--- a/modbus/mb_runtime.h Thu Jun 18 10:42:08 2020 +0200
+++ b/modbus/mb_runtime.h Thu Jun 18 11:00:26 2020 +0200
@@ -30,6 +30,10 @@
#define DEF_REQ_SEND_RETRIES 0
+
+#define MODBUS_PARAM_STRING_SIZE 64
+
+
// Used by the Modbus server node
#define MEM_AREA_SIZE 65536
typedef struct{
@@ -39,8 +43,48 @@
u16 rw_words[MEM_AREA_SIZE];
} server_mem_t;
+
+/*
+ * Beremiz has a program to run on the PLC (Beremiz_service.py)
+ * to handle downloading of compiled programs, start/stop of PLC, etc.
+ * (see runtime/PLCObject.py for start/stop, loading, ...)
+ *
+ * This service also includes a web server to access PLC state (start/stop)
+ * and to change some basic confiuration parameters.
+ * (see runtime/NevowServer.py for the web server)
+ *
+ * The web server allows for extensions, where additional configuration
+ * parameters may be changed on the running/downloaded PLC.
+ * Modbus plugin also comes with an extension to the web server, through
+ * which the basic Modbus plugin configuration parameters may be changed
+ *
+ * This means that most values in the server_node_t and client_node_t
+ * may be changed after the co,piled code (.so file) is loaded into
+ * memory, and before the code starts executing.
+ * Since the we will also want to change the host and port (TCP) and the
+ * serial device (RTU) at this time, it is best if we allocate memory for
+ * these strings that may be overwritten by the web server (i.e., do not use
+ * const strings) in the server_node_t and client_node_t structures.
+ *
+ * The following structure members
+ * - node_addr_t.addr.tcp.host
+ * - node_addr_t.addr.tcp.service (i.e. the port)
+ * - node_addr_t.addr.rtu.device
+ * are all char *, and do not allocate memory for the strings.
+ *
+ * We therefore include two generic char arrays, str1 and str2,
+ * that will store the above strings, and the C code will initiliaze
+ * the node_addre_t.addr string pointers to these strings.
+ * i.e., either addr.rtu.device will point to str1,
+ * or
+ * addr.tcp.host and addr.tcp.service
+ * will point to str1 and str2 respectively
+ */
typedef struct{
const char *location;
+ const char *config_name;
+ char str1[MODBUS_PARAM_STRING_SIZE];
+ char str2[MODBUS_PARAM_STRING_SIZE];
u8 slave_id;
node_addr_t node_address;
int mb_nd; // modbus library node used for this server
@@ -53,12 +97,36 @@
// Used by the Modbus client node
typedef struct{
const char *location;
+ const char *config_name;
+ char str1[MODBUS_PARAM_STRING_SIZE];
+ char str2[MODBUS_PARAM_STRING_SIZE];
node_addr_t node_address;
- int mb_nd;
+ int mb_nd; // modbus library node used for this client
int init_state; // store how far along the client's initialization has progressed
- u64 comm_period;
+ u64 comm_period;// period to use when periodically sending requests to remote server
int prev_error; // error code of the last printed error message (0 when no error)
- pthread_t thread_id; // thread handling all communication with this client
+ pthread_t thread_id; // thread handling all communication for this client node
+ timer_t timer_id; // timer used to periodically activate this client node's thread
+ pthread_mutex_t mutex; // mutex to be used with the following condition variable
+ pthread_cond_t condv; // used to signal the client thread when to start new modbus transactions
+ int execute_req; /* used, in association with condition variable,
+ * to signal when to send the modbus request to the server
+ * Note that we cannot simply rely on the condition variable to signal
+ * when to activate the client thread, as the call to
+ * pthread_cond_wait() may return without having been signaled!
+ * From the manual:
+ * Spurious wakeups from the
+ * pthread_cond_timedwait() or pthread_cond_wait() functions may occur.
+ * Since the return from pthread_cond_timedwait() or pthread_cond_wait()
+ * does not imply anything about the value of this predicate, the predi-
+ * cate should be re-evaluated upon such return.
+ */
+ int periodic_act; /* (boolen) flag will be set when the client node's thread was activated
+ * (by signaling the above condition variable) by the periodic timer.
+ * Note that this same thread may also be activated (condition variable is signaled)
+ * by other sources, such as when the user program requests that a specific
+ * client MB transation be executed (flag_exec_req in client_request_t)
+ */
} client_node_t;
@@ -82,11 +150,37 @@
u8 error_code; // modbus error code (if any) of current request
int prev_error; // error code of the last printed error message (0 when no error)
struct timespec resp_timeout;
+ u8 write_on_change; // boolean flag. If true => execute MB request when data to send changes
// buffer used to store located PLC variables
u16 plcv_buffer[REQ_BUF_SIZE];
// buffer used to store data coming from / going to server
u16 coms_buffer[REQ_BUF_SIZE];
pthread_mutex_t coms_buf_mutex; // mutex to access coms_buffer[]
+ /* boolean flag that will be mapped onto a (BOOL) located variable
+ * (u16 because IEC 61131-3 BOOL are mapped onto u16 in C code! )
+ * -> allow PLC program to request when to start the MB transaction
+ * -> will be reset once the MB transaction has completed
+ */
+ u16 flag_exec_req;
+ /* flag that works in conjunction with flag_exec_req
+ * (does not really need to be u16 as it is not mapped onto a located variable. )
+ * -> used by internal logic to indicate that the client thread
+ * that will be executing the MB transaction
+ * requested by flag exec_req has already been activated.
+ * -> will be reset once the MB transaction has completed
+ */
+ u16 flag_exec_started;
+ /* flag that will be mapped onto a (WORD) located variable
+ * (u16 because the flag is a word! )
+ * -> MSByte will store the result of the last executed MB transaction
+ * 1 -> error accessing IP network, or serial interface
+ * 2 -> reply received from server was an invalid frame
+ * 3 -> server did not reply before timeout expired
+ * 4 -> server returned a valid error frame
+ * -> if the MSByte is 4, the LSByte will store the MB error code returned by the server
+ * -> will be reset (set to 0) once this MB transaction has completed sucesfully
+ */
+ u16 flag_exec_status;
} client_request_t;