Detailed Description

Processimage synchronisation via Modbus/TCP

This device is derived from the signal based sDevice to read and write line levels via ethernet using the Modbus/TCP protocol; see also the Modbus Organization.
When configured as master, the mbDevice initiates commucation with a specified list of slaves in order to retrieve input line levels and to set output line levels. The latter are locally buffered and are propagated to the event-based interface inherited via the base class sDevice. When configured as slave, the mbDevice accepts connections from any Modbus master, will response to their request sand update the local line-level buffer accordingly.

Further dedatils on the configuration, incl. an example, are provided by the ModbusDevice user-reference

Technical details.

The mbDevice slave implements reading and writing bits/coils/registers/holding registers, incl. the multi-read/write variants; regardless which commads you use, they all refer to the one process image implicitly defined by the event configuration.
The mbDevice matser usees the commands read multiple bits and write multiple coils for process image synchonisation.
All network communication come with quite relaxed timeouts. Please let us know, if you require more strict timeout behaviour.
Network communication is currently implemented synchronous with the edge detection background task; this is restrictive and may be changed in future revisions.
Communication uses an additional line-level buffer; a better solution would be to share the line buffer with the sDevice; however, this is not supported by the current sDevice interface.
Programatic configuration is still incomplete.
The mbDevice compiles with MinGW/Windows, however, it was not properly tested in this configuration; please let us know, if you plan to use mbDevice in a Windows context.

Note: This device must be explicitely enabled in Makefile.plugin.

Definition at line 72 of file iop_modbus.h.

#include <iop_modbus.h>

Classes
struct	IoRange

Public Member Functions
	mbDevice (void)

	mbDevice (const mbDevice &)

virtual	~mbDevice (void)

virtual void	Clear (void)

virtual void	Compile (void)

void	AppendRemoteOutputs (int mbid, int mbaddr, int cnt, int fdaddr)

void	AppendRemoteInputs (int mbid, int mbaddr, int cnt, int fdaddr)

void	SlaveAddress (const std::string &rAddr)

virtual void	Start (void)

virtual void	Stop (void)

Public Member Functions inherited from faudes::sDevice
	sDevice (void)

	sDevice (const sDevice &rOtherDevice)

virtual	~sDevice (void)

void	InsInputEvent (const std::string &event)

void	AppendTrigger (const std::string &event, const Trigger &trigger)

void	InsOutputEvent (const std::string &event)

void	AppendAction (const std::string &event, const Action &action)

int	MaxBitAddress (void) const

virtual void	Reset (void)

virtual void	WriteOutput (Idx output)

void	WriteSignal (int bitaddr, bool value)

bool	ReadSignal (int bitaddr)

virtual int	CycleTime () const

virtual void	CycleTime (int cycleTime)

Public Member Functions inherited from faudes::vDevice
	vDevice (void)

virtual	~vDevice (void)

void	Name (const std::string &rName)

const std::string &	Name (void) const

void	Tolerance (Time::Type maxgap)

Time::Type	Tolerance (void)

virtual void	TimeScale (unsigned int scale)

virtual int	TimeScale (void)

virtual void	Configure (Idx event, const AttributeDeviceEvent &attr)

virtual void	Configure (const EventSet &rPhysicalEvents)

virtual const EventSet &	Outputs (void) const

virtual const EventSet &	Inputs (void) const

virtual bool	ResetRequest (void)

virtual DeviceState	Status (void)

virtual std::string	StatusString (void)

virtual void	FlushOutputs (void)

virtual Idx	ReadInput (void)

virtual Idx	PeekInput (void)

virtual bool	InputReady (void)

virtual bool	WaitInputs (Time::Type duration)

virtual bool	WaitInputsMs (long int duration)

virtual Time::Type	CurrentTime (void)

virtual long int	CurrentTimeMs (void)

virtual void	CurrentTime (Time::Type now)

virtual void	CurrentTimeMs (long int nowms)

virtual faudes_systime_t	FtuToSystemTime (Time::Type duration)

void	UseCondition (faudes_mutex_t wmutex, faudes_cond_t wcond)

void	UseBuffer (faudes_mutex_t bmutex, std::deque< Idx > bbuffer)

virtual std::string	EStr (Idx ev)

SampledDensityFunction	Performance (void)

void	ResetPerformance (void)

void	WritePerformance (void)

Public Member Functions inherited from faudes::Type
	Type (void)

	Type (const Type &rType)

virtual	~Type (void)

virtual Type *	New (void) const

virtual Type *	Copy (void) const

virtual const Type *	Cast (const Type *pOther) const

virtual bool	IsDefault (void) const

virtual Type &	Assign (const Type &rSrc)

Type &	operator= (const Type &rSrc)

virtual bool	Equal (const Type &rOther) const

bool	operator== (const Type &rOther) const

bool	operator!= (const Type &rOther) const

virtual const std::string &	TypeName (void) const

void	Write (const Type *pContext=0) const

void	Write (const std::string &pFileName, const std::string &rLabel="", const Type *pContext=0, std::ios::openmode openmode=std::ios::out\|std::ios::trunc) const

void	Write (const std::string &pFileName, std::ios::openmode openmode) const

void	Write (TokenWriter &rTw, const std::string &rLabel="", const Type *pContext=0) const

virtual void	XWrite (const std::string &pFileName, const std::string &rLabel="", const Type *pContext=0) const

void	XWrite (const Type *pContext=0) const

void	XWrite (TokenWriter &rTw, const std::string &rLabel="", const Type *pContext=0) const

std::string	ToString (const std::string &rLabel="", const Type *pContext=0) const

std::string	ToText (const std::string &rLabel="", const Type *pContext=0) const

void	DWrite (const Type *pContext=0) const

void	DWrite (const std::string &pFileName, const std::string &rLabel="", const Type *pContext=0, std::ios::openmode openmode=std::ios::out\|std::ios::trunc) const

void	DWrite (TokenWriter &rTw, const std::string &rLabel="", const Type *pContext=0) const

void	SWrite (TokenWriter &rTw) const

void	SWrite (void) const

std::string	ToSText (void) const

void	Read (const std::string &rFileName, const std::string &rLabel="", const Type *pContext=0)

void	FromString (const std::string &rString, const std::string &rLabel="", const Type *pContext=0)

void	Read (TokenReader &rTr, const std::string &rLabel="", const Type *pContext=0)

Protected Member Functions
virtual bool	DoReadSignalsPre (void)

virtual void	DoReadSignalsPost (void)

virtual bool	DoReadSignal (int bitaddr)

virtual bool	DoWriteSignalsPre (void)

virtual void	DoWriteSignalsPost (void)

virtual void	DoWriteSignal (int bitaddr, bool value)

virtual void	DoLoopCallback (void)

void	DoReadPreface (TokenReader &rTr, const std::string &rLabel="", const Type *pContext=0)

void	DoWritePreface (TokenWriter &rTw, const std::string &rLabel, const Type *pContext) const

int	MbFlushBuffers (void)

int	MbSendRequest (int id)

int	MbReceiveResponse (void)

int	MbReceiveRequest (int mastersock)

int	MbSendResponse (int mastersock)

Protected Member Functions inherited from faudes::sDevice
void	DoWritePreface (TokenWriter &rTw, const std::string &rLabel, const Type *pContext=0) const

Protected Member Functions inherited from faudes::vDevice
virtual void	DoWrite (TokenWriter &rTw, const std::string &rLabel="", const Type *pContext=0) const

virtual void	DoWriteConfiguration (TokenWriter &rTw, const std::string &rLabel="", const Type *pContext=0) const

virtual void	DoRead (TokenReader &rTr, const std::string &rLabel="", const Type *pContext=0)

virtual void	DoReadConfiguration (TokenReader &rTr, const std::string &rLabel="", const Type *pContext=0)

virtual long int	FtuToMs (Time::Type faudes_time)

virtual Time::Type	MsToFtu (long int real_time)

Protected Member Functions inherited from faudes::Type
void	DoAssign (const Type &rSrc)

bool	DoEqual (const Type &rOther) const

virtual void	DoXWrite (TokenWriter &rTw, const std::string &rLabel="", const Type *pContext=0) const

virtual void	DoDWrite (TokenWriter &rTw, const std::string &rLabel="", const Type *pContext=0) const

virtual void	DoSWrite (TokenWriter &rTw) const

virtual const TypeDefinition *	TypeDefinitionp (void) const

virtual Token	XBeginTag (const std::string &rLabel="", const std::string &rFallbackLabel="") const

Protected Attributes
bool	mMasterRole

SimplenetAddress	mSlaveAddress

std::vector< IoRange >	mSlaveIoRanges

int	mImageSize

char *	mpImage

char *	pInputImage

char *	pOutputImage

char *	mpOutputMask

int	mSlaveSocket

int	mRequestCount

char *	mMessage

int	mMessageLen

int	mRequestId

std::vector< int >	mMasterSockets

Protected Attributes inherited from faudes::sDevice
TaNameSet< AttributeSignalEvent > *	pConfiguration

std::map< int, EventSet >	mInputPosEdgeIndexMap

std::map< int, EventSet >	mInputNegEdgeIndexMap

std::map< int, EventSet >	mOutputLevelIndexMap

int	mMaxBitAddress

faudes_mutex_t	mMutex

bool	mSyncWrite

Protected Attributes inherited from faudes::vDevice
std::string	mDefaultLabel

std::string	mName

EventSet *	mpConfiguration

EventSet	mInputs

EventSet	mOutputs

DeviceState	mState

faudes_mutex_t	mWaitMutex

faudes_cond_t	mWaitCondition

faudes_mutex_t *	pWaitMutex

faudes_cond_t *	pWaitCondition

faudes_systime_t	mTimeZero

int	mTimeScale

Time::Type	mMaxSyncGap

std::deque< Idx >	mInputBuffer

std::deque< Idx > *	pInputBuffer

faudes_mutex_t	mBufferMutex

faudes_mutex_t *	pBufferMutex

bool	mResetRequest

faudes_systime_t *	mpPerformanceWaitEnter

faudes_systime_t *	mpPerformanceWaitExit

int	mPerformanceEndIterator

int	mPerformanceBeginIterator

Additional Inherited Members
Public Types inherited from faudes::sDevice
typedef AttributeSignalInput::Trigger	Trigger

typedef AttributeSignalOutput::Action	Action

typedef AttributeSignalOutput::Value	Value

Public Types inherited from faudes::vDevice
enum	DeviceState { Down , StartUp , Up , ShutDown }

Static Public Member Functions inherited from faudes::vDevice
static vDevice *	FromTokenReader (TokenReader &rTr)

static vDevice *	FromFile (const std::string &rFileName)

static void	StopAll (void)

Constructor & Destructor Documentation

◆ mbDevice() [1/2]

faudes::mbDevice::mbDevice ( void )

Default constructor

Definition at line 43 of file iop_modbus.cpp.

◆ mbDevice() [2/2]

faudes::mbDevice::mbDevice ( const mbDevice & )

inline

Copy constructor (not implemented!)

Definition at line 86 of file iop_modbus.h.

◆ ~mbDevice()

faudes::mbDevice::~mbDevice ( void )

virtual

Explicit destructor.

Definition at line 61 of file iop_modbus.cpp.

Member Function Documentation

◆ AppendRemoteInputs()

void faudes::mbDevice::AppendRemoteInputs	(	int	mbid,
		int	mbaddr,
		int	cnt,
		int	fdaddr
	)

Append remotely implemented inputs. You must (re-)compile the mbDevice after adding remote inputs.

Parameters

mbid	Remote device id
mbaddr	bitaddress within the remote device
cnt	number of input bits to bw read
fdaddr	address within local process image

Definition at line 135 of file iop_modbus.cpp.

◆ AppendRemoteOutputs()

void faudes::mbDevice::AppendRemoteOutputs	(	int	mbid,
		int	mbaddr,
		int	cnt,
		int	fdaddr
	)

Append remotely implemented outputs. You must (re-)compile the mbDevice after adding remote outputs.

Parameters

mbid	Remote device id
mbaddr	bitaddress within the remote device
cnt	number of output bits to bw written
fdaddr	address within local process image

Definition at line 146 of file iop_modbus.cpp.

◆ Clear()

void faudes::mbDevice::Clear ( void )

virtual

Clear all configuration (implies Stop)

Reimplemented from faudes::sDevice.

Definition at line 73 of file iop_modbus.cpp.

◆ Compile()

void faudes::mbDevice::Compile ( void )

virtual

Compile to internal data-structures.

Exception in misconfiguration/inconsistencies

Reimplemented from faudes::sDevice.

Definition at line 84 of file iop_modbus.cpp.

◆ DoLoopCallback()

void faudes::mbDevice::DoLoopCallback ( void )

protectedvirtual

Loop hook.

This function is called once during each cycle of the backgroud thread. It implements the actual communication via Modbus/TCP.

Reimplemented from faudes::sDevice.

Definition at line 480 of file iop_modbus.cpp.

◆ DoReadPreface()

void faudes::mbDevice::DoReadPreface	(	TokenReader &	rTr,
		const std::string &	rLabel = `""`,
		const Type *	pContext = `0`
	)

protectedvirtual

Read non-event-related configuration data from tokenreader

Parameters

rTr	TokenReader to read from
rLabel	Section to read
pContext	Read context to provide contextual information

Reimplemented from faudes::sDevice.

Definition at line 202 of file iop_modbus.cpp.

◆ DoReadSignal()

bool faudes::mbDevice::DoReadSignal ( int bitaddr )

protectedvirtual

Get input signal.

Extract bit value from image.

Parameters

bitaddr Abstract bit address

Returns: True for logic level high;

Implements faudes::sDevice.

Definition at line 926 of file iop_modbus.cpp.

◆ DoReadSignalsPost()

void faudes::mbDevice::DoReadSignalsPost ( void )

protectedvirtual

IO Hook, inputs

Reimplemented from faudes::sDevice.

Definition at line 921 of file iop_modbus.cpp.

◆ DoReadSignalsPre()

bool faudes::mbDevice::DoReadSignalsPre ( void )

protectedvirtual

IO Hook, inputs

Returns: True on success.

Reimplemented from faudes::sDevice.

Definition at line 915 of file iop_modbus.cpp.

◆ DoWritePreface()

void faudes::mbDevice::DoWritePreface	(	TokenWriter &	rTw,
		const std::string &	rLabel,
		const Type *	pContext
	)		const

protectedvirtual

Write non-event-related configuration data to tokenreader

Parameters

rTw	TokenWriter to write
rLabel	Section to write
pContext	Context to provide contextual information

Reimplemented from faudes::vDevice.

Definition at line 163 of file iop_modbus.cpp.

◆ DoWriteSignal()

void faudes::mbDevice::DoWriteSignal	(	int	bitaddr,
		bool	value
	)

protectedvirtual

Set output signal.

Set value of bit in process image.

Parameters

bitaddr	Abstract bit address
value	True for logic level high;

Implements faudes::sDevice.

Definition at line 942 of file iop_modbus.cpp.

◆ DoWriteSignalsPost()

void faudes::mbDevice::DoWriteSignalsPost ( void )

protectedvirtual

IO Hook, outputs

Reimplemented from faudes::sDevice.

Definition at line 937 of file iop_modbus.cpp.

◆ DoWriteSignalsPre()

bool faudes::mbDevice::DoWriteSignalsPre ( void )

protectedvirtual

IO Hook, outputs

Returns: True on success

Reimplemented from faudes::sDevice.

Definition at line 932 of file iop_modbus.cpp.

◆ MbFlushBuffers()

int faudes::mbDevice::MbFlushBuffers ( void )

protected

I/O helper

Definition at line 372 of file iop_modbus.cpp.

◆ MbReceiveRequest()

int faudes::mbDevice::MbReceiveRequest ( int mastersock )

protected

Definition at line 448 of file iop_modbus.cpp.

◆ MbReceiveResponse()

int faudes::mbDevice::MbReceiveResponse ( void )

protected

Definition at line 419 of file iop_modbus.cpp.

◆ MbSendRequest()

int faudes::mbDevice::MbSendRequest ( int id )

protected

Definition at line 396 of file iop_modbus.cpp.

◆ MbSendResponse()

int faudes::mbDevice::MbSendResponse ( int mastersock )

protected

Definition at line 464 of file iop_modbus.cpp.

◆ SlaveAddress()

void faudes::mbDevice::SlaveAddress ( const std::string & rAddr )

Set server address of this node. Note: you can only set th server address while the device is down.

Parameters

rAddr IP address of the remote Modbus device, e.g. "localhost:1502"

Exceptions

Exception

No valid address (id 551) (NOT IMPLEMENTED)

Definition at line 157 of file iop_modbus.cpp.

◆ Start()

void faudes::mbDevice::Start ( void )

virtual

Activate the device. This function opens/initializes a network connection and starts the -background thread for communication and edge detection.

Exceptions

Exception

not yet configured (id not configured)
failed to network connection (id not configured)

Reimplemented from faudes::sDevice.

Definition at line 292 of file iop_modbus.cpp.

◆ Stop()

void faudes::mbDevice::Stop ( void )

virtual

Deactivate the device. This function shuts down the network, stops the background thread and sets all output signals to 0.

Reimplemented from faudes::sDevice.

Definition at line 337 of file iop_modbus.cpp.

Member Data Documentation

◆ mImageSize

int faudes::mbDevice::mImageSize

protected

Remote process image buffer

Definition at line 286 of file iop_modbus.h.

◆ mMasterRole

bool faudes::mbDevice::mMasterRole

protected

Role: master/slave

Definition at line 270 of file iop_modbus.h.

◆ mMasterSockets

std::vector<int> faudes::mbDevice::mMasterSockets

protected

Background thread: tcp connection to remote masters

Definition at line 300 of file iop_modbus.h.

◆ mMessage

char* faudes::mbDevice::mMessage

protected

Definition at line 295 of file iop_modbus.h.

◆ mMessageLen

int faudes::mbDevice::mMessageLen

protected

Definition at line 296 of file iop_modbus.h.

◆ mpImage

char* faudes::mbDevice::mpImage

protected

Definition at line 287 of file iop_modbus.h.

◆ mpOutputMask

char* faudes::mbDevice::mpOutputMask

protected

Definition at line 290 of file iop_modbus.h.

◆ mRequestCount

int faudes::mbDevice::mRequestCount

protected

Definition at line 294 of file iop_modbus.h.

◆ mRequestId

int faudes::mbDevice::mRequestId

protected

Definition at line 297 of file iop_modbus.h.

◆ mSlaveAddress

SimplenetAddress faudes::mbDevice::mSlaveAddress

protected

IP addresses

Definition at line 273 of file iop_modbus.h.

◆ mSlaveIoRanges

std::vector< IoRange > faudes::mbDevice::mSlaveIoRanges

protected

Definition at line 283 of file iop_modbus.h.

◆ mSlaveSocket

int faudes::mbDevice::mSlaveSocket

protected

Background thread: tcp connection to remote slave

Definition at line 293 of file iop_modbus.h.

◆ pInputImage

char* faudes::mbDevice::pInputImage

protected

Definition at line 288 of file iop_modbus.h.

◆ pOutputImage

char* faudes::mbDevice::pOutputImage

protected

Definition at line 289 of file iop_modbus.h.

The documentation for this class was generated from the following files:

Detailed Description

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ mbDevice() [1/2]

◆ mbDevice() [2/2]

◆ ~mbDevice()

Member Function Documentation

◆ AppendRemoteInputs()

◆ AppendRemoteOutputs()

◆ Clear()

◆ Compile()

◆ DoLoopCallback()

◆ DoReadPreface()

◆ DoReadSignal()

◆ DoReadSignalsPost()

◆ DoReadSignalsPre()

◆ DoWritePreface()

◆ DoWriteSignal()

◆ DoWriteSignalsPost()

◆ DoWriteSignalsPre()

◆ MbFlushBuffers()

◆ MbReceiveRequest()

◆ MbReceiveResponse()

◆ MbSendRequest()

◆ MbSendResponse()

◆ SlaveAddress()

◆ Start()

◆ Stop()

Member Data Documentation

◆ mImageSize

◆ mMasterRole

◆ mMasterSockets

◆ mMessage

◆ mMessageLen

◆ mpImage

◆ mpOutputMask

◆ mRequestCount

◆ mRequestId

◆ mSlaveAddress

◆ mSlaveIoRanges

◆ mSlaveSocket

◆ pInputImage

◆ pOutputImage