jodle001 / ros2_pyads

This is a ros2 package that will be a wrapper around the pyads library to have communication between ros2 and beckhoff PLCs.

ros2_pyads's Issues

Move the connection to the constructor

Every time something is read or written it restarts the pyads connection which is unnecessary. So moving this to the constructor should be better.

ros2_pyads/ros2_pyads/ros2_pyads/ads_com.py

Lines 55 to 56 in b2dab04

	with pyads.Connection(self.remote_ads, pyads.PORT_TC3PLC1, self.plc_ip) as plc:
	var = plc.read_by_name(var_name, var_type)

This function in ads_com "write_by_name" should return a boolean value.

Here is the function in question. which doesn't return any boolean value.

ros2_pyads/ros2_pyads/ros2_pyads/ads_com.py

Lines 59 to 68 in b2dab04

	def write_by_name(self, var_name, var_value, var_type):
	"""
	Write a variable to the PLC by name.
	:param var_name: The name of the variable to write (e.g., 'MAIN.testVar')
	:param var_value: The value of the variable to write (e.g., 5)
	:param var_type: The type of the variable to write (e.g., pyads.PLCTYPE_DWORD)
	"""
	with pyads.Connection(self.remote_ads, pyads.PORT_TC3PLC1, self.plc_ip) as plc:
	plc.write_by_name(var_name, var_value, var_type)

Here is where it is returning false in every case:

ros2_pyads/ros2_pyads/ros2_pyads/ads_com_bool_test_node.py

Lines 41 to 47 in b2dab04

	success = self.ads_com.write_by_name(
	var_name='MAIN.bTest',
	var_value=not self.ads_com.read_by_name('MAIN.bTest', pyads.PLCTYPE_BOOL), # Toggle the existing value
	var_type=pyads.PLCTYPE_BOOL)
	if not success:
	self.get_logger().error('Failed to write variable to PLC')