beremiz

merge

2019-02-21, Andrey Skvortsov
61324adaa29a
Parents 6551a73702a30f6dae98ddc5
Children cbfcae21c698
merge
1 files changed, 614 insertions(+), 605 deletions(-)
  • +614 -605
    modbus/mb_runtime.c
    • --- a/modbus/mb_runtime.c Thu Feb 21 11:25:58 2019 +0300
    +++ b/modbus/mb_runtime.c Thu Feb 21 11:27:16 2019 +0300
    @@ -1,605 +1,614 @@
    -/* File generated by Beremiz (PlugGenerate_C method of Modbus plugin) */
    -
    -/*
    - * Copyright (c) 2016 Mario de Sousa (msousa@fe.up.pt)
    - *
    - * This file is part of the Modbus library for Beremiz and matiec.
    - *
    - * This Modbus library is free software: you can redistribute it and/or modify
    - * it under the terms of the GNU Lesser 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 Lesser
    - * General Public License for more details.
    - *
    - * You should have received a copy of the GNU Lesser General Public License
    - * along with this Modbus library. If not, see <http://www.gnu.org/licenses/>.
    - *
    - * This code is made available on the understanding that it will not be
    - * used in safety-critical situations without a full and competent review.
    - */
    -
    -
    -#include <stdio.h>
    -#include <string.h> /* required for memcpy() */
    -#include "mb_slave_and_master.h"
    -#include "MB_%(locstr)s.h"
    -
    -
    -#define MAX_MODBUS_ERROR_CODE 11
    -static const char *modbus_error_messages[MAX_MODBUS_ERROR_CODE+1] = {
    - /* 0 */ "", /* un-used -> no error! */
    - /* 1 */ "illegal/unsuported function",
    - /* 2 */ "illegal data address",
    - /* 3 */ "illegal data value",
    - /* 4 */ "slave device failure",
    - /* 5 */ "acknowledge -> slave intends to reply later",
    - /* 6 */ "slave device busy",
    - /* 7 */ "negative acknowledge",
    - /* 8 */ "memory parity error",
    - /* 9 */ "", /* undefined by Modbus */
    - /* 10*/ "gateway path unavalilable",
    - /* 11*/ "gateway target device failed to respond"
    -};
    -
    -
    -/* Execute a modbus client transaction/request */
    -static int __execute_mb_request(int request_id){
    - switch (client_requests[request_id].mb_function){
    -
    - case 1: /* read coils */
    - return read_output_bits(client_requests[request_id].slave_id,
    - client_requests[request_id].address,
    - client_requests[request_id].count,
    - client_requests[request_id].coms_buffer,
    - (int) client_requests[request_id].count,
    - client_nodes[client_requests[request_id].client_node_id].mb_nd,
    - client_requests[request_id].retries,
    - &(client_requests[request_id].error_code),
    - &(client_requests[request_id].resp_timeout),
    - &(client_requests[request_id].coms_buf_mutex));
    -
    - case 2: /* read discrete inputs */
    - return read_input_bits( client_requests[request_id].slave_id,
    - client_requests[request_id].address,
    - client_requests[request_id].count,
    - client_requests[request_id].coms_buffer,
    - (int) client_requests[request_id].count,
    - client_nodes[client_requests[request_id].client_node_id].mb_nd,
    - client_requests[request_id].retries,
    - &(client_requests[request_id].error_code),
    - &(client_requests[request_id].resp_timeout),
    - &(client_requests[request_id].coms_buf_mutex));
    -
    - case 3: /* read holding registers */
    - return read_output_words(client_requests[request_id].slave_id,
    - client_requests[request_id].address,
    - client_requests[request_id].count,
    - client_requests[request_id].coms_buffer,
    - (int) client_requests[request_id].count,
    - client_nodes[client_requests[request_id].client_node_id].mb_nd,
    - client_requests[request_id].retries,
    - &(client_requests[request_id].error_code),
    - &(client_requests[request_id].resp_timeout),
    - &(client_requests[request_id].coms_buf_mutex));
    -
    - case 4: /* read input registers */
    - return read_input_words(client_requests[request_id].slave_id,
    - client_requests[request_id].address,
    - client_requests[request_id].count,
    - client_requests[request_id].coms_buffer,
    - (int) client_requests[request_id].count,
    - client_nodes[client_requests[request_id].client_node_id].mb_nd,
    - client_requests[request_id].retries,
    - &(client_requests[request_id].error_code),
    - &(client_requests[request_id].resp_timeout),
    - &(client_requests[request_id].coms_buf_mutex));
    -
    - case 5: /* write single coil */
    - return write_output_bit(client_requests[request_id].slave_id,
    - client_requests[request_id].address,
    - client_requests[request_id].coms_buffer[0],
    - client_nodes[client_requests[request_id].client_node_id].mb_nd,
    - client_requests[request_id].retries,
    - &(client_requests[request_id].error_code),
    - &(client_requests[request_id].resp_timeout),
    - &(client_requests[request_id].coms_buf_mutex));
    -
    - case 6: /* write single register */
    - return write_output_word(client_requests[request_id].slave_id,
    - client_requests[request_id].address,
    - client_requests[request_id].coms_buffer[0],
    - client_nodes[client_requests[request_id].client_node_id].mb_nd,
    - client_requests[request_id].retries,
    - &(client_requests[request_id].error_code),
    - &(client_requests[request_id].resp_timeout),
    - &(client_requests[request_id].coms_buf_mutex));
    -
    - case 7: break; /* function not yet supported */
    - case 8: break; /* function not yet supported */
    - case 9: break; /* function not yet supported */
    - case 10: break; /* function not yet supported */
    - case 11: break; /* function not yet supported */
    - case 12: break; /* function not yet supported */
    - case 13: break; /* function not yet supported */
    - case 14: break; /* function not yet supported */
    -
    - case 15: /* write multiple coils */
    - return write_output_bits(client_requests[request_id].slave_id,
    - client_requests[request_id].address,
    - client_requests[request_id].count,
    - client_requests[request_id].coms_buffer,
    - client_nodes[client_requests[request_id].client_node_id].mb_nd,
    - client_requests[request_id].retries,
    - &(client_requests[request_id].error_code),
    - &(client_requests[request_id].resp_timeout),
    - &(client_requests[request_id].coms_buf_mutex));
    -
    - case 16: /* write multiple registers */
    - return write_output_words(client_requests[request_id].slave_id,
    - client_requests[request_id].address,
    - client_requests[request_id].count,
    - client_requests[request_id].coms_buffer,
    - client_nodes[client_requests[request_id].client_node_id].mb_nd,
    - client_requests[request_id].retries,
    - &(client_requests[request_id].error_code),
    - &(client_requests[request_id].resp_timeout),
    - &(client_requests[request_id].coms_buf_mutex));
    -
    - default: break; /* should never occur, if file generation is correct */
    - }
    -
    - fprintf(stderr, "Modbus plugin: Modbus function %%d not supported\n", request_id); /* should never occur, if file generation is correct */
    - return -1;
    -}
    -
    -
    -
    -/* pack bits from unpacked_data to packed_data */
    -static inline int __pack_bits(u16 *unpacked_data, u16 start_addr, u16 bit_count, u8 *packed_data) {
    - u8 bit;
    - u16 byte, coils_processed;
    -
    - if ((0 == bit_count) || (65535-start_addr < bit_count-1))
    - return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
    -
    - for( byte = 0, coils_processed = 0; coils_processed < bit_count; byte++) {
    - packed_data[byte] = 0;
    - for( bit = 0x01; (bit & 0xFF) && (coils_processed < bit_count); bit <<= 1, coils_processed++ ) {
    - if(unpacked_data[start_addr + coils_processed])
    - packed_data[byte] |= bit; /* set bit */
    - else packed_data[byte] &= ~bit; /* reset bit */
    - }
    - }
    - return 0;
    -}
    -
    -
    -/* unpack bits from packed_data to unpacked_data */
    -static inline int __unpack_bits(u16 *unpacked_data, u16 start_addr, u16 bit_count, u8 *packed_data) {
    - u8 temp, bit;
    - u16 byte, coils_processed;
    -
    - if ((0 == bit_count) || (65535-start_addr < bit_count-1))
    - return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
    -
    - for(byte = 0, coils_processed = 0; coils_processed < bit_count; byte++) {
    - temp = packed_data[byte] ;
    - for(bit = 0x01; (bit & 0xff) && (coils_processed < bit_count); bit <<= 1, coils_processed++) {
    - unpacked_data[start_addr + coils_processed] = (temp & bit)?1:0;
    - }
    - }
    - return 0;
    -}
    -
    -
    -static int __read_inbits (void *mem_map, u16 start_addr, u16 bit_count, u8 *data_bytes)
    - {return __pack_bits(((server_mem_t *)mem_map)->ro_bits, start_addr, bit_count, data_bytes);}
    -static int __read_outbits (void *mem_map, u16 start_addr, u16 bit_count, u8 *data_bytes)
    - {return __pack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes);}
    -static int __write_outbits (void *mem_map, u16 start_addr, u16 bit_count, u8 *data_bytes)
    - {return __unpack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes); }
    -
    -
    -
    -static int __read_inwords (void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {
    -
    - if ((start_addr + word_count) > MEM_AREA_SIZE)
    - return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
    -
    - /* use memcpy() because loop with pointers (u16 *) caused alignment problems */
    - memcpy(/* dest */ (void *)data_words,
    - /* src */ (void *)&(((server_mem_t *)mem_map)->ro_words[start_addr]),
    - /* size */ word_count * 2);
    - return 0;
    -}
    -
    -
    -
    -static int __read_outwords (void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {
    -
    - if ((start_addr + word_count) > MEM_AREA_SIZE)
    - return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
    -
    - /* use memcpy() because loop with pointers (u16 *) caused alignment problems */
    - memcpy(/* dest */ (void *)data_words,
    - /* src */ (void *)&(((server_mem_t *)mem_map)->rw_words[start_addr]),
    - /* size */ word_count * 2);
    - return 0;
    -}
    -
    -
    -
    -
    -static int __write_outwords(void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {
    -
    - if ((start_addr + word_count) > MEM_AREA_SIZE)
    - return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
    -
    - /* WARNING: The data returned in the data_words[] array is not guaranteed to be 16 bit aligned.
    - * It is not therefore safe to cast it to an u16 data type.
    - * The following code cannot be used. memcpy() is used instead.
    - */
    - /*
    - for (count = 0; count < word_count ; count++)
    - ((server_mem_t *)mem_map)->rw_words[count + start_addr] = data_words[count];
    - */
    - memcpy(/* dest */ (void *)&(((server_mem_t *)mem_map)->rw_words[start_addr]),
    - /* src */ (void *)data_words,
    - /* size */ word_count * 2);
    - return 0;
    -}
    -
    -
    -
    -
    -#include <pthread.h>
    -
    -static void *__mb_server_thread(void *_server_node) {
    - server_node_t *server_node = _server_node;
    - mb_slave_callback_t callbacks = {
    - &__read_inbits,
    - &__read_outbits,
    - &__write_outbits,
    - &__read_inwords,
    - &__read_outwords,
    - &__write_outwords,
    - (void *)&(server_node->mem_area)
    - };
    -
    - // Enable thread cancelation. Enabled is default, but set it anyway to be safe.
    - pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
    -
    - // mb_slave_run() should never return!
    - mb_slave_run(server_node->mb_nd /* nd */, callbacks, server_node->slave_id);
    - fprintf(stderr, "Modbus plugin: Modbus server for node %%s died unexpectedly!\n", server_node->location); /* should never occur */
    - return NULL;
    -}
    -
    -
    -
    -static void *__mb_client_thread(void *_index) {
    - int client_node_id = (char *)_index - (char *)NULL; // Use pointer arithmetic (more portable than cast)
    - struct timespec next_cycle;
    - int period_sec = client_nodes[client_node_id].comm_period / 1000; /* comm_period is in ms */
    - int period_nsec = (client_nodes[client_node_id].comm_period %%1000)*1000000; /* comm_period is in ms */
    -
    - // Enable thread cancelation. Enabled is default, but set it anyway to be safe.
    - pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
    -
    - // get the current time
    - clock_gettime(CLOCK_MONOTONIC, &next_cycle);
    -
    - // loop the communication with the client
    - while (1) {
    - /*
    - struct timespec cur_time;
    - clock_gettime(CLOCK_MONOTONIC, &cur_time);
    - fprintf(stderr, "Modbus client thread - new cycle (%%ld:%%ld)!\n", cur_time.tv_sec, cur_time.tv_nsec);
    - */
    - int req;
    - for (req=0; req < NUMBER_OF_CLIENT_REQTS; req ++){
    - /*just do the requests belonging to the client */
    - if (client_requests[req].client_node_id != client_node_id)
    - continue;
    - int res_tmp = __execute_mb_request(req);
    - switch (res_tmp) {
    - case PORT_FAILURE: {
    - if (res_tmp != client_nodes[client_node_id].prev_error)
    - fprintf(stderr, "Modbus plugin: Error connecting Modbus client %%s to remote server.\n", client_nodes[client_node_id].location);
    - client_nodes[client_node_id].prev_error = res_tmp;
    - break;
    - }
    - case INVALID_FRAME: {
    - if ((res_tmp != client_requests[req].prev_error) && (0 == client_nodes[client_node_id].prev_error))
    - fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s was unsuccesful. Server/slave returned an invalid/corrupted frame.\n", client_requests[req].location);
    - client_requests[req].prev_error = res_tmp;
    - break;
    - }
    - case TIMEOUT: {
    - if ((res_tmp != client_requests[req].prev_error) && (0 == client_nodes[client_node_id].prev_error))
    - fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s timed out waiting for reply from server.\n", client_requests[req].location);
    - client_requests[req].prev_error = res_tmp;
    - break;
    - }
    - case MODBUS_ERROR: {
    - if (client_requests[req].prev_error != client_requests[req].error_code) {
    - fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s was unsuccesful. Server/slave returned error code 0x%%2x", client_requests[req].location, client_requests[req].error_code);
    - if (client_requests[req].error_code <= MAX_MODBUS_ERROR_CODE ) {
    - fprintf(stderr, "(%%s)", modbus_error_messages[client_requests[req].error_code]);
    - fprintf(stderr, ".\n");
    - }
    - }
    - client_requests[req].prev_error = client_requests[req].error_code;
    - break;
    - }
    - default: {
    - if ((res_tmp >= 0) && (client_nodes[client_node_id].prev_error != 0)) {
    - fprintf(stderr, "Modbus plugin: Modbus client %%s has reconnected to server/slave.\n", client_nodes[client_node_id].location);
    - }
    - if ((res_tmp >= 0) && (client_requests[req] .prev_error != 0)) {
    - fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s has succesfully resumed comunication.\n", client_requests[req].location);
    - }
    - client_nodes[client_node_id].prev_error = 0;
    - client_requests[req] .prev_error = 0;
    - break;
    - }
    - }
    - }
    - // Determine absolute time instant for starting the next cycle
    - // struct timespec prev_cycle;
    - // prev_cycle = next_cycle;
    - next_cycle.tv_sec += period_sec;
    - next_cycle.tv_nsec += period_nsec;
    - if (next_cycle.tv_nsec >= 1000000000) {
    - next_cycle.tv_sec ++;
    - next_cycle.tv_nsec -= 1000000000;
    - }
    - /* It probably does not make sense to check for overflow of timer.
    - * Even in 32 bit systems this will take at least 68 years since the computer booted
    - * (remember, we are using CLOCK_MONOTONIC, which should start counting from 0
    - * every time the system boots). On 64 bit systems, it will take over
    - * 10^11 years to overflow.
    - */
    - /*
    - if (next_cycle.tv_sec) < prev_cycle.tv_sec) {
    - // we will lose some precision by reading the time again,
    - // but it is better than the alternative...
    - clock_gettime(CLOCK_MONOTONIC, &next_cycle);
    - next_cycle.tv_sec += period_sec;
    - next_cycle.tv_nsec += period_nsec;
    - if (next_cycle.tv_nsec >= 1000000000) {
    - next_cycle.tv_sec ++;
    - next_cycle.tv_nsec -= 1000000000;
    - }
    - }
    - */
    - clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next_cycle, NULL);
    - }
    -
    - // humour the compiler.
    - return NULL;
    -}
    -
    -
    -int __cleanup_%(locstr)s ();
    -int __init_%(locstr)s (int argc, char **argv){
    - int index;
    -
    - for (index=0; index < NUMBER_OF_CLIENT_NODES;index++)
    - client_nodes[index].mb_nd = -1;
    - for (index=0; index < NUMBER_OF_SERVER_NODES;index++)
    - // mb_nd with negative numbers indicate how far it has been initialised (or not)
    - // -2 --> no modbus node created; no thread created
    - // -1 --> modbus node created!; no thread created
    - // >=0 --> modbus node created!; thread created!
    - server_nodes[index].mb_nd = -2;
    -
    - /* modbus library init */
    - /* Note that TOTAL_xxxNODE_COUNT are the nodes required by _ALL_ the instances of the modbus
    - * extension currently in the user's project. This file (MB_xx.c) is handling only one instance,
    - * but must initialize the library for all instances. Only the first call to mb_slave_and_master_init()
    - * will result in memory being allocated. All subsequent calls (by other MB_xx,c files) will be ignored
    - * by the mb_slave_and_master_init() funtion, as long as they are called with the same arguments.
    - */
    - if (mb_slave_and_master_init(TOTAL_TCPNODE_COUNT, TOTAL_RTUNODE_COUNT, TOTAL_ASCNODE_COUNT) <0) {
    - fprintf(stderr, "Modbus plugin: Error starting modbus library\n");
    - // return imediately. Do NOT goto error_exit, as we did not get to
    - // start the modbus library!
    - return -1;
    - }
    -
    - /* init the mutex for each client request */
    - /* Must be done _before_ launching the client threads!! */
    - for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
    - if (pthread_mutex_init(&(client_requests[index].coms_buf_mutex), NULL)) {
    - fprintf(stderr, "Modbus plugin: Error initializing request for modbus client node %%s\n", client_nodes[client_requests[index].client_node_id].location);
    - goto error_exit;
    - }
    - }
    -
    - /* init each client connection to remote modbus server, and launch thread */
    - /* NOTE: All client_nodes[].init_state are initialised to 0 in the code
    - * generated by the modbus plugin
    - */
    - for (index=0; index < NUMBER_OF_CLIENT_NODES;index++){
    - /* establish client connection */
    - client_nodes[index].mb_nd = mb_master_connect (client_nodes[index].node_address);
    - if (client_nodes[index].mb_nd < 0){
    - fprintf(stderr, "Modbus plugin: Error creating modbus client node %%s\n", client_nodes[index].location);
    - goto error_exit;
    - }
    - client_nodes[index].init_state = 1; // we have created the node
    -
    - /* launch a thread to handle this client node */
    - {
    - int res = 0;
    - pthread_attr_t attr;
    - res |= pthread_attr_init(&attr);
    - res |= pthread_create(&(client_nodes[index].thread_id), &attr, &__mb_client_thread, (void *)((char *)NULL + index));
    - if (res != 0) {
    - fprintf(stderr, "Modbus plugin: Error starting modbus client thread for node %%s\n", client_nodes[index].location);
    - goto error_exit;
    - }
    - }
    - client_nodes[index].init_state = 2; // we have created the node and a thread
    - }
    -
    - /* init each local server */
    - /* NOTE: All server_nodes[].init_state are initialised to 0 in the code
    - * generated by the modbus plugin
    - */
    - for (index=0; index < NUMBER_OF_SERVER_NODES;index++){
    - /* create the modbus server */
    - server_nodes[index].mb_nd = mb_slave_new (server_nodes[index].node_address);
    - if (server_nodes[index].mb_nd < 0){
    - fprintf(stderr, "Modbus plugin: Error creating modbus server node %%s\n", server_nodes[index].location);
    - goto error_exit;
    - }
    - server_nodes[index].init_state = 1; // we have created the node
    -
    - /* launch a thread to handle this server node */
    - {
    - int res = 0;
    - pthread_attr_t attr;
    - res |= pthread_attr_init(&attr);
    - res |= pthread_create(&(server_nodes[index].thread_id), &attr, &__mb_server_thread, (void *)&(server_nodes[index]));
    - if (res != 0) {
    - fprintf(stderr, "Modbus plugin: Error starting modbus server thread for node %%s\n", server_nodes[index].location);
    - goto error_exit;
    - }
    - }
    - server_nodes[index].init_state = 2; // we have created the node and thread
    - }
    -
    - return 0;
    -
    -error_exit:
    - __cleanup_%(locstr)s ();
    - return -1;
    -}
    -
    -
    -
    -
    -
    -void __publish_%(locstr)s (){
    - int index;
    -
    - for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
    - /*just do the output requests */
    - if (client_requests[index].req_type == req_output){
    - if(pthread_mutex_trylock(&(client_requests[index].coms_buf_mutex)) == 0){
    - // copy from plcv_buffer to coms_buffer
    - memcpy((void *)client_requests[index].coms_buffer /* destination */,
    - (void *)client_requests[index].plcv_buffer /* source */,
    - REQ_BUF_SIZE * sizeof(u16) /* size in bytes */);
    - pthread_mutex_unlock(&(client_requests[index].coms_buf_mutex));
    - }
    - }
    - }
    -}
    -
    -
    -
    -
    -
    -void __retrieve_%(locstr)s (){
    - int index;
    -
    - for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
    - /*just do the input requests */
    - if (client_requests[index].req_type == req_input){
    - if(pthread_mutex_trylock(&(client_requests[index].coms_buf_mutex)) == 0){
    - // copy from coms_buffer to plcv_buffer
    - memcpy((void *)client_requests[index].plcv_buffer /* destination */,
    - (void *)client_requests[index].coms_buffer /* source */,
    - REQ_BUF_SIZE * sizeof(u16) /* size in bytes */);
    - pthread_mutex_unlock(&(client_requests[index].coms_buf_mutex));
    - }
    - }
    - }
    -}
    -
    -
    -
    -
    -
    -int __cleanup_%(locstr)s (){
    - int index, close;
    - int res = 0;
    -
    - /* kill thread and close connections of each modbus client node */
    - for (index=0; index < NUMBER_OF_CLIENT_NODES; index++) {
    - close = 0;
    - if (client_nodes[index].init_state >= 2) {
    - // thread was launched, so we try to cancel it!
    - close = pthread_cancel(client_nodes[index].thread_id);
    - close |= pthread_join (client_nodes[index].thread_id, NULL);
    - if (close < 0)
    - fprintf(stderr, "Modbus plugin: Error closing thread for modbus client %%s\n", client_nodes[index].location);
    - }
    - res |= close;
    -
    - close = 0;
    - if (client_nodes[index].init_state >= 1) {
    - // modbus client node was created, so we try to close it!
    - close = mb_master_close (client_nodes[index].mb_nd);
    - if (close < 0){
    - fprintf(stderr, "Modbus plugin: Error closing modbus client node %%s\n", client_nodes[index].location);
    - // We try to shut down as much as possible, so we do not return noW!
    - }
    - client_nodes[index].mb_nd = -1;
    - }
    - res |= close;
    - client_nodes[index].init_state = 0;
    - }
    -
    - /* kill thread and close connections of each modbus server node */
    - for (index=0; index < NUMBER_OF_SERVER_NODES; index++) {
    - close = 0;
    - if (server_nodes[index].init_state >= 2) {
    - // thread was launched, so we try to cancel it!
    - close = pthread_cancel(server_nodes[index].thread_id);
    - close |= pthread_join (server_nodes[index].thread_id, NULL);
    - if (close < 0)
    - fprintf(stderr, "Modbus plugin: Error closing thread for modbus server %%s\n", server_nodes[index].location);
    - }
    - res |= close;
    -
    - close = 0;
    - if (server_nodes[index].init_state >= 1) {
    - // modbus server node was created, so we try to close it!
    - close = mb_slave_close (server_nodes[index].mb_nd);
    - if (close < 0) {
    - fprintf(stderr, "Modbus plugin: Error closing node for modbus server %%s (%%d)\n", server_nodes[index].location, server_nodes[index].mb_nd);
    - // We try to shut down as much as possible, so we do not return noW!
    - }
    - server_nodes[index].mb_nd = -1;
    - }
    - res |= close;
    - server_nodes[index].init_state = 0;
    - }
    -
    - /* destroy the mutex of each client request */
    - for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++) {
    - if (pthread_mutex_destroy(&(client_requests[index].coms_buf_mutex))) {
    - fprintf(stderr, "Modbus plugin: Error destroying request for modbus client node %%s\n", client_nodes[client_requests[index].client_node_id].location);
    - // We try to shut down as much as possible, so we do not return noW!
    - res |= -1;
    - }
    - }
    -
    - /* modbus library close */
    - //fprintf(stderr, "Shutting down modbus library...\n");
    - if (mb_slave_and_master_done()<0) {
    - fprintf(stderr, "Modbus plugin: Error shutting down modbus library\n");
    - res |= -1;
    - }
    -
    - return res;
    -}
    -
    +/* File generated by Beremiz (PlugGenerate_C method of Modbus plugin) */
    +
    +/*
    + * Copyright (c) 2016 Mario de Sousa (msousa@fe.up.pt)
    + *
    + * This file is part of the Modbus library for Beremiz and matiec.
    + *
    + * This Modbus library is free software: you can redistribute it and/or modify
    + * it under the terms of the GNU Lesser 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 Lesser
    + * General Public License for more details.
    + *
    + * You should have received a copy of the GNU Lesser General Public License
    + * along with this Modbus library. If not, see <http://www.gnu.org/licenses/>.
    + *
    + * This code is made available on the understanding that it will not be
    + * used in safety-critical situations without a full and competent review.
    + */
    +
    +
    +#include <stdio.h>
    +#include <string.h> /* required for memcpy() */
    +#include "mb_slave_and_master.h"
    +#include "MB_%(locstr)s.h"
    +
    +
    +#define MAX_MODBUS_ERROR_CODE 11
    +static const char *modbus_error_messages[MAX_MODBUS_ERROR_CODE+1] = {
    + /* 0 */ "", /* un-used -> no error! */
    + /* 1 */ "illegal/unsuported function",
    + /* 2 */ "illegal data address",
    + /* 3 */ "illegal data value",
    + /* 4 */ "slave device failure",
    + /* 5 */ "acknowledge -> slave intends to reply later",
    + /* 6 */ "slave device busy",
    + /* 7 */ "negative acknowledge",
    + /* 8 */ "memory parity error",
    + /* 9 */ "", /* undefined by Modbus */
    + /* 10*/ "gateway path unavalilable",
    + /* 11*/ "gateway target device failed to respond"
    +};
    +
    +
    +/* Execute a modbus client transaction/request */
    +static int __execute_mb_request(int request_id){
    + switch (client_requests[request_id].mb_function){
    +
    + case 1: /* read coils */
    + return read_output_bits(client_requests[request_id].slave_id,
    + client_requests[request_id].address,
    + client_requests[request_id].count,
    + client_requests[request_id].coms_buffer,
    + (int) client_requests[request_id].count,
    + client_nodes[client_requests[request_id].client_node_id].mb_nd,
    + client_requests[request_id].retries,
    + &(client_requests[request_id].error_code),
    + &(client_requests[request_id].resp_timeout),
    + &(client_requests[request_id].coms_buf_mutex));
    +
    + case 2: /* read discrete inputs */
    + return read_input_bits( client_requests[request_id].slave_id,
    + client_requests[request_id].address,
    + client_requests[request_id].count,
    + client_requests[request_id].coms_buffer,
    + (int) client_requests[request_id].count,
    + client_nodes[client_requests[request_id].client_node_id].mb_nd,
    + client_requests[request_id].retries,
    + &(client_requests[request_id].error_code),
    + &(client_requests[request_id].resp_timeout),
    + &(client_requests[request_id].coms_buf_mutex));
    +
    + case 3: /* read holding registers */
    + return read_output_words(client_requests[request_id].slave_id,
    + client_requests[request_id].address,
    + client_requests[request_id].count,
    + client_requests[request_id].coms_buffer,
    + (int) client_requests[request_id].count,
    + client_nodes[client_requests[request_id].client_node_id].mb_nd,
    + client_requests[request_id].retries,
    + &(client_requests[request_id].error_code),
    + &(client_requests[request_id].resp_timeout),
    + &(client_requests[request_id].coms_buf_mutex));
    +
    + case 4: /* read input registers */
    + return read_input_words(client_requests[request_id].slave_id,
    + client_requests[request_id].address,
    + client_requests[request_id].count,
    + client_requests[request_id].coms_buffer,
    + (int) client_requests[request_id].count,
    + client_nodes[client_requests[request_id].client_node_id].mb_nd,
    + client_requests[request_id].retries,
    + &(client_requests[request_id].error_code),
    + &(client_requests[request_id].resp_timeout),
    + &(client_requests[request_id].coms_buf_mutex));
    +
    + case 5: /* write single coil */
    + return write_output_bit(client_requests[request_id].slave_id,
    + client_requests[request_id].address,
    + client_requests[request_id].coms_buffer[0],
    + client_nodes[client_requests[request_id].client_node_id].mb_nd,
    + client_requests[request_id].retries,
    + &(client_requests[request_id].error_code),
    + &(client_requests[request_id].resp_timeout),
    + &(client_requests[request_id].coms_buf_mutex));
    +
    + case 6: /* write single register */
    + return write_output_word(client_requests[request_id].slave_id,
    + client_requests[request_id].address,
    + client_requests[request_id].coms_buffer[0],
    + client_nodes[client_requests[request_id].client_node_id].mb_nd,
    + client_requests[request_id].retries,
    + &(client_requests[request_id].error_code),
    + &(client_requests[request_id].resp_timeout),
    + &(client_requests[request_id].coms_buf_mutex));
    +
    + case 7: break; /* function not yet supported */
    + case 8: break; /* function not yet supported */
    + case 9: break; /* function not yet supported */
    + case 10: break; /* function not yet supported */
    + case 11: break; /* function not yet supported */
    + case 12: break; /* function not yet supported */
    + case 13: break; /* function not yet supported */
    + case 14: break; /* function not yet supported */
    +
    + case 15: /* write multiple coils */
    + return write_output_bits(client_requests[request_id].slave_id,
    + client_requests[request_id].address,
    + client_requests[request_id].count,
    + client_requests[request_id].coms_buffer,
    + client_nodes[client_requests[request_id].client_node_id].mb_nd,
    + client_requests[request_id].retries,
    + &(client_requests[request_id].error_code),
    + &(client_requests[request_id].resp_timeout),
    + &(client_requests[request_id].coms_buf_mutex));
    +
    + case 16: /* write multiple registers */
    + return write_output_words(client_requests[request_id].slave_id,
    + client_requests[request_id].address,
    + client_requests[request_id].count,
    + client_requests[request_id].coms_buffer,
    + client_nodes[client_requests[request_id].client_node_id].mb_nd,
    + client_requests[request_id].retries,
    + &(client_requests[request_id].error_code),
    + &(client_requests[request_id].resp_timeout),
    + &(client_requests[request_id].coms_buf_mutex));
    +
    + default: break; /* should never occur, if file generation is correct */
    + }
    +
    + fprintf(stderr, "Modbus plugin: Modbus function %%d not supported\n", request_id); /* should never occur, if file generation is correct */
    + return -1;
    +}
    +
    +
    +
    +/* pack bits from unpacked_data to packed_data */
    +static inline int __pack_bits(u16 *unpacked_data, u16 start_addr, u16 bit_count, u8 *packed_data) {
    + u8 bit;
    + u16 byte, coils_processed;
    +
    + if ((0 == bit_count) || (65535-start_addr < bit_count-1))
    + return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
    +
    + for( byte = 0, coils_processed = 0; coils_processed < bit_count; byte++) {
    + packed_data[byte] = 0;
    + for( bit = 0x01; (bit & 0xFF) && (coils_processed < bit_count); bit <<= 1, coils_processed++ ) {
    + if(unpacked_data[start_addr + coils_processed])
    + packed_data[byte] |= bit; /* set bit */
    + else packed_data[byte] &= ~bit; /* reset bit */
    + }
    + }
    + return 0;
    +}
    +
    +
    +/* unpack bits from packed_data to unpacked_data */
    +static inline int __unpack_bits(u16 *unpacked_data, u16 start_addr, u16 bit_count, u8 *packed_data) {
    + u8 temp, bit;
    + u16 byte, coils_processed;
    +
    + if ((0 == bit_count) || (65535-start_addr < bit_count-1))
    + return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
    +
    + for(byte = 0, coils_processed = 0; coils_processed < bit_count; byte++) {
    + temp = packed_data[byte] ;
    + for(bit = 0x01; (bit & 0xff) && (coils_processed < bit_count); bit <<= 1, coils_processed++) {
    + unpacked_data[start_addr + coils_processed] = (temp & bit)?1:0;
    + }
    + }
    + return 0;
    +}
    +
    +
    +static int __read_inbits (void *mem_map, u16 start_addr, u16 bit_count, u8 *data_bytes)
    + {return __pack_bits(((server_mem_t *)mem_map)->ro_bits, start_addr, bit_count, data_bytes);}
    +static int __read_outbits (void *mem_map, u16 start_addr, u16 bit_count, u8 *data_bytes)
    + {return __pack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes);}
    +static int __write_outbits (void *mem_map, u16 start_addr, u16 bit_count, u8 *data_bytes)
    + {return __unpack_bits(((server_mem_t *)mem_map)->rw_bits, start_addr, bit_count, data_bytes); }
    +
    +
    +
    +static int __read_inwords (void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {
    +
    + if ((start_addr + word_count) > MEM_AREA_SIZE)
    + return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
    +
    + /* use memcpy() because loop with pointers (u16 *) caused alignment problems */
    + memcpy(/* dest */ (void *)data_words,
    + /* src */ (void *)&(((server_mem_t *)mem_map)->ro_words[start_addr]),
    + /* size */ word_count * 2);
    + return 0;
    +}
    +
    +
    +
    +static int __read_outwords (void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {
    +
    + if ((start_addr + word_count) > MEM_AREA_SIZE)
    + return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
    +
    + /* use memcpy() because loop with pointers (u16 *) caused alignment problems */
    + memcpy(/* dest */ (void *)data_words,
    + /* src */ (void *)&(((server_mem_t *)mem_map)->rw_words[start_addr]),
    + /* size */ word_count * 2);
    + return 0;
    +}
    +
    +
    +
    +
    +static int __write_outwords(void *mem_map, u16 start_addr, u16 word_count, u16 *data_words) {
    +
    + if ((start_addr + word_count) > MEM_AREA_SIZE)
    + return -ERR_ILLEGAL_DATA_ADDRESS; /* ERR_ILLEGAL_DATA_ADDRESS defined in mb_util.h */
    +
    + /* WARNING: The data returned in the data_words[] array is not guaranteed to be 16 bit aligned.
    + * It is not therefore safe to cast it to an u16 data type.
    + * The following code cannot be used. memcpy() is used instead.
    + */
    + /*
    + for (count = 0; count < word_count ; count++)
    + ((server_mem_t *)mem_map)->rw_words[count + start_addr] = data_words[count];
    + */
    + memcpy(/* dest */ (void *)&(((server_mem_t *)mem_map)->rw_words[start_addr]),
    + /* src */ (void *)data_words,
    + /* size */ word_count * 2);
    + return 0;
    +}
    +
    +
    +
    +
    +#include <pthread.h>
    +
    +static void *__mb_server_thread(void *_server_node) {
    + server_node_t *server_node = _server_node;
    + mb_slave_callback_t callbacks = {
    + &__read_inbits,
    + &__read_outbits,
    + &__write_outbits,
    + &__read_inwords,
    + &__read_outwords,
    + &__write_outwords,
    + (void *)&(server_node->mem_area)
    + };
    +
    + // Enable thread cancelation. Enabled is default, but set it anyway to be safe.
    + pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
    +
    + // mb_slave_run() should never return!
    + mb_slave_run(server_node->mb_nd /* nd */, callbacks, server_node->slave_id);
    + fprintf(stderr, "Modbus plugin: Modbus server for node %%s died unexpectedly!\n", server_node->location); /* should never occur */
    + return NULL;
    +}
    +
    +
    +#define timespec_add(ts, sec, nsec) { \
    + ts.tv_sec += sec; \
    + ts.tv_nsec += nsec; \
    + if (ts.tv_nsec >= 1000000000) { \
    + ts.tv_sec ++; \
    + ts.tv_nsec -= 1000000000; \
    + } \
    +}
    +
    +
    +static void *__mb_client_thread(void *_index) {
    + int client_node_id = (char *)_index - (char *)NULL; // Use pointer arithmetic (more portable than cast)
    + struct timespec next_cycle;
    + int period_sec = client_nodes[client_node_id].comm_period / 1000; /* comm_period is in ms */
    + int period_nsec = (client_nodes[client_node_id].comm_period %%1000)*1000000; /* comm_period is in ms */
    +
    + // Enable thread cancelation. Enabled is default, but set it anyway to be safe.
    + pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
    +
    + // get the current time
    + clock_gettime(CLOCK_MONOTONIC, &next_cycle);
    +
    + // loop the communication with the client
    + while (1) {
    + /*
    + struct timespec cur_time;
    + clock_gettime(CLOCK_MONOTONIC, &cur_time);
    + fprintf(stderr, "Modbus client thread - new cycle (%%ld:%%ld)!\n", cur_time.tv_sec, cur_time.tv_nsec);
    + */
    + int req;
    + for (req=0; req < NUMBER_OF_CLIENT_REQTS; req ++){
    + /*just do the requests belonging to the client */
    + if (client_requests[req].client_node_id != client_node_id)
    + continue;
    + int res_tmp = __execute_mb_request(req);
    + switch (res_tmp) {
    + case PORT_FAILURE: {
    + if (res_tmp != client_nodes[client_node_id].prev_error)
    + fprintf(stderr, "Modbus plugin: Error connecting Modbus client %%s to remote server.\n", client_nodes[client_node_id].location);
    + client_nodes[client_node_id].prev_error = res_tmp;
    + break;
    + }
    + case INVALID_FRAME: {
    + if ((res_tmp != client_requests[req].prev_error) && (0 == client_nodes[client_node_id].prev_error))
    + fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s was unsuccesful. Server/slave returned an invalid/corrupted frame.\n", client_requests[req].location);
    + client_requests[req].prev_error = res_tmp;
    + break;
    + }
    + case TIMEOUT: {
    + if ((res_tmp != client_requests[req].prev_error) && (0 == client_nodes[client_node_id].prev_error))
    + fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s timed out waiting for reply from server.\n", client_requests[req].location);
    + client_requests[req].prev_error = res_tmp;
    + break;
    + }
    + case MODBUS_ERROR: {
    + if (client_requests[req].prev_error != client_requests[req].error_code) {
    + fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s was unsuccesful. Server/slave returned error code 0x%%2x", client_requests[req].location, client_requests[req].error_code);
    + if (client_requests[req].error_code <= MAX_MODBUS_ERROR_CODE ) {
    + fprintf(stderr, "(%%s)", modbus_error_messages[client_requests[req].error_code]);
    + fprintf(stderr, ".\n");
    + }
    + }
    + client_requests[req].prev_error = client_requests[req].error_code;
    + break;
    + }
    + default: {
    + if ((res_tmp >= 0) && (client_nodes[client_node_id].prev_error != 0)) {
    + fprintf(stderr, "Modbus plugin: Modbus client %%s has reconnected to server/slave.\n", client_nodes[client_node_id].location);
    + }
    + if ((res_tmp >= 0) && (client_requests[req] .prev_error != 0)) {
    + fprintf(stderr, "Modbus plugin: Modbus client request configured at location %%s has succesfully resumed comunication.\n", client_requests[req].location);
    + }
    + client_nodes[client_node_id].prev_error = 0;
    + client_requests[req] .prev_error = 0;
    + break;
    + }
    + }
    + }
    + // Determine absolute time instant for starting the next cycle
    + struct timespec prev_cycle, now;
    + prev_cycle = next_cycle;
    + timespec_add(next_cycle, period_sec, period_nsec);
    + /* NOTE A:
    + * When we have difficulty communicating with remote client and/or server, then the communications get delayed and we will
    + * fall behind in the period. This means that when communication is re-established we may end up running this loop continuously
    + * for some time until we catch up.
    + * This is undesirable, so we detect it by making sure the next_cycle will start in the future.
    + * When this happens we will switch from a purely periodic task _activation_ sequence, to a fixed task suspension interval.
    + *
    + * NOTE B:
    + * It probably does not make sense to check for overflow of timer - so we don't do it for now!
    + * Even in 32 bit systems this will take at least 68 years since the computer booted
    + * (remember, we are using CLOCK_MONOTONIC, which should start counting from 0
    + * every time the system boots). On 64 bit systems, it will take over
    + * 10^11 years to overflow.
    + */
    + clock_gettime(CLOCK_MONOTONIC, &now);
    + if ( ((now.tv_sec > next_cycle.tv_sec) || ((now.tv_sec == next_cycle.tv_sec) && (now.tv_nsec > next_cycle.tv_nsec)))
    + /* We are falling behind. See NOTE A above */
    + || (next_cycle.tv_sec < prev_cycle.tv_sec)
    + /* Timer overflow. See NOTE B above */
    + ) {
    + next_cycle = now;
    + timespec_add(next_cycle, period_sec, period_nsec);
    + }
    +
    + clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next_cycle, NULL);
    + }
    +
    + // humour the compiler.
    + return NULL;
    +}
    +
    +
    +int __cleanup_%(locstr)s ();
    +int __init_%(locstr)s (int argc, char **argv){
    + int index;
    +
    + for (index=0; index < NUMBER_OF_CLIENT_NODES;index++)
    + client_nodes[index].mb_nd = -1;
    + for (index=0; index < NUMBER_OF_SERVER_NODES;index++)
    + // mb_nd with negative numbers indicate how far it has been initialised (or not)
    + // -2 --> no modbus node created; no thread created
    + // -1 --> modbus node created!; no thread created
    + // >=0 --> modbus node created!; thread created!
    + server_nodes[index].mb_nd = -2;
    +
    + /* modbus library init */
    + /* Note that TOTAL_xxxNODE_COUNT are the nodes required by _ALL_ the instances of the modbus
    + * extension currently in the user's project. This file (MB_xx.c) is handling only one instance,
    + * but must initialize the library for all instances. Only the first call to mb_slave_and_master_init()
    + * will result in memory being allocated. All subsequent calls (by other MB_xx,c files) will be ignored
    + * by the mb_slave_and_master_init() funtion, as long as they are called with the same arguments.
    + */
    + if (mb_slave_and_master_init(TOTAL_TCPNODE_COUNT, TOTAL_RTUNODE_COUNT, TOTAL_ASCNODE_COUNT) <0) {
    + fprintf(stderr, "Modbus plugin: Error starting modbus library\n");
    + // return imediately. Do NOT goto error_exit, as we did not get to
    + // start the modbus library!
    + return -1;
    + }
    +
    + /* init the mutex for each client request */
    + /* Must be done _before_ launching the client threads!! */
    + for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
    + if (pthread_mutex_init(&(client_requests[index].coms_buf_mutex), NULL)) {
    + fprintf(stderr, "Modbus plugin: Error initializing request for modbus client node %%s\n", client_nodes[client_requests[index].client_node_id].location);
    + goto error_exit;
    + }
    + }
    +
    + /* init each client connection to remote modbus server, and launch thread */
    + /* NOTE: All client_nodes[].init_state are initialised to 0 in the code
    + * generated by the modbus plugin
    + */
    + for (index=0; index < NUMBER_OF_CLIENT_NODES;index++){
    + /* establish client connection */
    + client_nodes[index].mb_nd = mb_master_connect (client_nodes[index].node_address);
    + if (client_nodes[index].mb_nd < 0){
    + fprintf(stderr, "Modbus plugin: Error creating modbus client node %%s\n", client_nodes[index].location);
    + goto error_exit;
    + }
    + client_nodes[index].init_state = 1; // we have created the node
    +
    + /* launch a thread to handle this client node */
    + {
    + int res = 0;
    + pthread_attr_t attr;
    + res |= pthread_attr_init(&attr);
    + res |= pthread_create(&(client_nodes[index].thread_id), &attr, &__mb_client_thread, (void *)((char *)NULL + index));
    + if (res != 0) {
    + fprintf(stderr, "Modbus plugin: Error starting modbus client thread for node %%s\n", client_nodes[index].location);
    + goto error_exit;
    + }
    + }
    + client_nodes[index].init_state = 2; // we have created the node and a thread
    + }
    +
    + /* init each local server */
    + /* NOTE: All server_nodes[].init_state are initialised to 0 in the code
    + * generated by the modbus plugin
    + */
    + for (index=0; index < NUMBER_OF_SERVER_NODES;index++){
    + /* create the modbus server */
    + server_nodes[index].mb_nd = mb_slave_new (server_nodes[index].node_address);
    + if (server_nodes[index].mb_nd < 0){
    + fprintf(stderr, "Modbus plugin: Error creating modbus server node %%s\n", server_nodes[index].location);
    + goto error_exit;
    + }
    + server_nodes[index].init_state = 1; // we have created the node
    +
    + /* launch a thread to handle this server node */
    + {
    + int res = 0;
    + pthread_attr_t attr;
    + res |= pthread_attr_init(&attr);
    + res |= pthread_create(&(server_nodes[index].thread_id), &attr, &__mb_server_thread, (void *)&(server_nodes[index]));
    + if (res != 0) {
    + fprintf(stderr, "Modbus plugin: Error starting modbus server thread for node %%s\n", server_nodes[index].location);
    + goto error_exit;
    + }
    + }
    + server_nodes[index].init_state = 2; // we have created the node and thread
    + }
    +
    + return 0;
    +
    +error_exit:
    + __cleanup_%(locstr)s ();
    + return -1;
    +}
    +
    +
    +
    +
    +
    +void __publish_%(locstr)s (){
    + int index;
    +
    + for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
    + /*just do the output requests */
    + if (client_requests[index].req_type == req_output){
    + if(pthread_mutex_trylock(&(client_requests[index].coms_buf_mutex)) == 0){
    + // copy from plcv_buffer to coms_buffer
    + memcpy((void *)client_requests[index].coms_buffer /* destination */,
    + (void *)client_requests[index].plcv_buffer /* source */,
    + REQ_BUF_SIZE * sizeof(u16) /* size in bytes */);
    + pthread_mutex_unlock(&(client_requests[index].coms_buf_mutex));
    + }
    + }
    + }
    +}
    +
    +
    +
    +
    +
    +void __retrieve_%(locstr)s (){
    + int index;
    +
    + for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++){
    + /*just do the input requests */
    + if (client_requests[index].req_type == req_input){
    + if(pthread_mutex_trylock(&(client_requests[index].coms_buf_mutex)) == 0){
    + // copy from coms_buffer to plcv_buffer
    + memcpy((void *)client_requests[index].plcv_buffer /* destination */,
    + (void *)client_requests[index].coms_buffer /* source */,
    + REQ_BUF_SIZE * sizeof(u16) /* size in bytes */);
    + pthread_mutex_unlock(&(client_requests[index].coms_buf_mutex));
    + }
    + }
    + }
    +}
    +
    +
    +
    +
    +
    +int __cleanup_%(locstr)s (){
    + int index, close;
    + int res = 0;
    +
    + /* kill thread and close connections of each modbus client node */
    + for (index=0; index < NUMBER_OF_CLIENT_NODES; index++) {
    + close = 0;
    + if (client_nodes[index].init_state >= 2) {
    + // thread was launched, so we try to cancel it!
    + close = pthread_cancel(client_nodes[index].thread_id);
    + close |= pthread_join (client_nodes[index].thread_id, NULL);
    + if (close < 0)
    + fprintf(stderr, "Modbus plugin: Error closing thread for modbus client %%s\n", client_nodes[index].location);
    + }
    + res |= close;
    +
    + close = 0;
    + if (client_nodes[index].init_state >= 1) {
    + // modbus client node was created, so we try to close it!
    + close = mb_master_close (client_nodes[index].mb_nd);
    + if (close < 0){
    + fprintf(stderr, "Modbus plugin: Error closing modbus client node %%s\n", client_nodes[index].location);
    + // We try to shut down as much as possible, so we do not return noW!
    + }
    + client_nodes[index].mb_nd = -1;
    + }
    + res |= close;
    + client_nodes[index].init_state = 0;
    + }
    +
    + /* kill thread and close connections of each modbus server node */
    + for (index=0; index < NUMBER_OF_SERVER_NODES; index++) {
    + close = 0;
    + if (server_nodes[index].init_state >= 2) {
    + // thread was launched, so we try to cancel it!
    + close = pthread_cancel(server_nodes[index].thread_id);
    + close |= pthread_join (server_nodes[index].thread_id, NULL);
    + if (close < 0)
    + fprintf(stderr, "Modbus plugin: Error closing thread for modbus server %%s\n", server_nodes[index].location);
    + }
    + res |= close;
    +
    + close = 0;
    + if (server_nodes[index].init_state >= 1) {
    + // modbus server node was created, so we try to close it!
    + close = mb_slave_close (server_nodes[index].mb_nd);
    + if (close < 0) {
    + fprintf(stderr, "Modbus plugin: Error closing node for modbus server %%s (%%d)\n", server_nodes[index].location, server_nodes[index].mb_nd);
    + // We try to shut down as much as possible, so we do not return noW!
    + }
    + server_nodes[index].mb_nd = -1;
    + }
    + res |= close;
    + server_nodes[index].init_state = 0;
    + }
    +
    + /* destroy the mutex of each client request */
    + for (index=0; index < NUMBER_OF_CLIENT_REQTS; index ++) {
    + if (pthread_mutex_destroy(&(client_requests[index].coms_buf_mutex))) {
    + fprintf(stderr, "Modbus plugin: Error destroying request for modbus client node %%s\n", client_nodes[client_requests[index].client_node_id].location);
    + // We try to shut down as much as possible, so we do not return noW!
    + res |= -1;
    + }
    + }
    +
    + /* modbus library close */
    + //fprintf(stderr, "Shutting down modbus library...\n");
    + if (mb_slave_and_master_done()<0) {
    + fprintf(stderr, "Modbus plugin: Error shutting down modbus library\n");
    + res |= -1;
    + }
    +
    + return res;
    +}
    +