added modbus communication and can-modbus coupling through pubsub

c2m.py

@@ -1,18 +1,36 @@
 import can
 import cantools
 
+from pubsub import pub
+
 from WebRelay import WebRelay
 
+
+class BmsListener (can.Listener):
+    def __init__(self, parent):
+        self.parent = parent
+
+    def on_message_received(self, msg):
+        relay_id = msg.arbitration_id
+        relay_state = msg.data
+        print (relay_id, relay_state)
+        if relay_id < 10:
+            if relay_state > 0:
+                pub.sendMessage("turn_relay_on", relay_id=relay_id)
+            else:
+                pub.sendMessage("turn_relay_off",relay_id=relay_id)
+
+
 class Model:
     def __init__(self):
         self.bus = None
         self.notifier = None
-        self.listen_bms = can.Printer()
-        #self.listen_bms = BmsListener(self)
+        self.printer = can.Printer()
+        self.listen_bms = BmsListener(self)
 
     def start_can(self):
         self.bus = can.Bus()
-        self.notifier = can.Notifier(self.bus, [self.listen_bms])
+        self.notifier = can.Notifier(self.bus, [self.printer, self.listen_bms])
 
     def stop_can(self):
         self.notifier.stop()
@@ -32,6 +50,10 @@ if __name__ == "__main__":
 
     modbus = WebRelay()
     modbus.apply_network_configs(nc_dict)
+    modbus.connect_slave()
+
+    pub.subscribe(modbus.turn_relay_on, "turn_relay_on")
+    pub.subscribe(modbus.turn_relay_off, "turn_relay_off")
 
     canbus = Model()