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/* File generated by Beremiz (PlugGenerate_C method of Modbus plugin) */
/*
* Copyright (c) 2016 Mario de Sousa (msousa@fe.up.pt)
*
* This file is part of the Modbus library for Beremiz and matiec.
*
* This Modbus library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser
* General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this Modbus library. If not, see <http://www.gnu.org/licenses/>.
*
* This code is made available on the understanding that it will not be
* used in safety-critical situations without a full and competent review.
*/
#include <stdio.h>
#include <string.h> /* required for memcpy() */
#include <errno.h>
#include <time.h>
#include <signal.h>
#include <unistd.h> /* required for pause() */
#include "mb_slave_and_master.h"
#include "MB_%(locstr)s.h"
#define MAX_MODBUS_ERROR_CODE 11
static const char *modbus_error_messages[MAX_MODBUS_ERROR_CODE+1] = {
/* 0 */ "", /* un-used -> no error! */
/* 1 */ "illegal/unsuported function",
/* 2 */ "illegal data address",
/* 3 */ "illegal data value",
/* 4 */ "slave device failure",
/* 5 */ "acknowledge -> slave intends to reply later",
/* 6 */ "slave device busy",
/* 7 */ "negative acknowledge",
/* 8 */ "memory parity error",
/* 9 */ "", /* undefined by Modbus */
/* 10*/ "gateway path unavalilable",
/* 11*/ "gateway target device failed to respond"
};
/* Execute a modbus client transaction/request */
static int __execute_mb_request(int request_id){
switch (client_requests[request_id].mb_function){
case 1: /* read coils */
return read_output_bits(client_requests[request_id].slave_id,
client_requests[request_id].address,
client_requests[request_id].count,
client_requests[request_id].coms_buffer,
(int) client_requests[request_id].count,
client_nodes[client_requests[request_id].client_node_id].mb_nd,
client_requests[request_id].retries,
&(client_requests[request_id].mb_error_code),
&(client_requests[request_id].resp_timeout),
&(client_requests[request_id].coms_buf_mutex));
case 2: /* read discrete inputs */
return read_input_bits( client_requests[request_id].slave_id,
client_requests[request_id].address,
client_requests[request_id].count,
client_requests[request_id].coms_buffer,
(int) client_requests[request_id].count,
client_nodes[client_requests[request_id].client_node_id].mb_nd,
client_requests[request_id].retries,
&(client_requests[request_id].mb_error_code),
&(client_requests[request_id].resp_timeout),
&(client_requests[request_id].coms_buf_mutex));
case 3: /* read holding registers */
return read_output_words(client_requests[request_id].slave_id,
client_requests[request_id].address,
client_requests[request_id].count,
client_requests[request_id].coms_buffer,
(int) client_requests[request_id].count,
client_nodes[client_requests[request_id].client_node_id].mb_nd,
client_requests[request_id].retries,
&(client_requests[request_id].mb_error_code),
&(client_requests[request_id].resp_timeout),
&(client_requests[request_id].coms_buf_mutex));
case 4: /* read input registers */
return read_input_words(client_requests[request_id].slave_id,
client_requests[request_id].address,
client_requests[request_id].count,
client_requests[request_id].coms_buffer,
(int) client_requests[request_id].count,
client_nodes[client_requests[request_id].client_node_id].mb_nd,
client_requests[request_id].retries,
&(client_requests[request_id].mb_error_code),
&(client_requests[request_id].resp_timeout),
&(client_requests[request_id].coms_buf_mutex));
case 5: /* write single coil */
return write_output_bit(client_requests[request_id].slave_id,
client_requests[request_id].address,
client_requests[request_id].coms_buffer[0],
client_nodes[client_requests[request_id].client_node_id].mb_nd,
client_requests[request_id].retries,
&(client_requests[request_id].mb_error_code),
&(client_requests[request_id].resp_timeout),
&(client_requests[request_id].coms_buf_mutex));
case 6: /* write single register */
return write_output_word(client_requests[request_id].slave_id,
client_requests[request_id].address,
client_requests[request_id].coms_buffer[0],
client_nodes[client_requests[request_id].client_node_id].mb_nd,
client_requests[request_id].retries,
&(client_requests[request_id].mb_error_code),
&(client_requests[request_id].resp_timeout),
&(client_requests[request_id].coms_buf_mutex));
case 7: break; /* function not yet supported */
case 8: break; /* function not yet supported */
case 9: break; /* function not yet supported */
case 10: break; /* function not yet supported */
case 11: break; /* function not yet supported */
case 12: break; /* function not yet supported */
case 13: break; /* function not yet supported */
case 14: break; /* function not yet supported */
case 15: /* write multiple coils */
return write_output_bits(client_requests[request_id].slave_id,
client_requests[request_id].address,
client_requests[request_id].count,
client_requests[request_id].coms_buffer,
client_nodes[client_requests[request_id].client_node_id].mb_nd,
client_requests[request_id].retries,
&(client_requests[request_id].mb_error_code),
&(client_requests[request_id].resp_timeout),
&(client_requests[request_id].coms_buf_mutex));
case 16: /* write multiple registers */
return write_output_words(client_requests[request_id].slave_id,
client_requests[request_id].address,
client_requests[request_id].count,
client_requests[request_id].coms_buffer,
client_nodes[client_requests[request_id].client_node_id].mb_nd,
client_requests[request_id].retries,
&(client_requests[request_id].mb_error_code),
&(client_requests[request_id].resp_timeout),
&(client_requests[request_id].coms_buf_mutex));
default: break; /* should never occur, if file generation is correct */
}
fprintf(stderr, "Modbus plugin: Modbus function %%d not supported\n", request_id); /* should never occur, if file generation is correct */
return -1;
}
/* pack bits from unpacked_data to packed_data */
static inline int __pack_bits(u16 *unpacked_data, u16 start_addr, u16 bit_count, u8 *packed_data) {
u8 bit;
u16 byte, coils_processed;
if ((0 == bit_count) || (65535-start_addr < bit_count-1))
return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
for( byte = 0, coils_processed = 0; coils_processed < bit_count; byte++) {
packed_data[byte] = 0;
for( bit = 0x01; (bit & 0xFF) && (coils_processed < bit_count); bit <<= 1, coils_processed++ ) {
if(unpacked_data[start_addr + coils_processed])
packed_data[byte] |= bit; /* set bit */
else packed_data[byte] &= ~bit; /* reset bit */
}
}
return 0;
}
/* unpack bits from packed_data to unpacked_data */
static inline int __unpack_bits(u16 *unpacked_data, u16 start_addr, u16 bit_count, u8 *packed_data) {
u8 temp, bit;
u16 byte, coils_processed;
if ((0 == bit_count) || (65535-start_addr < bit_count-1))
return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
for(byte = 0, coils_processed = 0; coils_processed < bit_count; byte++) {
temp = packed_data[byte] ;
for(bit = 0x01; (bit & 0xff) && (coils_processed < bit_count); bit <<= 1, coils_processed++) {
unpacked_data[start_addr + coils_processed] = (temp & bit)?1:0;
}
}
return 0;
}
static int __read_inbits (void *mem_map, u16 start_addr, u16 bit_count, u8 *data_bytes) {
int res = __pack_bits(((server_mem_t *)mem_map)->ro_bits, start_addr, bit_count, data_bytes);
if (res >= 0) {
/* update the flag and counter of Modbus requests we have processed. */
((server_mem_t *)mem_map)->flag_read_req_counter++;
((server_mem_t *)mem_map)->flag_read_req_flag = 1;
}
return res;
}
static int __read_outbits (void *mem_map, u16 start_addr, u16 bit_count, u8 *data_bytes) {
int res = __pack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes);
if (res >= 0) {
/* update the flag and counter of Modbus requests we have processed. */
((server_mem_t *)mem_map)->flag_read_req_counter++;
((server_mem_t *)mem_map)->flag_read_req_flag = 1;
}
return res;
}
static int __write_outbits (void *mem_map, u16 start_addr, u16 bit_count, u8 *data_bytes) {
int res = __unpack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes);
if (res >= 0) {
/* update the flag and counter of Modbus requests we have processed. */
((server_mem_t *)mem_map)->flag_write_req_counter++;
((server_mem_t *)mem_map)->flag_write_req_flag = 1;
}
return res;
}
static int __read_inwords (void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {
if ((start_addr + word_count) > MEM_AREA_SIZE)
return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
/* update the flag and counter of Modbus requests we have processed. */
((server_mem_t *)mem_map)->flag_read_req_counter++;
((server_mem_t *)mem_map)->flag_read_req_flag = 1;
/* use memcpy() because loop with pointers (u16 *) caused alignment problems */
memcpy(/* dest */ (void *)data_words,
/* src */ (void *)&(((server_mem_t *)mem_map)->ro_words[start_addr]),
/* size */ word_count * 2);
return 0;
}
static int __read_outwords (void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {
if ((start_addr + word_count) > MEM_AREA_SIZE)
return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
/* update the flag and counter of Modbus requests we have processed. */
((server_mem_t *)mem_map)->flag_read_req_counter++;
((server_mem_t *)mem_map)->flag_read_req_flag = 1;
/* use memcpy() because loop with pointers (u16 *) caused alignment problems */
memcpy(/* dest */ (void *)data_words,
/* src */ (void *)&(((server_mem_t *)mem_map)->rw_words[start_addr]),
/* size */ word_count * 2);
return 0;
}
static int __write_outwords(void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {
if ((start_addr + word_count) > MEM_AREA_SIZE)
return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
/* update the flag and counter of Modbus requests we have processed. */
((server_mem_t *)mem_map)->flag_write_req_counter++;
((server_mem_t *)mem_map)->flag_write_req_flag = 1;
/* WARNING: The data returned in the data_words[] array is not guaranteed to be 16 bit aligned.
* It is not therefore safe to cast it to an u16 data type.
* The following code cannot be used. memcpy() is used instead.
*/
/*
for (count = 0; count < word_count ; count++)
((server_mem_t *)mem_map)->rw_words[count + start_addr] = data_words[count];
*/
memcpy(/* dest */ (void *)&(((server_mem_t *)mem_map)->rw_words[start_addr]),
/* src */ (void *)data_words,
/* size */ word_count * 2);
return 0;
}
#include <pthread.h>
static void *__mb_server_thread(void *_server_node) {
server_node_t *server_node = _server_node;
mb_slave_callback_t callbacks = {
&__read_inbits,
&__read_outbits,
&__write_outbits,
&__read_inwords,
&__read_outwords,
&__write_outwords,
(void *)&(server_node->mem_area)
};
// Enable thread cancelation. Enabled is default, but set it anyway to be safe.
pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
// mb_slave_run() should never return!
mb_slave_run(server_node->mb_nd /* nd */, callbacks, server_node->slave_id);
fprintf(stderr, "Modbus plugin: Modbus server for node %%s died unexpectedly!\n", server_node->location); /* should never occur */
return NULL;
}
#define timespec_add(ts, sec, nsec) { \
ts.tv_sec += sec; \
ts.tv_nsec += nsec; \
if (ts.tv_nsec >= 1000000000) { \
ts.tv_sec ++; \
ts.tv_nsec -= 1000000000; \
} \
}
static void *__mb_client_thread(void *_index) {
int client_node_id = (char *)_index - (char *)NULL; // Use pointer arithmetic (more portable than cast)
// Enable thread cancelation. Enabled is default, but set it anyway to be safe.
pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
/* loop the communication with the client
*
* When the client thread has difficulty communicating with remote client and/or server (network issues, for example),
* then the communications get delayed and we will fall behind in the period.
*
* This is OK. Note that if the condition variable were to be signaled multiple times while the client thread is inside the same
* Modbus transaction, then all those signals would be ignored.
* However, and since we keep the mutex locked during the communication cycle, it is not possible to signal the condition variable
* during that time (it is only possible while the thread is blocked during the call to pthread_cond_wait().
*
* This means that when network issues eventually get resolved, we will NOT have a bunch of delayed activations to handle
* in quick succession (which would goble up CPU time).
*
* Notice that the above property is valid whether the communication cycle is run with the mutex locked, or unlocked.
* Since it makes it easier to implement the correct semantics for the other activation methods if the communication cycle
* is run with the mutex locked, then that is what we do.
*
* Note that during all the communication cycle we will keep locked the mutex
* (i.e. the mutex used together with the condition variable that will activate a new communication cycle)
*
* Note that we never get to explicitly unlock this mutex. It will only be unlocked by the pthread_cond_wait()
* call at the end of the cycle.
*/
pthread_mutex_lock(&(client_nodes[client_node_id].mutex));
while (1) {
/*
struct timespec cur_time;
clock_gettime(CLOCK_MONOTONIC, &cur_time);
fprintf(stderr, "Modbus client thread (%%d) - new cycle (%%ld:%%ld)!\n", client_node_id, cur_time.tv_sec, cur_time.tv_nsec);
*/
int req;
for (req=0; req < NUMBER_OF_CLIENT_REQTS; req ++){
/* just do the requests belonging to the client */
if (client_requests[req].client_node_id != client_node_id)
continue;
/* only do the request if:
* - this request was explictly asked to be executed by the client program
* OR
* - the client thread was activated periodically
* (in which case we execute all the requests belonging to the client node)
*/
if ((client_requests[req].flag_exec_req == 0) && (client_nodes[client_requests[req].client_node_id].periodic_act == 0))
continue;
/*
fprintf(stderr, "Modbus client thread (%%d): RUNNING Modbus request %%d (periodic = %%d flag_exec_req = %%d)\n",
client_node_id, req, client_nodes[client_requests[req].client_node_id].periodic_act, client_requests[req].flag_exec_req );
*/
int res_tmp = __execute_mb_request(req);
client_requests[req].tn_error_code = 0; // assume success
switch (res_tmp) {
case PORT_FAILURE: {
if (res_tmp != client_nodes[client_node_id].prev_error)
fprintf(stderr, "Modbus plugin: Error connecting Modbus client %%s to remote server.\n", client_nodes[client_node_id].location);
client_nodes[client_node_id].prev_error = res_tmp;
client_requests[req].tn_error_code = 1; // error accessing IP network, or serial interface
break;
}
case INVALID_FRAME: {
if ((res_tmp != client_requests[req].prev_error) && (0 == client_nodes[client_node_id].prev_error))
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);
client_requests[req].prev_error = res_tmp;
client_requests[req].tn_error_code = 2; // reply received from server was an invalid frame
break;
}
case TIMEOUT: {
if ((res_tmp != client_requests[req].prev_error) && (0 == client_nodes[client_node_id].prev_error))
fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s timed out waiting for reply from server.\n", client_requests[req].location);
client_requests[req].prev_error = res_tmp;
client_requests[req].tn_error_code = 3; // server did not reply before timeout expired
break;
}
case MODBUS_ERROR: {
if (client_requests[req].prev_error != client_requests[req].mb_error_code) {
fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s was unsuccesful. Server/slave returned error code 0x%%2x", client_requests[req].location, client_requests[req].mb_error_code);
if (client_requests[req].mb_error_code <= MAX_MODBUS_ERROR_CODE ) {
fprintf(stderr, "(%%s)", modbus_error_messages[client_requests[req].mb_error_code]);
fprintf(stderr, ".\n");
}
}
client_requests[req].prev_error = client_requests[req].mb_error_code;
client_requests[req].tn_error_code = 4; // server returned a valid Modbus error frame
break;
}
default: {
if ((res_tmp >= 0) && (client_nodes[client_node_id].prev_error != 0)) {
fprintf(stderr, "Modbus plugin: Modbus client %%s has reconnected to server/slave.\n", client_nodes[client_node_id].location);
}
if ((res_tmp >= 0) && (client_requests[req] .prev_error != 0)) {
fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s has succesfully resumed comunication.\n", client_requests[req].location);
}
client_nodes[client_node_id].prev_error = 0;
client_requests[req] .prev_error = 0;
break;
}
}
/* Set the flag_tn_error_code and flag_mb_error_code that are mapped onto
* located BYTE variables, so the user program
* knows how the communication is going.
*/
client_requests[req].flag_mb_error_code = client_requests[req].mb_error_code;
client_requests[req].flag_tn_error_code = client_requests[req].tn_error_code;
/* We have just finished excuting a client transcation request.
* If the current cycle was activated by user request we reset the flag used to ask to run it
*/
if (0 != client_requests[req].flag_exec_req) {
client_requests[req].flag_exec_req = 0;
client_requests[req].flag_exec_started = 0;
}
//fprintf(stderr, "Modbus plugin: RUNNING<---> of Modbus request %%d (periodic = %%d flag_exec_req = %%d)\n",
// req, client_nodes[client_requests[req].client_node_id].periodic_act, client_requests[req].flag_exec_req );
}
// Wait for signal (from timer or explicit request from user program) before starting the next cycle
{
// No need to lock the mutex. Is is already locked just before the while(1) loop.
// Read the comment there to understand why.
// pthread_mutex_lock(&(client_nodes[client_node_id].mutex));
/* the client thread has just finished a cycle, so all the flags used to signal an activation
* and specify the activation source (periodic, user request, ...)
* get reset here, before waiting for a new activation.
*/
client_nodes[client_node_id].periodic_act = 0;
client_nodes[client_node_id].execute_req = 0;
while (client_nodes[client_node_id].execute_req == 0)
pthread_cond_wait(&(client_nodes[client_node_id].condv),
&(client_nodes[client_node_id].mutex));
// We run the communication cycle with the mutex locked.
// Read the comment just above the while(1) to understand why.
// pthread_mutex_unlock(&(client_nodes[client_node_id].mutex));
}
}
// humour the compiler.
return NULL;
}
/* Thread that simply implements a periodic 'timer',
* i.e. periodically sends signal to the thread running __mb_client_thread()
*
* Note that we do not use a posix timer (timer_create() ) because there doesn't seem to be a way
* of having the timer notify the thread that is portable across Xenomai and POSIX.
* - SIGEV_THREAD : not supported by Xenomai
* - SIGEV_THREAD_ID : Linux specific (i.e. non POSIX)
* Even so, I did not get it to work under Linux (issues with the header files)
* - SIGEV_SIGNAL : Will not work, as signal is sent to random thread in process!
*/
static void *__mb_client_timer_thread(void *_index) {
int client_node_id = (char *)_index - (char *)NULL; // Use pointer arithmetic (more portable than cast)
struct timespec next_cycle;
int period_sec = client_nodes[client_node_id].comm_period / 1000; /* comm_period is in ms */
int period_nsec = (client_nodes[client_node_id].comm_period %%1000)*1000000; /* comm_period is in ms */
// Enable thread cancelation. Enabled is default, but set it anyway to be safe.
pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
if (client_nodes[client_node_id].comm_period <= 0) {
// No periodic activation required => nothing to do!
while (1) pause(); // wait to be canceled when program terminates (shutdown() is called)
return NULL; // not really necessary, just makes it easier to understand the code.
}
// get the current time
clock_gettime(CLOCK_MONOTONIC, &next_cycle);
while(1) {
// Determine absolute time instant for starting the next cycle
struct timespec prev_cycle, now;
prev_cycle = next_cycle;
timespec_add(next_cycle, period_sec, period_nsec);
/* NOTE:
* It is probably un-necessary to check for overflow of timer!
* Even in 32 bit systems this will take at least 68 years since the computer booted
* (remember, we are using CLOCK_MONOTONIC, which should start counting from 0
* every time the system boots). On 64 bit systems, it will take over
* 10^11 years to overflow.
*/
clock_gettime(CLOCK_MONOTONIC, &now);
if (next_cycle.tv_sec < prev_cycle.tv_sec) {
/* Timer overflow. See NOTE B above */
next_cycle = now;
timespec_add(next_cycle, period_sec, period_nsec);
}
while (0 != clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next_cycle, NULL));
/* signal the client node's condition variable on which the client node's thread should be waiting... */
/* Since the communication cycle is run with the mutex locked, we use trylock() instead of lock() */
if (pthread_mutex_trylock (&(client_nodes[client_node_id].mutex)) == 0) {
client_nodes[client_node_id].execute_req = 1; // tell the thread to execute
client_nodes[client_node_id].periodic_act = 1; // tell the thread the activation was done by periodic timer
pthread_cond_signal (&(client_nodes[client_node_id].condv));
pthread_mutex_unlock(&(client_nodes[client_node_id].mutex));
} else {
/* We never get to signal the thread for activation. But that is OK.
* If it still in the communication cycle (during which the mutex is kept locked)
* then that means that the communication cycle is falling behing in the periodic
* communication cycle, and we therefore need to skip a period.
*/
}
}
return NULL; // humour the compiler -> will never be executed!
}
int __cleanup_%(locstr)s ();
int __init_%(locstr)s (int argc, char **argv){
int index;
for (index=0; index < NUMBER_OF_CLIENT_NODES;index++) {
client_nodes[index].mb_nd = -1;
/* see comment in mb_runtime.h to understad why we need to initialize these entries */
switch (client_nodes[index].node_address.naf) {
case naf_tcp:
client_nodes[index].node_address.addr.tcp.host = client_nodes[index].str1;
client_nodes[index].node_address.addr.tcp.service = client_nodes[index].str2;
break;
case naf_rtu:
client_nodes[index].node_address.addr.rtu.device = client_nodes[index].str1;
break;
}
}
for (index=0; index < NUMBER_OF_SERVER_NODES;index++) {
// mb_nd with negative numbers indicate how far it has been initialised (or not)
// -2 --> no modbus node created; no thread created
// -1 --> modbus node created!; no thread created
// >=0 --> modbus node created!; thread created!
server_nodes[index].mb_nd = -2;
server_nodes[index].mem_area.flag_write_req_flag = 0;
server_nodes[index].mem_area.flag_write_req_counter = 0;
server_nodes[index].mem_area.flag_read_req_counter = 0;
server_nodes[index].mem_area.flag_read_req_flag = 0;
/* see comment in mb_runtime.h to understad why we need to initialize these entries */
switch (server_nodes[index].node_address.naf) {
case naf_tcp:
server_nodes[index].node_address.addr.tcp.host = server_nodes[index].str1;
server_nodes[index].node_address.addr.tcp.service = server_nodes[index].str2;
break;
case naf_rtu:
server_nodes[index].node_address.addr.rtu.device = server_nodes[index].str1;
break;
}
}
/* modbus library init */
/* Note that TOTAL_xxxNODE_COUNT are the nodes required by _ALL_ the instances of the modbus
* extension currently in the user's project. This file (MB_xx.c) is handling only one instance,
* but must initialize the library for all instances. Only the first call to mb_slave_and_master_init()
* will result in memory being allocated. All subsequent calls (by other MB_xx,c files) will be ignored
* by the mb_slave_and_master_init() funtion, as long as they are called with the same arguments.
*/
if (mb_slave_and_master_init(TOTAL_TCPNODE_COUNT, TOTAL_RTUNODE_COUNT, TOTAL_ASCNODE_COUNT) <0) {
fprintf(stderr, "Modbus plugin: Error starting modbus library\n");
// return imediately. Do NOT goto error_exit, as we did not get to
// start the modbus library!
return -1;
}
/* init each client request */
/* Must be done _before_ launching the client threads!! */
for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
/* make sure flags connected to user program MB transaction start request are all reset */
client_requests[index].flag_exec_req = 0;
client_requests[index].flag_exec_started = 0;
/* init the mutex for each client request */
/* Must be done _before_ launching the client threads!! */
if (pthread_mutex_init(&(client_requests[index].coms_buf_mutex), NULL)) {
fprintf(stderr, "Modbus plugin: Error initializing request for modbus client node %%s\n", client_nodes[client_requests[index].client_node_id].location);
goto error_exit;
}
}
/* init each client connection to remote modbus server, and launch thread */
/* NOTE: All client_nodes[].init_state are initialised to 0 in the code
* generated by the modbus plugin
*/
for (index=0; index < NUMBER_OF_CLIENT_NODES;index++){
/* establish client connection */
client_nodes[index].mb_nd = mb_master_connect (client_nodes[index].node_address);
if (client_nodes[index].mb_nd < 0){
fprintf(stderr, "Modbus plugin: Error creating modbus client node %%s\n", client_nodes[index].location);
goto error_exit;
}
client_nodes[index].init_state = 1; // we have created the node
/* initialize the mutex variable that will be used by the thread handling the client node */
bzero(&(client_nodes[index].mutex), sizeof(pthread_mutex_t));
if (pthread_mutex_init(&(client_nodes[index].mutex), NULL) < 0) {
fprintf(stderr, "Modbus plugin: Error creating mutex for modbus client node %%s\n", client_nodes[index].location);
goto error_exit;
}
client_nodes[index].init_state = 2; // we have created the mutex
/* initialize the condition variable that will be used by the thread handling the client node */
bzero(&(client_nodes[index].condv), sizeof(pthread_cond_t));
if (pthread_cond_init(&(client_nodes[index].condv), NULL) < 0) {
fprintf(stderr, "Modbus plugin: Error creating condition variable for modbus client node %%s\n", client_nodes[index].location);
goto error_exit;
}
client_nodes[index].execute_req = 0; //variable associated with condition variable
client_nodes[index].init_state = 3; // we have created the condition variable
/* launch a thread to handle this client node timer */
{
int res = 0;
pthread_attr_t attr;
res |= pthread_attr_init(&attr);
res |= pthread_create(&(client_nodes[index].timer_thread_id), &attr, &__mb_client_timer_thread, (void *)((char *)NULL + index));
if (res != 0) {
fprintf(stderr, "Modbus plugin: Error starting timer thread for modbus client node %%s\n", client_nodes[index].location);
goto error_exit;
}
}
client_nodes[index].init_state = 4; // we have created the timer
/* launch a thread to handle this client node */
{
int res = 0;
pthread_attr_t attr;
res |= pthread_attr_init(&attr);
res |= pthread_create(&(client_nodes[index].thread_id), &attr, &__mb_client_thread, (void *)((char *)NULL + index));
if (res != 0) {
fprintf(stderr, "Modbus plugin: Error starting thread for modbus client node %%s\n", client_nodes[index].location);
goto error_exit;
}
}
client_nodes[index].init_state = 5; // we have created the thread
}
/* init each local server */
/* NOTE: All server_nodes[].init_state are initialised to 0 in the code
* generated by the modbus plugin
*/
for (index=0; index < NUMBER_OF_SERVER_NODES;index++){
/* create the modbus server */
server_nodes[index].mb_nd = mb_slave_new (server_nodes[index].node_address);
if (server_nodes[index].mb_nd < 0){
fprintf(stderr, "Modbus plugin: Error creating modbus server node %%s\n", server_nodes[index].location);
goto error_exit;
}
server_nodes[index].init_state = 1; // we have created the node
/* launch a thread to handle this server node */
{
int res = 0;
pthread_attr_t attr;
res |= pthread_attr_init(&attr);
res |= pthread_create(&(server_nodes[index].thread_id), &attr, &__mb_server_thread, (void *)&(server_nodes[index]));
if (res != 0) {
fprintf(stderr, "Modbus plugin: Error starting modbus server thread for node %%s\n", server_nodes[index].location);
goto error_exit;
}
}
server_nodes[index].init_state = 2; // we have created the node and thread
}
return 0;
error_exit:
__cleanup_%(locstr)s ();
return -1;
}
void __publish_%(locstr)s (){
int index;
for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
/* synchronize the PLC and MB buffers only for the output requests */
if (client_requests[index].req_type == req_output){
// lock the mutex brefore copying the data
if(pthread_mutex_trylock(&(client_requests[index].coms_buf_mutex)) == 0){
// Check if user configured this MB request to be activated whenever the data to be written changes
if (client_requests[index].write_on_change) {
// Let's check if the data did change...
// compare the data in plcv_buffer to coms_buffer
int res;
res = memcmp((void *)client_requests[index].coms_buffer /* buf 1 */,
(void *)client_requests[index].plcv_buffer /* buf 2*/,
REQ_BUF_SIZE * sizeof(u16) /* size in bytes */);
// if data changed, activate execution request
if (0 != res)
client_requests[index].flag_exec_req = 1;
}
// copy from plcv_buffer to coms_buffer
memcpy((void *)client_requests[index].coms_buffer /* destination */,
(void *)client_requests[index].plcv_buffer /* source */,
REQ_BUF_SIZE * sizeof(u16) /* size in bytes */);
pthread_mutex_unlock(&(client_requests[index].coms_buf_mutex));
}
}
/* if the user program set the execution request flag, then activate the thread
* that handles this Modbus client transaction so it gets a chance to be executed
* (but don't activate the thread if it has already been activated!)
*
* NOTE that we do this, for both the IN and OUT mapped location, under this
* __publish_() function. The scan cycle of the PLC works as follows:
* - call __retrieve_()
* - execute user programs
* - call __publish_()
* - insert <delay> until time to start next periodic/cyclic scan cycle
*
* In an attempt to be able to run the MB transactions during the <delay>
* interval in which not much is going on, we handle the user program
* requests to execute a specific MB transaction in this __publish_()
* function.
*/
if ((client_requests[index].flag_exec_req != 0) && (0 == client_requests[index].flag_exec_started)) {
int client_node_id = client_requests[index].client_node_id;
/* We TRY to signal the client thread.
* We do this because this function can be called at the end of the PLC scan cycle
* and we don't want it to block at that time.
*/
if (pthread_mutex_trylock(&(client_nodes[client_node_id].mutex)) == 0) {
client_nodes[client_node_id].execute_req = 1; // tell the thread to execute
pthread_cond_signal (&(client_nodes[client_node_id].condv));
pthread_mutex_unlock(&(client_nodes[client_node_id].mutex));
/* - upon success, set flag_exec_started
* - both flags (flag_exec_req and flag_exec_started) will be reset
* once the transaction has completed.
*/
client_requests[index].flag_exec_started = 1;
} else {
/* The mutex is locked => the client thread is currently executing MB transactions.
* We will try to activate it in the next PLC cycle...
* For now, do nothing.
*/
}
}
}
}
void __retrieve_%(locstr)s (){
int index;
for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
/*just do the input requests */
if (client_requests[index].req_type == req_input){
if(pthread_mutex_trylock(&(client_requests[index].coms_buf_mutex)) == 0){
// copy from coms_buffer to plcv_buffer
memcpy((void *)client_requests[index].plcv_buffer /* destination */,
(void *)client_requests[index].coms_buffer /* source */,
REQ_BUF_SIZE * sizeof(u16) /* size in bytes */);
pthread_mutex_unlock(&(client_requests[index].coms_buf_mutex));
}
}
}
}
int __cleanup_%(locstr)s (){
int index, close;
int res = 0;
/* kill thread and close connections of each modbus client node */
for (index=0; index < NUMBER_OF_CLIENT_NODES; index++) {
close = 0;
if (client_nodes[index].init_state >= 5) {
// thread was launched, so we try to cancel it!
close = pthread_cancel(client_nodes[index].thread_id);
close |= pthread_join (client_nodes[index].thread_id, NULL);
if (close < 0)
fprintf(stderr, "Modbus plugin: Error closing thread for modbus client node %%s\n", client_nodes[index].location);
}
res |= close;
close = 0;
if (client_nodes[index].init_state >= 4) {
// timer thread was launched, so we try to cancel it!
close = pthread_cancel(client_nodes[index].timer_thread_id);
close |= pthread_join (client_nodes[index].timer_thread_id, NULL);
if (close < 0)
fprintf(stderr, "Modbus plugin: Error closing timer thread for modbus client node %%s\n", client_nodes[index].location);
}
res |= close;
close = 0;
if (client_nodes[index].init_state >= 3) {
// condition variable was created, so we try to destroy it!
close = pthread_cond_destroy(&(client_nodes[index].condv));
if (close < 0)
fprintf(stderr, "Modbus plugin: Error destroying condition variable for modbus client node %%s\n", client_nodes[index].location);
}
res |= close;
close = 0;
if (client_nodes[index].init_state >= 2) {
// mutex was created, so we try to destroy it!
close = pthread_mutex_destroy(&(client_nodes[index].mutex));
if (close < 0)
fprintf(stderr, "Modbus plugin: Error destroying mutex for modbus client node %%s\n", client_nodes[index].location);
}
res |= close;
close = 0;
if (client_nodes[index].init_state >= 1) {
// modbus client node was created, so we try to close it!
close = mb_master_close (client_nodes[index].mb_nd);
if (close < 0){
fprintf(stderr, "Modbus plugin: Error closing modbus client node %%s\n", client_nodes[index].location);
// We try to shut down as much as possible, so we do not return noW!
}
client_nodes[index].mb_nd = -1;
}
res |= close;
client_nodes[index].init_state = 0;
}
//fprintf(stderr, "Modbus plugin: __cleanup_%%s() 5 close=%%d res=%%d\n", client_nodes[index].location, close, res);
/* kill thread and close connections of each modbus server node */
for (index=0; index < NUMBER_OF_SERVER_NODES; index++) {
close = 0;
if (server_nodes[index].init_state >= 2) {
// thread was launched, so we try to cancel it!
close = pthread_cancel(server_nodes[index].thread_id);
close |= pthread_join (server_nodes[index].thread_id, NULL);
if (close < 0)
fprintf(stderr, "Modbus plugin: Error closing thread for modbus server %%s\n", server_nodes[index].location);
}
res |= close;
close = 0;
if (server_nodes[index].init_state >= 1) {
// modbus server node was created, so we try to close it!
close = mb_slave_close (server_nodes[index].mb_nd);
if (close < 0) {
fprintf(stderr, "Modbus plugin: Error closing node for modbus server %%s (%%d)\n", server_nodes[index].location, server_nodes[index].mb_nd);
// We try to shut down as much as possible, so we do not return noW!
}
server_nodes[index].mb_nd = -1;
}
res |= close;
server_nodes[index].init_state = 0;
}
/* destroy the mutex of each client request */
for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++) {
if (pthread_mutex_destroy(&(client_requests[index].coms_buf_mutex))) {
fprintf(stderr, "Modbus plugin: Error destroying request for modbus client node %%s\n", client_nodes[client_requests[index].client_node_id].location);
// We try to shut down as much as possible, so we do not return noW!
res |= -1;
}
}
/* modbus library close */
//fprintf(stderr, "Shutting down modbus library...\n");
if (mb_slave_and_master_done()<0) {
fprintf(stderr, "Modbus plugin: Error shutting down modbus library\n");
res |= -1;
}
return res;
}
/**********************************************/
/** Functions for Beremiz web interface. **/
/**********************************************/
/*
* 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
*
* These parameters are changed _after_ the code (.so file) is loaded into
* memmory. These changes may be applied before (or after) the code starts
* running (i.e. before or after __init_() ets called)!
*
* The following functions are never called from other C code. They are
* called instead from the python code in runtime/Modbus_config.py, that
* implements the web server extension for configuring Modbus parameters.
*/
/* The number of Cient nodes (i.e. the number of entries in the client_nodes array)
* The number of Server nodes (i.e. the numb. of entries in the server_nodes array)
*
* These variables are also used by the Modbus web config code to determine
* whether the current loaded PLC includes the Modbus plugin
* (so it should make the Modbus parameter web interface visible to the user).
*/
const int __modbus_plugin_client_node_count = NUMBER_OF_CLIENT_NODES;
const int __modbus_plugin_server_node_count = NUMBER_OF_SERVER_NODES;
const int __modbus_plugin_param_string_size = MODBUS_PARAM_STRING_SIZE;
/* NOTE: We could have the python code in runtime/Modbus_config.py
* directly access the server_node_t and client_node_t structures,
* however this would create a tight coupling between these two
* disjoint pieces of code.
* Any change to the server_node_t or client_node_t structures would
* require the python code to be changed accordingly. I have therefore
* opted to create get/set functions, one for each parameter.
*
* We also convert the enumerated constants naf_ascii, etc...
* (from node_addr_family_t in modbus/mb_addr.h)
* into strings so as to decouple the python code that will be calling
* these functions from the Modbus library code definitions.
*/
const char *addr_type_str[] = {
[naf_ascii] = "ascii",
[naf_rtu ] = "rtu",
[naf_tcp ] = "tcp"
};
#define __safe_strcnpy(str_dest, str_orig, max_size) { \
strncpy(str_dest, str_orig, max_size); \
str_dest[max_size - 1] = '\0'; \
}
/* NOTE: The host, port and device parameters are strings that may be changed
* (by calling the following functions) after loading the compiled code
* (.so file) into memory, but before the code starts running
* (i.e. before __init_() gets called).
* This means that the host, port and device parameters may be changed
* _before_ they get mapped onto the str1 and str2 variables by __init_(),
* which is why the following functions must access the str1 and str2
* parameters directly.
*/
const char * __modbus_get_ClientNode_config_name(int nodeid) {return client_nodes[nodeid].config_name; }
const char * __modbus_get_ClientNode_host (int nodeid) {return client_nodes[nodeid].str1; }
const char * __modbus_get_ClientNode_port (int nodeid) {return client_nodes[nodeid].str2; }
const char * __modbus_get_ClientNode_device (int nodeid) {return client_nodes[nodeid].str1; }
int __modbus_get_ClientNode_baud (int nodeid) {return client_nodes[nodeid].node_address.addr.rtu.baud; }
int __modbus_get_ClientNode_parity (int nodeid) {return client_nodes[nodeid].node_address.addr.rtu.parity; }
int __modbus_get_ClientNode_stop_bits (int nodeid) {return client_nodes[nodeid].node_address.addr.rtu.stop_bits;}
u64 __modbus_get_ClientNode_comm_period(int nodeid) {return client_nodes[nodeid].comm_period; }
const char * __modbus_get_ClientNode_addr_type (int nodeid) {return addr_type_str[client_nodes[nodeid].node_address.naf];}
const char * __modbus_get_ServerNode_config_name(int nodeid) {return server_nodes[nodeid].config_name; }
const char * __modbus_get_ServerNode_host (int nodeid) {char*x=server_nodes[nodeid].str1; return (x[0]=='\0'?"#ANY#":x); }
const char * __modbus_get_ServerNode_port (int nodeid) {return server_nodes[nodeid].str2; }
const char * __modbus_get_ServerNode_device (int nodeid) {return server_nodes[nodeid].str1; }
int __modbus_get_ServerNode_baud (int nodeid) {return server_nodes[nodeid].node_address.addr.rtu.baud; }
int __modbus_get_ServerNode_parity (int nodeid) {return server_nodes[nodeid].node_address.addr.rtu.parity; }
int __modbus_get_ServerNode_stop_bits (int nodeid) {return server_nodes[nodeid].node_address.addr.rtu.stop_bits;}
u8 __modbus_get_ServerNode_slave_id (int nodeid) {return server_nodes[nodeid].slave_id; }
const char * __modbus_get_ServerNode_addr_type (int nodeid) {return addr_type_str[server_nodes[nodeid].node_address.naf];}
void __modbus_set_ClientNode_host (int nodeid, const char * value) {__safe_strcnpy(client_nodes[nodeid].str1, value, MODBUS_PARAM_STRING_SIZE);}
void __modbus_set_ClientNode_port (int nodeid, const char * value) {__safe_strcnpy(client_nodes[nodeid].str2, value, MODBUS_PARAM_STRING_SIZE);}
void __modbus_set_ClientNode_device (int nodeid, const char * value) {__safe_strcnpy(client_nodes[nodeid].str1, value, MODBUS_PARAM_STRING_SIZE);}
void __modbus_set_ClientNode_baud (int nodeid, int value) {client_nodes[nodeid].node_address.addr.rtu.baud = value;}
void __modbus_set_ClientNode_parity (int nodeid, int value) {client_nodes[nodeid].node_address.addr.rtu.parity = value;}
void __modbus_set_ClientNode_stop_bits (int nodeid, int value) {client_nodes[nodeid].node_address.addr.rtu.stop_bits = value;}
void __modbus_set_ClientNode_comm_period(int nodeid, u64 value) {client_nodes[nodeid].comm_period = value;}
void __modbus_set_ServerNode_host (int nodeid, const char * value) {if (strcmp(value,"#ANY#")==0) value = "";
__safe_strcnpy(server_nodes[nodeid].str1, value, MODBUS_PARAM_STRING_SIZE);}
void __modbus_set_ServerNode_port (int nodeid, const char * value) {__safe_strcnpy(server_nodes[nodeid].str2, value, MODBUS_PARAM_STRING_SIZE);}
void __modbus_set_ServerNode_device (int nodeid, const char * value) {__safe_strcnpy(server_nodes[nodeid].str1, value, MODBUS_PARAM_STRING_SIZE);}
void __modbus_set_ServerNode_baud (int nodeid, int value) {server_nodes[nodeid].node_address.addr.rtu.baud = value;}
void __modbus_set_ServerNode_parity (int nodeid, int value) {server_nodes[nodeid].node_address.addr.rtu.parity = value;}
void __modbus_set_ServerNode_stop_bits (int nodeid, int value) {server_nodes[nodeid].node_address.addr.rtu.stop_bits = value;}
void __modbus_set_ServerNode_slave_id (int nodeid, u8 value) {server_nodes[nodeid].slave_id = value;}