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/* File generated by Beremiz (PlugGenerate_C method of Modbus plugin) */

     2

     3

/*

     4

 * 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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 *

     8

 * 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

    10

 * 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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 *

    13

 * This program is distributed in the hope that it will be useful, but

    14

 * WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser 

    16

 * General Public License for more details.

    17

 *

    18

 * You should have received a copy of the GNU Lesser General Public License

    19

 * along with this Modbus library.  If not, see <http://www.gnu.org/licenses/>.

    20

 *

    21

 * This code is made available on the understanding that it will not be

    22

 * used in safety-critical situations without a full and competent review.

    23

 */

    24

    25

    26

#include <stdio.h>

    27

#include <string.h>  /* required for memcpy() */

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#include <time.h>

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#include <signal.h>

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#include "mb_slave_and_master.h"

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#include "MB_%(locstr)s.h"

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    33

    34

#define MAX_MODBUS_ERROR_CODE 11

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static const char *modbus_error_messages[MAX_MODBUS_ERROR_CODE+1] = {

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    /* 0 */ "",                             /* un-used -> no error! */

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    /* 1 */ "illegal/unsuported function",

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    /* 2 */ "illegal data address",

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    /* 3 */ "illegal data value",

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    /* 4 */ "slave device failure",

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    /* 5 */ "acknowledge -> slave intends to reply later",

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    /* 6 */ "slave device busy",

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    /* 7 */ "negative acknowledge",

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    /* 8 */ "memory parity error",

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    /* 9 */ "",                             /* undefined by Modbus */

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    /* 10*/ "gateway path unavalilable",

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    /* 11*/ "gateway target device failed to respond"

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};    

    49

    50

    51

/* Execute a modbus client transaction/request */

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static int __execute_mb_request(int request_id){

    53

	switch (client_requests[request_id].mb_function){

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    55

	case  1: /* read coils */

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		return read_output_bits(client_requests[request_id].slave_id,

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					client_requests[request_id].address,

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					client_requests[request_id].count,

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					client_requests[request_id].coms_buffer,

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					(int) client_requests[request_id].count,

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					client_nodes[client_requests[request_id].client_node_id].mb_nd,

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					client_requests[request_id].retries,

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					&(client_requests[request_id].mb_error_code),

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					&(client_requests[request_id].resp_timeout),

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					&(client_requests[request_id].coms_buf_mutex));

    66

    67

	case  2: /* read discrete inputs */

    68

		return read_input_bits( client_requests[request_id].slave_id,

    69

					client_requests[request_id].address,

    70

					client_requests[request_id].count,

    71

					client_requests[request_id].coms_buffer,

    72

					(int) client_requests[request_id].count,

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					client_nodes[client_requests[request_id].client_node_id].mb_nd,

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					client_requests[request_id].retries,

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					&(client_requests[request_id].mb_error_code),

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					&(client_requests[request_id].resp_timeout),

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					&(client_requests[request_id].coms_buf_mutex));

    78

    79

	case  3: /* read holding registers */

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		return read_output_words(client_requests[request_id].slave_id,

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					client_requests[request_id].address,

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					client_requests[request_id].count,

    83

					client_requests[request_id].coms_buffer,

    84

					(int) client_requests[request_id].count,

    85

					client_nodes[client_requests[request_id].client_node_id].mb_nd,

    86

					client_requests[request_id].retries,

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					&(client_requests[request_id].mb_error_code),

    88

					&(client_requests[request_id].resp_timeout),

    89

					&(client_requests[request_id].coms_buf_mutex));

    90

    91

	case  4: /* read input registers */

    92

		return read_input_words(client_requests[request_id].slave_id,

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					client_requests[request_id].address,

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					client_requests[request_id].count,

    95

					client_requests[request_id].coms_buffer,

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					(int) client_requests[request_id].count,

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					client_nodes[client_requests[request_id].client_node_id].mb_nd,

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					client_requests[request_id].retries,

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					&(client_requests[request_id].mb_error_code),

   100

					&(client_requests[request_id].resp_timeout),

   101

					&(client_requests[request_id].coms_buf_mutex));

   102

   103

	case  5: /* write single coil */

   104

		return write_output_bit(client_requests[request_id].slave_id,

   105

					client_requests[request_id].address,

   106

					client_requests[request_id].coms_buffer[0],

   107

					client_nodes[client_requests[request_id].client_node_id].mb_nd,

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					client_requests[request_id].retries,

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					&(client_requests[request_id].mb_error_code),

   110

					&(client_requests[request_id].resp_timeout),

   111

					&(client_requests[request_id].coms_buf_mutex));

   112

   113

	case  6: /* write single register */

   114

		return write_output_word(client_requests[request_id].slave_id,

   115

					client_requests[request_id].address,

   116

					client_requests[request_id].coms_buffer[0],

   117

					client_nodes[client_requests[request_id].client_node_id].mb_nd,

   118

					client_requests[request_id].retries,

   119

					&(client_requests[request_id].mb_error_code),

   120

					&(client_requests[request_id].resp_timeout),

   121

					&(client_requests[request_id].coms_buf_mutex));

   122

   123

	case  7: break; /* function not yet supported */

   124

	case  8: break; /* function not yet supported */

   125

	case  9: break; /* function not yet supported */

   126

	case 10: break; /* function not yet supported */

   127

	case 11: break; /* function not yet supported */

   128

	case 12: break; /* function not yet supported */

   129

	case 13: break; /* function not yet supported */

   130

	case 14: break; /* function not yet supported */

   131

   132

	case 15: /* write multiple coils */

   133

		return write_output_bits(client_requests[request_id].slave_id,

   134

					 client_requests[request_id].address,

   135

					 client_requests[request_id].count,

   136

					 client_requests[request_id].coms_buffer,

   137

					 client_nodes[client_requests[request_id].client_node_id].mb_nd,

   138

					 client_requests[request_id].retries,

   139

					 &(client_requests[request_id].mb_error_code),

   140

					 &(client_requests[request_id].resp_timeout),

   141

					 &(client_requests[request_id].coms_buf_mutex));

   142

   143

	case 16: /* write multiple registers */

   144

		return write_output_words(client_requests[request_id].slave_id,

   145

					client_requests[request_id].address,

   146

					client_requests[request_id].count,

   147

					client_requests[request_id].coms_buffer,

   148

					client_nodes[client_requests[request_id].client_node_id].mb_nd,

   149

					client_requests[request_id].retries,

   150

					&(client_requests[request_id].mb_error_code),

   151

					&(client_requests[request_id].resp_timeout),

   152

					&(client_requests[request_id].coms_buf_mutex));

   153

   154

	default: break;  /* should never occur, if file generation is correct */

   155

	}

   156

   157

	fprintf(stderr, "Modbus plugin: Modbus function %%d not supported\n", request_id); /* should never occur, if file generation is correct */

   158

	return -1;

   159

}

   160

   161

   162

   163

/* pack bits from unpacked_data to packed_data */

   164

static inline int __pack_bits(u16 *unpacked_data, u16 start_addr, u16 bit_count,  u8  *packed_data) {

   165

  u8 bit;

   166

  u16 byte, coils_processed;

   167

   168

  if ((0 == bit_count) || (65535-start_addr < bit_count-1))

   169

    return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */

   170

   171

  for( byte = 0, coils_processed = 0; coils_processed < bit_count; byte++) {

   172

    packed_data[byte] = 0;

   173

    for( bit = 0x01; (bit & 0xFF) && (coils_processed < bit_count); bit <<= 1, coils_processed++ ) {

   174

      if(unpacked_data[start_addr + coils_processed])

   175

            packed_data[byte] |=  bit; /*   set bit */

   176

      else  packed_data[byte] &= ~bit; /* reset bit */

   177

    }

   178

  }

   179

  return 0;

   180

}

   181

   182

   183

/* unpack bits from packed_data to unpacked_data */

   184

static inline int __unpack_bits(u16 *unpacked_data, u16 start_addr, u16 bit_count,  u8  *packed_data) {

   185

  u8  temp, bit;

   186

  u16 byte, coils_processed;

   187

   188

  if ((0 == bit_count) || (65535-start_addr < bit_count-1))

   189

    return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */

   190

   191

  for(byte = 0, coils_processed = 0; coils_processed < bit_count; byte++) {

   192

    temp = packed_data[byte] ;

   193

    for(bit = 0x01; (bit & 0xff) && (coils_processed < bit_count); bit <<= 1, coils_processed++) {

   194

      unpacked_data[start_addr + coils_processed] = (temp & bit)?1:0;

   195

    }

   196

  }

   197

  return 0;

   198

}

   199

   200

   201

static int __read_inbits   (void *mem_map, u16 start_addr, u16 bit_count, u8  *data_bytes) {

   202

  int res = __pack_bits(((server_mem_t *)mem_map)->ro_bits, start_addr, bit_count, data_bytes);

   203

   206

    ((server_mem_t *)mem_map)->flag_read_req_counter++;

   209

   210

  return res;

   211

}

   212

   213

static int __read_outbits  (void *mem_map, u16 start_addr, u16 bit_count, u8  *data_bytes) {

   214

  int res = __pack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes);

   215

   218

    ((server_mem_t *)mem_map)->flag_read_req_counter++;

   221

   222

  return res;

   223

}

   224

   225

static int __write_outbits (void *mem_map, u16 start_addr, u16 bit_count, u8  *data_bytes) {

   226

  int res = __unpack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes);

   227

   230

    ((server_mem_t *)mem_map)->flag_write_req_counter++;

   233

   234

  return res;

   235

}

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   237

   238

   239

   240

static int __read_inwords  (void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {

   241

   242

  if ((start_addr + word_count) > MEM_AREA_SIZE)

   243

    return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */

   244

   246

  ((server_mem_t *)mem_map)->flag_read_req_counter++;

   248

   249

  /* use memcpy() because loop with pointers (u16 *) caused alignment problems */

   250

  memcpy(/* dest */ (void *)data_words,

   251

         /* src  */ (void *)&(((server_mem_t *)mem_map)->ro_words[start_addr]),

   252

         /* size */ word_count * 2);

   253

  return 0;

   254

}

   255

   256

   257

   258

static int __read_outwords (void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {

   259

   260

  if ((start_addr + word_count) > MEM_AREA_SIZE)

   261

    return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */

   262

   264

  ((server_mem_t *)mem_map)->flag_read_req_counter++;

   266

   267

  /* use memcpy() because loop with pointers (u16 *) caused alignment problems */

   268

  memcpy(/* dest */ (void *)data_words,

   269

         /* src  */ (void *)&(((server_mem_t *)mem_map)->rw_words[start_addr]),

   270

         /* size */ word_count * 2);

   271

  return 0;

   272

}

   273

   274

   275

   276

   277

static int __write_outwords(void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {

   278

   279

  if ((start_addr + word_count) > MEM_AREA_SIZE)

   280

    return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */

   281

   283

  ((server_mem_t *)mem_map)->flag_write_req_counter++;

   285

   286

  /* WARNING: The data returned in the data_words[] array is not guaranteed to be 16 bit aligned.

   287

   *           It is not therefore safe to cast it to an u16 data type.

   288

   *           The following code cannot be used. memcpy() is used instead.

   289

   */

   290

  /*

   291

  for (count = 0; count < word_count ; count++)

   292

    ((server_mem_t *)mem_map)->rw_words[count + start_addr] = data_words[count];

   293

  */

   294

  memcpy(/* dest */ (void *)&(((server_mem_t *)mem_map)->rw_words[start_addr]),

   295

         /* src  */ (void *)data_words,

   296

         /* size */ word_count * 2);

   297

  return 0;

   298

}

   299

   300

   301

   302

   303

#include <pthread.h>

   304

   305

static void *__mb_server_thread(void *_server_node)  {

   306

	server_node_t *server_node = _server_node;

   307

	mb_slave_callback_t callbacks = { 

   308

			&__read_inbits,

   309

			&__read_outbits,

   310

			&__write_outbits,

   311

			&__read_inwords,

   312

			&__read_outwords,

   313

			&__write_outwords,

   314

			(void *)&(server_node->mem_area)

   315

			};  

   316

   317

	// Enable thread cancelation. Enabled is default, but set it anyway to be safe.

   318

	pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);

   319

   320

	// mb_slave_run() should never return!

   321

	mb_slave_run(server_node->mb_nd /* nd */, callbacks, server_node->slave_id);

   322

	fprintf(stderr, "Modbus plugin: Modbus server for node %%s died unexpectedly!\n", server_node->location); /* should never occur */

   323

	return NULL;

   324

}

   325

   326

   327

#define timespec_add(ts, sec, nsec) {		\

   328

	ts.tv_sec  +=  sec;			\

   329

	ts.tv_nsec += nsec;			\

   330

	if (ts.tv_nsec >= 1000000000) {		\

   331

		ts.tv_sec  ++;			\

   332

		ts.tv_nsec -= 1000000000;	\

   333

	}					\

   334

}

   335

   336

   337

static void *__mb_client_thread(void *_index)  {

   338

	int client_node_id = (char *)_index - (char *)NULL; // Use pointer arithmetic (more portable than cast)

   339

	struct timespec next_cycle;

   340

	int period_sec  =  client_nodes[client_node_id].comm_period / 1000;          /* comm_period is in ms */

   341

	int period_nsec = (client_nodes[client_node_id].comm_period %%1000)*1000000; /* comm_period is in ms */

   342

   343

	// Enable thread cancelation. Enabled is default, but set it anyway to be safe.

   344

	pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);

   345

   346

	// configure the timer for periodic activation

   347

    {

   348

      struct itimerspec timerspec;

   349

      timerspec.it_interval.tv_sec  = period_sec;

   350

      timerspec.it_interval.tv_nsec = period_nsec;

   351

      timerspec.it_value            = timerspec.it_interval;

   352

   353

      if (timer_settime(client_nodes[client_node_id].timer_id, 0 /* flags */, &timerspec, NULL) < 0)

   354

        fprintf(stderr, "Modbus plugin: Error configuring periodic activation timer for Modbus client %%s.\n", client_nodes[client_node_id].location);          

   355

    }

   356

   357

    /* loop the communication with the client

   358

     * 

   359

         * When the client thread has difficulty communicating with remote client and/or server (network issues, for example),

   360

         * then the communications get delayed and we will fall behind in the period. 

   361

         * 

   362

         * This is OK. Note that if the condition variable were to be signaled multiple times while the client thread is inside the same

   363

         * Modbus transaction, then all those signals would be ignored.

   364

         * However, and since we keep the mutex locked during the communication cycle, it is not possible to signal the condition variable

   365

         * during that time (it is only possible while the thread is blocked during the call to pthread_cond_wait().

   366

         * 

   367

         * This means that when network issues eventually get resolved, we will NOT have a bunch of delayed activations to handle

   368

         * in quick succession (which would goble up CPU time). 

   369

         * 

   370

         * Notice that the above property is valid whether the communication cycle is run with the mutex locked, or unlocked.

   371

         * Since it makes it easier to implement the correct semantics for the other activation methods if the communication cycle

   372

         * is run with the mutex locked, then that is what we do.

   373

         * 

   374

     * Note that during all the communication cycle we will keep locked the mutex 

   375

     * (i.e. the mutex used together with the condition variable that will activate a new communication cycle)

   376

     * 

   377

     * Note that we never get to explicitly unlock this mutex. It will only be unlocked by the pthread_cond_wait()

   378

     * call at the end of the cycle.

   379

     */

   380

    pthread_mutex_lock(&(client_nodes[client_node_id].mutex));

   381

   382

	while (1) {

   383

		/*

   384

		struct timespec cur_time;

   385

		clock_gettime(CLOCK_MONOTONIC, &cur_time);

   386

		fprintf(stderr, "Modbus client thread - new cycle (%%ld:%%ld)!\n", cur_time.tv_sec, cur_time.tv_nsec);

   387

		*/

   388

		int req;

   389

		for (req=0; req < NUMBER_OF_CLIENT_REQTS; req ++){

   390

			/* just do the requests belonging to the client */

   391

			if (client_requests[req].client_node_id != client_node_id)

   392

				continue;

   393

   394

            /* only do the request if:

   395

             *   - this request was explictly asked to be executed by the client program

   396

             *  OR

   397

             *   - the client thread was activated periodically

   398

             *     (in which case we execute all the requests belonging to the client node)

   399

             */

   400

            if ((client_requests[req].flag_exec_req == 0) && (client_nodes[client_requests[req].client_node_id].periodic_act == 0))

   401

                continue;

   402

   403

            //fprintf(stderr, "Modbus plugin: RUNNING<###> of Modbus request %%d  (periodic = %%d  flag_exec_req = %%d)\n", 

   404

            //        req, client_nodes[client_requests[req].client_node_id].periodic_act, client_requests[req].flag_exec_req );

   405

   406

			int res_tmp = __execute_mb_request(req);

   407

			client_requests[req].tn_error_code = 0; // assume success

   408

			switch (res_tmp) {

   409

			  case PORT_FAILURE: {

   410

				if (res_tmp != client_nodes[client_node_id].prev_error)

   411

					fprintf(stderr, "Modbus plugin: Error connecting Modbus client %%s to remote server.\n", client_nodes[client_node_id].location);

   412

				client_nodes[client_node_id].prev_error = res_tmp;

   413

				client_requests[req].tn_error_code = 1; // error accessing IP network, or serial interface

   414

				break;

   415

			  }

   416

			  case INVALID_FRAME: {

   417

				if ((res_tmp != client_requests[req].prev_error) && (0 == client_nodes[client_node_id].prev_error))

   418

					fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s was unsuccesful. Server/slave returned an invalid/corrupted frame.\n", client_requests[req].location);

   419

				client_requests[req].prev_error = res_tmp;

   420

				client_requests[req].tn_error_code = 2; // reply received from server was an invalid frame

   421

				break;

   422

			  }

   423

			  case TIMEOUT: {

   424

				if ((res_tmp != client_requests[req].prev_error) && (0 == client_nodes[client_node_id].prev_error))

   425

					fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s timed out waiting for reply from server.\n", client_requests[req].location);

   426

				client_requests[req].prev_error = res_tmp;

   427

				client_requests[req].tn_error_code = 3; // server did not reply before timeout expired

   428

				break;

   429

			  }

   430

			  case MODBUS_ERROR: {

   431

				if (client_requests[req].prev_error != client_requests[req].mb_error_code) {

   432

					fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s was unsuccesful. Server/slave returned error code 0x%%2x", client_requests[req].location, client_requests[req].mb_error_code);

   433

					if (client_requests[req].mb_error_code <= MAX_MODBUS_ERROR_CODE ) {

   434

						fprintf(stderr, "(%%s)", modbus_error_messages[client_requests[req].mb_error_code]);

   435

						fprintf(stderr, ".\n");

   436

					}

   437

				}

   438

				client_requests[req].prev_error = client_requests[req].mb_error_code;

   439

				client_requests[req].tn_error_code = 4; // server returned a valid Modbus error frame

   440

				break;

   441

			  }

   442

			  default: {

   443

				if ((res_tmp >= 0) && (client_nodes[client_node_id].prev_error != 0)) {

   444

					fprintf(stderr, "Modbus plugin: Modbus client %%s has reconnected to server/slave.\n", client_nodes[client_node_id].location);

   445

				}

   446

				if ((res_tmp >= 0) && (client_requests[req]        .prev_error != 0)) {

   447

					fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s has succesfully resumed comunication.\n", client_requests[req].location);

   448

				}

   449

				client_nodes[client_node_id].prev_error = 0;

   450

				client_requests[req]        .prev_error = 0;

   451

				break;

   452

			  }

   453

			}

   454

   455

			/* Set the flag_tn_error_code and flag_mb_error_code that are mapped onto

   456

             * located BYTE variables, so the user program

   457

             * knows how the communication is going.

   458

             */

   459

            client_requests[req].flag_mb_error_code = client_requests[req].mb_error_code;

   460

            client_requests[req].flag_tn_error_code = client_requests[req].tn_error_code;

   461

   462

            /* We have just finished excuting a client transcation request.

   463

             * If the current cycle was activated by user request we reset the flag used to ask to run it

   464

             */

   465

            if (0 != client_requests[req].flag_exec_req) {

   466

                client_requests[req].flag_exec_req     = 0;

   467

                client_requests[req].flag_exec_started = 0;   

   468

            }

   469

   470

            //fprintf(stderr, "Modbus plugin: RUNNING<---> of Modbus request %%d  (periodic = %%d  flag_exec_req = %%d)\n", 

   471

            //        req, client_nodes[client_requests[req].client_node_id].periodic_act, client_requests[req].flag_exec_req );

   472

        }

   473

   474

        // Wait for signal (from timer or explicit request from user program) before starting the next cycle

   475

        {

   476

            // No need to lock the mutex. Is is already locked just before the while(1) loop.

   477

            // Read the comment there to understand why.

   478

            // pthread_mutex_lock(&(client_nodes[client_node_id].mutex));

   479

   480

            /* the client thread has just finished a cycle, so all the flags used to signal an activation

   481

             * and specify the activation source (periodic, user request, ...)

   482

             * get reset here, before waiting for a new activation.

   483

             */

   484

            client_nodes[client_node_id].periodic_act = 0;            

   485

            client_nodes[client_node_id].execute_req  = 0;

   486

   487

            while (client_nodes[client_node_id].execute_req == 0)

   488

                pthread_cond_wait(&(client_nodes[client_node_id].condv),

   489

                                &(client_nodes[client_node_id].mutex)); 

   490

   491