garage.rb

#!/usr/bin/env ruby
#
require 'rmodbus'

status_labels = [
  ['Drive not ready', 'Ready for operation (READY)'],
  ['Stop', 'Running operation message (RUN)'],
  ['Clockwise rotating field (FWD)', 'Anticlockwise rotating field (REV)'],
  ['No fault', 'Fault detected (FAULT)'],
  ['No warning', 'Warning active (ALARM)'],
  ['Acceleration ramp', 'Frequency actual value equals setpoint value definition'],
  [nil, 'Zero speed'],
  ['Speed control deactivated', 'Speed control activated'],
]

control_states = [
  [:stop, :operation],
  [:clockwise, :anticlockwise],
  [nil, :reset_error],
  [:per_setting, :free_coasting],
  [:per_setting, :ramp],
  [nil, 'Overwrite acceleration/deceleration ramps to 0.1 s'],
  [nil, 'Block setpoint (speed not variable)'],
  [nil, 'Overwrite setpoint with 0'],
  [nil, 'Control level = Fieldbus'],
  [nil, 'Setpoint input = Fieldbus'],
]

CONTROL_WORD = 2000
STATUS_WORD = 2100
MOTOR_STATUS_REGISTERS = 2102..2110
SPEED_REGISTER = 2002

BIT_NUMBER_POWER = 0
BIT_NUMBER_DIRECTION = 1


class Garage < ModBus::TCPClient
  def initialize
    super '192.168.0.7', 502
    puts temp?
  end

  def temp?
    with_thermometer do |slave|
      slave.input_registers[1].first / 10.0
    end
  end

  def status?
    with_inverter do |slave|
      status_word = slave.holding_registers[STATUS_WORD].first
      map_labels_to_word status_word, status_labels
    end
  end

  def motor?
    with_inverter do |slave|
      keys = [:actual_speed, :frequency, :speed, :current, :torque, :power, :voltage, :dc_link]
      speed = slave.holding_registers[MOTOR_STATUS_REGISTERS]
      Hash[keys.zip speed]
    end
  end

  def on!
    set! 1, BIT_NUMBER_POWER
  end

  def off!
    set! 0, BIT_NUMBER_POWER
  end

  def fwd
    set! 0, BIT_NUMBER_DIRECTION
  end

  def rev
    set! 1, BIT_NUMBER_DIRECTION
  end

  def speed!(percent)
    value = percent * 100

    with_inverter do |slave|
      slave.holding_registers[SPEED_REGISTER] = value
    end
  end

  def speed?
    with_inverter do |slave|
      slave.holding_registers[SPEED_REGISTER]
    end
  end

  private

  def with_inverter
    with_slave 3 do |slave|
      yield(slave)
    end
  rescue ModBus::Errors::ModBusTimeout
    puts "Soz, Contacting inverter timeed out"
  end

  def with_thermometer
    with_slave 49 do |slave|
      yield(slave)
    end
  rescue ModBus::Errors::ModBusTimeout
    puts "Soz, Contacting thermometer timeed out"
  end

  def wordsmash
    # Connect to slave, get status word, yield it to the block
    # and then take back the return value and set it to the register

    with_inverter do |slave|
      # Get current word by reading register
      word = slave.holding_registers[CONTROL_WORD]

      # Do the block
      # Set the result to the register
      slave.holding_registers[CONTROL_WORD] = yield(word)
    end
  end

  def toggle!(bit_number)
    # Shift a 1 across to the bit we want to operate on
    mask = 1 << bit_number

    wordsmash do |word|
      # Exclusive or, so swap only the bit forwhich this mask lines up
      # Manipulates only the bit that we're doing stuff for
      word ^= mask
    end
  end

  def set!(value, bit_number)
    # Set a single bit of the control word to on or off
    # Shift a 1 across to the bit we want to operate on
    mask = 1 << bit_number

    wordsmash do |word|
      # Manipulates only the bit that we're doing stuff for
      if value > 0
        # And or for on
        word |= mask
      else
        # And not for off
        word = word &~ mask
      end
    end
  end
end

g = Garage.new