1

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

     2

     3

/*

     4

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

     5

 *

     6

 * This file is part of the Modbus library for Beremiz and matiec.

     7

 *

     8

 * This Modbus library is free software: you can redistribute it and/or modify

     9

 * 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

    11

 * (at your option) any later version.

    12

 *

    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() */

    28

#include "mb_slave_and_master.h"

    29

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

    30

    31

    32

#define MAX_MODBUS_ERROR_CODE 11

    33

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

    34

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

    35

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

    36

    /* 2 */ "illegal data address",

    37

    /* 3 */ "illegal data value",

    38

    /* 4 */ "slave device failure",

    39

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

    40

    /* 6 */ "slave device busy",

    41

    /* 7 */ "negative acknowledge",

    42

    /* 8 */ "memory parity error",

    43

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

    44

    /* 10*/ "gateway path unavalilable",

    45

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

    46

};    

    47

    48

    49

/* Execute a modbus client transaction/request */

    50

static int __execute_mb_request(int request_id){

    51

	switch (client_requests[request_id].mb_function){

    52

    53

	case  1: /* read coils */

    54

		return read_output_bits(client_requests[request_id].slave_id,

    55

					client_requests[request_id].address,

    56

					client_requests[request_id].count,

    57

					client_requests[request_id].coms_buffer,

    58

					(int) client_requests[request_id].count,

    59

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

    60

					client_requests[request_id].retries,

    61

					&(client_requests[request_id].error_code),

    62

					&(client_requests[request_id].resp_timeout),

    63

					&(client_requests[request_id].coms_buf_mutex));

    64

    65

	case  2: /* read discrete inputs */

    66

		return read_input_bits( client_requests[request_id].slave_id,

    67

					client_requests[request_id].address,

    68

					client_requests[request_id].count,

    69

					client_requests[request_id].coms_buffer,

    70

					(int) client_requests[request_id].count,

    71

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

    72

					client_requests[request_id].retries,

    73

					&(client_requests[request_id].error_code),

    74

					&(client_requests[request_id].resp_timeout),

    75

					&(client_requests[request_id].coms_buf_mutex));

    76

    77

	case  3: /* read holding registers */

    78

		return read_output_words(client_requests[request_id].slave_id,

    79

					client_requests[request_id].address,

    80

					client_requests[request_id].count,

    81

					client_requests[request_id].coms_buffer,

    82

					(int) client_requests[request_id].count,

    83

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

    84

					client_requests[request_id].retries,

    85

					&(client_requests[request_id].error_code),

    86

					&(client_requests[request_id].resp_timeout),

    87

					&(client_requests[request_id].coms_buf_mutex));

    88

    89

	case  4: /* read input registers */

    90

		return read_input_words(client_requests[request_id].slave_id,

    91

					client_requests[request_id].address,

    92

					client_requests[request_id].count,

    93

					client_requests[request_id].coms_buffer,

    94

					(int) client_requests[request_id].count,

    95

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

    96

					client_requests[request_id].retries,

    97

					&(client_requests[request_id].error_code),

    98

					&(client_requests[request_id].resp_timeout),

    99

					&(client_requests[request_id].coms_buf_mutex));

   100

   101

	case  5: /* write single coil */

   102

		return write_output_bit(client_requests[request_id].slave_id,

   103

					client_requests[request_id].address,

   104

					client_requests[request_id].coms_buffer[0],

   105

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

   106

					client_requests[request_id].retries,

   107

					&(client_requests[request_id].error_code),

   108

					&(client_requests[request_id].resp_timeout),

   109

					&(client_requests[request_id].coms_buf_mutex));

   110

   111

	case  6: /* write single register */

   112

		return write_output_word(client_requests[request_id].slave_id,

   113

					client_requests[request_id].address,

   114

					client_requests[request_id].coms_buffer[0],

   115

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

   116

					client_requests[request_id].retries,

   117

					&(client_requests[request_id].error_code),

   118

					&(client_requests[request_id].resp_timeout),

   119

					&(client_requests[request_id].coms_buf_mutex));

   120

   121

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

   122

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

   123

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

   124

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

   125

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

   126

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

   127

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

   128

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

   129

   130

	case 15: /* write multiple coils */

   131

		return write_output_bits(client_requests[request_id].slave_id,

   132

					 client_requests[request_id].address,

   133

					 client_requests[request_id].count,

   134

					 client_requests[request_id].coms_buffer,

   135

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

   136

					 client_requests[request_id].retries,

   137

					 &(client_requests[request_id].error_code),

   138

					 &(client_requests[request_id].resp_timeout),

   139

					 &(client_requests[request_id].coms_buf_mutex));

   140

   141

	case 16: /* write multiple registers */

   142

		return write_output_words(client_requests[request_id].slave_id,

   143

					client_requests[request_id].address,

   144

					client_requests[request_id].count,

   145

					client_requests[request_id].coms_buffer,

   146

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

   147

					client_requests[request_id].retries,

   148

					&(client_requests[request_id].error_code),

   149

					&(client_requests[request_id].resp_timeout),

   150

					&(client_requests[request_id].coms_buf_mutex));

   151

   152

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

   153

	}

   154

   155

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

   156

	return -1;

   157

}

   158

   159

   160

   161

/* pack bits from unpacked_data to packed_data */

   162

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

   163

  u8 bit;

   164

  u16 byte, coils_processed;

   165

   166

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

   167

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

   168

   169

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

   170

    packed_data[byte] = 0;

   171

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

   172

      if(unpacked_data[start_addr + coils_processed])

   173

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

   174

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

   175

    }

   176

  }

   177

  return 0;

   178

}

   179

   180

   181

/* unpack bits from packed_data to unpacked_data */

   182

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

   183

  u8  temp, bit;

   184

  u16 byte, coils_processed;

   185

   186

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

   187

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

   188

   189

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

   190

    temp = packed_data[byte] ;

   191

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

   192

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

   193

    }

   194

  }

   195

  return 0;

   196

}

   197

   198

   199

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

   200

  {return   __pack_bits(((server_mem_t *)mem_map)->ro_bits, start_addr, bit_count, data_bytes);}

   201

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

   202

  {return   __pack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes);}

   203

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

   204

  {return __unpack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes); }

   205

   206

   207

   208

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

   209

   210

  if ((start_addr + word_count) > MEM_AREA_SIZE)

   211

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

   212

   213

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

   214

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

   215

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

   216

         /* size */ word_count * 2);

   217

  return 0;

   218

}

   219

   220

   221

   222

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

   223

   224

  if ((start_addr + word_count) > MEM_AREA_SIZE)

   225

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

   226

   227

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

   228

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

   229

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

   230

         /* size */ word_count * 2);

   231

  return 0;

   232

}

   233

   234

   235

   236

   237

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

   238

   239

  if ((start_addr + word_count) > MEM_AREA_SIZE)

   240

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

   241

   242

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

   243

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

   244

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

   245

   */

   246

  /*

   247

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

   248

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

   249

  */

   250

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

   251

         /* src  */ (void *)data_words,

   252

         /* size */ word_count * 2);

   253

  return 0;

   254

}

   255

   256

   257

   258

   259

#include <pthread.h>

   260

   261

static void *__mb_server_thread(void *_server_node)  {

   262

	server_node_t *server_node = _server_node;

   263

	mb_slave_callback_t callbacks = { 

   264

			&__read_inbits,

   265

			&__read_outbits,

   266

			&__write_outbits,

   267

			&__read_inwords,

   268

			&__read_outwords,

   269

			&__write_outwords,

   270

			(void *)&(server_node->mem_area)

   271

			};  

   272

   273

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

   274

	pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);

   275

   276

	// mb_slave_run() should never return!

   277

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

   278

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

   279

	return NULL;

   280

}

   281

   282

   283

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

   284

	ts.tv_sec  +=  sec;			\

   285

	ts.tv_nsec += nsec;			\

   286

	if (ts.tv_nsec >= 1000000000) {		\

   287

		ts.tv_sec  ++;			\

   288

		ts.tv_nsec -= 1000000000;	\

   289

	}					\

   290

}

   291

   292

   293

static void *__mb_client_thread(void *_index)  {

   294

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

   295

	struct timespec next_cycle;

   296

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

   297

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

   298

   299

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

   300

	pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);

   301

   302

	// get the current time

   303

	clock_gettime(CLOCK_MONOTONIC, &next_cycle);

   304

   305

	// loop the communication with the client

   306

	while (1) {

   307

		/*

   308

		struct timespec cur_time;

   309

		clock_gettime(CLOCK_MONOTONIC, &cur_time);

   310

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

   311

		*/

   312

		int req;

   313

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

   314

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

   315

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

   316

				continue;

   317

			int res_tmp = __execute_mb_request(req);

   318

			switch (res_tmp) {

   319

			  case PORT_FAILURE: {

   320

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

   321

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

   322

				client_nodes[client_node_id].prev_error = res_tmp;

   323

				break;

   324

			  }

   325

			  case INVALID_FRAME: {

   326

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

   327

					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);

   328

				client_requests[req].prev_error = res_tmp;

   329

				break;

   330

			  }

   331

			  case TIMEOUT: {

   332

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

   333

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

   334

				client_requests[req].prev_error = res_tmp;

   335

				break;

   336

			  }

   337

			  case MODBUS_ERROR: {

   338

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

   339

					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].error_code);

   340

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

   341

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

   342

						fprintf(stderr, ".\n");

   343

					}

   344

				}

   345

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

   346

				break;

   347

			  }

   348

			  default: {

   349

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

   350

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

   351

				}

   352

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

   353

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

   354

				}

   355

				client_nodes[client_node_id].prev_error = 0;

   356

				client_requests[req]        .prev_error = 0;

   357

				break;

   358

			  }

   359

			}

   360

		}

   361

		// Determine absolute time instant for starting the next cycle

   362

		struct timespec prev_cycle, now;

   363

		prev_cycle = next_cycle;

   364

		timespec_add(next_cycle, period_sec, period_nsec);

   365

		/* NOTE A:

   366

		 * When we have difficulty communicating with remote client and/or server, then the communications get delayed and we will

   367

		 * fall behind in the period. This means that when communication is re-established we may end up running this loop continuously

   368

		 * for some time until we catch up.

   369

		 * This is undesirable, so we detect it by making sure the next_cycle will start in the future.

   370

		 * When this happens we will switch from a purely periodic task _activation_ sequence, to a fixed task suspension interval.

   371

		 * 

   372

		 * NOTE B:

   373

		 * It probably does not make sense to check for overflow of timer - so we don't do it for now!

   374

		 * Even in 32 bit systems this will take at least 68 years since the computer booted

   375

		 * (remember, we are using CLOCK_MONOTONIC, which should start counting from 0

   376

		 * every time the system boots). On 64 bit systems, it will take over 

   377

		 * 10^11 years to overflow.

   378

		 */

   379

		clock_gettime(CLOCK_MONOTONIC, &now);

   380

		if (  ((now.tv_sec > next_cycle.tv_sec) || ((now.tv_sec == next_cycle.tv_sec) && (now.tv_nsec > next_cycle.tv_nsec)))

   381

		   /* We are falling behind. See NOTE A above */

   382

		   || (next_cycle.tv_sec < prev_cycle.tv_sec)

   383

		   /* Timer overflow. See NOTE B above */

   384

		   ) {

   385

			next_cycle = now;

   386

			timespec_add(next_cycle, period_sec, period_nsec);

   387

		}

   388

   389

		clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next_cycle, NULL);

   390

	}

   391

   392

	// humour the compiler.

   393

	return NULL;

   394

}

   395

   396

   397

int __cleanup_%(locstr)s ();

   398

int __init_%(locstr)s (int argc, char **argv){

   399

	int index;

   400

   401

	for (index=0; index < NUMBER_OF_CLIENT_NODES;index++)

   402

		client_nodes[index].mb_nd = -1;

   403

	for (index=0; index < NUMBER_OF_SERVER_NODES;index++)

   404

		// mb_nd with negative numbers indicate how far it has been initialised (or not)

   405

		//   -2  --> no modbus node created;  no thread  created

   406

		//   -1  -->    modbus node created!; no thread  created

   407

		//  >=0  -->    modbus node created!;    thread  created!

   408

		server_nodes[index].mb_nd = -2; 

   409

   410

	/* modbus library init */

   411

	/* Note that TOTAL_xxxNODE_COUNT are the nodes required by _ALL_ the instances of the modbus

   412

	 *  extension currently in the user's project. This file (MB_xx.c) is handling only one instance,

   413

	 *  but must initialize the library for all instances. Only the first call to mb_slave_and_master_init()

   414

	 *  will result in memory being allocated. All subsequent calls (by other MB_xx,c files) will be ignored

   415

	 *  by the mb_slave_and_master_init() funtion, as long as they are called with the same arguments.

   416

	 */

   417

	if (mb_slave_and_master_init(TOTAL_TCPNODE_COUNT, TOTAL_RTUNODE_COUNT, TOTAL_ASCNODE_COUNT) <0) {

   418

		fprintf(stderr, "Modbus plugin: Error starting modbus library\n");

   419

		// return imediately. Do NOT goto error_exit, as we did not get to

   420

		//  start the modbus library!

   421

		return -1;

   422

	}

   423

   424

	/* init the mutex for each client request */

   425

	/* Must be done _before_ launching the client threads!! */

   426

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

   427

		if (pthread_mutex_init(&(client_requests[index].coms_buf_mutex), NULL)) {

   428

			fprintf(stderr, "Modbus plugin: Error initializing request for modbus client node %%s\n", client_nodes[client_requests[index].client_node_id].location);

   429

			goto error_exit;

   430

		}

   431

	}

   432

   433

	/* init each client connection to remote modbus server, and launch thread */

   434

	/* NOTE: All client_nodes[].init_state are initialised to 0 in the code 

   435

	 *       generated by the modbus plugin 

   436

	 */

   437

	for (index=0; index < NUMBER_OF_CLIENT_NODES;index++){

   438

		/* establish client connection */

   439

		client_nodes[index].mb_nd = mb_master_connect (client_nodes[index].node_address);

   440

		if (client_nodes[index].mb_nd < 0){

   441

			fprintf(stderr, "Modbus plugin: Error creating modbus client node %%s\n", client_nodes[index].location);

   442

			goto error_exit;

   443

		}

   444

		client_nodes[index].init_state = 1; // we have created the node 

   445

   446

		/* launch a thread to handle this client node */

   447

		{

   448

			int res = 0;

   449

			pthread_attr_t attr;

   450

			res |= pthread_attr_init(&attr);

   451

			res |= pthread_create(&(client_nodes[index].thread_id), &attr, &__mb_client_thread, (void *)((char *)NULL + index));

   452

			if (res !=  0) {

   453

				fprintf(stderr, "Modbus plugin: Error starting modbus client thread for node %%s\n", client_nodes[index].location);

   454

				goto error_exit;

   455

			}

   456

		}

   457

		client_nodes[index].init_state = 2; // we have created the node and a thread

   458

	}

   459

   460

	/* init each local server */

   461

	/* NOTE: All server_nodes[].init_state are initialised to 0 in the code 

   462

	 *       generated by the modbus plugin 

   463

	 */

   464

	for (index=0; index < NUMBER_OF_SERVER_NODES;index++){

   465

		/* create the modbus server */

   466

		server_nodes[index].mb_nd = mb_slave_new (server_nodes[index].node_address);

   467

		if (server_nodes[index].mb_nd < 0){

   468

			fprintf(stderr, "Modbus plugin: Error creating modbus server node %%s\n", server_nodes[index].location);

   469

			goto error_exit;

   470

		}

   471

		server_nodes[index].init_state = 1; // we have created the node

   472

   473

		/* launch a thread to handle this server node */

   474

		{

   475

			int res = 0;

   476

			pthread_attr_t attr;

   477

			res |= pthread_attr_init(&attr);

   478

			res |= pthread_create(&(server_nodes[index].thread_id), &attr, &__mb_server_thread, (void *)&(server_nodes[index]));

   479

			if (res !=  0) {

   480

				fprintf(stderr, "Modbus plugin: Error starting modbus server thread for node %%s\n", server_nodes[index].location);

   481

				goto error_exit;

   482

			}

   483

		}

   484

		server_nodes[index].init_state = 2; // we have created the node and thread

   485

	}

   486

   487

	return 0;

   488

   489

error_exit:

   490

	__cleanup_%(locstr)s ();

   491

	return -1;

   492

}

   493