================================
Modbus
================================
    
.. py:currentmodule:: kortex_api.autogen

.. py:class:: ModbusClient
        
    :canonical: kortex_api.autogen.client_stubs.ModbusClientRpc

    .. py:method:: __init__(router, namespace = None)

        Constructs a ModbusClient with an initialized :class:`~kortex_api.RouterClient.RouterClient` and an optional namespace.

        :param RouterClient router: :class:`~kortex_api.RouterClient.RouterClient` used for the communication
        :param string namespace: Optional namespace on which to initialize the ModbusClient (defaults to ``None``)

    .. py:method:: IsAlive (timeoutMs: int = 1000)
        
        Returns ``True`` if the Service Server is detected online before ``timeoutMs`` is expired, ``False`` otherwise.
        
        :param unsigned int timeoutMs: The maximum time to wait for an answer from the server 
        :rtype: bool


        .. _ModbusClientReadCoils:

    .. py:method:: ReadCoils (readrequest, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | MODBUS function code 1.
        | A DEVICE_READY error will be thrown if no connection has been initialized with InitConnection.
        | 


        :param readrequest:  
        :type readrequest: :ref:`ReadRequest <ModbusReadRequest>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message
 
        :rtype: ReadCoilResponse

        .. _ModbusClientReadDiscreteInputs:

    .. py:method:: ReadDiscreteInputs (readrequest, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | MODBUS function code 2
        | A DEVICE_READY error will be thrown if no connection has been initialized with InitConnection.
        | 


        :param readrequest:  
        :type readrequest: :ref:`ReadRequest <ModbusReadRequest>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message
 
        :rtype: ReadCoilResponse

        .. _ModbusClientReadHoldingRegisters:

    .. py:method:: ReadHoldingRegisters (readrequest, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | MODBUS function code 3
        | A DEVICE_READY error will be thrown if no connection has been initialized with InitConnection.
        | 


        :param readrequest:  
        :type readrequest: :ref:`ReadRequest <ModbusReadRequest>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message
 
        :rtype: ReadRegisterResponse

        .. _ModbusClientReadInputRegisters:

    .. py:method:: ReadInputRegisters (readrequest, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``READ_ONLY`` permission is necessary to call this RPC.
        |
        | MODBUS function code 4
        | A DEVICE_READY error will be thrown if no connection has been initialized with InitConnection.
        | 


        :param readrequest:  
        :type readrequest: :ref:`ReadRequest <ModbusReadRequest>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message
 
        :rtype: ReadRegisterResponse

        .. _ModbusClientWriteSingleCoil:

    .. py:method:: WriteSingleCoil (singlecoilwriterequest, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``CONFIGURE`` permission is necessary to call this RPC.
        |
        | MODBUS function code 5
        | A DEVICE_READY error will be thrown if no connection has been initialized with InitConnection.
        | 


        :param singlecoilwriterequest:  
        :type singlecoilwriterequest: :ref:`SingleCoilWriteRequest <ModbusSingleCoilWriteRequest>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message

        .. _ModbusClientWriteSingleHoldRegister:

    .. py:method:: WriteSingleHoldRegister (singleregisterwriterequest, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``CONFIGURE`` permission is necessary to call this RPC.
        |
        | MODBUS function code 6
        | A DEVICE_READY error will be thrown if no connection has been initialized with InitConnection.
        | 


        :param singleregisterwriterequest:  
        :type singleregisterwriterequest: :ref:`SingleRegisterWriteRequest <ModbusSingleRegisterWriteRequest>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message

        .. _ModbusClientWriteMultipleCoils:

    .. py:method:: WriteMultipleCoils (multiplecoilswriterequest, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``CONFIGURE`` permission is necessary to call this RPC.
        |
        | MODBUS function code 15
        | A DEVICE_READY error will be thrown if no connection has been initialized with InitConnection.
        | 


        :param multiplecoilswriterequest:  
        :type multiplecoilswriterequest: :ref:`MultipleCoilsWriteRequest <ModbusMultipleCoilsWriteRequest>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message

        .. _ModbusClientWriteMultipleHoldRegisters:

    .. py:method:: WriteMultipleHoldRegisters (multipleregisterswriterequest, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``CONFIGURE`` permission is necessary to call this RPC.
        |
        | MODBUS function code 16
        | A DEVICE_READY error will be thrown if no connection has been initialized with InitConnection.
        | 


        :param multipleregisterswriterequest:  
        :type multipleregisterswriterequest: :ref:`MultipleRegistersWriteRequest <ModbusMultipleRegistersWriteRequest>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message

        .. _ModbusClientInitConnection:

    .. py:method:: InitConnection (connectionparameters, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``CONFIGURE`` permission is necessary to call this RPC.
        |
        | Initialize a connection with a MODBUS server (slave). Returns a device handle for the created connection.
        | To connect with the Wrist, the ip_address should be "10.10.0.16" and the port should be 502.
        | An INVALID_DEVICE error will be thrown if the device ID is invalid or if the connection to the given device ID fails to be established.
        | 


        :param connectionparameters:  
        :type connectionparameters: :ref:`ConnectionParameters <ModbusConnectionParameters>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message
 
        :rtype: DeviceHandle

        .. _ModbusClientSetTargetSlave:

    .. py:method:: SetTargetSlave (devicehandle, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``CONFIGURE`` permission is necessary to call this RPC.
        |
        | Sets the slave target. It will receive the next MODBUS commands.
        | The device_identifier field shall be filled with a valid slave ID.
        | An INVALID_DEVICE error will be thrown if the slave ID is invalid.
        | 


        :param devicehandle:  
        :type devicehandle: :ref:`DeviceHandle <CommonDeviceHandle>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message

        .. _ModbusClientCloseConnection:

    .. py:method:: CloseConnection (devicehandle, deviceId = 0, options = RouterClientSendOptions())
        
        | The ``CONFIGURE`` permission is necessary to call this RPC.
        |
        | Close the currently active connection with a MODBUS server (slave).
        | The input parameter is unused.
        | 


        :param devicehandle:  
        :type devicehandle: :ref:`DeviceHandle <CommonDeviceHandle>`

        :param int deviceId: Device's Id called by rpc (optional)
        :param RouterClientSendOptions options: Router options for sending the message