
logging.info(
f"seed {i} set, x={pose_x}, y={pose_y}, yaw={pose_yaw}"
f"seed {i} set, x={seed_pose[0]}, y={seed_pose[1]}, yaw={seed_pose[2]}"
)
# reset bit setSeed in modbus data block
bits_b[i][3] = False
mb_set_bits(
assert mb_set_bits(
client,
bits_starting_addr,
bits_b,
byte_order,
word_order,
)
), "Could not set bits."
break
# bits_b != bits_a, but no changing from False to True
bits_a = bits_b
except (AssertionError, ConnectionException):
logging.info("Modbus connection error: Reconnect in 3 seconds...")
except (AssertionError, ConnectionException) as e:
logging.warning(e)
time.sleep(3)


Expand All @@ -344,21 +325,21 @@ def mb_get_pose(poses_starting_addr, i, client, byte_order, word_order):
rr = client.read_holding_registers(poses_starting_addr + i * 6, 6)
except ModbusException as exc:
print(f"Received ModbusException({exc}) from library")
return
return False
if rr.isError(): # pragma no cover
print(f"Received Modbus library error({rr})")
return
return False
if isinstance(rr, ExceptionResponse): # pragma no cover
print(f"Received Modbus library exception ({rr})")
# THIS IS NOT A PYTHON EXCEPTION, but a valid modbus message
return
return False
decoder = BinaryPayloadDecoder.fromRegisters(
rr.registers, byteorder=byte_order, wordorder=word_order
)
pose_x = decoder.decode_32bit_float()
pose_y = decoder.decode_32bit_float()
pose_yaw = decoder.decode_32bit_float()
return pose_x, pose_y, pose_yaw
return [pose_x, pose_y, pose_yaw]


def mb_set_pose(client, address, pose, byte_order, word_order):
Expand All @@ -371,14 +352,15 @@ def mb_set_pose(client, address, pose, byte_order, word_order):
rr = client.write_registers(address, registers)
except ModbusException as exc:
print(f"Received ModbusException({exc}) from library")
return
return False
if rr.isError(): # pragma no cover
print(f"Received Modbus library error({rr})")
return
return False
if isinstance(rr, ExceptionResponse): # pragma no cover
print(f"Received Modbus library exception ({rr})")
# THIS IS NOT A PYTHON EXCEPTION, but a valid modbus message
return
return False
return True


def mb_get_bits(bits_starting_addr, seed_num, client, byte_order, word_order):
Expand All @@ -389,14 +371,14 @@ def mb_get_bits(bits_starting_addr, seed_num, client, byte_order, word_order):
rr = client.read_holding_registers(bits_starting_addr, bits_register_count)
except ModbusException as exc:
print(f"Received ModbusException({exc}) from library")
return
return False
if rr.isError(): # pragma no cover
print(f"Received Modbus library error({rr})")
return
return False
if isinstance(rr, ExceptionResponse): # pragma no cover
print(f"Received Modbus library exception ({rr})")
# THIS IS NOT A PYTHON EXCEPTION, but a valid modbus message
return
return False

# decoder = BinaryPayloadDecoder.fromRegisters(
# result.registers, byteorder=byte_order, wordorder=word_order
Expand Down Expand Up @@ -440,16 +422,17 @@ def mb_set_bits(client, bits_starting_addr, bits_list, byte_order, word_order):
except ModbusException as exc:
print(f"Received ModbusException({exc}) from library")
# client.close()
return
return False
if rr.isError(): # pragma no cover
print(f"Received Modbus library error({rr})")
# client.close()
return
return False
if isinstance(rr, ExceptionResponse): # pragma no cover
print(f"Received Modbus library exception ({rr})")
# THIS IS NOT A PYTHON EXCEPTION, but a valid modbus message
# client.close()
return
return False
return True


if __name__ == "__main__":
Expand Down

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