Creation of modbus tcp client and state machine#699
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The SMACC2 client library for Modbus TCP relay control is now complete with:
cl_modbus_tcp_relay
sm_modbus_tcp_relay_test_1
Test state machine that exercises all behaviors:
StConnect → StConnected → StRelayOn → StRelayOff → StAllOn → StAllOff → StReadStatus → StComplete
Running the Test
source install/setup.bash
ros2 launch sm_modbus_tcp_relay_test_1 sm_modbus_tcp_relay_test_1.launch.py
Configuration
Edit config/sm_modbus_tcp_relay_test_1_config.yaml to set your relay board IP address (default: 192.168.1.254).