modbus/mb_runtime.c
author Edouard Tisserant
Mon, 25 Jan 2021 14:02:08 +0100
branchsvghmi
changeset 3117 f058542d0caa
parent 2688 4dd67aa45855
child 2716 ebb2595504f0
permissions -rw-r--r--
SVGHMI: Make an error when pages are nested
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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].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].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].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].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].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].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].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].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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  {return   __pack_bits(((server_mem_t *)mem_map)->ro_bits, start_addr, bit_count, data_bytes);}
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static int __read_outbits  (void *mem_map, u16 start_addr, u16 bit_count, u8  *data_bytes)
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  {return   __pack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes);}
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static int __write_outbits (void *mem_map, u16 start_addr, u16 bit_count, u8  *data_bytes)
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  {return __unpack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes); }
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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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  /* 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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  /* 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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  /* 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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   279
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   280
	// mb_slave_run() should never return!
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
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   281
	mb_slave_run(server_node->mb_nd /* nd */, callbacks, server_node->slave_id);
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diff changeset
   282
	fprintf(stderr, "Modbus plugin: Modbus server for node %%s died unexpectedly!\n", server_node->location); /* should never occur */
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   283
	return NULL;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
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diff changeset
   284
}
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   285
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Edouard Tisserant
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diff changeset
   286
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8efa26af791d Merged Mario's modbus fix : Modbus plugin: reset periodic activation timer when overrun occurs (delays due to communication errors, ...)
Edouard Tisserant
parents: 2019 2479
diff changeset
   287
#define timespec_add(ts, sec, nsec) {		\
8efa26af791d Merged Mario's modbus fix : Modbus plugin: reset periodic activation timer when overrun occurs (delays due to communication errors, ...)
Edouard Tisserant
parents: 2019 2479
diff changeset
   288
	ts.tv_sec  +=  sec;			\
8efa26af791d Merged Mario's modbus fix : Modbus plugin: reset periodic activation timer when overrun occurs (delays due to communication errors, ...)
Edouard Tisserant
parents: 2019 2479
diff changeset
   289
	ts.tv_nsec += nsec;			\
8efa26af791d Merged Mario's modbus fix : Modbus plugin: reset periodic activation timer when overrun occurs (delays due to communication errors, ...)
Edouard Tisserant
parents: 2019 2479
diff changeset
   290
	if (ts.tv_nsec >= 1000000000) {		\
8efa26af791d Merged Mario's modbus fix : Modbus plugin: reset periodic activation timer when overrun occurs (delays due to communication errors, ...)
Edouard Tisserant
parents: 2019 2479
diff changeset
   291
		ts.tv_sec  ++;			\
8efa26af791d Merged Mario's modbus fix : Modbus plugin: reset periodic activation timer when overrun occurs (delays due to communication errors, ...)
Edouard Tisserant
parents: 2019 2479
diff changeset
   292
		ts.tv_nsec -= 1000000000;	\
8efa26af791d Merged Mario's modbus fix : Modbus plugin: reset periodic activation timer when overrun occurs (delays due to communication errors, ...)
Edouard Tisserant
parents: 2019 2479
diff changeset
   293
	}					\
8efa26af791d Merged Mario's modbus fix : Modbus plugin: reset periodic activation timer when overrun occurs (delays due to communication errors, ...)
Edouard Tisserant
parents: 2019 2479
diff changeset
   294
}
8efa26af791d Merged Mario's modbus fix : Modbus plugin: reset periodic activation timer when overrun occurs (delays due to communication errors, ...)
Edouard Tisserant
parents: 2019 2479
diff changeset
   295
1912
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diff changeset
   296
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
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diff changeset
   297
static void *__mb_client_thread(void *_index)  {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
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   298
	int client_node_id = (char *)_index - (char *)NULL; // Use pointer arithmetic (more portable than cast)
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
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diff changeset
   299
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
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   300
	// Enable thread cancelation. Enabled is default, but set it anyway to be safe.
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
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diff changeset
   301
	pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
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parents: 1909
diff changeset
   302
	
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990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
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   303
    /* loop the communication with the client
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
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parents: 2521
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   304
     * 
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
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parents: 2521
diff changeset
   305
         * When the client thread has difficulty communicating with remote client and/or server (network issues, for example),
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
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diff changeset
   306
         * then the communications get delayed and we will fall behind in the period. 
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
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parents: 2521
diff changeset
   307
         * 
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
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parents: 2521
diff changeset
   308
         * This is OK. Note that if the condition variable were to be signaled multiple times while the client thread is inside the same
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
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parents: 2521
diff changeset
   309
         * Modbus transaction, then all those signals would be ignored.
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   310
         * However, and since we keep the mutex locked during the communication cycle, it is not possible to signal 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
   311
         * during that time (it is only possible while the thread is blocked during the call to pthread_cond_wait().
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   312
         * 
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
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parents: 2521
diff changeset
   313
         * This means that when network issues eventually get resolved, we will NOT have a bunch of delayed activations to handle
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   314
         * in quick succession (which would goble up CPU time). 
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   315
         * 
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   316
         * Notice that the above property is valid whether the communication cycle is run with the mutex locked, or unlocked.
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   317
         * Since it makes it easier to implement the correct semantics for the other activation methods if the communication cycle
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   318
         * is run with the mutex locked, then that is what we do.
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   319
         * 
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   320
     * Note that during all the communication cycle we will keep locked 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
   321
     * (i.e. the mutex used together with the condition variable that will activate a new communication cycle)
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   322
     * 
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   323
     * Note that we never get to explicitly unlock this mutex. It will only be unlocked by the pthread_cond_wait()
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   324
     * call at the end of the cycle.
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   325
     */
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   326
    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
   327
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   328
	while (1) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   329
		/*
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   330
		struct timespec cur_time;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   331
		clock_gettime(CLOCK_MONOTONIC, &cur_time);
2687
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   332
		fprintf(stderr, "Modbus client thread (%%d) - new cycle (%%ld:%%ld)!\n", client_node_id, cur_time.tv_sec, cur_time.tv_nsec);
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   333
		*/
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   334
		int req;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   335
		for (req=0; req < NUMBER_OF_CLIENT_REQTS; req ++){
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   336
			/* just do the requests belonging to the client */
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   337
			if (client_requests[req].client_node_id != client_node_id)
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   338
				continue;
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   339
            
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   340
            /* only do the request if:
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   341
             *   - this request was explictly asked to be executed by the client program
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   342
             *  OR
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   343
             *   - 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
   344
             *     (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
   345
             */
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   346
            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
   347
                continue;
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   348
            
2687
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   349
            /*
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   350
            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
   351
                    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
   352
            */
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   353
            
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   354
			int res_tmp = __execute_mb_request(req);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   355
			switch (res_tmp) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   356
			  case PORT_FAILURE: {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   357
				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
   358
					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
   359
				client_nodes[client_node_id].prev_error = res_tmp;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   360
				break;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   361
			  }
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   362
			  case INVALID_FRAME: {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   363
				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
   364
					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
   365
				client_requests[req].prev_error = res_tmp;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   366
				break;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   367
			  }
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   368
			  case TIMEOUT: {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   369
				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
   370
					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
   371
				client_requests[req].prev_error = res_tmp;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   372
				break;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   373
			  }
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   374
			  case MODBUS_ERROR: {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   375
				if (client_requests[req].prev_error != client_requests[req].error_code) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   376
					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);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   377
					if (client_requests[req].error_code <= MAX_MODBUS_ERROR_CODE ) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   378
						fprintf(stderr, "(%%s)", modbus_error_messages[client_requests[req].error_code]);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   379
						fprintf(stderr, ".\n");
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   380
					}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   381
				}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   382
				client_requests[req].prev_error = client_requests[req].error_code;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   383
				break;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   384
			  }
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   385
			  default: {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   386
				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
   387
					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
   388
				}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   389
				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
   390
					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
   391
				}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   392
				client_nodes[client_node_id].prev_error = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   393
				client_requests[req]        .prev_error = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   394
				break;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   395
			  }
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   396
			}
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   397
        
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   398
            /* 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
   399
             * 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
   400
             */
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   401
            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
   402
                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
   403
                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
   404
            }
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   405
            
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   406
            //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
   407
            //        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
   408
        }
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   409
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   410
        // 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
   411
        {
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   412
            // 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
   413
            // 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
   414
            // 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
   415
            
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   416
            /* 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
   417
             * 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
   418
             * 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
   419
             */
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   420
            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
   421
            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
   422
            
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   423
            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
   424
                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
   425
                                &(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
   426
                            
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   427
            // 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
   428
            // 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
   429
            // 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
   430
        }
1912
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
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   433
	// humour the compiler.
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   434
	return NULL;
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
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   437
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   438
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
   439
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
   440
2687
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   441
/* 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
   442
 *  i.e. periodically sends signal to the  thread running __mb_client_thread()
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   443
 * 
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   444
 * 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
   445
 * 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
   446
 * - 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
   447
 * - 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
   448
 *                     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
   449
 * - SIGEV_SIGNAL    : Will not work, as signal is sent to random thread in process!
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   450
 */
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
   451
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
   452
	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
   453
	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
   454
2684
da8de4ef0449 Modbus: fix client timer invalid arguments.
Edouard Tisserant
parents: 2683
diff changeset
   455
	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
   456
	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
   457
2687
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   458
	// 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
   459
	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
   460
    
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   461
    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
   462
        // 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
   463
        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
   464
        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
   465
    }
da8de4ef0449 Modbus: fix client timer invalid arguments.
Edouard Tisserant
parents: 2683
diff changeset
   466
2687
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   467
	// 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
   468
	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
   469
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   470
    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
   471
        // 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
   472
        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
   473
        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
   474
        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
   475
                
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   476
        /* NOTE:
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   477
         * 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
   478
         * 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
   479
         * (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
   480
         * 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
   481
         * 10^11 years to overflow.
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   482
         */
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   483
        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
   484
        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
   485
           /* 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
   486
            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
   487
            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
   488
        }
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   489
        
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   490
        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
   491
        
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   492
        /* 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
   493
        /* 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
   494
        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
   495
            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
   496
            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
   497
            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
   498
            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
   499
        } else {
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   500
            /* 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
   501
             * 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
   502
             * 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
   503
             * 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
   504
             */
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   505
        }
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
   506
    }
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
   507
2688
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   508
    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
   509
}
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   510
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   511
1913
338e2f51b685 modbus extension code cleanup, from smarteh's patch
Edouard Tisserant
parents: 1912
diff changeset
   512
int __cleanup_%(locstr)s ();
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   513
int __init_%(locstr)s (int argc, char **argv){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   514
	int index;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   515
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
   516
	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
   517
		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
   518
        /* 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
   519
        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
   520
            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
   521
                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
   522
                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
   523
                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
   524
            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
   525
                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
   526
                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
   527
        }
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   528
    }
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   529
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   530
	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
   531
		// 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
   532
		//   -2  --> no modbus node created;  no thread  created
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   533
		//   -1  -->    modbus node created!; no thread  created
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   534
		//  >=0  -->    modbus node created!;    thread  created!
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   535
		server_nodes[index].mb_nd = -2; 
2655
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
   536
        /* 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
   537
        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
   538
            case naf_tcp:
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
   539
                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
   540
                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
   541
                break;
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
   542
            case naf_rtu:
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
   543
                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
   544
                break;
d2b2ee04bfa1 Add web extension: configure Modbus Server plugin parameters
Mario de Sousa <msousa@fe.up.pt>
parents: 2654
diff changeset
   545
        }
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
   546
	}
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   547
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   548
	/* modbus library init */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   549
	/* 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
   550
	 *  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
   551
	 *  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
   552
	 *  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
   553
	 *  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
   554
	 */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   555
	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
   556
		fprintf(stderr, "Modbus plugin: Error starting modbus library\n");
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   557
		// 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
   558
		//  start the modbus library!
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   559
		return -1;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   560
	}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   561
	
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   562
	/* init each client request */
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   563
	/* Must be done _before_ launching the client threads!! */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   564
	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
   565
        /* 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
   566
        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
   567
        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
   568
        /* 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
   569
        /* Must be done _before_ launching the client threads!! */
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   570
		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
   571
			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
   572
			goto error_exit;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   573
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   574
	}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   575
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   576
	/* 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
   577
	/* 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
   578
	 *       generated by the modbus plugin 
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   579
	 */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   580
	for (index=0; index < NUMBER_OF_CLIENT_NODES;index++){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   581
		/* establish client connection */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   582
		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
   583
		if (client_nodes[index].mb_nd < 0){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   584
			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
   585
			goto error_exit;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   586
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   587
		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
   588
		
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   589
		/* 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
   590
        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
   591
        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
   592
			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
   593
			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
   594
        }
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   595
		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
   596
		
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   597
		/* 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
   598
        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
   599
        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
   600
			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
   601
			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
   602
        }
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   603
        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
   604
		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
   605
		
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
   606
		/* 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
   607
		{
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
   608
			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
   609
			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
   610
			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
   611
			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
   612
			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
   613
				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
   614
				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
   615
			}
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
   616
		}
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   617
        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
   618
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   619
		/* launch a thread to handle this client node */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   620
		{
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   621
			int res = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   622
			pthread_attr_t attr;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   623
			res |= pthread_attr_init(&attr);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   624
			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
   625
			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
   626
				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
   627
				goto error_exit;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   628
			}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   629
		}
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   630
		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
   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
	/* init each local server */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   634
	/* 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
   635
	 *       generated by the modbus plugin 
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   636
	 */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   637
	for (index=0; index < NUMBER_OF_SERVER_NODES;index++){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   638
		/* create the modbus server */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   639
		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
   640
		if (server_nodes[index].mb_nd < 0){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   641
			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
   642
			goto error_exit;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   643
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   644
		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
   645
		
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   646
		/* launch a thread to handle this server node */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   647
		{
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   648
			int res = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   649
			pthread_attr_t attr;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   650
			res |= pthread_attr_init(&attr);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   651
			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
   652
			if (res !=  0) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   653
				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
   654
				goto error_exit;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   655
			}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   656
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   657
		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
   658
	}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   659
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   660
	return 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   661
	
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   662
error_exit:
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   663
	__cleanup_%(locstr)s ();
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   664
	return -1;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   665
}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   666
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   667
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   668
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   669
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   670
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   671
void __publish_%(locstr)s (){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   672
	int index;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   673
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   674
	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
   675
		/* 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
   676
		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
   677
            
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   678
            // 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
   679
			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
   680
                
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   681
                // 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
   682
                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
   683
                    // 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
   684
                    // 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
   685
                    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
   686
                    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
   687
                                 (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
   688
                                 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
   689
                    
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   690
                    // 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
   691
                    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
   692
                        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
   693
                }
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   694
                
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
   695
                // 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
   696
                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
   697
                       (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
   698
                       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
   699
                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
   700
            }
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   701
		}
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   702
        /* 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
   703
         *  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
   704
         *  (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
   705
         * 
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   706
         * 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
   707
         *  __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
   708
         *   - 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
   709
         *   - 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
   710
         *   - 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
   711
         *   - 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
   712
         * 
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   713
         *  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
   714
         *  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
   715
         *  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
   716
         *  function.
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   717
         */
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   718
        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
   719
            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
   720
            
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   721
             /* 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
   722
              * 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
   723
              * 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
   724
              */
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   725
             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
   726
                 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
   727
                 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
   728
                 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
   729
                 /* - 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
   730
                  * - 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
   731
                  *   once the transaction has completed.
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   732
                  */
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   733
                 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
   734
             } else {
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   735
                 /* 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
   736
                  * 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
   737
                  * For now, do nothing.
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   738
                  */
4dd67aa45855 Modbus plugin: reformat code, and add comment.
Mario de Sousa <msousa@fe.up.pt>
parents: 2687
diff changeset
   739
             }
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   740
        }                    
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   741
    }
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   742
}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   743
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   744
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   745
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   746
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   747
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   748
void __retrieve_%(locstr)s (){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   749
	int index;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   750
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   751
	for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   752
		/*just do the input requests */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   753
		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
   754
			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
   755
                // 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
   756
                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
   757
                       (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
   758
                       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
   759
                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
   760
            }
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   761
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   762
	}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   763
}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   764
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   765
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   766
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   767
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   768
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   769
int __cleanup_%(locstr)s (){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   770
	int index, close;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   771
	int res = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   772
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   773
	/* 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
   774
	for (index=0; index < NUMBER_OF_CLIENT_NODES; index++) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   775
		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
   776
		if (client_nodes[index].init_state >= 5) {
1912
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   777
			// thread was launched, so we try to cancel it!
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   778
			close  = pthread_cancel(client_nodes[index].thread_id);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   779
			close |= pthread_join  (client_nodes[index].thread_id, NULL);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   780
			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
   781
				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
   782
		}
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   783
		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
   784
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   785
		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
   786
		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
   787
			// 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
   788
			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
   789
			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
   790
			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
   791
				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
   792
2647
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   793
		}
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   794
		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
   795
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   796
		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
   797
		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
   798
			// 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
   799
			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
   800
			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
   801
				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
   802
		}
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   803
		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
   804
990004083eb8 Modbus plugin: Add "exec. req. flag" and "write on change" features
Mario de Sousa <msousa@fe.up.pt>
parents: 2521
diff changeset
   805
		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
   806
		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
   807
			// 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
   808
			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
   809
			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
   810
				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
   811
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   812
		res |= close;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   813
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   814
		close = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   815
		if (client_nodes[index].init_state >= 1) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   816
			// 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
   817
			close = mb_master_close (client_nodes[index].mb_nd);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   818
			if (close < 0){
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   819
				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
   820
				// 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
   821
			}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   822
			client_nodes[index].mb_nd = -1;
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
		res |= close;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   825
		client_nodes[index].init_state = 0;
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
	
2687
c79c5d49ba34 Modbus plugin: fix runtime periodic timer (don't use POSIX timer)
Mario de Sousa <msousa@fe.up.pt>
parents: 2685
diff changeset
   828
//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
   829
	/* 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
   830
	for (index=0; index < NUMBER_OF_SERVER_NODES; index++) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   831
		close = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   832
		if (server_nodes[index].init_state >= 2) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   833
			// thread was launched, so we try to cancel it!
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   834
			close  = pthread_cancel(server_nodes[index].thread_id);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   835
			close |= pthread_join  (server_nodes[index].thread_id, NULL);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   836
			if (close < 0)
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   837
				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
   838
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   839
		res |= close;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   840
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   841
		close = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   842
		if (server_nodes[index].init_state >= 1) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   843
			// 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
   844
			close = mb_slave_close (server_nodes[index].mb_nd);
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   845
			if (close < 0) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   846
				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
   847
				// 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
   848
			}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   849
			server_nodes[index].mb_nd = -1;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   850
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   851
		res |= close;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   852
		server_nodes[index].init_state = 0;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   853
	}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   854
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   855
	/* destroy the mutex of each client request */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   856
	for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   857
		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
   858
			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
   859
			// 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
   860
			res |= -1;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   861
		}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   862
	}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   863
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   864
	/* modbus library close */
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   865
	//fprintf(stderr, "Shutting down modbus library...\n");
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   866
	if (mb_slave_and_master_done()<0) {
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   867
		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
   868
		res |= -1;
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
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   871
	return res;
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   872
}
8391c11477f4 Merged Mario's modbus branch. Fixed line endings.
Edouard Tisserant
parents: 1909
diff changeset
   873
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
   874
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   875
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   876
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   877
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   878
/**********************************************/
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   879
/** 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
   880
/**********************************************/
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   881
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   882
/*
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   883
 * 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
   884
 * 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
   885
 * (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
   886
 * 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   887
 * 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
   888
 * 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
   889
 * (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
   890
 * 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   891
 * 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
   892
 * 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
   893
 * 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
   894
 * 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
   895
 * 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   896
 * 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
   897
 * 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
   898
 * 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
   899
 * 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   900
 * 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
   901
 * 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
   902
 * 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
   903
 */
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   904
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   905
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   906
/* 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
   907
 * 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
   908
 * 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   909
 * 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
   910
 * 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
   911
 * (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
   912
 */
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   913
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
   914
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
   915
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
   916
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   917
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   918
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   919
/* 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
   920
 *       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
   921
 *       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
   922
 *       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
   923
 *       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
   924
 *       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
   925
 *       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
   926
 * 
7575050a80c5 Add web extension: configure Modbus plugin parameters (currently only supports Modbus clients)
Mario de Sousa <msousa@fe.up.pt>
parents: 2647
diff changeset
   927
 *       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
   928
 *       (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
   929
 *       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
   930
 *       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
   931
 */
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
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
   933
        [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
   934
        [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
   935
        [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
   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
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
#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
   940
    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
   941
    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
   942
}
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
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
/* 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
   946
 *       (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
   947
 *       (.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
   948
 *       (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
   949
 *       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
   950
 *       _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
   951
 *       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
   952
 *       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
   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
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
   955
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
   956
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
   957
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
   958
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
   959
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
   960
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
   961
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
   962
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
   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
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
   965
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
   966
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
   967
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
   968
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
   969
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
   970
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
   971
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
   972
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
   973
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
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
   976
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
   977
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
   978
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
   979
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
   980
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
   981
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
   982
                                                                                                                        
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
2665
978cf239c689 Modbus plugin web interface: show the keyword "#ANY#" on TCP servers
Mario de Sousa <msousa@fe.up.pt>
parents: 2655
diff changeset
   984
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
   985
                                                                           __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
   986
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
   987
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
   988
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
   989
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
   990
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
   991
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
   992