author | Edouard Tisserant <edouard@beremiz.fr> |
Wed, 27 Nov 2024 16:05:26 +0100 | |
changeset 4047 | 5234d06f62ee |
parent 3733 | d1acf20e8e7c |
permissions | -rw-r--r-- |
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/* File generated by Beremiz (PlugGenerate_C method of modbus Plugin instance) */ |
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/* |
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* Copyright (c) 2016 Mario de Sousa (msousa@fe.up.pt) |
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* |
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* This file is part of the Modbus library for Beremiz and matiec. |
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* |
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* This Modbus library is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU Lesser General Public License as published by |
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* the Free Software Foundation, either version 2 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser |
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* General Public License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public License |
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* along with this Modbus library. If not, see <http://www.gnu.org/licenses/>. |
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* |
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* This code is made available on the understanding that it will not be |
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* used in safety-critical situations without a full and competent review. |
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*/ |
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#include "mb_addr.h" |
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#include "mb_tcp_private.h" |
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#include "mb_master_private.h" |
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#define DEF_REQ_SEND_RETRIES 0 |
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#define MODBUS_PARAM_STRING_SIZE 64 |
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// Used by the Modbus server node |
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#define MEM_AREA_SIZE 65536 |
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typedef struct{ |
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u16 ro_bits [MEM_AREA_SIZE]; |
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u16 rw_bits [MEM_AREA_SIZE]; |
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u16 ro_words[MEM_AREA_SIZE]; |
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u16 rw_words[MEM_AREA_SIZE]; |
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/* Two flags to count the number of Modbus requests (read and write) we have |
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* successfully received from any remote Modbus master. |
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* Two boolean flags that are set whenever we successfully process a |
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* Modbus request sent from a remote client. |
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* These flags will be mapped onto located variables |
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* so the user's IEC 61131-3 code can check whether we are being |
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* polled by a Modbus master. |
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* The counters will roll over to 0 upon reaching maximum value. |
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* The user will probably periodically reset the boolean flags to false, |
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* and use this as a communication timeout |
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* (when it remains false in two consecutive periods) |
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* |
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* u8 for BOOL variable/flag |
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* u32 for UDINT variable/counter |
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*/ |
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u8 flag_write_req_flag; |
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u8 flag_read_req_flag; |
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u32 flag_write_req_counter; |
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u32 flag_read_req_counter; |
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} server_mem_t; |
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/* |
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* Beremiz has a program to run on the PLC (Beremiz_service.py) |
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* to handle downloading of compiled programs, start/stop of PLC, etc. |
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* (see runtime/PLCObject.py for start/stop, loading, ...) |
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* |
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* This service also includes a web server to access PLC state (start/stop) |
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* and to change some basic confiuration parameters. |
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* (see runtime/NevowServer.py for the web server) |
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* |
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* The web server allows for extensions, where additional configuration |
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* parameters may be changed on the running/downloaded PLC. |
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* Modbus plugin also comes with an extension to the web server, through |
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* which the basic Modbus plugin configuration parameters may be changed |
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* |
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* This means that most values in the server_node_t and client_node_t |
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* may be changed after the co,piled code (.so file) is loaded into |
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* memory, and before the code starts executing. |
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* Since the we will also want to change the host and port (TCP) and the |
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* serial device (RTU) at this time, it is best if we allocate memory for |
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* these strings that may be overwritten by the web server (i.e., do not use |
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* const strings) in the server_node_t and client_node_t structures. |
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* |
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* The following structure members |
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* - node_addr_t.addr.tcp.host |
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* - node_addr_t.addr.tcp.service (i.e. the port) |
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* - node_addr_t.addr.rtu.device |
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* are all char *, and do not allocate memory for the strings. |
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* |
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* We therefore include two generic char arrays, str1 and str2, |
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* that will store the above strings, and the C code will initiliaze |
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* the node_addre_t.addr string pointers to these strings. |
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* i.e., either addr.rtu.device will point to str1, |
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* or |
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* addr.tcp.host and addr.tcp.service |
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* will point to str1 and str2 respectively |
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*/ |
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typedef struct{ |
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const char *location; |
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104 |
const char *config_name; |
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105 |
char str1[MODBUS_PARAM_STRING_SIZE]; |
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106 |
char str2[MODBUS_PARAM_STRING_SIZE]; |
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107 |
u8 slave_id; |
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108 |
node_addr_t node_address; |
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109 |
int mb_nd; // modbus library node used for this server |
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110 |
int init_state; // store how far along the server's initialization has progressed |
2721
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modbus plugin: add (user accessible) transaction counters for servers/slaves
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111 |
/* entries from this point forward are not statically initialized when the variable is declared */ |
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112 |
/* they will be initialized by the code itself in the init() function */ |
1912
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113 |
pthread_t thread_id; // thread handling this server |
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114 |
server_mem_t mem_area; |
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115 |
} server_node_t; |
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116 |
|
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117 |
|
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118 |
// Used by the Modbus client node |
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119 |
typedef struct{ |
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120 |
const char *location; |
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121 |
const char *config_name; |
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122 |
char str1[MODBUS_PARAM_STRING_SIZE]; |
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123 |
char str2[MODBUS_PARAM_STRING_SIZE]; |
1912
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124 |
node_addr_t node_address; |
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125 |
int mb_nd; // modbus library node used for this client |
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126 |
int init_state; // store how far along the client's initialization has progressed |
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127 |
u64 comm_period;// period to use when periodically sending requests to remote server (in ms) |
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128 |
u64 req_delay; // delay between 2 consecutive requests sent to remote slaves/server (in ms) |
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129 |
int prev_error; // error code of the last printed error message (0 when no error) |
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130 |
pthread_t thread_id; // thread handling all communication for this client node |
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131 |
pthread_t timer_thread_id; // thread handling periodical timer for this client node |
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132 |
pthread_mutex_t mutex; // mutex to be used with the following condition variable |
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133 |
pthread_cond_t condv; // used to signal the client thread when to start new modbus transactions |
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134 |
int execute_req; /* used, in association with condition variable, |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
135 |
* to signal when to send the modbus request to the server |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
136 |
* Note that we cannot simply rely on the condition variable to signal |
990004083eb8
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137 |
* when to activate the client thread, as the call to |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
138 |
* pthread_cond_wait() may return without having been signaled! |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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139 |
* From the manual: |
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Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
140 |
* Spurious wakeups from the |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
141 |
* pthread_cond_timedwait() or pthread_cond_wait() functions may occur. |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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142 |
* Since the return from pthread_cond_timedwait() or pthread_cond_wait() |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
143 |
* does not imply anything about the value of this predicate, the predi- |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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144 |
* cate should be re-evaluated upon such return. |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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145 |
*/ |
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Modbus plugin: Add "exec. req. flag" and "write on change" features
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146 |
int periodic_act; /* (boolen) flag will be set when the client node's thread was activated |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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147 |
* (by signaling the above condition variable) by the periodic timer. |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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148 |
* Note that this same thread may also be activated (condition variable is signaled) |
990004083eb8
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149 |
* by other sources, such as when the user program requests that a specific |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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150 |
* client MB transation be executed (flag_exec_req in client_request_t) |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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151 |
*/ |
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152 |
} client_node_t; |
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153 |
|
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154 |
|
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|
155 |
// Used by the Modbus client plugin |
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156 |
typedef enum { |
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157 |
req_input, |
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158 |
req_output, |
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159 |
no_request /* just for tests to quickly disable a request */ |
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160 |
} iotype_t; |
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|
161 |
|
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162 |
#define REQ_BUF_SIZE 2000 |
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|
163 |
typedef struct{ |
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|
164 |
const char *location; |
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165 |
int client_node_id; |
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|
166 |
u8 slave_id; |
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|
167 |
iotype_t req_type; |
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|
168 |
u8 mb_function; |
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169 |
u16 address; |
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170 |
u16 count; |
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|
171 |
int retries; |
2713
680ea4684209
Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
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|
172 |
u8 mb_error_code; // modbus error code (if any) of last executed request |
680ea4684209
Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
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|
173 |
u8 tn_error_code; // transaction error code (if any) of last executed request |
1912
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|
174 |
int prev_error; // error code of the last printed error message (0 when no error) |
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|
175 |
struct timespec resp_timeout; |
2647
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
176 |
u8 write_on_change; // boolean flag. If true => execute MB request when data to send changes |
1912
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177 |
// buffer used to store located PLC variables |
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|
178 |
u16 plcv_buffer[REQ_BUF_SIZE]; |
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|
179 |
// buffer used to store data coming from / going to server |
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|
180 |
u16 coms_buffer[REQ_BUF_SIZE]; |
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|
181 |
pthread_mutex_t coms_buf_mutex; // mutex to access coms_buffer[] |
2647
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
182 |
/* boolean flag that will be mapped onto a (BOOL) located variable |
2715
1215a6b741d5
Modbus plugin: fix bug - map BOOL flag onto C u8 (was incorrectly mapped onto u16)
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|
183 |
* (u8 because IEC 61131-3 BOOL are mapped onto u8 in C code! ) |
2647
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Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
184 |
* -> allow PLC program to request when to start the MB transaction |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
185 |
* -> will be reset once the MB transaction has completed |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
186 |
*/ |
2715
1215a6b741d5
Modbus plugin: fix bug - map BOOL flag onto C u8 (was incorrectly mapped onto u16)
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|
187 |
u8 flag_exec_req; |
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Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
188 |
/* flag that works in conjunction with flag_exec_req |
2715
1215a6b741d5
Modbus plugin: fix bug - map BOOL flag onto C u8 (was incorrectly mapped onto u16)
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189 |
* (does not really need to be u8 as it is not mapped onto a located variable. ) |
2647
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Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
190 |
* -> used by internal logic to indicate that the client thread |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
191 |
* that will be executing the MB transaction |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
192 |
* requested by flag exec_req has already been activated. |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
193 |
* -> will be reset once the MB transaction has completed |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
194 |
*/ |
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1215a6b741d5
Modbus plugin: fix bug - map BOOL flag onto C u8 (was incorrectly mapped onto u16)
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195 |
u8 flag_exec_started; |
2714
0b636dc947a2
Modbus plugin: map status of MB transaction onto 2 located BYTE vars (instead of a singlw WORD var).
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196 |
/* flag that will be mapped onto a (BYTE) located variable |
0b636dc947a2
Modbus plugin: map status of MB transaction onto 2 located BYTE vars (instead of a singlw WORD var).
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197 |
* (u8 because the flag is a BYTE! ) |
0b636dc947a2
Modbus plugin: map status of MB transaction onto 2 located BYTE vars (instead of a singlw WORD var).
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198 |
* -> will store the result of the last executed MB transaction |
2647
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Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
199 |
* 1 -> error accessing IP network, or serial interface |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
200 |
* 2 -> reply received from server was an invalid frame |
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
201 |
* 3 -> server did not reply before timeout expired |
2713
680ea4684209
Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
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202 |
* 4 -> server returned a valid Modbus error frame |
2647
990004083eb8
Modbus plugin: Add "exec. req. flag" and "write on change" features
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|
203 |
* -> will be reset (set to 0) once this MB transaction has completed sucesfully |
2713
680ea4684209
Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
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204 |
* |
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0b636dc947a2
Modbus plugin: map status of MB transaction onto 2 located BYTE vars (instead of a singlw WORD var).
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|
205 |
* In other words, this variable is a copy of tn_error_code, reset after each request attempt completes. |
0b636dc947a2
Modbus plugin: map status of MB transaction onto 2 located BYTE vars (instead of a singlw WORD var).
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206 |
* We map this copy (instead of tn_error_code) onto a located variable in case the user program decides |
0b636dc947a2
Modbus plugin: map status of MB transaction onto 2 located BYTE vars (instead of a singlw WORD var).
Mario de Sousa <msousa@fe.up.pt>
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* to overwrite its value and mess up the plugin logic. |
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*/ |
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u8 flag_tn_error_code; |
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/* flag that will be mapped onto a (BYTE) located variable |
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* (u8 because the flag is a BYTE! ) |
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* -> if flag_tn_error_code is 4, this flag will store the MB error code returned by the MB server in a MB error frame |
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* -> will be reset (set to 0) once this MB transaction has completed succesfully |
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* |
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* In other words, this variable is a copy of mb_error_code, reset after each request attempt completes. |
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* We map this copy (instead of mb_error_code) onto a located variable in case the user program decides |
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* to overwrite its value and mess up the plugin logic. |
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*/ |
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u8 flag_mb_error_code; |
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} client_request_t; |
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|
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|
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/* The total number of nodes, needed to support _all_ instances of the modbus plugin */ |
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#define TOTAL_TCPNODE_COUNT %(total_tcpnode_count)s |
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#define TOTAL_RTUNODE_COUNT %(total_rtunode_count)s |
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#define TOTAL_ASCNODE_COUNT %(total_ascnode_count)s |
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|
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/* Values for instance %(locstr)s of the modbus plugin */ |
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#define MAX_NUMBER_OF_TCPCLIENTS %(max_remote_tcpclient)s |
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|
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#define NUMBER_OF_TCPSERVER_NODES %(tcpserver_node_count)s |
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#define NUMBER_OF_TCPCLIENT_NODES %(tcpclient_node_count)s |
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#define NUMBER_OF_TCPCLIENT_REQTS %(tcpclient_reqs_count)s |
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|
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#define NUMBER_OF_RTUSERVER_NODES %(rtuserver_node_count)s |
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#define NUMBER_OF_RTUCLIENT_NODES %(rtuclient_node_count)s |
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#define NUMBER_OF_RTUCLIENT_REQTS %(rtuclient_reqs_count)s |
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|
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#define NUMBER_OF_ASCIISERVER_NODES %(ascserver_node_count)s |
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#define NUMBER_OF_ASCIICLIENT_NODES %(ascclient_node_count)s |
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#define NUMBER_OF_ASCIICLIENT_REQTS %(ascclient_reqs_count)s |
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|
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#define NUMBER_OF_SERVER_NODES (NUMBER_OF_TCPSERVER_NODES + \ |
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NUMBER_OF_RTUSERVER_NODES + \ |
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NUMBER_OF_ASCIISERVER_NODES) |
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|
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#define NUMBER_OF_CLIENT_NODES (NUMBER_OF_TCPCLIENT_NODES + \ |
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NUMBER_OF_RTUCLIENT_NODES + \ |
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NUMBER_OF_ASCIICLIENT_NODES) |
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|
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#define NUMBER_OF_CLIENT_REQTS (NUMBER_OF_TCPCLIENT_REQTS + \ |
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NUMBER_OF_RTUCLIENT_REQTS + \ |
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NUMBER_OF_ASCIICLIENT_REQTS) |
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|
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|
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/*initialization following all parameters given by user in application*/ |
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|
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static client_node_t client_nodes[NUMBER_OF_CLIENT_NODES] = { |
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%(client_nodes_params)s |
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}; |
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|
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|
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static client_request_t client_requests[NUMBER_OF_CLIENT_REQTS] = { |
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%(client_req_params)s |
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}; |
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|
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static server_node_t server_nodes[NUMBER_OF_SERVER_NODES] = { |
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%(server_nodes_params)s |
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} |
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; |
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|
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/*******************/ |
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/*located variables*/ |
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/*******************/ |
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|
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%(loc_vars)s |
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