modbus/mb_runtime.c
author Edouard Tisserant <edouard.tisserant@gmail.com>
Fri, 01 Oct 2021 15:36:09 +0200
changeset 3358 7478d0c0dc1c
parent 2723 cde2e410b874
child 3733 d1acf20e8e7c
permissions -rw-r--r--
SVGHMI: Update generated XSLT (PathSlider widget)
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/* File generated by Beremiz (PlugGenerate_C method of Modbus plugin) */
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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 <stdio.h>
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#include <string.h>  /* required for memcpy() */
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#include <errno.h>
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#include <time.h>
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#include <signal.h>
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#include <unistd.h>  /* required for pause() */
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#include "mb_slave_and_master.h"
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#include "MB_%(locstr)s.h"
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#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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};    
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/* Execute a modbus client transaction/request */
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static int __execute_mb_request(int request_id){
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	switch (client_requests[request_id].mb_function){
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	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));
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	case  2: /* read discrete inputs */
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		return read_input_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));
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	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,
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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));
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	case  4: /* read input registers */
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		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,
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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));
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	case  5: /* write single coil */
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		return write_output_bit(client_requests[request_id].slave_id,
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					client_requests[request_id].address,
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					client_requests[request_id].coms_buffer[0],
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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));
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	case  6: /* write single register */
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		return write_output_word(client_requests[request_id].slave_id,
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					client_requests[request_id].address,
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					client_requests[request_id].coms_buffer[0],
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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));
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	case  7: break; /* function not yet supported */
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	case  8: break; /* function not yet supported */
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	case  9: break; /* function not yet supported */
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	case 10: break; /* function not yet supported */
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	case 11: break; /* function not yet supported */
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	case 12: break; /* function not yet supported */
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	case 13: break; /* function not yet supported */
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	case 14: break; /* function not yet supported */
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	case 15: /* write multiple coils */
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		return write_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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					 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));
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	case 16: /* write multiple registers */
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		return write_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,
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					client_requests[request_id].coms_buffer,
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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));
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	default: break;  /* should never occur, if file generation is correct */
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	}
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	fprintf(stderr, "Modbus plugin: Modbus function %%d not supported\n", request_id); /* should never occur, if file generation is correct */
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	return -1;
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}
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/* pack bits from unpacked_data to packed_data */
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static inline int __pack_bits(u16 *unpacked_data, u16 start_addr, u16 bit_count,  u8  *packed_data) {
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  u8 bit;
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  u16 byte, coils_processed;
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  if ((0 == bit_count) || (65535-start_addr < bit_count-1))
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    return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
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  for( byte = 0, coils_processed = 0; coils_processed < bit_count; byte++) {
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    packed_data[byte] = 0;
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    for( bit = 0x01; (bit & 0xFF) && (coils_processed < bit_count); bit <<= 1, coils_processed++ ) {
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      if(unpacked_data[start_addr + coils_processed])
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            packed_data[byte] |=  bit; /*   set bit */
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      else  packed_data[byte] &= ~bit; /* reset bit */
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    }
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  }
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  return 0;
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}
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/* unpack bits from packed_data to unpacked_data */
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static inline int __unpack_bits(u16 *unpacked_data, u16 start_addr, u16 bit_count,  u8  *packed_data) {
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  u8  temp, bit;
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  u16 byte, coils_processed;
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  if ((0 == bit_count) || (65535-start_addr < bit_count-1))
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    return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
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  for(byte = 0, coils_processed = 0; coils_processed < bit_count; byte++) {
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    temp = packed_data[byte] ;
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    for(bit = 0x01; (bit & 0xff) && (coils_processed < bit_count); bit <<= 1, coils_processed++) {
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      unpacked_data[start_addr + coils_processed] = (temp & bit)?1:0;
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    }
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  }
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  return 0;
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}
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static int __read_inbits   (void *mem_map, u16 start_addr, u16 bit_count, u8  *data_bytes) {
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  int res = __pack_bits(((server_mem_t *)mem_map)->ro_bits, start_addr, bit_count, data_bytes);
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  if (res >= 0) {
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    /* update the flag and counter of Modbus requests we have processed. */
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    ((server_mem_t *)mem_map)->flag_read_req_counter++;
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    ((server_mem_t *)mem_map)->flag_read_req_flag = 1;
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  }
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  return res;
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}
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static int __read_outbits  (void *mem_map, u16 start_addr, u16 bit_count, u8  *data_bytes) {
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  int res = __pack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes);
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  if (res >= 0) {
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    /* update the flag and counter of Modbus requests we have processed. */
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    ((server_mem_t *)mem_map)->flag_read_req_counter++;
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    ((server_mem_t *)mem_map)->flag_read_req_flag = 1;
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  }
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  return res;
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}
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static int __write_outbits (void *mem_map, u16 start_addr, u16 bit_count, u8  *data_bytes) {
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  int res = __unpack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes);
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  if (res >= 0) {
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    /* update the flag and counter of Modbus requests we have processed. */
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    ((server_mem_t *)mem_map)->flag_write_req_counter++;
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    ((server_mem_t *)mem_map)->flag_write_req_flag = 1;
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  }
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  return res;
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}
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static int __read_inwords  (void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {
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  if ((start_addr + word_count) > MEM_AREA_SIZE)
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    return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
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  /* update the flag and counter of Modbus requests we have processed. */
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  ((server_mem_t *)mem_map)->flag_read_req_counter++;
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  ((server_mem_t *)mem_map)->flag_read_req_flag = 1;
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  /* use memcpy() because loop with pointers (u16 *) caused alignment problems */
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  memcpy(/* dest */ (void *)data_words,
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         /* src  */ (void *)&(((server_mem_t *)mem_map)->ro_words[start_addr]),
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         /* size */ word_count * 2);
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  return 0;
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}
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static int __read_outwords (void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {
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  if ((start_addr + word_count) > MEM_AREA_SIZE)
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    return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
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  /* update the flag and counter of Modbus requests we have processed. */
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  ((server_mem_t *)mem_map)->flag_read_req_counter++;
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  ((server_mem_t *)mem_map)->flag_read_req_flag = 1;
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  /* use memcpy() because loop with pointers (u16 *) caused alignment problems */
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  memcpy(/* dest */ (void *)data_words,
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         /* src  */ (void *)&(((server_mem_t *)mem_map)->rw_words[start_addr]),
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         /* size */ word_count * 2);
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  return 0;
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}
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static int __write_outwords(void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {
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  if ((start_addr + word_count) > MEM_AREA_SIZE)
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    return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
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  /* update the flag and counter of Modbus requests we have processed. */
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  ((server_mem_t *)mem_map)->flag_write_req_counter++;
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  ((server_mem_t *)mem_map)->flag_write_req_flag = 1;
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  /* WARNING: The data returned in the data_words[] array is not guaranteed to be 16 bit aligned.
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   *           It is not therefore safe to cast it to an u16 data type.
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   *           The following code cannot be used. memcpy() is used instead.
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   */
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  /*
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  for (count = 0; count < word_count ; count++)
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    ((server_mem_t *)mem_map)->rw_words[count + start_addr] = data_words[count];
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  */
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  memcpy(/* dest */ (void *)&(((server_mem_t *)mem_map)->rw_words[start_addr]),
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         /* src  */ (void *)data_words,
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         /* size */ word_count * 2);
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  return 0;
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}
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#include <pthread.h>
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static void *__mb_server_thread(void *_server_node)  {
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	server_node_t *server_node = _server_node;
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	mb_slave_callback_t callbacks = { 
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			&__read_inbits,
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			&__read_outbits,
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			&__write_outbits,
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			&__read_inwords,
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			&__read_outwords,
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			&__write_outwords,
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			(void *)&(server_node->mem_area)
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			};  
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	// Enable thread cancelation. Enabled is default, but set it anyway to be safe.
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	pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
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	// mb_slave_run() should never return!
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	mb_slave_run(server_node->mb_nd /* nd */, callbacks, server_node->slave_id);
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	fprintf(stderr, "Modbus plugin: Modbus server for node %%s died unexpectedly!\n", server_node->location); /* should never occur */
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	return NULL;
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}
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#define timespec_add(ts, sec, nsec) {		\
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	ts.tv_sec  +=  sec;			\
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	ts.tv_nsec += nsec;			\
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	if (ts.tv_nsec >= 1000000000) {		\
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		ts.tv_sec  ++;			\
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		ts.tv_nsec -= 1000000000;	\
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	}					\
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}
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static void *__mb_client_thread(void *_index)  {
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	int client_node_id = (char *)_index - (char *)NULL; // Use pointer arithmetic (more portable than cast)
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	// Enable thread cancelation. Enabled is default, but set it anyway to be safe.
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	pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
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    /* loop the communication with the client
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     * 
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         * When the client thread has difficulty communicating with remote client and/or server (network issues, for example),
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         * then the communications get delayed and we will fall behind in the period. 
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         * 
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         * This is OK. Note that if the condition variable were to be signaled multiple times while the client thread is inside the same
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         * Modbus transaction, then all those signals would be ignored.
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         * However, and since we keep the mutex locked during the communication cycle, it is not possible to signal the condition variable
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         * during that time (it is only possible while the thread is blocked during the call to pthread_cond_wait().
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         * 
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         * This means that when network issues eventually get resolved, we will NOT have a bunch of delayed activations to handle
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         * in quick succession (which would goble up CPU time). 
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         * 
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         * Notice that the above property is valid whether the communication cycle is run with the mutex locked, or unlocked.
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         * Since it makes it easier to implement the correct semantics for the other activation methods if the communication cycle
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         * is run with the mutex locked, then that is what we do.
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         * 
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     * Note that during all the communication cycle we will keep locked the mutex 
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     * (i.e. the mutex used together with the condition variable that will activate a new communication cycle)
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   364
     * 
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   365
     * Note that we never get to explicitly unlock this mutex. It will only be unlocked by the pthread_cond_wait()
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     * call at the end of the cycle.
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     */
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    pthread_mutex_lock(&(client_nodes[client_node_id].mutex));
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	while (1) {
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		/*
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		struct timespec cur_time;
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		clock_gettime(CLOCK_MONOTONIC, &cur_time);
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		fprintf(stderr, "Modbus client thread (%%d) - new cycle (%%ld:%%ld)!\n", client_node_id, cur_time.tv_sec, cur_time.tv_nsec);
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		*/
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		int req;
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		for (req=0; req < NUMBER_OF_CLIENT_REQTS; req ++){
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			/* just do the requests belonging to the client */
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			if (client_requests[req].client_node_id != client_node_id)
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				continue;
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   381
            
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            /* only do the request if:
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             *   - this request was explictly asked to be executed by the client program
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   384
             *  OR
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   385
             *   - the client thread was activated periodically
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   386
             *     (in which case we execute all the requests belonging to the client node)
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   387
             */
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   388
            if ((client_requests[req].flag_exec_req == 0) && (client_nodes[client_requests[req].client_node_id].periodic_act == 0))
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   389
                continue;
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   390
            
2687
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   391
            /*
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   392
            fprintf(stderr, "Modbus client thread (%%d): RUNNING Modbus request %%d  (periodic = %%d  flag_exec_req = %%d)\n", 
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   393
                    client_node_id, req, client_nodes[client_requests[req].client_node_id].periodic_act, client_requests[req].flag_exec_req );
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   394
            */
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   395
            
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   396
			int res_tmp = __execute_mb_request(req);
2713
680ea4684209 Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
Mario de Sousa <msousa@fe.up.pt>
parents: 2665
diff changeset
   397
			client_requests[req].tn_error_code = 0; // assume success
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   398
			switch (res_tmp) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   399
			  case PORT_FAILURE: {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   400
				if (res_tmp != client_nodes[client_node_id].prev_error)
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   401
					fprintf(stderr, "Modbus plugin: Error connecting Modbus client %%s to remote server.\n", client_nodes[client_node_id].location);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   402
				client_nodes[client_node_id].prev_error = res_tmp;
2713
680ea4684209 Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
Mario de Sousa <msousa@fe.up.pt>
parents: 2665
diff changeset
   403
				client_requests[req].tn_error_code = 1; // error accessing IP network, or serial interface
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   404
				break;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   405
			  }
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   406
			  case INVALID_FRAME: {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   407
				if ((res_tmp != client_requests[req].prev_error) && (0 == client_nodes[client_node_id].prev_error))
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   408
					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);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   409
				client_requests[req].prev_error = res_tmp;
2713
680ea4684209 Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
Mario de Sousa <msousa@fe.up.pt>
parents: 2665
diff changeset
   410
				client_requests[req].tn_error_code = 2; // reply received from server was an invalid frame
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   411
				break;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   412
			  }
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   413
			  case TIMEOUT: {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   414
				if ((res_tmp != client_requests[req].prev_error) && (0 == client_nodes[client_node_id].prev_error))
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   415
					fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s timed out waiting for reply from server.\n", client_requests[req].location);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   416
				client_requests[req].prev_error = res_tmp;
2713
680ea4684209 Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
Mario de Sousa <msousa@fe.up.pt>
parents: 2665
diff changeset
   417
				client_requests[req].tn_error_code = 3; // server did not reply before timeout expired
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   418
				break;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   419
			  }
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   420
			  case MODBUS_ERROR: {
2713
680ea4684209 Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
Mario de Sousa <msousa@fe.up.pt>
parents: 2665
diff changeset
   421
				if (client_requests[req].prev_error != client_requests[req].mb_error_code) {
680ea4684209 Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
Mario de Sousa <msousa@fe.up.pt>
parents: 2665
diff changeset
   422
					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);
680ea4684209 Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
Mario de Sousa <msousa@fe.up.pt>
parents: 2665
diff changeset
   423
					if (client_requests[req].mb_error_code <= MAX_MODBUS_ERROR_CODE ) {
680ea4684209 Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
Mario de Sousa <msousa@fe.up.pt>
parents: 2665
diff changeset
   424
						fprintf(stderr, "(%%s)", modbus_error_messages[client_requests[req].mb_error_code]);
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   425
						fprintf(stderr, ".\n");
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   426
					}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   427
				}
2713
680ea4684209 Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
Mario de Sousa <msousa@fe.up.pt>
parents: 2665
diff changeset
   428
				client_requests[req].prev_error = client_requests[req].mb_error_code;
680ea4684209 Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
Mario de Sousa <msousa@fe.up.pt>
parents: 2665
diff changeset
   429
				client_requests[req].tn_error_code = 4; // server returned a valid Modbus error frame
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   430
				break;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   431
			  }
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   432
			  default: {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   433
				if ((res_tmp >= 0) && (client_nodes[client_node_id].prev_error != 0)) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   434
					fprintf(stderr, "Modbus plugin: Modbus client %%s has reconnected to server/slave.\n", client_nodes[client_node_id].location);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   435
				}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   436
				if ((res_tmp >= 0) && (client_requests[req]        .prev_error != 0)) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   437
					fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s has succesfully resumed comunication.\n", client_requests[req].location);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   438
				}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   439
				client_nodes[client_node_id].prev_error = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   440
				client_requests[req]        .prev_error = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   441
				break;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   442
			  }
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   443
			}
2713
680ea4684209 Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
Mario de Sousa <msousa@fe.up.pt>
parents: 2665
diff changeset
   444
2714
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>
parents: 2713
diff changeset
   445
			/* Set the flag_tn_error_code and flag_mb_error_code that are mapped onto
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>
parents: 2713
diff changeset
   446
             * located BYTE variables, so the user program
2713
680ea4684209 Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
Mario de Sousa <msousa@fe.up.pt>
parents: 2665
diff changeset
   447
             * knows how the communication is going.
680ea4684209 Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
Mario de Sousa <msousa@fe.up.pt>
parents: 2665
diff changeset
   448
             */
2714
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>
parents: 2713
diff changeset
   449
            client_requests[req].flag_mb_error_code = client_requests[req].mb_error_code;
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>
parents: 2713
diff changeset
   450
            client_requests[req].flag_tn_error_code = client_requests[req].tn_error_code;
2713
680ea4684209 Modbus plugin: provide user programs feedback on current connection status mapped onto a WORD located variable
Mario de Sousa <msousa@fe.up.pt>
parents: 2665
diff changeset
   451
            
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   452
            /* We have just finished excuting a client transcation request.
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   453
             * If the current cycle was activated by user request we reset the flag used to ask to run it
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   454
             */
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   455
            if (0 != client_requests[req].flag_exec_req) {
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   456
                client_requests[req].flag_exec_req     = 0;
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   457
                client_requests[req].flag_exec_started = 0;   
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   458
            }
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   459
            
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   460
            //fprintf(stderr, "Modbus plugin: RUNNING<---> of Modbus request %%d  (periodic = %%d  flag_exec_req = %%d)\n", 
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   461
            //        req, client_nodes[client_requests[req].client_node_id].periodic_act, client_requests[req].flag_exec_req );
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   462
        }
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   463
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   464
        // Wait for signal (from timer or explicit request from user program) before starting the next cycle
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   465
        {
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   466
            // No need to lock the mutex. Is is already locked just before the while(1) loop.
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   467
            // Read the comment there to understand why.
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   468
            // pthread_mutex_lock(&(client_nodes[client_node_id].mutex));
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   469
            
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   470
            /* the client thread has just finished a cycle, so all the flags used to signal an activation
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   471
             * and specify the activation source (periodic, user request, ...)
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   472
             * get reset here, before waiting for a new activation.
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   473
             */
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   474
            client_nodes[client_node_id].periodic_act = 0;            
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   475
            client_nodes[client_node_id].execute_req  = 0;
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   476
            
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   477
            while (client_nodes[client_node_id].execute_req == 0)
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   478
                pthread_cond_wait(&(client_nodes[client_node_id].condv),
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   479
                                &(client_nodes[client_node_id].mutex)); 
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   480
                            
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   481
            // We run the communication cycle with the mutex locked.
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   482
            // Read the comment just above the while(1) to understand why.
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   483
            // pthread_mutex_unlock(&(client_nodes[client_node_id].mutex));
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   484
        }
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   485
	}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   486
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   487
	// humour the compiler.
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   488
	return NULL;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   489
}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   490
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   491
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   492
2683
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   493
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   494
2687
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   495
/* Thread that simply implements a periodic 'timer',
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   496
 *  i.e. periodically sends signal to the  thread running __mb_client_thread()
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   497
 * 
2687
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   498
 * Note that we do not use a posix timer (timer_create() ) because there doesn't seem to be a way
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   499
 * of having the timer notify the thread that is portable across Xenomai and POSIX.
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   500
 * - SIGEV_THREAD    : not supported by Xenomai
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   501
 * - SIGEV_THREAD_ID : Linux specific (i.e. non POSIX)
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   502
 *                     Even so, I did not get it to work under Linux (issues with the header files)
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   503
 * - SIGEV_SIGNAL    : Will not work, as signal is sent to random thread in process!
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   504
 */
2683
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   505
static void *__mb_client_timer_thread(void *_index) {
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   506
	int client_node_id = (char *)_index - (char *)NULL; // Use pointer arithmetic (more portable than cast)
2687
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   507
	struct timespec next_cycle;
2683
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   508
2684
da8de4ef0449 Modbus: fix client timer invalid arguments.
Edouard Tisserant
parents: 2683
diff changeset
   509
	int period_sec  =  client_nodes[client_node_id].comm_period / 1000;          /* comm_period is in ms */
da8de4ef0449 Modbus: fix client timer invalid arguments.
Edouard Tisserant
parents: 2683
diff changeset
   510
	int period_nsec = (client_nodes[client_node_id].comm_period %%1000)*1000000; /* comm_period is in ms */
da8de4ef0449 Modbus: fix client timer invalid arguments.
Edouard Tisserant
parents: 2683
diff changeset
   511
2687
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   512
	// Enable thread cancelation. Enabled is default, but set it anyway to be safe.
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   513
	pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   514
    
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   515
    if (client_nodes[client_node_id].comm_period <= 0) {
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   516
        // No periodic activation required => nothing to do! 
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   517
        while (1) pause(); // wait to be canceled when program terminates (shutdown() is called)
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   518
        return NULL;  // not really necessary, just makes it easier to understand the code.
2684
da8de4ef0449 Modbus: fix client timer invalid arguments.
Edouard Tisserant
parents: 2683
diff changeset
   519
    }
da8de4ef0449 Modbus: fix client timer invalid arguments.
Edouard Tisserant
parents: 2683
diff changeset
   520
2687
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   521
	// get the current time
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   522
	clock_gettime(CLOCK_MONOTONIC, &next_cycle);
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   523
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   524
    while(1) {
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   525
        // Determine absolute time instant for starting the next cycle
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   526
        struct timespec prev_cycle, now;
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   527
        prev_cycle = next_cycle;
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   528
        timespec_add(next_cycle, period_sec, period_nsec);
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   529
                
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   530
        /* NOTE:
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   531
         * It is probably un-necessary to check for overflow of timer!
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   532
         * Even in 32 bit systems this will take at least 68 years since the computer booted
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   533
         * (remember, we are using CLOCK_MONOTONIC, which should start counting from 0
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   534
         * every time the system boots). On 64 bit systems, it will take over 
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   535
         * 10^11 years to overflow.
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   536
         */
2687
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   537
        clock_gettime(CLOCK_MONOTONIC, &now);
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   538
        if (next_cycle.tv_sec < prev_cycle.tv_sec) {
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   539
           /* Timer overflow. See NOTE B above */
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   540
            next_cycle = now;
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   541
            timespec_add(next_cycle, period_sec, period_nsec);
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   542
        }
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   543
        
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   544
        while (0 != clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next_cycle, NULL));
2688
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   545
        
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   546
        /* signal the client node's condition variable on which the client node's thread should be waiting... */
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   547
        /* Since the communication cycle is run with the mutex locked, we use trylock() instead of lock() */
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   548
        if (pthread_mutex_trylock (&(client_nodes[client_node_id].mutex)) == 0) {
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   549
            client_nodes[client_node_id].execute_req  = 1; // tell the thread to execute
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   550
            client_nodes[client_node_id].periodic_act = 1; // tell the thread the activation was done by periodic timer   
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   551
            pthread_cond_signal (&(client_nodes[client_node_id].condv));
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   552
            pthread_mutex_unlock(&(client_nodes[client_node_id].mutex));
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   553
        } else {
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   554
            /* We never get to signal the thread for activation. But that is OK.
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   555
             * If it still in the communication cycle (during which the mutex is kept locked)
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   556
             * then that means that the communication cycle is falling behing in the periodic 
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   557
             * communication cycle, and we therefore need to skip a period.
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   558
             */
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   559
        }
2683
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   560
    }
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   561
2688
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   562
    return NULL; // humour the compiler -> will never be executed!
2683
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   563
}
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   564
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   565
1913
338e2f51b685 modbus extension code cleanup, from smarteh's patch
Edouard Tisserant
parents: 1912
diff changeset
   566
int __cleanup_%(locstr)s ();
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   567
int __init_%(locstr)s (int argc, char **argv){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   568
	int index;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   569
2654
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   570
	for (index=0; index < NUMBER_OF_CLIENT_NODES;index++) {
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   571
		client_nodes[index].mb_nd = -1;
2654
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   572
        /* see comment in mb_runtime.h to understad why we need to initialize these entries */
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   573
        switch (client_nodes[index].node_address.naf) {
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   574
            case naf_tcp:
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   575
                client_nodes[index].node_address.addr.tcp.host    = client_nodes[index].str1;
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   576
                client_nodes[index].node_address.addr.tcp.service = client_nodes[index].str2;
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   577
                break;
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   578
            case naf_rtu:
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   579
                client_nodes[index].node_address.addr.rtu.device  = client_nodes[index].str1;
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   580
                break;
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   581
        }
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   582
    }
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   583
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   584
	for (index=0; index < NUMBER_OF_SERVER_NODES;index++) {
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   585
		// mb_nd with negative numbers indicate how far it has been initialised (or not)
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   586
		//   -2  --> no modbus node created;  no thread  created
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   587
		//   -1  -->    modbus node created!; no thread  created
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   588
		//  >=0  -->    modbus node created!;    thread  created!
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   589
		server_nodes[index].mb_nd = -2; 
2722
5d72a52b8f9c modbus plugin: add (user accessible) transaction bool flags for servers/slaves; FIX BUG in previous commit affecting RTU slaves.
Mario de Sousa <msousa@fe.up.pt>
parents: 2721
diff changeset
   590
		server_nodes[index].mem_area.flag_write_req_flag    = 0; 
2721
367eb26972b1 modbus plugin: add (user accessible) transaction counters for servers/slaves
Mario de Sousa <msousa@fe.up.pt>
parents: 2714
diff changeset
   591
		server_nodes[index].mem_area.flag_write_req_counter = 0; 
367eb26972b1 modbus plugin: add (user accessible) transaction counters for servers/slaves
Mario de Sousa <msousa@fe.up.pt>
parents: 2714
diff changeset
   592
		server_nodes[index].mem_area.flag_read_req_counter  = 0; 
2722
5d72a52b8f9c modbus plugin: add (user accessible) transaction bool flags for servers/slaves; FIX BUG in previous commit affecting RTU slaves.
Mario de Sousa <msousa@fe.up.pt>
parents: 2721
diff changeset
   593
		server_nodes[index].mem_area.flag_read_req_flag     = 0; 
2655
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
   594
        /* see comment in mb_runtime.h to understad why we need to initialize these entries */
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
   595
        switch (server_nodes[index].node_address.naf) {
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
   596
            case naf_tcp:
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
   597
                server_nodes[index].node_address.addr.tcp.host    = server_nodes[index].str1;
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
   598
                server_nodes[index].node_address.addr.tcp.service = server_nodes[index].str2;
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
   599
                break;
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
   600
            case naf_rtu:
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
   601
                server_nodes[index].node_address.addr.rtu.device  = server_nodes[index].str1;
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
   602
                break;
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
   603
        }
2654
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   604
	}
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   605
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   606
	/* modbus library init */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   607
	/* Note that TOTAL_xxxNODE_COUNT are the nodes required by _ALL_ the instances of the modbus
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   608
	 *  extension currently in the user's project. This file (MB_xx.c) is handling only one instance,
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   609
	 *  but must initialize the library for all instances. Only the first call to mb_slave_and_master_init()
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   610
	 *  will result in memory being allocated. All subsequent calls (by other MB_xx,c files) will be ignored
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   611
	 *  by the mb_slave_and_master_init() funtion, as long as they are called with the same arguments.
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   612
	 */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   613
	if (mb_slave_and_master_init(TOTAL_TCPNODE_COUNT, TOTAL_RTUNODE_COUNT, TOTAL_ASCNODE_COUNT) <0) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   614
		fprintf(stderr, "Modbus plugin: Error starting modbus library\n");
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   615
		// return imediately. Do NOT goto error_exit, as we did not get to
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   616
		//  start the modbus library!
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   617
		return -1;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   618
	}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   619
	
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   620
	/* init each client request */
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   621
	/* Must be done _before_ launching the client threads!! */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   622
	for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   623
        /* make sure flags connected to user program MB transaction start request are all reset */
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   624
        client_requests[index].flag_exec_req     = 0;
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   625
        client_requests[index].flag_exec_started = 0;        
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   626
        /* init the mutex for each client request */
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   627
        /* Must be done _before_ launching the client threads!! */
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   628
		if (pthread_mutex_init(&(client_requests[index].coms_buf_mutex), NULL)) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   629
			fprintf(stderr, "Modbus plugin: Error initializing request for modbus client node %%s\n", client_nodes[client_requests[index].client_node_id].location);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   630
			goto error_exit;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   631
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   632
	}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   633
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   634
	/* init each client connection to remote modbus server, and launch thread */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   635
	/* NOTE: All client_nodes[].init_state are initialised to 0 in the code 
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   636
	 *       generated by the modbus plugin 
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   637
	 */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   638
	for (index=0; index < NUMBER_OF_CLIENT_NODES;index++){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   639
		/* establish client connection */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   640
		client_nodes[index].mb_nd = mb_master_connect (client_nodes[index].node_address);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   641
		if (client_nodes[index].mb_nd < 0){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   642
			fprintf(stderr, "Modbus plugin: Error creating modbus client node %%s\n", client_nodes[index].location);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   643
			goto error_exit;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   644
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   645
		client_nodes[index].init_state = 1; // we have created the node 
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   646
		
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   647
		/* initialize the mutex variable that will be used by the thread handling the client node */
2685
f71c22b2ca25 Modbus: fix strange side effect of re-use of condition variables or mutex with Xenomai : without bzero of the associated types, mutex keeps locked.
Edouard Tisserant
parents: 2684
diff changeset
   648
        bzero(&(client_nodes[index].mutex), sizeof(pthread_mutex_t));
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   649
        if (pthread_mutex_init(&(client_nodes[index].mutex), NULL) < 0) {
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   650
			fprintf(stderr, "Modbus plugin: Error creating mutex for modbus client node %%s\n", client_nodes[index].location);
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   651
			goto error_exit;                
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   652
        }
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   653
		client_nodes[index].init_state = 2; // we have created the mutex
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   654
		
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   655
		/* initialize the condition variable that will be used by the thread handling the client node */
2685
f71c22b2ca25 Modbus: fix strange side effect of re-use of condition variables or mutex with Xenomai : without bzero of the associated types, mutex keeps locked.
Edouard Tisserant
parents: 2684
diff changeset
   656
        bzero(&(client_nodes[index].condv), sizeof(pthread_cond_t));
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   657
        if (pthread_cond_init(&(client_nodes[index].condv), NULL) < 0) {
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   658
			fprintf(stderr, "Modbus plugin: Error creating condition variable for modbus client node %%s\n", client_nodes[index].location);
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   659
			goto error_exit;                
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   660
        }
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   661
        client_nodes[index].execute_req = 0; //variable associated with condition variable
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   662
		client_nodes[index].init_state = 3; // we have created the condition variable
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   663
		
2683
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   664
		/* launch a thread to handle this client node timer */
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   665
		{
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   666
			int res = 0;
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   667
			pthread_attr_t attr;
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   668
			res |= pthread_attr_init(&attr);
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   669
			res |= pthread_create(&(client_nodes[index].timer_thread_id), &attr, &__mb_client_timer_thread, (void *)((char *)NULL + index));
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   670
			if (res !=  0) {
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   671
				fprintf(stderr, "Modbus plugin: Error starting timer thread for modbus client node %%s\n", client_nodes[index].location);
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   672
				goto error_exit;
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   673
			}
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   674
		}
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   675
        client_nodes[index].init_state = 4; // we have created the timer
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   676
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   677
		/* launch a thread to handle this client node */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   678
		{
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   679
			int res = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   680
			pthread_attr_t attr;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   681
			res |= pthread_attr_init(&attr);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   682
			res |= pthread_create(&(client_nodes[index].thread_id), &attr, &__mb_client_thread, (void *)((char *)NULL + index));
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   683
			if (res !=  0) {
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   684
				fprintf(stderr, "Modbus plugin: Error starting thread for modbus client node %%s\n", client_nodes[index].location);
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   685
				goto error_exit;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   686
			}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   687
		}
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   688
		client_nodes[index].init_state = 5; // we have created the thread
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   689
	}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   690
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   691
	/* init each local server */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   692
	/* NOTE: All server_nodes[].init_state are initialised to 0 in the code 
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   693
	 *       generated by the modbus plugin 
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   694
	 */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   695
	for (index=0; index < NUMBER_OF_SERVER_NODES;index++){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   696
		/* create the modbus server */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   697
		server_nodes[index].mb_nd = mb_slave_new (server_nodes[index].node_address);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   698
		if (server_nodes[index].mb_nd < 0){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   699
			fprintf(stderr, "Modbus plugin: Error creating modbus server node %%s\n", server_nodes[index].location);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   700
			goto error_exit;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   701
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   702
		server_nodes[index].init_state = 1; // we have created the node
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   703
		
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   704
		/* launch a thread to handle this server node */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   705
		{
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   706
			int res = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   707
			pthread_attr_t attr;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   708
			res |= pthread_attr_init(&attr);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   709
			res |= pthread_create(&(server_nodes[index].thread_id), &attr, &__mb_server_thread, (void *)&(server_nodes[index]));
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   710
			if (res !=  0) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   711
				fprintf(stderr, "Modbus plugin: Error starting modbus server thread for node %%s\n", server_nodes[index].location);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   712
				goto error_exit;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   713
			}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   714
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   715
		server_nodes[index].init_state = 2; // we have created the node and thread
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   716
	}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   717
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   718
	return 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   719
	
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   720
error_exit:
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   721
	__cleanup_%(locstr)s ();
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   722
	return -1;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   723
}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   724
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   725
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   726
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   727
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   728
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   729
void __publish_%(locstr)s (){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   730
	int index;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   731
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   732
	for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   733
		/* synchronize the PLC and MB buffers only for the output requests */
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   734
		if (client_requests[index].req_type == req_output){
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   735
            
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   736
            // lock the mutex brefore copying the data
2011
64268e87613e Make Modbus mutexes non blocking for PLC. If data related to some modbus request is alredy locked when PLC wants to access it, then data isn't copied to/from PLC
Edouard Tisserant
parents: 1913
diff changeset
   737
			if(pthread_mutex_trylock(&(client_requests[index].coms_buf_mutex)) == 0){
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   738
                
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   739
                // Check if user configured this MB request to be activated whenever the data to be written changes
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   740
                if (client_requests[index].write_on_change) {
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   741
                    // Let's check if the data did change...
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   742
                    // compare the data in plcv_buffer to coms_buffer
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   743
                    int res;
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   744
                    res = memcmp((void *)client_requests[index].coms_buffer /* buf 1 */,
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   745
                                 (void *)client_requests[index].plcv_buffer /* buf 2*/,
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   746
                                 REQ_BUF_SIZE * sizeof(u16) /* size in bytes */);
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   747
                    
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   748
                    // if data changed, activate execution request 
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   749
                    if (0 != res)
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   750
                        client_requests[index].flag_exec_req = 1;
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   751
                }
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   752
                
2011
64268e87613e Make Modbus mutexes non blocking for PLC. If data related to some modbus request is alredy locked when PLC wants to access it, then data isn't copied to/from PLC
Edouard Tisserant
parents: 1913
diff changeset
   753
                // copy from plcv_buffer to coms_buffer
64268e87613e Make Modbus mutexes non blocking for PLC. If data related to some modbus request is alredy locked when PLC wants to access it, then data isn't copied to/from PLC
Edouard Tisserant
parents: 1913
diff changeset
   754
                memcpy((void *)client_requests[index].coms_buffer /* destination */,
64268e87613e Make Modbus mutexes non blocking for PLC. If data related to some modbus request is alredy locked when PLC wants to access it, then data isn't copied to/from PLC
Edouard Tisserant
parents: 1913
diff changeset
   755
                       (void *)client_requests[index].plcv_buffer /* source */,
64268e87613e Make Modbus mutexes non blocking for PLC. If data related to some modbus request is alredy locked when PLC wants to access it, then data isn't copied to/from PLC
Edouard Tisserant
parents: 1913
diff changeset
   756
                       REQ_BUF_SIZE * sizeof(u16) /* size in bytes */);
64268e87613e Make Modbus mutexes non blocking for PLC. If data related to some modbus request is alredy locked when PLC wants to access it, then data isn't copied to/from PLC
Edouard Tisserant
parents: 1913
diff changeset
   757
                pthread_mutex_unlock(&(client_requests[index].coms_buf_mutex));
64268e87613e Make Modbus mutexes non blocking for PLC. If data related to some modbus request is alredy locked when PLC wants to access it, then data isn't copied to/from PLC
Edouard Tisserant
parents: 1913
diff changeset
   758
            }
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   759
		}
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   760
        /* if the user program set the execution request flag, then activate the thread
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   761
         *  that handles this Modbus client transaction so it gets a chance to be executed
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   762
         *  (but don't activate the thread if it has already been activated!)
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   763
         * 
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   764
         * NOTE that we do this, for both the IN and OUT mapped location, under this
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   765
         *  __publish_() function. The scan cycle of the PLC works as follows:
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   766
         *   - call __retrieve_()
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   767
         *   - execute user programs
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   768
         *   - call __publish_()
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   769
         *   - insert <delay> until time to start next periodic/cyclic scan cycle
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   770
         * 
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   771
         *  In an attempt to be able to run the MB transactions during the <delay>
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   772
         *  interval in which not much is going on, we handle the user program
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   773
         *  requests to execute a specific MB transaction in this __publish_()
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   774
         *  function.
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   775
         */
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   776
        if ((client_requests[index].flag_exec_req != 0) && (0 == client_requests[index].flag_exec_started)) {
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   777
            int client_node_id = client_requests[index].client_node_id;
2688
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   778
            
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   779
             /* We TRY to signal the client thread.
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   780
              * We do this because this function can be called at the end of the PLC scan cycle
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   781
              * and we don't want it to block at that time.
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   782
              */
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   783
             if (pthread_mutex_trylock(&(client_nodes[client_node_id].mutex)) == 0) {
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   784
                 client_nodes[client_node_id].execute_req = 1; // tell the thread to execute
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   785
                 pthread_cond_signal (&(client_nodes[client_node_id].condv));
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   786
                 pthread_mutex_unlock(&(client_nodes[client_node_id].mutex));
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   787
                 /* - upon success, set flag_exec_started
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   788
                  * - both flags (flag_exec_req and flag_exec_started) will be reset
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   789
                  *   once the transaction has completed.
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   790
                  */
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   791
                 client_requests[index].flag_exec_started = 1;    
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   792
             } else {
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   793
                 /* The mutex is locked => the client thread is currently executing MB transactions.
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   794
                  * We will try to activate it in the next PLC cycle...
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   795
                  * For now, do nothing.
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   796
                  */
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   797
             }
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   798
        }                    
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   799
    }
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   800
}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   801
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   802
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   803
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   804
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   805
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   806
void __retrieve_%(locstr)s (){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   807
	int index;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   808
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   809
	for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   810
		/*just do the input requests */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   811
		if (client_requests[index].req_type == req_input){
2011
64268e87613e Make Modbus mutexes non blocking for PLC. If data related to some modbus request is alredy locked when PLC wants to access it, then data isn't copied to/from PLC
Edouard Tisserant
parents: 1913
diff changeset
   812
			if(pthread_mutex_trylock(&(client_requests[index].coms_buf_mutex)) == 0){
64268e87613e Make Modbus mutexes non blocking for PLC. If data related to some modbus request is alredy locked when PLC wants to access it, then data isn't copied to/from PLC
Edouard Tisserant
parents: 1913
diff changeset
   813
                // copy from coms_buffer to plcv_buffer
64268e87613e Make Modbus mutexes non blocking for PLC. If data related to some modbus request is alredy locked when PLC wants to access it, then data isn't copied to/from PLC
Edouard Tisserant
parents: 1913
diff changeset
   814
                memcpy((void *)client_requests[index].plcv_buffer /* destination */,
64268e87613e Make Modbus mutexes non blocking for PLC. If data related to some modbus request is alredy locked when PLC wants to access it, then data isn't copied to/from PLC
Edouard Tisserant
parents: 1913
diff changeset
   815
                       (void *)client_requests[index].coms_buffer /* source */,
64268e87613e Make Modbus mutexes non blocking for PLC. If data related to some modbus request is alredy locked when PLC wants to access it, then data isn't copied to/from PLC
Edouard Tisserant
parents: 1913
diff changeset
   816
                       REQ_BUF_SIZE * sizeof(u16) /* size in bytes */);
64268e87613e Make Modbus mutexes non blocking for PLC. If data related to some modbus request is alredy locked when PLC wants to access it, then data isn't copied to/from PLC
Edouard Tisserant
parents: 1913
diff changeset
   817
                pthread_mutex_unlock(&(client_requests[index].coms_buf_mutex));
64268e87613e Make Modbus mutexes non blocking for PLC. If data related to some modbus request is alredy locked when PLC wants to access it, then data isn't copied to/from PLC
Edouard Tisserant
parents: 1913
diff changeset
   818
            }
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   819
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   820
	}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   821
}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   822
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   823
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   824
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   825
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   826
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   827
int __cleanup_%(locstr)s (){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   828
	int index, close;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   829
	int res = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   830
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   831
	/* kill thread and close connections of each modbus client node */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   832
	for (index=0; index < NUMBER_OF_CLIENT_NODES; index++) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   833
		close = 0;
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   834
		if (client_nodes[index].init_state >= 5) {
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   835
			// thread was launched, so we try to cancel it!
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   836
			close  = pthread_cancel(client_nodes[index].thread_id);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   837
			close |= pthread_join  (client_nodes[index].thread_id, NULL);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   838
			if (close < 0)
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   839
				fprintf(stderr, "Modbus plugin: Error closing thread for modbus client node %%s\n", client_nodes[index].location);
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   840
		}
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   841
		res |= close;
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   842
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   843
		close = 0;
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   844
		if (client_nodes[index].init_state >= 4) {
2687
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   845
			// timer thread was launched, so we try to cancel it!
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   846
			close  = pthread_cancel(client_nodes[index].timer_thread_id);
2683
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   847
			close |= pthread_join  (client_nodes[index].timer_thread_id, NULL);
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   848
			if (close < 0)
2683
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   849
				fprintf(stderr, "Modbus plugin: Error closing timer thread for modbus client node %%s\n", client_nodes[index].location);
5d8a4deacfe1 Modbus add a timer thread, and switch timer to SIGEV_THREAD_ID to follow xenomai posix skin restrictions.
Edouard Tisserant
parents: 2665
diff changeset
   850
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   851
		}
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   852
		res |= close;
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   853
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   854
		close = 0;
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   855
		if (client_nodes[index].init_state >= 3) {
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   856
			// condition variable was created, so we try to destroy it!
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   857
			close  = pthread_cond_destroy(&(client_nodes[index].condv));
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   858
			if (close < 0)
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   859
				fprintf(stderr, "Modbus plugin: Error destroying condition variable for modbus client node %%s\n", client_nodes[index].location);
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   860
		}
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   861
		res |= close;
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   862
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   863
		close = 0;
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   864
		if (client_nodes[index].init_state >= 2) {
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   865
			// mutex was created, so we try to destroy it!
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   866
			close  = pthread_mutex_destroy(&(client_nodes[index].mutex));
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   867
			if (close < 0)
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   868
				fprintf(stderr, "Modbus plugin: Error destroying mutex for modbus client node %%s\n", client_nodes[index].location);
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   869
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   870
		res |= close;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   871
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   872
		close = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   873
		if (client_nodes[index].init_state >= 1) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   874
			// modbus client node was created, so we try to close it!
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   875
			close = mb_master_close (client_nodes[index].mb_nd);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   876
			if (close < 0){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   877
				fprintf(stderr, "Modbus plugin: Error closing modbus client node %%s\n", client_nodes[index].location);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   878
				// We try to shut down as much as possible, so we do not return noW!
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   879
			}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   880
			client_nodes[index].mb_nd = -1;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   881
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   882
		res |= close;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   883
		client_nodes[index].init_state = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   884
	}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   885
	
2687
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   886
//fprintf(stderr, "Modbus plugin: __cleanup_%%s()  5  close=%%d   res=%%d\n", client_nodes[index].location, close, res);
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   887
	/* kill thread and close connections of each modbus server node */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   888
	for (index=0; index < NUMBER_OF_SERVER_NODES; index++) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   889
		close = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   890
		if (server_nodes[index].init_state >= 2) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   891
			// thread was launched, so we try to cancel it!
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   892
			close  = pthread_cancel(server_nodes[index].thread_id);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   893
			close |= pthread_join  (server_nodes[index].thread_id, NULL);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   894
			if (close < 0)
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   895
				fprintf(stderr, "Modbus plugin: Error closing thread for modbus server %%s\n", server_nodes[index].location);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   896
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   897
		res |= close;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   898
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   899
		close = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   900
		if (server_nodes[index].init_state >= 1) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   901
			// modbus server node was created, so we try to close it!
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   902
			close = mb_slave_close (server_nodes[index].mb_nd);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   903
			if (close < 0) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   904
				fprintf(stderr, "Modbus plugin: Error closing node for modbus server %%s (%%d)\n", server_nodes[index].location, server_nodes[index].mb_nd);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   905
				// We try to shut down as much as possible, so we do not return noW!
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   906
			}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   907
			server_nodes[index].mb_nd = -1;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   908
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   909
		res |= close;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   910
		server_nodes[index].init_state = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   911
	}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   913
	/* destroy the mutex of each client request */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   914
	for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   915
		if (pthread_mutex_destroy(&(client_requests[index].coms_buf_mutex))) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   916
			fprintf(stderr, "Modbus plugin: Error destroying request for modbus client node %%s\n", client_nodes[client_requests[index].client_node_id].location);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   917
			// We try to shut down as much as possible, so we do not return noW!
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   918
			res |= -1;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   919
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   920
	}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   921
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   922
	/* modbus library close */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   923
	//fprintf(stderr, "Shutting down modbus library...\n");
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   924
	if (mb_slave_and_master_done()<0) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   925
		fprintf(stderr, "Modbus plugin: Error shutting down modbus library\n");
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   926
		res |= -1;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   927
	}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   928
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   929
	return res;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   930
}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   931
2654
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   932
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   933
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   934
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   935
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   936
/**********************************************/
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   937
/** Functions for Beremiz web interface.     **/
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   938
/**********************************************/
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   939
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   940
/*
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   941
 * Beremiz has a program to run on the PLC (Beremiz_service.py)
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   942
 * to handle downloading of compiled programs, start/stop of PLC, etc.
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   943
 * (see runtime/PLCObject.py for start/stop, loading, ...)
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   944
 * 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   945
 * This service also includes a web server to access PLC state (start/stop)
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   946
 * and to change some basic confiuration parameters.
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   947
 * (see runtime/NevowServer.py for the web server)
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   948
 * 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   949
 * The web server allows for extensions, where additional configuration
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   950
 * parameters may be changed on the running/downloaded PLC.
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   951
 * Modbus plugin also comes with an extension to the web server, through
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   952
 * which the basic Modbus plugin configuration parameters may be changed
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   953
 * 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   954
 * These parameters are changed _after_ the code (.so file) is loaded into 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   955
 * memmory. These changes may be applied before (or after) the code starts
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   956
 * running (i.e. before or after __init_() ets called)! 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   957
 * 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   958
 * The following functions are never called from other C code. They are 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   959
 * called instead from the python code in runtime/Modbus_config.py, that
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   960
 * implements the web server extension for configuring Modbus parameters.
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   961
 */
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   962
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   963
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   964
/* The number of Cient nodes (i.e. the number of entries in the client_nodes array)
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   965
 * The number of Server nodes (i.e. the numb. of entries in the server_nodes array)
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   966
 * 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   967
 * These variables are also used by the Modbus web config code to determine 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   968
 * whether the current loaded PLC includes the Modbus plugin
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   969
 * (so it should make the Modbus parameter web interface visible to the user).
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   970
 */
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   971
const int __modbus_plugin_client_node_count = NUMBER_OF_CLIENT_NODES;
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   972
const int __modbus_plugin_server_node_count = NUMBER_OF_SERVER_NODES;
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   973
const int __modbus_plugin_param_string_size = MODBUS_PARAM_STRING_SIZE;
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   974
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   975
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   976
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   977
/* NOTE: We could have the python code in runtime/Modbus_config.py
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   978
 *       directly access the server_node_t and client_node_t structures,
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   979
 *       however this would create a tight coupling between these two
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   980
 *       disjoint pieces of code.
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   981
 *       Any change to the server_node_t or client_node_t structures would
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   982
 *       require the python code to be changed accordingly. I have therefore 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   983
 *       opted to create get/set functions, one for each parameter.
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   984
 * 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   985
 *       We also convert the enumerated constants naf_ascii, etc...
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   986
 *       (from node_addr_family_t in modbus/mb_addr.h)
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   987
 *       into strings so as to decouple the python code that will be calling
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   988
 *       these functions from the Modbus library code definitions.
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   989
 */
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   990
const char *addr_type_str[] = {
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   991
        [naf_ascii] = "ascii",
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   992
        [naf_rtu  ] = "rtu",
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   993
        [naf_tcp  ] = "tcp"    
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   994
};
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   995
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   996
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   997
#define __safe_strcnpy(str_dest, str_orig, max_size) {  \
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   998
    strncpy(str_dest, str_orig, max_size);              \
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   999
    str_dest[max_size - 1] = '\0';                      \
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1000
}
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1001
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1002
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1003
/* NOTE: The host, port and device parameters are strings that may be changed 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1004
 *       (by calling the following functions) after loading the compiled code 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1005
 *       (.so file) into memory, but before the code starts running
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1006
 *       (i.e. before __init_() gets called).
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1007
 *       This means that the host, port and device parameters may be changed
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1008
 *       _before_ they get mapped onto the str1 and str2 variables by __init_(),
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1009
 *       which is why the following functions must access the str1 and str2 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1010
 *       parameters directly.
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1011
 */
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1012
const char *       __modbus_get_ClientNode_config_name(int nodeid)  {return client_nodes[nodeid].config_name;                    }
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1013
const char *       __modbus_get_ClientNode_host       (int nodeid)  {return client_nodes[nodeid].str1;                           }
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1014
const char *       __modbus_get_ClientNode_port       (int nodeid)  {return client_nodes[nodeid].str2;                           }
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1015
const char *       __modbus_get_ClientNode_device     (int nodeid)  {return client_nodes[nodeid].str1;                           }
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1016
int                __modbus_get_ClientNode_baud       (int nodeid)  {return client_nodes[nodeid].node_address.addr.rtu.baud;     }
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1017
int                __modbus_get_ClientNode_parity     (int nodeid)  {return client_nodes[nodeid].node_address.addr.rtu.parity;   }
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1018
int                __modbus_get_ClientNode_stop_bits  (int nodeid)  {return client_nodes[nodeid].node_address.addr.rtu.stop_bits;}
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1019
u64                __modbus_get_ClientNode_comm_period(int nodeid)  {return client_nodes[nodeid].comm_period;                    }
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1020
const char *       __modbus_get_ClientNode_addr_type  (int nodeid)  {return addr_type_str[client_nodes[nodeid].node_address.naf];}
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1021
                                                                                                                        
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1022
const char *       __modbus_get_ServerNode_config_name(int nodeid)  {return server_nodes[nodeid].config_name;                    }
2665
978cf239c689 Modbus plugin web interface: show the keyword "#ANY#" on TCP servers
Mario de Sousa <msousa@fe.up.pt>
parents: 2655
diff changeset
  1023
const char *       __modbus_get_ServerNode_host       (int nodeid)  {char*x=server_nodes[nodeid].str1; return (x[0]=='\0'?"#ANY#":x); }
2655
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
  1024
const char *       __modbus_get_ServerNode_port       (int nodeid)  {return server_nodes[nodeid].str2;                           }
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
  1025
const char *       __modbus_get_ServerNode_device     (int nodeid)  {return server_nodes[nodeid].str1;                           }
2654
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1026
int                __modbus_get_ServerNode_baud       (int nodeid)  {return server_nodes[nodeid].node_address.addr.rtu.baud;     }
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1027
int                __modbus_get_ServerNode_parity     (int nodeid)  {return server_nodes[nodeid].node_address.addr.rtu.parity;   }
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1028
int                __modbus_get_ServerNode_stop_bits  (int nodeid)  {return server_nodes[nodeid].node_address.addr.rtu.stop_bits;}
2655
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
  1029
u8                 __modbus_get_ServerNode_slave_id   (int nodeid)  {return server_nodes[nodeid].slave_id;                       }
2654
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1030
const char *       __modbus_get_ServerNode_addr_type  (int nodeid)  {return addr_type_str[server_nodes[nodeid].node_address.naf];}
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1031
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1032
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1033
void __modbus_set_ClientNode_host       (int nodeid, const char * value)  {__safe_strcnpy(client_nodes[nodeid].str1, value, MODBUS_PARAM_STRING_SIZE);}
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1034
void __modbus_set_ClientNode_port       (int nodeid, const char * value)  {__safe_strcnpy(client_nodes[nodeid].str2, value, MODBUS_PARAM_STRING_SIZE);}
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1035
void __modbus_set_ClientNode_device     (int nodeid, const char * value)  {__safe_strcnpy(client_nodes[nodeid].str1, value, MODBUS_PARAM_STRING_SIZE);}
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1036
void __modbus_set_ClientNode_baud       (int nodeid, int          value)  {client_nodes[nodeid].node_address.addr.rtu.baud      = value;}
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1037
void __modbus_set_ClientNode_parity     (int nodeid, int          value)  {client_nodes[nodeid].node_address.addr.rtu.parity    = value;}
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1038
void __modbus_set_ClientNode_stop_bits  (int nodeid, int          value)  {client_nodes[nodeid].node_address.addr.rtu.stop_bits = value;}
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1039
void __modbus_set_ClientNode_comm_period(int nodeid, u64          value)  {client_nodes[nodeid].comm_period                     = value;}
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1040
                                                                                                                        
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
  1041
2665
978cf239c689 Modbus plugin web interface: show the keyword "#ANY#" on TCP servers
Mario de Sousa <msousa@fe.up.pt>
parents: 2655
diff changeset
  1042
void __modbus_set_ServerNode_host       (int nodeid, const char * value)  {if (strcmp(value,"#ANY#")==0) value = "";
978cf239c689 Modbus plugin web interface: show the keyword "#ANY#" on TCP servers
Mario de Sousa <msousa@fe.up.pt>
parents: 2655
diff changeset
  1043
                                                                           __safe_strcnpy(server_nodes[nodeid].str1, value, MODBUS_PARAM_STRING_SIZE);}
2655
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
  1044
void __modbus_set_ServerNode_port       (int nodeid, const char * value)  {__safe_strcnpy(server_nodes[nodeid].str2, value, MODBUS_PARAM_STRING_SIZE);}
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
  1045
void __modbus_set_ServerNode_device     (int nodeid, const char * value)  {__safe_strcnpy(server_nodes[nodeid].str1, value, MODBUS_PARAM_STRING_SIZE);}
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
  1046
void __modbus_set_ServerNode_baud       (int nodeid, int          value)  {server_nodes[nodeid].node_address.addr.rtu.baud      = value;}
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
  1047
void __modbus_set_ServerNode_parity     (int nodeid, int          value)  {server_nodes[nodeid].node_address.addr.rtu.parity    = value;}
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
  1048
void __modbus_set_ServerNode_stop_bits  (int nodeid, int          value)  {server_nodes[nodeid].node_address.addr.rtu.stop_bits = value;}
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
  1049
void __modbus_set_ServerNode_slave_id   (int nodeid, u8           value)  {server_nodes[nodeid].slave_id                        = value;}
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
  1050