1

#!/usr/bin/env python

     2

# -*- coding: utf-8 -*-

     3

     4

# This file is part of Beremiz, a Integrated Development Environment for

     5

# programming IEC 61131-3 automates supporting plcopen standard and CanFestival.

     6

#

     7

# Copyright (c) 2016 Mario de Sousa (msousa@fe.up.pt)

     8

#

     9

# This program is free software: you can redistribute it and/or modify

    10

# it under the terms of the GNU General Public License as published by

    11

# the Free Software Foundation, either version 2 of the License, or

    12

# (at your option) any later version.

    13

#

    14

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

    15

# but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

# GNU General Public License for more details.

    18

#

    19

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

    20

# along with this program.  If not, see <http://www.gnu.org/licenses/>.

    21

#

    22

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

    23

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

    24

    25

    26

from __future__ import absolute_import

    27

import os

    28

from six.moves import xrange

    29

    30

from modbus.mb_utils import *

    31

from ConfigTreeNode import ConfigTreeNode

    32

from PLCControler import LOCATION_CONFNODE, LOCATION_VAR_MEMORY

    33

    34

base_folder = os.path.split(os.path.dirname(os.path.realpath(__file__)))[0]

    35

base_folder = os.path.join(base_folder, "..")

    36

ModbusPath = os.path.join(base_folder, "Modbus")

    37

    38

    39

#

    40

#

    41

#

    42

# C L I E N T    R E Q U E S T            #

    43

#

    44

#

    45

#

    46

    47

    48

class _RequestPlug(object):

    49

    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>

    50

    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">

    51

      <xsd:element name="ModbusRequest">

    52

        <xsd:complexType>

    53

          <xsd:attribute name="Function" type="xsd:string" use="optional" default="01 - Read Coils"/>

    54

          <xsd:attribute name="SlaveID" use="optional" default="1">

    55

            <xsd:simpleType>

    56

                <xsd:restriction base="xsd:integer">

    57

                    <xsd:minInclusive value="0"/>

    58

                    <xsd:maxInclusive value="255"/>

    59

                </xsd:restriction>

    60

            </xsd:simpleType>

    61

          </xsd:attribute>

    62

          <xsd:attribute name="Nr_of_Channels" use="optional" default="1">

    63

            <xsd:simpleType>

    64

                <xsd:restriction base="xsd:integer">

    65

                    <xsd:minInclusive value="1"/>

    66

                    <xsd:maxInclusive value="2000"/>

    67

                </xsd:restriction>

    68

            </xsd:simpleType>

    69

          </xsd:attribute>

    70

          <xsd:attribute name="Start_Address" use="optional" default="0">

    71

            <xsd:simpleType>

    72

                <xsd:restriction base="xsd:integer">

    73

                    <xsd:minInclusive value="0"/>

    74

                    <xsd:maxInclusive value="65535"/>

    75

                </xsd:restriction>

    76

            </xsd:simpleType>

    77

          </xsd:attribute>

    78

          <xsd:attribute name="Timeout_in_ms" use="optional" default="10">

    79

            <xsd:simpleType>

    80

                <xsd:restriction base="xsd:integer">

    81

                    <xsd:minInclusive value="1"/>

    82

                    <xsd:maxInclusive value="100000"/>

    83

                </xsd:restriction>

    84

            </xsd:simpleType>

    85

          </xsd:attribute>

    86

          <xsd:attribute name="Write_on_change" type="xsd:boolean" use="optional" default="false"/>

    87

        </xsd:complexType>

    88

      </xsd:element>

    89

    </xsd:schema>

    90

    """

    91

    92

    def GetParamsAttributes(self, path=None):

    93

        infos = ConfigTreeNode.GetParamsAttributes(self, path=path)

    94

        for element in infos:

    95

            if element["name"] == "ModbusRequest":

    96

                for child in element["children"]:

    97

                    if child["name"] == "Function":

    98

                        list = modbus_function_dict.keys()

    99

                        list.sort()

   100

                        child["type"] = list

   101

        return infos

   102

   103

    def GetVariableLocationTree(self):

   104

        current_location = self.GetCurrentLocation()

   105

        name = self.BaseParams.getName()

   106

        address = self.GetParamsAttributes()[0]["children"][3]["value"]

   107

        count = self.GetParamsAttributes()[0]["children"][2]["value"]

   108

        function = self.GetParamsAttributes()[0]["children"][0]["value"]

   109

        # 'BOOL' or 'WORD'

   110

        datatype = modbus_function_dict[function][3]

   111

        # 1 or 16

   112

        datasize = modbus_function_dict[function][4]

   113

        # 'Q' for coils and holding registers, 'I' for input discretes and input registers

   114

        # datazone = modbus_function_dict[function][5]

   115

        # 'X' for bits, 'W' for words

   116

        datatacc = modbus_function_dict[function][6]

   117

        # 'Coil', 'Holding Register', 'Input Discrete' or 'Input Register'

   118

        dataname = modbus_function_dict[function][7]

   119

        # start off with a boolean entry

   120

        # This is a flag used to allow the user program to control when to 

   121

        # execute the Modbus request.

   122

        # NOTE: If the Modbus request has a 'current_location' of

   123

        #          %QX1.2.3

   124

        #       then the execution control flag will be

   125

        #          %QX1.2.3.0.0

   126

        #       and all the Modbus registers/coils will be

   127

        #          %QX1.2.3.0

   128

        #          %QX1.2.3.1

   129

        #          %QX1.2.3.2

   130

        #            ..

   131

        #          %QX1.2.3.n

   132

        entries = []

   133

        entries.append({

   134

            "name": "Execute request flag",

   135

            "type": LOCATION_VAR_MEMORY,

   136

            "size": 1,           # BOOL flag

   137

            "IEC_type": "BOOL",  # BOOL flag

   138

            "var_name": "var_name",

   139

            "location": "X" + ".".join([str(i) for i in current_location]) + ".0.0",

   140

            "description": "Modbus request execution control flag",

   141

            "children": []})        

   142

        entries.append({

   143

            "name": "Modbus Request Status flag",

   144

            "type": LOCATION_VAR_MEMORY,

   145

            "size": 8,           # BYTE flag

   146

            "IEC_type": "BYTE",  # BYTE flag

   147

            "var_name": "var_name",

   148

            "location": "B" + ".".join([str(i) for i in current_location]) + ".0.1",

   149

            "description": "Modbus request status flag (0 -> OK, 1 -> Network error, 2 -> Received invalid frame, 3 -> Timeout, 4 -> Received error frame)",

   150

            "children": []})        

   151

        entries.append({

   152

            "name": "Modbus Error Code",

   153

            "type": LOCATION_VAR_MEMORY,

   154

            "size": 8,           # BYTE flag

   155

            "IEC_type": "BYTE",  # BYTE flag

   156

            "var_name": "var_name",

   157

            "location": "B" + ".".join([str(i) for i in current_location]) + ".0.2",

   158

            "description": "Modbus Error Code received in Modbus error frame",

   159

            "children": []})        

   160

        for offset in range(address, address + count):

   161

            entries.append({

   162

                "name": dataname + " " + str(offset),

   163

                "type": LOCATION_VAR_MEMORY,

   164

                "size": datasize,

   165

                "IEC_type": datatype,

   166

                "var_name": "MB_" + "".join([w[0] for w in dataname.split()]) + "_" + str(offset),

   167

                "location": datatacc + ".".join([str(i) for i in current_location]) + "." + str(offset),

   168

                "description": "description",

   169

                "children": []})

   170

        return {"name": name,

   171

                "type": LOCATION_CONFNODE,

   172

                "location": ".".join([str(i) for i in current_location]) + ".x",

   173

                "children": entries}

   174

   175

    def CTNGenerate_C(self, buildpath, locations):

   176

        """

   177

        Generate C code

   178

        @param current_location: Tupple containing plugin IEC location : %I0.0.4.5 => (0,0,4,5)

   179

        @param locations: List of complete variables locations \

   180

            [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)

   181

            "NAME" : name of the variable (generally "__IW0_1_2" style)

   182

            "DIR" : direction "Q","I" or "M"

   183

            "SIZE" : size "X", "B", "W", "D", "L"

   184

            "LOC" : tuple of interger for IEC location (0,1,2,...)

   185

            }, ...]

   186

        @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND

   187

        """

   188

        return [], "", False

   189

   190

   191

   192

#

   193

#

   194

#

   195

# S E R V E R    M E M O R Y    A R E A       #

   196

#

   197

#

   198

#

   199

   200

# dictionary implementing:

   201

# key - string with the description we want in the request plugin GUI

   202

# list - (modbus function number, request type, max count value)

   203

modbus_memtype_dict = {

   204

    "01 - Coils":            ('1', 'rw_bits',  65536, "BOOL", 1, "Q", "X", "Coil"),

   205

    "02 - Input Discretes":  ('2', 'ro_bits',  65536, "BOOL", 1, "I", "X", "Input Discrete"),

   206

    "03 - Holding Registers": ('3', 'rw_words', 65536, "WORD", 16, "Q", "W", "Holding Register"),

   207

    "04 - Input Registers":  ('4', 'ro_words', 65536, "WORD", 16, "I", "W", "Input Register"),

   208

}

   209

   210

   211

class _MemoryAreaPlug(object):

   212

    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>

   213

    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">

   214

      <xsd:element name="MemoryArea">

   215

        <xsd:complexType>

   216

          <xsd:attribute name="MemoryAreaType" type="xsd:string" use="optional" default="01 - Coils"/>

   217

          <xsd:attribute name="Nr_of_Channels" use="optional" default="1">

   218

            <xsd:simpleType>

   219

                <xsd:restriction base="xsd:integer">

   220

                    <xsd:minInclusive value="1"/>

   221

                    <xsd:maxInclusive value="65536"/>

   222

                </xsd:restriction>

   223

            </xsd:simpleType>

   224

          </xsd:attribute>

   225

          <xsd:attribute name="Start_Address" use="optional" default="0">

   226

            <xsd:simpleType>

   227

                <xsd:restriction base="xsd:integer">

   228

                    <xsd:minInclusive value="0"/>

   229

                    <xsd:maxInclusive value="65535"/>

   230

                </xsd:restriction>

   231

            </xsd:simpleType>

   232

          </xsd:attribute>

   233

        </xsd:complexType>

   234

      </xsd:element>

   235

    </xsd:schema>

   236

    """

   237

   238

    def GetParamsAttributes(self, path=None):

   239

        infos = ConfigTreeNode.GetParamsAttributes(self, path=path)

   240

        for element in infos:

   241

            if element["name"] == "MemoryArea":

   242

                for child in element["children"]:

   243

                    if child["name"] == "MemoryAreaType":

   244

                        list = modbus_memtype_dict.keys()

   245

                        list.sort()

   246

                        child["type"] = list

   247

        return infos

   248

   249

    def GetVariableLocationTree(self):

   250

        current_location = self.GetCurrentLocation()

   251

        name = self.BaseParams.getName()

   252

        address = self.GetParamsAttributes()[0]["children"][2]["value"]

   253

        count = self.GetParamsAttributes()[0]["children"][1]["value"]

   254

        function = self.GetParamsAttributes()[0]["children"][0]["value"]

   255

        # 'BOOL' or 'WORD'

   256

        datatype = modbus_memtype_dict[function][3]

   257

        # 1 or 16

   258

        datasize = modbus_memtype_dict[function][4]

   259

        # 'Q' for coils and holding registers, 'I' for input discretes and input registers

   260

        # datazone = modbus_memtype_dict[function][5]

   261

        # 'X' for bits, 'W' for words

   262

        datatacc = modbus_memtype_dict[function][6]

   263

        # 'Coil', 'Holding Register', 'Input Discrete' or 'Input Register'

   264

        dataname = modbus_memtype_dict[function][7]

   265

        entries = []

   266

        for offset in range(address, address + count):

   267

            entries.append({

   268

                "name": dataname + " " + str(offset),

   269

                "type": LOCATION_VAR_MEMORY,

   270

                "size": datasize,

   271

                "IEC_type": datatype,

   272

                "var_name": "MB_" + "".join([w[0] for w in dataname.split()]) + "_" + str(offset),

   273

                "location": datatacc + ".".join([str(i) for i in current_location]) + "." + str(offset),

   274

                "description": "description",

   275

                "children": []})

   276

        return {"name": name,

   277

                "type": LOCATION_CONFNODE,

   278

                "location": ".".join([str(i) for i in current_location]) + ".x",

   279

                "children": entries}

   280

   281

    def CTNGenerate_C(self, buildpath, locations):

   282

        """

   283

        Generate C code

   284

        @param current_location: Tupple containing plugin IEC location : %I0.0.4.5 => (0,0,4,5)

   285

        @param locations: List of complete variables locations \

   286

            [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)

   287

            "NAME" : name of the variable (generally "__IW0_1_2" style)

   288

            "DIR" : direction "Q","I" or "M"

   289

            "SIZE" : size "X", "B", "W", "D", "L"

   290

            "LOC" : tuple of interger for IEC location (0,1,2,...)

   291

            }, ...]

   292

        @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND

   293

        """

   294

        return [], "", False

   295

   296

   297

#

   298

#

   299

#

   300

# T C P    C L I E N T                 #

   301

#

   302

#

   303

#

   304

   305

class _ModbusTCPclientPlug(object):

   306

    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>

   307

    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">

   308

      <xsd:element name="ModbusTCPclient">

   309

        <xsd:complexType>

   310

          <xsd:attribute name="Configuration_Name" type="xsd:string" use="optional" default=""/>

   311

          <xsd:attribute name="Remote_IP_Address" type="xsd:string" use="optional" default="localhost"/>

   312

          <xsd:attribute name="Remote_Port_Number" type="xsd:string" use="optional" default="502"/>

   313

          <xsd:attribute name="Invocation_Rate_in_ms" use="optional" default="100">

   314

            <xsd:simpleType>

   315

                <xsd:restriction base="xsd:unsignedLong">

   316

                    <xsd:minInclusive value="0"/>

   317

                    <xsd:maxInclusive value="2147483647"/>

   318

                </xsd:restriction>

   319

            </xsd:simpleType>

   320

          </xsd:attribute>

   321

        </xsd:complexType>

   322

      </xsd:element>

   323

    </xsd:schema>

   324

    """

   325

    # NOTE: Max value of 2147483647 (i32_max) for Invocation_Rate_in_ms

   326

    # corresponds to aprox 25 days.

   327

    CTNChildrenTypes = [("ModbusRequest", _RequestPlug, "Request")]

   328

    # TODO: Replace with CTNType !!!

   329

    PlugType = "ModbusTCPclient"

   330

   331

   332

    def __init__(self):

   333

        # NOTE:

   334

        # The ModbusTCPclient attribute is added dynamically by ConfigTreeNode._AddParamsMembers()

   335

        # It will be an XML parser object created by

   336

        # GenerateParserFromXSDstring(self.XSD).CreateRoot()

   337

   338

        # Set the default value for the "Configuration_Name" parameter

   339

        # The default value will need to be different for each instance of the 

   340

        # _ModbusTCPclientPlug class, so we cannot hardcode the default value in the XSD above

   341

        # This value will be used by the web interface 

   342

        #   (i.e. the extension to the web server used to configure the Modbus parameters).

   343

        #   (The web server is run/activated/started by Beremiz_service.py)

   344

        #   (The web server code is found in runtime/NevowServer.py)

   345

        #   (The Modbus extension to the web server is found in runtime/Modbus_config.py)

   346

        loc_str = ".".join(map(str, self.GetCurrentLocation()))

   347

        self.ModbusTCPclient.setConfiguration_Name("Modbus TCP Client " + loc_str)

   348

   349

    # Return the number of (modbus library) nodes this specific TCP client will need

   350

    #   return type: (tcp nodes, rtu nodes, ascii nodes)

   351

    def GetNodeCount(self):

   352

        return (1, 0, 0)

   353

   354

    def GetConfigName(self):

   355

        """ Return the node's Configuration_Name """

   356

        return self.ModbusTCPclient.getConfiguration_Name()

   357

   358

    def CTNGenerate_C(self, buildpath, locations):

   359

        """

   360

        Generate C code

   361

        @param current_location: Tupple containing plugin IEC location : %I0.0.4.5 => (0,0,4,5)

   362

        @param locations: List of complete variables locations \

   363

            [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)

   364

            "NAME" : name of the variable (generally "__IW0_1_2" style)

   365

            "DIR" : direction "Q","I" or "M"

   366

            "SIZE" : size "X", "B", "W", "D", "L"

   367

            "LOC" : tuple of interger for IEC location (0,1,2,...)

   368

            }, ...]

   369

        @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND

   370

        """

   371

        return [], "", False

   372

   373

   374

#

   375

#

   376

#

   377

# T C P    S E R V E R                 #

   378

#

   379

#

   380

#

   381

   382

class _ModbusTCPserverPlug(object):

   383

    # NOTE: the Port number is a 'string' and not an 'integer'!

   384

    # This is because the underlying modbus library accepts strings

   385

    # (e.g.: well known port names!)

   386

    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>

   387

    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">

   388

      <xsd:element name="ModbusServerNode">

   389

        <xsd:complexType>

   390

          <xsd:attribute name="Configuration_Name" type="xsd:string" use="optional" default=""/>

   391

          <xsd:attribute name="Local_IP_Address" type="xsd:string" use="optional"  default="#ANY#"/>

   392

          <xsd:attribute name="Local_Port_Number" type="xsd:string" use="optional" default="502"/>

   393

          <xsd:attribute name="SlaveID" use="optional" default="0">

   394

            <xsd:simpleType>

   395

                <xsd:restriction base="xsd:integer">

   396

                    <xsd:minInclusive value="0"/>

   397

                    <xsd:maxInclusive value="255"/>

   398

                </xsd:restriction>

   399

            </xsd:simpleType>

   400

          </xsd:attribute>

   401

        </xsd:complexType>

   402

      </xsd:element>

   403

    </xsd:schema>

   404

    """

   405

    CTNChildrenTypes = [("MemoryArea", _MemoryAreaPlug, "Memory Area")]

   406

    # TODO: Replace with CTNType !!!

   407

    PlugType = "ModbusTCPserver"

   408

   409

    def __init__(self):

   410

        # NOTE:

   411

        # The ModbusServerNode attribute is added dynamically by ConfigTreeNode._AddParamsMembers()

   412

        # It will be an XML parser object created by

   413

        # GenerateParserFromXSDstring(self.XSD).CreateRoot()

   414

   415

        # Set the default value for the "Configuration_Name" parameter

   416

        # The default value will need to be different for each instance of the 

   417

        # _ModbusTCPclientPlug class, so we cannot hardcode the default value in the XSD above

   418

        # This value will be used by the web interface 

   419

        #   (i.e. the extension to the web server used to configure the Modbus parameters).

   420

        #   (The web server is run/activated/started by Beremiz_service.py)

   421

        #   (The web server code is found in runtime/NevowServer.py)

   422

        #   (The Modbus extension to the web server is found in runtime/Modbus_config.py)

   423

        loc_str = ".".join(map(str, self.GetCurrentLocation()))

   424

        self.ModbusServerNode.setConfiguration_Name("Modbus TCP Server " + loc_str)

   425

   426

    # Return the number of (modbus library) nodes this specific TCP server will need

   427

    #   return type: (tcp nodes, rtu nodes, ascii nodes)

   428

    def GetNodeCount(self):

   429

        return (1, 0, 0)

   430

   431

    # Return a list with a single tuple conatining the (location, IP address, port number)

   432

    #     location   : location of this node in the configuration tree

   433

    #     port number: IP port used by this Modbus/IP server

   434

    #     IP address : IP address of the network interface on which the server will be listening

   435

    #                  ("", "*", or "#ANY#" => listening on all interfaces!)

   436

    def GetIPServerPortNumbers(self):

   437

        port = self.ModbusServerNode.getLocal_Port_Number()

   438

        addr = self.ModbusServerNode.getLocal_IP_Address()

   439

        return [(self.GetCurrentLocation(), addr, port)]

   440

   441

    def GetConfigName(self):

   442

        """ Return the node's Configuration_Name """

   443

        return self.ModbusServerNode.getConfiguration_Name()

   444

   445

    def GetVariableLocationTree(self):

   446

        current_location = self.GetCurrentLocation()

   447

        name             = self.BaseParams.getName()

   448

        # start off with flags that count the number of Modbus requests/transactions

   449

        # handled by this Modbus server/slave.

   450

        # These flags are mapped onto located variables and therefore available to the user programs

   451

        # May be used to detect communication errors.

   452

        # execute the Modbus request.

   453

        # NOTE: If the Modbus slave has a 'current_location' of

   454

        #          %QX1.2

   459

        #

   460

        # Note that any MemoryArea contained under this server/slave

   461

        # will ocupy the locations of type

   462

        #          %MX or %MW

   463

        # which will never clash with the %MD used here.

   464

        # Additionaly, any MemoryArea contained under this server/slave

   465

        # will ocupy locations with

   466

        #           %M1.2.a.b (with a and b being numbers in range 0, 1, ...)

   467

        # and therefore never ocupy the locations

   468

        #           %M1.2.0

   469

        #           %M1.2.1

   472

        # used by the following flags/counters.

   473

        entries = []

   474

        entries.append({

   475

            "name": "Modbus Read Request Counter",

   476

            "type": LOCATION_VAR_MEMORY,

   477

            "size": 32,           # UDINT flag

   478

            "IEC_type": "UDINT",  # UDINT flag

   479

            "var_name": "var_name",

   480

            "location": "D" + ".".join([str(i) for i in current_location]) + ".0",

   481

            "description": "Modbus read request counter",

   482

            "children": []})        

   483

        entries.append({

   484

            "name": "Modbus Write Request Counter",

   485

            "type": LOCATION_VAR_MEMORY,

   486

            "size": 32,           # UDINT flag

   487

            "IEC_type": "UDINT",  # UDINT flag

   488

            "var_name": "var_name",

   489

            "location": "D" + ".".join([str(i) for i in current_location]) + ".1",

   490

            "description": "Modbus write request counter",

   491

            "children": []})