/* 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 "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].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].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].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].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].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].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].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].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)
{return __pack_bits(((server_mem_t *)mem_map)->ro_bits, start_addr, bit_count, data_bytes);}
static int __read_outbits (void *mem_map, u16 start_addr, u16 bit_count, u8 *data_bytes)
{return __pack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes);}
static int __write_outbits (void *mem_map, u16 start_addr, u16 bit_count, u8 *data_bytes)
{return __unpack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes); }
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 */
/* 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 */
/* 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 */
/* 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;
}
static void *__mb_client_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);
// get the current time
clock_gettime(CLOCK_MONOTONIC, &next_cycle);
// loop the communication with the client
while (1) {
/*
struct timespec cur_time;
clock_gettime(CLOCK_MONOTONIC, &cur_time);
fprintf(stderr, "Modbus client thread - new cycle (%%ld:%%ld)!\n", 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;
int res_tmp = __execute_mb_request(req);
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;
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;
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;
break;
}
case MODBUS_ERROR: {
if (client_requests[req].prev_error != client_requests[req].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].error_code);
if (client_requests[req].error_code <= MAX_MODBUS_ERROR_CODE ) {
fprintf(stderr, "(%%s)", modbus_error_messages[client_requests[req].error_code]);
fprintf(stderr, ".\n");
}
}
client_requests[req].prev_error = client_requests[req].error_code;
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;
}
}
}
// Determine absolute time instant for starting the next cycle
// struct timespec prev_cycle;
// prev_cycle = next_cycle;
next_cycle.tv_sec += period_sec;
next_cycle.tv_nsec += period_nsec;
if (next_cycle.tv_nsec >= 1000000000) {
next_cycle.tv_sec ++;
next_cycle.tv_nsec -= 1000000000;
}
/* It probably does not make sense 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.
*/
/*
if (next_cycle.tv_sec) < prev_cycle.tv_sec) {
// we will lose some precision by reading the time again,
// but it is better than the alternative...
clock_gettime(CLOCK_MONOTONIC, &next_cycle);
next_cycle.tv_sec += period_sec;
next_cycle.tv_nsec += period_nsec;
if (next_cycle.tv_nsec >= 1000000000) {
next_cycle.tv_sec ++;
next_cycle.tv_nsec -= 1000000000;
}
}
*/
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next_cycle, NULL);
}
// humour the compiler.
return NULL;
}
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;
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;
/* 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 the mutex for each client request */
/* Must be done _before_ launching the client threads!! */
for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
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
/* 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 modbus client thread for node %%s\n", client_nodes[index].location);
goto error_exit;
}
}
client_nodes[index].init_state = 2; // we have created the node and a 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 ++){
/*just do the output requests */
if (client_requests[index].req_type == req_output){
if(pthread_mutex_trylock(&(client_requests[index].coms_buf_mutex)) == 0){
// 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));
}
}
}
}
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 >= 2) {
// 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 %%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;
}
/* 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;
}