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OpenPLC_v3/webserver/core/modbus_master.cpp

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//-----------------------------------------------------------------------------
// Copyright 2015 Thiago Alves
//
// Based on the LDmicro software by Jonathan Westhues
// This file is part of the OpenPLC Software Stack.
//
// OpenPLC is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// OpenPLC 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 General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with OpenPLC. If not, see <http://www.gnu.org/licenses/>.
//------
//
// This file is responsible for parse and discovery of slave devices by parsing
// the mbconfig.cfg file. This code also updates OpenPLC internal buffers with
// the data queried from the slave devices.
// Thiago Alves, Jul 2018
//-----------------------------------------------------------------------------
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <pthread.h>
#include <modbus.h>
#include <errno.h>
#include <string.h>
#include <pthread.h>
#include <iostream>
#include <fstream>
#include <string>
#include "ladder.h"
#define MB_TCP 1
#define MB_RTU 2
#define MAX_MB_IO 400
using namespace std;
uint8_t bool_input_buf[MAX_MB_IO];
uint8_t bool_output_buf[MAX_MB_IO];
uint16_t int_input_buf[MAX_MB_IO];
uint16_t int_output_buf[MAX_MB_IO];
pthread_mutex_t ioLock;
struct MB_address
{
uint16_t start_address;
uint16_t num_regs;
};
struct MB_device
{
modbus_t *mb_ctx;
char dev_name[100];
uint8_t protocol;
char dev_address[100];
uint16_t ip_port;
int rtu_baud;
char rtu_parity;
int rtu_data_bit;
int rtu_stop_bit;
uint8_t dev_id;
bool isConnected;
struct MB_address discrete_inputs;
struct MB_address coils;
struct MB_address input_registers;
struct MB_address holding_read_registers;
struct MB_address holding_registers;
};
struct MB_device *mb_devices;
uint8_t num_devices;
uint16_t polling_period = 100;
uint16_t timeout = 1000;
//-----------------------------------------------------------------------------
// Finds the data between the separators on the line provided
//-----------------------------------------------------------------------------
void getData(char *line, char *buf, char separator1, char separator2)
{
int i=0, j=0;
buf[j] = '\0';
while (line[i] != separator1 && line[i] != '\0')
{
i++;
}
i++;
while (line[i] != separator2 && line[i] != '\0')
{
buf[j] = line[i];
i++;
j++;
buf[j] = '\0';
}
}
//-----------------------------------------------------------------------------
// Get the number of the Modbus device
//-----------------------------------------------------------------------------
int getDeviceNumber(char *line)
{
char temp[5];
int i = 0, j = 6;
while (line[j] != '.')
{
temp[i] = line[j];
i++;
j++;
temp[i] = '\0';
}
return(atoi(temp));
}
//-----------------------------------------------------------------------------
// get the type of function or parameter for the Modbus device
//-----------------------------------------------------------------------------
void getFunction(char *line, char *parameter)
{
int i = 0, j = 0;
while (line[j] != '.')
{
j++;
}
j++;
while (line[j] != ' ' && line[j] != '=' && line[j] != '(')
{
parameter[i] = line[j];
i++;
j++;
parameter[i] = '\0';
}
}
void parseConfig()
{
string line;
char line_str[1024];
ifstream cfgfile("mbconfig.cfg");
if (cfgfile.is_open())
{
while (getline(cfgfile, line))
{
strncpy(line_str, line.c_str(), 1024);
if (line_str[0] != '#' && strlen(line_str) > 1)
{
if (!strncmp(line_str, "Num_Devices", 11))
{
char temp_buffer[5];
getData(line_str, temp_buffer, '"', '"');
num_devices = atoi(temp_buffer);
mb_devices = (struct MB_device *)malloc(num_devices*sizeof(struct MB_device));
}
else if (!strncmp(line_str, "Polling_Period", 14))
{
char temp_buffer[10];
getData(line_str, temp_buffer, '"', '"');
polling_period = atoi(temp_buffer);
}
else if (!strncmp(line_str, "Timeout", 7))
{
char temp_buffer[10];
getData(line_str, temp_buffer, '"', '"');
timeout = atoi(temp_buffer);
}
else if (!strncmp(line_str, "device", 6))
{
int deviceNumber = getDeviceNumber(line_str);
char functionType[100];
getFunction(line_str, functionType);
if (!strncmp(functionType, "name", 4))
{
getData(line_str, mb_devices[deviceNumber].dev_name, '"', '"');
}
else if (!strncmp(functionType, "protocol", 8))
{
char temp_buffer[5];
getData(line_str, temp_buffer, '"', '"');
if (!strncmp(temp_buffer, "TCP", 3))
mb_devices[deviceNumber].protocol = MB_TCP;
else if (!strncmp(temp_buffer, "RTU", 3))
mb_devices[deviceNumber].protocol = MB_RTU;
}
else if (!strncmp(functionType, "slave_id", 8))
{
char temp_buffer[5];
getData(line_str, temp_buffer, '"', '"');
mb_devices[deviceNumber].dev_id = atoi(temp_buffer);
}
else if (!strncmp(functionType, "address", 7))
{
getData(line_str, mb_devices[deviceNumber].dev_address, '"', '"');
}
else if (!strncmp(functionType, "IP_Port", 7))
{
char temp_buffer[6];
getData(line_str, temp_buffer, '"', '"');
mb_devices[deviceNumber].ip_port = atoi(temp_buffer);
}
else if (!strncmp(functionType, "RTU_Baud_Rate", 13))
{
char temp_buffer[10];
getData(line_str, temp_buffer, '"', '"');
mb_devices[deviceNumber].rtu_baud = atoi(temp_buffer);
}
else if (!strncmp(functionType, "RTU_Parity", 10))
{
char temp_buffer[3];
getData(line_str, temp_buffer, '"', '"');
mb_devices[deviceNumber].rtu_parity = temp_buffer[0];
}
else if (!strncmp(functionType, "RTU_Data_Bits", 13))
{
char temp_buffer[6];
getData(line_str, temp_buffer, '"', '"');
mb_devices[deviceNumber].rtu_data_bit = atoi(temp_buffer);
}
else if (!strncmp(functionType, "RTU_Stop_Bits", 13))
{
char temp_buffer[20];
getData(line_str, temp_buffer, '"', '"');
mb_devices[deviceNumber].rtu_stop_bit = atoi(temp_buffer);
}
else if (!strncmp(functionType, "Discrete_Inputs_Start", 21))
{
char temp_buffer[10];
getData(line_str, temp_buffer, '"', '"');
mb_devices[deviceNumber].discrete_inputs.start_address = atoi(temp_buffer);
}
else if (!strncmp(functionType, "Discrete_Inputs_Size", 20))
{
char temp_buffer[10];
getData(line_str, temp_buffer, '"', '"');
mb_devices[deviceNumber].discrete_inputs.num_regs = atoi(temp_buffer);
}
else if (!strncmp(functionType, "Coils_Start", 11))
{
char temp_buffer[10];
getData(line_str, temp_buffer, '"', '"');
mb_devices[deviceNumber].coils.start_address = atoi(temp_buffer);
}
else if (!strncmp(functionType, "Coils_Size", 10))
{
char temp_buffer[10];
getData(line_str, temp_buffer, '"', '"');
mb_devices[deviceNumber].coils.num_regs = atoi(temp_buffer);
}
else if (!strncmp(functionType, "Input_Registers_Start", 21))
{
char temp_buffer[10];
getData(line_str, temp_buffer, '"', '"');
mb_devices[deviceNumber].input_registers.start_address = atoi(temp_buffer);
}
else if (!strncmp(functionType, "Input_Registers_Size", 20))
{
char temp_buffer[10];
getData(line_str, temp_buffer, '"', '"');
mb_devices[deviceNumber].input_registers.num_regs = atoi(temp_buffer);
}
else if (!strncmp(functionType, "Holding_Registers_Read_Start", 28))
{
char temp_buffer[10];
getData(line_str, temp_buffer, '"', '"');
mb_devices[deviceNumber].holding_read_registers.start_address = atoi(temp_buffer);
}
else if (!strncmp(functionType, "Holding_Registers_Read_Size", 27))
{
char temp_buffer[10];
getData(line_str, temp_buffer, '"', '"');
mb_devices[deviceNumber].holding_read_registers.num_regs = atoi(temp_buffer);
}
else if (!strncmp(functionType, "Holding_Registers_Start", 23))
{
char temp_buffer[10];
getData(line_str, temp_buffer, '"', '"');
mb_devices[deviceNumber].holding_registers.start_address = atoi(temp_buffer);
}
else if (!strncmp(functionType, "Holding_Registers_Size", 22))
{
char temp_buffer[10];
getData(line_str, temp_buffer, '"', '"');
mb_devices[deviceNumber].holding_registers.num_regs = atoi(temp_buffer);
}
}
}
}
}
else
{
unsigned char log_msg[1000];
sprintf(log_msg, "Skipping configuration of Slave Devices (mbconfig.cfg file not found)\n");
log(log_msg);
}
//Parser Debug
///*
for (int i = 0; i < num_devices; i++)
{
printf("Device %d\n", i);
printf("Name: %s\n", mb_devices[i].dev_name);
printf("Protocol: %d\n", mb_devices[i].protocol);
printf("Address: %s\n", mb_devices[i].dev_address);
printf("IP Port: %d\n", mb_devices[i].ip_port);
printf("Baud rate: %d\n", mb_devices[i].rtu_baud);
printf("Parity: %c\n", mb_devices[i].rtu_parity);
printf("Data Bits: %d\n", mb_devices[i].rtu_data_bit);
printf("Stop Bits: %d\n", mb_devices[i].rtu_stop_bit);
printf("DI Start: %d\n", mb_devices[i].discrete_inputs.start_address);
printf("DI Size: %d\n", mb_devices[i].discrete_inputs.num_regs);
printf("Coils Start: %d\n", mb_devices[i].coils.start_address);
printf("Coils Size: %d\n", mb_devices[i].coils.num_regs);
printf("IR Start: %d\n", mb_devices[i].input_registers.start_address);
printf("IR Size: %d\n", mb_devices[i].input_registers.num_regs);
printf("HR Start: %d\n", mb_devices[i].holding_registers.start_address);
printf("HR Size: %d\n", mb_devices[i].holding_registers.num_regs);
printf("\n\n");
}
//*/
}
//-----------------------------------------------------------------------------
// Thread to poll each slave device
//-----------------------------------------------------------------------------
void *querySlaveDevices(void *arg)
{
while (run_openplc)
{
unsigned char log_msg[1000];
uint16_t bool_input_index = 0;
uint16_t bool_output_index = 0;
uint16_t int_input_index = 0;
uint16_t int_output_index = 0;
for (int i = 0; i < num_devices; i++)
{
//Verify if device is connected
if (!mb_devices[i].isConnected)
{
sprintf(log_msg, "Device %s is disconnected. Attempting to reconnect...\n", mb_devices[i].dev_name);
log(log_msg);
if (modbus_connect(mb_devices[i].mb_ctx) == -1)
{
sprintf(log_msg, "Connection failed on MB device %s: %s\n", mb_devices[i].dev_name, modbus_strerror(errno));
log(log_msg);
if (special_functions[2] != NULL) *special_functions[2]++;
// Because this device is not connected, we skip those input registers
bool_input_index += (mb_devices[i].discrete_inputs.num_regs);
int_input_index += (mb_devices[i].input_registers.num_regs);
int_input_index += (mb_devices[i].holding_read_registers.num_regs);
bool_output_index += (mb_devices[i].coils.num_regs);
int_output_index += (mb_devices[i].holding_registers.num_regs);
}
else
{
sprintf(log_msg, "Connected to MB device %s\n", mb_devices[i].dev_name);
log(log_msg);
mb_devices[i].isConnected = true;
}
}
if (mb_devices[i].isConnected)
{
struct timespec ts;
ts.tv_sec = 0;
ts.tv_nsec = (1000*1000*1000*28)/mb_devices[i].rtu_baud;
//Read discrete inputs
if (mb_devices[i].discrete_inputs.num_regs != 0)
{
uint8_t *tempBuff;
tempBuff = (uint8_t *)malloc(mb_devices[i].discrete_inputs.num_regs);
nanosleep(&ts, NULL);
int return_val = modbus_read_input_bits(mb_devices[i].mb_ctx, mb_devices[i].discrete_inputs.start_address,
mb_devices[i].discrete_inputs.num_regs, tempBuff);
if (return_val == -1)
{
if (mb_devices[i].protocol != MB_RTU)
{
modbus_close(mb_devices[i].mb_ctx);
mb_devices[i].isConnected = false;
}
sprintf(log_msg, "Modbus Read Discrete Input Registers failed on MB device %s: %s\n", mb_devices[i].dev_name, modbus_strerror(errno));
log(log_msg);
bool_input_index += (mb_devices[i].discrete_inputs.num_regs);
if (special_functions[2] != NULL) *special_functions[2]++;
}
else
{
pthread_mutex_lock(&ioLock);
for (int j = 0; j < return_val; j++)
{
bool_input_buf[bool_input_index] = tempBuff[j];
bool_input_index++;
}
pthread_mutex_unlock(&ioLock);
}
free(tempBuff);
}
//Write coils
if (mb_devices[i].coils.num_regs != 0)
{
uint8_t *tempBuff;
tempBuff = (uint8_t *)malloc(mb_devices[i].coils.num_regs);
pthread_mutex_lock(&ioLock);
for (int j = 0; j < mb_devices[i].coils.num_regs; j++)
{
tempBuff[j] = bool_output_buf[bool_output_index];
bool_output_index++;
}
pthread_mutex_unlock(&ioLock);
nanosleep(&ts, NULL);
int return_val = modbus_write_bits(mb_devices[i].mb_ctx, mb_devices[i].coils.start_address, mb_devices[i].coils.num_regs, tempBuff);
if (return_val == -1)
{
if (mb_devices[i].protocol != MB_RTU)
{
modbus_close(mb_devices[i].mb_ctx);
mb_devices[i].isConnected = false;
}
sprintf(log_msg, "Modbus Write Coils failed on MB device %s: %s\n", mb_devices[i].dev_name, modbus_strerror(errno));
log(log_msg);
if (special_functions[2] != NULL) *special_functions[2]++;
}
free(tempBuff);
}
//Read input registers
if (mb_devices[i].input_registers.num_regs != 0)
{
uint16_t *tempBuff;
tempBuff = (uint16_t *)malloc(2*mb_devices[i].input_registers.num_regs);
nanosleep(&ts, NULL);
int return_val = modbus_read_input_registers( mb_devices[i].mb_ctx, mb_devices[i].input_registers.start_address,
mb_devices[i].input_registers.num_regs, tempBuff);
if (return_val == -1)
{
if (mb_devices[i].protocol != MB_RTU)
{
modbus_close(mb_devices[i].mb_ctx);
mb_devices[i].isConnected = false;
}
sprintf(log_msg, "Modbus Read Input Registers failed on MB device %s: %s\n", mb_devices[i].dev_name, modbus_strerror(errno));
log(log_msg);
int_input_index += (mb_devices[i].input_registers.num_regs);
if (special_functions[2] != NULL) *special_functions[2]++;
}
else
{
pthread_mutex_lock(&ioLock);
for (int j = 0; j < return_val; j++)
{
int_input_buf[int_input_index] = tempBuff[j];
int_input_index++;
}
int_input_index++;
pthread_mutex_unlock(&ioLock);
}
free(tempBuff);
}
//Read holding registers
if (mb_devices[i].holding_read_registers.num_regs != 0)
{
uint16_t *tempBuff;
tempBuff = (uint16_t *)malloc(2*mb_devices[i].holding_read_registers.num_regs);
nanosleep(&ts, NULL);
int return_val = modbus_read_registers(mb_devices[i].mb_ctx, mb_devices[i].holding_read_registers.start_address,
mb_devices[i].holding_read_registers.num_regs, tempBuff);
if (return_val == -1)
{
if (mb_devices[i].protocol != MB_RTU)
{
modbus_close(mb_devices[i].mb_ctx);
mb_devices[i].isConnected = false;
}
sprintf(log_msg, "Modbus Read Holding Registers failed on MB device %s: %s\n", mb_devices[i].dev_name, modbus_strerror(errno));
log(log_msg);
int_input_index += (mb_devices[i].holding_read_registers.num_regs);
if (special_functions[2] != NULL) *special_functions[2]++;
}
else
{
pthread_mutex_lock(&ioLock);
for (int j = 0; j < return_val; j++)
{
int_input_buf[int_input_index] = tempBuff[j];
int_input_index++;
}
pthread_mutex_unlock(&ioLock);
}
free(tempBuff);
}
//Write holding registers
if (mb_devices[i].holding_registers.num_regs != 0)
{
uint16_t *tempBuff;
tempBuff = (uint16_t *)malloc(2*mb_devices[i].holding_registers.num_regs);
pthread_mutex_lock(&ioLock);
for (int j = 0; j < mb_devices[i].holding_registers.num_regs; j++)
{
tempBuff[j] = int_output_buf[int_output_index];
int_output_index++;
}
pthread_mutex_unlock(&ioLock);
nanosleep(&ts, NULL);
int return_val = modbus_write_registers(mb_devices[i].mb_ctx, mb_devices[i].holding_registers.start_address,
mb_devices[i].holding_registers.num_regs, tempBuff);
if (return_val == -1)
{
if (mb_devices[i].protocol != MB_RTU)
{
modbus_close(mb_devices[i].mb_ctx);
mb_devices[i].isConnected = false;
}
sprintf(log_msg, "Modbus Write Holding Registers failed on MB device %s: %s\n", mb_devices[i].dev_name, modbus_strerror(errno));
log(log_msg);
if (special_functions[2] != NULL) *special_functions[2]++;
}
free(tempBuff);
}
}
}
sleepms(polling_period);
}
}
//-----------------------------------------------------------------------------
// This function is called by the main OpenPLC routine when it is initializing.
// Modbus master initialization procedures are here.
//-----------------------------------------------------------------------------
void initializeMB()
{
parseConfig();
for (int i = 0; i < num_devices; i++)
{
if (mb_devices[i].protocol == MB_TCP)
{
mb_devices[i].mb_ctx = modbus_new_tcp(mb_devices[i].dev_address, mb_devices[i].ip_port);
}
else if (mb_devices[i].protocol == MB_RTU)
{
mb_devices[i].mb_ctx = modbus_new_rtu( mb_devices[i].dev_address, mb_devices[i].rtu_baud,
mb_devices[i].rtu_parity, mb_devices[i].rtu_data_bit,
mb_devices[i].rtu_stop_bit);
}
//slave id
modbus_set_slave(mb_devices[i].mb_ctx, mb_devices[i].dev_id);
//timeout
uint32_t to_sec = timeout / 1000;
uint32_t to_usec = (timeout % 1000) * 1000;
modbus_set_response_timeout(mb_devices[i].mb_ctx, to_sec, to_usec);
}
//Initialize comm error counter
if (special_functions[2] != NULL) *special_functions[2] = 0;
if (num_devices > 0)
{
pthread_t thread;
int ret = pthread_create(&thread, NULL, querySlaveDevices, NULL);
if (ret==0)
{
pthread_detach(thread);
}
}
}
//-----------------------------------------------------------------------------
// This function is called by the OpenPLC in a loop. Here the internal buffers
// must be updated to reflect the actual Input state.
//-----------------------------------------------------------------------------
void updateBuffersIn_MB()
{
pthread_mutex_lock(&ioLock);
for (int i = 0; i < MAX_MB_IO; i++)
{
if (bool_input[100+(i/8)][i%8] != NULL) *bool_input[100+(i/8)][i%8] = bool_input_buf[i];
if (int_input[100+i] != NULL) *int_input[100+i] = int_input_buf[i];
}
pthread_mutex_unlock(&ioLock);
}
//-----------------------------------------------------------------------------
// This function is called by the OpenPLC in a loop. Here the internal buffers
// must be updated to reflect the actual Output state.
//-----------------------------------------------------------------------------
void updateBuffersOut_MB()
{
pthread_mutex_lock(&ioLock);
for (int i = 0; i < MAX_MB_IO; i++)
{
if (bool_output[100+(i/8)][i%8] != NULL) bool_output_buf[i] = *bool_output[100+(i/8)][i%8];
if (int_output[100+i] != NULL) int_output_buf[i] = *int_output[100+i];
}
pthread_mutex_unlock(&ioLock);
}
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