*_old marks code before thread safety features. New .h and .cpp files are most updated version
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Load Diff
@ -6,6 +6,7 @@
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#include <unistd.h>
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#include <arpa/inet.h>
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#include <sys/socket.h>
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#include <pthread.h> // Use mutexes
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// Enum class for MODBUS function codes
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enum class ModbusFunction : uint8_t {
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@ -19,68 +20,63 @@ enum class ModbusFunction : uint8_t {
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WRITE_MULTIPLE_HOLDING_REGISTERS = 0x10
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};
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// Enum class for error codes
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enum class ModbusError {
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NONE = 0, // No error
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TIMEOUT, // No response from server
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INVALID_RESPONSE, // Response does not match request
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CONNECTION_LOST, // Connection issue
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EXCEPTION_RESPONSE, // MODBUS Exception response (error code)
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INVALID_REQUEST, // User tries doing something they shouldn't
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NONE = 0,
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TIMEOUT,
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INVALID_RESPONSE,
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CONNECTION_LOST,
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EXCEPTION_RESPONSE,
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INVALID_REQUEST
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};
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class ModbusTCPClient {
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public:
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ModbusTCPClient(const char* ip, int port); // Extra constructor that does CANNOT use readAll() or writeAll()
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// Constructor that allocates dynamic buffers based on provided counts and start addresses.
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ModbusTCPClient(const char* ip, int port, int numCoils, int numDI, int numIR, int numHR,
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int startCoils = 0, int startDI = 0, int startIR = 0, int startHR = 0);
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int startCoils = 0, int startDI = 0, int startIR = 0, int startHR = 0);
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// Simpler constructor for manual MODBUS function calls (without readAll/writeAll)
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ModbusTCPClient(const char* ip, int port);
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~ModbusTCPClient();
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// Set the start address of each type. Either use this after creating the object or put them in the constructor
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// Set start addresses for each type.
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void setStartAddresses(int startCoils, int startDI, int startIR, int startHR);
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// Connection functions
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bool connectServer();
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void disconnectServer();
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bool isConnected() const;
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// Manually disconnectServer and return reconnectServer()
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bool reconnectServer();
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// Set the timeout for receiving responses
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// Set the timeout (in milliseconds) for receiving responses.
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void setTimeout(int milliseconds);
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// Setters (preferred to be used when calling writeAll())
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// Getters and setters for data values (if using the automatic mode).
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void setCoil(int address, bool value);
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void setHoldingRegister(int address, uint16_t value);
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// Getters (preferred to be used when calling readAll())
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bool getCoil(int address) const;
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bool getDesiredCoil(int address) const; // Retrieves the "to be written" value
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bool getDesiredCoil(int address) const;
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bool getDiscreteInput(int address) const;
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uint16_t getHoldingRegister(int address) const;
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uint16_t getDesiredHoldingRegister(int address) const; // Retrieves the "to be written" value
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uint16_t getDesiredHoldingRegister(int address) const;
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uint16_t getInputRegister(int address) const;
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ModbusError readAll(); // Reads every coil, DI, IR, and HR
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ModbusError writeAll(); // Writes every coil and HR
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// Manual MODBUS TCP actions (not preferred to be called by user)
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// High-level functions: readAll and writeAll update the internal buffers.
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ModbusError readAll();
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ModbusError writeAll();
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// Low-level MODBUS functions (manual calls)
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ModbusError readCoil(int address, bool &coilState);
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ModbusError readMultipleCoils(int address, int count, bool coilStates[]);
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ModbusError readDiscreteInput(int address, bool &discreteInput);
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ModbusError readMultipleDiscreteInputs(int address, int count, bool discreteInputs[]);
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ModbusError readHoldingRegister(int address, uint16_t &holdingRegister);
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ModbusError readMultipleHoldingRegisters(int address, int count, uint16_t holdingRegisters[]);
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ModbusError readInputRegister(int address, uint16_t &inputRegister);
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ModbusError readMultipleInputRegisters(int address, int count, uint16_t inputRegisters[]);
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ModbusError writeCoil(int address, bool value);
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ModbusError writeMultipleCoils(int address, int count, const bool values[]);
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ModbusError writeHoldingRegister(int address, uint16_t value);
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ModbusError writeMultipleHoldingRegisters(int address, int count, const uint16_t values[]);
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@ -90,26 +86,42 @@ private:
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int serverPort;
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int socketFD;
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uint16_t transactionID;
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int timeoutMilliseconds = 2000; // Default 2 second timeout on receiving responses
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int timeoutMilliseconds = 2000; // Default 2-second timeout
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// Storing MODBUS register information
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// Start addresses for each data type
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int startCoils, startDiscreteInputs, startInputRegisters, startHoldingRegisters;
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// Number of items for each type
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int numCoils, numDiscreteInputs, numInputRegisters, numHoldingRegisters;
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int startCoils, startDiscreteInputs, startInputRegisters, startHoldingRegisters; // The start address of each type of register
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bool* coilsRead; // Stores the actual state of coils on the MODBUS server
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bool* coilsWrite; // Stores the desired state of coils to be written
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bool* discreteInputs; // Only read from the MODBUS server (no writes)
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uint16_t* inputRegisters; // Only read from the MODBUS server
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uint16_t* holdingRegistersRead; // Stores actual values from the MODBUS server
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uint16_t* holdingRegistersWrite; // Stores desired values to write
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// Internal storage for automatic readAll()/writeAll() mode
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bool* coilsRead; // Actual state from PLC
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bool* coilsWrite; // Desired state to write
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bool* discreteInputs; // Only read
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uint16_t* inputRegisters; // Only read
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uint16_t* holdingRegistersRead; // Actual values from PLC
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uint16_t* holdingRegistersWrite; // Desired values to write
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// --- Communication buffers (shared for both reading and writing)
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uint8_t* commRequestBuffer; // Preallocated request buffer
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uint8_t* commResponseBuffer; // Preallocated response buffer
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int commRequestBufferSize; // Maximum request size needed
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int commResponseBufferSize; // Maximum response size needed
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// Global mutex to protect the TCP socket and communication buffers.
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pthread_mutex_t socketMutex;
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// Low-level communication functions using the shared buffers.
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bool sendRequest(uint8_t* request, int requestSize);
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bool receiveResponse(uint8_t* response, int expectedSize);
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// Message building functions – they write into a provided buffer.
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void buildReadRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t startAddr, uint16_t quantity);
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void buildWriteSingleRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t address, uint16_t value);
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void buildWriteMultipleRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t address, uint16_t count, const void* values, uint8_t byteCount);
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// Helper functions to compute maximum buffer sizes.
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int computeMaxReadResponseSize() const;
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int computeMaxWriteRequestSize() const;
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};
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#endif // MODBUS_TCP_CLIENT_H
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#endif // MODBUS_TCP_CLIENT_H
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757
modbus_tcp_client_old.cpp
Normal file
757
modbus_tcp_client_old.cpp
Normal file
@ -0,0 +1,757 @@
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#include "modbus_tcp_client.h"
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#include <sys/select.h> // For select() timeout
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ModbusTCPClient::ModbusTCPClient(const char* ip, int port, int numCoils, int numDI, int numIR, int numHR,
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int startCoils, int startDI, int startIR, int startHR)
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: serverIP(ip), serverPort(port), socketFD(-1), transactionID(1),
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numCoils(numCoils), numDiscreteInputs(numDI), numInputRegisters(numIR), numHoldingRegisters(numHR),
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startCoils(startCoils), startDiscreteInputs(startDI), startInputRegisters(startIR), startHoldingRegisters(startHR) {
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// Allocate memory dynamically based on provided sizes
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coilsRead = new bool[numCoils]();
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coilsWrite = new bool[numCoils]();
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discreteInputs = new bool[numDiscreteInputs]();
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inputRegisters = new uint16_t[numInputRegisters]();
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holdingRegistersRead = new uint16_t[numHoldingRegisters]();
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holdingRegistersWrite = new uint16_t[numHoldingRegisters]();
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}
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ModbusTCPClient::ModbusTCPClient(const char* ip, int port)
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: serverIP(ip), serverPort(port), socketFD(-1) {
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/*
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This constructor is if the user manually wants to call MODBUS TCP functions and not
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use readAll() and writeAll() and the setters/getters
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*/
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// Set everything to nullptr so that readAll() and writeAll() won't work
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coilsRead = nullptr;
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coilsWrite = nullptr;
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discreteInputs = nullptr;
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inputRegisters = nullptr;
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holdingRegistersRead = nullptr;
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holdingRegistersWrite = nullptr;
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}
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ModbusTCPClient::~ModbusTCPClient() {
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delete[] coilsRead;
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delete[] coilsWrite;
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delete[] discreteInputs;
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delete[] inputRegisters;
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delete[] holdingRegistersRead;
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delete[] holdingRegistersWrite;
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}
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void ModbusTCPClient::setStartAddresses(int startCoils, int startDI, int startIR, int startHR) {
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this->startCoils = startCoils;
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this->startDiscreteInputs = startDI;
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this->startInputRegisters = startIR;
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this->startHoldingRegisters = startHR;
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}
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bool ModbusTCPClient::connectServer() {
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// Step 1: If socket is already open, verify it's still connected
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if (socketFD != -1) {
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struct timeval timeout;
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timeout.tv_sec = 0;
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timeout.tv_usec = 100000; // 100ms timeout for connection check
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fd_set read_fds;
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FD_ZERO(&read_fds);
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FD_SET(socketFD, &read_fds);
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int result = select(socketFD + 1, &read_fds, NULL, NULL, &timeout);
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if (result == 0) {
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// No error in select, socket is still connected
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printf("MODBUS_TCP_CLIENT: Already connected to MODBUS server\n");
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return true;
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} else {
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// Connection is broken, close and reset
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printf("MODBUS_TCP_CLIENT: Warning: Connection lost, reconnecting...\n");
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disconnectServer();
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}
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}
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// Step 2: Create a new socket
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for (int attempts = 0; attempts < 5; attempts++) { // Retry up to 5 times
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socketFD = socket(AF_INET, SOCK_STREAM, 0);
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if (socketFD < 0) {
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printf("MODBUS_TCP_CLIENT: Could not create socket\n");
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return false;
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}
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struct sockaddr_in serverAddr;
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serverAddr.sin_family = AF_INET;
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serverAddr.sin_port = htons(serverPort);
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inet_pton(AF_INET, serverIP, &serverAddr.sin_addr);
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// Step 3: Attempt to connect
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printf("MODBUS_TCP_CLIENT: Attempting to connect to MODBUS server (Try %d)...\n", attempts + 1);
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if (connect(socketFD, (struct sockaddr*)&serverAddr, sizeof(serverAddr)) == 0) {
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printf("MODBUS_TCP_CLIENT: Connected to MODBUS server at %s:%d\n", serverIP, serverPort);
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return true;
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}
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printf("MODBUS_TCP_CLIENT: Connection failed, retrying...\n");
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disconnectServer(); // Close socket before retrying
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usleep(100000); // Wait 100ms before retrying
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}
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}
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void ModbusTCPClient::disconnectServer() {
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if (socketFD != -1) {
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close(socketFD);
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socketFD = -1;
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printf("MODBUS_TCP_CLIENT: Disconnected from MODBUS server\n");
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}
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}
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void ModbusTCPClient::setTimeout(int milliseconds) {
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timeoutMilliseconds = milliseconds;
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printf("MODBUS_TCP_CLIENT: Timeout set to %d ms\n", timeoutMilliseconds);
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}
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bool ModbusTCPClient::isConnected() const {
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return socketFD != -1;
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}
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bool ModbusTCPClient::reconnectServer() {
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printf("MODBUS_TCP_CLIENT: Attempting manual reconnection...\n");
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disconnectServer();
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return connectServer();
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}
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bool ModbusTCPClient::sendRequest(uint8_t* request, int requestSize) {
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// Ensure we're connected before sending
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if (socketFD == -1) {
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printf("MODBUS_TCP_CLIENT: Connection lost. Attempting to reconnect...\n");
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if (!connectServer()) {
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printf("MODBUS_TCP_CLIENT: Reconnection failed. Cannot send request.\n");
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return false;
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}
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}
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int bytesSent = write(socketFD, request, requestSize);
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if (bytesSent <= 0) { // Detect broken connection during write
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printf("MODBUS_TCP_CLIENT: Write failed, connection lost. Disconnecting...\n");
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disconnectServer();
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return false;
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}
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return bytesSent == requestSize;
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return bytesSent == requestSize;
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}
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bool ModbusTCPClient::receiveResponse(uint8_t* response, int expectedSize) {
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int totalBytesReceived = 0;
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while (totalBytesReceived < expectedSize) {
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struct timeval timeout;
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timeout.tv_sec = timeoutMilliseconds / 1000; // Convert ms to seconds
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timeout.tv_usec = (timeoutMilliseconds % 1000) * 1000; // Convert remaining ms to µs
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fd_set read_fds;
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FD_ZERO(&read_fds);
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FD_SET(socketFD, &read_fds);
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// Use select() to wait for data before reading
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int ready = select(socketFD + 1, &read_fds, NULL, NULL, &timeout);
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if (ready == 0) { // Timeout case
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printf("MODBUS_TCP_CLIENT: Timeout waiting for MODBUS response. Disconnecting...\n");
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disconnectServer(); // Close socket and reset socketFD
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return false;
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} else if (ready < 0) { // Select failed
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printf("MODBUS_TCP_CLIENT: Select failed. Disconnecting...\n");
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disconnectServer(); // Close socket and reset socketFD
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return false;
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}
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// Read available data
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int bytesReceived = read(socketFD, response + totalBytesReceived, expectedSize - totalBytesReceived);
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if (bytesReceived <= 0) { // Connection lost or no data received
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printf("MODBUS_TCP_CLIENT: Connection lost. Disconnecting...\n");
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disconnectServer(); // Close socket and reset socketFD
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return false;
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}
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totalBytesReceived += bytesReceived;
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}
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return true;
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}
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void ModbusTCPClient::buildReadRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t startAddr, uint16_t quantity) {
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transactionID++;
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// Transaction ID
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buffer[0] = transactionID >> 8;
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buffer[1] = transactionID & 0xFF;
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// Protocol ID, always 00 00
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buffer[2] = 0x00;
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buffer[3] = 0x00;
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// Length (remaining bytes after Unit ID)
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buffer[4] = 0x00;
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buffer[5] = 0x06;
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// Unit ID (Slave Address)
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buffer[6] = 0x01;
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// Function code
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buffer[7] = static_cast<uint8_t>(functionCode);
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// Start Address
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buffer[8] = startAddr >> 8;
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buffer[9] = startAddr & 0xFF;
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// Quantity (How many coils to read)
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buffer[10] = quantity >> 8;
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buffer[11] = quantity & 0xFF;
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}
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void ModbusTCPClient::buildWriteSingleRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t address, uint16_t value) {
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transactionID++;
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buffer[0] = transactionID >> 8;
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buffer[1] = transactionID & 0xFF;
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buffer[2] = 0x00;
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buffer[3] = 0x00;
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buffer[4] = 0x00;
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buffer[5] = 0x06;
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buffer[6] = 0x01;
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buffer[7] = static_cast<uint8_t>(functionCode);
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buffer[8] = address >> 8;
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buffer[9] = address & 0xFF;
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buffer[10] = value >> 8;
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buffer[11] = value & 0xFF;
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}
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void ModbusTCPClient::buildWriteMultipleRequest(uint8_t* buffer, ModbusFunction functionCode, uint16_t address, uint16_t count, const void* values, uint8_t byteCount) {
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transactionID++;
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// MODBUS TCP Header
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buffer[0] = transactionID >> 8;
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buffer[1] = transactionID & 0xFF;
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buffer[2] = 0x00; // Protocol ID (always 0x0000)
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buffer[3] = 0x00;
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buffer[4] = 0x00; // Length (remaining bytes after Unit ID)
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buffer[5] = 7 + byteCount;
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buffer[6] = 0x01; // Unit ID
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buffer[7] = static_cast<uint8_t>(functionCode); // Function Code (0x0F for coils, 0x10 for registers)
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buffer[8] = address >> 8; // Start address high byte
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buffer[9] = address & 0xFF; // Start address low byte
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buffer[10] = count >> 8; // Quantity high byte
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buffer[11] = count & 0xFF; // Quantity low byte
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buffer[12] = byteCount; // Byte count
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// Copy data payload manually (instead of memcpy)
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const uint8_t* data = (const uint8_t*)values;
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for (uint8_t i = 0; i < byteCount; i++) {
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buffer[13 + i] = data[i];
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}
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}
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ModbusError ModbusTCPClient::readCoil(int address, bool &coilState) {
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uint8_t request[12];
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buildReadRequest(request, ModbusFunction::READ_COIL, address, 1);
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sendRequest(request, 12);
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uint8_t response[10]; // Expecting 10 bytes
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if (!receiveResponse(response, 10)) {
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return ModbusError::TIMEOUT;
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}
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// Handle MODBUS exception responses (0x80 + function code)
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if (response[7] & 0x80) {
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printf("MODBUS_TCP_CLIENT: MODBUS Exception Code %02X\n", response[8]);
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return ModbusError::EXCEPTION_RESPONSE;
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}
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// Ensure function code matches the request (allowing for server behavior)
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if (response[7] != static_cast<uint8_t>(ModbusFunction::READ_COIL)) {
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printf("MODBUS_TCP_CLIENT: Warning: Unexpected function code (Expected: %02X, Got: %02X)\n",
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static_cast<uint8_t>(ModbusFunction::READ_COIL), response[7]);
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return ModbusError::INVALID_RESPONSE;
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}
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// Extract coil state (only first bit is used)
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coilState = (response[9] & 0x01) != 0; // Adjusted index based on 10-byte response
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return ModbusError::NONE;
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}
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ModbusError ModbusTCPClient::readMultipleCoils(int address, int count, bool coilStates[]) {
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||||
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;
|
||||
}
|
||||
115
modbus_tcp_client_old.h
Normal file
115
modbus_tcp_client_old.h
Normal file
@ -0,0 +1,115 @@
|
||||
#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
|
||||
Loading…
Reference in New Issue
Block a user