/*----------------------------------------------------------------------------*\
Read method for the Modbus_TCP slave
\*----------------------------------------------------------------------------*/
static pwr_tStatus IoRackRead (
io_tCtx ctx,
io_sAgent *ap,
io_sRack *rp
)
{
io_sRackLocal *local;
pwr_sClass_Modbus_TCP_Slave *sp;
pwr_tStatus sts;
pwr_tTime now;
pwr_tDeltaTime dt;
local = rp->Local;
sp = (pwr_sClass_Modbus_TCP_Slave *) rp->op;
if (((sp->Status == MB__CONNDOWN) || (sp->Status == MB__CONNLOST)) && sp->DisableSlave != 1) {
/* Reconnect */
time_GetTimeMonotonic( &now);
time_Adiff(&dt, &now, &local->last_try_connect_time);
if (dt.tv_sec >= (1 << MIN(sp->ReconnectCount, 6))) {
sts = connect_slave(local, rp);
if (sts >= 0) {
sp->ReconnectCount = 0;
sp->Status = MB__NORMAL;
} else {
sp->ReconnectCount++;
memset(&sp->Inputs, 0, local->input_size);
}
}
}
/* Receive data */
if ((sp->Status == MB__NORMAL) && !sp->SingleOp) {
sts = mb_recv_data(local, rp, sp);
}
if (sp->DisableSlave != 1) {
if (sp->Status == MB__NORMAL) {
sp->ErrorCount = 0;
}
else {
sp->ErrorCount++;
}
if (sp->ErrorCount > sp->ErrorLimit) {
memset(&sp->Inputs, 0, local->input_size);
}
}
else {
sp->ErrorCount = 0;
sp->Status = MB__DISABLED;
}
return IO__SUCCESS;
}
int main (int argc, char **argv)
{
pwr_tStatus sts;
pwr_tObjid ObjId;
pwr_sClass_DsTrendConf *TConfP;
pwr_tBoolean InitOK;
pwr_tTime CurrentTime, LastScan, NextScan;
pwr_tDeltaTime ScanDeltaTime, WaitTime;
qcom_sQid qini;
qcom_sQattr qAttr;
int tmo;
char mp[2000];
qcom_sQid qid = qcom_cNQid;
qcom_sGet get;
int swap = 0;
trend_tCtx ctx;
errh_Init("pwr_trend", errh_eAnix_trend);
errh_SetStatus( PWR__SRVSTARTUP);
sts = gdh_Init("ds_trend");
If_Error_Log_Exit(sts, "gdh_Init");
if (!qcom_Init(&sts, 0, "pwr_trend")) {
errh_Fatal("qcom_Init, %m", sts);
exit(sts);
}
qAttr.type = qcom_eQtype_private;
qAttr.quota = 100;
if (!qcom_CreateQ(&sts, &qid, &qAttr, "events")) {
errh_Fatal("qcom_CreateQ, %m", sts);
exit(sts);
}
qini = qcom_cQini;
if (!qcom_Bind(&sts, &qid, &qini)) {
errh_Fatal("qcom_Bind(Qini), %m", sts);
exit(-1);
}
ctx = (trend_tCtx) calloc( 1, sizeof(trend_sCtx));
/* Wait until local nethandler has started */
while(EVEN(gdh_NethandlerRunning()))
sleep(1);
/* Fetch ScanTime */
sts = gdh_GetClassList(pwr_cClass_DsTrendConf, &ObjId);
if (EVEN(sts)) {
errh_Info("Couldn't get the DsTrendConf object. Used ScanTime = 1 s");
ctx->scantime = 1;
ctx->scantime_tc = 1.0;
}
else {
gdh_ObjidToPointer(ObjId, (pwr_tAddress *)&TConfP);
ctx->scantime = TConfP->ScanTime;
if ( ctx->scantime > 3600)
ctx->scantime = 3600;
else if ( ctx->scantime < 1)
ctx->scantime = 1;
ctx->scantime_tc = TConfP->ScanTime;
if ( ctx->scantime_tc > 3600)
ctx->scantime_tc = 3600;
}
ctx->dstrend_multiple = (int) (ctx->scantime / ctx->scantime_tc + 0.5);
aproc_RegisterObject( ObjId);
InitOK = FALSE;
sts = InitTrendList( ctx);
if ( EVEN(sts)) {
/* This should be removed when we can wait for init messages. */
errh_SetStatus(0);
errh_Info("No DsTrend objects configured");
exit(0);
}
/* If even sts, just wait for init message */
time_GetTimeMonotonic(&LastScan);
time_FloatToD( &ScanDeltaTime, ctx->scantime_tc);
aproc_TimeStamp( ctx->scantime, 5.0);
errh_SetStatus( PWR__SRUN);
for (;;) {
time_GetTimeMonotonic(&CurrentTime);
time_Aadd(&NextScan, &LastScan, &ScanDeltaTime);
if (time_Acomp(&CurrentTime, &NextScan) < 0) {
time_Adiff(&WaitTime, &NextScan, &CurrentTime);
tmo = 1000 * time_DToFloat( 0, &WaitTime);
get.maxSize = sizeof(mp);
get.data = mp;
qcom_Get( &sts, &qid, &get, tmo);
if (sts == QCOM__TMO || sts == QCOM__QEMPTY) {
if ( !swap)
StoreData( ctx);
}
else {
ini_mEvent new_event;
qcom_sEvent *ep = (qcom_sEvent*) get.data;
new_event.m = ep->mask;
if (new_event.b.oldPlcStop && !swap) {
swap = 1;
errh_SetStatus( PWR__SRVRESTART);
CloseTrendList( ctx);
}
else if (new_event.b.swapDone && swap) {
swap = 0;
sts = InitTrendList( ctx);
errh_SetStatus( PWR__SRUN);
errh_Info("Warm restart completed");
}
else if (new_event.b.terminate) {
exit(0);
}
}
}
else if ( !swap)
StoreData( ctx);
LastScan = NextScan;
aproc_TimeStamp( ctx->scantime, 5.0);
}
return 1;
}
static int connect_slave( io_sRackLocal *local, io_sRack *rp)
{
pwr_tStatus sts;
pwr_sClass_Modbus_TCP_Slave *op;
int buffsize = 10000;
int flags;
fd_set fdr; /* For select call */
fd_set fdw; /* For select call */
struct timeval tv;
unsigned short port;
time_GetTimeMonotonic( &local->last_try_connect_time);
op = (pwr_sClass_Modbus_TCP_Slave *) rp->op;
/* Create socket, store in local struct */
port = op->Port == 0 ? 502 : op->Port;
local->s = socket(AF_INET, SOCK_STREAM, 0);
if (local->s < 0) {
errh_Error( "Error creating socket for IO modbus tcp slave %s, %d", rp->Name, local->s);
return local->s;
}
sts = setsockopt(local->s, SOL_SOCKET, SO_RCVBUF, &buffsize, sizeof(buffsize));
if (sts < 0) {
printf( "Error setting receive buffer size \n");
}
/* Initialize remote address structure */
local->rem_addr.sin_family = AF_INET;
local->rem_addr.sin_port = htons(port);
// local->rem_addr.sin_addr.s_addr = inet_addr((char *) &(op->Address));
sts = net_StringToAddr( op->Address, &local->rem_addr.sin_addr);
if ( EVEN(sts)) {
errh_Error( "Address error for IO modbus tcp slave %s %s", rp->Name, op->Address);
return sts;
}
local->rem_addr.sin_addr.s_addr = ntohl(local->rem_addr.sin_addr.s_addr);
/* Connect to remote address */
fcntl(local->s, F_SETFL, (flags = fcntl(local->s, F_GETFL)) | O_NONBLOCK);
sts = connect(local->s, (struct sockaddr *) &local->rem_addr, sizeof(local->rem_addr));
if (sts < 0) {
FD_ZERO(&fdr);
FD_ZERO(&fdw);
FD_SET(local->s, &fdr);
FD_SET(local->s, &fdw);
if (op->ReconnectLimit > 200) {
tv.tv_sec = 0;
tv.tv_usec = 1000 * op->ReconnectLimit;
} else {
tv.tv_sec = 0;
tv.tv_usec = 200000;
}
sts = select((int)local->s+1, &fdr, &fdw, NULL, &tv);
if (sts <= 0) {
close(local->s);
errh_Error( "Error connecting remote socket for IO modbus slave %s, %d", rp->Name, sts);
return -1;
}
}
fcntl(local->s, F_SETFL, (flags = fcntl(local->s, F_GETFL)) ^ O_NONBLOCK);
return sts;
}
int main (int argc, char **argv)
{
pwr_tStatus sts = 1;
io_tCtx io_ctx;
io_tCtx io_ctx_swap;
pwr_sClass_IOHandler *ihp;
int swap_io;
int close_io;
int init_io;
qcom_sQid qid = qcom_cNQid;
int tmo;
char mp[2000];
qcom_sGet get;
pwr_tTime now;
pwr_tTime next;
pwr_tTime after;
pwr_tDeltaTime cycle;
lst_sEntry *csup_lh;
int delay_action = 0;
pwr_sNode *nodep;
pwr_tBoolean old_emergency_break = 0;
if ( argc > 1) {
if ( strcmp( argv[1], "-m") == 0) {
io_methods_print();
exit(0);
}
if ( strcmp( argv[1], "-h") == 0) {
usage();
exit(0);
}
}
ihp = init(&qid, &csup_lh, &nodep);
plc_UtlWaitForPlc();
/* Prepare the swap context */
sts = io_init_swap(io_mProcess_IoComm, pwr_cNObjid, &io_ctx_swap, 1, ihp->CycleTimeBus);
for (close_io = swap_io = 0, init_io = 1;;) {
if (init_io) {
double f;
sts = io_init(io_mProcess_IoComm, pwr_cNObjid, &io_ctx, 1, ihp->CycleTimeBus);
if ( ODD(sts))
errh_SetStatus( PWR__SRUN);
#if defined(OS_ELN)
ker$clear_event( &sts, io_comm_terminate);
io_dioc_init();
io_dioc_start();
#endif
init_io = 0;
tmo = ihp->CycleTimeBus * 1000.;
f = floor(ihp->CycleTimeBus);
cycle.tv_sec = f;
cycle.tv_nsec = (ihp->CycleTimeBus - f) * 1.0e9;
cycle.tv_nsec++;
time_GetTimeMonotonic(&next);
time_Aadd(NULL, &next, &cycle);
}
get.maxSize = sizeof(mp);
get.data = mp;
qcom_Get(&sts,&qid, &get, tmo);
if (sts == QCOM__TMO || sts == QCOM__QEMPTY) {
if ( nodep->EmergBreakTrue && !old_emergency_break)
sts = io_swap(io_ctx_swap, io_eEvent_IoCommEmergencyBreak);
sts = io_read(io_ctx);
if (EVEN(sts)) {
ihp->IOReadWriteFlag = FALSE;
errh_Error("IO read, %m", sts);
}
sts = io_write(io_ctx);
if (EVEN(sts)) {
ihp->IOReadWriteFlag = FALSE;
errh_Error("IO write, %m", sts);
}
if ( nodep->EmergBreakTrue && !old_emergency_break)
sts = io_swap(io_ctx, io_eEvent_EmergencyBreak);
old_emergency_break = nodep->EmergBreakTrue;
if (swap_io)
{
sts = io_swap(io_ctx_swap, io_eEvent_IoCommSwap);
}
io_ScanSupLst( io_ctx->SupCtx);
time_GetTime(&now);
time_GetTimeMonotonic(&after);
next = after;
time_Aadd(NULL, &next, &cycle);
delay_action = csup_Exec(&sts, csup_lh, (pwr_tDeltaTime *) &next,
(pwr_tDeltaTime *) &after, &now);
if (delay_action == 2)
ihp->IOReadWriteFlag = FALSE;
aproc_TimeStamp(ihp->CycleTimeBus, 5);
} else {
ini_mEvent new_event;
qcom_sEvent *ep = (qcom_sEvent*) get.data;
new_event.m = ep->mask;
if (new_event.b.oldPlcStop && !swap_io) {
swap_io = 1;
close_io = 1;
errh_SetStatus(PWR__SRVRESTART);
} else if (new_event.b.swapDone && swap_io) {
swap_io = 0;
init_io = 1;
} else if (new_event.b.terminate) {
exit(0);
}
if (close_io) {
io_close(io_ctx);
#if defined(OS_ELN)
ker$signal( &sts, io_comm_terminate);
#endif
close_io = 0;
}
}
}
}
