judsonupchurch/Embedded-MODBUS-TCP-Client
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Added a 3rd version of the code. Need to check which is which

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judsonupchurch 2025-06-14 14:51:43 -05:00
parent d564f459f6
commit 7feff1dc5a
6 changed files with 1580 additions and 515 deletions
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380
modbus_tcp_client.cpp
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@ -1,5 +1,4 @@
#include "modbus_tcp_client.h" #include "modbus_tcp_client.h"
#include <sys/select.h>
// --- Helper: Compute maximum read response size based on configured counts. // --- Helper: Compute maximum read response size based on configured counts.
int ModbusTCPClient::computeMaxReadResponseSize() const { int ModbusTCPClient::computeMaxReadResponseSize() const {
@ -33,12 +32,13 @@ ModbusTCPClient::ModbusTCPClient(const char* ip, int port, int numCoils, int num
startCoils(startCoils), startDiscreteInputs(startDI), startInputRegisters(startIR), startHoldingRegisters(startHR) { startCoils(startCoils), startDiscreteInputs(startDI), startInputRegisters(startIR), startHoldingRegisters(startHR) {
// Allocate internal storage for automatic readAll()/writeAll() mode. // Allocate internal storage for automatic readAll()/writeAll() mode.
coilsRead = new bool[numCoils](); coilsRead = (numCoils > 0) ? new bool[numCoils]() : nullptr;
coilsWrite = new bool[numCoils](); coilsWrite = (numCoils > 0) ? new bool[numCoils]() : nullptr;
discreteInputs = new bool[numDI](); discreteInputs = (numDI > 0) ? new bool[numDI]() : nullptr;
inputRegisters = new uint16_t[numIR](); inputRegisters = (numIR > 0) ? new uint16_t[numIR]() : nullptr;
holdingRegistersRead = new uint16_t[numHR](); holdingRegistersRead = (numHR > 0) ? new uint16_t[numHR]() : nullptr;
holdingRegistersWrite = new uint16_t[numHR](); holdingRegistersWrite = (numHR > 0) ? new uint16_t[numHR]() : nullptr;
// Allocate shared communication buffers. // Allocate shared communication buffers.
commRequestBufferSize = computeMaxWriteRequestSize(); // Worst-case request size. commRequestBufferSize = computeMaxWriteRequestSize(); // Worst-case request size.
@ -46,8 +46,12 @@ ModbusTCPClient::ModbusTCPClient(const char* ip, int port, int numCoils, int num
commRequestBuffer = new uint8_t[commRequestBufferSize]; commRequestBuffer = new uint8_t[commRequestBufferSize];
commResponseBuffer = new uint8_t[commResponseBufferSize]; commResponseBuffer = new uint8_t[commResponseBufferSize];
// Initialize the socket mutex. // Initialize the socket mutex with a recursive attribute.
pthread_mutex_init(&socketMutex, NULL); pthread_mutexattr_t attr;
pthread_mutexattr_init(&attr);
pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_RECURSIVE);
pthread_mutex_init(&socketMutex, &attr);
pthread_mutexattr_destroy(&attr);
} }
ModbusTCPClient::ModbusTCPClient(const char* ip, int port) ModbusTCPClient::ModbusTCPClient(const char* ip, int port)
@ -66,8 +70,12 @@ ModbusTCPClient::ModbusTCPClient(const char* ip, int port)
commRequestBuffer = new uint8_t[commRequestBufferSize]; commRequestBuffer = new uint8_t[commRequestBufferSize];
commResponseBuffer = new uint8_t[commResponseBufferSize]; commResponseBuffer = new uint8_t[commResponseBufferSize];
// Initialize the socket mutex. // Initialize the socket mutex with a recursive attribute.
pthread_mutex_init(&socketMutex, NULL); pthread_mutexattr_t attr;
pthread_mutexattr_init(&attr);
pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_RECURSIVE);
pthread_mutex_init(&socketMutex, &attr);
pthread_mutexattr_destroy(&attr);
} }
ModbusTCPClient::~ModbusTCPClient() { ModbusTCPClient::~ModbusTCPClient() {
@ -93,46 +101,134 @@ void ModbusTCPClient::setStartAddresses(int startCoils, int startDI, int startIR
} }
// --- Connection Functions --- // --- Connection Functions ---
// bool ModbusTCPClient::connectServer() {
// //pthread_mutex_lock(&socketMutex);
// if (socketFD != -1) {
// //pthread_mutex_unlock(&socketMutex);
// return true;
// }
// for (int attempts = 0; attempts < 5; attempts++) {
// socketFD = socket(AF_INET, SOCK_STREAM, 0);
// if (socketFD < 0) {
// printf("MODBUS_TCP_CLIENT: Could not create socket\n");
// //pthread_mutex_unlock(&socketMutex);
// return false;
// }
// struct sockaddr_in serverAddr;
// serverAddr.sin_family = AF_INET;
// serverAddr.sin_port = htons(serverPort);
// inet_pton(AF_INET, serverIP, &serverAddr.sin_addr);
// printf("MODBUS_TCP_CLIENT: Attempting to connect (Try %d)...\n", attempts + 1);
// if (connect(socketFD, (struct sockaddr*)&serverAddr, sizeof(serverAddr)) == 0) {
// printf("MODBUS_TCP_CLIENT: Connected to %s:%d\n", serverIP, serverPort);
// //pthread_mutex_unlock(&socketMutex);
// return true;
// }
// printf("MODBUS_TCP_CLIENT: Connection failed, retrying...\n");
// disconnectServer();
// usleep(timeoutMilliseconds*1000);
// }
// //pthread_mutex_unlock(&socketMutex);
// return false;
// }
bool ModbusTCPClient::connectServer() { bool ModbusTCPClient::connectServer() {
pthread_mutex_lock(&socketMutex); // If already connected, return true.
if (socketFD != -1) { if (socketFD != -1) {
pthread_mutex_unlock(&socketMutex);
return true; return true;
} }
for (int attempts = 0; attempts < 5; attempts++) { for (int attempts = 0; attempts < 5; attempts++) {
// Create a new socket.
socketFD = socket(AF_INET, SOCK_STREAM, 0); socketFD = socket(AF_INET, SOCK_STREAM, 0);
if (socketFD < 0) { if (socketFD < 0) {
printf("MODBUS_TCP_CLIENT: Could not create socket\n"); printf("MODBUS_TCP_CLIENT: Could not create socket\n");
pthread_mutex_unlock(&socketMutex);
return false; return false;
} }
// Set the socket to non-blocking mode.
int flags = fcntl(socketFD, F_GETFL, 0);
if (flags < 0) {
printf("MODBUS_TCP_CLIENT: fcntl F_GETFL");
disconnectServer();
return false;
}
if (fcntl(socketFD, F_SETFL, flags | O_NONBLOCK) < 0) {
printf("MODBUS_TCP_CLIENT: fcntl F_SETFL O_NONBLOCK");
disconnectServer();
return false;
}
// Prepare the server address.
struct sockaddr_in serverAddr; struct sockaddr_in serverAddr;
serverAddr.sin_family = AF_INET; serverAddr.sin_family = AF_INET;
serverAddr.sin_port = htons(serverPort); serverAddr.sin_port = htons(serverPort);
inet_pton(AF_INET, serverIP, &serverAddr.sin_addr); inet_pton(AF_INET, serverIP, &serverAddr.sin_addr);
printf("MODBUS_TCP_CLIENT: Attempting to connect (Try %d)...\n", attempts + 1); printf("MODBUS_TCP_CLIENT: Attempting to connect (Try %d)...\n", attempts + 1);
if (connect(socketFD, (struct sockaddr*)&serverAddr, sizeof(serverAddr)) == 0) { int res = connect(socketFD, (struct sockaddr*)&serverAddr, sizeof(serverAddr));
printf("MODBUS_TCP_CLIENT: Connected to %s:%d\n", serverIP, serverPort); if (res < 0) {
pthread_mutex_unlock(&socketMutex); if (errno == EINPROGRESS) {
// Connection is in progress, use select() to wait.
fd_set wfds;
FD_ZERO(&wfds);
FD_SET(socketFD, &wfds);
struct timeval tv;
tv.tv_sec = timeoutMilliseconds / 1000;
tv.tv_usec = (timeoutMilliseconds % 1000) * 1000;
int sel = select(socketFD + 1, NULL, &wfds, NULL, &tv);
if (sel > 0) {
int so_error = 0;
socklen_t len = sizeof(so_error);
if (getsockopt(socketFD, SOL_SOCKET, SO_ERROR, &so_error, &len) < 0) {
printf("MODBUS_TCP_CLIENT: getsockopt failed\n");
disconnectServer();
continue;
}
if (so_error == 0) {
// Connected successfully. Restore blocking mode.
flags = fcntl(socketFD, F_GETFL, 0);
fcntl(socketFD, F_SETFL, flags & ~O_NONBLOCK);
printf("MODBUS_TCP_CLIENT: Connected to %s:%d\n", serverIP, serverPort);
return true;
} else {
printf("MODBUS_TCP_CLIENT: Connect failed with error %d\n", so_error);
}
} else if (sel == 0) {
printf("MODBUS_TCP_CLIENT: Connect select timeout\n");
} else {
printf("MODBUS_TCP_CLIENT: Select during connect failed\n");
}
} else {
printf("MODBUS_TCP_CLIENT: Connect error\n");
}
} else {
// Unexpected immediate success in non-blocking mode.
flags = fcntl(socketFD, F_GETFL, 0);
fcntl(socketFD, F_SETFL, flags & ~O_NONBLOCK);
printf("MODBUS_TCP_CLIENT: Connected immediately to %s:%d\n", serverIP, serverPort);
return true; return true;
} }
// If connection failed, disconnect and wait before retrying.
printf("MODBUS_TCP_CLIENT: Connection failed, retrying...\n"); printf("MODBUS_TCP_CLIENT: Connection failed, retrying...\n");
pthread_mutex_unlock(&socketMutex);
disconnectServer(); disconnectServer();
usleep(100000); usleep(timeoutMilliseconds * 1000);
} }
pthread_mutex_unlock(&socketMutex);
return false; return false;
} }
void ModbusTCPClient::disconnectServer() { void ModbusTCPClient::disconnectServer() {
pthread_mutex_lock(&socketMutex); ////pthread_mutex_lock(&socketMutex);
if (socketFD != -1) { if (socketFD != -1) {
shutdown(socketFD, SHUT_RDWR);
close(socketFD); close(socketFD);
socketFD = -1; socketFD = -1;
printf("MODBUS_TCP_CLIENT: Disconnected from server\n"); printf("MODBUS_TCP_CLIENT: Disconnected from server\n");
} }
pthread_mutex_unlock(&socketMutex); //thread_mutex_unlock(&socketMutex);
} }
bool ModbusTCPClient::isConnected() const { bool ModbusTCPClient::isConnected() const {
@ -150,7 +246,7 @@ void ModbusTCPClient::setTimeout(int milliseconds) {
} }
bool ModbusTCPClient::sendRequest(uint8_t* request, int requestSize) { bool ModbusTCPClient::sendRequest(uint8_t* request, int requestSize) {
if (socketFD == -1) { if (!isConnected()) {
printf("MODBUS_TCP_CLIENT: Not connected. Cannot send request.\n"); printf("MODBUS_TCP_CLIENT: Not connected. Cannot send request.\n");
return false; return false;
} }
@ -182,6 +278,11 @@ bool ModbusTCPClient::receiveResponse(uint8_t* response, int expectedSize) {
disconnectServer(); disconnectServer();
return false; return false;
} }
// Make sure we are still connected before we do a read to prevent a hardfault
if (!isConnected()) {
printf("MODBUS_TCP_CLIENT: Connection lost while reading. Disconnecting...\n");
return false;
}
int bytesReceived = read(socketFD, response + totalBytesReceived, expectedSize - totalBytesReceived); int bytesReceived = read(socketFD, response + totalBytesReceived, expectedSize - totalBytesReceived);
if (bytesReceived <= 0) { if (bytesReceived <= 0) {
printf("MODBUS_TCP_CLIENT: Connection lost while reading. Disconnecting...\n"); printf("MODBUS_TCP_CLIENT: Connection lost while reading. Disconnecting...\n");
@ -262,33 +363,33 @@ void ModbusTCPClient::buildWriteMultipleRequest(uint8_t* buffer, ModbusFunction
// --- High-Level Read/Write Functions --- // --- High-Level Read/Write Functions ---
ModbusError ModbusTCPClient::readCoil(int address, bool &coilState) { ModbusError ModbusTCPClient::readCoil(int address, bool &coilState) {
pthread_mutex_lock(&socketMutex); //pthread_mutex_lock(&socketMutex);
buildReadRequest(commRequestBuffer, ModbusFunction::READ_COIL, address, 1); buildReadRequest(commRequestBuffer, ModbusFunction::READ_COIL, address, 1);
if (!sendRequest(commRequestBuffer, 12)) { if (!sendRequest(commRequestBuffer, 12)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
// Expect 10 bytes: header (9 bytes) + 1 byte data // Expect 10 bytes: header (9 bytes) + 1 byte data
int expectedSize = 9 + 1; int expectedSize = 9 + 1;
if (!receiveResponse(commResponseBuffer, expectedSize)) { if (!receiveResponse(commResponseBuffer, expectedSize)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
// Handle MODBUS exception responses (0x80 + function code) // Handle MODBUS exception responses (0x80 + function code)
if (commResponseBuffer[7] & 0x80) { if (commResponseBuffer[7] & 0x80) {
printf("MODBUS_TCP_CLIENT: Exception Code %02X\n", commResponseBuffer[8]); printf("MODBUS_TCP_CLIENT: Exception Code %02X\n", commResponseBuffer[8]);
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::EXCEPTION_RESPONSE; return ModbusError::EXCEPTION_RESPONSE;
} }
// Ensure the function code in the response matches the request. // Ensure the function code in the response matches the request.
if (commResponseBuffer[7] != static_cast<uint8_t>(ModbusFunction::READ_COIL)) { if (commResponseBuffer[7] != static_cast<uint8_t>(ModbusFunction::READ_COIL)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
// Set the internal coil state from the response // Set the internal coil state from the response
coilState = (commResponseBuffer[9] & 0x01) != 0; coilState = (commResponseBuffer[9] & 0x01) != 0;
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::NONE; return ModbusError::NONE;
} }
@ -297,28 +398,28 @@ ModbusError ModbusTCPClient::readMultipleCoils(int address, int count, bool coil
printf("MODBUS_TCP_CLIENT: Invalid coil count (1-2000 allowed)\n"); printf("MODBUS_TCP_CLIENT: Invalid coil count (1-2000 allowed)\n");
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
pthread_mutex_lock(&socketMutex); //pthread_mutex_lock(&socketMutex);
buildReadRequest(commRequestBuffer, ModbusFunction::READ_COIL, address, count); buildReadRequest(commRequestBuffer, ModbusFunction::READ_COIL, address, count);
if (!sendRequest(commRequestBuffer, 12)) { if (!sendRequest(commRequestBuffer, 12)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
// Expected response size: fixed header (9 bytes) + variable byte count. // Expected response size: fixed header (9 bytes) + variable byte count.
int byteCount = (count + 7) / 8; // 1 byte per 8 coils int byteCount = (count + 7) / 8; // 1 byte per 8 coils
int expectedSize = 9 + byteCount; int expectedSize = 9 + byteCount;
if (!receiveResponse(commResponseBuffer, expectedSize)) { if (!receiveResponse(commResponseBuffer, expectedSize)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
// Handle MODBUS exception responses (0x80 + function code) // Handle MODBUS exception responses (0x80 + function code)
if (commResponseBuffer[7] & 0x80) { if (commResponseBuffer[7] & 0x80) {
printf("MODBUS_TCP_CLIENT: MODBUS Exception Code %02X\n", commResponseBuffer[8]); printf("MODBUS_TCP_CLIENT: MODBUS Exception Code %02X\n", commResponseBuffer[8]);
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::EXCEPTION_RESPONSE; return ModbusError::EXCEPTION_RESPONSE;
} }
// Ensure the function code in the response matches the request. // Ensure the function code in the response matches the request.
if (commResponseBuffer[7] != static_cast<uint8_t>(ModbusFunction::READ_COIL)) { if (commResponseBuffer[7] != static_cast<uint8_t>(ModbusFunction::READ_COIL)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
// Extract coil values: data starts at index 9. // Extract coil values: data starts at index 9.
@ -327,38 +428,38 @@ ModbusError ModbusTCPClient::readMultipleCoils(int address, int count, bool coil
int bitIndex = i % 8; int bitIndex = i % 8;
coilStates[i] = (commResponseBuffer[byteIndex] >> bitIndex) & 0x01; coilStates[i] = (commResponseBuffer[byteIndex] >> bitIndex) & 0x01;
} }
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::NONE; return ModbusError::NONE;
} }
ModbusError ModbusTCPClient::readDiscreteInput(int address, bool &discreteInput) { ModbusError ModbusTCPClient::readDiscreteInput(int address, bool &discreteInput) {
pthread_mutex_lock(&socketMutex); //pthread_mutex_lock(&socketMutex);
// Build a request for one discrete input (quantity = 1) // Build a request for one discrete input (quantity = 1)
buildReadRequest(commRequestBuffer, ModbusFunction::READ_DISCRETE_INPUT, address, 1); buildReadRequest(commRequestBuffer, ModbusFunction::READ_DISCRETE_INPUT, address, 1);
if (!sendRequest(commRequestBuffer, 12)) { if (!sendRequest(commRequestBuffer, 12)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
// Expect 10 bytes: header (9 bytes) + 1 byte data // Expect 10 bytes: header (9 bytes) + 1 byte data
int expectedSize = 9 + 1; int expectedSize = 9 + 1;
if (!receiveResponse(commResponseBuffer, expectedSize)) { if (!receiveResponse(commResponseBuffer, expectedSize)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
// Check for MODBUS exception response // Check for MODBUS exception response
if (commResponseBuffer[7] & 0x80) { if (commResponseBuffer[7] & 0x80) {
printf("MODBUS_TCP_CLIENT: Exception Code %02X\n", commResponseBuffer[8]); printf("MODBUS_TCP_CLIENT: Exception Code %02X\n", commResponseBuffer[8]);
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::EXCEPTION_RESPONSE; return ModbusError::EXCEPTION_RESPONSE;
} }
// Validate function code // Validate function code
if (commResponseBuffer[7] != static_cast<uint8_t>(ModbusFunction::READ_DISCRETE_INPUT)) { if (commResponseBuffer[7] != static_cast<uint8_t>(ModbusFunction::READ_DISCRETE_INPUT)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
// Extract the discrete input state (first bit of the data byte at index 9) // Extract the discrete input state (first bit of the data byte at index 9)
discreteInput = (commResponseBuffer[9] & 0x01) != 0; discreteInput = (commResponseBuffer[9] & 0x01) != 0;
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::NONE; return ModbusError::NONE;
} }
@ -367,26 +468,26 @@ ModbusError ModbusTCPClient::readMultipleDiscreteInputs(int address, int count,
printf("MODBUS_TCP_CLIENT: Invalid discrete input count (1- allowed)\n"); printf("MODBUS_TCP_CLIENT: Invalid discrete input count (1- allowed)\n");
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
pthread_mutex_lock(&socketMutex); //pthread_mutex_lock(&socketMutex);
buildReadRequest(commRequestBuffer, ModbusFunction::READ_DISCRETE_INPUT, address, count); buildReadRequest(commRequestBuffer, ModbusFunction::READ_DISCRETE_INPUT, address, count);
if (!sendRequest(commRequestBuffer, 12)) { if (!sendRequest(commRequestBuffer, 12)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
// Expected response: 9-byte header + ceil(count/8) bytes of data // Expected response: 9-byte header + ceil(count/8) bytes of data
int byteCount = (count + 7) / 8; int byteCount = (count + 7) / 8;
int expectedSize = 9 + byteCount; int expectedSize = 9 + byteCount;
if (!receiveResponse(commResponseBuffer, expectedSize)) { if (!receiveResponse(commResponseBuffer, expectedSize)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
if (commResponseBuffer[7] & 0x80) { if (commResponseBuffer[7] & 0x80) {
printf("MODBUS_TCP_CLIENT: Exception Code %02X\n", commResponseBuffer[8]); printf("MODBUS_TCP_CLIENT: Exception Code %02X\n", commResponseBuffer[8]);
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::EXCEPTION_RESPONSE; return ModbusError::EXCEPTION_RESPONSE;
} }
if (commResponseBuffer[7] != static_cast<uint8_t>(ModbusFunction::READ_DISCRETE_INPUT)) { if (commResponseBuffer[7] != static_cast<uint8_t>(ModbusFunction::READ_DISCRETE_INPUT)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
// Extract each discrete input bit from the data starting at index 9 // Extract each discrete input bit from the data starting at index 9
@ -395,35 +496,35 @@ ModbusError ModbusTCPClient::readMultipleDiscreteInputs(int address, int count,
int bitIndex = i % 8; int bitIndex = i % 8;
discreteInputsArray[i] = (commResponseBuffer[byteIndex] >> bitIndex) & 0x01; discreteInputsArray[i] = (commResponseBuffer[byteIndex] >> bitIndex) & 0x01;
} }
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::NONE; return ModbusError::NONE;
} }
ModbusError ModbusTCPClient::readHoldingRegister(int address, uint16_t &holdingRegister) { ModbusError ModbusTCPClient::readHoldingRegister(int address, uint16_t &holdingRegister) {
pthread_mutex_lock(&socketMutex); //pthread_mutex_lock(&socketMutex);
buildReadRequest(commRequestBuffer, ModbusFunction::READ_HOLDING_REGISTER, address, 1); buildReadRequest(commRequestBuffer, ModbusFunction::READ_HOLDING_REGISTER, address, 1);
if (!sendRequest(commRequestBuffer, 12)) { if (!sendRequest(commRequestBuffer, 12)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
// For one register, expect 9-byte header + 2 bytes data = 11 bytes total // For one register, expect 9-byte header + 2 bytes data = 11 bytes total
int expectedSize = 9 + 2; int expectedSize = 9 + 2;
if (!receiveResponse(commResponseBuffer, expectedSize)) { if (!receiveResponse(commResponseBuffer, expectedSize)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
if (commResponseBuffer[7] & 0x80) { if (commResponseBuffer[7] & 0x80) {
printf("MODBUS_TCP_CLIENT: Exception Code %02X\n", commResponseBuffer[8]); printf("MODBUS_TCP_CLIENT: Exception Code %02X\n", commResponseBuffer[8]);
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::EXCEPTION_RESPONSE; return ModbusError::EXCEPTION_RESPONSE;
} }
if (commResponseBuffer[7] != static_cast<uint8_t>(ModbusFunction::READ_HOLDING_REGISTER)) { if (commResponseBuffer[7] != static_cast<uint8_t>(ModbusFunction::READ_HOLDING_REGISTER)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
// Extract the register value (big-endian: data at indices 9 and 10) // Extract the register value (big-endian: data at indices 9 and 10)
holdingRegister = (commResponseBuffer[9] << 8) | commResponseBuffer[10]; holdingRegister = (commResponseBuffer[9] << 8) | commResponseBuffer[10];
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::NONE; return ModbusError::NONE;
} }
@ -432,59 +533,59 @@ ModbusError ModbusTCPClient::readMultipleHoldingRegisters(int address, int count
printf("MODBUS_TCP_CLIENT: Invalid holding register count (1-125 allowed)\n"); printf("MODBUS_TCP_CLIENT: Invalid holding register count (1-125 allowed)\n");
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
pthread_mutex_lock(&socketMutex); //pthread_mutex_lock(&socketMutex);
buildReadRequest(commRequestBuffer, ModbusFunction::READ_HOLDING_REGISTER, address, count); buildReadRequest(commRequestBuffer, ModbusFunction::READ_HOLDING_REGISTER, address, count);
if (!sendRequest(commRequestBuffer, 12)) { if (!sendRequest(commRequestBuffer, 12)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
// For multiple registers: expected size = 9 + (count * 2) // For multiple registers: expected size = 9 + (count * 2)
int expectedSize = 9 + (count * 2); int expectedSize = 9 + (count * 2);
if (!receiveResponse(commResponseBuffer, expectedSize)) { if (!receiveResponse(commResponseBuffer, expectedSize)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
if (commResponseBuffer[7] & 0x80) { if (commResponseBuffer[7] & 0x80) {
printf("MODBUS_TCP_CLIENT: Exception Code %02X\n", commResponseBuffer[8]); printf("MODBUS_TCP_CLIENT: Exception Code %02X\n", commResponseBuffer[8]);
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::EXCEPTION_RESPONSE; return ModbusError::EXCEPTION_RESPONSE;
} }
if (commResponseBuffer[7] != static_cast<uint8_t>(ModbusFunction::READ_HOLDING_REGISTER)) { if (commResponseBuffer[7] != static_cast<uint8_t>(ModbusFunction::READ_HOLDING_REGISTER)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
// Extract each register value (each register is 2 bytes, big-endian) // Extract each register value (each register is 2 bytes, big-endian)
for (int i = 0; i < count; i++) { for (int i = 0; i < count; i++) {
holdingRegistersArray[i] = (commResponseBuffer[9 + (i * 2)] << 8) | commResponseBuffer[10 + (i * 2)]; holdingRegistersArray[i] = (commResponseBuffer[9 + (i * 2)] << 8) | commResponseBuffer[10 + (i * 2)];
} }
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::NONE; return ModbusError::NONE;
} }
ModbusError ModbusTCPClient::readInputRegister(int address, uint16_t &inputRegister) { ModbusError ModbusTCPClient::readInputRegister(int address, uint16_t &inputRegister) {
pthread_mutex_lock(&socketMutex); //pthread_mutex_lock(&socketMutex);
buildReadRequest(commRequestBuffer, ModbusFunction::READ_INPUT_REGISTER, address, 1); buildReadRequest(commRequestBuffer, ModbusFunction::READ_INPUT_REGISTER, address, 1);
if (!sendRequest(commRequestBuffer, 12)) { if (!sendRequest(commRequestBuffer, 12)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
// For one input register: expected size = 9 + 2 = 11 bytes // For one input register: expected size = 9 + 2 = 11 bytes
int expectedSize = 9 + 2; int expectedSize = 9 + 2;
if (!receiveResponse(commResponseBuffer, expectedSize)) { if (!receiveResponse(commResponseBuffer, expectedSize)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
if (commResponseBuffer[7] & 0x80) { if (commResponseBuffer[7] & 0x80) {
printf("MODBUS_TCP_CLIENT: Exception Code %02X\n", commResponseBuffer[8]); printf("MODBUS_TCP_CLIENT: Exception Code %02X\n", commResponseBuffer[8]);
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::EXCEPTION_RESPONSE; return ModbusError::EXCEPTION_RESPONSE;
} }
if (commResponseBuffer[7] != static_cast<uint8_t>(ModbusFunction::READ_INPUT_REGISTER)) { if (commResponseBuffer[7] != static_cast<uint8_t>(ModbusFunction::READ_INPUT_REGISTER)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
inputRegister = (commResponseBuffer[9] << 8) | commResponseBuffer[10]; inputRegister = (commResponseBuffer[9] << 8) | commResponseBuffer[10];
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::NONE; return ModbusError::NONE;
} }
@ -493,63 +594,63 @@ ModbusError ModbusTCPClient::readMultipleInputRegisters(int address, int count,
printf("MODBUS_TCP_CLIENT: Invalid input register count (1-125 allowed)\n"); printf("MODBUS_TCP_CLIENT: Invalid input register count (1-125 allowed)\n");
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
pthread_mutex_lock(&socketMutex); //pthread_mutex_lock(&socketMutex);
buildReadRequest(commRequestBuffer, ModbusFunction::READ_INPUT_REGISTER, address, count); buildReadRequest(commRequestBuffer, ModbusFunction::READ_INPUT_REGISTER, address, count);
if (!sendRequest(commRequestBuffer, 12)) { if (!sendRequest(commRequestBuffer, 12)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
// For multiple registers: expected size = 9 + (count * 2) // For multiple registers: expected size = 9 + (count * 2)
int expectedSize = 9 + (count * 2); int expectedSize = 9 + (count * 2);
if (!receiveResponse(commResponseBuffer, expectedSize)) { if (!receiveResponse(commResponseBuffer, expectedSize)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
if (commResponseBuffer[7] & 0x80) { if (commResponseBuffer[7] & 0x80) {
printf("MODBUS_TCP_CLIENT: Exception Code %02X\n", commResponseBuffer[8]); printf("MODBUS_TCP_CLIENT: Exception Code %02X\n", commResponseBuffer[8]);
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::EXCEPTION_RESPONSE; return ModbusError::EXCEPTION_RESPONSE;
} }
if (commResponseBuffer[7] != static_cast<uint8_t>(ModbusFunction::READ_INPUT_REGISTER)) { if (commResponseBuffer[7] != static_cast<uint8_t>(ModbusFunction::READ_INPUT_REGISTER)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
// Extract each register value (each register is 2 bytes, big-endian) // Extract each register value (each register is 2 bytes, big-endian)
for (int i = 0; i < count; i++) { for (int i = 0; i < count; i++) {
inputRegistersArray[i] = (commResponseBuffer[9 + (i * 2)] << 8) | commResponseBuffer[10 + (i * 2)]; inputRegistersArray[i] = (commResponseBuffer[9 + (i * 2)] << 8) | commResponseBuffer[10 + (i * 2)];
} }
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::NONE; return ModbusError::NONE;
} }
ModbusError ModbusTCPClient::writeCoil(int address, bool value) { ModbusError ModbusTCPClient::writeCoil(int address, bool value) {
pthread_mutex_lock(&socketMutex); //pthread_mutex_lock(&socketMutex);
buildWriteSingleRequest(commRequestBuffer, ModbusFunction::WRITE_SINGLE_COIL, address, value ? 0xFF00 : 0x0000); buildWriteSingleRequest(commRequestBuffer, ModbusFunction::WRITE_SINGLE_COIL, address, value ? 0xFF00 : 0x0000);
if (!sendRequest(commRequestBuffer, 12)) { if (!sendRequest(commRequestBuffer, 12)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
if (!receiveResponse(commResponseBuffer, 12)) { if (!receiveResponse(commResponseBuffer, 12)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
for (int i = 0; i < 12; i++) { for (int i = 0; i < 12; i++) {
if (commRequestBuffer[i] != commResponseBuffer[i]) { if (commRequestBuffer[i] != commResponseBuffer[i]) {
printf("MODBUS_TCP_CLIENT: Response does not match request!\n"); printf("MODBUS_TCP_CLIENT: Response does not match request!\n");
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
} }
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::NONE; return ModbusError::NONE;
} }
ModbusError ModbusTCPClient::writeMultipleCoils(int address, int count, const bool values[]) { ModbusError ModbusTCPClient::writeMultipleCoils(int address, int count, const bool values[]) {
pthread_mutex_lock(&socketMutex); //pthread_mutex_lock(&socketMutex);
if (count < 1 || count > numCoils) { if (count < 1 || count > numCoils) {
printf("MODBUS_TCP_CLIENT: Invalid coil count (1-%d allowed)\n", numCoils); printf("MODBUS_TCP_CLIENT: Invalid coil count (1-%d allowed)\n", numCoils);
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
@ -572,14 +673,14 @@ ModbusError ModbusTCPClient::writeMultipleCoils(int address, int count, const bo
buildWriteMultipleRequest(commRequestBuffer, ModbusFunction::WRITE_MULTIPLE_COILS, address, count, coilData, byteCount); buildWriteMultipleRequest(commRequestBuffer, ModbusFunction::WRITE_MULTIPLE_COILS, address, count, coilData, byteCount);
// Send the request. // Send the request.
if (!sendRequest(commRequestBuffer, requestSize)) { if (!sendRequest(commRequestBuffer, requestSize)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
// The expected response size for a write multiple coils request is always 12 bytes. // The expected response size for a write multiple coils request is always 12 bytes.
int expectedResponseSize = 12; int expectedResponseSize = 12;
if (!receiveResponse(commResponseBuffer, expectedResponseSize)) { if (!receiveResponse(commResponseBuffer, expectedResponseSize)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
@ -589,45 +690,45 @@ ModbusError ModbusTCPClient::writeMultipleCoils(int address, int count, const bo
if (i == 5) continue; // Skip the length field. if (i == 5) continue; // Skip the length field.
if (commRequestBuffer[i] != commResponseBuffer[i]) { if (commRequestBuffer[i] != commResponseBuffer[i]) {
printf("MODBUS_TCP_CLIENT: Response does not match request at byte %d!\n", i); printf("MODBUS_TCP_CLIENT: Response does not match request at byte %d!\n", i);
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
} }
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::NONE; return ModbusError::NONE;
} }
ModbusError ModbusTCPClient::writeHoldingRegister(int address, uint16_t value) { ModbusError ModbusTCPClient::writeHoldingRegister(int address, uint16_t value) {
pthread_mutex_lock(&socketMutex); //pthread_mutex_lock(&socketMutex);
// Build the write single holding register request. // Build the write single holding register request.
buildWriteSingleRequest(commRequestBuffer, ModbusFunction::WRITE_SINGLE_HOLDING_REGISTER, address, value); buildWriteSingleRequest(commRequestBuffer, ModbusFunction::WRITE_SINGLE_HOLDING_REGISTER, address, value);
// Send the 12-byte request. // Send the 12-byte request.
if (!sendRequest(commRequestBuffer, 12)) { if (!sendRequest(commRequestBuffer, 12)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
// Expect a full 12-byte echo response. // Expect a full 12-byte echo response.
if (!receiveResponse(commResponseBuffer, 12)) { if (!receiveResponse(commResponseBuffer, 12)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
// Validate that the entire 12-byte response matches the request. // Validate that the entire 12-byte response matches the request.
for (int i = 0; i < 12; i++) { for (int i = 0; i < 12; i++) {
if (commRequestBuffer[i] != commResponseBuffer[i]) { if (commRequestBuffer[i] != commResponseBuffer[i]) {
printf("MODBUS_TCP_CLIENT: Response does not match request at byte %d!\n", i); printf("MODBUS_TCP_CLIENT: Response does not match request at byte %d!\n", i);
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
} }
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::NONE; return ModbusError::NONE;
} }
ModbusError ModbusTCPClient::writeMultipleHoldingRegisters(int address, int count, const uint16_t values[]) { ModbusError ModbusTCPClient::writeMultipleHoldingRegisters(int address, int count, const uint16_t values[]) {
pthread_mutex_lock(&socketMutex); //pthread_mutex_lock(&socketMutex);
if (count < 1 || count > numHoldingRegisters) { if (count < 1 || count > numHoldingRegisters) {
printf("MODBUS_TCP_CLIENT: Invalid register count (1-%d allowed)\n", numHoldingRegisters); printf("MODBUS_TCP_CLIENT: Invalid register count (1-%d allowed)\n", numHoldingRegisters);
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
// Each register is 2 bytes. // Each register is 2 bytes.
@ -644,13 +745,13 @@ ModbusError ModbusTCPClient::writeMultipleHoldingRegisters(int address, int coun
buildWriteMultipleRequest(commRequestBuffer, ModbusFunction::WRITE_MULTIPLE_HOLDING_REGISTERS, address, count, registerData, byteCount); buildWriteMultipleRequest(commRequestBuffer, ModbusFunction::WRITE_MULTIPLE_HOLDING_REGISTERS, address, count, registerData, byteCount);
// Send the request. // Send the request.
if (!sendRequest(commRequestBuffer, requestSize)) { if (!sendRequest(commRequestBuffer, requestSize)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
// The expected response size for a write multiple holding registers request is 12 bytes. // The expected response size for a write multiple holding registers request is 12 bytes.
int expectedResponseSize = 12; int expectedResponseSize = 12;
if (!receiveResponse(commResponseBuffer, expectedResponseSize)) { if (!receiveResponse(commResponseBuffer, expectedResponseSize)) {
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::TIMEOUT; return ModbusError::TIMEOUT;
} }
// Validate the response: Compare the first 10 bytes, skipping byte 5 (length field). // Validate the response: Compare the first 10 bytes, skipping byte 5 (length field).
@ -658,16 +759,24 @@ ModbusError ModbusTCPClient::writeMultipleHoldingRegisters(int address, int coun
if (i == 5) continue; // Skip the length field. if (i == 5) continue; // Skip the length field.
if (commRequestBuffer[i] != commResponseBuffer[i]) { if (commRequestBuffer[i] != commResponseBuffer[i]) {
printf("MODBUS_TCP_CLIENT: Response does not match request at byte %d!\n", i); printf("MODBUS_TCP_CLIENT: Response does not match request at byte %d!\n", i);
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::INVALID_RESPONSE; return ModbusError::INVALID_RESPONSE;
} }
} }
pthread_mutex_unlock(&socketMutex); //pthread_mutex_unlock(&socketMutex);
return ModbusError::NONE; return ModbusError::NONE;
} }
ModbusError ModbusTCPClient::readAll() { ModbusError ModbusTCPClient::readAll() {
// For brevity, call low-level functions that update internal storage. // For brevity, call low-level functions that update internal storage.
printf("readAll()\n");
if (!isConnected()) {
printf("MODBUS_TCP_CLIENT: Not connected when readAll() called. Connecting...");
if (connectServer()) {
printf("MODBUS_TCP_CLIENT: Failed to connect to MODBUS server\n");
}
return ModbusError::CONNECTION_LOST;
}
ModbusError error = ModbusError::NONE; ModbusError error = ModbusError::NONE;
if (coilsRead) { if (coilsRead) {
error = readMultipleCoils(startCoils, numCoils, coilsRead); error = readMultipleCoils(startCoils, numCoils, coilsRead);
@ -688,6 +797,13 @@ ModbusError ModbusTCPClient::readAll() {
} }
ModbusError ModbusTCPClient::writeAll() { ModbusError ModbusTCPClient::writeAll() {
if (!isConnected()) {
printf("MODBUS_TCP_CLIENT: Not connected when readAll() called. Connecting...");
if (connectServer()) {
printf("MODBUS_TCP_CLIENT: Failed to connect to MODBUS server\n");
}
return ModbusError::CONNECTION_LOST;
}
ModbusError error = ModbusError::NONE; ModbusError error = ModbusError::NONE;
if (coilsWrite) { if (coilsWrite) {
error = writeMultipleCoils(startCoils, numCoils, coilsWrite); error = writeMultipleCoils(startCoils, numCoils, coilsWrite);
@ -735,4 +851,80 @@ uint16_t ModbusTCPClient::getDesiredHoldingRegister(int address) const {
uint16_t ModbusTCPClient::getInputRegister(int address) const { uint16_t ModbusTCPClient::getInputRegister(int address) const {
return (address >= 0 && address < numInputRegisters) ? inputRegisters[address] : 0; return (address >= 0 && address < numInputRegisters) ? inputRegisters[address] : 0;
} }
ModbusError ModbusTCPClient::getMultipleDiscreteInputs(int startAddress, int count, bool* destination) const {
// Validate inputs
if (startAddress < 0 || count <= 0 || destination == nullptr) {
return ModbusError::INVALID_REQUEST;
}
// Check if the range is within bounds
if (startAddress + count > numDiscreteInputs) {
return ModbusError::INVALID_REQUEST;
}
// Copy the data manually
for (int i = 0; i < count; ++i) {
destination[i] = discreteInputs[startAddress + i];
}
return ModbusError::NONE;
}
ModbusError ModbusTCPClient::getMultipleCoils(int startAddress, int count, bool* destination) const {
// Validate inputs
if (startAddress < 0 || count <= 0 || destination == nullptr) {
return ModbusError::INVALID_REQUEST;
}
// Check if the range is within bounds
if (startAddress + count > numCoils) {
return ModbusError::INVALID_REQUEST;
}
// Copy the data manually
for (int i = 0; i < count; ++i) {
destination[i] = coilsRead[startAddress + i];
}
return ModbusError::NONE;
}
ModbusError ModbusTCPClient::getMultipleInputRegisters(int startAddress, int count, uint16_t* destination) const {
// Validate inputs
if (startAddress < 0 || count <= 0 || destination == nullptr) {
return ModbusError::INVALID_REQUEST;
}
// Check if the range is within bounds
if (startAddress + count > numInputRegisters) {
return ModbusError::INVALID_REQUEST;
}
// Copy the data manually
for (int i = 0; i < count; ++i) {
destination[i] = inputRegisters[startAddress + i];
}
return ModbusError::NONE;
}
ModbusError ModbusTCPClient::getMultipleHoldingRegisters(int startAddress, int count, uint16_t* destination) const {
// Validate inputs
if (startAddress < 0 || count <= 0 || destination == nullptr) {
return ModbusError::INVALID_REQUEST;
}
// Check if the range is within bounds
if (startAddress + count > numHoldingRegisters) {
return ModbusError::INVALID_REQUEST;
}
// Copy the data manually
for (int i = 0; i < count; ++i) {
destination[i] = holdingRegistersRead[startAddress + i];
}
return ModbusError::NONE;
}

12
modbus_tcp_client.h
View File

@ -4,8 +4,10 @@
#include <stdint.h> #include <stdint.h>
#include <stdio.h> #include <stdio.h>
#include <unistd.h> #include <unistd.h>
#include <fcntl.h>
#include <arpa/inet.h> #include <arpa/inet.h>
#include <sys/socket.h> #include <sys/socket.h>
#include <sys/select.h>
#include <pthread.h> // Use mutexes #include <pthread.h> // Use mutexes
// Enum class for MODBUS function codes // Enum class for MODBUS function codes
@ -54,12 +56,18 @@ public:
// Getters and setters for data values (if using the automatic mode). // Getters and setters for data values (if using the automatic mode).
void setCoil(int address, bool value); void setCoil(int address, bool value);
void setHoldingRegister(int address, uint16_t value); void setHoldingRegister(int address, uint16_t value);
bool getDiscreteInput(int address) const;
bool getCoil(int address) const; bool getCoil(int address) const;
bool getDesiredCoil(int address) const; bool getDesiredCoil(int address) const;
bool getDiscreteInput(int address) const; uint16_t getInputRegister(int address) const;
uint16_t getHoldingRegister(int address) const; uint16_t getHoldingRegister(int address) const;
uint16_t getDesiredHoldingRegister(int address) const; uint16_t getDesiredHoldingRegister(int address) const;
uint16_t getInputRegister(int address) const;
ModbusError getMultipleCoils(int startAddress, int count, bool* destination) const;
ModbusError getMultipleDiscreteInputs(int startAddress, int count, bool* destination) const;
ModbusError getMultipleInputRegisters(int startAddress, int count, uint16_t* destination) const;
ModbusError getMultipleHoldingRegisters(int startAddress, int count, uint16_t* destination) const;
// High-level functions: readAll and writeAll update the internal buffers. // High-level functions: readAll and writeAll update the internal buffers.
ModbusError readAll(); ModbusError readAll();

741
modbus_tcp_client_old.cpp
View File

File diff suppressed because it is too large Load Diff

90
modbus_tcp_client_old.h
View File

@ -6,6 +6,7 @@
#include <unistd.h> #include <unistd.h>
#include <arpa/inet.h> #include <arpa/inet.h>
#include <sys/socket.h> #include <sys/socket.h>
#include <pthread.h> // Use mutexes
// Enum class for MODBUS function codes // Enum class for MODBUS function codes
enum class ModbusFunction : uint8_t { enum class ModbusFunction : uint8_t {
@ -19,68 +20,63 @@ enum class ModbusFunction : uint8_t {
WRITE_MULTIPLE_HOLDING_REGISTERS = 0x10 WRITE_MULTIPLE_HOLDING_REGISTERS = 0x10
}; };
// Enum class for error codes
enum class ModbusError { enum class ModbusError {
NONE = 0, // No error NONE = 0,
TIMEOUT, // No response from server TIMEOUT,
INVALID_RESPONSE, // Response does not match request INVALID_RESPONSE,
CONNECTION_LOST, // Connection issue CONNECTION_LOST,
EXCEPTION_RESPONSE, // MODBUS Exception response (error code) EXCEPTION_RESPONSE,
INVALID_REQUEST, // User tries doing something they shouldn't INVALID_REQUEST
}; };
class ModbusTCPClient { class ModbusTCPClient {
public: public:
ModbusTCPClient(const char* ip, int port); // Extra constructor that does CANNOT use readAll() or writeAll() // Constructor that allocates dynamic buffers based on provided counts and start addresses.
ModbusTCPClient(const char* ip, int port, int numCoils, int numDI, int numIR, int numHR, ModbusTCPClient(const char* ip, int port, int numCoils, int numDI, int numIR, int numHR,
int startCoils = 0, int startDI = 0, int startIR = 0, int startHR = 0); int startCoils = 0, int startDI = 0, int startIR = 0, int startHR = 0);
// Simpler constructor for manual MODBUS function calls (without readAll/writeAll)
ModbusTCPClient(const char* ip, int port);
~ModbusTCPClient(); ~ModbusTCPClient();
// Set the start address of each type. Either use this after creating the object or put them in the constructor // Set start addresses for each type.
void setStartAddresses(int startCoils, int startDI, int startIR, int startHR); void setStartAddresses(int startCoils, int startDI, int startIR, int startHR);
// Connection functions
bool connectServer(); bool connectServer();
void disconnectServer(); void disconnectServer();
bool isConnected() const; bool isConnected() const;
// Manually disconnectServer and return reconnectServer()
bool reconnectServer(); bool reconnectServer();
// Set the timeout for receiving responses // Set the timeout (in milliseconds) for receiving responses.
void setTimeout(int milliseconds); void setTimeout(int milliseconds);
// Setters (preferred to be used when calling writeAll()) // Getters and setters for data values (if using the automatic mode).
void setCoil(int address, bool value); void setCoil(int address, bool value);
void setHoldingRegister(int address, uint16_t value); void setHoldingRegister(int address, uint16_t value);
// Getters (preferred to be used when calling readAll())
bool getCoil(int address) const; bool getCoil(int address) const;
bool getDesiredCoil(int address) const; // Retrieves the "to be written" value bool getDesiredCoil(int address) const;
bool getDiscreteInput(int address) const; bool getDiscreteInput(int address) const;
uint16_t getHoldingRegister(int address) const; uint16_t getHoldingRegister(int address) const;
uint16_t getDesiredHoldingRegister(int address) const; // Retrieves the "to be written" value uint16_t getDesiredHoldingRegister(int address) const;
uint16_t getInputRegister(int address) const; uint16_t getInputRegister(int address) const;
ModbusError readAll(); // Reads every coil, DI, IR, and HR // High-level functions: readAll and writeAll update the internal buffers.
ModbusError writeAll(); // Writes every coil and HR ModbusError readAll();
ModbusError writeAll();
// Manual MODBUS TCP actions (not preferred to be called by user)
// Low-level MODBUS functions (manual calls)
ModbusError readCoil(int address, bool &coilState); ModbusError readCoil(int address, bool &coilState);
ModbusError readMultipleCoils(int address, int count, bool coilStates[]); ModbusError readMultipleCoils(int address, int count, bool coilStates[]);
ModbusError readDiscreteInput(int address, bool &discreteInput); ModbusError readDiscreteInput(int address, bool &discreteInput);
ModbusError readMultipleDiscreteInputs(int address, int count, bool discreteInputs[]); ModbusError readMultipleDiscreteInputs(int address, int count, bool discreteInputs[]);
ModbusError readHoldingRegister(int address, uint16_t &holdingRegister); ModbusError readHoldingRegister(int address, uint16_t &holdingRegister);
ModbusError readMultipleHoldingRegisters(int address, int count, uint16_t holdingRegisters[]); ModbusError readMultipleHoldingRegisters(int address, int count, uint16_t holdingRegisters[]);
ModbusError readInputRegister(int address, uint16_t &inputRegister); ModbusError readInputRegister(int address, uint16_t &inputRegister);
ModbusError readMultipleInputRegisters(int address, int count, uint16_t inputRegisters[]); ModbusError readMultipleInputRegisters(int address, int count, uint16_t inputRegisters[]);
ModbusError writeCoil(int address, bool value); ModbusError writeCoil(int address, bool value);
ModbusError writeMultipleCoils(int address, int count, const bool values[]); ModbusError writeMultipleCoils(int address, int count, const bool values[]);
ModbusError writeHoldingRegister(int address, uint16_t value); ModbusError writeHoldingRegister(int address, uint16_t value);
ModbusError writeMultipleHoldingRegisters(int address, int count, const uint16_t values[]); ModbusError writeMultipleHoldingRegisters(int address, int count, const uint16_t values[]);
@ -90,26 +86,42 @@ private:
int serverPort; int serverPort;
int socketFD; int socketFD;
uint16_t transactionID; uint16_t transactionID;
int timeoutMilliseconds = 2000; // Default 2 second timeout on receiving responses int timeoutMilliseconds = 2000; // Default 2-second timeout
// Storing MODBUS register information // Start addresses for each data type
int startCoils, startDiscreteInputs, startInputRegisters, startHoldingRegisters;
// Number of items for each type
int numCoils, numDiscreteInputs, numInputRegisters, numHoldingRegisters; int numCoils, numDiscreteInputs, numInputRegisters, numHoldingRegisters;
int startCoils, startDiscreteInputs, startInputRegisters, startHoldingRegisters; // The start address of each type of register
bool* coilsRead; // Stores the actual state of coils on the MODBUS server
bool* coilsWrite; // Stores the desired state of coils to be written
bool* discreteInputs; // Only read from the MODBUS server (no writes)
uint16_t* inputRegisters; // Only read from the MODBUS server
uint16_t* holdingRegistersRead; // Stores actual values from the MODBUS server
uint16_t* holdingRegistersWrite; // Stores desired values to write
// Internal storage for automatic readAll()/writeAll() mode
bool* coilsRead; // Actual state from PLC
bool* coilsWrite; // Desired state to write
bool* discreteInputs; // Only read
uint16_t* inputRegisters; // Only read
uint16_t* holdingRegistersRead; // Actual values from PLC
uint16_t* holdingRegistersWrite; // Desired values to write
// --- Communication buffers (shared for both reading and writing)
uint8_t* commRequestBuffer; // Preallocated request buffer
uint8_t* commResponseBuffer; // Preallocated response buffer
int commRequestBufferSize; // Maximum request size needed
int commResponseBufferSize; // Maximum response size needed
// Global mutex to protect the TCP socket and communication buffers.
pthread_mutex_t socketMutex;
// Low-level communication functions using the shared buffers.
bool sendRequest(uint8_t* request, int requestSize); bool sendRequest(uint8_t* request, int requestSize);
bool receiveResponse(uint8_t* response, int expectedSize); bool receiveResponse(uint8_t* response, int expectedSize);
// Message building functions – they write into a provided buffer.
void buildReadRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t startAddr, uint16_t quantity); void buildReadRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t startAddr, uint16_t quantity);
void buildWriteSingleRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t address, uint16_t value); void buildWriteSingleRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t address, uint16_t value);
void buildWriteMultipleRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t address, uint16_t count, const void* values, uint8_t byteCount); void buildWriteMultipleRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t address, uint16_t count, const void* values, uint8_t byteCount);
// Helper functions to compute maximum buffer sizes.
int computeMaxReadResponseSize() const;
int computeMaxWriteRequestSize() const;
}; };
#endif // MODBUS_TCP_CLIENT_H #endif // MODBUS_TCP_CLIENT_H

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#include "modbus_tcp_client.h"
#include <sys/select.h> // For select() timeout
ModbusTCPClient::ModbusTCPClient(const char* ip, int port, int numCoils, int numDI, int numIR, int numHR,
int startCoils, int startDI, int startIR, int startHR)
: serverIP(ip), serverPort(port), socketFD(-1), transactionID(1),
numCoils(numCoils), numDiscreteInputs(numDI), numInputRegisters(numIR), numHoldingRegisters(numHR),
startCoils(startCoils), startDiscreteInputs(startDI), startInputRegisters(startIR), startHoldingRegisters(startHR) {
// Allocate memory dynamically based on provided sizes
coilsRead = new bool[numCoils]();
coilsWrite = new bool[numCoils]();
discreteInputs = new bool[numDiscreteInputs]();
inputRegisters = new uint16_t[numInputRegisters]();
holdingRegistersRead = new uint16_t[numHoldingRegisters]();
holdingRegistersWrite = new uint16_t[numHoldingRegisters]();
}
ModbusTCPClient::ModbusTCPClient(const char* ip, int port)
: serverIP(ip), serverPort(port), socketFD(-1) {
/*
This constructor is if the user manually wants to call MODBUS TCP functions and not
use readAll() and writeAll() and the setters/getters
*/
// Set everything to nullptr so that readAll() and writeAll() won't work
coilsRead = nullptr;
coilsWrite = nullptr;
discreteInputs = nullptr;
inputRegisters = nullptr;
holdingRegistersRead = nullptr;
holdingRegistersWrite = nullptr;
}
ModbusTCPClient::~ModbusTCPClient() {
delete[] coilsRead;
delete[] coilsWrite;
delete[] discreteInputs;
delete[] inputRegisters;
delete[] holdingRegistersRead;
delete[] holdingRegistersWrite;
}
void ModbusTCPClient::setStartAddresses(int startCoils, int startDI, int startIR, int startHR) {
this->startCoils = startCoils;
this->startDiscreteInputs = startDI;
this->startInputRegisters = startIR;
this->startHoldingRegisters = startHR;
}
bool ModbusTCPClient::connectServer() {
// Step 1: If socket is already open, verify it's still connected
if (socketFD != -1) {
struct timeval timeout;
timeout.tv_sec = 0;
timeout.tv_usec = 100000; // 100ms timeout for connection check
fd_set read_fds;
FD_ZERO(&read_fds);
FD_SET(socketFD, &read_fds);
int result = select(socketFD + 1, &read_fds, NULL, NULL, &timeout);
if (result == 0) {
// No error in select, socket is still connected
printf("MODBUS_TCP_CLIENT: Already connected to MODBUS server\n");
return true;
} else {
// Connection is broken, close and reset
printf("MODBUS_TCP_CLIENT: Warning: Connection lost, reconnecting...\n");
disconnectServer();
}
}
// Step 2: Create a new socket
for (int attempts = 0; attempts < 5; attempts++) { // Retry up to 5 times
socketFD = socket(AF_INET, SOCK_STREAM, 0);
if (socketFD < 0) {
printf("MODBUS_TCP_CLIENT: Could not create socket\n");
return false;
}
struct sockaddr_in serverAddr;
serverAddr.sin_family = AF_INET;
serverAddr.sin_port = htons(serverPort);
inet_pton(AF_INET, serverIP, &serverAddr.sin_addr);
// Step 3: Attempt to connect
printf("MODBUS_TCP_CLIENT: Attempting to connect to MODBUS server (Try %d)...\n", attempts + 1);
if (connect(socketFD, (struct sockaddr*)&serverAddr, sizeof(serverAddr)) == 0) {
printf("MODBUS_TCP_CLIENT: Connected to MODBUS server at %s:%d\n", serverIP, serverPort);
return true;
}
printf("MODBUS_TCP_CLIENT: Connection failed, retrying...\n");
disconnectServer(); // Close socket before retrying
usleep(100000); // Wait 100ms before retrying
}
}
void ModbusTCPClient::disconnectServer() {
if (socketFD != -1) {
close(socketFD);
socketFD = -1;
printf("MODBUS_TCP_CLIENT: Disconnected from MODBUS server\n");
}
}
void ModbusTCPClient::setTimeout(int milliseconds) {
timeoutMilliseconds = milliseconds;
printf("MODBUS_TCP_CLIENT: Timeout set to %d ms\n", timeoutMilliseconds);
}
bool ModbusTCPClient::isConnected() const {
return socketFD != -1;
}
bool ModbusTCPClient::reconnectServer() {
printf("MODBUS_TCP_CLIENT: Attempting manual reconnection...\n");
disconnectServer();
return connectServer();
}
bool ModbusTCPClient::sendRequest(uint8_t* request, int requestSize) {
// Ensure we're connected before sending
if (socketFD == -1) {
printf("MODBUS_TCP_CLIENT: Connection lost. Attempting to reconnect...\n");
if (!connectServer()) {
printf("MODBUS_TCP_CLIENT: Reconnection failed. Cannot send request.\n");
return false;
}
}
int bytesSent = write(socketFD, request, requestSize);
if (bytesSent <= 0) { // Detect broken connection during write
printf("MODBUS_TCP_CLIENT: Write failed, connection lost. Disconnecting...\n");
disconnectServer();
return false;
}
return bytesSent == requestSize;
return bytesSent == requestSize;
}
bool ModbusTCPClient::receiveResponse(uint8_t* response, int expectedSize) {
int totalBytesReceived = 0;
while (totalBytesReceived < expectedSize) {
struct timeval timeout;
timeout.tv_sec = timeoutMilliseconds / 1000; // Convert ms to seconds
timeout.tv_usec = (timeoutMilliseconds % 1000) * 1000; // Convert remaining ms to µs
fd_set read_fds;
FD_ZERO(&read_fds);
FD_SET(socketFD, &read_fds);
// Use select() to wait for data before reading
int ready = select(socketFD + 1, &read_fds, NULL, NULL, &timeout);
if (ready == 0) { // Timeout case
printf("MODBUS_TCP_CLIENT: Timeout waiting for MODBUS response. Disconnecting...\n");
disconnectServer(); // Close socket and reset socketFD
return false;
} else if (ready < 0) { // Select failed
printf("MODBUS_TCP_CLIENT: Select failed. Disconnecting...\n");
disconnectServer(); // Close socket and reset socketFD
return false;
}
// Read available data
int bytesReceived = read(socketFD, response + totalBytesReceived, expectedSize - totalBytesReceived);
if (bytesReceived <= 0) { // Connection lost or no data received
printf("MODBUS_TCP_CLIENT: Connection lost. Disconnecting...\n");
disconnectServer(); // Close socket and reset socketFD
return false;
}
totalBytesReceived += bytesReceived;
}
return true;
}
void ModbusTCPClient::buildReadRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t startAddr, uint16_t quantity) {
transactionID++;
// Transaction ID
buffer[0] = transactionID >> 8;
buffer[1] = transactionID & 0xFF;
// Protocol ID, always 00 00
buffer[2] = 0x00;
buffer[3] = 0x00;
// Length (remaining bytes after Unit ID)
buffer[4] = 0x00;
buffer[5] = 0x06;
// Unit ID (Slave Address)
buffer[6] = 0x01;
// Function code
buffer[7] = static_cast<uint8_t>(functionCode);
// Start Address
buffer[8] = startAddr >> 8;
buffer[9] = startAddr & 0xFF;
// Quantity (How many coils to read)
buffer[10] = quantity >> 8;
buffer[11] = quantity & 0xFF;
}
void ModbusTCPClient::buildWriteSingleRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t address, uint16_t value) {
transactionID++;
buffer[0] = transactionID >> 8;
buffer[1] = transactionID & 0xFF;
buffer[2] = 0x00;
buffer[3] = 0x00;
buffer[4] = 0x00;
buffer[5] = 0x06;
buffer[6] = 0x01;
buffer[7] = static_cast<uint8_t>(functionCode);
buffer[8] = address >> 8;
buffer[9] = address & 0xFF;
buffer[10] = value >> 8;
buffer[11] = value & 0xFF;
}
void ModbusTCPClient::buildWriteMultipleRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t address, uint16_t count, const void* values, uint8_t byteCount) {
transactionID++;
// MODBUS TCP Header
buffer[0] = transactionID >> 8;
buffer[1] = transactionID & 0xFF;
buffer[2] = 0x00; // Protocol ID (always 0x0000)
buffer[3] = 0x00;
buffer[4] = 0x00; // Length (remaining bytes after Unit ID)
buffer[5] = 7 + byteCount;
buffer[6] = 0x01; // Unit ID
buffer[7] = static_cast<uint8_t>(functionCode); // Function Code (0x0F for coils, 0x10 for registers)
buffer[8] = address >> 8; // Start address high byte
buffer[9] = address & 0xFF; // Start address low byte
buffer[10] = count >> 8; // Quantity high byte
buffer[11] = count & 0xFF; // Quantity low byte
buffer[12] = byteCount; // Byte count
// Copy data payload manually (instead of memcpy)
const uint8_t* data = (const uint8_t*)values;
for (uint8_t i = 0; i < byteCount; i++) {
buffer[13 + i] = data[i];
}
}
ModbusError ModbusTCPClient::readCoil(int address, bool &coilState) {
uint8_t request[12];
buildReadRequest(request, ModbusFunction::READ_COIL, address, 1);
sendRequest(request, 12);
uint8_t response[10]; // Expecting 10 bytes
if (!receiveResponse(response, 10)) {
return ModbusError::TIMEOUT;
}
// Handle MODBUS exception responses (0x80 + function code)
if (response[7] & 0x80) {
printf("MODBUS_TCP_CLIENT: MODBUS Exception Code %02X\n", response[8]);
return ModbusError::EXCEPTION_RESPONSE;
}
// Ensure function code matches the request (allowing for server behavior)
if (response[7] != static_cast<uint8_t>(ModbusFunction::READ_COIL)) {
printf("MODBUS_TCP_CLIENT: Warning: Unexpected function code (Expected: %02X, Got: %02X)\n",
static_cast<uint8_t>(ModbusFunction::READ_COIL), response[7]);
return ModbusError::INVALID_RESPONSE;
}
// Extract coil state (only first bit is used)
coilState = (response[9] & 0x01) != 0; // Adjusted index based on 10-byte response
return ModbusError::NONE;
}
ModbusError ModbusTCPClient::readMultipleCoils(int address, int count, bool coilStates[]) {
if (count < 1 || count > 2000) {
printf("MODBUS_TCP_CLIENT: Invalid coil count (1-2000 allowed)\n");
return ModbusError::INVALID_RESPONSE;
}
uint8_t request[12];
buildReadRequest(request, ModbusFunction::READ_COIL, address, count);
sendRequest(request, 12);
// Expected response size: Fixed header (9) + variable byte count
int byteCount = (count + 7) / 8; // 1 byte per 8 coils
int expectedSize = 9 + byteCount;
uint8_t response[256]; // Ensure buffer is large enough
if (!receiveResponse(response, expectedSize)) {
return ModbusError::TIMEOUT;
}
// Handle MODBUS exception responses (0x80 + function code)
if (response[7] & 0x80) {
printf("MODBUS_TCP_CLIENT: MODBUS Exception Code %02X\n", response[8]);
return ModbusError::EXCEPTION_RESPONSE;
}
// Ensure the function code matches
if (response[7] != static_cast<uint8_t>(ModbusFunction::READ_COIL)) {
printf("MODBUS_TCP_CLIENT: Warning: Unexpected function code (Expected: %02X, Got: %02X)\n",
static_cast<uint8_t>(ModbusFunction::READ_COIL), response[7]);
return ModbusError::INVALID_RESPONSE;
}
// Read coil values
for (int i = 0; i < count; i++) {
int byteIndex = 9 + (i / 8); // Data starts at index 9
int bitIndex = i % 8;
coilStates[i] = (response[byteIndex] >> bitIndex) & 0x01;
}
return ModbusError::NONE;
}
ModbusError ModbusTCPClient::readDiscreteInput(int address, bool &discreteInput) {
uint8_t request[12];
buildReadRequest(request, ModbusFunction::READ_DISCRETE_INPUT, address, 1);
sendRequest(request, 12);
uint8_t response[10]; // Expected response size
if (!receiveResponse(response, 10)) {
return ModbusError::TIMEOUT;
}
// Handle MODBUS exception responses (0x80 + function code)
if (response[7] & 0x80) {
printf("MODBUS_TCP_CLIENT: MODBUS Exception Code %02X\n", response[8]);
return ModbusError::EXCEPTION_RESPONSE;
}
// Ensure function code matches the request
if (response[7] != static_cast<uint8_t>(ModbusFunction::READ_DISCRETE_INPUT)) {
printf("MODBUS_TCP_CLIENT: Warning: Unexpected function code (Expected: %02X, Got: %02X)\n",
static_cast<uint8_t>(ModbusFunction::READ_DISCRETE_INPUT), response[7]);
return ModbusError::INVALID_RESPONSE;
}
// Extract single discrete input state
discreteInput = (response[9] & 0x01) != 0;
return ModbusError::NONE; // Success
}
ModbusError ModbusTCPClient::readMultipleDiscreteInputs(int address, int count, bool discreteInputs[]) {
if (count < 1 || count > 2000) {
printf("MODBUS_TCP_CLIENT: Invalid discrete input count (1-2000 allowed)\n");
return ModbusError::INVALID_RESPONSE;
}
uint8_t request[12];
buildReadRequest(request, ModbusFunction::READ_DISCRETE_INPUT, address, count);
sendRequest(request, 12);
// Expected response size: Fixed header (9) + variable byte count
int byteCount = (count + 7) / 8; // 1 byte per 8 inputs
int expectedSize = 9 + byteCount;
uint8_t response[256]; // Ensure buffer is large enough
if (!receiveResponse(response, expectedSize)) {
return ModbusError::TIMEOUT;
}
// Handle MODBUS exception responses (0x80 + function code)
if (response[7] & 0x80) {
printf("MODBUS_TCP_CLIENT: MODBUS Exception Code %02X\n", response[8]);
return ModbusError::EXCEPTION_RESPONSE;
}
// Ensure the function code matches
if (response[7] != static_cast<uint8_t>(ModbusFunction::READ_DISCRETE_INPUT)) {
printf("MODBUS_TCP_CLIENT: Warning: Unexpected function code (Expected: %02X, Got: %02X)\n",
static_cast<uint8_t>(ModbusFunction::READ_DISCRETE_INPUT), response[7]);
return ModbusError::INVALID_RESPONSE;
}
// Read discrete input values
for (int i = 0; i < count; i++) {
int byteIndex = 9 + (i / 8); // Data starts at index 9
int bitIndex = i % 8;
discreteInputs[i] = (response[byteIndex] >> bitIndex) & 0x01;
}
return ModbusError::NONE;
}
ModbusError ModbusTCPClient::readHoldingRegister(int address, uint16_t &holdingRegister) {
uint8_t request[12];
buildReadRequest(request, ModbusFunction::READ_HOLDING_REGISTER, address, 1);
sendRequest(request, 12);
uint8_t response[11]; // Expected response size for reading 1 register
if (!receiveResponse(response, 11)) {
return ModbusError::TIMEOUT;
}
// Handle MODBUS exception responses (0x80 + function code)
if (response[7] & 0x80) {
printf("MODBUS_TCP_CLIENT: MODBUS Exception Code %02X\n", response[8]);
return ModbusError::EXCEPTION_RESPONSE;
}
// Ensure function code matches the request
if (response[7] != static_cast<uint8_t>(ModbusFunction::READ_HOLDING_REGISTER)) {
printf("MODBUS_TCP_CLIENT: Warning: Unexpected function code (Expected: %02X, Got: %02X)\n",
static_cast<uint8_t>(ModbusFunction::READ_HOLDING_REGISTER), response[7]);
return ModbusError::INVALID_RESPONSE;
}
// Extract holding register value (Big-endian format)
holdingRegister = (response[9] << 8) | response[10];
return ModbusError::NONE; // Success
}
ModbusError ModbusTCPClient::readMultipleHoldingRegisters(int address, int count, uint16_t holdingRegisters[]) {
if (count < 1 || count > 125) { // MODBUS limits reading up to 125 registers per request
printf("MODBUS_TCP_CLIENT: Invalid holding register count (1-125 allowed)\n");
return ModbusError::INVALID_RESPONSE;
}
uint8_t request[12];
buildReadRequest(request, ModbusFunction::READ_HOLDING_REGISTER, address, count);
sendRequest(request, 12);
// Expected response size: 9-byte header + 2 * count registers
int expectedSize = 9 + (count * 2);
uint8_t response[256]; // Ensure buffer is large enough
if (!receiveResponse(response, expectedSize)) {
return ModbusError::TIMEOUT;
}
// Handle MODBUS exception responses (0x80 + function code)
if (response[7] & 0x80) {
printf("MODBUS_TCP_CLIENT: MODBUS Exception Code %02X\n", response[8]);
return ModbusError::EXCEPTION_RESPONSE;
}
// Ensure function code matches the request
if (response[7] != static_cast<uint8_t>(ModbusFunction::READ_HOLDING_REGISTER)) {
printf("MODBUS_TCP_CLIENT: Warning: Unexpected function code (Expected: %02X, Got: %02X)\n",
static_cast<uint8_t>(ModbusFunction::READ_HOLDING_REGISTER), response[7]);
return ModbusError::INVALID_RESPONSE;
}
// Extract register values (each register is 2 bytes, big-endian)
for (int i = 0; i < count; i++) {
holdingRegisters[i] = (response[9 + (i * 2)] << 8) | response[10 + (i * 2)];
}
return ModbusError::NONE;
}
ModbusError ModbusTCPClient::readInputRegister(int address, uint16_t &inputRegister) {
uint8_t request[12];
buildReadRequest(request, ModbusFunction::READ_INPUT_REGISTER, address, 1);
sendRequest(request, 12);
uint8_t response[11]; // Expected response size for reading 1 register
if (!receiveResponse(response, 11)) {
return ModbusError::TIMEOUT;
}
// Handle MODBUS exception responses (0x80 + function code)
if (response[7] & 0x80) {
printf("MODBUS_TCP_CLIENT: MODBUS Exception Code %02X\n", response[8]);
return ModbusError::EXCEPTION_RESPONSE;
}
// Ensure function code matches the request
if (response[7] != static_cast<uint8_t>(ModbusFunction::READ_INPUT_REGISTER)) {
printf("MODBUS_TCP_CLIENT: Warning: Unexpected function code (Expected: %02X, Got: %02X)\n",
static_cast<uint8_t>(ModbusFunction::READ_INPUT_REGISTER), response[7]);
return ModbusError::INVALID_RESPONSE;
}
// Extract input register value (Big-endian format)
inputRegister = (response[9] << 8) | response[10];
return ModbusError::NONE; // Success
}
ModbusError ModbusTCPClient::readMultipleInputRegisters(int address, int count, uint16_t inputRegisters[]) {
if (count < 1 || count > 125) { // MODBUS limits reading up to 125 registers per request
printf("MODBUS_TCP_CLIENT: Invalid input register count (1-125 allowed)\n");
return ModbusError::INVALID_RESPONSE;
}
uint8_t request[12];
buildReadRequest(request, ModbusFunction::READ_INPUT_REGISTER, address, count);
sendRequest(request, 12);
// Expected response size: 9-byte header + 2 * count registers
int expectedSize = 9 + (count * 2);
uint8_t response[256]; // Ensure buffer is large enough
if (!receiveResponse(response, expectedSize)) {
return ModbusError::TIMEOUT;
}
// Handle MODBUS exception responses (0x80 + function code)
if (response[7] & 0x80) {
printf("MODBUS_TCP_CLIENT: MODBUS Exception Code %02X\n", response[8]);
return ModbusError::EXCEPTION_RESPONSE;
}
// Ensure function code matches the request
if (response[7] != static_cast<uint8_t>(ModbusFunction::READ_INPUT_REGISTER)) {
printf("MODBUS_TCP_CLIENT: Warning: Unexpected function code (Expected: %02X, Got: %02X)\n",
static_cast<uint8_t>(ModbusFunction::READ_INPUT_REGISTER), response[7]);
return ModbusError::INVALID_RESPONSE;
}
// Extract register values (each register is 2 bytes, big-endian)
for (int i = 0; i < count; i++) {
inputRegisters[i] = (response[9 + (i * 2)] << 8) | response[10 + (i * 2)];
}
return ModbusError::NONE;
}
ModbusError ModbusTCPClient::writeCoil(int address, bool value) {
uint8_t request[12];
buildWriteSingleRequest(request, ModbusFunction::WRITE_SINGLE_COIL, address, value ? 0xFF00 : 0x0000);
sendRequest(request, 12);
// Receive response
uint8_t response[12];
if (!receiveResponse(response, 12)) {
return ModbusError::TIMEOUT; // No response received
}
// Check if response matches request (MODBUS TCP should echo back the same request)
for (int i = 0; i < 12; i++) {
if (request[i] != response[i]) {
printf("MODBUS_TCP_CLIENT: Response does not match request!\n");
return ModbusError::INVALID_RESPONSE;
}
}
return ModbusError::NONE; // Success
}
ModbusError ModbusTCPClient::writeMultipleCoils(int address, int count, const bool values[]) {
if (count < 1 || count > 1968) { // MODBUS limit: max 1968 coils per request
printf("MODBUS_TCP_CLIENT: Invalid coil count (1-1968 allowed)\n");
return ModbusError::INVALID_RESPONSE;
}
int byteCount = (count + 7) / 8; // Each byte holds 8 coils
uint8_t coilData[byteCount];
// Initialize to 0 (since we may not use all bits)
for (int i = 0; i < byteCount; i++) {
coilData[i] = 0;
}
// Pack coil data into bytes
for (int i = 0; i < count; i++) {
if (values[i]) {
coilData[i / 8] |= (1 << (i % 8));
}
}
uint8_t request[13 + byteCount];
buildWriteMultipleRequest(request, ModbusFunction::WRITE_MULTIPLE_COILS, address, count, coilData, byteCount);
sendRequest(request, 13 + byteCount);
// The expected response is always **12 bytes**
uint8_t response[12];
if (!receiveResponse(response, 12)) {
return ModbusError::TIMEOUT;
}
// Ensure the response matches the **first 10 bytes**, except for byte 5 (message length byte)
for (int i = 0; i < 10; i++) {
if (i == 5) continue; // Skip byte 5 (message length field)
if (request[i] != response[i]) {
printf("MODBUS_TCP_CLIENT: Response does not match request!\n");
return ModbusError::INVALID_RESPONSE;
}
}
return ModbusError::NONE; // Success
}
ModbusError ModbusTCPClient::writeHoldingRegister(int address, uint16_t value) {
uint8_t request[12];
buildWriteSingleRequest(request, ModbusFunction::WRITE_SINGLE_HOLDING_REGISTER, address, value);
sendRequest(request, 12);
// Expected response size = 12 bytes (full echo of the request)
uint8_t response[12];
if (!receiveResponse(response, 12)) {
return ModbusError::TIMEOUT;
}
// Ensure response matches request exactly (full 12 bytes)
for (int i = 0; i < 12; i++) {
if (request[i] != response[i]) {
printf("MODBUS_TCP_CLIENT: Response does not match request!\n");
return ModbusError::INVALID_RESPONSE;
}
}
return ModbusError::NONE; // Success
}
ModbusError ModbusTCPClient::writeMultipleHoldingRegisters(int address, int count, const uint16_t values[]) {
if (count < 1 || count > 123) { // MODBUS limit: max 123 registers per request
printf("MODBUS_TCP_CLIENT: Invalid register count (1-123 allowed)\n");
return ModbusError::INVALID_RESPONSE;
}
int byteCount = count * 2; // Each register is 2 bytes
uint8_t registerData[byteCount];
// Convert register values to byte array (big-endian format)
for (int i = 0; i < count; i++) {
registerData[i * 2] = values[i] >> 8; // High byte
registerData[i * 2 + 1] = values[i] & 0xFF; // Low byte
}
uint8_t request[13 + byteCount];
buildWriteMultipleRequest(request, ModbusFunction::WRITE_MULTIPLE_HOLDING_REGISTERS, address, count, registerData, byteCount);
sendRequest(request, 13 + byteCount);
// Expected response size = 12 bytes (first 10 bytes + 2 bytes for number of registers written)
uint8_t response[12];
if (!receiveResponse(response, 12)) {
return ModbusError::TIMEOUT;
}
// Ensure response matches request (except for byte 5)
for (int i = 0; i < 10; i++) {
if (i == 5) continue; // Skip byte 5 (message length field)
if (request[i] != response[i]) {
printf("MODBUS_TCP_CLIENT: Response does not match request!\n");
return ModbusError::INVALID_RESPONSE;
}
}
return ModbusError::NONE; // Success
}
ModbusError ModbusTCPClient::readAll() {
/*
Reads every coil, discrete input, input register, and holding register
assuming that they start at address 0
*/
if (coilsRead == nullptr && discreteInputs == nullptr &&
inputRegisters == nullptr && holdingRegistersRead == nullptr) {
printf("MODBUS_TCP_CLIENT: readAll() called, but wrong constructor was used.\n");
return ModbusError::INVALID_REQUEST;
}
ModbusError error = ModbusError::NONE;
if (coilsRead != nullptr) {
error = readMultipleCoils(startCoils, numCoils, coilsRead);
if (error != ModbusError::NONE) return error;
}
if (discreteInputs != nullptr) {
error = readMultipleDiscreteInputs(startDiscreteInputs, numDiscreteInputs, discreteInputs);
if (error != ModbusError::NONE) return error;
}
if (inputRegisters != nullptr) {
error = readMultipleInputRegisters(startInputRegisters, numInputRegisters, inputRegisters);
if (error != ModbusError::NONE) return error;
}
if (holdingRegistersRead != nullptr) {
error = readMultipleHoldingRegisters(startHoldingRegisters, numHoldingRegisters, holdingRegistersRead);
}
return error;
}
ModbusError ModbusTCPClient::writeAll() {
/*
Reads every coil and holding register assuming that they start at address 0
*/
if (coilsWrite == nullptr && holdingRegistersWrite) {
printf("MODBUS_TCP_CLIENT: writeAll() called, but wrong constructor was used.\n");
return ModbusError::INVALID_REQUEST;
}
ModbusError error = ModbusError::NONE;
if (coilsWrite != nullptr) {
error = writeMultipleCoils(startCoils, numCoils, coilsWrite);
if (error != ModbusError::NONE) return error;
}
if (holdingRegistersWrite != nullptr) {
error = writeMultipleHoldingRegisters(startHoldingRegisters, numHoldingRegisters, holdingRegistersWrite);
}
return error;
}
// Setters for writing values (preferred to be used)
void ModbusTCPClient::setCoil(int address, bool value) {
if (address >= 0 && address < numCoils) {
coilsWrite[address] = value;
}
}
void ModbusTCPClient::setHoldingRegister(int address, uint16_t value) {
if (address >= 0 && address < numHoldingRegisters) {
holdingRegistersWrite[address] = value;
}
}
// Getters (preferred to be used as long as readAll is being called)
bool ModbusTCPClient::getCoil(int address) const {
return (address >= 0 && address < numCoils) ? coilsRead[address] : false;
}
bool ModbusTCPClient::getDesiredCoil(int address) const {
return (address >= 0 && address < numCoils) ? coilsWrite[address] : false;
}
bool ModbusTCPClient::getDiscreteInput(int address) const {
return (address >= 0 && address < numDiscreteInputs) ? discreteInputs[address] : false;
}
uint16_t ModbusTCPClient::getHoldingRegister(int address) const {
return (address >= 0 && address < numHoldingRegisters) ? holdingRegistersRead[address] : 0;
}
uint16_t ModbusTCPClient::getDesiredHoldingRegister(int address) const {
return (address >= 0 && address < numHoldingRegisters) ? holdingRegistersWrite[address] : 0;
}
uint16_t ModbusTCPClient::getInputRegister(int address) const {
return (address >= 0 && address < numInputRegisters) ? inputRegisters[address] : 0;
}

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#ifndef MODBUS_TCP_CLIENT_H
#define MODBUS_TCP_CLIENT_H
#include <stdint.h>
#include <stdio.h>
#include <unistd.h>
#include <arpa/inet.h>
#include <sys/socket.h>
// Enum class for MODBUS function codes
enum class ModbusFunction : uint8_t {
READ_COIL = 0x01,
READ_DISCRETE_INPUT = 0x02,
READ_HOLDING_REGISTER = 0x03,
READ_INPUT_REGISTER = 0x04,
WRITE_SINGLE_COIL = 0x05,
WRITE_SINGLE_HOLDING_REGISTER = 0x06,
WRITE_MULTIPLE_COILS = 0x0F,
WRITE_MULTIPLE_HOLDING_REGISTERS = 0x10
};
enum class ModbusError {
NONE = 0, // No error
TIMEOUT, // No response from server
INVALID_RESPONSE, // Response does not match request
CONNECTION_LOST, // Connection issue
EXCEPTION_RESPONSE, // MODBUS Exception response (error code)
INVALID_REQUEST, // User tries doing something they shouldn't
};
class ModbusTCPClient {
public:
ModbusTCPClient(const char* ip, int port); // Extra constructor that does CANNOT use readAll() or writeAll()
ModbusTCPClient(const char* ip, int port, int numCoils, int numDI, int numIR, int numHR,
int startCoils = 0, int startDI = 0, int startIR = 0, int startHR = 0);
~ModbusTCPClient();
// Set the start address of each type. Either use this after creating the object or put them in the constructor
void setStartAddresses(int startCoils, int startDI, int startIR, int startHR);
bool connectServer();
void disconnectServer();
bool isConnected() const;
// Manually disconnectServer and return reconnectServer()
bool reconnectServer();
// Set the timeout for receiving responses
void setTimeout(int milliseconds);
// Setters (preferred to be used when calling writeAll())
void setCoil(int address, bool value);
void setHoldingRegister(int address, uint16_t value);
// Getters (preferred to be used when calling readAll())
bool getCoil(int address) const;
bool getDesiredCoil(int address) const; // Retrieves the "to be written" value
bool getDiscreteInput(int address) const;
uint16_t getHoldingRegister(int address) const;
uint16_t getDesiredHoldingRegister(int address) const; // Retrieves the "to be written" value
uint16_t getInputRegister(int address) const;
ModbusError readAll(); // Reads every coil, DI, IR, and HR
ModbusError writeAll(); // Writes every coil and HR
// Manual MODBUS TCP actions (not preferred to be called by user)
ModbusError readCoil(int address, bool &coilState);
ModbusError readMultipleCoils(int address, int count, bool coilStates[]);
ModbusError readDiscreteInput(int address, bool &discreteInput);
ModbusError readMultipleDiscreteInputs(int address, int count, bool discreteInputs[]);
ModbusError readHoldingRegister(int address, uint16_t &holdingRegister);
ModbusError readMultipleHoldingRegisters(int address, int count, uint16_t holdingRegisters[]);
ModbusError readInputRegister(int address, uint16_t &inputRegister);
ModbusError readMultipleInputRegisters(int address, int count, uint16_t inputRegisters[]);
ModbusError writeCoil(int address, bool value);
ModbusError writeMultipleCoils(int address, int count, const bool values[]);
ModbusError writeHoldingRegister(int address, uint16_t value);
ModbusError writeMultipleHoldingRegisters(int address, int count, const uint16_t values[]);
private:
// TCP settings
const char* serverIP;
int serverPort;
int socketFD;
uint16_t transactionID;
int timeoutMilliseconds = 2000; // Default 2 second timeout on receiving responses
// Storing MODBUS register information
int numCoils, numDiscreteInputs, numInputRegisters, numHoldingRegisters;
int startCoils, startDiscreteInputs, startInputRegisters, startHoldingRegisters; // The start address of each type of register
bool* coilsRead; // Stores the actual state of coils on the MODBUS server
bool* coilsWrite; // Stores the desired state of coils to be written
bool* discreteInputs; // Only read from the MODBUS server (no writes)
uint16_t* inputRegisters; // Only read from the MODBUS server
uint16_t* holdingRegistersRead; // Stores actual values from the MODBUS server
uint16_t* holdingRegistersWrite; // Stores desired values to write
bool sendRequest(uint8_t* request, int requestSize);
bool receiveResponse(uint8_t* response, int expectedSize);
void buildReadRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t startAddr, uint16_t quantity);
void buildWriteSingleRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t address, uint16_t value);
void buildWriteMultipleRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t address, uint16_t count, const void* values, uint8_t byteCount);
};
#endif // MODBUS_TCP_CLIENT_H