'2022/05/04 글 목록

'2022/05/04'에 해당되는 글 4건

libmodbus poll 적용

기본 소스를 사용해보면. modbus_receive() 에서 블록킹 된 상태라서 다른걸 할 수가 없다.

검색을 해보니 libmodbus issue 쪽에서 발견한 내용으로

poll 에서 확인이 되면 소켓을 modbus_set_socket() 함수를 이용하여 context에 연결하고 receive 하도록 구성되어 있다.

modbus_t *ctx = modbus_new_tcp("0.0.0.0", port_);
    int server_socket = modbus_tcp_listen(ctx, 2);
    if (server_socket < 0) {
      // error handling
      modbus_free(ctx);
      return;
    }

          if (p->revents & POLLIN) {
            modbus_set_socket(ctx, p->fd); // set the socket to libmodbus answers to the right client

            uint8_t query[MODBUS_RTU_MAX_ADU_LENGTH];
            int rc = modbus_receive(ctx, query);
            if (rc <= 0) { // connection has been closed actually by the client
              ::close(p->fd);
              p = sockets.erase(p); // remove it from the poll-array
              continue;
            }

            /* rc is the query size */
            rc = modbus_reply_callback(ctx, query, rc); // handle the reply (via the callbacks)
            if (rc < 0) {
              // error handling - invalid request
              ::close(p->fd); // close client
              p = sockets.erase(p);
              continue;
            }
          }

[링크 : https://github.com/stephane/libmodbus/issues/173]

[링크 : https://libmodbus.org/docs/v3.0.8/modbus_set_socket.html]

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libmodbus tcp 예제 (0)	2022.05.04

Posted by 구차니

modbus tcp

modbus tcp의 MBAP(ModBus Application Protocol) 헤더(?)에는 아래와 같은 내용들이 들어있다.

[링크 : https://www.modbus.org/docs/Modbus_Messaging_Implementation_Guide_V1_0b.pdf]

[링크 : http://comfilewiki.co.kr/ko/doku.php?id=tcpport:modbus-tcp_프로토콜이란:index]

Function Code (0x03) + start Address(0x0000) + quantity of regitster(0x0001)

Protocol ID(0x0000 고정)
Length Function Code
00 01 00 00 00 06 03 03 00 00 00 01
Unit ID(0x01 고정)
Transaction ID (시퀀셜 증가)

-a로 tcp MBAP 상의 Unit ID를 변경할 순 있지만 ID=1 로 고정되어 있다고 하니 어떻게 처리를 해야 하려나?

$ sudo ./modpoll -m tcp localhost
00 01 00 00 00 06 01 03 00 00 00 01

$ sudo ./modpoll -m tcp -a 3 localhost
00 01 00 00 00 06 03 03 00 00 00 01

$ ./modpoll --help
modpoll 3.10 - FieldTalk(tm) Modbus(R) Master Simulator
Copyright (c) 2002-2021 proconX Pty Ltd
Visit https://www.modbusdriver.com for Modbus libraries and tools.

Usage: modpoll [OPTIONS] SERIALPORT|HOST [WRITEVALUES...]
Arguments:
SERIALPORT    Serial port when using Modbus ASCII or Modbus RTU protocol
              COM1, COM2 ...                on Windows
              /dev/ttyS0, /dev/ttyS1 ...    on Linux
HOST          Host name or dotted IP address when using MDBUS/TCP protocol
WRITEVALUES   List of values to be written. If none specified (default) modpoll reads data.
General options:
-m ascii      Modbus ASCII protocol
-m rtu        Modbus RTU protocol (default if SERIALPORT contains a /)
-m tcp        MODBUS/TCP protocol (default otherwise)
-m udp        MODBUS UDP
-m enc        Encapsulated Modbus RTU over TCP
-a #          Slave address (1-247 for serial, 0-255 for TCP, 1 is default)
-r #          Start reference (1-65536, 100 is default)
-c #          Number of values to read (1-125, 1 is default), optional for writing (use -c 1 to force FC5 or FC6)
-t 0          Discrete output (coil) data type
-t 1          Discrete input data type
-t 3          16-bit input register data type
-t 3:hex      16-bit input register data type with hex display
-t 3:int      32-bit integer data type in input register table
-t 3:mod      32-bit module 10000 data type in input register table
-t 3:float    32-bit float data type in input register table
-t 4          16-bit output (holding) register data type (default)
-t 4:hex      16-bit output (holding) register data type with hex display
-t 4:int      32-bit integer data type in output (holding) register table
-t 4:mod      32-bit module 10000 type in output (holding) register table
-t 4:float    32-bit float data type in output (holding) register table
-i            Slave operates on big-endian 32-bit integers
-f            Slave operates on big-endian 32-bit floats
-e            Use Daniel/Enron single register 32-bit mode (implies -i and -f)
-0            First reference is 0 (PDU addressing) instead 1
-1            Poll only once only, otherwise every poll rate interval
-l #          Poll rate in ms, (1000 is default)
-o #          Time-out in seconds (0.01 - 10.0, 1.0 s is default)
Options for MODBUS/TCP, UDP and RTU over TCP:
-p #          IP protocol port number (502 is default)
Options for Modbus ASCII and Modbus RTU:
-b #          Baudrate (e.g. 9600, 19200, ...) (19200 is default)
-d #          Databits (7 or 8 for ASCII protocol, 8 for RTU)
-s #          Stopbits (1 or 2, 1 is default)
-p none       No parity
-p even       Even parity (default)
-p odd        Odd parity
-4 #          RS-485 mode, RTS on while transmitting and another # ms after

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Posted by 구차니

libmodbus 예제 프로그램

$ sudo find / -name "modbus\.h"
/usr/include/modbus/modbus.h

$ ll /usr/lib/x86_64-linux-gnu/libmodbus.so*
lrwxrwxrwx 1 root root    18 12월  4 01:53 /usr/lib/x86_64-linux-gnu/libmodbus.so -> libmodbus.so.5.0.5
lrwxrwxrwx 1 root root    18 12월  4 01:53 /usr/lib/x86_64-linux-gnu/libmodbus.so.5 -> libmodbus.so.5.0.5
-rw-r--r-- 1 root root 39256 12월  4 01:53 /usr/lib/x86_64-linux-gnu/libmodbus.so.5.0.5

$ cat Makefile
all:
gcc modbus_tcp_server.c -o modbustcp -I/usr/include/modbus -lmodbus -L/usr/lib/x86_64-linux-gnu

clean:
rm modbustcp

$ pkg-config --libs --cflags libmodbus
-I/usr/include/modbus -lmodbus

[링크 : https://github.com/stephane/libmodbus/issues/123]

+

modbus_mapping_new_start_address()가 없고 modbus_mapping_new() 있긴 하다..

$ readelf -Ws /usr/lib/x86_64-linux-gnu/libmodbus.so | grep "modbus_"
    48: 0000000000004ce0   222 FUNC    GLOBAL DEFAULT   12 modbus_report_slave_id
    49: 0000000000005320   208 FUNC    GLOBAL DEFAULT   12 _modbus_rtu_check_integrity
    50: 0000000000005050    86 FUNC    GLOBAL DEFAULT   12 modbus_get_byte_from_bits
    51: 0000000000004400   102 FUNC    GLOBAL DEFAULT   12 modbus_read_bits
    52: 0000000000004fd0    38 FUNC    GLOBAL DEFAULT   12 modbus_set_bits_from_byte
    53: 00000000000057e0   183 FUNC    GLOBAL DEFAULT   12 modbus_rtu_set_serial_mode
    54: 00000000000047a0    14 FUNC    GLOBAL DEFAULT   12 modbus_write_register
    55: 00000000000047b0   470 FUNC    GLOBAL DEFAULT   12 modbus_write_bits
    56: 0000000000004470   102 FUNC    GLOBAL DEFAULT   12 modbus_read_input_bits
    57: 0000000000003040  2825 FUNC    GLOBAL DEFAULT   12 modbus_reply
    58: 0000000000004690    94 FUNC    GLOBAL DEFAULT   12 modbus_read_input_registers
    59: 00000000000060d0   490 FUNC    GLOBAL DEFAULT   12 modbus_tcp_pi_listen
    60: 0000000000005ab0     3 FUNC    GLOBAL DEFAULT   12 _modbus_tcp_check_integrity
    61: 00000000000059f0    97 FUNC    GLOBAL DEFAULT   12 _modbus_tcp_build_request_basis
    62: 0000000000005000    69 FUNC    GLOBAL DEFAULT   12 modbus_set_bits_from_bytes
    63: 0000000000006370   150 FUNC    GLOBAL DEFAULT   12 modbus_tcp_pi_accept
    64: 0000000000005a90    13 FUNC    GLOBAL DEFAULT   12 _modbus_tcp_prepare_response_tid
    65: 0000000000004780    24 FUNC    GLOBAL DEFAULT   12 modbus_write_bit
    66: 00000000000050d0    15 FUNC    GLOBAL DEFAULT   12 modbus_set_float
    67: 00000000000050f0     6 FUNC    GLOBAL DEFAULT   12 _modbus_rtu_prepare_response_tid
    68: 0000000000005ae0    13 FUNC    GLOBAL DEFAULT   12 _modbus_tcp_recv
    70: 0000000000005190    11 FUNC    GLOBAL DEFAULT   12 _modbus_rtu_recv
    71: 0000000000208ce0   128 OBJECT  GLOBAL DEFAULT   19 _modbus_tcp_pi_backend
    72: 0000000000005de0   115 FUNC    GLOBAL DEFAULT   12 _modbus_tcp_pre_check_confirmation
    73: 00000000000042e0    10 FUNC    GLOBAL DEFAULT   12 modbus_receive_confirmation
    74: 0000000000208c60   128 OBJECT  GLOBAL DEFAULT   19 _modbus_rtu_backend
    75: 00000000000058e0   258 FUNC    GLOBAL DEFAULT   12 modbus_new_rtu
    76: 0000000000005b70    26 FUNC    GLOBAL DEFAULT   12 _modbus_tcp_close
    77: 0000000000004df0     4 FUNC    GLOBAL DEFAULT   12 modbus_set_debug
    78: 0000000000002dd0     9 FUNC    GLOBAL DEFAULT   12 modbus_set_response_timeout
    80: 0000000000006410   205 FUNC    GLOBAL DEFAULT   12 modbus_new_tcp
    81: 0000000000002730   261 FUNC    GLOBAL DEFAULT   12 modbus_strerror
    82: 00000000000028d0    78 FUNC    GLOBAL DEFAULT   12 modbus_flush
    83: 0000000000005c20   209 FUNC    GLOBAL DEFAULT   12 _modbus_tcp_select
    84: 0000000000002dc0     9 FUNC    GLOBAL DEFAULT   12 modbus_get_response_timeout
    85: 00000000000051a0    31 FUNC    GLOBAL DEFAULT   12 _modbus_rtu_close
    86: 0000000000002de0     9 FUNC    GLOBAL DEFAULT   12 modbus_get_byte_timeout
    87: 0000000000005aa0    12 FUNC    GLOBAL DEFAULT   12 _modbus_tcp_send_msg_pre
    88: 0000000000006f30     4 OBJECT  GLOBAL DEFAULT   14 libmodbus_version_micro
    89: 0000000000005ac0     3 FUNC    GLOBAL DEFAULT   12 _modbus_tcp_filter_request
    90: 0000000000002db0     4 FUNC    GLOBAL DEFAULT   12 modbus_get_socket
    91: 00000000000042d0     7 FUNC    GLOBAL DEFAULT   12 modbus_receive
    92: 0000000000005a60    34 FUNC    GLOBAL DEFAULT   12 _modbus_tcp_build_response_basis
    93: 0000000000004e00   296 FUNC    GLOBAL DEFAULT   12 modbus_mapping_new
    94: 0000000000002e00     8 FUNC    GLOBAL DEFAULT   12 modbus_get_header_length
    95: 0000000000002d50    48 FUNC    GLOBAL DEFAULT   12 _modbus_init_common
    96: 0000000000004620   101 FUNC    GLOBAL DEFAULT   12 modbus_read_registers
    97: 00000000000051d0   209 FUNC    GLOBAL DEFAULT   12 _modbus_rtu_select
    98: 0000000000002e10     7 FUNC    GLOBAL DEFAULT   12 modbus_connect
    99: 0000000000002df0     9 FUNC    GLOBAL DEFAULT   12 modbus_set_byte_timeout
   101: 0000000000004ad0   526 FUNC    GLOBAL DEFAULT   12 modbus_write_and_read_registers
   102: 0000000000002da0     4 FUNC    GLOBAL DEFAULT   12 modbus_set_socket
   103: 0000000000002d90    12 FUNC    GLOBAL DEFAULT   12 modbus_set_error_recovery
   104: 0000000000005fc0   260 FUNC    GLOBAL DEFAULT   12 modbus_tcp_listen
   106: 0000000000005ad0    16 FUNC    GLOBAL DEFAULT   12 _modbus_tcp_send
   107: 0000000000004990   320 FUNC    GLOBAL DEFAULT   12 modbus_write_registers
   108: 0000000000005180    11 FUNC    GLOBAL DEFAULT   12 _modbus_rtu_send
   109: 0000000000006f34     4 OBJECT  GLOBAL DEFAULT   14 libmodbus_version_minor
   110: 00000000000052b0    54 FUNC    GLOBAL DEFAULT   12 _modbus_rtu_filter_request
   111: 0000000000004f30    66 FUNC    GLOBAL DEFAULT   12 modbus_mapping_free
   113: 0000000000006f38     4 OBJECT  GLOBAL DEFAULT   14 libmodbus_version_major
   114: 00000000000058a0    49 FUNC    GLOBAL DEFAULT   12 modbus_rtu_get_serial_mode
   115: 0000000000003b50   231 FUNC    GLOBAL DEFAULT   12 modbus_reply_exception
   116: 0000000000005af0   126 FUNC    GLOBAL DEFAULT   12 _modbus_tcp_flush
   117: 00000000000064e0   328 FUNC    GLOBAL DEFAULT   12 modbus_new_tcp_pi
   118: 00000000000062c0   164 FUNC    GLOBAL DEFAULT   12 modbus_tcp_accept
   119: 0000000000005100   121 FUNC    GLOBAL DEFAULT   12 _modbus_rtu_send_msg_pre
   120: 0000000000002d80     7 FUNC    GLOBAL DEFAULT   12 modbus_set_slave
   121: 0000000000208d60   128 OBJECT  GLOBAL DEFAULT   19 _modbus_tcp_backend
   122: 0000000000002f60   209 FUNC    GLOBAL DEFAULT   12 modbus_send_raw_request
   123: 0000000000002e20    18 FUNC    GLOBAL DEFAULT   12 modbus_close
   124: 00000000000050b0    23 FUNC    GLOBAL DEFAULT   12 modbus_get_float
   125: 00000000000051c0    13 FUNC    GLOBAL DEFAULT   12 _modbus_rtu_flush
   129: 0000000000004dc0    34 FUNC    GLOBAL DEFAULT   12 modbus_free

이름은 libmodbus5 인데 왜 버전은 3.0.6이 나오냐 -_-
[링크 : https://ubuntu.pkgs.org/18.04/ubuntu-universe-amd64/libmodbus5_3.0.6-2_amd64.deb.html]

[링크 : https://github.com/stephane/libmodbus/blob/v3.0.6/tests/unit-test-server.c]

[링크 : https://github.com/stephane/libmodbus/blob/master/tests/unit-test-server.c]

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Posted by 구차니

libmodbus tcp 예제

유닛 테스트 하는 프로그램을 뜯어 보면 서비스 초기화 하는 코드를 분석하기 유리할 듯

[링크 : https://github.com/stephane/libmodbus/blob/master/tests/unit-test-server.c]

[링크 : https://github.com/stephane/libmodbus/blob/master/tests/unit-test-client.c]

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Posted by 구차니

구차니의 잡동사니 모음

'2022/05/04'에 해당되는 글 4건

libmodbus poll 적용

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