1

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

     2

     3

/*

     4

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

     5

 *

     6

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

     7

 *

     8

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

     9

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

    10

 * the Free Software Foundation, either version 3 of the License, or

    11

 * (at your option) any later version.

    12

 *

    13

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

    14

 * WITHOUT ANY WARRANTY; without even the implied warranty of

    15

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

    16

 * General Public License for more details.

    17

 *

    18

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

    19

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

    20

 *

    21

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

    22

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

    23

 */

    24

    25

    26

#include <stdio.h>

    27

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

    28

#include "mb_slave_and_master.h"

    29

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

    30

    31

    32

#define MAX_MODBUS_ERROR_CODE 11

    33

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

    34

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

    35

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

    36

    /* 2 */ "illegal data address",

    37

    /* 3 */ "illegal data value",

    38

    /* 4 */ "slave device failure",

    39

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

    40

    /* 6 */ "slave device busy",

    41

    /* 7 */ "negative acknowledge",

    42

    /* 8 */ "memory parity error",

    43

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

    44

    /* 10*/ "gateway path unavalilable",

    45

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

    46

};    

    47

    48

    49

/* Execute a modbus client transaction/request */

    50

static int __execute_mb_request(int request_id){

    51

	switch (client_requests[request_id].mb_function){

    52

    53

	case  1: /* read coils */

    54

		return read_output_bits(client_requests[request_id].slave_id,

    55

					client_requests[request_id].address,

    56

					client_requests[request_id].count,

    57

					client_requests[request_id].coms_buffer,

    58

					(int) client_requests[request_id].count,

    59

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

    60

					client_requests[request_id].retries,

    61

					&(client_requests[request_id].error_code),

    62

					&(client_requests[request_id].resp_timeout),

    63

					&(client_requests[request_id].coms_buf_mutex));

    64

    65

	case  2: /* read discrete inputs */

    66

		return read_input_bits( client_requests[request_id].slave_id,

    67

					client_requests[request_id].address,

    68

					client_requests[request_id].count,

    69

					client_requests[request_id].coms_buffer,

    70

					(int) client_requests[request_id].count,

    71

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

    72

					client_requests[request_id].retries,

    73

					&(client_requests[request_id].error_code),

    74

					&(client_requests[request_id].resp_timeout),

    75

					&(client_requests[request_id].coms_buf_mutex));

    76

    77

	case  3: /* read holding registers */

    78

		return read_output_words(client_requests[request_id].slave_id,

    79

					client_requests[request_id].address,

    80

					client_requests[request_id].count,

    81

					client_requests[request_id].coms_buffer,

    82

					(int) client_requests[request_id].count,

    83

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

    84

					client_requests[request_id].retries,

    85

					&(client_requests[request_id].error_code),

    86

					&(client_requests[request_id].resp_timeout),

    87

					&(client_requests[request_id].coms_buf_mutex));

    88

    89

	case  4: /* read input registers */

    90

		return read_input_words(client_requests[request_id].slave_id,

    91

					client_requests[request_id].address,

    92

					client_requests[request_id].count,

    93

					client_requests[request_id].coms_buffer,

    94

					(int) client_requests[request_id].count,

    95

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

    96

					client_requests[request_id].retries,

    97

					&(client_requests[request_id].error_code),

    98

					&(client_requests[request_id].resp_timeout),

    99

					&(client_requests[request_id].coms_buf_mutex));

   100

   101

	case  5: /* write single coil */

   102

		return write_output_bit(client_requests[request_id].slave_id,

   103

					client_requests[request_id].address,

   104

					client_requests[request_id].coms_buffer[0],

   105

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

   106

					client_requests[request_id].retries,

   107

					&(client_requests[request_id].error_code),

   108

					&(client_requests[request_id].resp_timeout),

   109

					&(client_requests[request_id].coms_buf_mutex));

   110

   111

	case  6: /* write single register */

   112

		return write_output_word(client_requests[request_id].slave_id,

   113

					client_requests[request_id].address,

   114

					client_requests[request_id].coms_buffer[0],

   115

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

   116

					client_requests[request_id].retries,

   117

					&(client_requests[request_id].error_code),

   118

					&(client_requests[request_id].resp_timeout),

   119

					&(client_requests[request_id].coms_buf_mutex));

   120

   121

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

   122

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

   123

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

   124

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

   125

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

   126

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

   127

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

   128

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

   129

   130

	case 15: /* write multiple coils */

   131

		return write_output_bits(client_requests[request_id].slave_id,

   132

					 client_requests[request_id].address,

   133

					 client_requests[request_id].count,

   134

					 client_requests[request_id].coms_buffer,

   135

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

   136

					 client_requests[request_id].retries,

   137

					 &(client_requests[request_id].error_code),

   138

					 &(client_requests[request_id].resp_timeout),

   139

					 &(client_requests[request_id].coms_buf_mutex));

   140

   141

	case 16: /* write multiple registers */

   142

		return write_output_words(client_requests[request_id].slave_id,

   143

					client_requests[request_id].address,

   144

					client_requests[request_id].count,

   145

					client_requests[request_id].coms_buffer,

   146

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

   147

					client_requests[request_id].retries,

   148

					&(client_requests[request_id].error_code),

   149

					&(client_requests[request_id].resp_timeout),

   150

					&(client_requests[request_id].coms_buf_mutex));

   151

   152

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

   153

	}

   154

   155

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

   156

	return -1;

   157

}

   158

   159

   160

   161

/* pack bits from unpacked_data to packed_data */

   162

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

   163

  u8 bit;

   164

  u16 byte, coils_processed;

   165

   166

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

   167

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

   168

   169

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

   170

    packed_data[byte] = 0;

   171

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

   172

      if(unpacked_data[start_addr + coils_processed])

   173

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

   174

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

   175

    }

   176

  }

   177

  return 0;

   178

}

   179

   180

   181

/* unpack bits from packed_data to unpacked_data */

   182

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

   183

  u8  temp, bit;

   184

  u16 byte, coils_processed;

   185

   186

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

   187

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

   188

   189

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

   190

    temp = packed_data[byte] ;

   191

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

   192

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

   193

    }

   194

  }

   195

  return 0;

   196

}

   197

   198

   199

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

   200

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

   201

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

   202

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

   203

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

   204

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

   205

   206

   207

   208

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

   209

   210

  if ((start_addr + word_count) > MEM_AREA_SIZE)

   211

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

   212

   213

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

   214

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

   215

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

   216

         /* size */ word_count * 2);

   217

  return 0;

   218

}

   219

   220

   221

   222

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

   223

   224

  if ((start_addr + word_count) > MEM_AREA_SIZE)

   225

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

   226

   227

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

   228

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

   229

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

   230

         /* size */ word_count * 2);

   231

  return 0;

   232

}

   233

   234

   235

   236

   237

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

   238

   239

  if ((start_addr + word_count) > MEM_AREA_SIZE)

   240

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

   241

   242

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

   243

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

   244

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

   245

   */

   246

  /*

   247

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

   248

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

   249

  */

   250

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

   251

         /* src  */ (void *)data_words,

   252

         /* size */ word_count * 2);

   253

  return 0;

   254

}

   255

   256

   257

   258

   259

#include <pthread.h>

   260

   261

static void *__mb_server_thread(void *_server_node)  {

   262

	server_node_t *server_node = _server_node;

   263

	mb_slave_callback_t callbacks = { 

   264

			&__read_inbits,

   265

			&__read_outbits,

   266

			&__write_outbits,

   267

			&__read_inwords,

   268

			&__read_outwords,

   269

			&__write_outwords,

   270

			(void *)&(server_node->mem_area)

   271

			};  

   272

   273

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

   274

	pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);

   275

   276

	// mb_slave_run() should never return!

   277

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

   278

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

   279

	return NULL;

   280

}

   281

   282

   283

   284

static void *__mb_client_thread(void *_index)  {

   285

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

   286

	struct timespec next_cycle;

   287

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

   288

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

   289

   290

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

   291

	pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);

   292

   293

	// get the current time

   294

	clock_gettime(CLOCK_MONOTONIC, &next_cycle);

   295

   296

	// loop the communication with the client

   297

	while (1) {

   298

		/*

   299

		struct timespec cur_time;

   300

		clock_gettime(CLOCK_MONOTONIC, &cur_time);

   301

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

   302

		*/

   303

		int req;

   304

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

   305

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

   306

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

   307

				continue;

   308

			int res_tmp = __execute_mb_request(req);

   309

			switch (res_tmp) {

   310

			  case PORT_FAILURE: {

   311

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

   312

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

   313

				client_nodes[client_node_id].prev_error = res_tmp;

   314

				break;

   315

			  }

   316

			  case INVALID_FRAME: {

   317

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

   318

					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);

   319

				client_requests[req].prev_error = res_tmp;

   320

				break;

   321

			  }

   322

			  case TIMEOUT: {

   323

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

   324

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

   325

				client_requests[req].prev_error = res_tmp;

   326

				break;

   327

			  }

   328

			  case MODBUS_ERROR: {

   329

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

   330

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

   331

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

   332

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

   333

						fprintf(stderr, ".\n");

   334

					}

   335

				}

   336

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

   337

				break;

   338

			  }

   339

			  default: {

   340

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

   341

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

   342

				}

   343

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

   344

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

   345

				}

   346

				client_nodes[client_node_id].prev_error = 0;

   347

				client_requests[req]        .prev_error = 0;

   348

				break;

   349

			  }

   350

			}

   351

		}

   352

		// Determine absolute time instant for starting the next cycle

   353

		// struct timespec prev_cycle;

   354

		// prev_cycle = next_cycle;

   355

		next_cycle.tv_sec  += period_sec;

   356

		next_cycle.tv_nsec += period_nsec;

   357

		if (next_cycle.tv_nsec >= 1000000000) {

   358

			next_cycle.tv_sec  ++;

   359

			next_cycle.tv_nsec -= 1000000000;

   360

		}

   361

		/* It probably does not make sense to check for overflow of timer.

   362

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

   363

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

   364

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

   365

		 * 10^11 years to overflow.

   366

		 */

   367

		/*

   368

		if (next_cycle.tv_sec) < prev_cycle.tv_sec) {

   369

			// we will lose some precision by reading the time again, 

   370

			// but it is better than the alternative...

   371

			clock_gettime(CLOCK_MONOTONIC, &next_cycle);

   372

			next_cycle.tv_sec  += period_sec;

   373

			next_cycle.tv_nsec += period_nsec;

   374

			if (next_cycle.tv_nsec >= 1000000000) {

   375

				next_cycle.tv_sec  ++;

   376

				next_cycle.tv_nsec -= 1000000000;

   377

			}

   378

		}

   379

		*/

   380

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

   381

	}

   382

   383

	// humour the compiler.

   384

	return NULL;

   385

}

   386

   387

   388

int __cleanup_%(locstr)s ();

   389

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

   390

	int index;

   391

   392

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

   393

		client_nodes[index].mb_nd = -1;

   394

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

   395

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

   396

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

   397

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

   398

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

   399

		server_nodes[index].mb_nd = -2; 

   400

   401

	/* modbus library init */

   402

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

   403

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

   404

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

   405

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

   406

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

   407

	 */

   408

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

   409

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

   410

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

   411

		//  start the modbus library!

   412

		return -1;

   413

	}

   414

   415

	/* init the mutex for each client request */

   416

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

   417

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

   418

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

   419

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

   420

			goto error_exit;

   421

		}

   422

	}

   423

   424

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

   425

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

   426

	 *       generated by the modbus plugin 

   427

	 */

   428

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

   429

		/* establish client connection */

   430

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

   431

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

   432

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

   433

			goto error_exit;

   434

		}

   435

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

   436

   437

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

   438

		{

   439

			int res = 0;

   440

			pthread_attr_t attr;

   441

			res |= pthread_attr_init(&attr);

   442

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

   443

			if (res !=  0) {

   444

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

   445

				goto error_exit;

   446

			}

   447

		}

   448

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

   449

	}

   450

   451

	/* init each local server */

   452

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

   453

	 *       generated by the modbus plugin 

   454

	 */

   455

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

   456

		/* create the modbus server */

   457

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

   458

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

   459

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

   460

			goto error_exit;

   461

		}

   462

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

   463

   464

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

   465

		{

   466

			int res = 0;

   467

			pthread_attr_t attr;

   468

			res |= pthread_attr_init(&attr);

   469

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

   470

			if (res !=  0) {

   471

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

   472

				goto error_exit;

   473

			}

   474

		}

   475

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

   476

	}

   477

   478

	return 0;

   479

   480

error_exit:

   481

	__cleanup_%(locstr)s ();

   482

	return -1;

   483

}

   484

   485

   486

   487

   488

   489

void __publish_%(locstr)s (){

   490

	int index;

   491

   492

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

   493

		/*just do the output requests */

   494

		if (client_requests[index].req_type == req_output){

   495

			pthread_mutex_lock(&(client_requests[index].coms_buf_mutex));