Edouard@1912: /* File generated by Beremiz (PlugGenerate_C method of Modbus plugin) */
Edouard@1912:
Edouard@1912: /*
Edouard@1912: * Copyright (c) 2016 Mario de Sousa (msousa@fe.up.pt)
Edouard@1912: *
Edouard@1912: * This file is part of the Modbus library for Beremiz and matiec.
Edouard@1912: *
Edouard@1912: * This Modbus library is free software: you can redistribute it and/or modify
Edouard@1912: * it under the terms of the GNU Lesser General Public License as published by
Edouard@2019: * the Free Software Foundation, either version 2 of the License, or
Edouard@1912: * (at your option) any later version.
Edouard@1912: *
Edouard@1912: * This program is distributed in the hope that it will be useful, but
Edouard@1912: * WITHOUT ANY WARRANTY; without even the implied warranty of
Edouard@1912: * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser
Edouard@1912: * General Public License for more details.
Edouard@1912: *
Edouard@1912: * You should have received a copy of the GNU Lesser General Public License
Edouard@1912: * along with this Modbus library. If not, see .
Edouard@1912: *
Edouard@1912: * This code is made available on the understanding that it will not be
Edouard@1912: * used in safety-critical situations without a full and competent review.
Edouard@1912: */
Edouard@1912:
Edouard@1912:
Edouard@1912: #include
Edouard@1912: #include /* required for memcpy() */
Edouard@1912: #include "mb_slave_and_master.h"
Edouard@1912: #include "MB_%(locstr)s.h"
Edouard@1912:
Edouard@1912:
Edouard@1912: #define MAX_MODBUS_ERROR_CODE 11
Edouard@1912: static const char *modbus_error_messages[MAX_MODBUS_ERROR_CODE+1] = {
Edouard@1912: /* 0 */ "", /* un-used -> no error! */
Edouard@1912: /* 1 */ "illegal/unsuported function",
Edouard@1912: /* 2 */ "illegal data address",
Edouard@1912: /* 3 */ "illegal data value",
Edouard@1912: /* 4 */ "slave device failure",
Edouard@1912: /* 5 */ "acknowledge -> slave intends to reply later",
Edouard@1912: /* 6 */ "slave device busy",
Edouard@1912: /* 7 */ "negative acknowledge",
Edouard@1912: /* 8 */ "memory parity error",
Edouard@1912: /* 9 */ "", /* undefined by Modbus */
Edouard@1912: /* 10*/ "gateway path unavalilable",
Edouard@1912: /* 11*/ "gateway target device failed to respond"
Edouard@1912: };
Edouard@1912:
Edouard@1912:
Edouard@1912: /* Execute a modbus client transaction/request */
Edouard@1912: static int __execute_mb_request(int request_id){
Edouard@1912: switch (client_requests[request_id].mb_function){
Edouard@1912:
Edouard@1912: case 1: /* read coils */
Edouard@1912: return read_output_bits(client_requests[request_id].slave_id,
Edouard@1912: client_requests[request_id].address,
Edouard@1912: client_requests[request_id].count,
Edouard@1912: client_requests[request_id].coms_buffer,
Edouard@1912: (int) client_requests[request_id].count,
Edouard@1912: client_nodes[client_requests[request_id].client_node_id].mb_nd,
Edouard@1912: client_requests[request_id].retries,
Edouard@1912: &(client_requests[request_id].error_code),
Edouard@1912: &(client_requests[request_id].resp_timeout),
Edouard@1912: &(client_requests[request_id].coms_buf_mutex));
Edouard@1912:
Edouard@1912: case 2: /* read discrete inputs */
Edouard@1912: return read_input_bits( client_requests[request_id].slave_id,
Edouard@1912: client_requests[request_id].address,
Edouard@1912: client_requests[request_id].count,
Edouard@1912: client_requests[request_id].coms_buffer,
Edouard@1912: (int) client_requests[request_id].count,
Edouard@1912: client_nodes[client_requests[request_id].client_node_id].mb_nd,
Edouard@1912: client_requests[request_id].retries,
Edouard@1912: &(client_requests[request_id].error_code),
Edouard@1912: &(client_requests[request_id].resp_timeout),
Edouard@1912: &(client_requests[request_id].coms_buf_mutex));
Edouard@1912:
Edouard@1912: case 3: /* read holding registers */
Edouard@1912: return read_output_words(client_requests[request_id].slave_id,
Edouard@1912: client_requests[request_id].address,
Edouard@1912: client_requests[request_id].count,
Edouard@1912: client_requests[request_id].coms_buffer,
Edouard@1912: (int) client_requests[request_id].count,
Edouard@1912: client_nodes[client_requests[request_id].client_node_id].mb_nd,
Edouard@1912: client_requests[request_id].retries,
Edouard@1912: &(client_requests[request_id].error_code),
Edouard@1912: &(client_requests[request_id].resp_timeout),
Edouard@1912: &(client_requests[request_id].coms_buf_mutex));
Edouard@1912:
Edouard@1912: case 4: /* read input registers */
Edouard@1912: return read_input_words(client_requests[request_id].slave_id,
Edouard@1912: client_requests[request_id].address,
Edouard@1912: client_requests[request_id].count,
Edouard@1912: client_requests[request_id].coms_buffer,
Edouard@1912: (int) client_requests[request_id].count,
Edouard@1912: client_nodes[client_requests[request_id].client_node_id].mb_nd,
Edouard@1912: client_requests[request_id].retries,
Edouard@1912: &(client_requests[request_id].error_code),
Edouard@1912: &(client_requests[request_id].resp_timeout),
Edouard@1912: &(client_requests[request_id].coms_buf_mutex));
Edouard@1912:
Edouard@1912: case 5: /* write single coil */
Edouard@1912: return write_output_bit(client_requests[request_id].slave_id,
Edouard@1912: client_requests[request_id].address,
Edouard@1912: client_requests[request_id].coms_buffer[0],
Edouard@1912: client_nodes[client_requests[request_id].client_node_id].mb_nd,
Edouard@1912: client_requests[request_id].retries,
Edouard@1912: &(client_requests[request_id].error_code),
Edouard@1912: &(client_requests[request_id].resp_timeout),
Edouard@1912: &(client_requests[request_id].coms_buf_mutex));
Edouard@1912:
Edouard@1912: case 6: /* write single register */
Edouard@1912: return write_output_word(client_requests[request_id].slave_id,
Edouard@1912: client_requests[request_id].address,
Edouard@1912: client_requests[request_id].coms_buffer[0],
Edouard@1912: client_nodes[client_requests[request_id].client_node_id].mb_nd,
Edouard@1912: client_requests[request_id].retries,
Edouard@1912: &(client_requests[request_id].error_code),
Edouard@1912: &(client_requests[request_id].resp_timeout),
Edouard@1912: &(client_requests[request_id].coms_buf_mutex));
Edouard@1912:
Edouard@1912: case 7: break; /* function not yet supported */
Edouard@1912: case 8: break; /* function not yet supported */
Edouard@1912: case 9: break; /* function not yet supported */
Edouard@1912: case 10: break; /* function not yet supported */
Edouard@1912: case 11: break; /* function not yet supported */
Edouard@1912: case 12: break; /* function not yet supported */
Edouard@1912: case 13: break; /* function not yet supported */
Edouard@1912: case 14: break; /* function not yet supported */
Edouard@1912:
Edouard@1912: case 15: /* write multiple coils */
Edouard@1912: return write_output_bits(client_requests[request_id].slave_id,
Edouard@1912: client_requests[request_id].address,
Edouard@1912: client_requests[request_id].count,
Edouard@1912: client_requests[request_id].coms_buffer,
Edouard@1912: client_nodes[client_requests[request_id].client_node_id].mb_nd,
Edouard@1912: client_requests[request_id].retries,
Edouard@1912: &(client_requests[request_id].error_code),
Edouard@1912: &(client_requests[request_id].resp_timeout),
Edouard@1912: &(client_requests[request_id].coms_buf_mutex));
Edouard@1912:
Edouard@1912: case 16: /* write multiple registers */
Edouard@1912: return write_output_words(client_requests[request_id].slave_id,
Edouard@1912: client_requests[request_id].address,
Edouard@1912: client_requests[request_id].count,
Edouard@1912: client_requests[request_id].coms_buffer,
Edouard@1912: client_nodes[client_requests[request_id].client_node_id].mb_nd,
Edouard@1912: client_requests[request_id].retries,
Edouard@1912: &(client_requests[request_id].error_code),
Edouard@1912: &(client_requests[request_id].resp_timeout),
Edouard@1912: &(client_requests[request_id].coms_buf_mutex));
Edouard@1912:
Edouard@1912: default: break; /* should never occur, if file generation is correct */
Edouard@1912: }
Edouard@1912:
Edouard@1912: fprintf(stderr, "Modbus plugin: Modbus function %%d not supported\n", request_id); /* should never occur, if file generation is correct */
Edouard@1912: return -1;
Edouard@1912: }
Edouard@1912:
Edouard@1912:
Edouard@1912:
Edouard@1912: /* pack bits from unpacked_data to packed_data */
Edouard@1912: static inline int __pack_bits(u16 *unpacked_data, u16 start_addr, u16 bit_count, u8 *packed_data) {
Edouard@1912: u8 bit;
Edouard@1912: u16 byte, coils_processed;
Edouard@1912:
Edouard@1912: if ((0 == bit_count) || (65535-start_addr < bit_count-1))
Edouard@1912: return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
Edouard@1912:
Edouard@1912: for( byte = 0, coils_processed = 0; coils_processed < bit_count; byte++) {
Edouard@1912: packed_data[byte] = 0;
Edouard@1912: for( bit = 0x01; (bit & 0xFF) && (coils_processed < bit_count); bit <<= 1, coils_processed++ ) {
Edouard@1912: if(unpacked_data[start_addr + coils_processed])
Edouard@1912: packed_data[byte] |= bit; /* set bit */
Edouard@1912: else packed_data[byte] &= ~bit; /* reset bit */
Edouard@1912: }
Edouard@1912: }
Edouard@1912: return 0;
Edouard@1912: }
Edouard@1912:
Edouard@1912:
Edouard@1912: /* unpack bits from packed_data to unpacked_data */
Edouard@1912: static inline int __unpack_bits(u16 *unpacked_data, u16 start_addr, u16 bit_count, u8 *packed_data) {
Edouard@1912: u8 temp, bit;
Edouard@1912: u16 byte, coils_processed;
Edouard@1912:
Edouard@1912: if ((0 == bit_count) || (65535-start_addr < bit_count-1))
Edouard@1912: return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
Edouard@1912:
Edouard@1912: for(byte = 0, coils_processed = 0; coils_processed < bit_count; byte++) {
Edouard@1912: temp = packed_data[byte] ;
Edouard@1912: for(bit = 0x01; (bit & 0xff) && (coils_processed < bit_count); bit <<= 1, coils_processed++) {
Edouard@1912: unpacked_data[start_addr + coils_processed] = (temp & bit)?1:0;
Edouard@1912: }
Edouard@1912: }
Edouard@1912: return 0;
Edouard@1912: }
Edouard@1912:
Edouard@1912:
Edouard@1912: static int __read_inbits (void *mem_map, u16 start_addr, u16 bit_count, u8 *data_bytes)
Edouard@1912: {return __pack_bits(((server_mem_t *)mem_map)->ro_bits, start_addr, bit_count, data_bytes);}
Edouard@1912: static int __read_outbits (void *mem_map, u16 start_addr, u16 bit_count, u8 *data_bytes)
Edouard@1912: {return __pack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes);}
Edouard@1912: static int __write_outbits (void *mem_map, u16 start_addr, u16 bit_count, u8 *data_bytes)
Edouard@1912: {return __unpack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes); }
Edouard@1912:
Edouard@1912:
Edouard@1912:
Edouard@1912: static int __read_inwords (void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {
Edouard@1913:
Edouard@1912: if ((start_addr + word_count) > MEM_AREA_SIZE)
Edouard@1912: return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
Edouard@1913:
Edouard@1913: /* use memcpy() because loop with pointers (u16 *) caused alignment problems */
Edouard@1912: memcpy(/* dest */ (void *)data_words,
Edouard@1912: /* src */ (void *)&(((server_mem_t *)mem_map)->ro_words[start_addr]),
Edouard@1912: /* size */ word_count * 2);
Edouard@1912: return 0;
Edouard@1912: }
Edouard@1912:
Edouard@1912:
Edouard@1912:
Edouard@1912: static int __read_outwords (void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {
Edouard@1913:
Edouard@1912: if ((start_addr + word_count) > MEM_AREA_SIZE)
Edouard@1912: return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
Edouard@1913:
Edouard@1913: /* use memcpy() because loop with pointers (u16 *) caused alignment problems */
Edouard@1912: memcpy(/* dest */ (void *)data_words,
Edouard@1912: /* src */ (void *)&(((server_mem_t *)mem_map)->rw_words[start_addr]),
Edouard@1912: /* size */ word_count * 2);
Edouard@1912: return 0;
Edouard@1912: }
Edouard@1912:
Edouard@1912:
Edouard@1912:
Edouard@1912:
Edouard@1912: static int __write_outwords(void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {
Edouard@1913:
Edouard@1912: if ((start_addr + word_count) > MEM_AREA_SIZE)
Edouard@1912: return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
Edouard@1912:
Edouard@1912: /* WARNING: The data returned in the data_words[] array is not guaranteed to be 16 bit aligned.
Edouard@1912: * It is not therefore safe to cast it to an u16 data type.
Edouard@1912: * The following code cannot be used. memcpy() is used instead.
Edouard@1912: */
Edouard@1912: /*
Edouard@1912: for (count = 0; count < word_count ; count++)
Edouard@1912: ((server_mem_t *)mem_map)->rw_words[count + start_addr] = data_words[count];
Edouard@1912: */
Edouard@1912: memcpy(/* dest */ (void *)&(((server_mem_t *)mem_map)->rw_words[start_addr]),
Edouard@1912: /* src */ (void *)data_words,
Edouard@1912: /* size */ word_count * 2);
Edouard@1912: return 0;
Edouard@1912: }
Edouard@1912:
Edouard@1912:
Edouard@1912:
Edouard@1912:
Edouard@1912: #include
Edouard@1912:
Edouard@1912: static void *__mb_server_thread(void *_server_node) {
Edouard@1912: server_node_t *server_node = _server_node;
Edouard@1912: mb_slave_callback_t callbacks = {
Edouard@1912: &__read_inbits,
Edouard@1912: &__read_outbits,
Edouard@1912: &__write_outbits,
Edouard@1912: &__read_inwords,
Edouard@1912: &__read_outwords,
Edouard@1912: &__write_outwords,
Edouard@1912: (void *)&(server_node->mem_area)
Edouard@1912: };
Edouard@1912:
Edouard@1912: // Enable thread cancelation. Enabled is default, but set it anyway to be safe.
Edouard@1912: pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
Edouard@1912:
Edouard@1912: // mb_slave_run() should never return!
Edouard@1912: mb_slave_run(server_node->mb_nd /* nd */, callbacks, server_node->slave_id);
Edouard@1912: fprintf(stderr, "Modbus plugin: Modbus server for node %%s died unexpectedly!\n", server_node->location); /* should never occur */
Edouard@1912: return NULL;
Edouard@1912: }
Edouard@1912:
Edouard@1912:
Edouard@2480: #define timespec_add(ts, sec, nsec) { \
Edouard@2480: ts.tv_sec += sec; \
Edouard@2480: ts.tv_nsec += nsec; \
Edouard@2480: if (ts.tv_nsec >= 1000000000) { \
Edouard@2480: ts.tv_sec ++; \
Edouard@2480: ts.tv_nsec -= 1000000000; \
Edouard@2480: } \
Edouard@2480: }
Edouard@2480:
Edouard@1912:
Edouard@1912: static void *__mb_client_thread(void *_index) {
Edouard@1912: int client_node_id = (char *)_index - (char *)NULL; // Use pointer arithmetic (more portable than cast)
Edouard@1912: struct timespec next_cycle;
Edouard@1912: int period_sec = client_nodes[client_node_id].comm_period / 1000; /* comm_period is in ms */
Edouard@1912: int period_nsec = (client_nodes[client_node_id].comm_period %%1000)*1000000; /* comm_period is in ms */
Edouard@1912:
Edouard@1912: // Enable thread cancelation. Enabled is default, but set it anyway to be safe.
Edouard@1912: pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
Edouard@1912:
Edouard@1912: // get the current time
Edouard@1912: clock_gettime(CLOCK_MONOTONIC, &next_cycle);
Edouard@1912:
Edouard@1912: // loop the communication with the client
Edouard@1912: while (1) {
Edouard@1912: /*
Edouard@1912: struct timespec cur_time;
Edouard@1912: clock_gettime(CLOCK_MONOTONIC, &cur_time);
Edouard@1912: fprintf(stderr, "Modbus client thread - new cycle (%%ld:%%ld)!\n", cur_time.tv_sec, cur_time.tv_nsec);
Edouard@1912: */
Edouard@1912: int req;
Edouard@1912: for (req=0; req < NUMBER_OF_CLIENT_REQTS; req ++){
Edouard@1912: /*just do the requests belonging to the client */
Edouard@1912: if (client_requests[req].client_node_id != client_node_id)
Edouard@1912: continue;
Edouard@1912: int res_tmp = __execute_mb_request(req);
Edouard@1912: switch (res_tmp) {
Edouard@1912: case PORT_FAILURE: {
Edouard@1912: if (res_tmp != client_nodes[client_node_id].prev_error)
Edouard@1912: fprintf(stderr, "Modbus plugin: Error connecting Modbus client %%s to remote server.\n", client_nodes[client_node_id].location);
Edouard@1912: client_nodes[client_node_id].prev_error = res_tmp;
Edouard@1912: break;
Edouard@1912: }
Edouard@1912: case INVALID_FRAME: {
Edouard@1912: if ((res_tmp != client_requests[req].prev_error) && (0 == client_nodes[client_node_id].prev_error))
Edouard@1912: 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);
Edouard@1912: client_requests[req].prev_error = res_tmp;
Edouard@1912: break;
Edouard@1912: }
Edouard@1912: case TIMEOUT: {
Edouard@1912: if ((res_tmp != client_requests[req].prev_error) && (0 == client_nodes[client_node_id].prev_error))
Edouard@1912: fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s timed out waiting for reply from server.\n", client_requests[req].location);
Edouard@1912: client_requests[req].prev_error = res_tmp;
Edouard@1912: break;
Edouard@1912: }
Edouard@1912: case MODBUS_ERROR: {
Edouard@1912: if (client_requests[req].prev_error != client_requests[req].error_code) {
Edouard@1912: 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);
Edouard@1912: if (client_requests[req].error_code <= MAX_MODBUS_ERROR_CODE ) {
Edouard@1912: fprintf(stderr, "(%%s)", modbus_error_messages[client_requests[req].error_code]);
Edouard@1912: fprintf(stderr, ".\n");
Edouard@1912: }
Edouard@1912: }
Edouard@1912: client_requests[req].prev_error = client_requests[req].error_code;
Edouard@1912: break;
Edouard@1912: }
Edouard@1912: default: {
Edouard@1912: if ((res_tmp >= 0) && (client_nodes[client_node_id].prev_error != 0)) {
Edouard@1912: fprintf(stderr, "Modbus plugin: Modbus client %%s has reconnected to server/slave.\n", client_nodes[client_node_id].location);
Edouard@1912: }
Edouard@1912: if ((res_tmp >= 0) && (client_requests[req] .prev_error != 0)) {
Edouard@1912: fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s has succesfully resumed comunication.\n", client_requests[req].location);
Edouard@1912: }
Edouard@1912: client_nodes[client_node_id].prev_error = 0;
Edouard@1912: client_requests[req] .prev_error = 0;
Edouard@1912: break;
Edouard@1912: }
Edouard@1912: }
Edouard@1912: }
Edouard@1912: // Determine absolute time instant for starting the next cycle
Edouard@2480: struct timespec prev_cycle, now;
Edouard@2480: prev_cycle = next_cycle;
Edouard@2480: timespec_add(next_cycle, period_sec, period_nsec);
Edouard@2480: /* NOTE A:
Edouard@2480: * When we have difficulty communicating with remote client and/or server, then the communications get delayed and we will
Edouard@2480: * fall behind in the period. This means that when communication is re-established we may end up running this loop continuously
Edouard@2480: * for some time until we catch up.
Edouard@2480: * This is undesirable, so we detect it by making sure the next_cycle will start in the future.
Edouard@2480: * When this happens we will switch from a purely periodic task _activation_ sequence, to a fixed task suspension interval.
Edouard@2480: *
Edouard@2480: * NOTE B:
Edouard@2521: * It probably does not make sense to check for overflow of timer - so we don't do it for now!
Edouard@1912: * Even in 32 bit systems this will take at least 68 years since the computer booted
Edouard@1912: * (remember, we are using CLOCK_MONOTONIC, which should start counting from 0
Edouard@1912: * every time the system boots). On 64 bit systems, it will take over
Edouard@1912: * 10^11 years to overflow.
Edouard@1912: */
Edouard@2480: clock_gettime(CLOCK_MONOTONIC, &now);
Edouard@2480: if ( ((now.tv_sec > next_cycle.tv_sec) || ((now.tv_sec == next_cycle.tv_sec) && (now.tv_nsec > next_cycle.tv_nsec)))
Edouard@2480: /* We are falling behind. See NOTE A above */
Edouard@2480: || (next_cycle.tv_sec < prev_cycle.tv_sec)
Edouard@2480: /* Timer overflow. See NOTE B above */
Edouard@2480: ) {
Edouard@2480: next_cycle = now;
Edouard@2480: timespec_add(next_cycle, period_sec, period_nsec);
Edouard@2480: }
Edouard@2521:
Edouard@1912: clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next_cycle, NULL);
Edouard@1912: }
Edouard@1912:
Edouard@1912: // humour the compiler.
Edouard@1912: return NULL;
Edouard@1912: }
Edouard@1912:
Edouard@1912:
Edouard@1913: int __cleanup_%(locstr)s ();
Edouard@1912: int __init_%(locstr)s (int argc, char **argv){
Edouard@1912: int index;
Edouard@1912:
Edouard@1912: for (index=0; index < NUMBER_OF_CLIENT_NODES;index++)
Edouard@1912: client_nodes[index].mb_nd = -1;
Edouard@1912: for (index=0; index < NUMBER_OF_SERVER_NODES;index++)
Edouard@1912: // mb_nd with negative numbers indicate how far it has been initialised (or not)
Edouard@1912: // -2 --> no modbus node created; no thread created
Edouard@1912: // -1 --> modbus node created!; no thread created
Edouard@1912: // >=0 --> modbus node created!; thread created!
Edouard@1912: server_nodes[index].mb_nd = -2;
Edouard@1912:
Edouard@1912: /* modbus library init */
Edouard@1912: /* Note that TOTAL_xxxNODE_COUNT are the nodes required by _ALL_ the instances of the modbus
Edouard@1912: * extension currently in the user's project. This file (MB_xx.c) is handling only one instance,
Edouard@1912: * but must initialize the library for all instances. Only the first call to mb_slave_and_master_init()
Edouard@1912: * will result in memory being allocated. All subsequent calls (by other MB_xx,c files) will be ignored
Edouard@1912: * by the mb_slave_and_master_init() funtion, as long as they are called with the same arguments.
Edouard@1912: */
Edouard@1912: if (mb_slave_and_master_init(TOTAL_TCPNODE_COUNT, TOTAL_RTUNODE_COUNT, TOTAL_ASCNODE_COUNT) <0) {
Edouard@1912: fprintf(stderr, "Modbus plugin: Error starting modbus library\n");
Edouard@1912: // return imediately. Do NOT goto error_exit, as we did not get to
Edouard@1912: // start the modbus library!
Edouard@1912: return -1;
Edouard@1912: }
Edouard@1912:
Edouard@1912: /* init the mutex for each client request */
Edouard@1912: /* Must be done _before_ launching the client threads!! */
Edouard@1912: for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
Edouard@1912: if (pthread_mutex_init(&(client_requests[index].coms_buf_mutex), NULL)) {
Edouard@1912: fprintf(stderr, "Modbus plugin: Error initializing request for modbus client node %%s\n", client_nodes[client_requests[index].client_node_id].location);
Edouard@1912: goto error_exit;
Edouard@1912: }
Edouard@1912: }
Edouard@1912:
Edouard@1912: /* init each client connection to remote modbus server, and launch thread */
Edouard@1912: /* NOTE: All client_nodes[].init_state are initialised to 0 in the code
Edouard@1912: * generated by the modbus plugin
Edouard@1912: */
Edouard@1912: for (index=0; index < NUMBER_OF_CLIENT_NODES;index++){
Edouard@1912: /* establish client connection */
Edouard@1912: client_nodes[index].mb_nd = mb_master_connect (client_nodes[index].node_address);
Edouard@1912: if (client_nodes[index].mb_nd < 0){
Edouard@1912: fprintf(stderr, "Modbus plugin: Error creating modbus client node %%s\n", client_nodes[index].location);
Edouard@1912: goto error_exit;
Edouard@1912: }
Edouard@1912: client_nodes[index].init_state = 1; // we have created the node
Edouard@1912:
Edouard@1912: /* launch a thread to handle this client node */
Edouard@1912: {
Edouard@1912: int res = 0;
Edouard@1912: pthread_attr_t attr;
Edouard@1912: res |= pthread_attr_init(&attr);
Edouard@1912: res |= pthread_create(&(client_nodes[index].thread_id), &attr, &__mb_client_thread, (void *)((char *)NULL + index));
Edouard@1912: if (res != 0) {
Edouard@1912: fprintf(stderr, "Modbus plugin: Error starting modbus client thread for node %%s\n", client_nodes[index].location);
Edouard@1912: goto error_exit;
Edouard@1912: }
Edouard@1912: }
Edouard@1912: client_nodes[index].init_state = 2; // we have created the node and a thread
Edouard@1912: }
Edouard@1912:
Edouard@1912: /* init each local server */
Edouard@1912: /* NOTE: All server_nodes[].init_state are initialised to 0 in the code
Edouard@1912: * generated by the modbus plugin
Edouard@1912: */
Edouard@1912: for (index=0; index < NUMBER_OF_SERVER_NODES;index++){
Edouard@1912: /* create the modbus server */
Edouard@1912: server_nodes[index].mb_nd = mb_slave_new (server_nodes[index].node_address);
Edouard@1912: if (server_nodes[index].mb_nd < 0){
Edouard@1912: fprintf(stderr, "Modbus plugin: Error creating modbus server node %%s\n", server_nodes[index].location);
Edouard@1912: goto error_exit;
Edouard@1912: }
Edouard@1912: server_nodes[index].init_state = 1; // we have created the node
Edouard@1912:
Edouard@1912: /* launch a thread to handle this server node */
Edouard@1912: {
Edouard@1912: int res = 0;
Edouard@1912: pthread_attr_t attr;
Edouard@1912: res |= pthread_attr_init(&attr);
Edouard@1912: res |= pthread_create(&(server_nodes[index].thread_id), &attr, &__mb_server_thread, (void *)&(server_nodes[index]));
Edouard@1912: if (res != 0) {
Edouard@1912: fprintf(stderr, "Modbus plugin: Error starting modbus server thread for node %%s\n", server_nodes[index].location);
Edouard@1912: goto error_exit;
Edouard@1912: }
Edouard@1912: }
Edouard@1912: server_nodes[index].init_state = 2; // we have created the node and thread
Edouard@1912: }
Edouard@1912:
Edouard@1912: return 0;
Edouard@1912:
Edouard@1912: error_exit:
Edouard@1912: __cleanup_%(locstr)s ();
Edouard@1912: return -1;
Edouard@1912: }
Edouard@1912:
Edouard@1912:
Edouard@1912:
Edouard@1912:
Edouard@1912:
Edouard@1912: void __publish_%(locstr)s (){
Edouard@1912: int index;
Edouard@1912:
Edouard@1912: for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
Edouard@1912: /*just do the output requests */
Edouard@1912: if (client_requests[index].req_type == req_output){
Edouard@2011: if(pthread_mutex_trylock(&(client_requests[index].coms_buf_mutex)) == 0){
Edouard@2011: // copy from plcv_buffer to coms_buffer
Edouard@2011: memcpy((void *)client_requests[index].coms_buffer /* destination */,
Edouard@2011: (void *)client_requests[index].plcv_buffer /* source */,
Edouard@2011: REQ_BUF_SIZE * sizeof(u16) /* size in bytes */);
Edouard@2011: pthread_mutex_unlock(&(client_requests[index].coms_buf_mutex));
Edouard@2011: }
Edouard@1912: }
Edouard@1912: }
Edouard@1912: }
Edouard@1912:
Edouard@1912:
Edouard@1912:
Edouard@1912:
Edouard@1912:
Edouard@1912: void __retrieve_%(locstr)s (){
Edouard@1912: int index;
Edouard@1912:
Edouard@1912: for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
Edouard@1912: /*just do the input requests */
Edouard@1912: if (client_requests[index].req_type == req_input){
Edouard@2011: if(pthread_mutex_trylock(&(client_requests[index].coms_buf_mutex)) == 0){
Edouard@2011: // copy from coms_buffer to plcv_buffer
Edouard@2011: memcpy((void *)client_requests[index].plcv_buffer /* destination */,
Edouard@2011: (void *)client_requests[index].coms_buffer /* source */,
Edouard@2011: REQ_BUF_SIZE * sizeof(u16) /* size in bytes */);
Edouard@2011: pthread_mutex_unlock(&(client_requests[index].coms_buf_mutex));
Edouard@2011: }
Edouard@1912: }
Edouard@1912: }
Edouard@1912: }
Edouard@1912:
Edouard@1912:
Edouard@1912:
Edouard@1912:
Edouard@1912:
Edouard@1912: int __cleanup_%(locstr)s (){
Edouard@1912: int index, close;
Edouard@1912: int res = 0;
Edouard@1912:
Edouard@1912: /* kill thread and close connections of each modbus client node */
Edouard@1912: for (index=0; index < NUMBER_OF_CLIENT_NODES; index++) {
Edouard@1912: close = 0;
Edouard@1912: if (client_nodes[index].init_state >= 2) {
Edouard@1912: // thread was launched, so we try to cancel it!
Edouard@1912: close = pthread_cancel(client_nodes[index].thread_id);
Edouard@1912: close |= pthread_join (client_nodes[index].thread_id, NULL);
Edouard@1912: if (close < 0)
Edouard@1912: fprintf(stderr, "Modbus plugin: Error closing thread for modbus client %%s\n", client_nodes[index].location);
Edouard@1912: }
Edouard@1912: res |= close;
Edouard@1912:
Edouard@1912: close = 0;
Edouard@1912: if (client_nodes[index].init_state >= 1) {
Edouard@1912: // modbus client node was created, so we try to close it!
Edouard@1912: close = mb_master_close (client_nodes[index].mb_nd);
Edouard@1912: if (close < 0){
Edouard@1912: fprintf(stderr, "Modbus plugin: Error closing modbus client node %%s\n", client_nodes[index].location);
Edouard@1912: // We try to shut down as much as possible, so we do not return noW!
Edouard@1912: }
Edouard@1912: client_nodes[index].mb_nd = -1;
Edouard@1912: }
Edouard@1912: res |= close;
Edouard@1912: client_nodes[index].init_state = 0;
Edouard@1912: }
Edouard@1912:
Edouard@1912: /* kill thread and close connections of each modbus server node */
Edouard@1912: for (index=0; index < NUMBER_OF_SERVER_NODES; index++) {
Edouard@1912: close = 0;
Edouard@1912: if (server_nodes[index].init_state >= 2) {
Edouard@1912: // thread was launched, so we try to cancel it!
Edouard@1912: close = pthread_cancel(server_nodes[index].thread_id);
Edouard@1912: close |= pthread_join (server_nodes[index].thread_id, NULL);
Edouard@1912: if (close < 0)
Edouard@1912: fprintf(stderr, "Modbus plugin: Error closing thread for modbus server %%s\n", server_nodes[index].location);
Edouard@1912: }
Edouard@1912: res |= close;
Edouard@1912:
Edouard@1912: close = 0;
Edouard@1912: if (server_nodes[index].init_state >= 1) {
Edouard@1912: // modbus server node was created, so we try to close it!
Edouard@1912: close = mb_slave_close (server_nodes[index].mb_nd);
Edouard@1912: if (close < 0) {
Edouard@1912: fprintf(stderr, "Modbus plugin: Error closing node for modbus server %%s (%%d)\n", server_nodes[index].location, server_nodes[index].mb_nd);
Edouard@1912: // We try to shut down as much as possible, so we do not return noW!
Edouard@1912: }
Edouard@1912: server_nodes[index].mb_nd = -1;
Edouard@1912: }
Edouard@1912: res |= close;
Edouard@1912: server_nodes[index].init_state = 0;
Edouard@1912: }
Edouard@1912:
Edouard@1912: /* destroy the mutex of each client request */
Edouard@1912: for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++) {
Edouard@1912: if (pthread_mutex_destroy(&(client_requests[index].coms_buf_mutex))) {
Edouard@1912: fprintf(stderr, "Modbus plugin: Error destroying request for modbus client node %%s\n", client_nodes[client_requests[index].client_node_id].location);
Edouard@1912: // We try to shut down as much as possible, so we do not return noW!
Edouard@1912: res |= -1;
Edouard@1912: }
Edouard@1912: }
Edouard@1912:
Edouard@1912: /* modbus library close */
Edouard@1912: //fprintf(stderr, "Shutting down modbus library...\n");
Edouard@1912: if (mb_slave_and_master_done()<0) {
Edouard@1912: fprintf(stderr, "Modbus plugin: Error shutting down modbus library\n");
Edouard@1912: res |= -1;
Edouard@1912: }
Edouard@1912:
Edouard@1912: return res;
Edouard@1912: }
Edouard@1912: