New i/o-system for Modbus TCP implemented

otherio/lib/rt/src/os_linux/rt_io_m_mb_module.c

+/* 
+ * Proview   $Id: rt_io_m_mb_module.c,v 1.1 2008-02-29 08:01:07 claes Exp $
+ * Copyright (C) 2005 SSAB Oxelsund AB.
+ *
+ * This program is free software; you can redistribute it and/or 
+ * modify it under the terms of the GNU General Public License as 
+ * published by the Free Software Foundation, either version 2 of 
+ * the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful 
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of 
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License 
+ * along with the program, if not, write to the Free Software 
+ * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+ */
+
+#pragma pack(1)
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <errno.h>
+#include <math.h>
+#include <sys/file.h>
+#include <sys/ioctl.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <sys/socket.h>
+
+
+#include "rt_io_mb_locals.h"
+
+#include "pwr.h"
+#include "pwr_baseclasses.h"
+#include "pwr_basecomponentclasses.h"
+#include "pwr_otherioclasses.h"
+#include "rt_io_base.h"
+#include "rt_io_msg.h"
+#include "rt_errh.h"
+#include "rt_io_bus.h"
+#include "rt_mb_msg.h"
+
+/*----------------------------------------------------------------------------*\
+   Init method for the Modbus module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardInit (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+  io_sCardLocal *local;
+  pwr_sClass_Modbus_Module *op;
+  int i;
+
+  op = (pwr_sClass_Modbus_Module *) cp->op;
+  local = (io_sCardLocal *) cp->Local;
+  
+  for (i = 0; i < IO_MAXCHAN; i++) {
+    local->scancount[i] = 0;
+  }
+
+  op->Status = pwr_eModbusModule_StatusEnum_StatusUnknown;
+
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+   Read method for the Pb module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardRead (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+  io_sCardLocal *local;
+  pwr_sClass_Modbus_Module *op;
+  pwr_sClass_Modbus_TCP_Slave *slave;
+
+  op = (pwr_sClass_Modbus_Module *) cp->op;
+  local = (io_sCardLocal *) cp->Local;
+  slave = (pwr_sClass_Modbus_TCP_Slave *) rp->op;
+
+  if (slave->Status == MB__NORMAL) { 
+    io_card_read(ctx, rp, cp, local->input_area, NULL,  pwr_eByteOrderingEnum_BigEndian, pwr_eFloatRepEnum_FloatIntel);  
+  }
+//  printf("Method Modbus_Module-IoCardRead\n");
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+   Write method for the Pb module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardWrite (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+  io_sCardLocal *local;
+  pwr_sClass_Modbus_Module *op;
+  
+  pwr_sClass_Modbus_TCP_Slave *slave;
+
+  op = (pwr_sClass_Modbus_Module *) cp->op;
+  local = (io_sCardLocal *) cp->Local;
+  slave = (pwr_sClass_Modbus_TCP_Slave *) rp->op;
+  
+  if (slave->Status == MB__NORMAL) { 
+    io_card_write(ctx, cp, local->output_area, pwr_eByteOrderingEnum_BigEndian, pwr_eFloatRepEnum_FloatIntel);
+  }
+//  printf("Method Modbus_Module-IoCardWrite\n");
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+  Every method to be exported to the workbench should be registred here.
+\*----------------------------------------------------------------------------*/
+
+pwr_dExport pwr_BindIoMethods(Modbus_Module) = {
+  pwr_BindIoMethod(IoCardInit),
+  pwr_BindIoMethod(IoCardRead),
+  pwr_BindIoMethod(IoCardWrite),
+  pwr_NullMethod
+};
+

otherio/lib/rt/src/os_linux/rt_io_mb_locals.h

+/* 
+ * Proview   $Id: rt_io_mb_locals.h,v 1.1 2008-02-29 08:01:07 claes Exp $
+ * Copyright (C) 2005 SSAB Oxelsund AB.
+ *
+ * This program is free software; you can redistribute it and/or 
+ * modify it under the terms of the GNU General Public License as 
+ * published by the Free Software Foundation, either version 2 of 
+ * the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful 
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of 
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License 
+ * along with the program, if not, write to the Free Software 
+ * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+ */
+
+#ifndef pwr_class_h
+#include "pwr_class.h"
+#endif
+
+#define IO_MAXCHAN 96
+
+// These constants are obsolete from V4.1, except for the old style
+// (Pb_Di, Pb_Do etc)
+
+#define PB_MODULE_STATE_NOTINIT 0
+#define PB_MODULE_STATE_OPERATE 1
+
+//#define PB_SLAVE_STATE_NOTINIT 0
+//#define PB_SLAVE_STATE_STOPPED 1
+//#define PB_SLAVE_STATE_OPERATE 2
+
+//#define PB_MASTER_STATE_NOTINIT 0
+//#define PB_MASTER_STATE_STOPPED 1
+//#define PB_MASTER_STATE_CLEARED 2
+//#define PB_MASTER_STATE_OPERATE 3
+
+//#define PB_STALLACTION_NONE	0
+//#define PB_STALLACTION_RESET 	1
+//#define PB_STALLACTION_BREAK 	2
+
+#define PB_NUMREP_UNSIGNEDINT	0
+#define PB_NUMREP_SIGNEDINT	1
+#define PB_NUMREP_FLOATIEEE	2
+#define PB_NUMREP_FLOATVAX	3
+#define PB_NUMREP_FLOATINTEL	4
+
+//#define PB_BYTEORDERING_LE	0
+//#define PB_BYTEORDERING_BE	1
+
+#define PB_ORIENTATION_BYTE	8
+#define PB_ORIENTATION_WORD	16
+#define PB_ORIENTATION_DWORD	32
+
+#define PB_UDATA_DIAG 		1
+
+typedef pwr_tMask mb_tSendMask;
+
+typedef enum {
+  mb_mSendMask_ReadReq               = 1,
+  mb_mSendMask_WriteReq              = 2,
+} mb_mSendMask;
+
+typedef struct {
+} io_sAgentLocal;
+
+typedef struct {
+  int initialized;
+  int s;
+  short int trans_id;
+  struct sockaddr_in rem_addr;		/* Remote socket description */
+  struct sockaddr_in loc_addr;		/* Remote socket description */
+  int input_size;
+  int output_size;
+  int expected_msgs;
+} io_sRackLocal;
+
+typedef struct {
+  void *input_area;
+  void *output_area;
+  int scancount[IO_MAXCHAN];
+  int trans_id;
+  int input_size;
+  int output_size;
+  short int no_di;
+  short int no_do;
+} io_sCardLocal;
+
+#pragma pack(1)
+typedef struct
+{
+  unsigned char protocol_id[2];
+  short int msg_size;
+  short int msg_id[2];
+} remote_tcp_header;
+
+typedef struct _mbap_header {
+  short int trans_id;
+  short int proto_id;
+  short int length;
+  unsigned char      unit_id;
+} mbap_header;
+
+typedef struct _read_req {
+  mbap_header  head;
+  unsigned char         fc;
+  short int    addr;
+  short int    quant;
+} read_req;
+
+typedef struct _rec_buf {
+  mbap_header  head;
+  short int    buf[1000];
+} rec_buf;
+
+typedef struct _write_reg_req {
+  mbap_header  head;
+  unsigned char         fc;
+  short int    addr;
+  short int    quant;
+  unsigned char         bc;
+  short int    reg[125];
+} write_reg_req;
+
+typedef struct _write_coils_req {
+  mbap_header  head;
+  unsigned char         fc;
+  short int    addr;
+  short int    quant;
+  unsigned char         bc;
+  unsigned  char    reg[250];
+} write_coils_req;
+
+typedef struct _res_write {
+  unsigned char         fc;
+  short int    addr;
+  short int    quant;
+  short int    buf[250];
+} res_write;
+
+typedef struct _res_read {
+  unsigned char         fc;
+  unsigned char         bc;
+  short int    buf[250];
+} res_read;
+
+typedef struct _res_fault {
+  unsigned char         fc;
+  unsigned char         ec;
+} res_fault;
+
+#pragma pack(0)
+

otherio/lib/rt/src/rt_io_otherio.meth

 MotionControl_USB
 MotionControl_USBIO
+Modbus_TCP_Slave
+Modbus_Module