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snhobbssnhobbs
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moved the MappedRegisterDataStore to the register controllers as they are unneccessary for the user to see
merging
1 parent c6edb35 commit 979273e

25 files changed

Lines changed: 808 additions & 1159 deletions

‎.github/workflows/cmake.yml‎

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@@ -20,11 +20,15 @@ jobs:
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- name: Checkout Submodules
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run: python3 $(pwd)/git_to_https.py .gitmodules && git submodule update --init && git submodule foreach --recursive python3 $(pwd)/git_to_https.py && git submodule update --init
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- name: SetupFlatBuffers
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# Execute the build. You can specify a specific target with "--target <NAME>"
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run: cd $(pwd)/include/flatbuffers && cmake ./ && sudo make install
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- name: Create Build Environment
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# Some projects don't allow in-source building, so create a separate build directory
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# We'll use this as our working directory for all subsequent commands
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run: cmake -E make_directory ${{runner.workspace}}/build
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- name: SetupLibs
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working-directory: ${{runner.workspace}}/build
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shell: bash

‎.gitignore‎

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@@ -3,3 +3,17 @@ cmake_install.cmake
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Makefile
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build
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/.metadata/
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CMakeCache.txt
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CMakeFiles
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build.ninja
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*_generated.h
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*modbus_basic_tests
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*modbus_client
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*.ninja*

‎.gitmodules‎

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@@ -7,15 +7,12 @@
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[submodule "examples/pymodbus_tests/pymodbus"]
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path = examples/pymodbus_tests/pymodbus
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url = git@github.com:riptideio/pymodbus.git
10-
[submodule "libs/DataStores"]
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path = include/DataStores
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url = git@github.com:snhobbs/DataStores.git
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[submodule "include/CppUtilities"]
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path = include/CppUtilities
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url = git@github.com:snhobbs/CppUtilities.git
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[submodule "include/HardwareInterfaces"]
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path = include/HardwareInterfaces
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url = git@github.com:snhobbs/BareMetalHardwareAbstraction.git
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[submodule "tests/cmake/CMakeStaticAnalysis"]
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path = tests/CMakeStaticAnalysis
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url = git@github.com:snhobbs/CMakeStaticAnalysis.git
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[submodule "include/flatbuffers"]
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path = include/flatbuffers
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url = git@github.com:snhobbs/flatbuffers.git

‎examples/FlatBuffersTest/CMakeLists.txt‎

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CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
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SET(CMAKE_CXX_COMPILER g++-8)
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add_compile_options(-fsanitize=address, -fno-omit-frame-pointer)
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add_compile_options(-fsanitize=undefined)
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set (TargetName modbus_client)
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project(modbus_client)
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SET(CMAKE_VERBOSE_MAKEFILE ON)
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ADD_EXECUTABLE(${PROJECT_NAME} main.cpp)
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target_link_libraries( ${PROJECT_NAME} asan)
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#target_link_libraries( ${PROJECT_NAME} tsan)
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target_link_libraries( ${PROJECT_NAME} ubsan)
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#target_link_libraries( ${PROJECT_NAME} msan)
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#find_package(Modbus 1.0.1 REQUIRED)
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set(INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../include)
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target_include_directories(${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/../common)
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target_include_directories(${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
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target_include_directories(${PROJECT_NAME} PRIVATE ${INCLUDE_DIR}/DataStores/include)
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target_include_directories(${PROJECT_NAME} PRIVATE ${INCLUDE_DIR}/CppUtilities/include)
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target_include_directories(${PROJECT_NAME} PRIVATE ${INCLUDE_DIR}/HardwareInterfaces/include)
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target_include_directories(${PROJECT_NAME} PRIVATE ${INCLUDE_DIR}/ModbusBasic/include)
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target_include_directories(${PROJECT_NAME} PRIVATE ${INCLUDE_DIR}/Modbus)
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target_include_directories(${PROJECT_NAME} PRIVATE ${INCLUDE_DIR})
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target_include_directories(${PROJECT_NAME} PRIVATE ${INCLUDE_DIR}/../../flatbuffers/include)
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target_include_directories(${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/../../posix)
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target_compile_options(
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${PROJECT_NAME}
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PUBLIC
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-Wall
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-Wextra
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-Wpedantic
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-Wfatal-errors
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)
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set(source_files "InputRegisterMappedDataStore_generated.h;HoldingRegisterMappedDataStore_generated.h")
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list(TRANSFORM source_files PREPEND ${directory}/)
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set(script "${ScriptsDirectory}/RegistersMapping.py")
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target_sources(${TargetName} PUBLIC ${source_files})
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set_source_files_properties(${source_files} GENERATED)
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add_custom_target(
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flatbuffers
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)
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set(name "HoldingRegisterMappedDataStore")
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add_custom_command(
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TARGET flatbuffers
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COMMENT "Generating Modbus Source ${source_files}"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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DEPENDS "${name}.fbs"
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BYPRODUCTS "${name}_generated.h"
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COMMAND /home/simon/software/flatbuffers/flatc --cpp --grpc --cpp-std=c++17 --cpp-ptr-type naked --gen-mutable --scoped-enums --gen-name-strings --cpp-static-reflection --gen-object-api
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ARGS ${name}.fbs
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)
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set(name "InputRegisterMappedDataStore")
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add_custom_command(
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TARGET flatbuffers
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COMMENT "Generating Modbus Source ${source_files}"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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DEPENDS "${name}.fbs"
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BYPRODUCTS "${name}_generated.h"
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COMMAND /home/simon/software/flatbuffers/flatc --cpp --grpc --cpp-std=c++17 --cpp-ptr-type naked --gen-mutable --scoped-enums --gen-name-strings --cpp-static-reflection --gen-object-api
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ARGS ${name}.fbs
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)
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set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 17)

‎examples/FlatBuffersTest/HoldingRegisterMappedDataStore.fbs‎

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struct HoldingRegisters {
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u32_0 : uint32;
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u32_1 : uint32;
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u32_2 : uint32;
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u32_3 : uint32;
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u32_4 : uint32;
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u16_0 : uint16;
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U32_5 : uint32;
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u32_6 : uint32;
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}

‎examples/FlatBuffersTest/InputRegisterMappedDataStore.fbs‎

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struct InputRegisters {
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string_0: [uint8:64];
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string_1: [uint8:64];
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string_2: [uint8:64];
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string_3: [uint8:40];
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u16_0: uint16;
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u16_1: uint16;
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u16_2: uint16;
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i32_0: int32;
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u32_0: uint32;
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}

‎examples/FlatBuffersTest/LinuxModbusTools.h‎

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#pragma once
2+
3+
#include <Modbus/Modbus.h>
4+
#include <Modbus/DataCommand.h>
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#include <Modbus/RegisterControl.h>
6+
#include <Utilities/Crc.h>
7+
#include <sys/time.h>
8+
#include <cstdint>
9+
#include <cstdio> // standard input / output functions
10+
#include <string>
11+
12+
inline int64_t GetMicroSecondsSince(const timeval &first, const timeval &second) {
13+
return (second.tv_sec - first.tv_sec) * 1000000 +
14+
(second.tv_usec - first.tv_usec);
15+
}
16+
17+
inline uint16_t crc16(const ArrayView<uint8_t> &array, std::size_t length) {
18+
assert(length <= array.size());
19+
return Utilities::crc16(array.data(), length);
20+
}
21+
22+
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inline timeval GetTimeStamp(void) {
24+
timeval tv;
25+
gettimeofday(&tv, NULL);
26+
return tv;
27+
}
28+
29+
30+
namespace Modbus {
31+
inline std::string GetFunctionName(const Modbus::Function function) {
32+
switch (function) {
33+
case Modbus::Function::kReadCoils:
34+
return "Read Coils";
35+
case Modbus::Function::kReadDiscreteInputs:
36+
return "Read Discrete Inputs";
37+
case Modbus::Function::kReadMultipleHoldingRegisters:
38+
return "Read Multiple Holding Registers";
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case Modbus::Function::kReadInputRegisters:
40+
return "Read Input Registers";
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case Modbus::Function::kWriteSingleCoil:
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return "Read Single Coil";
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case Modbus::Function::kWriteSingleHoldingRegister:
44+
return "Write Single Holding Register";
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case Modbus::Function::kWriteMultipleHoldingRegisters:
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return "Write Multiple Holding Registers";
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case Modbus::Function::kWriteMultipleCoils:
48+
return "Write Multiple Coils";
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case Modbus::Function::kReadDeviceIdentification:
50+
return "Read Device Information";
51+
default:
52+
break;
53+
}
54+
char buff[256]{};
55+
snprintf(buff, sizeof(buff), "Unknown Command %d", static_cast<int>(function));
56+
return buff;
57+
}
58+
59+
60+
inline void PrintPacketData(const Modbus::Frame& frame) {
61+
printf("Slave Address %d: %s ", frame.address, GetFunctionName(frame.function).c_str());
62+
switch (frame.function) {
63+
case Modbus::Function::kReadMultipleHoldingRegisters: {
64+
const uint16_t address = Modbus::DataCommand::ReadAddressStart(frame.data_array);
65+
const uint16_t register_count = Modbus::ReadMultipleHoldingRegistersCommand::ReadRegisterCount(frame.data_array);
66+
printf("Address: 0x%x, Count: %d", address, register_count);
67+
break;
68+
}
69+
case Modbus::Function::kWriteMultipleHoldingRegisters: {
70+
const uint16_t address = Modbus::DataCommand::ReadAddressStart(frame.data_array);
71+
const uint16_t register_count = Modbus::WriteMultipleHoldingRegistersCommand::ReadRegisterCount(frame.data_array);
72+
printf("Address: 0x%x, Count: %d", address, register_count);
73+
break;
74+
}
75+
default:
76+
break;
77+
}
78+
79+
printf(" [");
80+
for (std::size_t i = 0; i < frame.data_length; i++) {
81+
printf("0x%x ", frame.data_array[i]);
82+
}
83+
printf("]");
84+
}
85+
86+
} // namespace Modbus

‎examples/FlatBuffersTest/LinuxSlave.h‎

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1+
/* Copyright (C) 2020 Electrooptical Innovations
2+
* ----------------------------------------------------------------------
3+
* Project: Modbus
4+
* Title: LinuxSlave.h
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* Description: Linux modbus slave
6+
*
7+
* $Date: 13. May 2020
8+
* $Revision: V.1.0.1
9+
* ----------------------------------------------------------------------
10+
*/
11+
12+
#pragma once
13+
#include "LinuxModbusTools.h"
14+
#include <Modbus/flat_buffers_register_wrapper.h>
15+
#include "InputRegisterMappedDataStore_generated.h"
16+
#include "HoldingRegisterMappedDataStore_generated.h"
17+
#include <Modbus/../../examples/posix/PosixSerial.h>
18+
#include <Modbus/Modbus.h>
19+
#include <Modbus/BitControl.h>
20+
#include <Modbus/DataStore.h>
21+
#include <Modbus/ModbusRtu/ModbusRtuSlave.h>
22+
#include <Modbus/RegisterControl.h>
23+
#include <Modbus/MappedRegisterDataStore.h>
24+
#include <Modbus/DataStore.h>
25+
#include <Utilities/TypeConversion.h>
26+
#include <cassert>
27+
#include <cstdint>
28+
#include <sys/time.h>
29+
#include <vector>
30+
inline const constexpr std::size_t kCoilCount = 1;
31+
using CoilController =
32+
Modbus::CoilController<Modbus::BitFieldDataStore<kCoilCount>>;
33+
using DiscreteInputController =
34+
Modbus::DiscreteInputController<Modbus::BitFieldDataStore<kCoilCount>>;
35+
36+
37+
using HoldingRegisterMemoryMap = Modbus::FlatBufferRegisterStore<HoldingRegisters>;
38+
using HoldingRegisterController =
39+
Modbus::HoldingRegisterController<Modbus::MappedRegisterDataStore<HoldingRegisterMemoryMap>>;
40+
using InputRegisterMemoryMap = Modbus::FlatBufferRegisterStore<InputRegisters>;
41+
using InputRegisterController =
42+
Modbus::InputRegisterController<Modbus::MappedRegisterDataStore<InputRegisterMemoryMap>>;
43+
using SlaveBase =
44+
Modbus::ProtocolRtuSlave<CoilController, HoldingRegisterController,
45+
DiscreteInputController, InputRegisterController>;
46+
47+
48+
class LinuxSlave : public SlaveBase {
49+
public:
50+
51+
CoilController coils_;
52+
//HoldingRegisterController& holding_register_controller_;
53+
DiscreteInputController dins_;
54+
55+
static const constexpr uint8_t kSlaveAddress = 0x03;
56+
57+
static const constexpr int kBaudRateHz = 9600;
58+
static const constexpr speed_t kBaudRate = B9600;
59+
static const constexpr int kCharacterClocks = 8 + 1;
60+
61+
const char *const device_name; // = "/tmp/ttyp0";
62+
timeval last_character_time_ = GetTimeStamp();
63+
static const constexpr int64_t kFrameDelay_us =
64+
(1e6 * (kCharacterClocks * 3.5)) / (static_cast<double>(kBaudRateHz));
65+
UartController iodev_;
66+
int byte_counter_ = 0;
67+
68+
timeval GetTimeStamp(void) {
69+
timeval tv;
70+
gettimeofday(&tv, NULL);
71+
return tv;
72+
}
73+
74+
void ProcessPacket(void) {
75+
ProcessMessage();
76+
77+
const auto& frame = GetFrameIn();
78+
Modbus::PrintPacketData(frame);
79+
printf("\n");
80+
#if 0
81+
if (frame.address == 246 || frame.function == Modbus::Function::kWriteMultipleHoldingRegisters) {
82+
printf("\n");
83+
PrintPacketData(frame);
84+
printf("\n");
85+
} else {
86+
printf(".");
87+
fflush(stdout);
88+
}
89+
#endif
90+
if (GetResponseValid()) {
91+
iodev_.write(GetResponse().data(), GetResponse().GetLength());
92+
printf("Response: [");
93+
const auto response = GetResponse();
94+
std::size_t cnt = 0;
95+
for (auto pt : response) {
96+
cnt++;
97+
printf("%d ", pt);
98+
}
99+
printf("]\n");
100+
assert(cnt == response.GetLength());
101+
}
102+
Reset();
103+
}
104+
105+
bool RxCharacterTimeout(const timeval &timestamp) const {
106+
const bool character_timeout = GetMicroSecondsSince(last_character_time_, timestamp) >=
107+
10 * kFrameDelay_us;
108+
return character_timeout;
109+
}
110+
111+
public:
112+
void Run(void) {
113+
//sleep(0.005);
114+
iodev_.SendTxBuff();
115+
iodev_.ReadIntoRxBuff();
116+
117+
if (slave_.ctx_.PacketReceived()) {
118+
// check slave address
119+
ProcessPacket();
120+
}
121+
if (!iodev_.rxEmpty()) {
122+
last_character_time_ = GetTimeStamp();
123+
uint8_t data = 0;
124+
iodev_.read(&data, 1);
125+
slave_.ProcessCharacter(data);
126+
} else if (RxCharacterTimeout(GetTimeStamp())) {
127+
Reset();
128+
}
129+
}
130+
131+
public:
132+
133+
explicit LinuxSlave(const char *const port,
134+
HoldingRegisterController& holding_register_controller,
135+
InputRegisterController& input_register_controller)
136+
: SlaveBase{&crc16, kSlaveAddress, coils_,
137+
holding_register_controller, dins_, input_register_controller},
138+
device_name{port}, iodev_{port, kBaudRate} {}
139+
};

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