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#include <stdlib.h>
#include <signal.h>
#include <sys/time.h>
#include <string.h>
#include <unistd.h>
#include <pthread.h>
#include "rtapi.h"
#ifdef RTAPI
#include "rtapi_app.h"
#endif
#include "rtapi_string.h"
#include "rtapi_errno.h"
#include "hal.h"
#include "inifile.h"
#include "emcglb.h"
#include <modbus/modbus.h>
#define MB2HAL_MAX_LINKS 32
#define MB2HAL_MAX_DEVICE_LENGTH 32
#define MB2HAL_DEFAULT_TCP_PORT 502
#define MB2HAL_DEFAULT_MB_RESPONSE_TIMEOUT_MS 500
#define MB2HAL_DEFAULT_MB_BYTE_TIMEOUT_MS 500
#define MB2HAL_DEFAULT_TCP_PORT 502
#define MB2HAL_MAX_FNCT02_ELEMENTS 100
#define MB2HAL_MAX_FNCT03_ELEMENTS 100
#define MB2HAL_MAX_FNCT04_ELEMENTS 100
#define MB2HAL_MAX_FNCT05_ELEMENTS 100
#define MB2HAL_MAX_FNCT15_ELEMENTS 100
#define MB2HAL_MAX_FNCT16_ELEMENTS 100
#define MB2HAL_MAX_HAL_MAP_PIN 100
#ifdef MODULE_VERBOSE
MODULE_VERBOSE(emc2, "component:mb2halv2:Userspace HAL component to communicate with one or more Modbus devices");
MODULE_VERBOSE(emc2, "license:LGPL");
MODULE_LICENSE("LGPL");
#endif
typedef enum {
linkUndefined = 1,
linkRTU,
linkTCP
} link_type_t;
typedef enum { mbtxERR,
mbtx_02_READ_DISCRETE_INPUTS,
mbtx_03_READ_HOLDING_REGISTERS,
mbtx_04_READ_INPUT_REGISTERS,
mbtx_05_WRITE_SINGLE_COIL,
mbtx_15_WRITE_MULTIPLE_COILS,
mbtx_16_WRITE_MULTIPLE_REGISTERS,
mbtxMAX
} mb_tx_fnct_t; //modbus transaction code
typedef enum { debugSILENT, debugERR, debugOK, debugDEBUG, debugMAX
} DEBUG_TYPE; //message levels
typedef enum { retOK, retOKwithWarning, retERR
} retCode; //funtions return codes
#define ERR(debug, fmt, args...) if(debug >= debugERR) {fprintf(stderr, "%s %s ERR: " fmt "\n", gbl.hal_mod_name, fnct_name, ## args);}
#define OK(debug, fmt, args...) if(debug >= debugOK) {fprintf(stdout, "%s %s OK: " fmt "\n", gbl.hal_mod_name, fnct_name, ## args);}
#define DBG(debug, fmt, args...) if(debug >= debugDEBUG) {fprintf(stdout, "%s %s DEBUG: " fmt "\n", gbl.hal_mod_name, fnct_name, ## args);}
// Structure used to store enhanced pin mapping configuration
typedef struct {
char *name; // The name of the HAL pin
int addr;
int width; // Number of successive Modbus registers associated to this pin (useful to make 32bits value from 2 x 16bits registers
hal_type_t type; // HAL_BIT, HAL_FLOAT, HAL_S32, HAL_U32
hal_float_t scale;
hal_float_t offset;
int bitnumber;
} hal_map_pin_t;
typedef union {
hal_bit_t _b;
hal_s32_t _s;
hal_u32_t _u;
hal_float_t _f;
} hal_data_u;
//Modbus transaction structure (mb_tx_t)
//Store each transaction defined in INI config file
//Plus HAL and run time parameters for each transaction
typedef struct {
//cfg_* are link params only for INI config reading purpose
//then we use the parameters of mb_link_t
link_type_t cfg_link_type; //RTU (serial) or TCP
char cfg_link_type_str[10]; //str version of lp_link_type
char cfg_serial_device[MB2HAL_MAX_DEVICE_LENGTH]; //device: example "/dev/ttyS0"
int cfg_serial_baud; //bauds
char cfg_serial_parity[5]; //parity: "even", "odd", "none"
int cfg_serial_data_bit; //data bit
int cfg_serial_stop_bit; //stop bit
int cfg_serial_delay_ms; //delay between tx in serial lines
char cfg_tcp_ip[17]; //tcp address
int cfg_tcp_port; //tcp port number
//mb_* are Modbus transaction protocol related params
int mb_tx_slave_id; //MB device id
mb_tx_fnct_t mb_tx_fnct; //MB function code id
char mb_tx_fnct_name[64]; //str version of mb_tx_fnct
int mb_tx_1st_addr; //MB first register
int mb_tx_nelem; //MB n registers
int mb_response_timeout_ms; //MB response timeout
int mb_byte_timeout_ms; //MB byte timeout
//cfg_* are others INI config params
double cfg_update_rate; //tx update rate
int cfg_debug; //tx debug level (program, may be also protocol)
//Modbus protocol debug
int protocol_debug; //Flag debug Modbus protocol
//internal processing values
int mb_tx_num; //each tx know it's own number
int mb_link_num; //each tx know it's own link
//internal processing values
double time_increment; //wait time between tx
double next_time; //next time for this tx
double last_time_ok; //last OK tx time
//HAL related params
char hal_tx_name[HAL_NAME_LEN + 1];
hal_float_t **float_value;
hal_s32_t **int_value;
hal_bit_t **bit;
hal_u32_t **num_errors; //num of acummulated errors (0=last tx OK)
hal_s32_t **cumul_errors; //num of errors, never reset
hal_s32_t **cumul_transactions;//num of transactions
hal_bit_t **modbus_ok; //true if modbus communication is ok
int nb_hal_map_pin;
hal_map_pin_t hal_map_pin[MB2HAL_MAX_HAL_MAP_PIN];
hal_data_u **pin_value;
} mb_tx_t;
//Modbus link structure (mb_link_t)
//Group common transaction's links in one unique link
//Store each run time Modbus link parameters here
typedef struct {
//lp_* are real link params for real time use
link_type_t lp_link_type; //RTU (serial) or TCP
char lp_type_com_str[10]; //str version of lp_type_com
char lp_serial_device[MB2HAL_MAX_DEVICE_LENGTH]; //device: example "/dev/ttyS0"
int lp_serial_baud; //bauds
char lp_serial_parity; //parity: 'E', 'O', 'N'
//NOTE in mb_tx is "even", "odd", "none"
int lp_serial_data_bit; //data bit
int lp_serial_stop_bit; //stop bit
int lp_serial_delay_ms; //delay between tx in serial lines
char lp_tcp_ip[17]; //tcp address
int lp_tcp_port; //tcp port number
//run time processing values
int mb_link_num; //corresponding number of this link/thread
modbus_t *modbus;
pthread_t thrd;
} mb_link_t;
//Structure of global data (gbl_t)
//Reduce functions parameters using this common global structure.
typedef struct {
//INI config file
FILE *ini_file_ptr;
char *ini_file_path;
//INI config, common section
int init_dbg;
double slowdown;
//HAL related
int hal_mod_id;
const char *hal_mod_name;
//mb_tx
mb_tx_t *mb_tx;
int tot_mb_tx;
//mb_links
mb_link_t *mb_links;
int tot_mb_links;
//others
const char *mb_tx_fncts[mbtxMAX];
int quit_flag;
} gbl_t;
extern gbl_t gbl;
//mb2hal.c
void *link_loop_and_logic(void *thrd_link_num);
retCode is_this_tx_ready(const int this_mb_link_num, const int this_mb_tx_num, int *ret_available);
retCode get_tx_connection(const int mb_tx_num, int *ret_connected);
void set_init_gbl_params();
double get_time();
void quit_signal(int signal);
void quit_cleanup(void);
//mb2hal_init.c
retCode parse_main_args(int argc, char **argv);
retCode parse_ini_file();
retCode parse_common_section();
retCode parse_transaction_section(const int mb_tx_num);
retCode parse_tcp_subsection(const char *section, const int mb_tx_num);
retCode parse_serial_subsection(const char *section, const int mb_tx_num);
retCode check_int_in(int n_args, const int int_value, ...);
retCode check_str_in(int n_args, const char *str_value, ...);
retCode init_mb_links();
retCode init_mb_tx();
//mb2hal_hal.c
retCode create_HAL_pins();
retCode create_each_mb_tx_hal_pins(mb_tx_t *mb_tx);
//mb2hal_modbus.c
retCode fnct_15_write_multiple_coils(mb_tx_t *this_mb_tx, mb_link_t *this_mb_link);
retCode fnct_02_read_discrete_inputs(mb_tx_t *this_mb_tx, mb_link_t *this_mb_link);
retCode fnct_04_read_input_registers(mb_tx_t *this_mb_tx, mb_link_t *this_mb_link);
retCode fnct_03_read_holding_registers(mb_tx_t *this_mb_tx, mb_link_t *this_mb_link);
retCode fnct_16_write_multiple_registers(mb_tx_t *this_mb_tx, mb_link_t *this_mb_link);
retCode fnct_05_write_single_coil(mb_tx_t *this_mb_tx, mb_link_t *this_mb_link);