python-controller

This library allows communicating with a controller component using the UDP driver through the Gateway.

How to use it

First you will need to clone this repository or copy Controller.py file to your computer.

Create an instance of UDP_Controller and then add the variables that you have used in the controller component.

from Controller import UDP_Controller
_controller = UDP_Controller()
_controller.addVariable("inputs", "byte", 0)
_controller.addVariable("outputs", "byte", 0)

Once the setup is completed you should call 'start()' to enable the controller.

_controller.start()

Program your logic and call 'getValue(variable_name)' to obtain the latest value received from the controller component, and 'setValue()' to modify the value on the controller component.

value = _controller.getValue("inputs")
_controller.setValue("outputs", 12)

You can automatically map bit values of discrete datatypes using 'getMappedValue(variable_name)' or 'setMappedValue()' respectivelly. Note that mapping is done following standard order [MSB...LSB]:

[in_7, in_6, in_5, in_4, in_3, in_2, in_1, in_0] = _controller.getMappedValue("inputs")
_controller.setMappedValue("outputs", [out_7, out_6, out_5, out_4, out_3, out_2, out_1, out_0])

Simple example code (see example.py):

The next example code sets the 'inputs' value to the 'outputs' value:

import time
from Controller import UDP_Controller

if __name__ == '__main__':

    _controller = UDP_Controller()
    _controller.addVariable("inputs", "byte", 0)
    _controller.addVariable("outputs", "byte", 0)
    _controller.start()

    while True:

        value = _controller.getValue("inputs")
        _controller.setValue("outputs", value)
        
        time.sleep(1e-5)

Example code with mapping (see example_mapping.py):

The next example code shows the use of value mapping methods:

import time
from Controller import UDP_Controller

if __name__ == '__main__':

    _controller = UDP_Controller()
    _controller.addVariable("inputs", "byte", 0)
    _controller.addVariable("outputs", "byte", 0)
    _controller.start()
    
    while True:

        [_, _, _, _, _, S03, S02, S01] = _controller.getMappedValue("inputs")
        H01 = S01
        H02 = not S01 and S02
        H03 = S03 or S02
        _controller.setMappedValue("outputs", [_, _, _, _, _, H03, H02, H01])
        
        time.sleep(2e-1)