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omronTcpFins.py
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omronTcpFins.py
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# Echo client program
import socket
import re
import struct
#HOST = '192.168.200.50' # The remote host
#PORT = 9600 # The same port as used by the server
#s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
#s.connect((HOST, PORT))
finsErrorsStrings = {
0x0000000:None,
0x0000001:'The header is not FINS (ASCII code)',
0x0000002:'The data length is too long.',
0x0000003:'The command is not supported.',
0x0000020:'All connections are in use.',
0x0000021:'The specified node is already connected.',
0x0000022:'Attempt to access a protected node from an unspecified IP',
0x0000023:'The client FINS node address is out of range.',
0x0000024:'The same FINS node address is being used by the client and server.',
0x0000025:'All the node addresses available for allocation have been used.',
}
def int2str4(k):
return chr((k>>24) & 0xff) + chr((k>>16) & 0xff) + chr((k>>8) & 0xff) + chr((k>>0) & 0xff)
def int2str3(k):
return chr((k>>16) & 0xff) + chr((k>>8) & 0xff) + chr((k>>0) & 0xff)
def int2str2(k):
return chr((k>>8) & 0xff) + chr((k>>0) & 0xff)
def binstr2int(s):
n = 0
for i in range(0, len(s)):
n += ord(s[i]) * ( 1<<(8*( len(s)-i-1)))
return n
def str2intlist(s):
return [ord(c) for c in s]
def intlist2str(l):
return ''.join([chr(e) for e in l])
def wordlist2str( wl):
if wl[0] != 0xff:
print('-- Neplatna')
return ''
cs = ''
for d in wl[1:]:
n1 = ((d>>8) & 0xFF)
n2 = (d & 0xFF)
if n1==0:
break
if n2==0:
cs += chr( n1)
break
cs += chr( n1) + chr( n2)
return cs
def intList2float( wdata):
s = ""
#danger to replace ! this reorder input word data - LSB is first string
for v in wdata:
s += chr(v&0xFF)
s += chr(v>>8)
#print repr(s)
value = [ None]
if len(s)==4 :
value = struct.unpack('f', s)
if len(s)==8 :
value = struct.unpack('d', s)
return value[0]
class FinsTCPframe():
def __init__(self, cmdData='', rawFinsCmd = None, cmdFlags = None, DA1=None, SA1=None, MRC=None, SRC=None, command=0x02, errorCode=0x00, serverAdr = 0, clientAdr = 0, rawTcpFrame=None ):
self.FINScommandFlags=['ICF','RSV','GCT','DNA','DA1','DA2','SNA','SA1','SA2','SID','MRC','SRC','data']
if rawTcpFrame:
self.fromRaw = True
self.rawTcpFrame = rawTcpFrame
else:
self.fromRaw = False
if (MRC or SRC or cmdData) :
#have some command data
commandFlags = [
0x80, # ICF
0x00, # RSV 'RSV':0
0x02, #'GCT':0x02
0x00, #'DNA':0
serverAdr, #'DA1':0
0x00, #'DA2':0
0x00, #'SNA':0
0x00, #'SA1':0
clientAdr, #'SA2':0
0x00, #'SID':0
MRC, #'MRC':0
SRC, #'SRC':0
]
if cmdFlags:
for k in cmdFlags.keys() :
commandFlags[ self.FINScommandFlags.index( k)] = cmdFlags[k]
commandFrame = intlist2str(commandFlags) + cmdData
else:
#frame have TCPheader only or raw Fins Command Packet Provided
if rawFinsCmd :
commandFrame = rawFinsCmd
else:
commandFrame = ''
self.rawTcpFrame ='FINS'
self.rawTcpFrame += int2str4( 8 + len( commandFrame)) #frame length
self.rawTcpFrame += int2str4( command)
self.rawTcpFrame += int2str4( errorCode)
self.rawTcpFrame += commandFrame
def makeFrame(self):
self.finsFrame = 'FINS'
self.frameLength = 8 + len( self.finsCmdFrame)
self.finsFrame += int2str4( self.frameLength)
self.finsFrame += int2str4( self.finsCommand)
self.finsFrame += int2str4( self.finsErrorCode)
self.finsFrame += self.finsCmdFrame
return self.finsFrame
@property
def raw(self):
return self.rawTcpFrame
@property
def disassembled(self):
asm = {
'header' : binstr2int( self.rawTcpFrame[ 0: 4] ),
'length' : binstr2int( self.rawTcpFrame[ 4: 8] ),
'command' : binstr2int( self.rawTcpFrame[ 8:12] ),
'errCode' : binstr2int( self.rawTcpFrame[12:16] ),
}
if( asm['command'] == 2) :
asm[ 'ICF'] = binstr2int( self.rawTcpFrame[16])
asm[ 'RSV'] = binstr2int( self.rawTcpFrame[17])
asm[ 'GCT'] = binstr2int( self.rawTcpFrame[18])
asm[ 'DNA'] = binstr2int( self.rawTcpFrame[19])
asm[ 'DA1'] = binstr2int( self.rawTcpFrame[20])
asm[ 'DA2'] = binstr2int( self.rawTcpFrame[21])
asm[ 'SNA'] = binstr2int( self.rawTcpFrame[22])
asm[ 'SA1'] = binstr2int( self.rawTcpFrame[23])
asm[ 'SA2'] = binstr2int( self.rawTcpFrame[24])
asm[ 'SID'] = binstr2int( self.rawTcpFrame[25])
asm[ 'MRC'] = binstr2int( self.rawTcpFrame[26])
asm[ 'SRC'] = binstr2int( self.rawTcpFrame[27])
if self.fromRaw :
#decode from response
asm[ 'MRES'] = binstr2int( self.rawTcpFrame[28])
asm[ 'SRES'] = binstr2int( self.rawTcpFrame[29])
asm['response'] = self.rawTcpFrame[30:]
else :
asm['cmd'] = self.rawTcpFrame[28:]
return asm
@property
def error(self):
#return None if ok, else errorstring as string
try:
ec = binstr2int( self.rawTcpFrame[12:16])
if ec == 0:
ec = None
except:
ec = 'Error code not found'%self.finsErrorCode
return ec
@property
def command(self):
return binstr2int( self.rawTcpFrame[ 8:12])
@property
def commandResponse(self ):
return self.rawTcpFrame[30:]
@property
def finsData(self):
"""Return raw data after FINS TCP header"""
return self.rawTcpFrame[16:]
def __str__(self):
asm = self.disassembled
str = ''.join([ "{0}:{1} ".format(k, asm[k], ) for k in asm.keys()])
return str
class OmronPlcFinsTcp():
def __init__(self, host, port):
self.port = port
self.host = host
self.sock = None
self.open = False
self.clientNode = 0
self.serverNode = 0
self.sid=0x04
@property
def _nextSid(self):
self.sid = (self.sid + 1 ) & 0xff
return self.sid
def openn(self):
if self.open :
#close if already open
self.sock.close()
self.open = False
#open socket
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.sock.settimeout( 5.0)
self.sock.connect((self.host, self.port))
#start establish fins communication
print('FINS cmd: request address')
c1 = FinsTCPframe ( command = 0, rawFinsCmd = int2str4(0))
print ("Sending: " + str( c1))
self._send( c1.raw)
r1raw = self._recieve()
r1 = FinsTCPframe( rawTcpFrame = r1raw )
print ("Recieved: " + str( r1))
if r1.error:
print ('Error in adress assign response: %s' % r1.error)
try :
print (' - this mean>%s' % finsErrorsStrings[r1.error])
except :
pass
return False
#set client and server address against response
if r1.command != 1 :
print ('Error bad response for adress assign command: ' % r1.command)
return False
self.clientNode = binstr2int( r1.finsData[0:4])
self.serverNode = binstr2int( r1.finsData[4:8])
print ('FINS address client:{0},server{1}'.format(self.clientNode, self.serverNode, ))
#Get PLC type as test dummmy command
return self.doFinsCommand( MRC=0x05, SRC=0x01, cmdData = '\x00')[0:20]
def doFinsCommand(self, MRC, SRC, cmdData):
#cmdData='', rawFinsCmd = None, cmdFlags = None, DA1=None, SA1=None, MRC=None, SRC=None, command=0x02, errorCode=0x00, serverAdr = 0, clientAdr = 0, rawTcpFrame=None ):
c = FinsTCPframe(MRC=MRC, SRC=SRC, cmdData = cmdData, serverAdr=self.serverNode, clientAdr=self.clientNode, cmdFlags = {'SID':self._nextSid} )
#print "Sending: " + str( c)
self._send(c.raw)
r_raw = self._recieve()
r = FinsTCPframe( rawTcpFrame = r_raw )
#print "Recieved: " + str( r)
#print " disasm>" + str(r.disassembled)
#TODO: check error and status..
return r.commandResponse
def close(self):
self.sock.close()
self.open = False
def _send(self, raw):
self.sock.send( raw)
#print ' Send:' + repr(raw)
def _recieve(self):
pr = self.sock.recv(8)
length = binstr2int( pr[4:8])
r = pr + self.sock.recv( length)
#print ' Recv:' + repr(r)
return r
class OmronPLC():
def __init__(self):
self.conType = None
self.plcType = None
self.MEMCODES = {
#'MemType':(word,bit)
'C':(0x30, 0xB0),
'W':(0x31, 0xB1),
'H':(0x32, 0xB2),
'A':(0x33, 0xB3),
'D':(0x02, 0x82),
}
def openFins(self, address, port=9600):
self.conType = 'FINS'
self.conn = OmronPlcFinsTcp( address, port)
self.plcType = self.conn.openn()
if (self.plcType) :
print ('Open successfull to ', self.plcType, 'at ', address)
else :
raise Exception('Failed to open PLC')
def doRawFinsCommand(self, **kvarg):
self.conn.doFinsCommand( kvarg)
def close(self):
if self.conType == 'FINS':
self.conn.close()
def readMemC(self, mem, length ):
memSpec= re.search('(.)([0-9]*):?([0-9]*)',mem).groups()
( memCodeB, memCodeW) = self.MEMCODES[ memSpec[0]]
#construct mem specification form
if memSpec[2] :
#BIT specs
memAdr = chr( memCodeB) + int2str2( int(memSpec[1])) + chr( int(memSpec[2]))
else:
#Word Spec
memAdr = chr( memCodeW) + int2str2( int(memSpec[1])) + chr( 0)
rawres = self.conn.doFinsCommand( MRC=0x01, SRC=0x01,
cmdData = memAdr + int2str2(length*2))
if memSpec[2] :
#bit spec
res = list( rawres)
else:
res = [ ord( rawres[i]) * 256 + ord( rawres[ i+1]) for i in range(0, len(rawres)/2, 2)]
return res
def writeMemC(self, mem, wdata ):
memSpec= re.search('(.)([0-9]*):?([0-9]*)',mem).groups()
( memCodeB, memCodeW) = self.MEMCODES[memSpec[0]]
#construct mem specification form
if memSpec[2] :
#BIT specs
raise Exception("Bit memory write : Not Implemented")
else:
#Word Spec
memAdr = chr( memCodeW) + int2str2( int(memSpec[1])) + chr( 0)
rawdata = ''
for d in wdata:
rawdata += int2str2(d)
rawres = self.conn.doFinsCommand( MRC=0x01, SRC=0x02,
cmdData = memAdr + int2str2(len(rawdata)/2) + rawdata )
return rawres
def readFloat(self, mem):
v = intList2float( self.readMemC(mem,2))
return v
def writeFloat(self, mem, fval):
s = struct.pack('f',fval)
wd = (ord(s[0])+256*ord(s[1]), ord(s[2])+256*ord(s[3]))
self.writeMemC( mem, wd)
return fval
import time
def main( ):
plc = OmronPLC( )
tcp_ip=b'192.168.250.1'
tcp_port=9600
plc.openFins(tcp_ip, tcp_port)
print (plc.readMemC('D0', 2))
v=plc.readFloat( 'D2')
print (v)
plc.writeFloat('D2', v+1.0)
print (plc.readFloat('D2'))
print (plc.readMemC('D2', 2))
plc.close()
if __name__ == "__main__":
main()