// read mailbox and write to modbus
void *reader(void *arg)
{
int ret,slave,function,buflen;
unsigned char buf[256+1];
mbx.clear(); // clear old messages
while((buflen = mbx.read(buf,sizeof(buf))) > 0)
{
slave = buf[0];
function = buf[1];
thread.lock();
rlsleep(MODBUS_IDLETIME);
ret = modbus.write( slave, function, &buf[2], buflen-2);
ret = modbus.response( &slave, &function, buf);
if(ret != rlModbus::MODBUS_SUCCESS) sock.disconnect();
rlsleep(MODBUS_IDLETIME);
thread.unlock();
if(ret < 0)
{
writeErrorCount++;
if(writeErrorCount >= 256*128) writeErrorCount = 0;
shm.write(modbusdaemon_WRITE_ERROR_COUNT_BASE,&writeErrorCount,2);
}
printf("mbx ret=%d slave=%d function=%d buf[2]=%d\n",ret,slave,function,buf[2]);
}
return arg;
}
static void do_remove()
{
char candidate_name[100],name[100];
long pid;
interpreter.copyStringParam(candidate_name,0);
center.lock();
for(int irow=FIRST_ROW; spreadsheat.exists(irow,1); irow++)
{
rlstrncpy(name,spreadsheat.text(T_name,irow), sizeof(name)-1);
if(strcmp(name,candidate_name) == 0)
{
#ifdef __VMS
sscanf(spreadsheat.text(T_pid,irow),"%x",&pid);
#else
sscanf(spreadsheat.text(T_pid,irow),"%ld",&pid);
#endif
spreadsheat.printf(T_state, irow,"");
spreadsheat.printf(T_pid, irow,"");
spreadsheat.printf(T_name, irow,"");
spreadsheat.printf(T_credit, irow,"");
spreadsheat.printf(T_interval, irow,"");
spreadsheat.printf(T_priority, irow,"");
spreadsheat.printf(T_startup_command,irow,"");
spreadsheat.printf(T_input, irow,"");
spreadsheat.printf(T_output, irow,"");
spreadsheat.printf(T_error, irow,"");
spreadsheat.printf(T_initial_credit, irow,"");
spreadsheat.printf(T_time, irow,"");
break;
}
}
center.unlock();
do_reload(1);
}
int main(int ac, char **av)
{
int offset,ret,first;
if(ac > 0) av0 = av[0];
first = 1;
printf("\n%s starting\n",av0);
modbus.registerSocket(&sock);
thread.create(reader,NULL);
watchdog.create(watchdogthread,NULL);
shm.write(modbusdaemon_LIFE_COUNTER_BASE,&lifeCounter,2);
shm.write(modbusdaemon_READ_ERROR_COUNT_BASE,&readErrorCount,2);
shm.write(modbusdaemon_WRITE_ERROR_COUNT_BASE,&writeErrorCount,2);
while(1)
{
lifeCounter++;
if(lifeCounter >= 256*128) lifeCounter = 0;
shm.write(modbusdaemon_LIFE_COUNTER_BASE,&lifeCounter,2);
offset = 0;
// modbusCycle(offset, slave, function, start_adr, num_register);
ret = modbusCycle(offset,1,3,100,2);
if(ret>0) offset += ret; else continue;
}
// we will never come here
return 0;
}
static void do_save()
{
rlPcontrol *item;
char name[100];
//printf("%s",interpreter.line);
interpreter.line[0] = '\0';
center.lock();
for(int irow=FIRST_ROW; spreadsheat.exists(irow,1); irow++)
{
rlstrncpy(name,spreadsheat.text(T_name,irow),sizeof(name)-1);
if(name[0] > 0)
{
item = processlist;
while(item != NULL)
{
if(strcmp(name,item->processName()) == 0)
{
#ifdef __VMS
spreadsheat.printf(T_pid,irow,"%x",item->pid());
#else
spreadsheat.printf(T_pid,irow,"%ld",item->pid());
#endif
spreadsheat.printf(T_time,irow,item->processTime()->getTimeString());
}
item = item->getNext();
}
}
}
spreadsheat.write(SPREADSHEAT_FILE);
center.unlock();
processes_have_been_modified = 0;
}
static void do_reload(int write_flag)
{
char name[100];
//printf("%s",interpreter.line);
interpreter.line[0] = '\0';
center.lock();
if(write_flag)
{
spreadsheat.write(SPREADSHEAT_FILE);
}
spreadsheat.read(SPREADSHEAT_FILE);
set_header();
for(int irow=FIRST_ROW; spreadsheat.exists(irow,1); irow++)
{
rlstrncpy(name,spreadsheat.text(T_name,irow),sizeof(name)-1);
if(name[0] > 0)
{
spreadsheat.printf(T_credit,irow,"%s",spreadsheat.text(T_initial_credit,irow));
}
}
construct_processlist();
center.unlock();
}
void *profibus(void *arg)
{
#ifdef _RL_HILSCHER_CIF_H_
THREAD_PARAM *p = (THREAD_PARAM *) arg;
cif.debug = 1;
if(cif.open() == DRV_NO_ERROR)
{
cif.debug = 0;
while(p->running)
{
rlsleep(50);
pbus.lock();
cif.devExchangeIO(0,4,sendData,
0,4,receiveData,
1000);
pbus.unlock();
}
}
else
{
printf("failed to cif.open()\n");
printf("Please run me as root or\n");
printf("make /dev/cif readable by normal user\n");
}
#else
printf("WARNING: you will have to install the hilscher driver and link to it. Then you can remove the ifdef _WIN32\n");
#endif
return arg;
}
static void watchdog()
{
now.getLocalTime();
center.lock();
for(int row=FIRST_ROW; spreadsheat.exists(row,1); row++)
{
start_if_missing(row);
}
center.unlock();
}
static void do_sigkill()
{
long pid;
rlPcontrol *item;
//printf("%s",interpreter.line);
sscanf(interpreter.line,"sigkill(%ld)",&pid);
interpreter.line[0] = '\0';
center.lock();
item = processlist;
while(item != NULL)
{
if(item->pid() == pid)
{
item->sigkill();
item->processTime()->getLocalTime(); // stop time
break;
}
item = item->getNext();
}
center.unlock();
}
// read cycle on modbus
int modbusCycle(int offset, int slave, int function, int start_adr, int num_register)
{
unsigned char data[256+1];
int ret;
watchcnt1++;
if(watchcnt1 > 10000) watchcnt1 = 0;
rlsleep(MODBUS_IDLETIME);
thread.lock();
ret = modbus.request(slave, function, start_adr, num_register);
if(ret >= 0) ret = modbus.response( &slave, &function, data);
if(ret < 0) sock.disconnect();
thread.unlock();
if(ret > 0) shm.write(offset,data,ret);
else
{
readErrorCount++;
if(readErrorCount >= 256*128) readErrorCount = 0;
shm.write(modbusdaemon_READ_ERROR_COUNT_BASE,&readErrorCount,2);
}
printf("cycle ret=%d slave=%d function=%d data[0]=%d\n",ret,slave,function,data[0]);
return ret;
}
int main(int ac, char **av)
{
PARAM p;
int s;
pvInit(ac,av,&p);
/* here you may interpret ac,av and set p->user to your data */
memset(sendData,0,sizeof(sendData));
memset(receiveData,0,sizeof(receiveData));
pbus.create(profibus,NULL);
while(1)
{
s = pvAccept(&p);
if(s != -1) pvCreateThread(&p,s);
else break;
}
return 0;
}
int create_center()
{
center.create(centerMain,NULL);
return 0;
}
