/*
* Copyright (c) 2002,2016 Mario de Sousa (msousa@fe.up.pt)
*
* This file is part of the Modbus library for Beremiz and matiec.
*
* This Modbus library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser
* General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this Modbus library. If not, see <http://www.gnu.org/licenses/>.
*
* This code is made available on the understanding that it will not be
* used in safety-critical situations without a full and competent review.
*/
#include <fcntl.h> /* File control definitions */
#include <stdio.h> /* Standard input/output */
#include <string.h>
#include <stdlib.h>
#include <termio.h> /* POSIX terminal control definitions */
#include <sys/time.h> /* Time structures for select() */
#include <unistd.h> /* POSIX Symbolic Constants */
#include <assert.h>
#include <errno.h> /* Error definitions */
#include <time.h> /* clock_gettime() */
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h> /* required for htons() and ntohs() */
#include <netinet/tcp.h> /* TCP level socket options */
#include <netinet/ip.h> /* IP level socket options */
#include <pthread.h>
#include <sched.h> /* sched_yield() */
#include "sin_util.h" /* internet socket utility functions... */
#include "mb_layer1.h" /* The public interface this file implements... */
#include "mb_tcp_private.h"
/************************************/
/** **/
/** Include common code... **/
/** **/
/************************************/
#include "mb_time_util.h"
//#define ERRMSG
#define ERRMSG_HEAD "Modbus/TCP: "
// #define DEBUG /* uncomment to see the data sent and received */
#ifdef DEBUG
#ifndef ERRMSG
#define ERRMSG
#endif
#endif
/**************************************************************/
/**************************************************************/
/**** ****/
/**** ****/
/**** Forward Declarations ****/
/**** and Defaults ****/
/**** ****/
/**************************************************************/
/**************************************************************/
/* A Node Descriptor metadata,
* Due to the fact that modbus TCP is connection oriented,
* and that if the client detects an error the connection
* must be shut down and re-established automatically,
* the modbus TCP layer needs to keep the address of the remote server.
*
* We do this by implementing a node descriptor table, in which each
* entry will have the remote address, and the file descriptor
* of the socket currently in use.
*
* We do not pass the file descriptor up to the next higher layer. We
* send them the node descriptor instead...
*/
#define MB_MASTER_NODE 12
#define MB_LISTEN_NODE 14
#define MB_SLAVE_NODE 16
#define MB_FREE_NODE 18
typedef sa_family_t nd_type_t;
typedef struct {
int fd; /* socket descriptor == file descriptor */
/* NOTE:
* Modbus TCP says that on error, we should close
* a connection and retry with a new connection.
* Since it takes time for a socket to close
* a connection if the remote server is down,
* we close the connection on the socket, close the
* socket itself, and create a new one for the new
* connection. There will be times when the node will
* not have any valid socket, and it will have to
* be created on the fly.
* When the node does not have a valid socket,
* fd will be set to -1
*/
int node_type; /* What kind of use we are giving to this node...
* If node_type == MB_MASTER_NODE
* The node descriptor was initialised by the
* modbus_connect() function.
* The node descriptor is being used by a master
* device, and the addr contains the address of the slave.
* Remember that in this case fd may be >= 0 while
* we have a valid connection, or it may be < 0 when
* the connection needs to be reset.
* If node_type == MB_LISTEN_NODE
* The node descriptor was initialised by the
* modbus_listen() function.
* The node is merely used to accept() new connection
* requests. The new slave connections will use another
* node to transfer data.
* In this case fd must be >= 0.
* fd < 0 is an ilegal state and should never occur.
* If node_type == MB_SLAVE_NODE
* The node descriptor was initialised when a new
* connection request arrived on a MB_LISTEN type node.
* The node descriptor is being used by a slave device,
* and is currently being used to connect to a master.
* In this case fd must be >= 0.
* fd < 0 is an ilegal state and should never occur.
* If node_type == FREE_ND
* The node descriptor is currently not being used.
* In this case fd is set to -1, but is really irrelevant.
*/
struct sockaddr_in addr; /* The internet adress we are using.
* If node_type == MB_MASTER_NODE
* addr will be the address of the remote slave
* If node_type == MB_LISTEN_NODE
* addr will be the address of the local listening port and network interface
* If node_type == MB_SLAVE_NODE
* addr will be the address of the local port and network interface
* of the connection to the specific client.
*/
int listen_node; /* When a slave accepts a connection through a MB_LISTEN_NODE, it will
* will use an empty node for the new connection, and configure this new node
* to use the type MB_SLAVE_NODE.
* The listen_node entry is only used by nodes of type MB_SLAVE_NODE.
* In this case, listen_node will be the node of type MB_LISTEN_NODE through
* which the connection request came through...
*/
int close_on_silence; /* A flag used only by Master Nodes.
* When (close_on_silence > 0), then the connection to the
* slave device will be shut down whenever the
* modbus_tcp_silence_init() function is called.
* Remember that the connection will be automatically
* re-established the next time the user wishes to communicate
* with the same slave (using this same node descripto).
* If the user wishes to comply with the sugestion
* in the OpenModbus Spec, (s)he should set this flag
* if a silence interval longer than 1 second is expected.
*/
int print_connect_error; /* flag to guarantee we only print an error the first time we
* attempt to connect to a emote server.
* Stops us from generting a cascade of errors while the slave
* is down.
* Flag will get reset every time we successfully
* establish a connection, so a message is once again generated
* on the next error.
*/
u8 *recv_buf; /* This node's receive buffer
* The library supports multiple simultaneous connections,
* and may need to receive multiple frames through mutiple nodes concurrently.
* To make the library thread-safe, we use one buffer for each node.
*/
} nd_entry_t;
/* please make sure to lock the node table mutex before calling this function */
static int nd_entry_init(nd_entry_t *nde) {
nde->addr.sin_family = AF_INET ;
nde->node_type = MB_FREE_NODE;
nde->fd = -1; /* not currently connected... */
/* initialise recv buffer */
nde->recv_buf = malloc(sizeof(u8) * RECV_BUFFER_SIZE);
if (nde->recv_buf == NULL)
return -1;
return 0;
}
/* please make sure to lock the node table mutex before calling this function */
static int nd_entry_done(nd_entry_t *nde) {
free(nde->recv_buf);
return 0;
}
typedef struct {
/* the array of node descriptors, and current size... */
nd_entry_t *node; /* array of node entries. if NULL => node table not initialized */
int node_count; /* total number of nodes in the node[] array */
int free_node_count; /* number of free nodes in the node[] array */
pthread_mutex_t mutex;
} nd_table_t;
static int nd_table_done(nd_table_t *ndt) {
int count;
if (ndt->node == NULL)
return 0;
/* lock the mutex */
while (pthread_mutex_lock(&ndt->mutex) != 0) sched_yield();
/* initialise the state of each node in the array... */
for (count = 0; count < ndt->node_count; count++) {
nd_entry_done(&ndt->node[count]);
} /* for() */
free(ndt->node);
pthread_mutex_unlock (&ndt->mutex);
pthread_mutex_destroy(&ndt->mutex);
*ndt = (nd_table_t){.node=NULL, .node_count=0, .free_node_count=0};
return 0;
}
#if 1
/* nd_table_init()
* Version 1 of the nd_table_init() function.
* If called more than once, 2nd and any subsequent calls will
* be interpreted as a request to confirm that it was already correctly
* initialized with the requested number of nodes.
*/
static int nd_table_init(nd_table_t *ndt, int nd_count) {
int count;
if (ndt->node != NULL) {
/* this function has already been called, and the node table is already initialised */
return (ndt->node_count == nd_count)?0:-1;
}
/* initialise the node table mutex... */
pthread_mutex_init(&ndt->mutex, NULL);
if (pthread_mutex_lock(&ndt->mutex) != 0) {
#ifdef DEBUG
perror("pthread_mutex_lock()");
fprintf(stderr, "[%lu] Unable to lock newly crated mutex while creating new node table!\n", pthread_self());
#endif
pthread_mutex_destroy(&ndt->mutex);
return -1;
}
/* initialise the node descriptor metadata array... */
ndt->node = malloc(sizeof(nd_entry_t) * nd_count);
if (ndt->node == NULL) {
#ifdef DEBUG
perror("malloc()");
fprintf(stderr, "[%lu] Out of memory: error initializing node address buffer\n", pthread_self());
#endif
#ifdef ERRMSG
perror("malloc()");
fprintf(stderr, ERRMSG_HEAD "Out of memory. Error initializing node address buffer\n");
#endif
pthread_mutex_unlock (&ndt->mutex);
pthread_mutex_destroy(&ndt->mutex);
return -1;
}
/* initialise the state of each node in the array... */
for (count = 0; count < nd_count; count++) {
if (nd_entry_init(&ndt->node[count]) < 0) {
pthread_mutex_unlock(&ndt->mutex);
nd_table_done(ndt);
return -1;
}
ndt->node_count = count+1;
ndt->free_node_count = count+1;
} /* for() */
ndt->node_count = nd_count;
ndt->free_node_count = nd_count;
pthread_mutex_unlock(&ndt->mutex);
return nd_count; /* number of succesfully created nodes! */
}
#else
/* nd_table_init()
* Version 2 of the nd_table_init() function.
* If called more than once, 2nd and any subsequent calls will
* be interpreted as a request to reserve an extra new_nd_count
* number of nodes. This will be done using realloc().
*/
static int nd_table_init(nd_table_t *ndt, int new_nd_count) {
int count;
if (ndt->node == NULL) {
/* Node table nt yet initialized => we must initialise the node table mutex... */
pthread_mutex_init(&ndt->mutex, NULL);
}
/* lock the mutex */
while (pthread_mutex_lock(&ndt->mutex) != 0) sched_yield();
/* initialise the node descriptor metadata array... */
ndt->node = realloc(ndt->node, sizeof(nd_entry_t) * (ndt->node_count + new_nd_count));
if (ndt->node == NULL) {
#ifdef DEBUG
perror("malloc()");
fprintf(stderr, "[%lu] Out of memory: error initializing node address buffer\n", pthread_self());
#endif
#ifdef ERRMSG
perror("malloc()");
fprintf(stderr, ERRMSG_HEAD "Out of memory. Error initializing node address buffer\n");
#endif
pthread_mutex_unlock (&ndt->mutex);
pthread_mutex_destroy(&ndt->mutex);
return -1;
}
/* initialise the state of each newly added node in the array... */
for (count = ndt->node_count; count < ndt->node_count + new_nd_count; count++) {
if (nd_entry_init(&ndt->node[count]) < 0) {
pthread_mutex_unlock(&ndt->mutex);
return -1;
}
} /* for() */
ndt->node_count += new_nd_count;
ndt->free_node_count += new_nd_count;
pthread_mutex_unlock(&ndt->mutex);
return new_nd_count; /* number of succesfully created nodes! */
}
#endif
static int nd_table_get_free_node(nd_table_t *ndt, nd_type_t nd_type) {
int count;
/* lock the mutex */
while (pthread_mutex_lock(&ndt->mutex) != 0) sched_yield();
/* check for free nodes... */
if (ndt->free_node_count <= 0) {
/* no free nodes... */
pthread_mutex_unlock(&ndt->mutex);
return -1;
}
/* Decrement the free node counter...*/
ndt->free_node_count--;
/* search for a free node... */
for (count = 0; count < ndt->node_count; count++) {
if(ndt->node[count].node_type == MB_FREE_NODE) {
/* found one!! Allocate it to the new type! */
ndt->node[count].node_type = nd_type;
pthread_mutex_unlock(&ndt->mutex);
return count;
}
} /* for() */
/* Strange... We should have free nodes, but we didn't finda any! */
/* Let's try to get into a consistent state, and return an error! */
ndt->free_node_count = 0;
pthread_mutex_unlock(&ndt->mutex);
return -1;
}
static void nd_table_close_node(nd_table_t *ndt, int nd) {
/* lock the mutex */
while (pthread_mutex_lock(&ndt->mutex) != 0) sched_yield();
if(ndt->node[nd].node_type == MB_FREE_NODE) {
/* Node already free... */
pthread_mutex_unlock(&ndt->mutex);
return;
}
/* Increment the free node counter...*/
ndt->free_node_count++;
/* Mark the node as being free. */
ndt->node[nd].node_type = MB_FREE_NODE;
pthread_mutex_unlock(&ndt->mutex);
return;
}
/**************************************************************/
/**************************************************************/
/**** ****/
/**** ****/
/**** Global Library State ****/
/**** ****/
/**** ****/
/**************************************************************/
/**************************************************************/
/* The node descriptor table... */
/* NOTE: The node_table_ Must be initialized correctly here! */
static nd_table_t nd_table_ = {.node=NULL, .node_count=0, .free_node_count=0};
/**************************************************************/
/**************************************************************/
/**** ****/
/**** ****/
/**** Local Utility functions... ****/
/**** ****/
/**** ****/
/**************************************************************/
/**************************************************************/
#define min(a,b) ((a<b)?a:b)
#define max(a,b) ((a>b)?a:b)
/************************************/
/** **/
/** Configure socket for Modbus **/
/** **/
/************************************/
static int configure_socket(int socket_id) {
/* configure the socket */
/* Set it to be non-blocking. This is safe because we always use select() before reading from it!
* It is also required for the connect() call. The default timeout in the TCP stack is much too long
* (typically blocks for 128 s ??) when the connect does not succedd imediately!
*/
if (fcntl(socket_id, F_SETFL, O_NONBLOCK) < 0) {
#ifdef ERRMSG
perror("fcntl()");
fprintf(stderr, ERRMSG_HEAD "Error configuring socket 'non-blocking' option.\n");
#endif
return -1;
}
/* configure the socket */
{
int optval;
socklen_t optlen = sizeof(optval);
optval = 1;
if(setsockopt(socket_id, SOL_SOCKET, SO_KEEPALIVE, &optval, optlen) < 0) {
#ifdef ERRMSG
perror("setsockopt()");
fprintf(stderr, ERRMSG_HEAD "Error configuring socket 'KeepAlive' option.\n");
#endif
return -1;
}
}
/* set the TCP no delay flag. */
{int bool_opt = 1;
if (setsockopt(socket_id, SOL_TCP, TCP_NODELAY,
(const void *)&bool_opt, sizeof(bool_opt))
< 0) {
#ifdef ERRMSG
perror("setsockopt()");
fprintf(stderr, ERRMSG_HEAD "Error configuring socket 'TCP no delay' option.\n");
#endif
return -1;
}
}
/* set the IP low delay option. */
{int priority_opt = IPTOS_LOWDELAY;
if (setsockopt(socket_id, SOL_IP, IP_TOS,
(const void *)&priority_opt, sizeof(priority_opt))
< 0) {
#ifdef ERRMSG
perror("setsockopt()");
fprintf(stderr, ERRMSG_HEAD "Error configuring socket 'IP low delay' option.\n");
#endif
return -1;
}
}
#if 0
/* send buffer */
/* NOTE: For slave devices, that may be receiving multiple
* requests before they have a chance to reply to the first,
* it probably is a good idea to have a large receive buffer.
* So it is best to leave it with the default configuration, as it is
* larger than the largest Modbus TCP frame.
*
* For the send buffer, a smaller buffer should suffice.
* However, it probably does not make sense to
* waste time asking for a smaller buffer, since the larger
* default buffer has already been allocated (the socket has already
* been created!)
*
* We might just as well leave out the configuration of the socket
* buffer size...
*/
#define SOCK_BUF_SIZE 300 /* The size proposed in the Modbus TCP spec. */
{int sock_buf_size;
sock_buf_size = SOCK_BUF_SIZE;
if (setsockopt(socket_id, SOL_SOCKET, SO_SNDBUF,
(const void *)&sock_buf_size, sizeof(sock_buf_size))
< 0)
return -1;
/* recv buffer */
sock_buf_size = SOCK_BUF_SIZE;
if (setsockopt(socket_id, SOL_SOCKET, SO_RCVBUF,
(const void *)&sock_buf_size, sizeof(sock_buf_size))
< 0)
return -1;
}
#endif
return 0;
}
/************************************/
/** **/
/** Connect socket to remote host **/
/** **/
/************************************/
/* This function will create a new socket, and connect it to a remote host... */
static inline int open_connection(int nd, const struct timespec *timeout) {
int socket_id, con_res;
#ifdef DEBUG
printf("[%lu] open_connection(): called, nd = %d\n", pthread_self(), nd);
#endif
if (nd_table_.node[nd].fd >= 0)
/* nd already connected) */
return nd_table_.node[nd].fd;
if (nd_table_.node[nd].addr.sin_family != AF_INET)
/* invalid remote address, or invalid nd */
return -1;
/* lets try to connect... */
/* create the socket */
if ((socket_id = socket(PF_INET, DEF_TYPE, 0 /* protocol_num */)) < 0) {
#ifdef DEBUG
perror("socket()");
fprintf(stderr, "[%lu] Error creating socket\n", pthread_self());
#endif
#ifdef ERRMSG
perror("socket()");
fprintf(stderr, ERRMSG_HEAD "Error creating socket\n");
#endif
return -1;
}
/* configure the socket - includes setting non-blocking option! */
if (configure_socket(socket_id) < 0) {
close(socket_id);
return -1;
};
/* establish the connection to remote host */
con_res = connect(socket_id,
(struct sockaddr *)&(nd_table_.node[nd].addr),
sizeof(nd_table_.node[nd].addr));
/* The following condition is not strictly necessary
* (we could let the code fall through)
* but it does make the code easier to read/understand...
*/
if (con_res >= 0)
goto success_exit; /* connected succesfully on first try! */
if (con_res < 0) {
if ((errno != EINPROGRESS) && (errno != EALREADY))
goto error_exit; /* error in connection request! */
/* connection request is ongoing */
/* EINPROGRESS -> first call to connect, EALREADY -> subsequent calls to connect */
/* Must wait for connect to complete at most 'timeout' seconds */
{fd_set fdset;
int res, so_error;
socklen_t len;
struct timespec end_time, *et_ptr;
et_ptr = NULL;
if (timeout != NULL) {
et_ptr = &end_time;
*et_ptr = timespec_add_curtime(*timeout);
}
FD_ZERO(&fdset);
FD_SET(socket_id, &fdset);
res = my_select(socket_id+1, NULL, &fdset, et_ptr);
if (res < 0) goto error_exit; /* error on call to select */
if (res == 0) goto error_exit; /* timeout */
/* (res > 0) -> connection attemt completed. May have been success or failure! */
len = sizeof(so_error);
res = getsockopt(socket_id, SOL_SOCKET, SO_ERROR, &so_error, &len);
if (res < 0) goto error_exit; /* error on call to getsockopt */
if (so_error != 0) goto error_exit; /* error on connection attempt */
goto success_exit; /* succesfully completed connection attempt! */
/* goto sucess_exit is not strcitly necessary - we could let the code fall through! */
}
}
success_exit:
nd_table_.node[nd].fd = socket_id;
/* Succesfully established connection => print a message next time we have error. */
nd_table_.node[nd].print_connect_error = 1;
#ifdef DEBUG
printf("[%lu] open_connection(): returning...\n", pthread_self());
#endif
return socket_id;
error_exit:
#ifdef ERRMSG
if (nd_table_.node[nd].print_connect_error > 0) {
perror("connect()");
fprintf(stderr, ERRMSG_HEAD "Error establishing socket connection.\n");
/* do not print more error messages for this node... */
nd_table_.node[nd].print_connect_error = 0;
}
#endif
close(socket_id);
return -1;
}
/* This function will accept a new connection request, and attribute it to a new node... */
static inline int accept_connection(int nd) {
int socket_id, new_nd;
#ifdef DEBUG
printf("[%lu] accept_connection(): called, nd = %d\n", pthread_self(), nd);
#endif
/* NOTE: We MUST accccept8) all connection requests, even if no new node is available.
* => We first accept the connection request, and only later look for a node.
* If no node is free/available for this new connections request, the
* connection will be accepted and immediately closed.
* Reason:
* When the library is used for a Modbus/TCP server and no free node is
* available, if we do not accept() all newly arrived connection requests
* we would enter an infinite loop calling
* - select() (in modbus_tcp_read())
* - and accept_connection().
* Note that select() will continue to return immediately if the
* connection request is not accept()ted!
*/
/* lets accept new connection request... */
if ((socket_id = accept(nd_table_.node[nd].fd, NULL, NULL)) < 0) {
#ifdef ERRMSG
perror("accept()");
fprintf(stderr, ERRMSG_HEAD "Error while waiting for connection request from new client\n");
#endif
/* error establishing new connection... */
return -1;
}
/* find a free node */
if ((new_nd = nd_table_get_free_node(&nd_table_, MB_SLAVE_NODE)) < 0) {
/* no available free nodes for the new connection... */
close(socket_id);
return -1;
}
/* configure the socket - includes setting the non-blocking option! */
if (configure_socket(socket_id) < 0) {
nd_table_close_node(&nd_table_, new_nd); /* first free up the un-used node. */
close(socket_id);
return -1;
}
/* set up the node entry and update the fd sets */
nd_table_.node[new_nd].fd = socket_id;
nd_table_.node[new_nd].listen_node = nd;
#ifdef DEBUG
printf("[%lu] accept_connection(): returning new_nd = %d\n", pthread_self(), new_nd);
#endif
return new_nd;
}
static inline void close_connection(int nd) {
if (nd_table_.node[nd].fd >= 0) {
/* disconnect the tcp connection */
shutdown(nd_table_.node[nd].fd, SHUT_RDWR);
#ifdef ERRMSG
int res =
#endif
close(nd_table_.node[nd].fd);
#ifdef ERRMSG
if (res < 0) {
perror("close()");
fprintf(stderr, ERRMSG_HEAD "Error closing socket\n");
}
#endif
nd_table_.node[nd].fd = -1;
}
if (nd_table_.node[nd].node_type == MB_SLAVE_NODE) {
/* If it is a slave node, we will not be receiving any more data over this disconnected node,
* (MB_SLAVE_NODE do not get re-connected!), so we free the node...
*/
nd_table_close_node(&nd_table_, nd);
}
}
/************************************/
/** **/
/** Data format conversion **/
/** **/
/************************************/
/*
* Functions to convert u16 variables
* between network and host byte order
*
* NOTE: Modbus uses MSByte first, just like
* tcp/ip, so we use the htons() and
* ntoh() functions to guarantee
* code portability.
*/
static inline u16 mb_hton(u16 h_value) {
/* return h_value; */
return htons(h_value);
}
static inline u16 mb_ntoh(u16 m_value) {
/* return m_value; */
return ntohs(m_value);
}
static inline u8 msb(u16 value) {
/* return Most Significant Byte of value; */
return (value >> 8) & 0xFF;
}
static inline u8 lsb(u16 value) {
/* return Least Significant Byte of value; */
return value & 0xFF;
}
#define u16_v(char_ptr) (*((u16 *)(&(char_ptr))))
/************************************/
/** **/
/** Build/Check a frame header **/
/** **/
/************************************/
/* A modbus TCP frame header has 6 bytes...
* header[0-1] -> transaction id
* header[2-3] -> must be 0
* header[4-5] -> frame data length (must be <= 255)
*/
#if TCP_HEADER_LENGTH < 6
#error This code assumes a header size of 6 bytes, but TCP_HEADER_LENGTH < 6
#endif
static inline void build_header(u8 *header,
u16 transaction_id,
u16 byte_count)
{
u16_v(header[0]) = mb_hton(transaction_id);
header[2] = 0;
header[3] = 0;
u16_v(header[4]) = mb_hton(byte_count);
}
static inline int check_header(u8 *header,
u16 *transaction_id,
u16 *byte_count)
{
if ((header[2] != 0) || (header[3] != 0))
return -1;
*transaction_id = mb_ntoh(*(u16 *)(header + 0));
*byte_count = mb_ntoh(*(u16 *)(header + 4));
if (*byte_count > MAX_L2_FRAME_LENGTH)
return -1;
return 0;
}
/**************************************************************/
/**************************************************************/
/**** ****/
/**** ****/
/**** Sending of Modbus TCP Frames ****/
/**** ****/
/**** ****/
/**************************************************************/
/**************************************************************/
// pthread_mutex_t sendmsg_mutex = PTHREAD_MUTEX_INITIALIZER;
/* NOTE: this function MUST be thread safe!! */
int modbus_tcp_write(int nd, /* node descriptor */
u8 *data,
size_t data_length,
u16 transaction_id,
const struct timespec *transmit_timeout
)
{
#define data_vector_size 2
u8 header[TCP_HEADER_LENGTH];
struct iovec data_vector[data_vector_size] = {
{(void *)header, TCP_HEADER_LENGTH},
{NULL, 0}};
struct msghdr msg = {NULL, 0, data_vector, data_vector_size, NULL, 0, 0};
int res, bytes_sent;
#ifdef DEBUG
printf("[%lu] modbus_tcp_write(): called... nd=%d\n", pthread_self(), nd);
#endif
if ((nd >= nd_table_.node_count) || (nd < 0))
/* invalid node descriptor... */
return -1;
#ifdef DEBUG
// printf("[%lu] locking mutex...\n", pthread_self());
#endif
// while (pthread_mutex_lock(&sendmsg_mutex) != 0);
/*************************
* prepare the header... *
*************************/
build_header(header, transaction_id, data_length);
#ifdef DEBUG
/* Print the hex value of each character that is about to be
* sent over the bus.
*/
{ int i;
printf("modbus_tcp_write(): sending data...\n");
for(i = 0; i < TCP_HEADER_LENGTH; i++)
printf("[0x%2X]", header[i]);
for(i = 0; i < data_length; i++)
printf("[0x%2X]", data[i]);
printf("\n");
}
#endif
/******************************************
* do we need to re-establish connection? *
******************************************/
if (open_connection(nd, transmit_timeout) < 0) {
#ifdef DEBUG
fprintf(stderr, "[%lu] modbus_tcp_write(): could not establish connection...\n", pthread_self());
#endif
#ifdef ERRMSG
fprintf(stderr, ERRMSG_HEAD "could not establish connection...\n");
#endif
return -1;
}
/**********************
* write to output... *
**********************/
/* TWO ALTERNATIVE IMPLEMENTATIONS !!! */
#if 0
/* write header */
bytes_sent = 0;
while (1) {
res = write(nd_table_.node[nd].fd, header+bytes_sent, TCP_HEADER_LENGTH-bytes_sent);
if (res < 0) {
if ((errno != EAGAIN ) && (errno != EINTR )) {
/* error sending message... */
close_connection(nd);
return -1;
} else {
continue;
}
} else {
/* res >= 0 */
bytes_sent += res;
if (bytes_sent >= TCP_HEADER_LENGTH) {
break;
}
}
}
/* write data */
bytes_sent = 0;
while (1) {
res = write(nd_table_.node[nd].fd, data+bytes_sent, data_length-bytes_sent);
if (res < 0) {
if ((errno != EAGAIN ) && (errno != EINTR )) {
/* error sending message... */
close_connection(nd);
return -1;
} else {
continue;
}
} else {
/* res >= 0 */
bytes_sent += res;
if (bytes_sent >= data_length) {
/* query succesfully sent! */
#ifdef DEBUG
printf("[%lu] modbus_tcp_write(): sent %d bytes\n", pthread_self(), TCP_HEADER_LENGTH+data_length);
#endif
return data_length;
}
}
}
/**********************
* write to output... *
**********************/
#else
/* We are optimising for the most likely case, and in doing that
* we are making the least likely case have worse behaviour!
* Read on for an explanation...
*
* - The optimised behaviour for the most likely case:
* We have set the NO_DELAY flag on the socket, so the IP datagram
* is not delayed and is therefore sent as soon as any data is written to
* the socket.
* In order to send the whole message in a single IP datagram, we have to
* write both the the header and the data with a single call to write()
* In order to not to have to copy the data around just to add the
* message header, we use sendmsg() instead of write()!
*
* - The worse behaviour for the least likely case:
* If for some reason only part of the data is sent with the first call to
* write(), a datagram is sent right away, and the subsequent data will
* be sent in another datagram. :-(
*/
/* NOTE: since snedmsg() is not thread safe, we use a mutex to protect access to this function... */
data_vector[data_vector_size - 1].iov_base = data;
data_vector[data_vector_size - 1].iov_len = data_length;
data_vector[ 0].iov_base = header;
data_vector[ 0].iov_len = TCP_HEADER_LENGTH;
bytes_sent = 0;
while (1) {
int sendmsg_errno;
/* Please see the comment just above the main loop!! */
res = sendmsg(nd_table_.node[nd].fd, &msg, 0);
sendmsg_errno = errno;
if (res < 0) {
if ((sendmsg_errno != EAGAIN ) && (sendmsg_errno != EINTR )) {
/* error sending message... */
close_connection(nd);
return -1;
} else {
continue;
}
} else {
/* res >= 0 */
bytes_sent += res;
if (bytes_sent >= data_length + TCP_HEADER_LENGTH) {
/* query succesfully sent! */
#ifdef DEBUG
printf("[%lu] modbus_tcp_write(): sent %d bytes\n", pthread_self(), bytes_sent);
#endif
// pthread_mutex_unlock(&sendmsg_mutex);
#ifdef DEBUG
// printf("[%lu] unlocked mutex...\n", pthread_self());
#endif
return data_length;
}
/* adjust the data_vector... */
if (res < data_vector[0].iov_len) {
u8* tmp = data_vector[0].iov_base;
tmp += res;
data_vector[0].iov_len -= res;
data_vector[0].iov_base = tmp;
} else {
u8* tmp = data_vector[1].iov_base;
tmp += res;
res -= data_vector[0].iov_len;
data_vector[0].iov_len = 0;
data_vector[1].iov_len -= res;
data_vector[1].iov_base = tmp;
}
}
} /* while (1) */
#endif
/* humour the compiler... */
// pthread_mutex_unlock(&sendmsg_mutex);
#ifdef DEBUG
// printf("[%lu] unlocked mutex...\n", pthread_self());
#endif
return -1;
}
/**************************************************************/
/**************************************************************/
/**** ****/
/**** ****/
/**** Receiving Modbus TCP Frames ****/
/**** ****/
/**** ****/
/**************************************************************/
/**************************************************************/
/* A helper function to modbus_tcp_read()
*
* WARNING: The semantics of this function are not what you would expect!
*
* if (data_already_available != 0)
* It assumes that select() has already been called before
* this function got called, and we are therefore guaranteed
* to have at least one byte to read off the socket (the fd).
*
* if (data_already_available == 0)
* it starts off by calling select()!
*
*
* NOTE: Ususal select semantics for (a: end_time == NULL) and
* (b: *end_time == 0) also apply.
*
* (a) Indefinite timeout
* (b) Try once, and and quit if no data available.
*/
/* RETURNS: number of bytes read
* -1 read error!
* -2 timeout
*/
static int read_bytes(int fd,
u8 *data,
int max_data_count,
const struct timespec *end_time,
int data_already_available)
{
fd_set rfds;
int res, data_count;
data_count = 0;
while (data_count < max_data_count) {
/*============================*
* wait for data availability *
*============================*/
if (data_already_available == 0) {
int sel_res;
FD_ZERO(&rfds);
FD_SET(fd, &rfds);
sel_res = my_select(fd + 1, &rfds, NULL, end_time);
if (sel_res < 0)
return -1;
if (sel_res == 0)
/* timeout! */
return -2;
}
/*============================*
* read the available data... *
*============================*/
res = read(fd, data + data_count, max_data_count - data_count);
if (res == 0) {
/* We are guaranteed to have data to read off the fd since we called
* select(), but read() returned 0 bytes.
* This means that the remote process has closed down the connection,
* so we return 0.
*/
return 0;
}
if (res < 0) {
if (errno != EINTR)
return -1;
else
res = 0;
}
#ifdef DEBUG
{/* display the hex code of each character received */
int i;
for (i=0; i < res; i++)
printf("<0x%2X>", *(data + data_count + i));
}
#endif
data_count += res;
data_already_available = 0;
} /* while ()*/
/* data read succesfully... */
return data_count;
}
/***************************************/
/** **/
/** Read a Modbus TCP frame **/
/** off a single identified node. **/
/** **/
/***************************************/
/* This private function will read a Modbus TCP frame off a single identified node
* that we know before hand that has data ready to be read off it. The data may or may not be
* a valid Modbus TCP frame. It is up to this function to figure that out.
*/
/* NOTES:
* - We re-use the recv_buf_ to load the frame header, so we have to make
* sure that the buffer is large enough to take it...
*/
/* RETURNS: number of bytes read
* -1 on read from file/node error
* -2 on timeout
*/
#if RECV_BUFFER_SIZE < TCP_HEADER_LENGTH
#error The receive buffer is smaller than the frame header length.
#endif
static int modbus_tcp_read_frame(int nd,
u16 *transaction_id,
struct timespec *ts_ptr) {
int fd, res;
u16 frame_length;
#ifdef DEBUG
printf("[%lu] modbus_tcp_read_frame(): reading off nd=%d\n", pthread_self(), nd);
#endif
/*=========================*
* read a Modbus TCP frame *
*=========================*/
/* assume error... */
fd = nd_table_.node[nd].fd;
/*-------------*
* read header *
*-------------*/
if ((res = read_bytes(fd, nd_table_.node[nd].recv_buf, TCP_HEADER_LENGTH, ts_ptr, 1)) != TCP_HEADER_LENGTH) {
#ifdef DEBUG
printf("[%lu] modbus_tcp_read_frame(): frame with insuficient bytes for a valid header...\n", pthread_self());
#endif
if (res < 0) return res;
return -1;
}
/* let's check for header consistency... */
if (check_header(nd_table_.node[nd].recv_buf, transaction_id, &frame_length) < 0) {
#ifdef DEBUG
printf("[%lu] modbus_tcp_read_frame(): frame with non valid header...\n", pthread_self());
#endif
return -1;
}
/*-----------*
* read data *
*-----------*/
if ((res = read_bytes(fd, nd_table_.node[nd].recv_buf, frame_length, ts_ptr, 0)) != frame_length) {
#ifdef DEBUG
printf("[%lu] modbus_tcp_read_frame(): frame with non valid frame length...\n", pthread_self());
#endif
if (res < 0) return res;
return -1;
}
/* frame received succesfully... */
#ifdef DEBUG
printf("\n");
#endif
return frame_length;
}
/***************************************/
/** **/
/** Read a Modbus TCP frame **/
/** OR Accept connection requests **/
/** off possibly multiple node... **/
/** **/
/***************************************/
/* The public function that reads a valid modbus frame.
* The frame is read from...:
* - if (nd >= 0) and (nd is of type MB_MASTER_NODE or MB_SLAVE_NODE)
* The frame is read from the node descriptor nd
* - if (nd >= 0) and (nd is of type MB_LISTEN_NODE)
* The frame is read from the all node descriptors of type MB_SLAVE_NODE that were
* opened as a consequence of a connection request to the nd slave.
* In this case, new connection requests to nd will also be accepted!
* - if (nd == -1)
* The frame is read from any valid and initialised node descriptor.
* In this case, new connection requests to any nd of type MB_LISTEN_NODE will also be accepted!
* In this case, the node where the data is eventually read from is returned in *nd.
*
* The send_data and send_length parameters are ignored...
* (However, these parameters must stay in order to keep the function
* interface identical to the ASCII and RTU versons!)
*
* return value: The length (in bytes) of the valid frame,
* -1 on error
*
* NOTE: Ususal select semantics for (a: recv_timeout == NULL) and
* (b: *recv_timeout == 0) also apply.
*
* (a) Indefinite timeout
* (b) Try once, and and quit if no data available.
*/
/* RETURNS: number of bytes read
* -1 on read from file/node error
* -2 on timeout
*/
int modbus_tcp_read(int *nd, /* node descriptor */
u8 **recv_data_ptr,
u16 *transaction_id,
const u8 *send_data, /* ignored ! */
int send_length, /* ignored ! */
const struct timespec *recv_timeout) {
struct timespec end_time, *ts_ptr;
u8 *local_recv_data_ptr;
u16 local_transaction_id = 0;
#ifdef DEBUG
printf("[%lu] modbus_tcp_read(): called... nd=%d\n", pthread_self(), *nd);
#endif
if (nd == NULL)
return -1;
if (*nd >= nd_table_.node_count)
/* invalid *nd */
/* remember that *nd < 0 is valid!! */
return -1;
if (recv_data_ptr == NULL)
recv_data_ptr = &local_recv_data_ptr;
if (transaction_id == NULL)
transaction_id = &local_transaction_id;
/* We will potentially call read() multiple times to read in a single frame.
* We therefore determine the absolute time_out, and use this as a parameter
* for each call to read_bytes() instead of using a relative timeout.
*
* NOTE: see also the timeout related comment in the read_bytes() function!
*/
ts_ptr = NULL;
if (recv_timeout != NULL) {
ts_ptr = &end_time;
*ts_ptr = timespec_add_curtime(*recv_timeout);
}
/* If we must read off a single node... */
if (*nd >= 0)
/* but the node does not have a valid fd */
if ((nd_table_.node[*nd].node_type == MB_FREE_NODE) ||
(nd_table_.node[*nd].fd < 0))
/* then we return an error... */
return -1;
/* We will loop forever...
* We jump out of the loop and return from the function as soon as:
* - we receive a valid modbus message;
* OR
* - we time out.
*
* NOTE: This loop will close connections through which we receive invalid frames.
* This means that the set of nodes through which we may receive data may change with each
* loop iteration. => We need to re-calculate the fds in each loop iteration!
*/
while (1) {
int nd_count, fd_high;
fd_set rfds;
/* We prepare our fd sets here so we can later call select() */
FD_ZERO(&rfds);
fd_high = -1;
for (nd_count = 0; nd_count < nd_table_.node_count; nd_count++) {
if (nd_table_.node[nd_count].node_type != MB_FREE_NODE)
{
if ((*nd < 0) // we select from all nodes
|| (*nd == nd_count) // we select from this specific node
// we are listening on a MB_LISTEN_NODE, so we must also receive requests sent to slave nodes
// whose connection requests arrived through this MB_LISTEN_NDODE
|| ((nd_table_.node[nd_count].node_type == MB_SLAVE_NODE) && (nd_table_.node[nd_count].listen_node == *nd)))
{
/* check if valid fd */
if (nd_table_.node[nd_count].fd >= 0) {
/* Add the descriptor to the fd set... */
FD_SET(nd_table_.node[nd_count].fd, &rfds);
fd_high = max(fd_high, nd_table_.node[nd_count].fd);
}
}
}
} /* for(;;) */
#ifdef DEBUG
printf("[%lu] modbus_tcp_read(): while(1) looping. fd_high = %d, nd=%d\n", pthread_self(), fd_high, *nd);
#endif
if (fd_high == -1)
/* we will not be reading from any node! */
return -1;
/* We now call select and wait for activity on the nodes we are listening to */
{ int sel_res = my_select(fd_high + 1, &rfds, NULL, ts_ptr);
if (sel_res < 0)
return -1;
if (sel_res == 0)
/* timeout! */
return -2;
}
/* figure out which nd is ready to be read... */
for (nd_count = 0; nd_count < nd_table_.node_count; nd_count++) {
if ((nd_table_.node[nd_count].node_type != MB_FREE_NODE) &&
(nd_table_.node[nd_count].fd >= 0)) {
if (FD_ISSET(nd_table_.node[nd_count].fd, &rfds)) {
/* Found the node descriptor... */
#ifdef DEBUG
printf("[%lu] modbus_tcp_read(): my_select() returned due to activity on node nd=%d\n", pthread_self(), nd_count);
#endif
if (nd_table_.node[nd_count].node_type == MB_LISTEN_NODE) {
/* We must accept a new connection...
* No need to check for errors.
* If one occurs, there is nothing we can do...
*/
accept_connection(nd_count);
} else {
/* it is a MB_SLAVE_NODE or a MB_MASTER_NODE */
/* We will read a frame off this nd */
int res;
res = modbus_tcp_read_frame(nd_count, transaction_id, ts_ptr);
if (res > 0) {
*nd = nd_count;
*recv_data_ptr = nd_table_.node[nd_count].recv_buf;
return res;
}
if (res < 0) {
/* We had an error reading the frame...
* We handle it by closing the connection, as specified by
* the modbus TCP protocol!
*
* NOTE: The error may have been a timeout, which means this function should return immediately.
* However, in this case we let the execution loop once again
* in the while(1) loop. My_select() will be called again
* and the timeout detected. The timeout error code (-2)
* will then be returned correctly!
*/
#ifdef DEBUG
printf("[%lu] modbus_tcp_read(): error reading frame. Closing connection...\n", pthread_self());
#endif
/* We close the socket... */
close_connection(nd_count);
}
}
/* we have found the node descriptor, so let's jump out of the for(;;) loop */
break;
}
}
} /* for(;;) */
/* We were unsuccesfull reading a frame, so we try again... */
} /* while (1) */
/* humour the compiler... */
return -1;
}
/**************************************************************/
/**************************************************************/
/**** ****/
/**** ****/
/**** Initialising and Shutting Down Library ****/
/**** ****/
/**** ****/
/**************************************************************/
/**************************************************************/
/* Ugly hack...
* Beremiz will be calling modbus_tcp_init() multiple times (through modbus_init() )
* (once for each plugin instance)
* It will also be calling modbus_tcp_done() the same number of times
* We only want to really shutdown the library the last time it is called.
* We therefore keep a counter of how many times modbus_tcp_init() is called,
* and decrement it in modbus_tcp_done()
*/
int modbus_tcp_init_counter = 0;
/******************************/
/** **/
/** Load Default Values **/
/** **/
/******************************/
static void set_defaults(const char **service) {
/* Set the default values, if required... */
if (*service == NULL)
*service = DEF_SERVICE;
}
/******************************/
/** **/
/** Initialise Library **/
/** **/
/******************************/
/* returns the number of nodes succesfully initialised...
* returns -1 on error.
*/
int modbus_tcp_init(int nd_count,
optimization_t opt /* ignored... */,
int *extra_bytes) {
#ifdef DEBUG
printf("[%lu] modbus_tcp_init(): called...\n", pthread_self());
printf("[%lu] creating %d nodes:\n", pthread_self(), nd_count);
#endif
modbus_tcp_init_counter++;
/* set the extra_bytes value... */
/* Please see note before the modbus_rtu_write() function for a
* better understanding of this extremely ugly hack... This will be
* in the mb_rtu.c file!!
*
* The number of extra bytes that must be allocated to the data buffer
* before calling modbus_tcp_write()
*/
if (extra_bytes != NULL)
*extra_bytes = 0;
if (0 == nd_count)
/* no need to initialise this layer! */
return 0;
if (nd_count <= 0)
/* invalid node count... */
goto error_exit_1;
/* initialise the node table... */
if (nd_table_init(&nd_table_, nd_count) < 0)
goto error_exit_1;
#ifdef DEBUG
printf("[%lu] modbus_tcp_init(): %d node(s) opened succesfully\n", pthread_self(), nd_count);
#endif
return nd_count; /* number of succesfully created nodes! */
/*
error_exit_2:
nd_table_done(&nd_table_);
*/
error_exit_1:
if (extra_bytes != NULL)
*extra_bytes = 0;
return -1;
}
/******************************/
/** **/
/** Open a Master Node **/
/** **/
/******************************/
int modbus_tcp_connect(node_addr_t node_addr) {
int node_descriptor;
struct sockaddr_in tmp_addr;
#ifdef DEBUG
printf("[%lu] modbus_tcp_connect(): called...\n", pthread_self());
printf("[%lu] %s:%s\n", pthread_self(),
node_addr.addr.tcp.host,
node_addr.addr.tcp.service);
#endif
/* Check for valid address family */
if (node_addr.naf != naf_tcp)
/* wrong address type... */
return -1;
/* set the default values... */
set_defaults(&(node_addr.addr.tcp.service));
/* Check the parameters we were passed... */
if(sin_initaddr(&tmp_addr,
node_addr.addr.tcp.host, 1, // 1 => allow host NULL, "" or "*" -> INADDR_ANY
node_addr.addr.tcp.service, 1, // 1 => allow serivce NULL or "" -> port = 0
DEF_PROTOCOL)
< 0) {
#ifdef ERRMSG
fprintf(stderr, ERRMSG_HEAD "Error parsing/resolving address %s:%s\n",
node_addr.addr.tcp.host,
node_addr.addr.tcp.service);
#endif
return -1;
}
/* find a free node descriptor */
if ((node_descriptor = nd_table_get_free_node(&nd_table_, MB_MASTER_NODE)) < 0)
/* if no free nodes to initialize, then we are finished... */
return -1;
nd_table_.node[node_descriptor].addr = tmp_addr;
nd_table_.node[node_descriptor].fd = -1; /* not currently connected... */
nd_table_.node[node_descriptor].close_on_silence = node_addr.addr.tcp.close_on_silence;
if (nd_table_.node[node_descriptor].close_on_silence < 0)
nd_table_.node[node_descriptor].close_on_silence = DEF_CLOSE_ON_SILENCE;
/* WE have never tried to connect, so print an error the next time we try to connect */
nd_table_.node[node_descriptor].print_connect_error = 1;
#ifdef DEBUG
printf("[%lu] modbus_tcp_connect(): returning nd=%d\n", pthread_self(), node_descriptor);
#endif
return node_descriptor;
}
/******************************/
/** **/
/** Open a Slave Node **/
/** **/
/******************************/
int modbus_tcp_listen(node_addr_t node_addr) {
int fd, nd;
#ifdef DEBUG
printf("[%lu] modbus_tcp_listen(): called...\n", pthread_self());
printf("[%lu] %s:%s\n", pthread_self(),
node_addr.addr.tcp.host,
node_addr.addr.tcp.service);
#endif
/* Check for valid address family */
if (node_addr.naf != naf_tcp)
/* wrong address type... */
goto error_exit_0;
/* set the default values... */
set_defaults(&(node_addr.addr.tcp.service));
/* create a socket and bind it to the appropriate port... */
fd = sin_bindsock(node_addr.addr.tcp.host,
node_addr.addr.tcp.service,
DEF_PROTOCOL);
if (fd < 0) {
#ifdef ERRMSG
fprintf(stderr, ERRMSG_HEAD "Could not bind to socket %s:%s\n",
((node_addr.addr.tcp.host==NULL)?"#ANY#":node_addr.addr.tcp.host),
node_addr.addr.tcp.service);
#endif
goto error_exit_0;
}
if (listen(fd, DEF_MAX_PENDING_CONNECTION_REQUESTS) < 0)
goto error_exit_0;
/* find a free node descriptor */
if ((nd = nd_table_get_free_node(&nd_table_, MB_LISTEN_NODE)) < 0) {
/* if no free nodes to initialize, then we are finished... */
goto error_exit_1;
}
/* nd_table_.node[nd].addr = tmp_addr; */ /* does not apply for MB_LISTEN_NODE */
nd_table_.node[nd].fd = fd; /* not currently connected... */
#ifdef DEBUG
printf("[%lu] modbus_tcp_listen(): returning nd=%d\n", pthread_self(), nd);
#endif
return nd;
error_exit_1:
close(fd);
error_exit_0:
return -1;
}
/******************************/
/** **/
/** Close a node **/
/** **/
/******************************/
int modbus_tcp_close(int nd) {
#ifdef DEBUG
fprintf(stderr, "[%lu] modbus_tcp_close(): called... nd=%d\n", pthread_self(), nd);
#endif
if ((nd < 0) || (nd >= nd_table_.node_count)) {
/* invalid nd */
#ifdef DEBUG
fprintf(stderr, "[%lu] modbus_tcp_close(): invalid node %d. Should be < %d\n", pthread_self(), nd, nd_table_.node_count);
#endif
return -1;
}
if (nd_table_.node[nd].node_type == MB_FREE_NODE)
/* already free node */
return 0;
close_connection(nd);
nd_table_close_node(&nd_table_, nd);
return 0;
}
/**********************************/
/** **/
/** Close all open connections **/
/** **/
/**********************************/
int modbus_tcp_silence_init(void) {
int nd;
#ifdef DEBUG
printf("[%lu] modbus_tcp_silence_init(): called...\n", pthread_self());
#endif
/* close all master connections that remain open... */
for (nd = 0; nd < nd_table_.node_count; nd++)
if (nd_table_.node[nd].node_type == MB_MASTER_NODE)
if (nd_table_.node[nd].close_on_silence > 0)
/* node is is being used for a master device,
* and wishes to be closed... ...so we close it!
*/
close_connection(nd);
return 0;
}
/******************************/
/** **/
/** Shutdown the Library **/
/** **/
/******************************/
int modbus_tcp_done(void) {
int i;
modbus_tcp_init_counter--;
if (modbus_tcp_init_counter != 0) return 0; /* ignore this request */
/* close all the connections... */
for (i = 0; i < nd_table_.node_count; i++)
modbus_tcp_close(i);
/* Free memory... */
nd_table_done(&nd_table_);
return 0;
}
double modbus_tcp_get_min_timeout(int baud,
int parity,
int data_bits,
int stop_bits) {
return 0;
}