commit 5d577cb2a30bf18ef64ec11cbc3ac8cc4732ad5f Author: Hr_adore_me Date: Mon Jun 17 13:30:41 2024 +0800 first_version diff --git a/._thread.h b/._thread.h new file mode 100644 index 0000000..4bec9d5 Binary files /dev/null and b/._thread.h differ diff --git a/camera.cpp b/camera.cpp new file mode 100644 index 0000000..2437b79 --- /dev/null +++ b/camera.cpp @@ -0,0 +1,236 @@ +#include "camera.h" + +#define FIRST_DEVICE_INDEX 1 +//#define SETTING_PATH "C:/Program Files/Teledyne DALSA/Sapera/CamFiles/User/202298_first.ccf" +#define SETTING_PATH "C:/Program Files/Teledyne DALSA/Sapera/CamFiles/User/abc.ccf" + +extern void onImageDataCallback(SapXferCallbackInfo *pInfo); +extern void onImageCorrectCallback(SapXferCallbackInfo *pInfo); + +camera::camera() +{ + +} + +bool camera::enumDevic(char *serverName) +{ + int devicecount = SapManager::GetServerCount(); + if(devicecount < 1) + { + qDebug() << "no device found"; + return false; + } + + SapManager::GetServerName(FIRST_DEVICE_INDEX, serverName, CORSERVER_MAX_STRLEN); + qDebug() << serverName; + + return true; +} + +bool camera::creatObjects(char *serverName) +{ + m_loc = new SapLocation(serverName, 1); + m_pAcq = new SapAcquisition(*m_loc, SETTING_PATH); + m_buffer = new SapBuffer(1, m_pAcq); +// m_trans = new SapAcqToBuf(m_pAcq, m_buffer, onImageDataCallback, NULL); + + if(false == m_pAcq->Create()) + { + destroyObjects(); + qDebug() << "create pAcq device failed"; + return false; + } + + if(false == m_buffer->Create()) + { + destroyObjects(); + qDebug() << "create buff failed"; + return false; + } + +// if(false == m_trans->Create()) +// { +// destroyObjects(); +// qDebug() << "create transport failed"; +// return false; +// } + + qDebug() << "create object success"; + return true; + +} + +void camera::destroyObjects() +{ + if(m_trans && *m_trans) + { + m_trans->Destroy(); + qDebug() << "1"; + } + if(c_trans && *c_trans) + { + c_trans->Destroy(); + qDebug() << "2"; + } + if(m_buffer && *m_buffer) + { + m_buffer->Destroy(); + qDebug() << "3"; + } + if(m_pAcq && *m_pAcq) + { + m_pAcq->Destroy(); + qDebug() << "4"; + } + +} + +bool camera::openCamera() +{ + char serverName[CORSERVER_MAX_STRLEN]; + if(!enumDevic(serverName)) + { + qDebug() << "enum device failed"; + return false; + } + + if(!creatObjects(serverName)) + return false; + + qDebug() << "open device success"; + + return true; +} + +void camera::closeCamera() +{ + destroyObjects(); + if(m_trans) + { + delete m_trans; + qDebug() << "5"; + } + if(c_trans) + { + delete c_trans; + qDebug() << "6"; + } + if(m_buffer) + { + delete m_buffer; + qDebug() << "7"; + } + if(m_pAcq) + { + delete m_pAcq; + qDebug() << "8"; + } + +} + +bool camera::startCapture() +{ + bool success; + m_trans = new SapAcqToBuf(m_pAcq, m_buffer, onImageDataCallback, NULL); + if(false == m_trans->Create()) + { + destroyObjects(); + if(m_trans && *m_trans) + { + m_trans->Destroy(); + } + qDebug() << "create transport failed"; + return false; + } + success = m_trans->Grab(); + if(success == false) + { + qDebug() << "grab failed"; + return false; + } + return true; +} + +bool camera::stopCapture() +{ + bool success; + success = m_trans->Freeze(); + if(success == false) + { + qDebug() << "stop capture failed"; + return false; + } + m_trans->Wait(5000); + if(m_trans && *m_trans) + { + m_trans->Destroy(); + } + return true; +} + +bool camera::startCorrect() +{ + bool success; + qDebug() << "start correct"; + c_trans = new SapAcqToBuf(m_pAcq, m_buffer, onImageCorrectCallback, NULL); + if(false == c_trans->Create()) + { + destroyObjects(); + if(c_trans && *c_trans) + { + c_trans->Destroy(); + } + qDebug() << "create c_transport failed"; + return false; + } + qDebug() << "create c_trans"; + success = c_trans->Grab(); + if(success == false) + { + qDebug() << "start correct failed"; + return false; + } + qDebug() << "c_trans grab"; + return true; +} + +bool camera::stopCorrect() +{ + bool success; + success = c_trans->Freeze(); + if(success == false) + { + qDebug() << "stop correct failed"; + return false; + } + c_trans->Wait(5000); + + if(c_trans && *c_trans) + { + c_trans->Destroy(); + } + + return true; +} + +//没用 +bool camera::interTricapture() +{ + m_pAcq->SetParameter(CORACQ_PRM_INT_LINE_TRIGGER_FREQ, 8, TRUE);//内触发信号频率 + m_pAcq->SetParameter(CORACQ_PRM_INT_LINE_TRIGGER_ENABLE, TRUE, TRUE);//内触发 + + bool success; + success = m_trans->Grab(); + if(success == false) + { + qDebug() << "inter trigger capture failed"; + return false; + } + m_trans->Wait(5000); + return true; +} + + + + + diff --git a/camera.h b/camera.h new file mode 100644 index 0000000..e46a561 --- /dev/null +++ b/camera.h @@ -0,0 +1,48 @@ +#ifndef CAMERA_H +#define CAMERA_H + +#include +#include "SapClassBasic.h" +#include +#include "thread.h" +class camera +{ +public: + camera(); + bool enumDevic(char* serverName); + bool creatObjects(char* serverName); + void destroyObjects(); + bool openCamera(); + void closeCamera(); + bool startCapture(); + bool stopCapture(); + bool interTricapture(); + + bool startCorrect(); + bool stopCorrect(); + + bool capture_black_flag = false; + bool capture_white_flag = false; + bool ret_SCaptrue = false; + bool ret_SCorrect = false; + cv::Mat white_mat; + cv::Mat black_mat; + cv::Mat eps; + SapTransfer *c_trans; + float* white_buf = nullptr; + float* black_buf = nullptr; + + SapLocation *m_loc; + SapAcquisition *m_pAcq; + SapBuffer *m_buffer; + SapTransfer *m_trans; + + SapTransfer *l_trans; + std::queue imgqueue; + cv::Mat calibrated_img; + int rgb_height; +private: + +}; + +#endif // CAMERA_H diff --git a/correct.cpp b/correct.cpp new file mode 100644 index 0000000..e1e0d4f --- /dev/null +++ b/correct.cpp @@ -0,0 +1,49 @@ +#include "correct.h" + +correct::correct() +{ + is_corrected = false; + correction_ratio_r = 1; + correction_ratio_g = 1; + correction_ratio_b = 1; +} + +void correct::get_rgb(cv::Mat img) +{ + int b_temp = 0; + int g_temp = 0; + int r_temp = 0; + for(int i=0; i(i, j)[0]; + g_temp += (int)img.at(i, j)[1]; + r_temp += (int)img.at(i, j)[2]; + } + } + b = b_temp / (img.cols * img.rows); + g = g_temp / (img.cols * img.rows); + r = r_temp / (img.cols * img.rows); +} + +void correct::cal_correction_ratio() +{ + correction_ratio_b = b / b_base; + correction_ratio_g = g / g_base; + correction_ratio_r = r / r_base; + qDebug() << "correction ratio" << correction_ratio_b << correction_ratio_g << correction_ratio_r; +} + +void correct::correct_img(cv::Mat img) +{ + for(int i=0; i(j, i)[0] * correction_ratio_b) > 255 ? img.at(j, i)[0] = 255 : img.at(j, i)[0] *= correction_ratio_b; + (img.at(j, i)[1] * correction_ratio_b) > 255 ? img.at(j, i)[1] = 255 : img.at(j, i)[1] *= correction_ratio_b; + (img.at(j, i)[2] * correction_ratio_b) > 255 ? img.at(j, i)[2] = 255 : img.at(j, i)[2] *= correction_ratio_b; + } + } +} diff --git a/correct.h b/correct.h new file mode 100644 index 0000000..bf491e3 --- /dev/null +++ b/correct.h @@ -0,0 +1,29 @@ +#ifndef CORRECT_H +#define CORRECT_H + +#include "opencv2/opencv.hpp" +#include + +class correct +{ +private: + float correction_ratio; + float r; + float g; + float b; + float correction_ratio_r; + float correction_ratio_g; + float correction_ratio_b; + int b_base = 125.0f; + int g_base = 125.0f; + int r_base = 125.0f; + +public: + correct(); + bool is_corrected; + void get_rgb(cv::Mat img); + void cal_correction_ratio(); + void correct_img(cv::Mat img); +}; + +#endif // CORRECT_H diff --git a/imagewin.cpp b/imagewin.cpp new file mode 100644 index 0000000..e693726 --- /dev/null +++ b/imagewin.cpp @@ -0,0 +1,30 @@ +#include "imagewin.h" +#include "ui_imagewin.h" + +# pragma execution_character_set("utf-8") + +imageWin::imageWin(ListWidgetItemChild *item, QRect rect, QWidget *parent) : + QWidget(parent), + ui(new Ui::imageWin) +{ + ui->setupUi(this); + + qApp->installEventFilter(this); + this->setGeometry(rect);//设置显示图片窗口的x、y、w、h + this->setFixedSize(rect.width(), rect.height());//设置窗口固定大小 + this->setWindowIcon(item->icon()); + this->setWindowTitle("查看图片"); + this->setWindowModality(Qt::ApplicationModal);//阻塞除当前窗体外的其他所有窗体 + + //通过QLabel加载item上的图片 + QLabel *lab = new QLabel(this); + lab->setFixedSize(this->width(), this->height()); + lab->setPixmap(item->icon().pixmap(QSize(this->width(), this->height())).scaled(lab->width(),lab->height())); + + +} + +imageWin::~imageWin() +{ + delete ui; +} diff --git a/imagewin.h b/imagewin.h new file mode 100644 index 0000000..8943696 --- /dev/null +++ b/imagewin.h @@ -0,0 +1,26 @@ +#ifndef IMAGEWIN_H +#define IMAGEWIN_H + +#include +#include +#include +#include +#include "relistwidget_item.h" +namespace Ui { +class imageWin; +} + +class imageWin : public QWidget +{ + Q_OBJECT + +public: + explicit imageWin(ListWidgetItemChild *item, QRect rect, QWidget *parent = 0); + ~imageWin(); + + +private: + Ui::imageWin *ui; +}; + +#endif // IMAGEWIN_H diff --git a/imagewin.ui b/imagewin.ui new file mode 100644 index 0000000..91666bd --- /dev/null +++ b/imagewin.ui @@ -0,0 +1,21 @@ + + + + + imageWin + + + + 0 + 0 + 400 + 300 + + + + Form + + + + + diff --git a/main.cpp b/main.cpp new file mode 100644 index 0000000..90b6d53 --- /dev/null +++ b/main.cpp @@ -0,0 +1,11 @@ +#include "widget.h" +#include + +int main(int argc, char *argv[]) +{ + QApplication a(argc, argv); + Widget w; + w.show(); + + return a.exec(); +} diff --git a/relistwidget_item.cpp b/relistwidget_item.cpp new file mode 100644 index 0000000..50aab96 --- /dev/null +++ b/relistwidget_item.cpp @@ -0,0 +1,23 @@ +#include "relistwidget_item.h" + +ListWidgetItemChild::ListWidgetItemChild(QListWidget *parent) : + QListWidgetItem(parent) +{ +} + + +ListWidgetItemChild::~ListWidgetItemChild() +{ + +} + +ListWidgetRe::ListWidgetRe(QWidget *parent) : + QListWidget(parent) +{ + +} + +ListWidgetRe::~ListWidgetRe() +{ + +} diff --git a/relistwidget_item.h b/relistwidget_item.h new file mode 100644 index 0000000..106d225 --- /dev/null +++ b/relistwidget_item.h @@ -0,0 +1,42 @@ +#ifndef RELISTWIDGET_ITEM_H +#define RELISTWIDGET_ITEM_H + + +#include +#include +#include + +class ListWidgetItemChild : public QListWidgetItem +{ + +public: + explicit ListWidgetItemChild(QListWidget *parent = 0); + + ~ListWidgetItemChild(); + QString LBrightnessValue; + QString ARedGreenValue; + QString BYellowBlueValue; + + bool operator<(const QListWidgetItem &other) const + { + int a, b; + a = this->text().mid(9,3).toInt(); + b = other.text().mid(9,3).toInt(); + return a < b; + } + + +}; + +class ListWidgetRe : public QListWidget +{ + Q_OBJECT + friend class ListWidgetItemChild; + public: + explicit ListWidgetRe(QWidget *parent = nullptr); + ~ListWidgetRe(); + +Q_SIGNALS: +// void itemDoubleClicked(ListWidgetItemChild *item); +}; +#endif // RELISTWIDGET_ITEM_H diff --git a/showpic.cpp b/showpic.cpp new file mode 100644 index 0000000..7bad2b2 --- /dev/null +++ b/showpic.cpp @@ -0,0 +1,647 @@ +#include "showpic.h" +#include "ui_showpic.h" + + +# pragma execution_character_set("utf-8") + + + +using namespace std; +void deleteImage(QString folderPath, QString imageName); +QString FindImage(QString folderPath, QString imageName); + +extern QString DirPath; +//QString DirPath = "D:/picture/524test"; + + +QStringList GetFileNameList(const QString &strDirpath)//该函数的作用是获取一个目录下所有的文件名，并将文件名存储在QStringList中返回。 +{ + QDir dir(strDirpath); + QFileInfoList Info_list = dir.entryInfoList(QDir::Files | QDir::NoDotAndDotDot); + QListIterator Iterator(Info_list); + QStringList strFileNameList; + QFileInfo Info; + while (Iterator.hasNext()) + { + Info = Iterator.next(); + if (Info.isFile()) + { + strFileNameList << Info.fileName(); + } + } + + //排序3.28 + qSort(strFileNameList.begin(), strFileNameList.end(), [](const QString& s1, const QString& s2){ + return s1.mid(3,2).toInt() < s2.mid(3,2).toInt(); }); + + return strFileNameList; +} + +showpic::showpic(char* buf1, QWidget *parent) : + QWidget(parent), +//showpic::showpic(QWidget *parent) : +// QWidget(parent), + ui(new Ui::showpic) +{ + ui->setupUi(this); +//切割char数组 + const char split[] = ","; + char* res = strtok(buf1, split);//image_name必须为char[] + while (res != NULL)//切割buf,将有用的数据全部在res_split内，可通过res_split.at(i)调用 + { +// qDebug() << "res" << res; + res_split.push_back(res);//?? + res = strtok(NULL, split);//?? + + } + qDebug() << "res_split.size()" << res_split.size(); + + LightPath = DirPath +"/light/"; + MiddlePath = DirPath +"/Middle/"; + DarkPath = DirPath +"/dark/"; + + QStringList listLight = GetFileNameList(LightPath);//应该是一个全局变量3.28 + QStringList listMiddle = GetFileNameList(MiddlePath); + QStringList listDark = GetFileNameList(DarkPath); + +// QStringList listLight = GetFileNameList("D:/wood_color317/data/2023318/light/");//应该是一个全局变量3.28 +// QStringList listMiddle = GetFileNameList("D:/wood_color317/data/2023318/middle/"); +// QStringList listDark = GetFileNameList("D:/wood_color317/data/2023318/dark/"); +//将90个lab值分三类 + QVector Light_lab; + QVector Middle_lab; + QVector Dark_lab; +/* for(int i = 0; i < 90; i++) + { + if(i < 30) + { + Light_lab.append(res_split.at(i)); +// qDebug() << Light_lab.at(i) << i; + + } + else if(i > 29 && i < 60) + { + Middle_lab.append(res_split.at(i)); +// qDebug() << Middle_lab.at(i-30) << i; + } + else if(i > 59 && i < 90) + { + Dark_lab.append(res_split.at(i)); +// qDebug() << Dark_lab.at(i-60) << i; + } + } + */ + for(int i = 0; i < (listLight.size() + listMiddle.size() + listDark.size()); i++) + { + if(i < listLight.size()) + { + Light_lab.append(res_split.at(i)); + qDebug() << Light_lab.at(i) << i; + + } + else if(i > (listLight.size() - 1) && i < (listLight.size() + listMiddle.size())) + { + Middle_lab.append(res_split.at(i)); + qDebug() << Middle_lab.at(i-listLight.size()) << i; + } + else /*if(i > (listLight.size() + listMiddle.size() - 1) && i < 90)*/ + { + Dark_lab.append(res_split.at(i)); + qDebug() << Dark_lab.at(i-listLight.size() - listMiddle.size()) << i; + } + } + listWidget = new ListWidgetRe(this); + listWidget->setViewMode(QListWidget::IconMode);//显示模式 + listWidget->setIconSize(QSize(400, 90));//设置图片大小 + listWidget->setSpacing(10);//间距 + listWidget->setResizeMode(QListView::Adjust);//适应布局调整 + listWidget->setMovement(QListView::Static);//不能移动 + + +// QString file = "D:/wood_color317/data/2023318/light/"; + QString file = LightPath; + LoadPicture(file, listLight, Light_lab); + +// QListWidgetItem *separate0 = new QListWidgetItem; +// separate0->setText("之后为中色"); +// separate0->setFlags(separate0->flags() & ~Qt::ItemIsEnabled & ~Qt::ItemIsSelectable); +// listWidget->addItem(separate0); + + +// file = "D:/wood_color317/data/2023318/middle/"; + file = MiddlePath; + LoadPicture(file, listMiddle, Middle_lab); + +// QListWidgetItem *separate1 = new QListWidgetItem; +// separate1->setFlags(separate0->flags() & ~Qt::ItemIsEnabled & ~Qt::ItemIsSelectable); +// separate1->setText("之后为深色"); +// listWidget->addItem(separate1); + +// file = "D:/wood_color317/data/2023318/dark/"; + file = DarkPath; + LoadPicture(file, listDark, Dark_lab); + + listWidget->sortItems(); + listWidget->setSelectionMode(QAbstractItemView::MultiSelection);//设置多选模式 + QVBoxLayout* VBox = new QVBoxLayout; + QHBoxLayout* HBox = new QHBoxLayout; + ui->pushButton->setFixedSize(140,70); + ui->pushButton_2->setFixedSize(140,70); + ui->pushButton_3->setFixedSize(140,70); + ui->pushButton_light->setFixedSize(140,70); + ui->pushButton_middle->setFixedSize(140,70); + ui->pushButton_dark->setFixedSize(140,70); + + + HBox->addWidget(ui->pushButton); + HBox->addWidget(ui->pushButton_2); + HBox->addWidget(ui->pushButton_3); + HBox->addWidget(ui->pushButton_light); + HBox->addWidget(ui->pushButton_middle); + HBox->addWidget(ui->pushButton_dark); + + + VBox->addWidget(listWidget); + VBox->addLayout(HBox); + + this->setLayout(VBox); + + connect(listWidget, SIGNAL(itemDoubleClicked(QListWidgetItem*)), this, SLOT(enlargeImage(QListWidgetItem*))); + + qDebug() << "showpic ready"; + + emit PictureReady(); + +} + +showpic::~showpic() +{ + delete ui; +} + +void showpic::enlargeImage(QListWidgetItem *item) +{ + + QRect rect = this->geometry();//获取当前窗口坐标及大小 x、y、w、h +// static_cast(listWidget->itemWidget(item)); + ListWidgetItemChild *item0 = static_cast(item); + //通过自定义的窗口显示图片 +// imageWin *showImageWidget = new imageWin(item , QRect(rect.x(), rect.y()+rect.y()*1/4, rect.width(), rect.height()*2/3)); + imageWin *showImageWidget = new imageWin(item0 , QRect(rect.x(), rect.y()+rect.y()*1/4, rect.width(), rect.height()*1.7/3)); + showImageWidget->show(); + + //显示条目名称 + qDebug() << item0->text(); + QString item_name = item0->text(); + if(item_name.at(4) != '.') + { + QString a = item_name.at(3); + a.append(item_name.at(4)); + qDebug() << "a" << a.toInt(); +// int b = a.toInt(); + int L = item0->LBrightnessValue.toInt(); + int A = item0->ARedGreenValue.toInt(); + int B = item0->BYellowBlueValue.toInt(); + qDebug() << "LAB" << L << A << B; + //显示色块 + cv::Mat mat = cv::Mat(100, 100, CV_8UC3, cv::Scalar(L, A, B)); + cv::cvtColor(mat, mat, cv::COLOR_Lab2BGR); + cv::imshow("sekuai", mat); + } + else + { + qDebug() << "--"; + } + +} +//rgb00.png175136163QQ +//拼图片路径，并添加到imageItem，再添加到listWidget +void showpic::LoadPicture(QString file, QStringList list, QVector lab) +{ + for(int i = 0; i < list.size(); i++) + { + qDebug() << lab.at(i) << i; + QString LAB = lab.at(i); + QString tmp = file + list.at(i);//拼出图片绝对路径 + + ListWidgetItemChild *imageItem = new ListWidgetItemChild; + imageItem->LBrightnessValue =LAB.mid(0,3); + imageItem->ARedGreenValue = LAB.mid(3,3); + imageItem->BYellowBlueValue = LAB.mid(6,3); + + imageItem->setIcon(QIcon(tmp)); + imageItem->setText(list.at(i) + LAB.mid(0,3) + LAB.mid(9,2)); +// qDebug() << "luminance1" << lab.at(i) << i; + if(LAB.mid(9,1) == LAB.mid(10,1)) + { + } + else + { + imageItem->setTextColor(Qt::red); + } + imageItem->setSizeHint(QSize(400, 120)); + listWidget->addItem(imageItem); + } + + +} +//rgb00.png000 +//bool showpic::CompareItem(ListWidgetItemChild *item1, ListWidgetItemChild *item2) +//{ +// int luminance1 = item1->text().mid(9,3).toInt(); +// qDebug() << "luminance1" << luminance1; +// int luminance2 = item2->text().mid(9,3).toInt(); +// qDebug() << "luminance2" << luminance2; + +// return luminance1 < luminance2; + +//} + + + +void showpic::on_pushButton_clicked() +{ + // 获取选中的item + QList selectedItems = listWidget->selectedItems(); +// QListWidgetItem *selectedItem = listWidget->currentItem(); + if (selectedItems.size() != 1) { + // 如果选中的item数量不等于2，则弹出提示框并返回 + QMessageBox::warning(this, "Error", "请至少选择一张图片"); + return; + } + //并从文件夹中删除 + QListWidgetItem* item1 = selectedItems[0]; + QString DelPicName = item1->text().mid(0,9); + qDebug() << "DelPicName" << DelPicName; + deleteImage(DirPath, DelPicName); + + // 如果有选中的item，则删除它 + if (item1 != nullptr) { + delete item1; + } + +} + + + +void showpic::on_pushButton_2_clicked() +{ + + // 获取选中的两个item + QList selectedItems = listWidget->selectedItems(); + if (selectedItems.size() != 2) { + // 如果选中的item数量不等于2，则弹出提示框并返回 + QMessageBox::warning(this, "Error", "请选中2张图片进行操作：先选的图片插入到后选的后面"); + return; + } + QListWidgetItem* item1 = selectedItems[0]; + QListWidgetItem* item2 = selectedItems[1]; + + // 获取它们在listWidget中的位置 + int index1 = listWidget->row(item1); + int index2 = listWidget->row(item2); + qDebug() << "index1" << index1; + qDebug() << "index2" << index2; + + // 交换它们的位置,!!!!!!!!!有点问题 + listWidget->takeItem(index1); + listWidget->takeItem(index2); + listWidget->insertItem(index1, item2); + listWidget->insertItem(index2, item1); + + index1 = listWidget->row(item1); + index2 = listWidget->row(item2); + qDebug() << "index1new" << index1; + qDebug() << "index2new" << index2; + + // 取消选中状态 + item1->setSelected(false); + item2->setSelected(false); +} + +void showpic::on_pushButton_3_clicked() +{ + if(listWidget->currentItem() == nullptr) + { + QMessageBox::warning(this, "Error", "请点击一个图片进行操作"); + + return; + } + + QListWidgetItem *selectedItem = listWidget->currentItem(); + + + QString PicNamePath = FindImage(DirPath, selectedItem->text().mid(0, 9));// +// sprintf(PicNamePath, PicNamePath); + cv::Mat Pic = cv::imread(PicNamePath.toLatin1().data());// .toLatin1().data(): string转char* + + QInputDialog *inputDialog_item=new QInputDialog(this); + QStringList list; + list<<"浅色"<<"中色"<<"深色"; + bool getItem; + QString season = inputDialog_item->getItem(this,"选择文件夹","文件夹类别",list,0,false,&getItem); + if(getItem) + { + if("浅色" == season) + { + QString RePicName = LightPath + selectedItem->text().mid(0,9); + // PicImg.save(RePicName, "PNG", -1); + cv::imwrite(RePicName.toLatin1().data(), Pic); + //调用删除图片函数 + QString DelPicName = selectedItem->text().mid(0,9); + qDebug() << "DelPicName" << DelPicName; + deleteImage(MiddlePath, DelPicName); + deleteImage(DarkPath, DelPicName); + + if (selectedItem != nullptr) { + delete selectedItem; + } + } + + if("中色" == season) + { + QString RePicName = MiddlePath + selectedItem->text().mid(0,9); + // PicImg.save(RePicName, "PNG", -1); + cv::imwrite(RePicName.toLatin1().data(), Pic); + + //调用删除图片函数 + QString DelPicName = selectedItem->text().mid(0,9); + qDebug() << "DelPicName" << DelPicName; + deleteImage(LightPath, DelPicName); + deleteImage(DarkPath, DelPicName); + + if (selectedItem != nullptr) { + delete selectedItem; + } + } + + if("深色" == season) + { + QString RePicName = DarkPath + selectedItem->text().mid(0,9); + // PicImg.save(RePicName, "PNG", -1); + cv::imwrite(RePicName.toLatin1().data(), Pic); + + //调用删除图片函数 + QString DelPicName = selectedItem->text().mid(0,9); + qDebug() << "DelPicName" << DelPicName; + deleteImage(LightPath, DelPicName); + deleteImage(MiddlePath, DelPicName); + + if (selectedItem != nullptr) { + delete selectedItem; + } + } + } +} + +//按键，多选移动rgb00.png000QQ +void showpic::on_pushButton_light_clicked() +{ + QList selectedItems = listWidget->selectedItems(); + + int Numbers = selectedItems.size(); + QListWidgetItem* Item = new QListWidgetItem[Numbers]; + for(int i = 0; i < Numbers; i++) + { +// qDebug() << + Item[i] = *selectedItems[i]; + if(Item[i].text().mid(12, 1) == 'Q') + { + return; + } + if(Item[i].text().mid(12, 1) == 'S') + { +// QString PicNamePath = FindImage("D:/2023/wooden/2023318/", Item[i].text().mid(0,9)); + QString PicNamePath = FindImage(DirPath, Item[i].text().mid(0,9)); + cv::Mat Pic = cv::imread(PicNamePath.toLatin1().data()); + +// QString RePicName = "D:/2023/wooden/2023318/light/" + Item[i].text().mid(0,9); + QString RePicName = LightPath + Item[i].text().mid(0,9); + cv::imwrite(RePicName.toLatin1().data(), Pic); + + //调用删除图片函数 + QString DelPicName = Item[i].text().mid(0,9); + qDebug() << "DelPicName" << DelPicName; +// deleteImage("D:/2023/wooden/2023318/dark/", DelPicName); + deleteImage(DarkPath, DelPicName); + if (selectedItems[i] != nullptr) { + delete selectedItems[i]; + } + } + + if(Item[i].text().mid(12, 1) == 'Z') + { +// QString PicNamePath = FindImage("D:/2023/wooden/2023318/", Item[i].text().mid(0,9)); + QString PicNamePath = FindImage(DirPath, Item[i].text().mid(0,9)); + cv::Mat Pic = cv::imread(PicNamePath.toLatin1().data()); + +// QString RePicName = "D:/2023/wooden/2023318/light/" + Item[i].text().mid(0,9); + QString RePicName = LightPath + Item[i].text().mid(0,9); + cv::imwrite(RePicName.toLatin1().data(), Pic); + + //调用删除图片函数 + QString DelPicName = Item[i].text().mid(0,9); + qDebug() << "DelPicName" << DelPicName; +// deleteImage("D:/2023/wooden/2023318/middle/", DelPicName); + deleteImage(MiddlePath, DelPicName); + + if (selectedItems[i] != nullptr) { + delete selectedItems[i]; + } + } + } +} + +void showpic::on_pushButton_middle_clicked() +{ + QList selectedItems = listWidget->selectedItems(); + + int Numbers = selectedItems.size(); + QListWidgetItem* Item = new QListWidgetItem[Numbers]; + for(int i = 0; i < Numbers; i++) + { + Item[i] = *selectedItems[i]; + if(Item[i].text().mid(12, 1) == 'Z') + { + return; + } + if(Item[i].text().mid(12, 1) == 'S') + { +// QString PicNamePath = FindImage("D:/2023/wooden/2023318/", Item[i].text().mid(0,9)); + QString PicNamePath = FindImage(DirPath, Item[i].text().mid(0,9)); + + cv::Mat Pic = cv::imread(PicNamePath.toLatin1().data()); + +// QString RePicName = "D:/2023/wooden/2023318/middle/" + Item[i].text().mid(0,9); + QString RePicName = MiddlePath + Item[i].text().mid(0,9); + + cv::imwrite(RePicName.toLatin1().data(), Pic); + + //调用删除图片函数 + QString DelPicName = Item[i].text().mid(0,9); + qDebug() << "DelPicName" << DelPicName; +// deleteImage("D:/2023/wooden/2023318/dark/", DelPicName); + deleteImage(DarkPath, DelPicName); + + if (selectedItems[i] != nullptr) { + delete selectedItems[i]; + } + } + + if(Item[i].text().mid(12, 1) == 'Q') + { +// QString PicNamePath = FindImage("D:/2023/wooden/2023318/", Item[i].text().mid(0,9)); + QString PicNamePath = FindImage(DirPath, Item[i].text().mid(0,9)); + cv::Mat Pic = cv::imread(PicNamePath.toLatin1().data()); + +// QString RePicName = "D:/2023/wooden/2023318/middle/" + Item[i].text().mid(0,9); + QString RePicName = MiddlePath + Item[i].text().mid(0,9); + cv::imwrite(RePicName.toLatin1().data(), Pic); + + //调用删除图片函数 + QString DelPicName = Item[i].text().mid(0,9); + qDebug() << "DelPicName" << DelPicName; +// deleteImage("D:/2023/wooden/2023318/light/", DelPicName); + deleteImage(LightPath, DelPicName); + + + if (selectedItems[i] != nullptr) { + delete selectedItems[i]; + } + } + } +} + +void showpic::on_pushButton_dark_clicked() +{ + QList selectedItems = listWidget->selectedItems(); + + int Numbers = selectedItems.size(); + QListWidgetItem* Item = new QListWidgetItem[Numbers]; + for(int i = 0; i < Numbers; i++) + { + Item[i] = *selectedItems[i]; + if(Item[i].text().mid(12, 1) == 'S') + { + return; + } + if(Item[i].text().mid(12, 1) == 'Q') + { +// QString PicNamePath = FindImage("D:/2023/wooden/2023318/", Item[i].text().mid(0,9)); + QString PicNamePath = FindImage(DirPath, Item[i].text().mid(0,9)); + + cv::Mat Pic = cv::imread(PicNamePath.toLatin1().data()); + +// QString RePicName = "D:/2023/wooden/2023318/dark/" + Item[i].text().mid(0,9); + QString RePicName = DarkPath + Item[i].text().mid(0,9); + cv::imwrite(RePicName.toLatin1().data(), Pic); + + //调用删除图片函数 + QString DelPicName = Item[i].text().mid(0,9); + qDebug() << "DelPicName" << DelPicName; +// deleteImage("D:/2023/wooden/2023318/light/", DelPicName); + deleteImage(LightPath, DelPicName); + + if (selectedItems[i] != nullptr) { + delete selectedItems[i]; + } + } + + if(Item[i].text().mid(12, 1) == 'Z') + { +// QString PicNamePath = FindImage("D:/2023/wooden/2023318/", Item[i].text().mid(0,9)); + QString PicNamePath = FindImage(DirPath, Item[i].text().mid(0,9)); + cv::Mat Pic = cv::imread(PicNamePath.toLatin1().data()); + +// QString RePicName = "D:/2023/wooden/2023318/dark/" + Item[i].text().mid(0,9); + QString RePicName = DarkPath + Item[i].text().mid(0,9); + + cv::imwrite(RePicName.toLatin1().data(), Pic); + + //调用删除图片函数 + QString DelPicName = Item[i].text().mid(0,9); + qDebug() << "DelPicName" << DelPicName; +// deleteImage("D:/2023/wooden/2023318/middle/", DelPicName); + deleteImage(MiddlePath, DelPicName); + + + if (selectedItems[i] != nullptr) { + delete selectedItems[i]; + } + } + } +} + +//从文件夹中删除图片 +void deleteImage(QString folderPath, QString imageName) { + QDir folder(folderPath); + QFileInfoList entries = folder.entryInfoList(QDir::AllEntries | QDir::NoDotAndDotDot); + + for (const QFileInfo &entry : entries) { + if (entry.isFile() && entry.fileName() == imageName) { + // 找到了指定图片，删除它 + qDebug() << "entry.absoluteFilePath()" << entry.absoluteFilePath(); + if (QFile::remove(entry.absoluteFilePath())) { + QMessageBox::information(nullptr, "Success", "Image deleted successfully"); + } else { +// QMessageBox::warning(nullptr, "Error", "Failed to delete image"); + } + return; + } else if (entry.isDir()) { + // 递归进入子文件夹查找图片 + deleteImage(entry.absoluteFilePath(), imageName); + } + } + + // 如果遍历完当前文件夹和子文件夹都没有找到指定图片，则弹出失败提示框 +// QMessageBox::warning(nullptr, "Error", "Failed to find image"); +} + +QString FindImage(QString folderPath, QString imageName) +{ + + QDir folderDir(folderPath); + + // 获取文件夹中的所有文件和文件夹 + QStringList entries = folderDir.entryList(); + + // 遍历文件夹中的所有文件和文件夹 + foreach(QString entry, entries) + { + QString entryPath = folderPath + "/" + entry; + + // 如果是子文件夹，进入子文件夹查找图片 + if(QFileInfo(entryPath).isDir()) + { + QDir subFolderDir(entryPath); + QStringList subEntries = subFolderDir.entryList(); + + // 遍历子文件夹中的所有文件 + foreach(QString subEntry, subEntries) + { + QString subEntryPath = entryPath + "/" + subEntry; + + // 如果是目标图片，返回其绝对路径 + if(subEntry == imageName) + { + QString imagePath = QFileInfo(subEntryPath).absoluteFilePath(); + return imagePath; + } + } + } + // 如果是目标图片，返回其绝对路径 + else if(entry == imageName) + { + QString imagePath = QFileInfo(entryPath).absoluteFilePath(); + return imagePath; + } + } + + // 如果未找到目标图片，返回空字符串 + return ""; +} + + + + + diff --git a/showpic.h b/showpic.h new file mode 100644 index 0000000..27c4fbb --- /dev/null +++ b/showpic.h @@ -0,0 +1,69 @@ +#ifndef SHOWPIC_H +#define SHOWPIC_H + +#include +#include +#include +#include +#include +#include +#include +#include "opencv2/imgproc/types_c.h" +#include +#include +#include +#include +#include +#include +#include "relistwidget_item.h" +#include "imagewin.h" +#include + +namespace Ui { +class showpic; +} + +class showpic : public QWidget +{ + Q_OBJECT + +public: + explicit showpic(char*, QWidget *parent = 0); +// explicit showpic(QWidget *parent = 0); + ~showpic(); + QVector res_split;//存储分割后的字符串 + ListWidgetRe *listWidget; + + QString LightPath; + QString MiddlePath; + QString DarkPath; + void LoadPicture(QString file, QStringList list, QVector); +// bool CompareItem(ListWidgetItemChild* item1, ListWidgetItemChild* item2); + +public slots: + void enlargeImage(QListWidgetItem *item);//放大图片 + +signals: + void PictureReady(); + +private slots: + void on_pushButton_clicked(); + + void on_pushButton_2_clicked(); + + void on_pushButton_3_clicked(); + + void on_pushButton_light_clicked(); + + void on_pushButton_middle_clicked(); + + void on_pushButton_dark_clicked(); + +private: + Ui::showpic *ui; + + + +}; + +#endif // SHOWPIC_H diff --git a/showpic.ui b/showpic.ui new file mode 100644 index 0000000..34eb409 --- /dev/null +++ b/showpic.ui @@ -0,0 +1,127 @@ + + + showpic + + + + 0 + 0 + 1126 + 668 + + + + Form + + + + + 60 + 540 + 141 + 71 + + + + + 19 + + + + 删除 + + + + + + 290 + 540 + 181 + 71 + + + + + 19 + + + + 移动 + + + + + + 530 + 540 + 131 + 71 + + + + + 14 + + + + 改变所属分类 + + + + + + 700 + 540 + 131 + 71 + + + + + 14 + + + + 移入浅色 + + + + + + 850 + 540 + 131 + 71 + + + + + 14 + + + + 移入中色 + + + + + + 990 + 540 + 131 + 71 + + + + + 14 + + + + 移入深色 + + + + + + diff --git a/src/modbus-data.c b/src/modbus-data.c new file mode 100644 index 0000000..ce0667a --- /dev/null +++ b/src/modbus-data.c @@ -0,0 +1,233 @@ +/* + * Copyright © 2010-2014 Stéphane Raimbault + * + * SPDX-License-Identifier: LGPL-2.1+ + */ + +#include + +#ifndef _MSC_VER +# include +#else +# include "stdint.h" +#endif + +#include +#include + +#if defined(_WIN32) +# include +#else +# include +#endif + +//#include + +#include "modbus.h" + +#if defined(HAVE_BYTESWAP_H) +# include +#endif + +#if defined(__APPLE__) +# include +# define bswap_16 OSSwapInt16 +# define bswap_32 OSSwapInt32 +# define bswap_64 OSSwapInt64 +#endif + +#if defined(__GNUC__) +# define GCC_VERSION (__GNUC__ * 100 + __GNUC_MINOR__ * 10) +# if GCC_VERSION >= 430 +// Since GCC >= 4.30, GCC provides __builtin_bswapXX() alternatives so we switch to them +# undef bswap_32 +# define bswap_32 __builtin_bswap32 +# endif +# if GCC_VERSION >= 480 +# undef bswap_16 +# define bswap_16 __builtin_bswap16 +# endif +#endif + +#if defined(_MSC_VER) && (_MSC_VER >= 1400) +# define bswap_32 _byteswap_ulong +# define bswap_16 _byteswap_ushort +#endif + +#if !defined(bswap_16) +# warning "Fallback on C functions for bswap_16" +static inline uint16_t bswap_16(uint16_t x) +{ + return (x >> 8) | (x << 8); +} +#endif + +#if !defined(bswap_32) +# warning "Fallback on C functions for bswap_32" +static inline uint32_t bswap_32(uint32_t x) +{ + return (bswap_16(x & 0xffff) << 16) | (bswap_16(x >> 16)); +} +#endif + +/* Sets many bits from a single byte value (all 8 bits of the byte value are + set) */ +void modbus_set_bits_from_byte(uint8_t *dest, int idx, const uint8_t value) +{ + int i; + + for (i=0; i < 8; i++) { + dest[idx+i] = (value & (1 << i)) ? 1 : 0; + } +} + +/* Sets many bits from a table of bytes (only the bits between idx and + idx + nb_bits are set) */ +void modbus_set_bits_from_bytes(uint8_t *dest, int idx, unsigned int nb_bits, + const uint8_t *tab_byte) +{ + unsigned int i; + int shift = 0; + + for (i = idx; i < idx + nb_bits; i++) { + dest[i] = tab_byte[(i - idx) / 8] & (1 << shift) ? 1 : 0; + /* gcc doesn't like: shift = (++shift) % 8; */ + shift++; + shift %= 8; + } +} + +/* Gets the byte value from many bits. + To obtain a full byte, set nb_bits to 8. */ +uint8_t modbus_get_byte_from_bits(const uint8_t *src, int idx, + unsigned int nb_bits) +{ + unsigned int i; + uint8_t value = 0; + + if (nb_bits > 8) { + /* Assert is ignored if NDEBUG is set */ + assert(nb_bits < 8); + nb_bits = 8; + } + + for (i=0; i < nb_bits; i++) { + value |= (src[idx+i] << i); + } + + return value; +} + +/* Get a float from 4 bytes (Modbus) without any conversion (ABCD) */ +float modbus_get_float_abcd(const uint16_t *src) +{ + float f; + uint32_t i; + + i = ntohl(((uint32_t)src[0] << 16) + src[1]); + memcpy(&f, &i, sizeof(float)); + + return f; +} + +/* Get a float from 4 bytes (Modbus) in inversed format (DCBA) */ +float modbus_get_float_dcba(const uint16_t *src) +{ + float f; + uint32_t i; + + i = ntohl(bswap_32((((uint32_t)src[0]) << 16) + src[1])); + memcpy(&f, &i, sizeof(float)); + + return f; +} + +/* Get a float from 4 bytes (Modbus) with swapped bytes (BADC) */ +float modbus_get_float_badc(const uint16_t *src) +{ + float f; + uint32_t i; + + i = ntohl((uint32_t)(bswap_16(src[0]) << 16) + bswap_16(src[1])); + memcpy(&f, &i, sizeof(float)); + + return f; +} + +/* Get a float from 4 bytes (Modbus) with swapped words (CDAB) */ +float modbus_get_float_cdab(const uint16_t *src) +{ + float f; + uint32_t i; + + i = ntohl((((uint32_t)src[1]) << 16) + src[0]); + memcpy(&f, &i, sizeof(float)); + + return f; +} + +/* DEPRECATED - Get a float from 4 bytes in sort of Modbus format */ +float modbus_get_float(const uint16_t *src) +{ + float f; + uint32_t i; + + i = (((uint32_t)src[1]) << 16) + src[0]; + memcpy(&f, &i, sizeof(float)); + + return f; +} + +/* Set a float to 4 bytes for Modbus w/o any conversion (ABCD) */ +void modbus_set_float_abcd(float f, uint16_t *dest) +{ + uint32_t i; + + memcpy(&i, &f, sizeof(uint32_t)); + i = htonl(i); + dest[0] = (uint16_t)(i >> 16); + dest[1] = (uint16_t)i; +} + +/* Set a float to 4 bytes for Modbus with byte and word swap conversion (DCBA) */ +void modbus_set_float_dcba(float f, uint16_t *dest) +{ + uint32_t i; + + memcpy(&i, &f, sizeof(uint32_t)); + i = bswap_32(htonl(i)); + dest[0] = (uint16_t)(i >> 16); + dest[1] = (uint16_t)i; +} + +/* Set a float to 4 bytes for Modbus with byte swap conversion (BADC) */ +void modbus_set_float_badc(float f, uint16_t *dest) +{ + uint32_t i; + + memcpy(&i, &f, sizeof(uint32_t)); + i = htonl(i); + dest[0] = (uint16_t)bswap_16(i >> 16); + dest[1] = (uint16_t)bswap_16(i & 0xFFFF); +} + +/* Set a float to 4 bytes for Modbus with word swap conversion (CDAB) */ +void modbus_set_float_cdab(float f, uint16_t *dest) +{ + uint32_t i; + + memcpy(&i, &f, sizeof(uint32_t)); + i = htonl(i); + dest[0] = (uint16_t)i; + dest[1] = (uint16_t)(i >> 16); +} + +/* DEPRECATED - Set a float to 4 bytes in a sort of Modbus format! */ +void modbus_set_float(float f, uint16_t *dest) +{ + uint32_t i; + + memcpy(&i, &f, sizeof(uint32_t)); + dest[0] = (uint16_t)i; + dest[1] = (uint16_t)(i >> 16); +} diff --git a/src/modbus-private.h b/src/modbus-private.h new file mode 100644 index 0000000..48b043e --- /dev/null +++ b/src/modbus-private.h @@ -0,0 +1,116 @@ +/* + * Copyright © 2010-2012 Stéphane Raimbault + * + * SPDX-License-Identifier: LGPL-2.1+ + */ + +#ifndef MODBUS_PRIVATE_H +#define MODBUS_PRIVATE_H + +#ifndef _MSC_VER +# include +# include +#else +# include "stdint.h" +# include +typedef int ssize_t; +#endif +#include +//#include + +#include "modbus.h" + +MODBUS_BEGIN_DECLS + +/* It's not really the minimal length (the real one is report slave ID + * in RTU (4 bytes)) but it's a convenient size to use in RTU or TCP + * communications to read many values or write a single one. + * Maximum between : + * - HEADER_LENGTH_TCP (7) + function (1) + address (2) + number (2) + * - HEADER_LENGTH_RTU (1) + function (1) + address (2) + number (2) + CRC (2) + */ +#define _MIN_REQ_LENGTH 12 + +#define _REPORT_SLAVE_ID 180 + +#define _MODBUS_EXCEPTION_RSP_LENGTH 5 + +/* Timeouts in microsecond (0.5 s) */ +#define _RESPONSE_TIMEOUT 500000 +#define _BYTE_TIMEOUT 500000 + +typedef enum { + _MODBUS_BACKEND_TYPE_RTU=0, + _MODBUS_BACKEND_TYPE_TCP +} modbus_backend_type_t; + +/* + * ---------- Request Indication ---------- + * | Client | ---------------------->| Server | + * ---------- Confirmation Response ---------- + */ +typedef enum { + /* Request message on the server side */ + MSG_INDICATION, + /* Request message on the client side */ + MSG_CONFIRMATION +} msg_type_t; + +/* This structure reduces the number of params in functions and so + * optimizes the speed of execution (~ 37%). */ +typedef struct _sft { + int slave; + int function; + int t_id; +} sft_t; + +typedef struct _modbus_backend { + unsigned int backend_type; + unsigned int header_length; + unsigned int checksum_length; + unsigned int max_adu_length; + int (*set_slave) (modbus_t *ctx, int slave); + int (*build_request_basis) (modbus_t *ctx, int function, int addr, + int nb, uint8_t *req); + int (*build_response_basis) (sft_t *sft, uint8_t *rsp); + int (*prepare_response_tid) (const uint8_t *req, int *req_length); + int (*send_msg_pre) (uint8_t *req, int req_length); + ssize_t (*send) (modbus_t *ctx, const uint8_t *req, int req_length); + int (*receive) (modbus_t *ctx, uint8_t *req); + ssize_t (*recv) (modbus_t *ctx, uint8_t *rsp, int rsp_length); + int (*check_integrity) (modbus_t *ctx, uint8_t *msg, + const int msg_length); + int (*pre_check_confirmation) (modbus_t *ctx, const uint8_t *req, + const uint8_t *rsp, int rsp_length); + int (*connect) (modbus_t *ctx); + void (*close) (modbus_t *ctx); + int (*flush) (modbus_t *ctx); + int (*select) (modbus_t *ctx, fd_set *rset, struct timeval *tv, int msg_length); + void (*free) (modbus_t *ctx); +} modbus_backend_t; + +struct _modbus { + /* Slave address */ + int slave; + /* Socket or file descriptor */ + int s; + int debug; + int error_recovery; + struct timeval response_timeout; + struct timeval byte_timeout; + struct timeval indication_timeout; + const modbus_backend_t *backend; + void *backend_data; +}; + +void _modbus_init_common(modbus_t *ctx); +void _error_print(modbus_t *ctx, const char *context); +int _modbus_receive_msg(modbus_t *ctx, uint8_t *msg, msg_type_t msg_type); + +#ifndef HAVE_STRLCPY +size_t strlcpy(char *dest, const char *src, size_t dest_size); +#endif + +MODBUS_END_DECLS + +#endif /* MODBUS_PRIVATE_H */ diff --git a/src/modbus-rtu-private.h b/src/modbus-rtu-private.h new file mode 100644 index 0000000..a1d0473 --- /dev/null +++ b/src/modbus-rtu-private.h @@ -0,0 +1,76 @@ +/* + * Copyright © 2001-2011 Stéphane Raimbault + * + * SPDX-License-Identifier: LGPL-2.1+ + */ + +#ifndef MODBUS_RTU_PRIVATE_H +#define MODBUS_RTU_PRIVATE_H + +#ifndef _MSC_VER +#include +#else +#include "stdint.h" +#endif + +#if defined(_WIN32) +#include +#else +#include +#endif + +#define _MODBUS_RTU_HEADER_LENGTH 1 +#define _MODBUS_RTU_PRESET_REQ_LENGTH 6 +#define _MODBUS_RTU_PRESET_RSP_LENGTH 2 + +#define _MODBUS_RTU_CHECKSUM_LENGTH 2 + +#if defined(_WIN32) +#if !defined(ENOTSUP) +#define ENOTSUP WSAEOPNOTSUPP +#endif + +/* WIN32: struct containing serial handle and a receive buffer */ +#define PY_BUF_SIZE 512 +struct win32_ser { + /* File handle */ + HANDLE fd; + /* Receive buffer */ + uint8_t buf[PY_BUF_SIZE]; + /* Received chars */ + DWORD n_bytes; +}; +#endif /* _WIN32 */ + +typedef struct _modbus_rtu { + /* Device: "/dev/ttyS0", "/dev/ttyUSB0" or "/dev/tty.USA19*" on Mac OS X. */ + char *device; + /* Bauds: 9600, 19200, 57600, 115200, etc */ + int baud; + /* Data bit */ + uint8_t data_bit; + /* Stop bit */ + uint8_t stop_bit; + /* Parity: 'N', 'O', 'E' */ + char parity; +#if defined(_WIN32) + struct win32_ser w_ser; + DCB old_dcb; +#else + /* Save old termios settings */ + struct termios old_tios; +#endif +#if HAVE_DECL_TIOCSRS485 + int serial_mode; +#endif +#if HAVE_DECL_TIOCM_RTS + int rts; + int rts_delay; + int onebyte_time; + void (*set_rts) (modbus_t *ctx, int on); +#endif + /* To handle many slaves on the same link */ + int confirmation_to_ignore; +} modbus_rtu_t; + +#endif /* MODBUS_RTU_PRIVATE_H */ diff --git a/src/modbus-rtu.c b/src/modbus-rtu.c new file mode 100644 index 0000000..190298e --- /dev/null +++ b/src/modbus-rtu.c @@ -0,0 +1,1299 @@ +/* + * Copyright © 2001-2011 Stéphane Raimbault + * + * SPDX-License-Identifier: LGPL-2.1+ + */ + +#include +#include +#include +#include +#include +#ifndef _MSC_VER +#include +#endif +#include + +#include "modbus-private.h" + +#include "modbus-rtu.h" +#include "modbus-rtu-private.h" + +#if HAVE_DECL_TIOCSRS485 || HAVE_DECL_TIOCM_RTS +#include +#endif + +#if HAVE_DECL_TIOCSRS485 +#include +#endif + +/* Table of CRC values for high-order byte */ +static const uint8_t table_crc_hi[] = { + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, + 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, + 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, + 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, + 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, + 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, + 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, + 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, + 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, + 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40 +}; + +/* Table of CRC values for low-order byte */ +static const uint8_t table_crc_lo[] = { + 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, + 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, + 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, + 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, + 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, + 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, + 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, + 0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, + 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, + 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, + 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, + 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, + 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, + 0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, + 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, + 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, + 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, + 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, + 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, + 0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, + 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, + 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, + 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, + 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, + 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, + 0x43, 0x83, 0x41, 0x81, 0x80, 0x40 +}; + +/* Define the slave ID of the remote device to talk in master mode or set the + * internal slave ID in slave mode */ +static int _modbus_set_slave(modbus_t *ctx, int slave) +{ + /* Broadcast address is 0 (MODBUS_BROADCAST_ADDRESS) */ + if (slave >= 0 && slave <= 247) { + ctx->slave = slave; + } else { + errno = EINVAL; + return -1; + } + + return 0; +} + +/* Builds a RTU request header */ +static int _modbus_rtu_build_request_basis(modbus_t *ctx, int function, + int addr, int nb, + uint8_t *req) +{ + assert(ctx->slave != -1); + req[0] = ctx->slave; + req[1] = function; + req[2] = addr >> 8; + req[3] = addr & 0x00ff; + req[4] = nb >> 8; + req[5] = nb & 0x00ff; + + return _MODBUS_RTU_PRESET_REQ_LENGTH; +} + +/* Builds a RTU response header */ +static int _modbus_rtu_build_response_basis(sft_t *sft, uint8_t *rsp) +{ + /* In this case, the slave is certainly valid because a check is already + * done in _modbus_rtu_listen */ + rsp[0] = sft->slave; + rsp[1] = sft->function; + + return _MODBUS_RTU_PRESET_RSP_LENGTH; +} + +static uint16_t crc16(uint8_t *buffer, uint16_t buffer_length) +{ + uint8_t crc_hi = 0xFF; /* high CRC byte initialized */ + uint8_t crc_lo = 0xFF; /* low CRC byte initialized */ + unsigned int i; /* will index into CRC lookup */ + + /* pass through message buffer */ + while (buffer_length--) { + i = crc_hi ^ *buffer++; /* calculate the CRC */ + crc_hi = crc_lo ^ table_crc_hi[i]; + crc_lo = table_crc_lo[i]; + } + + return (crc_hi << 8 | crc_lo); +} + +static int _modbus_rtu_prepare_response_tid(const uint8_t *req, int *req_length) +{ + (*req_length) -= _MODBUS_RTU_CHECKSUM_LENGTH; + /* No TID */ + return 0; +} + +static int _modbus_rtu_send_msg_pre(uint8_t *req, int req_length) +{ + uint16_t crc = crc16(req, req_length); + req[req_length++] = crc >> 8; + req[req_length++] = crc & 0x00FF; + + return req_length; +} + +#if defined(_WIN32) + +/* This simple implementation is sort of a substitute of the select() call, + * working this way: the win32_ser_select() call tries to read some data from + * the serial port, setting the timeout as the select() call would. Data read is + * stored into the receive buffer, that is then consumed by the win32_ser_read() + * call. So win32_ser_select() does both the event waiting and the reading, + * while win32_ser_read() only consumes the receive buffer. + */ + +static void win32_ser_init(struct win32_ser *ws) +{ + /* Clear everything */ + memset(ws, 0x00, sizeof(struct win32_ser)); + + /* Set file handle to invalid */ + ws->fd = INVALID_HANDLE_VALUE; +} + +/* FIXME Try to remove length_to_read -> max_len argument, only used by win32 */ +static int win32_ser_select(struct win32_ser *ws, int max_len, + const struct timeval *tv) +{ + COMMTIMEOUTS comm_to; + unsigned int msec = 0; + + /* Check if some data still in the buffer to be consumed */ + if (ws->n_bytes > 0) { + return 1; + } + + /* Setup timeouts like select() would do. + FIXME Please someone on Windows can look at this? + Does it possible to use WaitCommEvent? + When tv is NULL, MAXDWORD isn't infinite! + */ + if (tv == NULL) { + msec = MAXDWORD; + } else { + msec = tv->tv_sec * 1000 + tv->tv_usec / 1000; + if (msec < 1) + msec = 1; + } + + comm_to.ReadIntervalTimeout = msec; + comm_to.ReadTotalTimeoutMultiplier = 0; + comm_to.ReadTotalTimeoutConstant = msec; + comm_to.WriteTotalTimeoutMultiplier = 0; + comm_to.WriteTotalTimeoutConstant = 1000; + SetCommTimeouts(ws->fd, &comm_to); + + /* Read some bytes */ + if ((max_len > PY_BUF_SIZE) || (max_len < 0)) { + max_len = PY_BUF_SIZE; + } + + if (ReadFile(ws->fd, &ws->buf, max_len, &ws->n_bytes, NULL)) { + /* Check if some bytes available */ + if (ws->n_bytes > 0) { + /* Some bytes read */ + return 1; + } else { + /* Just timed out */ + return 0; + } + } else { + /* Some kind of error */ + return -1; + } +} + +static int win32_ser_read(struct win32_ser *ws, uint8_t *p_msg, + unsigned int max_len) +{ + unsigned int n = ws->n_bytes; + + if (max_len < n) { + n = max_len; + } + + if (n > 0) { + memcpy(p_msg, ws->buf, n); + } + + ws->n_bytes -= n; + + return n; +} +#endif + +#if HAVE_DECL_TIOCM_RTS +static void _modbus_rtu_ioctl_rts(modbus_t *ctx, int on) +{ + int fd = ctx->s; + int flags; + + ioctl(fd, TIOCMGET, &flags); + if (on) { + flags |= TIOCM_RTS; + } else { + flags &= ~TIOCM_RTS; + } + ioctl(fd, TIOCMSET, &flags); +} +#endif + +static ssize_t _modbus_rtu_send(modbus_t *ctx, const uint8_t *req, int req_length) +{ +#if defined(_WIN32) + modbus_rtu_t *ctx_rtu = ctx->backend_data; + DWORD n_bytes = 0; + return (WriteFile(ctx_rtu->w_ser.fd, req, req_length, &n_bytes, NULL)) ? (ssize_t)n_bytes : -1; +#else +#if HAVE_DECL_TIOCM_RTS + modbus_rtu_t *ctx_rtu = ctx->backend_data; + if (ctx_rtu->rts != MODBUS_RTU_RTS_NONE) { + ssize_t size; + + if (ctx->debug) { + fprintf(stderr, "Sending request using RTS signal\n"); + } + + ctx_rtu->set_rts(ctx, ctx_rtu->rts == MODBUS_RTU_RTS_UP); + usleep(ctx_rtu->rts_delay); + + size = write(ctx->s, req, req_length); + + usleep(ctx_rtu->onebyte_time * req_length + ctx_rtu->rts_delay); + ctx_rtu->set_rts(ctx, ctx_rtu->rts != MODBUS_RTU_RTS_UP); + + return size; + } else { +#endif + return write(ctx->s, req, req_length); +#if HAVE_DECL_TIOCM_RTS + } +#endif +#endif +} + +static int _modbus_rtu_receive(modbus_t *ctx, uint8_t *req) +{ + int rc; + modbus_rtu_t *ctx_rtu = ctx->backend_data; + + if (ctx_rtu->confirmation_to_ignore) { + _modbus_receive_msg(ctx, req, MSG_CONFIRMATION); + /* Ignore errors and reset the flag */ + ctx_rtu->confirmation_to_ignore = FALSE; + rc = 0; + if (ctx->debug) { + printf("Confirmation to ignore\n"); + } + } else { + rc = _modbus_receive_msg(ctx, req, MSG_INDICATION); + if (rc == 0) { + /* The next expected message is a confirmation to ignore */ + ctx_rtu->confirmation_to_ignore = TRUE; + } + } + return rc; +} + +static ssize_t _modbus_rtu_recv(modbus_t *ctx, uint8_t *rsp, int rsp_length) +{ +#if defined(_WIN32) + return win32_ser_read(&((modbus_rtu_t *)ctx->backend_data)->w_ser, rsp, rsp_length); +#else + return read(ctx->s, rsp, rsp_length); +#endif +} + +static int _modbus_rtu_flush(modbus_t *); + +static int _modbus_rtu_pre_check_confirmation(modbus_t *ctx, const uint8_t *req, + const uint8_t *rsp, int rsp_length) +{ + /* Check responding slave is the slave we requested (except for broacast + * request) */ + if (req[0] != rsp[0] && req[0] != MODBUS_BROADCAST_ADDRESS) { + if (ctx->debug) { + fprintf(stderr, + "The responding slave %d isn't the requested slave %d\n", + rsp[0], req[0]); + } + errno = EMBBADSLAVE; + return -1; + } else { + return 0; + } +} + +/* The check_crc16 function shall return 0 is the message is ignored and the + message length if the CRC is valid. Otherwise it shall return -1 and set + errno to EMBBADCRC. */ +static int _modbus_rtu_check_integrity(modbus_t *ctx, uint8_t *msg, + const int msg_length) +{ + uint16_t crc_calculated; + uint16_t crc_received; + int slave = msg[0]; + + /* Filter on the Modbus unit identifier (slave) in RTU mode to avoid useless + * CRC computing. */ + if (slave != ctx->slave && slave != MODBUS_BROADCAST_ADDRESS) { + if (ctx->debug) { + printf("Request for slave %d ignored (not %d)\n", slave, ctx->slave); + } + /* Following call to check_confirmation handles this error */ + return 0; + } + + crc_calculated = crc16(msg, msg_length - 2); + crc_received = (msg[msg_length - 2] << 8) | msg[msg_length - 1]; + + /* Check CRC of msg */ + if (crc_calculated == crc_received) { + return msg_length; + } else { + if (ctx->debug) { + fprintf(stderr, "ERROR CRC received 0x%0X != CRC calculated 0x%0X\n", + crc_received, crc_calculated); + } + + if (ctx->error_recovery & MODBUS_ERROR_RECOVERY_PROTOCOL) { + _modbus_rtu_flush(ctx); + } + errno = EMBBADCRC; + return -1; + } +} + +/* Sets up a serial port for RTU communications */ +static int _modbus_rtu_connect(modbus_t *ctx) +{ +#if defined(_WIN32) + DCB dcb; +#else + struct termios tios; + speed_t speed; + int flags; +#endif + modbus_rtu_t *ctx_rtu = ctx->backend_data; + + if (ctx->debug) { + printf("Opening %s at %d bauds (%c, %d, %d)\n", + ctx_rtu->device, ctx_rtu->baud, ctx_rtu->parity, + ctx_rtu->data_bit, ctx_rtu->stop_bit); + } + +#if defined(_WIN32) + /* Some references here: + * http://msdn.microsoft.com/en-us/library/aa450602.aspx + */ + win32_ser_init(&ctx_rtu->w_ser); + + /* ctx_rtu->device should contain a string like "COMxx:" xx being a decimal + * number */ + ctx_rtu->w_ser.fd = CreateFileA(ctx_rtu->device, + GENERIC_READ | GENERIC_WRITE, + 0, + NULL, + OPEN_EXISTING, + 0, + NULL); + + /* Error checking */ + if (ctx_rtu->w_ser.fd == INVALID_HANDLE_VALUE) { + if (ctx->debug) { + fprintf(stderr, "ERROR Can't open the device %s (LastError %d)\n", + ctx_rtu->device, (int)GetLastError()); + } + return -1; + } + + /* Save params */ + ctx_rtu->old_dcb.DCBlength = sizeof(DCB); + if (!GetCommState(ctx_rtu->w_ser.fd, &ctx_rtu->old_dcb)) { + if (ctx->debug) { + fprintf(stderr, "ERROR Error getting configuration (LastError %d)\n", + (int)GetLastError()); + } + CloseHandle(ctx_rtu->w_ser.fd); + ctx_rtu->w_ser.fd = INVALID_HANDLE_VALUE; + return -1; + } + + /* Build new configuration (starting from current settings) */ + dcb = ctx_rtu->old_dcb; + + /* Speed setting */ + switch (ctx_rtu->baud) { + case 110: + dcb.BaudRate = CBR_110; + break; + case 300: + dcb.BaudRate = CBR_300; + break; + case 600: + dcb.BaudRate = CBR_600; + break; + case 1200: + dcb.BaudRate = CBR_1200; + break; + case 2400: + dcb.BaudRate = CBR_2400; + break; + case 4800: + dcb.BaudRate = CBR_4800; + break; + case 9600: + dcb.BaudRate = CBR_9600; + break; + case 14400: + dcb.BaudRate = CBR_14400; + break; + case 19200: + dcb.BaudRate = CBR_19200; + break; + case 38400: + dcb.BaudRate = CBR_38400; + break; + case 57600: + dcb.BaudRate = CBR_57600; + break; + case 115200: + dcb.BaudRate = CBR_115200; + break; + case 230400: + /* CBR_230400 - not defined */ + dcb.BaudRate = 230400; + break; + case 250000: + dcb.BaudRate = 250000; + break; + case 460800: + dcb.BaudRate = 460800; + break; + case 500000: + dcb.BaudRate = 500000; + break; + case 921600: + dcb.BaudRate = 921600; + break; + case 1000000: + dcb.BaudRate = 1000000; + break; + default: + dcb.BaudRate = CBR_9600; + if (ctx->debug) { + fprintf(stderr, "WARNING Unknown baud rate %d for %s (B9600 used)\n", + ctx_rtu->baud, ctx_rtu->device); + } + } + + /* Data bits */ + switch (ctx_rtu->data_bit) { + case 5: + dcb.ByteSize = 5; + break; + case 6: + dcb.ByteSize = 6; + break; + case 7: + dcb.ByteSize = 7; + break; + case 8: + default: + dcb.ByteSize = 8; + break; + } + + /* Stop bits */ + if (ctx_rtu->stop_bit == 1) + dcb.StopBits = ONESTOPBIT; + else /* 2 */ + dcb.StopBits = TWOSTOPBITS; + + /* Parity */ + if (ctx_rtu->parity == 'N') { + dcb.Parity = NOPARITY; + dcb.fParity = FALSE; + } else if (ctx_rtu->parity == 'E') { + dcb.Parity = EVENPARITY; + dcb.fParity = TRUE; + } else { + /* odd */ + dcb.Parity = ODDPARITY; + dcb.fParity = TRUE; + } + + /* Hardware handshaking left as default settings retrieved */ + + /* No software handshaking */ + dcb.fTXContinueOnXoff = TRUE; + dcb.fOutX = FALSE; + dcb.fInX = FALSE; + + /* Binary mode (it's the only supported on Windows anyway) */ + dcb.fBinary = TRUE; + + /* Don't want errors to be blocking */ + dcb.fAbortOnError = FALSE; + + /* Setup port */ + if (!SetCommState(ctx_rtu->w_ser.fd, &dcb)) { + if (ctx->debug) { + fprintf(stderr, "ERROR Error setting new configuration (LastError %d)\n", + (int)GetLastError()); + } + CloseHandle(ctx_rtu->w_ser.fd); + ctx_rtu->w_ser.fd = INVALID_HANDLE_VALUE; + return -1; + } +#else + /* The O_NOCTTY flag tells UNIX that this program doesn't want + to be the "controlling terminal" for that port. If you + don't specify this then any input (such as keyboard abort + signals and so forth) will affect your process + + Timeouts are ignored in canonical input mode or when the + NDELAY option is set on the file via open or fcntl */ + flags = O_RDWR | O_NOCTTY | O_NDELAY | O_EXCL; +#ifdef O_CLOEXEC + flags |= O_CLOEXEC; +#endif + + ctx->s = open(ctx_rtu->device, flags); + if (ctx->s == -1) { + if (ctx->debug) { + fprintf(stderr, "ERROR Can't open the device %s (%s)\n", + ctx_rtu->device, strerror(errno)); + } + return -1; + } + + /* Save */ + tcgetattr(ctx->s, &ctx_rtu->old_tios); + + memset(&tios, 0, sizeof(struct termios)); + + /* C_ISPEED Input baud (new interface) + C_OSPEED Output baud (new interface) + */ + switch (ctx_rtu->baud) { + case 110: + speed = B110; + break; + case 300: + speed = B300; + break; + case 600: + speed = B600; + break; + case 1200: + speed = B1200; + break; + case 2400: + speed = B2400; + break; + case 4800: + speed = B4800; + break; + case 9600: + speed = B9600; + break; + case 19200: + speed = B19200; + break; + case 38400: + speed = B38400; + break; +#ifdef B57600 + case 57600: + speed = B57600; + break; +#endif +#ifdef B115200 + case 115200: + speed = B115200; + break; +#endif +#ifdef B230400 + case 230400: + speed = B230400; + break; +#endif +#ifdef B460800 + case 460800: + speed = B460800; + break; +#endif +#ifdef B500000 + case 500000: + speed = B500000; + break; +#endif +#ifdef B576000 + case 576000: + speed = B576000; + break; +#endif +#ifdef B921600 + case 921600: + speed = B921600; + break; +#endif +#ifdef B1000000 + case 1000000: + speed = B1000000; + break; +#endif +#ifdef B1152000 + case 1152000: + speed = B1152000; + break; +#endif +#ifdef B1500000 + case 1500000: + speed = B1500000; + break; +#endif +#ifdef B2500000 + case 2500000: + speed = B2500000; + break; +#endif +#ifdef B3000000 + case 3000000: + speed = B3000000; + break; +#endif +#ifdef B3500000 + case 3500000: + speed = B3500000; + break; +#endif +#ifdef B4000000 + case 4000000: + speed = B4000000; + break; +#endif + default: + speed = B9600; + if (ctx->debug) { + fprintf(stderr, + "WARNING Unknown baud rate %d for %s (B9600 used)\n", + ctx_rtu->baud, ctx_rtu->device); + } + } + + /* Set the baud rate */ + if ((cfsetispeed(&tios, speed) < 0) || + (cfsetospeed(&tios, speed) < 0)) { + close(ctx->s); + ctx->s = -1; + return -1; + } + + /* C_CFLAG Control options + CLOCAL Local line - do not change "owner" of port + CREAD Enable receiver + */ + tios.c_cflag |= (CREAD | CLOCAL); + /* CSIZE, HUPCL, CRTSCTS (hardware flow control) */ + + /* Set data bits (5, 6, 7, 8 bits) + CSIZE Bit mask for data bits + */ + tios.c_cflag &= ~CSIZE; + switch (ctx_rtu->data_bit) { + case 5: + tios.c_cflag |= CS5; + break; + case 6: + tios.c_cflag |= CS6; + break; + case 7: + tios.c_cflag |= CS7; + break; + case 8: + default: + tios.c_cflag |= CS8; + break; + } + + /* Stop bit (1 or 2) */ + if (ctx_rtu->stop_bit == 1) + tios.c_cflag &=~ CSTOPB; + else /* 2 */ + tios.c_cflag |= CSTOPB; + + /* PARENB Enable parity bit + PARODD Use odd parity instead of even */ + if (ctx_rtu->parity == 'N') { + /* None */ + tios.c_cflag &=~ PARENB; + } else if (ctx_rtu->parity == 'E') { + /* Even */ + tios.c_cflag |= PARENB; + tios.c_cflag &=~ PARODD; + } else { + /* Odd */ + tios.c_cflag |= PARENB; + tios.c_cflag |= PARODD; + } + + /* Read the man page of termios if you need more information. */ + + /* This field isn't used on POSIX systems + tios.c_line = 0; + */ + + /* C_LFLAG Line options + + ISIG Enable SIGINTR, SIGSUSP, SIGDSUSP, and SIGQUIT signals + ICANON Enable canonical input (else raw) + XCASE Map uppercase \lowercase (obsolete) + ECHO Enable echoing of input characters + ECHOE Echo erase character as BS-SP-BS + ECHOK Echo NL after kill character + ECHONL Echo NL + NOFLSH Disable flushing of input buffers after + interrupt or quit characters + IEXTEN Enable extended functions + ECHOCTL Echo control characters as ^char and delete as ~? + ECHOPRT Echo erased character as character erased + ECHOKE BS-SP-BS entire line on line kill + FLUSHO Output being flushed + PENDIN Retype pending input at next read or input char + TOSTOP Send SIGTTOU for background output + + Canonical input is line-oriented. Input characters are put + into a buffer which can be edited interactively by the user + until a CR (carriage return) or LF (line feed) character is + received. + + Raw input is unprocessed. Input characters are passed + through exactly as they are received, when they are + received. Generally you'll deselect the ICANON, ECHO, + ECHOE, and ISIG options when using raw input + */ + + /* Raw input */ + tios.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); + + /* C_IFLAG Input options + + Constant Description + INPCK Enable parity check + IGNPAR Ignore parity errors + PARMRK Mark parity errors + ISTRIP Strip parity bits + IXON Enable software flow control (outgoing) + IXOFF Enable software flow control (incoming) + IXANY Allow any character to start flow again + IGNBRK Ignore break condition + BRKINT Send a SIGINT when a break condition is detected + INLCR Map NL to CR + IGNCR Ignore CR + ICRNL Map CR to NL + IUCLC Map uppercase to lowercase + IMAXBEL Echo BEL on input line too long + */ + if (ctx_rtu->parity == 'N') { + /* None */ + tios.c_iflag &= ~INPCK; + } else { + tios.c_iflag |= INPCK; + } + + /* Software flow control is disabled */ + tios.c_iflag &= ~(IXON | IXOFF | IXANY); + + /* C_OFLAG Output options + OPOST Postprocess output (not set = raw output) + ONLCR Map NL to CR-NL + + ONCLR ant others needs OPOST to be enabled + */ + + /* Raw ouput */ + tios.c_oflag &=~ OPOST; + + /* C_CC Control characters + VMIN Minimum number of characters to read + VTIME Time to wait for data (tenths of seconds) + + UNIX serial interface drivers provide the ability to + specify character and packet timeouts. Two elements of the + c_cc array are used for timeouts: VMIN and VTIME. Timeouts + are ignored in canonical input mode or when the NDELAY + option is set on the file via open or fcntl. + + VMIN specifies the minimum number of characters to read. If + it is set to 0, then the VTIME value specifies the time to + wait for every character read. Note that this does not mean + that a read call for N bytes will wait for N characters to + come in. Rather, the timeout will apply to the first + character and the read call will return the number of + characters immediately available (up to the number you + request). + + If VMIN is non-zero, VTIME specifies the time to wait for + the first character read. If a character is read within the + time given, any read will block (wait) until all VMIN + characters are read. That is, once the first character is + read, the serial interface driver expects to receive an + entire packet of characters (VMIN bytes total). If no + character is read within the time allowed, then the call to + read returns 0. This method allows you to tell the serial + driver you need exactly N bytes and any read call will + return 0 or N bytes. However, the timeout only applies to + the first character read, so if for some reason the driver + misses one character inside the N byte packet then the read + call could block forever waiting for additional input + characters. + + VTIME specifies the amount of time to wait for incoming + characters in tenths of seconds. If VTIME is set to 0 (the + default), reads will block (wait) indefinitely unless the + NDELAY option is set on the port with open or fcntl. + */ + /* Unused because we use open with the NDELAY option */ + tios.c_cc[VMIN] = 0; + tios.c_cc[VTIME] = 0; + + if (tcsetattr(ctx->s, TCSANOW, &tios) < 0) { + close(ctx->s); + ctx->s = -1; + return -1; + } +#endif + + return 0; +} + +int modbus_rtu_set_serial_mode(modbus_t *ctx, int mode) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + if (ctx->backend->backend_type == _MODBUS_BACKEND_TYPE_RTU) { +#if HAVE_DECL_TIOCSRS485 + modbus_rtu_t *ctx_rtu = ctx->backend_data; + struct serial_rs485 rs485conf; + + if (mode == MODBUS_RTU_RS485) { + // Get + if (ioctl(ctx->s, TIOCGRS485, &rs485conf) < 0) { + return -1; + } + // Set + rs485conf.flags |= SER_RS485_ENABLED; + if (ioctl(ctx->s, TIOCSRS485, &rs485conf) < 0) { + return -1; + } + + ctx_rtu->serial_mode = MODBUS_RTU_RS485; + return 0; + } else if (mode == MODBUS_RTU_RS232) { + /* Turn off RS485 mode only if required */ + if (ctx_rtu->serial_mode == MODBUS_RTU_RS485) { + /* The ioctl call is avoided because it can fail on some RS232 ports */ + if (ioctl(ctx->s, TIOCGRS485, &rs485conf) < 0) { + return -1; + } + rs485conf.flags &= ~SER_RS485_ENABLED; + if (ioctl(ctx->s, TIOCSRS485, &rs485conf) < 0) { + return -1; + } + } + ctx_rtu->serial_mode = MODBUS_RTU_RS232; + return 0; + } +#else + if (ctx->debug) { + fprintf(stderr, "This function isn't supported on your platform\n"); + } + errno = ENOTSUP; + return -1; +#endif + } + + /* Wrong backend and invalid mode specified */ + errno = EINVAL; + return -1; +} + +int modbus_rtu_get_serial_mode(modbus_t *ctx) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + if (ctx->backend->backend_type == _MODBUS_BACKEND_TYPE_RTU) { +#if HAVE_DECL_TIOCSRS485 + modbus_rtu_t *ctx_rtu = ctx->backend_data; + return ctx_rtu->serial_mode; +#else + if (ctx->debug) { + fprintf(stderr, "This function isn't supported on your platform\n"); + } + errno = ENOTSUP; + return -1; +#endif + } else { + errno = EINVAL; + return -1; + } +} + +int modbus_rtu_get_rts(modbus_t *ctx) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + if (ctx->backend->backend_type == _MODBUS_BACKEND_TYPE_RTU) { +#if HAVE_DECL_TIOCM_RTS + modbus_rtu_t *ctx_rtu = ctx->backend_data; + return ctx_rtu->rts; +#else + if (ctx->debug) { + fprintf(stderr, "This function isn't supported on your platform\n"); + } + errno = ENOTSUP; + return -1; +#endif + } else { + errno = EINVAL; + return -1; + } +} + +int modbus_rtu_set_rts(modbus_t *ctx, int mode) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + if (ctx->backend->backend_type == _MODBUS_BACKEND_TYPE_RTU) { +#if HAVE_DECL_TIOCM_RTS + modbus_rtu_t *ctx_rtu = ctx->backend_data; + + if (mode == MODBUS_RTU_RTS_NONE || mode == MODBUS_RTU_RTS_UP || + mode == MODBUS_RTU_RTS_DOWN) { + ctx_rtu->rts = mode; + + /* Set the RTS bit in order to not reserve the RS485 bus */ + ctx_rtu->set_rts(ctx, ctx_rtu->rts != MODBUS_RTU_RTS_UP); + + return 0; + } else { + errno = EINVAL; + return -1; + } +#else + if (ctx->debug) { + fprintf(stderr, "This function isn't supported on your platform\n"); + } + errno = ENOTSUP; + return -1; +#endif + } + /* Wrong backend or invalid mode specified */ + errno = EINVAL; + return -1; +} + +int modbus_rtu_set_custom_rts(modbus_t *ctx, void (*set_rts) (modbus_t *ctx, int on)) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + if (ctx->backend->backend_type == _MODBUS_BACKEND_TYPE_RTU) { +#if HAVE_DECL_TIOCM_RTS + modbus_rtu_t *ctx_rtu = ctx->backend_data; + ctx_rtu->set_rts = set_rts; + return 0; +#else + if (ctx->debug) { + fprintf(stderr, "This function isn't supported on your platform\n"); + } + errno = ENOTSUP; + return -1; +#endif + } else { + errno = EINVAL; + return -1; + } +} + +int modbus_rtu_get_rts_delay(modbus_t *ctx) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + if (ctx->backend->backend_type == _MODBUS_BACKEND_TYPE_RTU) { +#if HAVE_DECL_TIOCM_RTS + modbus_rtu_t *ctx_rtu; + ctx_rtu = (modbus_rtu_t *)ctx->backend_data; + return ctx_rtu->rts_delay; +#else + if (ctx->debug) { + fprintf(stderr, "This function isn't supported on your platform\n"); + } + errno = ENOTSUP; + return -1; +#endif + } else { + errno = EINVAL; + return -1; + } +} + +int modbus_rtu_set_rts_delay(modbus_t *ctx, int us) +{ + if (ctx == NULL || us < 0) { + errno = EINVAL; + return -1; + } + + if (ctx->backend->backend_type == _MODBUS_BACKEND_TYPE_RTU) { +#if HAVE_DECL_TIOCM_RTS + modbus_rtu_t *ctx_rtu; + ctx_rtu = (modbus_rtu_t *)ctx->backend_data; + ctx_rtu->rts_delay = us; + return 0; +#else + if (ctx->debug) { + fprintf(stderr, "This function isn't supported on your platform\n"); + } + errno = ENOTSUP; + return -1; +#endif + } else { + errno = EINVAL; + return -1; + } +} + +static void _modbus_rtu_close(modbus_t *ctx) +{ + /* Restore line settings and close file descriptor in RTU mode */ + modbus_rtu_t *ctx_rtu = ctx->backend_data; + +#if defined(_WIN32) + /* Revert settings */ + if (!SetCommState(ctx_rtu->w_ser.fd, &ctx_rtu->old_dcb) && ctx->debug) { + fprintf(stderr, "ERROR Couldn't revert to configuration (LastError %d)\n", + (int)GetLastError()); + } + + if (!CloseHandle(ctx_rtu->w_ser.fd) && ctx->debug) { + fprintf(stderr, "ERROR Error while closing handle (LastError %d)\n", + (int)GetLastError()); + } +#else + if (ctx->s != -1) { + tcsetattr(ctx->s, TCSANOW, &ctx_rtu->old_tios); + close(ctx->s); + ctx->s = -1; + } +#endif +} + +static int _modbus_rtu_flush(modbus_t *ctx) +{ +#if defined(_WIN32) + modbus_rtu_t *ctx_rtu = ctx->backend_data; + ctx_rtu->w_ser.n_bytes = 0; + return (PurgeComm(ctx_rtu->w_ser.fd, PURGE_RXCLEAR) == FALSE); +#else + return tcflush(ctx->s, TCIOFLUSH); +#endif +} + +static int _modbus_rtu_select(modbus_t *ctx, fd_set *rset, + struct timeval *tv, int length_to_read) +{ + int s_rc; +#if defined(_WIN32) + s_rc = win32_ser_select(&((modbus_rtu_t *)ctx->backend_data)->w_ser, + length_to_read, tv); + if (s_rc == 0) { + errno = ETIMEDOUT; + return -1; + } + + if (s_rc < 0) { + return -1; + } +#else + while ((s_rc = select(ctx->s+1, rset, NULL, NULL, tv)) == -1) { + if (errno == EINTR) { + if (ctx->debug) { + fprintf(stderr, "A non blocked signal was caught\n"); + } + /* Necessary after an error */ + FD_ZERO(rset); + FD_SET(ctx->s, rset); + } else { + return -1; + } + } + + if (s_rc == 0) { + /* Timeout */ + errno = ETIMEDOUT; + return -1; + } +#endif + + return s_rc; +} + +static void _modbus_rtu_free(modbus_t *ctx) { + if (ctx->backend_data) { + free(((modbus_rtu_t *)ctx->backend_data)->device); + free(ctx->backend_data); + } + + free(ctx); +} + +const modbus_backend_t _modbus_rtu_backend = { + _MODBUS_BACKEND_TYPE_RTU, + _MODBUS_RTU_HEADER_LENGTH, + _MODBUS_RTU_CHECKSUM_LENGTH, + MODBUS_RTU_MAX_ADU_LENGTH, + _modbus_set_slave, + _modbus_rtu_build_request_basis, + _modbus_rtu_build_response_basis, + _modbus_rtu_prepare_response_tid, + _modbus_rtu_send_msg_pre, + _modbus_rtu_send, + _modbus_rtu_receive, + _modbus_rtu_recv, + _modbus_rtu_check_integrity, + _modbus_rtu_pre_check_confirmation, + _modbus_rtu_connect, + _modbus_rtu_close, + _modbus_rtu_flush, + _modbus_rtu_select, + _modbus_rtu_free +}; + +modbus_t* modbus_new_rtu(const char *device, + int baud, char parity, int data_bit, + int stop_bit) +{ + modbus_t *ctx; + modbus_rtu_t *ctx_rtu; + + /* Check device argument */ + if (device == NULL || *device == 0) { + fprintf(stderr, "The device string is empty\n"); + errno = EINVAL; + return NULL; + } + + /* Check baud argument */ + if (baud == 0) { + fprintf(stderr, "The baud rate value must not be zero\n"); + errno = EINVAL; + return NULL; + } + + ctx = (modbus_t *)malloc(sizeof(modbus_t)); + if (ctx == NULL) { + return NULL; + } + + _modbus_init_common(ctx); + ctx->backend = &_modbus_rtu_backend; + ctx->backend_data = (modbus_rtu_t *)malloc(sizeof(modbus_rtu_t)); + if (ctx->backend_data == NULL) { + modbus_free(ctx); + errno = ENOMEM; + return NULL; + } + ctx_rtu = (modbus_rtu_t *)ctx->backend_data; + + /* Device name and \0 */ + ctx_rtu->device = (char *)malloc((strlen(device) + 1) * sizeof(char)); + if (ctx_rtu->device == NULL) { + modbus_free(ctx); + errno = ENOMEM; + return NULL; + } + strcpy(ctx_rtu->device, device); + + ctx_rtu->baud = baud; + if (parity == 'N' || parity == 'E' || parity == 'O') { + ctx_rtu->parity = parity; + } else { + modbus_free(ctx); + errno = EINVAL; + return NULL; + } + ctx_rtu->data_bit = data_bit; + ctx_rtu->stop_bit = stop_bit; + +#if HAVE_DECL_TIOCSRS485 + /* The RS232 mode has been set by default */ + ctx_rtu->serial_mode = MODBUS_RTU_RS232; +#endif + +#if HAVE_DECL_TIOCM_RTS + /* The RTS use has been set by default */ + ctx_rtu->rts = MODBUS_RTU_RTS_NONE; + + /* Calculate estimated time in micro second to send one byte */ + ctx_rtu->onebyte_time = 1000000 * (1 + data_bit + (parity == 'N' ? 0 : 1) + stop_bit) / baud; + + /* The internal function is used by default to set RTS */ + ctx_rtu->set_rts = _modbus_rtu_ioctl_rts; + + /* The delay before and after transmission when toggling the RTS pin */ + ctx_rtu->rts_delay = ctx_rtu->onebyte_time; +#endif + + ctx_rtu->confirmation_to_ignore = FALSE; + + return ctx; +} diff --git a/src/modbus-rtu.h b/src/modbus-rtu.h new file mode 100644 index 0000000..214a888 --- /dev/null +++ b/src/modbus-rtu.h @@ -0,0 +1,42 @@ +/* + * Copyright © 2001-2011 Stéphane Raimbault + * + * SPDX-License-Identifier: LGPL-2.1+ + */ + +#ifndef MODBUS_RTU_H +#define MODBUS_RTU_H + +#include "modbus.h" + +MODBUS_BEGIN_DECLS + +/* Modbus_Application_Protocol_V1_1b.pdf Chapter 4 Section 1 Page 5 + * RS232 / RS485 ADU = 253 bytes + slave (1 byte) + CRC (2 bytes) = 256 bytes + */ +#define MODBUS_RTU_MAX_ADU_LENGTH 256 + +MODBUS_API modbus_t* modbus_new_rtu(const char *device, int baud, char parity, + int data_bit, int stop_bit); + +#define MODBUS_RTU_RS232 0 +#define MODBUS_RTU_RS485 1 + +MODBUS_API int modbus_rtu_set_serial_mode(modbus_t *ctx, int mode); +MODBUS_API int modbus_rtu_get_serial_mode(modbus_t *ctx); + +#define MODBUS_RTU_RTS_NONE 0 +#define MODBUS_RTU_RTS_UP 1 +#define MODBUS_RTU_RTS_DOWN 2 + +MODBUS_API int modbus_rtu_set_rts(modbus_t *ctx, int mode); +MODBUS_API int modbus_rtu_get_rts(modbus_t *ctx); + +MODBUS_API int modbus_rtu_set_custom_rts(modbus_t *ctx, void (*set_rts) (modbus_t *ctx, int on)); + +MODBUS_API int modbus_rtu_set_rts_delay(modbus_t *ctx, int us); +MODBUS_API int modbus_rtu_get_rts_delay(modbus_t *ctx); + +MODBUS_END_DECLS + +#endif /* MODBUS_RTU_H */ diff --git a/src/modbus-tcp-private.h b/src/modbus-tcp-private.h new file mode 100644 index 0000000..55edf26 --- /dev/null +++ b/src/modbus-tcp-private.h @@ -0,0 +1,44 @@ +/* + * Copyright © 2001-2011 Stéphane Raimbault + * + * SPDX-License-Identifier: LGPL-2.1+ + */ + +#ifndef MODBUS_TCP_PRIVATE_H +#define MODBUS_TCP_PRIVATE_H + +#define _MODBUS_TCP_HEADER_LENGTH 7 +#define _MODBUS_TCP_PRESET_REQ_LENGTH 12 +#define _MODBUS_TCP_PRESET_RSP_LENGTH 8 + +#define _MODBUS_TCP_CHECKSUM_LENGTH 0 + +/* In both structures, the transaction ID must be placed on first position + to have a quick access not dependant of the TCP backend */ +typedef struct _modbus_tcp { + /* Extract from MODBUS Messaging on TCP/IP Implementation Guide V1.0b + (page 23/46): + The transaction identifier is used to associate the future response + with the request. This identifier is unique on each TCP connection. */ + uint16_t t_id; + /* TCP port */ + int port; + /* IP address */ + char ip[16]; +} modbus_tcp_t; + +#define _MODBUS_TCP_PI_NODE_LENGTH 1025 +#define _MODBUS_TCP_PI_SERVICE_LENGTH 32 + +typedef struct _modbus_tcp_pi { + /* Transaction ID */ + uint16_t t_id; + /* TCP port */ + int port; + /* Node */ + char node[_MODBUS_TCP_PI_NODE_LENGTH]; + /* Service */ + char service[_MODBUS_TCP_PI_SERVICE_LENGTH]; +} modbus_tcp_pi_t; + +#endif /* MODBUS_TCP_PRIVATE_H */ diff --git a/src/modbus-tcp.c b/src/modbus-tcp.c new file mode 100644 index 0000000..f8ef4e8 --- /dev/null +++ b/src/modbus-tcp.c @@ -0,0 +1,929 @@ +/* + * Copyright © 2001-2013 Stéphane Raimbault + * + * SPDX-License-Identifier: LGPL-2.1+ + */ + +#if defined(_WIN32) +# define OS_WIN32 +/* ws2_32.dll has getaddrinfo and freeaddrinfo on Windows XP and later. + * minwg32 headers check WINVER before allowing the use of these */ +# ifndef WINVER +# define WINVER 0x0501 +# endif +#endif + +#include +#include +#include +#include +#ifndef _MSC_VER +#include +#endif +#include +#include + +#if defined(_WIN32) +/* Already set in modbus-tcp.h but it seems order matters in VS2005 */ +# include +# include +# define SHUT_RDWR 2 +# define close closesocket +#else +# include +# include + +#if defined(__OpenBSD__) || (defined(__FreeBSD__) && __FreeBSD__ < 5) +# define OS_BSD +# include +#endif + +# include +# include +# include +# include +# include +#endif + +#if !defined(MSG_NOSIGNAL) +#define MSG_NOSIGNAL 0 +#endif + +#if defined(_AIX) && !defined(MSG_DONTWAIT) +#define MSG_DONTWAIT MSG_NONBLOCK +#endif + +#include "modbus-private.h" + +#include "modbus-tcp.h" +#include "modbus-tcp-private.h" + +#ifdef OS_WIN32 +static int _modbus_tcp_init_win32(void) +{ + /* Initialise Windows Socket API */ + WSADATA wsaData; + + if (WSAStartup(MAKEWORD(2, 2), &wsaData) != 0) { + fprintf(stderr, "WSAStartup() returned error code %d\n", + (unsigned int)GetLastError()); + errno = EIO; + return -1; + } + return 0; +} +#endif + +static int _modbus_set_slave(modbus_t *ctx, int slave) +{ + /* Broadcast address is 0 (MODBUS_BROADCAST_ADDRESS) */ + if (slave >= 0 && slave <= 247) { + ctx->slave = slave; + } else if (slave == MODBUS_TCP_SLAVE) { + /* The special value MODBUS_TCP_SLAVE (0xFF) can be used in TCP mode to + * restore the default value. */ + ctx->slave = slave; + } else { + errno = EINVAL; + return -1; + } + + return 0; +} + +/* Builds a TCP request header */ +static int _modbus_tcp_build_request_basis(modbus_t *ctx, int function, + int addr, int nb, + uint8_t *req) +{ + modbus_tcp_t *ctx_tcp = ctx->backend_data; + + /* Increase transaction ID */ + if (ctx_tcp->t_id < UINT16_MAX) + ctx_tcp->t_id++; + else + ctx_tcp->t_id = 0; + req[0] = ctx_tcp->t_id >> 8; + req[1] = ctx_tcp->t_id & 0x00ff; + + /* Protocol Modbus */ + req[2] = 0; + req[3] = 0; + + /* Length will be defined later by set_req_length_tcp at offsets 4 + and 5 */ + + req[6] = ctx->slave; + req[7] = function; + req[8] = addr >> 8; + req[9] = addr & 0x00ff; + req[10] = nb >> 8; + req[11] = nb & 0x00ff; + + return _MODBUS_TCP_PRESET_REQ_LENGTH; +} + +/* Builds a TCP response header */ +static int _modbus_tcp_build_response_basis(sft_t *sft, uint8_t *rsp) +{ + /* Extract from MODBUS Messaging on TCP/IP Implementation + Guide V1.0b (page 23/46): + The transaction identifier is used to associate the future + response with the request. */ + rsp[0] = sft->t_id >> 8; + rsp[1] = sft->t_id & 0x00ff; + + /* Protocol Modbus */ + rsp[2] = 0; + rsp[3] = 0; + + /* Length will be set later by send_msg (4 and 5) */ + + /* The slave ID is copied from the indication */ + rsp[6] = sft->slave; + rsp[7] = sft->function; + + return _MODBUS_TCP_PRESET_RSP_LENGTH; +} + + +static int _modbus_tcp_prepare_response_tid(const uint8_t *req, int *req_length) +{ + return (req[0] << 8) + req[1]; +} + +static int _modbus_tcp_send_msg_pre(uint8_t *req, int req_length) +{ + /* Substract the header length to the message length */ + int mbap_length = req_length - 6; + + req[4] = mbap_length >> 8; + req[5] = mbap_length & 0x00FF; + + return req_length; +} + +static ssize_t _modbus_tcp_send(modbus_t *ctx, const uint8_t *req, int req_length) +{ + /* MSG_NOSIGNAL + Requests not to send SIGPIPE on errors on stream oriented + sockets when the other end breaks the connection. The EPIPE + error is still returned. */ + return send(ctx->s, (const char *)req, req_length, MSG_NOSIGNAL); +} + +static int _modbus_tcp_receive(modbus_t *ctx, uint8_t *req) { + return _modbus_receive_msg(ctx, req, MSG_INDICATION); +} + +static ssize_t _modbus_tcp_recv(modbus_t *ctx, uint8_t *rsp, int rsp_length) { + return recv(ctx->s, (char *)rsp, rsp_length, 0); +} + +static int _modbus_tcp_check_integrity(modbus_t *ctx, uint8_t *msg, const int msg_length) +{ + return msg_length; +} + +static int _modbus_tcp_pre_check_confirmation(modbus_t *ctx, const uint8_t *req, + const uint8_t *rsp, int rsp_length) +{ + /* Check transaction ID */ + if (req[0] != rsp[0] || req[1] != rsp[1]) { + if (ctx->debug) { + fprintf(stderr, "Invalid transaction ID received 0x%X (not 0x%X)\n", + (rsp[0] << 8) + rsp[1], (req[0] << 8) + req[1]); + } + errno = EMBBADDATA; + return -1; + } + + /* Check protocol ID */ + if (rsp[2] != 0x0 && rsp[3] != 0x0) { + if (ctx->debug) { + fprintf(stderr, "Invalid protocol ID received 0x%X (not 0x0)\n", + (rsp[2] << 8) + rsp[3]); + } + errno = EMBBADDATA; + return -1; + } + + return 0; +} + +static int _modbus_tcp_set_ipv4_options(int s) +{ + int rc; + int option; + + /* Set the TCP no delay flag */ + /* SOL_TCP = IPPROTO_TCP */ + option = 1; + rc = setsockopt(s, IPPROTO_TCP, TCP_NODELAY, + (const void *)&option, sizeof(int)); + if (rc == -1) { + return -1; + } + + /* If the OS does not offer SOCK_NONBLOCK, fall back to setting FIONBIO to + * make sockets non-blocking */ + /* Do not care about the return value, this is optional */ +#if !defined(SOCK_NONBLOCK) && defined(FIONBIO) +#ifdef OS_WIN32 + { + /* Setting FIONBIO expects an unsigned long according to MSDN */ + u_long loption = 1; + ioctlsocket(s, FIONBIO, &loption); + } +#else + option = 1; + ioctl(s, FIONBIO, &option); +#endif +#endif + +#ifndef OS_WIN32 + /** + * Cygwin defines IPTOS_LOWDELAY but can't handle that flag so it's + * necessary to workaround that problem. + **/ + /* Set the IP low delay option */ + option = IPTOS_LOWDELAY; + rc = setsockopt(s, IPPROTO_IP, IP_TOS, + (const void *)&option, sizeof(int)); + if (rc == -1) { + return -1; + } +#endif + + return 0; +} + +static int _connect(int sockfd, const struct sockaddr *addr, socklen_t addrlen, + const struct timeval *ro_tv) +{ + int rc = connect(sockfd, addr, addrlen); + +#ifdef OS_WIN32 + int wsaError = 0; + if (rc == -1) { + wsaError = WSAGetLastError(); + } + + if (wsaError == WSAEWOULDBLOCK || wsaError == WSAEINPROGRESS) { +#else + if (rc == -1 && errno == EINPROGRESS) { +#endif + fd_set wset; + int optval; + socklen_t optlen = sizeof(optval); + struct timeval tv = *ro_tv; + + /* Wait to be available in writing */ + FD_ZERO(&wset); + FD_SET(sockfd, &wset); + rc = select(sockfd + 1, NULL, &wset, NULL, &tv); + if (rc <= 0) { + /* Timeout or fail */ + return -1; + } + + /* The connection is established if SO_ERROR and optval are set to 0 */ + rc = getsockopt(sockfd, SOL_SOCKET, SO_ERROR, (void *)&optval, &optlen); + if (rc == 0 && optval == 0) { + return 0; + } else { + errno = ECONNREFUSED; + return -1; + } + } + return rc; +} + +/* Establishes a modbus TCP connection with a Modbus server. */ +static int _modbus_tcp_connect(modbus_t *ctx) +{ + int rc; + /* Specialized version of sockaddr for Internet socket address (same size) */ + struct sockaddr_in addr; + modbus_tcp_t *ctx_tcp = ctx->backend_data; + int flags = SOCK_STREAM; + +#ifdef OS_WIN32 + if (_modbus_tcp_init_win32() == -1) { + return -1; + } +#endif + +#ifdef SOCK_CLOEXEC + flags |= SOCK_CLOEXEC; +#endif + +#ifdef SOCK_NONBLOCK + flags |= SOCK_NONBLOCK; +#endif + + ctx->s = socket(PF_INET, flags, 0); + if (ctx->s == -1) { + return -1; + } + + rc = _modbus_tcp_set_ipv4_options(ctx->s); + if (rc == -1) { + close(ctx->s); + ctx->s = -1; + return -1; + } + + if (ctx->debug) { + printf("Connecting to %s:%d\n", ctx_tcp->ip, ctx_tcp->port); + } + + addr.sin_family = AF_INET; + addr.sin_port = htons(ctx_tcp->port); + addr.sin_addr.s_addr = inet_addr(ctx_tcp->ip); + rc = _connect(ctx->s, (struct sockaddr *)&addr, sizeof(addr), &ctx->response_timeout); + if (rc == -1) { + close(ctx->s); + ctx->s = -1; + return -1; + } + + return 0; +} + +/* Establishes a modbus TCP PI connection with a Modbus server. */ +static int _modbus_tcp_pi_connect(modbus_t *ctx) +{ + int rc; + struct addrinfo *ai_list; + struct addrinfo *ai_ptr; + struct addrinfo ai_hints; + modbus_tcp_pi_t *ctx_tcp_pi = ctx->backend_data; + +#ifdef OS_WIN32 + if (_modbus_tcp_init_win32() == -1) { + return -1; + } +#endif + + memset(&ai_hints, 0, sizeof(ai_hints)); +#ifdef AI_ADDRCONFIG + ai_hints.ai_flags |= AI_ADDRCONFIG; +#endif + ai_hints.ai_family = AF_UNSPEC; + ai_hints.ai_socktype = SOCK_STREAM; + ai_hints.ai_addr = NULL; + ai_hints.ai_canonname = NULL; + ai_hints.ai_next = NULL; + + ai_list = NULL; + rc = getaddrinfo(ctx_tcp_pi->node, ctx_tcp_pi->service, + &ai_hints, &ai_list); + if (rc != 0) { + if (ctx->debug) { + fprintf(stderr, "Error returned by getaddrinfo: %s\n", gai_strerror(rc)); + } + errno = ECONNREFUSED; + return -1; + } + + for (ai_ptr = ai_list; ai_ptr != NULL; ai_ptr = ai_ptr->ai_next) { + int flags = ai_ptr->ai_socktype; + int s; + +#ifdef SOCK_CLOEXEC + flags |= SOCK_CLOEXEC; +#endif + +#ifdef SOCK_NONBLOCK + flags |= SOCK_NONBLOCK; +#endif + + s = socket(ai_ptr->ai_family, flags, ai_ptr->ai_protocol); + if (s < 0) + continue; + + if (ai_ptr->ai_family == AF_INET) + _modbus_tcp_set_ipv4_options(s); + + if (ctx->debug) { + printf("Connecting to [%s]:%s\n", ctx_tcp_pi->node, ctx_tcp_pi->service); + } + + rc = _connect(s, ai_ptr->ai_addr, ai_ptr->ai_addrlen, &ctx->response_timeout); + if (rc == -1) { + close(s); + continue; + } + + ctx->s = s; + break; + } + + freeaddrinfo(ai_list); + + if (ctx->s < 0) { + return -1; + } + + return 0; +} + +/* Closes the network connection and socket in TCP mode */ +static void _modbus_tcp_close(modbus_t *ctx) +{ + if (ctx->s != -1) { + shutdown(ctx->s, SHUT_RDWR); + close(ctx->s); + ctx->s = -1; + } +} + +static int _modbus_tcp_flush(modbus_t *ctx) +{ + int rc; + int rc_sum = 0; + + do { + /* Extract the garbage from the socket */ + char devnull[MODBUS_TCP_MAX_ADU_LENGTH]; +#ifndef OS_WIN32 + rc = recv(ctx->s, devnull, MODBUS_TCP_MAX_ADU_LENGTH, MSG_DONTWAIT); +#else + /* On Win32, it's a bit more complicated to not wait */ + fd_set rset; + struct timeval tv; + + tv.tv_sec = 0; + tv.tv_usec = 0; + FD_ZERO(&rset); + FD_SET(ctx->s, &rset); + rc = select(ctx->s+1, &rset, NULL, NULL, &tv); + if (rc == -1) { + return -1; + } + + if (rc == 1) { + /* There is data to flush */ + rc = recv(ctx->s, devnull, MODBUS_TCP_MAX_ADU_LENGTH, 0); + } +#endif + if (rc > 0) { + rc_sum += rc; + } + } while (rc == MODBUS_TCP_MAX_ADU_LENGTH); + + return rc_sum; +} + +/* Listens for any request from one or many modbus masters in TCP */ +int modbus_tcp_listen(modbus_t *ctx, int nb_connection) +{ + int new_s; + int enable; + int flags; + struct sockaddr_in addr; + modbus_tcp_t *ctx_tcp; + + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + ctx_tcp = ctx->backend_data; + +#ifdef OS_WIN32 + if (_modbus_tcp_init_win32() == -1) { + return -1; + } +#endif + + flags = SOCK_STREAM; + +#ifdef SOCK_CLOEXEC + flags |= SOCK_CLOEXEC; +#endif + + new_s = socket(PF_INET, flags, IPPROTO_TCP); + if (new_s == -1) { + return -1; + } + + enable = 1; + if (setsockopt(new_s, SOL_SOCKET, SO_REUSEADDR, + (char *)&enable, sizeof(enable)) == -1) { + close(new_s); + return -1; + } + + memset(&addr, 0, sizeof(addr)); + addr.sin_family = AF_INET; + /* If the modbus port is < to 1024, we need the setuid root. */ + addr.sin_port = htons(ctx_tcp->port); + if (ctx_tcp->ip[0] == '0') { + /* Listen any addresses */ + addr.sin_addr.s_addr = htonl(INADDR_ANY); + } else { + /* Listen only specified IP address */ + addr.sin_addr.s_addr = inet_addr(ctx_tcp->ip); + } + if (bind(new_s, (struct sockaddr *)&addr, sizeof(addr)) == -1) { + close(new_s); + return -1; + } + + if (listen(new_s, nb_connection) == -1) { + close(new_s); + return -1; + } + + return new_s; +} + +int modbus_tcp_pi_listen(modbus_t *ctx, int nb_connection) +{ + int rc; + struct addrinfo *ai_list; + struct addrinfo *ai_ptr; + struct addrinfo ai_hints; + const char *node; + const char *service; + int new_s; + modbus_tcp_pi_t *ctx_tcp_pi; + + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + ctx_tcp_pi = ctx->backend_data; + +#ifdef OS_WIN32 + if (_modbus_tcp_init_win32() == -1) { + return -1; + } +#endif + + if (ctx_tcp_pi->node[0] == 0) { + node = NULL; /* == any */ + } else { + node = ctx_tcp_pi->node; + } + + if (ctx_tcp_pi->service[0] == 0) { + service = "502"; + } else { + service = ctx_tcp_pi->service; + } + + memset(&ai_hints, 0, sizeof (ai_hints)); + /* If node is not NULL, than the AI_PASSIVE flag is ignored. */ + ai_hints.ai_flags |= AI_PASSIVE; +#ifdef AI_ADDRCONFIG + ai_hints.ai_flags |= AI_ADDRCONFIG; +#endif + ai_hints.ai_family = AF_UNSPEC; + ai_hints.ai_socktype = SOCK_STREAM; + ai_hints.ai_addr = NULL; + ai_hints.ai_canonname = NULL; + ai_hints.ai_next = NULL; + + ai_list = NULL; + rc = getaddrinfo(node, service, &ai_hints, &ai_list); + if (rc != 0) { + if (ctx->debug) { + fprintf(stderr, "Error returned by getaddrinfo: %s\n", gai_strerror(rc)); + } + errno = ECONNREFUSED; + return -1; + } + + new_s = -1; + for (ai_ptr = ai_list; ai_ptr != NULL; ai_ptr = ai_ptr->ai_next) { + int flags = ai_ptr->ai_socktype; + int s; + +#ifdef SOCK_CLOEXEC + flags |= SOCK_CLOEXEC; +#endif + + s = socket(ai_ptr->ai_family, flags, ai_ptr->ai_protocol); + if (s < 0) { + if (ctx->debug) { + perror("socket"); + } + continue; + } else { + int enable = 1; + rc = setsockopt(s, SOL_SOCKET, SO_REUSEADDR, + (void *)&enable, sizeof (enable)); + if (rc != 0) { + close(s); + if (ctx->debug) { + perror("setsockopt"); + } + continue; + } + } + + rc = bind(s, ai_ptr->ai_addr, ai_ptr->ai_addrlen); + if (rc != 0) { + close(s); + if (ctx->debug) { + perror("bind"); + } + continue; + } + + rc = listen(s, nb_connection); + if (rc != 0) { + close(s); + if (ctx->debug) { + perror("listen"); + } + continue; + } + + new_s = s; + break; + } + freeaddrinfo(ai_list); + + if (new_s < 0) { + return -1; + } + + return new_s; +} + +int modbus_tcp_accept(modbus_t *ctx, int *s) +{ + struct sockaddr_in addr; + socklen_t addrlen; + + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + addrlen = sizeof(addr); +#ifdef HAVE_ACCEPT4 + /* Inherit socket flags and use accept4 call */ + ctx->s = accept4(*s, (struct sockaddr *)&addr, &addrlen, SOCK_CLOEXEC); +#else + ctx->s = accept(*s, (struct sockaddr *)&addr, &addrlen); +#endif + + if (ctx->s == -1) { + return -1; + } + + if (ctx->debug) { + printf("The client connection from %s is accepted\n", + inet_ntoa(addr.sin_addr)); + } + + return ctx->s; +} + +int modbus_tcp_pi_accept(modbus_t *ctx, int *s) +{ + struct sockaddr_storage addr; + socklen_t addrlen; + + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + addrlen = sizeof(addr); +#ifdef HAVE_ACCEPT4 + /* Inherit socket flags and use accept4 call */ + ctx->s = accept4(*s, (struct sockaddr *)&addr, &addrlen, SOCK_CLOEXEC); +#else + ctx->s = accept(*s, (struct sockaddr *)&addr, &addrlen); +#endif + + if (ctx->s == -1) { + return -1; + } + + if (ctx->debug) { + printf("The client connection is accepted.\n"); + } + + return ctx->s; +} + +static int _modbus_tcp_select(modbus_t *ctx, fd_set *rset, struct timeval *tv, int length_to_read) +{ + int s_rc; + while ((s_rc = select(ctx->s+1, rset, NULL, NULL, tv)) == -1) { + if (errno == EINTR) { + if (ctx->debug) { + fprintf(stderr, "A non blocked signal was caught\n"); + } + /* Necessary after an error */ + FD_ZERO(rset); + FD_SET(ctx->s, rset); + } else { + return -1; + } + } + + if (s_rc == 0) { + errno = ETIMEDOUT; + return -1; + } + + return s_rc; +} + +static void _modbus_tcp_free(modbus_t *ctx) { + free(ctx->backend_data); + free(ctx); +} + +const modbus_backend_t _modbus_tcp_backend = { + _MODBUS_BACKEND_TYPE_TCP, + _MODBUS_TCP_HEADER_LENGTH, + _MODBUS_TCP_CHECKSUM_LENGTH, + MODBUS_TCP_MAX_ADU_LENGTH, + _modbus_set_slave, + _modbus_tcp_build_request_basis, + _modbus_tcp_build_response_basis, + _modbus_tcp_prepare_response_tid, + _modbus_tcp_send_msg_pre, + _modbus_tcp_send, + _modbus_tcp_receive, + _modbus_tcp_recv, + _modbus_tcp_check_integrity, + _modbus_tcp_pre_check_confirmation, + _modbus_tcp_connect, + _modbus_tcp_close, + _modbus_tcp_flush, + _modbus_tcp_select, + _modbus_tcp_free +}; + + +const modbus_backend_t _modbus_tcp_pi_backend = { + _MODBUS_BACKEND_TYPE_TCP, + _MODBUS_TCP_HEADER_LENGTH, + _MODBUS_TCP_CHECKSUM_LENGTH, + MODBUS_TCP_MAX_ADU_LENGTH, + _modbus_set_slave, + _modbus_tcp_build_request_basis, + _modbus_tcp_build_response_basis, + _modbus_tcp_prepare_response_tid, + _modbus_tcp_send_msg_pre, + _modbus_tcp_send, + _modbus_tcp_receive, + _modbus_tcp_recv, + _modbus_tcp_check_integrity, + _modbus_tcp_pre_check_confirmation, + _modbus_tcp_pi_connect, + _modbus_tcp_close, + _modbus_tcp_flush, + _modbus_tcp_select, + _modbus_tcp_free +}; + +modbus_t* modbus_new_tcp(const char *ip, int port) +{ + modbus_t *ctx; + modbus_tcp_t *ctx_tcp; + size_t dest_size; + size_t ret_size; + +#if defined(OS_BSD) + /* MSG_NOSIGNAL is unsupported on *BSD so we install an ignore + handler for SIGPIPE. */ + struct sigaction sa; + + sa.sa_handler = SIG_IGN; + if (sigaction(SIGPIPE, &sa, NULL) < 0) { + /* The debug flag can't be set here... */ + fprintf(stderr, "Could not install SIGPIPE handler.\n"); + return NULL; + } +#endif + + ctx = (modbus_t *)malloc(sizeof(modbus_t)); + if (ctx == NULL) { + return NULL; + } + _modbus_init_common(ctx); + + /* Could be changed after to reach a remote serial Modbus device */ + ctx->slave = MODBUS_TCP_SLAVE; + + ctx->backend = &_modbus_tcp_backend; + + ctx->backend_data = (modbus_tcp_t *)malloc(sizeof(modbus_tcp_t)); + if (ctx->backend_data == NULL) { + modbus_free(ctx); + errno = ENOMEM; + return NULL; + } + ctx_tcp = (modbus_tcp_t *)ctx->backend_data; + + if (ip != NULL) { + dest_size = sizeof(char) * 16; + ret_size = strlcpy(ctx_tcp->ip, ip, dest_size); + if (ret_size == 0) { + fprintf(stderr, "The IP string is empty\n"); + modbus_free(ctx); + errno = EINVAL; + return NULL; + } + + if (ret_size >= dest_size) { + fprintf(stderr, "The IP string has been truncated\n"); + modbus_free(ctx); + errno = EINVAL; + return NULL; + } + } else { + ctx_tcp->ip[0] = '0'; + } + ctx_tcp->port = port; + ctx_tcp->t_id = 0; + + return ctx; +} + + +modbus_t* modbus_new_tcp_pi(const char *node, const char *service) +{ + modbus_t *ctx; + modbus_tcp_pi_t *ctx_tcp_pi; + size_t dest_size; + size_t ret_size; + + ctx = (modbus_t *)malloc(sizeof(modbus_t)); + if (ctx == NULL) { + return NULL; + } + _modbus_init_common(ctx); + + /* Could be changed after to reach a remote serial Modbus device */ + ctx->slave = MODBUS_TCP_SLAVE; + + ctx->backend = &_modbus_tcp_pi_backend; + + ctx->backend_data = (modbus_tcp_pi_t *)malloc(sizeof(modbus_tcp_pi_t)); + if (ctx->backend_data == NULL) { + modbus_free(ctx); + errno = ENOMEM; + return NULL; + } + ctx_tcp_pi = (modbus_tcp_pi_t *)ctx->backend_data; + + if (node == NULL) { + /* The node argument can be empty to indicate any hosts */ + ctx_tcp_pi->node[0] = 0; + } else { + dest_size = sizeof(char) * _MODBUS_TCP_PI_NODE_LENGTH; + ret_size = strlcpy(ctx_tcp_pi->node, node, dest_size); + if (ret_size == 0) { + fprintf(stderr, "The node string is empty\n"); + modbus_free(ctx); + errno = EINVAL; + return NULL; + } + + if (ret_size >= dest_size) { + fprintf(stderr, "The node string has been truncated\n"); + modbus_free(ctx); + errno = EINVAL; + return NULL; + } + } + + if (service != NULL) { + dest_size = sizeof(char) * _MODBUS_TCP_PI_SERVICE_LENGTH; + ret_size = strlcpy(ctx_tcp_pi->service, service, dest_size); + } else { + /* Empty service is not allowed, error catched below. */ + ret_size = 0; + } + + if (ret_size == 0) { + fprintf(stderr, "The service string is empty\n"); + modbus_free(ctx); + errno = EINVAL; + return NULL; + } + + if (ret_size >= dest_size) { + fprintf(stderr, "The service string has been truncated\n"); + modbus_free(ctx); + errno = EINVAL; + return NULL; + } + + ctx_tcp_pi->t_id = 0; + + return ctx; +} diff --git a/src/modbus-tcp.h b/src/modbus-tcp.h new file mode 100644 index 0000000..abaef27 --- /dev/null +++ b/src/modbus-tcp.h @@ -0,0 +1,52 @@ +/* + * Copyright © 2001-2010 Stéphane Raimbault + * + * SPDX-License-Identifier: LGPL-2.1+ + */ + +#ifndef MODBUS_TCP_H +#define MODBUS_TCP_H + +#include "modbus.h" + +MODBUS_BEGIN_DECLS + +#if defined(_WIN32) && !defined(__CYGWIN__) +/* Win32 with MinGW, supplement to */ +#include +#if !defined(ECONNRESET) +#define ECONNRESET WSAECONNRESET +#endif +#if !defined(ECONNREFUSED) +#define ECONNREFUSED WSAECONNREFUSED +#endif +#if !defined(ETIMEDOUT) +#define ETIMEDOUT WSAETIMEDOUT +#endif +#if !defined(ENOPROTOOPT) +#define ENOPROTOOPT WSAENOPROTOOPT +#endif +#if !defined(EINPROGRESS) +#define EINPROGRESS WSAEINPROGRESS +#endif +#endif + +#define MODBUS_TCP_DEFAULT_PORT 502 +#define MODBUS_TCP_SLAVE 0xFF + +/* Modbus_Application_Protocol_V1_1b.pdf Chapter 4 Section 1 Page 5 + * TCP MODBUS ADU = 253 bytes + MBAP (7 bytes) = 260 bytes + */ +#define MODBUS_TCP_MAX_ADU_LENGTH 260 + +MODBUS_API modbus_t* modbus_new_tcp(const char *ip_address, int port); +MODBUS_API int modbus_tcp_listen(modbus_t *ctx, int nb_connection); +MODBUS_API int modbus_tcp_accept(modbus_t *ctx, int *s); + +MODBUS_API modbus_t* modbus_new_tcp_pi(const char *node, const char *service); +MODBUS_API int modbus_tcp_pi_listen(modbus_t *ctx, int nb_connection); +MODBUS_API int modbus_tcp_pi_accept(modbus_t *ctx, int *s); + +MODBUS_END_DECLS + +#endif /* MODBUS_TCP_H */ diff --git a/src/modbus-version.h b/src/modbus-version.h new file mode 100644 index 0000000..0218973 --- /dev/null +++ b/src/modbus-version.h @@ -0,0 +1,53 @@ +/* + * Copyright © 2010-2014 Stéphane Raimbault + * + * This 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 2.1 of the License, or (at your option) any later version. + * + * This library 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 library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + */ + +#ifndef MODBUS_VERSION_H +#define MODBUS_VERSION_H + +/* The major version, (1, if %LIBMODBUS_VERSION is 1.2.3) */ +#define LIBMODBUS_VERSION_MAJOR (3) + +/* The minor version (2, if %LIBMODBUS_VERSION is 1.2.3) */ +#define LIBMODBUS_VERSION_MINOR (1) + +/* The micro version (3, if %LIBMODBUS_VERSION is 1.2.3) */ +#define LIBMODBUS_VERSION_MICRO (6) + +/* The full version, like 1.2.3 */ +#define LIBMODBUS_VERSION 3.1.6 + +/* The full version, in string form (suited for string concatenation) + */ +#define LIBMODBUS_VERSION_STRING "3.1.6" + +/* Numerically encoded version, eg. v1.2.3 is 0x010203 */ +#define LIBMODBUS_VERSION_HEX ((LIBMODBUS_VERSION_MAJOR << 16) | \ + (LIBMODBUS_VERSION_MINOR << 8) | \ + (LIBMODBUS_VERSION_MICRO << 0)) + +/* Evaluates to True if the version is greater than @major, @minor and @micro + */ +#define LIBMODBUS_VERSION_CHECK(major,minor,micro) \ + (LIBMODBUS_VERSION_MAJOR > (major) || \ + (LIBMODBUS_VERSION_MAJOR == (major) && \ + LIBMODBUS_VERSION_MINOR > (minor)) || \ + (LIBMODBUS_VERSION_MAJOR == (major) && \ + LIBMODBUS_VERSION_MINOR == (minor) && \ + LIBMODBUS_VERSION_MICRO >= (micro))) + +#endif /* MODBUS_VERSION_H */ diff --git a/src/modbus.c b/src/modbus.c new file mode 100644 index 0000000..be98c4f --- /dev/null +++ b/src/modbus.c @@ -0,0 +1,1911 @@ +/* + * Copyright © 2001-2011 Stéphane Raimbault + * + * SPDX-License-Identifier: LGPL-2.1+ + * + * This library implements the Modbus protocol. + * http://libmodbus.org/ + */ + +#include +#include +#include +#include +#include +#include +#include +#ifndef _MSC_VER +#include +#endif + +//#include + +#include "modbus.h" +#include "modbus-private.h" + +/* Internal use */ +#define MSG_LENGTH_UNDEFINED -1 + +/* Exported version */ +const unsigned int libmodbus_version_major = LIBMODBUS_VERSION_MAJOR; +const unsigned int libmodbus_version_minor = LIBMODBUS_VERSION_MINOR; +const unsigned int libmodbus_version_micro = LIBMODBUS_VERSION_MICRO; + +/* Max between RTU and TCP max adu length (so TCP) */ +#define MAX_MESSAGE_LENGTH 260 + +/* 3 steps are used to parse the query */ +typedef enum { + _STEP_FUNCTION, + _STEP_META, + _STEP_DATA +} _step_t; + +const char *modbus_strerror(int errnum) { + switch (errnum) { + case EMBXILFUN: + return "Illegal function"; + case EMBXILADD: + return "Illegal data address"; + case EMBXILVAL: + return "Illegal data value"; + case EMBXSFAIL: + return "Slave device or server failure"; + case EMBXACK: + return "Acknowledge"; + case EMBXSBUSY: + return "Slave device or server is busy"; + case EMBXNACK: + return "Negative acknowledge"; + case EMBXMEMPAR: + return "Memory parity error"; + case EMBXGPATH: + return "Gateway path unavailable"; + case EMBXGTAR: + return "Target device failed to respond"; + case EMBBADCRC: + return "Invalid CRC"; + case EMBBADDATA: + return "Invalid data"; + case EMBBADEXC: + return "Invalid exception code"; + case EMBMDATA: + return "Too many data"; + case EMBBADSLAVE: + return "Response not from requested slave"; + default: + return strerror(errnum); + } +} + +void _error_print(modbus_t *ctx, const char *context) +{ + if (ctx->debug) { + fprintf(stderr, "ERROR %s", modbus_strerror(errno)); + if (context != NULL) { + fprintf(stderr, ": %s\n", context); + } else { + fprintf(stderr, "\n"); + } + } +} + +static void _sleep_response_timeout(modbus_t *ctx) +{ + /* Response timeout is always positive */ +#ifdef _WIN32 + /* usleep doesn't exist on Windows */ + Sleep((ctx->response_timeout.tv_sec * 1000) + + (ctx->response_timeout.tv_usec / 1000)); +#else + /* usleep source code */ + struct timespec request, remaining; + request.tv_sec = ctx->response_timeout.tv_sec; + request.tv_nsec = ((long int)ctx->response_timeout.tv_usec) * 1000; + while (nanosleep(&request, &remaining) == -1 && errno == EINTR) { + request = remaining; + } +#endif +} + +int modbus_flush(modbus_t *ctx) +{ + int rc; + + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + rc = ctx->backend->flush(ctx); + if (rc != -1 && ctx->debug) { + /* Not all backends are able to return the number of bytes flushed */ + printf("Bytes flushed (%d)\n", rc); + } + return rc; +} + +/* Computes the length of the expected response */ +static unsigned int compute_response_length_from_request(modbus_t *ctx, uint8_t *req) +{ + int length; + const int offset = ctx->backend->header_length; + + switch (req[offset]) { + case MODBUS_FC_READ_COILS: + case MODBUS_FC_READ_DISCRETE_INPUTS: { + /* Header + nb values (code from write_bits) */ + int nb = (req[offset + 3] << 8) | req[offset + 4]; + length = 2 + (nb / 8) + ((nb % 8) ? 1 : 0); + } + break; + case MODBUS_FC_WRITE_AND_READ_REGISTERS: + case MODBUS_FC_READ_HOLDING_REGISTERS: + case MODBUS_FC_READ_INPUT_REGISTERS: + /* Header + 2 * nb values */ + length = 2 + 2 * (req[offset + 3] << 8 | req[offset + 4]); + break; + case MODBUS_FC_READ_EXCEPTION_STATUS: + length = 3; + break; + case MODBUS_FC_REPORT_SLAVE_ID: + /* The response is device specific (the header provides the + length) */ + return MSG_LENGTH_UNDEFINED; + case MODBUS_FC_MASK_WRITE_REGISTER: + length = 7; + break; + default: + length = 5; + } + + return offset + length + ctx->backend->checksum_length; +} + +/* Sends a request/response */ +static int send_msg(modbus_t *ctx, uint8_t *msg, int msg_length) +{ + int rc; + int i; + + msg_length = ctx->backend->send_msg_pre(msg, msg_length); + + if (ctx->debug) { + for (i = 0; i < msg_length; i++) + printf("[%.2X]", msg[i]); + printf("\n"); + } + + /* In recovery mode, the write command will be issued until to be + successful! Disabled by default. */ + do { + rc = ctx->backend->send(ctx, msg, msg_length); + if (rc == -1) { + _error_print(ctx, NULL); + if (ctx->error_recovery & MODBUS_ERROR_RECOVERY_LINK) { + int saved_errno = errno; + + if ((errno == EBADF || errno == ECONNRESET || errno == EPIPE)) { + modbus_close(ctx); + _sleep_response_timeout(ctx); + modbus_connect(ctx); + } else { + _sleep_response_timeout(ctx); + modbus_flush(ctx); + } + errno = saved_errno; + } + } + } while ((ctx->error_recovery & MODBUS_ERROR_RECOVERY_LINK) && + rc == -1); + + if (rc > 0 && rc != msg_length) { + errno = EMBBADDATA; + return -1; + } + + return rc; +} + +int modbus_send_raw_request(modbus_t *ctx, const uint8_t *raw_req, int raw_req_length) +{ + sft_t sft; + uint8_t req[MAX_MESSAGE_LENGTH]; + int req_length; + + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + if (raw_req_length < 2 || raw_req_length > (MODBUS_MAX_PDU_LENGTH + 1)) { + /* The raw request must contain function and slave at least and + must not be longer than the maximum pdu length plus the slave + address. */ + errno = EINVAL; + return -1; + } + + sft.slave = raw_req[0]; + sft.function = raw_req[1]; + /* The t_id is left to zero */ + sft.t_id = 0; + /* This response function only set the header so it's convenient here */ + req_length = ctx->backend->build_response_basis(&sft, req); + + if (raw_req_length > 2) { + /* Copy data after function code */ + memcpy(req + req_length, raw_req + 2, raw_req_length - 2); + req_length += raw_req_length - 2; + } + + return send_msg(ctx, req, req_length); +} + +/* + * ---------- Request Indication ---------- + * | Client | ---------------------->| Server | + * ---------- Confirmation Response ---------- + */ + +/* Computes the length to read after the function received */ +static uint8_t compute_meta_length_after_function(int function, + msg_type_t msg_type) +{ + int length; + + if (msg_type == MSG_INDICATION) { + if (function <= MODBUS_FC_WRITE_SINGLE_REGISTER) { + length = 4; + } else if (function == MODBUS_FC_WRITE_MULTIPLE_COILS || + function == MODBUS_FC_WRITE_MULTIPLE_REGISTERS) { + length = 5; + } else if (function == MODBUS_FC_MASK_WRITE_REGISTER) { + length = 6; + } else if (function == MODBUS_FC_WRITE_AND_READ_REGISTERS) { + length = 9; + } else { + /* MODBUS_FC_READ_EXCEPTION_STATUS, MODBUS_FC_REPORT_SLAVE_ID */ + length = 0; + } + } else { + /* MSG_CONFIRMATION */ + switch (function) { + case MODBUS_FC_WRITE_SINGLE_COIL: + case MODBUS_FC_WRITE_SINGLE_REGISTER: + case MODBUS_FC_WRITE_MULTIPLE_COILS: + case MODBUS_FC_WRITE_MULTIPLE_REGISTERS: + length = 4; + break; + case MODBUS_FC_MASK_WRITE_REGISTER: + length = 6; + break; + default: + length = 1; + } + } + + return length; +} + +/* Computes the length to read after the meta information (address, count, etc) */ +static int compute_data_length_after_meta(modbus_t *ctx, uint8_t *msg, + msg_type_t msg_type) +{ + int function = msg[ctx->backend->header_length]; + int length; + + if (msg_type == MSG_INDICATION) { + switch (function) { + case MODBUS_FC_WRITE_MULTIPLE_COILS: + case MODBUS_FC_WRITE_MULTIPLE_REGISTERS: + length = msg[ctx->backend->header_length + 5]; + break; + case MODBUS_FC_WRITE_AND_READ_REGISTERS: + length = msg[ctx->backend->header_length + 9]; + break; + default: + length = 0; + } + } else { + /* MSG_CONFIRMATION */ + if (function <= MODBUS_FC_READ_INPUT_REGISTERS || + function == MODBUS_FC_REPORT_SLAVE_ID || + function == MODBUS_FC_WRITE_AND_READ_REGISTERS) { + length = msg[ctx->backend->header_length + 1]; + } else { + length = 0; + } + } + + length += ctx->backend->checksum_length; + + return length; +} + + +/* Waits a response from a modbus server or a request from a modbus client. + This function blocks if there is no replies (3 timeouts). + + The function shall return the number of received characters and the received + message in an array of uint8_t if successful. Otherwise it shall return -1 + and errno is set to one of the values defined below: + - ECONNRESET + - EMBBADDATA + - EMBUNKEXC + - ETIMEDOUT + - read() or recv() error codes +*/ + +int _modbus_receive_msg(modbus_t *ctx, uint8_t *msg, msg_type_t msg_type) +{ + int rc; + fd_set rset; + struct timeval tv; + struct timeval *p_tv; + int length_to_read; + int msg_length = 0; + _step_t step; + + if (ctx->debug) { + if (msg_type == MSG_INDICATION) { + printf("Waiting for an indication...\n"); + } else { + printf("Waiting for a confirmation...\n"); + } + } + + /* Add a file descriptor to the set */ + FD_ZERO(&rset); + FD_SET(ctx->s, &rset); + + /* We need to analyse the message step by step. At the first step, we want + * to reach the function code because all packets contain this + * information. */ + step = _STEP_FUNCTION; + length_to_read = ctx->backend->header_length + 1; + + if (msg_type == MSG_INDICATION) { + /* Wait for a message, we don't know when the message will be + * received */ + if (ctx->indication_timeout.tv_sec == 0 && ctx->indication_timeout.tv_usec == 0) { + /* By default, the indication timeout isn't set */ + p_tv = NULL; + } else { + /* Wait for an indication (name of a received request by a server, see schema) */ + tv.tv_sec = ctx->indication_timeout.tv_sec; + tv.tv_usec = ctx->indication_timeout.tv_usec; + p_tv = &tv; + } + } else { + tv.tv_sec = ctx->response_timeout.tv_sec; + tv.tv_usec = ctx->response_timeout.tv_usec; + p_tv = &tv; + } + + while (length_to_read != 0) { + rc = ctx->backend->select(ctx, &rset, p_tv, length_to_read); + if (rc == -1) { + _error_print(ctx, "select"); + if (ctx->error_recovery & MODBUS_ERROR_RECOVERY_LINK) { + int saved_errno = errno; + + if (errno == ETIMEDOUT) { + _sleep_response_timeout(ctx); + modbus_flush(ctx); + } else if (errno == EBADF) { + modbus_close(ctx); + modbus_connect(ctx); + } + errno = saved_errno; + } + return -1; + } + + rc = ctx->backend->recv(ctx, msg + msg_length, length_to_read); + if (rc == 0) { + errno = ECONNRESET; + rc = -1; + } + + if (rc == -1) { + _error_print(ctx, "read"); + if ((ctx->error_recovery & MODBUS_ERROR_RECOVERY_LINK) && + (errno == ECONNRESET || errno == ECONNREFUSED || + errno == EBADF)) { + int saved_errno = errno; + modbus_close(ctx); + modbus_connect(ctx); + /* Could be removed by previous calls */ + errno = saved_errno; + } + return -1; + } + + /* Display the hex code of each character received */ + if (ctx->debug) { + int i; + for (i=0; i < rc; i++) + printf("<%.2X>", msg[msg_length + i]); + } + + /* Sums bytes received */ + msg_length += rc; + /* Computes remaining bytes */ + length_to_read -= rc; + + if (length_to_read == 0) { + switch (step) { + case _STEP_FUNCTION: + /* Function code position */ + length_to_read = compute_meta_length_after_function( + msg[ctx->backend->header_length], + msg_type); + if (length_to_read != 0) { + step = _STEP_META; + break; + } /* else switches straight to the next step */ + case _STEP_META: + length_to_read = compute_data_length_after_meta( + ctx, msg, msg_type); + if ((msg_length + length_to_read) > (int)ctx->backend->max_adu_length) { + errno = EMBBADDATA; + _error_print(ctx, "too many data"); + return -1; + } + step = _STEP_DATA; + break; + default: + break; + } + } + + if (length_to_read > 0 && + (ctx->byte_timeout.tv_sec > 0 || ctx->byte_timeout.tv_usec > 0)) { + /* If there is no character in the buffer, the allowed timeout + interval between two consecutive bytes is defined by + byte_timeout */ + tv.tv_sec = ctx->byte_timeout.tv_sec; + tv.tv_usec = ctx->byte_timeout.tv_usec; + p_tv = &tv; + } + /* else timeout isn't set again, the full response must be read before + expiration of response timeout (for CONFIRMATION only) */ + } + + if (ctx->debug) + printf("\n"); + + return ctx->backend->check_integrity(ctx, msg, msg_length); +} + +/* Receive the request from a modbus master */ +int modbus_receive(modbus_t *ctx, uint8_t *req) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + return ctx->backend->receive(ctx, req); +} + +/* Receives the confirmation. + + The function shall store the read response in rsp and return the number of + values (bits or words). Otherwise, its shall return -1 and errno is set. + + The function doesn't check the confirmation is the expected response to the + initial request. +*/ +int modbus_receive_confirmation(modbus_t *ctx, uint8_t *rsp) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + return _modbus_receive_msg(ctx, rsp, MSG_CONFIRMATION); +} + +static int check_confirmation(modbus_t *ctx, uint8_t *req, + uint8_t *rsp, int rsp_length) +{ + int rc; + int rsp_length_computed; + const int offset = ctx->backend->header_length; + const int function = rsp[offset]; + + if (ctx->backend->pre_check_confirmation) { + rc = ctx->backend->pre_check_confirmation(ctx, req, rsp, rsp_length); + if (rc == -1) { + if (ctx->error_recovery & MODBUS_ERROR_RECOVERY_PROTOCOL) { + _sleep_response_timeout(ctx); + modbus_flush(ctx); + } + return -1; + } + } + + rsp_length_computed = compute_response_length_from_request(ctx, req); + + /* Exception code */ + if (function >= 0x80) { + if (rsp_length == (offset + 2 + (int)ctx->backend->checksum_length) && + req[offset] == (rsp[offset] - 0x80)) { + /* Valid exception code received */ + + int exception_code = rsp[offset + 1]; + if (exception_code < MODBUS_EXCEPTION_MAX) { + errno = MODBUS_ENOBASE + exception_code; + } else { + errno = EMBBADEXC; + } + _error_print(ctx, NULL); + return -1; + } else { + errno = EMBBADEXC; + _error_print(ctx, NULL); + return -1; + } + } + + /* Check length */ + if ((rsp_length == rsp_length_computed || + rsp_length_computed == MSG_LENGTH_UNDEFINED) && + function < 0x80) { + int req_nb_value; + int rsp_nb_value; + + /* Check function code */ + if (function != req[offset]) { + if (ctx->debug) { + fprintf(stderr, + "Received function not corresponding to the request (0x%X != 0x%X)\n", + function, req[offset]); + } + if (ctx->error_recovery & MODBUS_ERROR_RECOVERY_PROTOCOL) { + _sleep_response_timeout(ctx); + modbus_flush(ctx); + } + errno = EMBBADDATA; + return -1; + } + + /* Check the number of values is corresponding to the request */ + switch (function) { + case MODBUS_FC_READ_COILS: + case MODBUS_FC_READ_DISCRETE_INPUTS: + /* Read functions, 8 values in a byte (nb + * of values in the request and byte count in + * the response. */ + req_nb_value = (req[offset + 3] << 8) + req[offset + 4]; + req_nb_value = (req_nb_value / 8) + ((req_nb_value % 8) ? 1 : 0); + rsp_nb_value = rsp[offset + 1]; + break; + case MODBUS_FC_WRITE_AND_READ_REGISTERS: + case MODBUS_FC_READ_HOLDING_REGISTERS: + case MODBUS_FC_READ_INPUT_REGISTERS: + /* Read functions 1 value = 2 bytes */ + req_nb_value = (req[offset + 3] << 8) + req[offset + 4]; + rsp_nb_value = (rsp[offset + 1] / 2); + break; + case MODBUS_FC_WRITE_MULTIPLE_COILS: + case MODBUS_FC_WRITE_MULTIPLE_REGISTERS: + /* N Write functions */ + req_nb_value = (req[offset + 3] << 8) + req[offset + 4]; + rsp_nb_value = (rsp[offset + 3] << 8) | rsp[offset + 4]; + break; + case MODBUS_FC_REPORT_SLAVE_ID: + /* Report slave ID (bytes received) */ + req_nb_value = rsp_nb_value = rsp[offset + 1]; + break; + default: + /* 1 Write functions & others */ + req_nb_value = rsp_nb_value = 1; + } + + if (req_nb_value == rsp_nb_value) { + rc = rsp_nb_value; + } else { + if (ctx->debug) { + fprintf(stderr, + "Quantity not corresponding to the request (%d != %d)\n", + rsp_nb_value, req_nb_value); + } + + if (ctx->error_recovery & MODBUS_ERROR_RECOVERY_PROTOCOL) { + _sleep_response_timeout(ctx); + modbus_flush(ctx); + } + + errno = EMBBADDATA; + rc = -1; + } + } else { + if (ctx->debug) { + fprintf(stderr, + "Message length not corresponding to the computed length (%d != %d)\n", + rsp_length, rsp_length_computed); + } + if (ctx->error_recovery & MODBUS_ERROR_RECOVERY_PROTOCOL) { + _sleep_response_timeout(ctx); + modbus_flush(ctx); + } + errno = EMBBADDATA; + rc = -1; + } + + return rc; +} + +static int response_io_status(uint8_t *tab_io_status, + int address, int nb, + uint8_t *rsp, int offset) +{ + int shift = 0; + /* Instead of byte (not allowed in Win32) */ + int one_byte = 0; + int i; + + for (i = address; i < address + nb; i++) { + one_byte |= tab_io_status[i] << shift; + if (shift == 7) { + /* Byte is full */ + rsp[offset++] = one_byte; + one_byte = shift = 0; + } else { + shift++; + } + } + + if (shift != 0) + rsp[offset++] = one_byte; + + return offset; +} + +/* Build the exception response */ +static int response_exception(modbus_t *ctx, sft_t *sft, + int exception_code, uint8_t *rsp, + unsigned int to_flush, + const char* template, ...) +{ + int rsp_length; + + /* Print debug message */ + if (ctx->debug) { + va_list ap; + + va_start(ap, template); + vfprintf(stderr, template, ap); + va_end(ap); + } + + /* Flush if required */ + if (to_flush) { + _sleep_response_timeout(ctx); + modbus_flush(ctx); + } + + /* Build exception response */ + sft->function = sft->function + 0x80; + rsp_length = ctx->backend->build_response_basis(sft, rsp); + rsp[rsp_length++] = exception_code; + + return rsp_length; +} + +/* Send a response to the received request. + Analyses the request and constructs a response. + + If an error occurs, this function construct the response + accordingly. +*/ +int modbus_reply(modbus_t *ctx, const uint8_t *req, + int req_length, modbus_mapping_t *mb_mapping) +{ + int offset; + int slave; + int function; + uint16_t address; + uint8_t rsp[MAX_MESSAGE_LENGTH]; + int rsp_length = 0; + sft_t sft; + + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + offset = ctx->backend->header_length; + slave = req[offset - 1]; + function = req[offset]; + address = (req[offset + 1] << 8) + req[offset + 2]; + + sft.slave = slave; + sft.function = function; + sft.t_id = ctx->backend->prepare_response_tid(req, &req_length); + + /* Data are flushed on illegal number of values errors. */ + switch (function) { + case MODBUS_FC_READ_COILS: + case MODBUS_FC_READ_DISCRETE_INPUTS: { + unsigned int is_input = (function == MODBUS_FC_READ_DISCRETE_INPUTS); + int start_bits = is_input ? mb_mapping->start_input_bits : mb_mapping->start_bits; + int nb_bits = is_input ? mb_mapping->nb_input_bits : mb_mapping->nb_bits; + uint8_t *tab_bits = is_input ? mb_mapping->tab_input_bits : mb_mapping->tab_bits; + const char * const name = is_input ? "read_input_bits" : "read_bits"; + int nb = (req[offset + 3] << 8) + req[offset + 4]; + /* The mapping can be shifted to reduce memory consumption and it + doesn't always start at address zero. */ + int mapping_address = address - start_bits; + + if (nb < 1 || MODBUS_MAX_READ_BITS < nb) { + rsp_length = response_exception( + ctx, &sft, MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE, rsp, TRUE, + "Illegal nb of values %d in %s (max %d)\n", + nb, name, MODBUS_MAX_READ_BITS); + } else if (mapping_address < 0 || (mapping_address + nb) > nb_bits) { + rsp_length = response_exception( + ctx, &sft, + MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, rsp, FALSE, + "Illegal data address 0x%0X in %s\n", + mapping_address < 0 ? address : address + nb, name); + } else { + rsp_length = ctx->backend->build_response_basis(&sft, rsp); + rsp[rsp_length++] = (nb / 8) + ((nb % 8) ? 1 : 0); + rsp_length = response_io_status(tab_bits, mapping_address, nb, + rsp, rsp_length); + } + } + break; + case MODBUS_FC_READ_HOLDING_REGISTERS: + case MODBUS_FC_READ_INPUT_REGISTERS: { + unsigned int is_input = (function == MODBUS_FC_READ_INPUT_REGISTERS); + int start_registers = is_input ? mb_mapping->start_input_registers : mb_mapping->start_registers; + int nb_registers = is_input ? mb_mapping->nb_input_registers : mb_mapping->nb_registers; + uint16_t *tab_registers = is_input ? mb_mapping->tab_input_registers : mb_mapping->tab_registers; + const char * const name = is_input ? "read_input_registers" : "read_registers"; + int nb = (req[offset + 3] << 8) + req[offset + 4]; + /* The mapping can be shifted to reduce memory consumption and it + doesn't always start at address zero. */ + int mapping_address = address - start_registers; + + if (nb < 1 || MODBUS_MAX_READ_REGISTERS < nb) { + rsp_length = response_exception( + ctx, &sft, MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE, rsp, TRUE, + "Illegal nb of values %d in %s (max %d)\n", + nb, name, MODBUS_MAX_READ_REGISTERS); + } else if (mapping_address < 0 || (mapping_address + nb) > nb_registers) { + rsp_length = response_exception( + ctx, &sft, MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, rsp, FALSE, + "Illegal data address 0x%0X in %s\n", + mapping_address < 0 ? address : address + nb, name); + } else { + int i; + + rsp_length = ctx->backend->build_response_basis(&sft, rsp); + rsp[rsp_length++] = nb << 1; + for (i = mapping_address; i < mapping_address + nb; i++) { + rsp[rsp_length++] = tab_registers[i] >> 8; + rsp[rsp_length++] = tab_registers[i] & 0xFF; + } + } + } + break; + case MODBUS_FC_WRITE_SINGLE_COIL: { + int mapping_address = address - mb_mapping->start_bits; + + if (mapping_address < 0 || mapping_address >= mb_mapping->nb_bits) { + rsp_length = response_exception( + ctx, &sft, MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, rsp, FALSE, + "Illegal data address 0x%0X in write_bit\n", + address); + } else { + int data = (req[offset + 3] << 8) + req[offset + 4]; + + if (data == 0xFF00 || data == 0x0) { + mb_mapping->tab_bits[mapping_address] = data ? ON : OFF; + memcpy(rsp, req, req_length); + rsp_length = req_length; + } else { + rsp_length = response_exception( + ctx, &sft, + MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE, rsp, FALSE, + "Illegal data value 0x%0X in write_bit request at address %0X\n", + data, address); + } + } + } + break; + case MODBUS_FC_WRITE_SINGLE_REGISTER: { + int mapping_address = address - mb_mapping->start_registers; + + if (mapping_address < 0 || mapping_address >= mb_mapping->nb_registers) { + rsp_length = response_exception( + ctx, &sft, + MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, rsp, FALSE, + "Illegal data address 0x%0X in write_register\n", + address); + } else { + int data = (req[offset + 3] << 8) + req[offset + 4]; + + mb_mapping->tab_registers[mapping_address] = data; + memcpy(rsp, req, req_length); + rsp_length = req_length; + } + } + break; + case MODBUS_FC_WRITE_MULTIPLE_COILS: { + int nb = (req[offset + 3] << 8) + req[offset + 4]; + int nb_bits = req[offset + 5]; + int mapping_address = address - mb_mapping->start_bits; + + if (nb < 1 || MODBUS_MAX_WRITE_BITS < nb || nb_bits * 8 < nb) { + /* May be the indication has been truncated on reading because of + * invalid address (eg. nb is 0 but the request contains values to + * write) so it's necessary to flush. */ + rsp_length = response_exception( + ctx, &sft, MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE, rsp, TRUE, + "Illegal number of values %d in write_bits (max %d)\n", + nb, MODBUS_MAX_WRITE_BITS); + } else if (mapping_address < 0 || + (mapping_address + nb) > mb_mapping->nb_bits) { + rsp_length = response_exception( + ctx, &sft, + MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, rsp, FALSE, + "Illegal data address 0x%0X in write_bits\n", + mapping_address < 0 ? address : address + nb); + } else { + /* 6 = byte count */ + modbus_set_bits_from_bytes(mb_mapping->tab_bits, mapping_address, nb, + &req[offset + 6]); + + rsp_length = ctx->backend->build_response_basis(&sft, rsp); + /* 4 to copy the bit address (2) and the quantity of bits */ + memcpy(rsp + rsp_length, req + rsp_length, 4); + rsp_length += 4; + } + } + break; + case MODBUS_FC_WRITE_MULTIPLE_REGISTERS: { + int nb = (req[offset + 3] << 8) + req[offset + 4]; + int nb_bytes = req[offset + 5]; + int mapping_address = address - mb_mapping->start_registers; + + if (nb < 1 || MODBUS_MAX_WRITE_REGISTERS < nb || nb_bytes != nb * 2) { + rsp_length = response_exception( + ctx, &sft, MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE, rsp, TRUE, + "Illegal number of values %d in write_registers (max %d)\n", + nb, MODBUS_MAX_WRITE_REGISTERS); + } else if (mapping_address < 0 || + (mapping_address + nb) > mb_mapping->nb_registers) { + rsp_length = response_exception( + ctx, &sft, MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, rsp, FALSE, + "Illegal data address 0x%0X in write_registers\n", + mapping_address < 0 ? address : address + nb); + } else { + int i, j; + for (i = mapping_address, j = 6; i < mapping_address + nb; i++, j += 2) { + /* 6 and 7 = first value */ + mb_mapping->tab_registers[i] = + (req[offset + j] << 8) + req[offset + j + 1]; + } + + rsp_length = ctx->backend->build_response_basis(&sft, rsp); + /* 4 to copy the address (2) and the no. of registers */ + memcpy(rsp + rsp_length, req + rsp_length, 4); + rsp_length += 4; + } + } + break; + case MODBUS_FC_REPORT_SLAVE_ID: { + int str_len; + int byte_count_pos; + + rsp_length = ctx->backend->build_response_basis(&sft, rsp); + /* Skip byte count for now */ + byte_count_pos = rsp_length++; + rsp[rsp_length++] = _REPORT_SLAVE_ID; + /* Run indicator status to ON */ + rsp[rsp_length++] = 0xFF; + /* LMB + length of LIBMODBUS_VERSION_STRING */ + str_len = 3 + strlen(LIBMODBUS_VERSION_STRING); + memcpy(rsp + rsp_length, "LMB" LIBMODBUS_VERSION_STRING, str_len); + rsp_length += str_len; + rsp[byte_count_pos] = rsp_length - byte_count_pos - 1; + } + break; + case MODBUS_FC_READ_EXCEPTION_STATUS: + if (ctx->debug) { + fprintf(stderr, "FIXME Not implemented\n"); + } + errno = ENOPROTOOPT; + return -1; + break; + case MODBUS_FC_MASK_WRITE_REGISTER: { + int mapping_address = address - mb_mapping->start_registers; + + if (mapping_address < 0 || mapping_address >= mb_mapping->nb_registers) { + rsp_length = response_exception( + ctx, &sft, MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, rsp, FALSE, + "Illegal data address 0x%0X in write_register\n", + address); + } else { + uint16_t data = mb_mapping->tab_registers[mapping_address]; + uint16_t and = (req[offset + 3] << 8) + req[offset + 4]; + uint16_t or = (req[offset + 5] << 8) + req[offset + 6]; + + data = (data & and) | (or & (~and)); + mb_mapping->tab_registers[mapping_address] = data; + memcpy(rsp, req, req_length); + rsp_length = req_length; + } + } + break; + case MODBUS_FC_WRITE_AND_READ_REGISTERS: { + int nb = (req[offset + 3] << 8) + req[offset + 4]; + uint16_t address_write = (req[offset + 5] << 8) + req[offset + 6]; + int nb_write = (req[offset + 7] << 8) + req[offset + 8]; + int nb_write_bytes = req[offset + 9]; + int mapping_address = address - mb_mapping->start_registers; + int mapping_address_write = address_write - mb_mapping->start_registers; + + if (nb_write < 1 || MODBUS_MAX_WR_WRITE_REGISTERS < nb_write || + nb < 1 || MODBUS_MAX_WR_READ_REGISTERS < nb || + nb_write_bytes != nb_write * 2) { + rsp_length = response_exception( + ctx, &sft, MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE, rsp, TRUE, + "Illegal nb of values (W%d, R%d) in write_and_read_registers (max W%d, R%d)\n", + nb_write, nb, MODBUS_MAX_WR_WRITE_REGISTERS, MODBUS_MAX_WR_READ_REGISTERS); + } else if (mapping_address < 0 || + (mapping_address + nb) > mb_mapping->nb_registers || + mapping_address < 0 || + (mapping_address_write + nb_write) > mb_mapping->nb_registers) { + rsp_length = response_exception( + ctx, &sft, MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, rsp, FALSE, + "Illegal data read address 0x%0X or write address 0x%0X write_and_read_registers\n", + mapping_address < 0 ? address : address + nb, + mapping_address_write < 0 ? address_write : address_write + nb_write); + } else { + int i, j; + rsp_length = ctx->backend->build_response_basis(&sft, rsp); + rsp[rsp_length++] = nb << 1; + + /* Write first. + 10 and 11 are the offset of the first values to write */ + for (i = mapping_address_write, j = 10; + i < mapping_address_write + nb_write; i++, j += 2) { + mb_mapping->tab_registers[i] = + (req[offset + j] << 8) + req[offset + j + 1]; + } + + /* and read the data for the response */ + for (i = mapping_address; i < mapping_address + nb; i++) { + rsp[rsp_length++] = mb_mapping->tab_registers[i] >> 8; + rsp[rsp_length++] = mb_mapping->tab_registers[i] & 0xFF; + } + } + } + break; + + default: + rsp_length = response_exception( + ctx, &sft, MODBUS_EXCEPTION_ILLEGAL_FUNCTION, rsp, TRUE, + "Unknown Modbus function code: 0x%0X\n", function); + break; + } + + /* Suppress any responses when the request was a broadcast */ + return (ctx->backend->backend_type == _MODBUS_BACKEND_TYPE_RTU && + slave == MODBUS_BROADCAST_ADDRESS) ? 0 : send_msg(ctx, rsp, rsp_length); +} + +int modbus_reply_exception(modbus_t *ctx, const uint8_t *req, + unsigned int exception_code) +{ + int offset; + int slave; + int function; + uint8_t rsp[MAX_MESSAGE_LENGTH]; + int rsp_length; + int dummy_length = 99; + sft_t sft; + + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + offset = ctx->backend->header_length; + slave = req[offset - 1]; + function = req[offset]; + + sft.slave = slave; + sft.function = function + 0x80; + sft.t_id = ctx->backend->prepare_response_tid(req, &dummy_length); + rsp_length = ctx->backend->build_response_basis(&sft, rsp); + + /* Positive exception code */ + if (exception_code < MODBUS_EXCEPTION_MAX) { + rsp[rsp_length++] = exception_code; + return send_msg(ctx, rsp, rsp_length); + } else { + errno = EINVAL; + return -1; + } +} + +/* Reads IO status */ +static int read_io_status(modbus_t *ctx, int function, + int addr, int nb, uint8_t *dest) +{ + int rc; + int req_length; + + uint8_t req[_MIN_REQ_LENGTH]; + uint8_t rsp[MAX_MESSAGE_LENGTH]; + + req_length = ctx->backend->build_request_basis(ctx, function, addr, nb, req); + + rc = send_msg(ctx, req, req_length); + if (rc > 0) { + int i, temp, bit; + int pos = 0; + int offset; + int offset_end; + + rc = _modbus_receive_msg(ctx, rsp, MSG_CONFIRMATION); + if (rc == -1) + return -1; + + rc = check_confirmation(ctx, req, rsp, rc); + if (rc == -1) + return -1; + + offset = ctx->backend->header_length + 2; + offset_end = offset + rc; + for (i = offset; i < offset_end; i++) { + /* Shift reg hi_byte to temp */ + temp = rsp[i]; + + for (bit = 0x01; (bit & 0xff) && (pos < nb);) { + dest[pos++] = (temp & bit) ? TRUE : FALSE; + bit = bit << 1; + } + + } + } + + return rc; +} + +/* Reads the boolean status of bits and sets the array elements + in the destination to TRUE or FALSE (single bits). */ +int modbus_read_bits(modbus_t *ctx, int addr, int nb, uint8_t *dest) +{ + int rc; + + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + if (nb > MODBUS_MAX_READ_BITS) { + if (ctx->debug) { + fprintf(stderr, + "ERROR Too many bits requested (%d > %d)\n", + nb, MODBUS_MAX_READ_BITS); + } + errno = EMBMDATA; + return -1; + } + + rc = read_io_status(ctx, MODBUS_FC_READ_COILS, addr, nb, dest); + + if (rc == -1) + return -1; + else + return nb; +} + + +/* Same as modbus_read_bits but reads the remote device input table */ +int modbus_read_input_bits(modbus_t *ctx, int addr, int nb, uint8_t *dest) +{ + int rc; + + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + if (nb > MODBUS_MAX_READ_BITS) { + if (ctx->debug) { + fprintf(stderr, + "ERROR Too many discrete inputs requested (%d > %d)\n", + nb, MODBUS_MAX_READ_BITS); + } + errno = EMBMDATA; + return -1; + } + + rc = read_io_status(ctx, MODBUS_FC_READ_DISCRETE_INPUTS, addr, nb, dest); + + if (rc == -1) + return -1; + else + return nb; +} + +/* Reads the data from a remove device and put that data into an array */ +static int read_registers(modbus_t *ctx, int function, int addr, int nb, + uint16_t *dest) +{ + int rc; + int req_length; + uint8_t req[_MIN_REQ_LENGTH]; + uint8_t rsp[MAX_MESSAGE_LENGTH]; + + if (nb > MODBUS_MAX_READ_REGISTERS) { + if (ctx->debug) { + fprintf(stderr, + "ERROR Too many registers requested (%d > %d)\n", + nb, MODBUS_MAX_READ_REGISTERS); + } + errno = EMBMDATA; + return -1; + } + + req_length = ctx->backend->build_request_basis(ctx, function, addr, nb, req); + + rc = send_msg(ctx, req, req_length); + if (rc > 0) { + int offset; + int i; + + rc = _modbus_receive_msg(ctx, rsp, MSG_CONFIRMATION); + if (rc == -1) + return -1; + + rc = check_confirmation(ctx, req, rsp, rc); + if (rc == -1) + return -1; + + offset = ctx->backend->header_length; + + for (i = 0; i < rc; i++) { + /* shift reg hi_byte to temp OR with lo_byte */ + dest[i] = (rsp[offset + 2 + (i << 1)] << 8) | + rsp[offset + 3 + (i << 1)]; + } + } + + return rc; +} + +/* Reads the holding registers of remote device and put the data into an + array */ +int modbus_read_registers(modbus_t *ctx, int addr, int nb, uint16_t *dest) +{ + int status; + + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + if (nb > MODBUS_MAX_READ_REGISTERS) { + if (ctx->debug) { + fprintf(stderr, + "ERROR Too many registers requested (%d > %d)\n", + nb, MODBUS_MAX_READ_REGISTERS); + } + errno = EMBMDATA; + return -1; + } + + status = read_registers(ctx, MODBUS_FC_READ_HOLDING_REGISTERS, + addr, nb, dest); + return status; +} + +/* Reads the input registers of remote device and put the data into an array */ +int modbus_read_input_registers(modbus_t *ctx, int addr, int nb, + uint16_t *dest) +{ + int status; + + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + if (nb > MODBUS_MAX_READ_REGISTERS) { + fprintf(stderr, + "ERROR Too many input registers requested (%d > %d)\n", + nb, MODBUS_MAX_READ_REGISTERS); + errno = EMBMDATA; + return -1; + } + + status = read_registers(ctx, MODBUS_FC_READ_INPUT_REGISTERS, + addr, nb, dest); + + return status; +} + +/* Write a value to the specified register of the remote device. + Used by write_bit and write_register */ +static int write_single(modbus_t *ctx, int function, int addr, const uint16_t value) +{ + int rc; + int req_length; + uint8_t req[_MIN_REQ_LENGTH]; + + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + req_length = ctx->backend->build_request_basis(ctx, function, addr, (int) value, req); + + rc = send_msg(ctx, req, req_length); + if (rc > 0) { + /* Used by write_bit and write_register */ + uint8_t rsp[MAX_MESSAGE_LENGTH]; + + rc = _modbus_receive_msg(ctx, rsp, MSG_CONFIRMATION); + if (rc == -1) + return -1; + + rc = check_confirmation(ctx, req, rsp, rc); + } + + return rc; +} + +/* Turns ON or OFF a single bit of the remote device */ +int modbus_write_bit(modbus_t *ctx, int addr, int status) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + return write_single(ctx, MODBUS_FC_WRITE_SINGLE_COIL, addr, + status ? 0xFF00 : 0); +} + +/* Writes a value in one register of the remote device */ +int modbus_write_register(modbus_t *ctx, int addr, const uint16_t value) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + return write_single(ctx, MODBUS_FC_WRITE_SINGLE_REGISTER, addr, value); +} + +/* Write the bits of the array in the remote device */ +int modbus_write_bits(modbus_t *ctx, int addr, int nb, const uint8_t *src) +{ + int rc; + int i; + int byte_count; + int req_length; + int bit_check = 0; + int pos = 0; + uint8_t req[MAX_MESSAGE_LENGTH]; + + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + if (nb > MODBUS_MAX_WRITE_BITS) { + if (ctx->debug) { + fprintf(stderr, "ERROR Writing too many bits (%d > %d)\n", + nb, MODBUS_MAX_WRITE_BITS); + } + errno = EMBMDATA; + return -1; + } + + req_length = ctx->backend->build_request_basis(ctx, + MODBUS_FC_WRITE_MULTIPLE_COILS, + addr, nb, req); + byte_count = (nb / 8) + ((nb % 8) ? 1 : 0); + req[req_length++] = byte_count; + + for (i = 0; i < byte_count; i++) { + int bit; + + bit = 0x01; + req[req_length] = 0; + + while ((bit & 0xFF) && (bit_check++ < nb)) { + if (src[pos++]) + req[req_length] |= bit; + else + req[req_length] &=~ bit; + + bit = bit << 1; + } + req_length++; + } + + rc = send_msg(ctx, req, req_length); + if (rc > 0) { + uint8_t rsp[MAX_MESSAGE_LENGTH]; + + rc = _modbus_receive_msg(ctx, rsp, MSG_CONFIRMATION); + if (rc == -1) + return -1; + + rc = check_confirmation(ctx, req, rsp, rc); + } + + + return rc; +} + +/* Write the values from the array to the registers of the remote device */ +int modbus_write_registers(modbus_t *ctx, int addr, int nb, const uint16_t *src) +{ + int rc; + int i; + int req_length; + int byte_count; + uint8_t req[MAX_MESSAGE_LENGTH]; + + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + if (nb > MODBUS_MAX_WRITE_REGISTERS) { + if (ctx->debug) { + fprintf(stderr, + "ERROR Trying to write to too many registers (%d > %d)\n", + nb, MODBUS_MAX_WRITE_REGISTERS); + } + errno = EMBMDATA; + return -1; + } + + req_length = ctx->backend->build_request_basis(ctx, + MODBUS_FC_WRITE_MULTIPLE_REGISTERS, + addr, nb, req); + byte_count = nb * 2; + req[req_length++] = byte_count; + + for (i = 0; i < nb; i++) { + req[req_length++] = src[i] >> 8; + req[req_length++] = src[i] & 0x00FF; + } + + rc = send_msg(ctx, req, req_length); + if (rc > 0) { + uint8_t rsp[MAX_MESSAGE_LENGTH]; + + rc = _modbus_receive_msg(ctx, rsp, MSG_CONFIRMATION); + if (rc == -1) + return -1; + + rc = check_confirmation(ctx, req, rsp, rc); + } + + return rc; +} + +int modbus_mask_write_register(modbus_t *ctx, int addr, uint16_t and_mask, uint16_t or_mask) +{ + int rc; + int req_length; + /* The request length can not exceed _MIN_REQ_LENGTH - 2 and 4 bytes to + * store the masks. The ugly substraction is there to remove the 'nb' value + * (2 bytes) which is not used. */ + uint8_t req[_MIN_REQ_LENGTH + 2]; + + req_length = ctx->backend->build_request_basis(ctx, + MODBUS_FC_MASK_WRITE_REGISTER, + addr, 0, req); + + /* HACKISH, count is not used */ + req_length -= 2; + + req[req_length++] = and_mask >> 8; + req[req_length++] = and_mask & 0x00ff; + req[req_length++] = or_mask >> 8; + req[req_length++] = or_mask & 0x00ff; + + rc = send_msg(ctx, req, req_length); + if (rc > 0) { + /* Used by write_bit and write_register */ + uint8_t rsp[MAX_MESSAGE_LENGTH]; + + rc = _modbus_receive_msg(ctx, rsp, MSG_CONFIRMATION); + if (rc == -1) + return -1; + + rc = check_confirmation(ctx, req, rsp, rc); + } + + return rc; +} + +/* Write multiple registers from src array to remote device and read multiple + registers from remote device to dest array. */ +int modbus_write_and_read_registers(modbus_t *ctx, + int write_addr, int write_nb, + const uint16_t *src, + int read_addr, int read_nb, + uint16_t *dest) + +{ + int rc; + int req_length; + int i; + int byte_count; + uint8_t req[MAX_MESSAGE_LENGTH]; + uint8_t rsp[MAX_MESSAGE_LENGTH]; + + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + if (write_nb > MODBUS_MAX_WR_WRITE_REGISTERS) { + if (ctx->debug) { + fprintf(stderr, + "ERROR Too many registers to write (%d > %d)\n", + write_nb, MODBUS_MAX_WR_WRITE_REGISTERS); + } + errno = EMBMDATA; + return -1; + } + + if (read_nb > MODBUS_MAX_WR_READ_REGISTERS) { + if (ctx->debug) { + fprintf(stderr, + "ERROR Too many registers requested (%d > %d)\n", + read_nb, MODBUS_MAX_WR_READ_REGISTERS); + } + errno = EMBMDATA; + return -1; + } + req_length = ctx->backend->build_request_basis(ctx, + MODBUS_FC_WRITE_AND_READ_REGISTERS, + read_addr, read_nb, req); + + req[req_length++] = write_addr >> 8; + req[req_length++] = write_addr & 0x00ff; + req[req_length++] = write_nb >> 8; + req[req_length++] = write_nb & 0x00ff; + byte_count = write_nb * 2; + req[req_length++] = byte_count; + + for (i = 0; i < write_nb; i++) { + req[req_length++] = src[i] >> 8; + req[req_length++] = src[i] & 0x00FF; + } + + rc = send_msg(ctx, req, req_length); + if (rc > 0) { + int offset; + + rc = _modbus_receive_msg(ctx, rsp, MSG_CONFIRMATION); + if (rc == -1) + return -1; + + rc = check_confirmation(ctx, req, rsp, rc); + if (rc == -1) + return -1; + + offset = ctx->backend->header_length; + for (i = 0; i < rc; i++) { + /* shift reg hi_byte to temp OR with lo_byte */ + dest[i] = (rsp[offset + 2 + (i << 1)] << 8) | + rsp[offset + 3 + (i << 1)]; + } + } + + return rc; +} + +/* Send a request to get the slave ID of the device (only available in serial + communication). */ +int modbus_report_slave_id(modbus_t *ctx, int max_dest, uint8_t *dest) +{ + int rc; + int req_length; + uint8_t req[_MIN_REQ_LENGTH]; + + if (ctx == NULL || max_dest <= 0) { + errno = EINVAL; + return -1; + } + + req_length = ctx->backend->build_request_basis(ctx, MODBUS_FC_REPORT_SLAVE_ID, + 0, 0, req); + + /* HACKISH, addr and count are not used */ + req_length -= 4; + + rc = send_msg(ctx, req, req_length); + if (rc > 0) { + int i; + int offset; + uint8_t rsp[MAX_MESSAGE_LENGTH]; + + rc = _modbus_receive_msg(ctx, rsp, MSG_CONFIRMATION); + if (rc == -1) + return -1; + + rc = check_confirmation(ctx, req, rsp, rc); + if (rc == -1) + return -1; + + offset = ctx->backend->header_length + 2; + + /* Byte count, slave id, run indicator status and + additional data. Truncate copy to max_dest. */ + for (i=0; i < rc && i < max_dest; i++) { + dest[i] = rsp[offset + i]; + } + } + + return rc; +} + +void _modbus_init_common(modbus_t *ctx) +{ + /* Slave and socket are initialized to -1 */ + ctx->slave = -1; + ctx->s = -1; + + ctx->debug = FALSE; + ctx->error_recovery = MODBUS_ERROR_RECOVERY_NONE; + + ctx->response_timeout.tv_sec = 0; + ctx->response_timeout.tv_usec = _RESPONSE_TIMEOUT; + + ctx->byte_timeout.tv_sec = 0; + ctx->byte_timeout.tv_usec = _BYTE_TIMEOUT; + + ctx->indication_timeout.tv_sec = 0; + ctx->indication_timeout.tv_usec = 0; +} + +/* Define the slave number */ +int modbus_set_slave(modbus_t *ctx, int slave) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + return ctx->backend->set_slave(ctx, slave); +} + +int modbus_get_slave(modbus_t *ctx) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + return ctx->slave; +} + +int modbus_set_error_recovery(modbus_t *ctx, + modbus_error_recovery_mode error_recovery) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + /* The type of modbus_error_recovery_mode is unsigned enum */ + ctx->error_recovery = (uint8_t) error_recovery; + return 0; +} + +int modbus_set_socket(modbus_t *ctx, int s) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + ctx->s = s; + return 0; +} + +int modbus_get_socket(modbus_t *ctx) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + return ctx->s; +} + +/* Get the timeout interval used to wait for a response */ +int modbus_get_response_timeout(modbus_t *ctx, uint32_t *to_sec, uint32_t *to_usec) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + *to_sec = ctx->response_timeout.tv_sec; + *to_usec = ctx->response_timeout.tv_usec; + return 0; +} + +int modbus_set_response_timeout(modbus_t *ctx, uint32_t to_sec, uint32_t to_usec) +{ + if (ctx == NULL || + (to_sec == 0 && to_usec == 0) || to_usec > 999999) { + errno = EINVAL; + return -1; + } + + ctx->response_timeout.tv_sec = to_sec; + ctx->response_timeout.tv_usec = to_usec; + return 0; +} + +/* Get the timeout interval between two consecutive bytes of a message */ +int modbus_get_byte_timeout(modbus_t *ctx, uint32_t *to_sec, uint32_t *to_usec) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + *to_sec = ctx->byte_timeout.tv_sec; + *to_usec = ctx->byte_timeout.tv_usec; + return 0; +} + +int modbus_set_byte_timeout(modbus_t *ctx, uint32_t to_sec, uint32_t to_usec) +{ + /* Byte timeout can be disabled when both values are zero */ + if (ctx == NULL || to_usec > 999999) { + errno = EINVAL; + return -1; + } + + ctx->byte_timeout.tv_sec = to_sec; + ctx->byte_timeout.tv_usec = to_usec; + return 0; +} + +/* Get the timeout interval used by the server to wait for an indication from a client */ +int modbus_get_indication_timeout(modbus_t *ctx, uint32_t *to_sec, uint32_t *to_usec) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + *to_sec = ctx->indication_timeout.tv_sec; + *to_usec = ctx->indication_timeout.tv_usec; + return 0; +} + +int modbus_set_indication_timeout(modbus_t *ctx, uint32_t to_sec, uint32_t to_usec) +{ + /* Indication timeout can be disabled when both values are zero */ + if (ctx == NULL || to_usec > 999999) { + errno = EINVAL; + return -1; + } + + ctx->indication_timeout.tv_sec = to_sec; + ctx->indication_timeout.tv_usec = to_usec; + return 0; +} + +int modbus_get_header_length(modbus_t *ctx) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + return ctx->backend->header_length; +} + +int modbus_connect(modbus_t *ctx) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + return ctx->backend->connect(ctx); +} + +void modbus_close(modbus_t *ctx) +{ + if (ctx == NULL) + return; + + ctx->backend->close(ctx); +} + +void modbus_free(modbus_t *ctx) +{ + if (ctx == NULL) + return; + + ctx->backend->free(ctx); +} + +int modbus_set_debug(modbus_t *ctx, int flag) +{ + if (ctx == NULL) { + errno = EINVAL; + return -1; + } + + ctx->debug = flag; + return 0; +} + +/* Allocates 4 arrays to store bits, input bits, registers and inputs + registers. The pointers are stored in modbus_mapping structure. + + The modbus_mapping_new_start_address() function shall return the new allocated + structure if successful. Otherwise it shall return NULL and set errno to + ENOMEM. */ +modbus_mapping_t* modbus_mapping_new_start_address( + unsigned int start_bits, unsigned int nb_bits, + unsigned int start_input_bits, unsigned int nb_input_bits, + unsigned int start_registers, unsigned int nb_registers, + unsigned int start_input_registers, unsigned int nb_input_registers) +{ + modbus_mapping_t *mb_mapping; + + mb_mapping = (modbus_mapping_t *)malloc(sizeof(modbus_mapping_t)); + if (mb_mapping == NULL) { + return NULL; + } + + /* 0X */ + mb_mapping->nb_bits = nb_bits; + mb_mapping->start_bits = start_bits; + if (nb_bits == 0) { + mb_mapping->tab_bits = NULL; + } else { + /* Negative number raises a POSIX error */ + mb_mapping->tab_bits = + (uint8_t *) malloc(nb_bits * sizeof(uint8_t)); + if (mb_mapping->tab_bits == NULL) { + free(mb_mapping); + return NULL; + } + memset(mb_mapping->tab_bits, 0, nb_bits * sizeof(uint8_t)); + } + + /* 1X */ + mb_mapping->nb_input_bits = nb_input_bits; + mb_mapping->start_input_bits = start_input_bits; + if (nb_input_bits == 0) { + mb_mapping->tab_input_bits = NULL; + } else { + mb_mapping->tab_input_bits = + (uint8_t *) malloc(nb_input_bits * sizeof(uint8_t)); + if (mb_mapping->tab_input_bits == NULL) { + free(mb_mapping->tab_bits); + free(mb_mapping); + return NULL; + } + memset(mb_mapping->tab_input_bits, 0, nb_input_bits * sizeof(uint8_t)); + } + + /* 4X */ + mb_mapping->nb_registers = nb_registers; + mb_mapping->start_registers = start_registers; + if (nb_registers == 0) { + mb_mapping->tab_registers = NULL; + } else { + mb_mapping->tab_registers = + (uint16_t *) malloc(nb_registers * sizeof(uint16_t)); + if (mb_mapping->tab_registers == NULL) { + free(mb_mapping->tab_input_bits); + free(mb_mapping->tab_bits); + free(mb_mapping); + return NULL; + } + memset(mb_mapping->tab_registers, 0, nb_registers * sizeof(uint16_t)); + } + + /* 3X */ + mb_mapping->nb_input_registers = nb_input_registers; + mb_mapping->start_input_registers = start_input_registers; + if (nb_input_registers == 0) { + mb_mapping->tab_input_registers = NULL; + } else { + mb_mapping->tab_input_registers = + (uint16_t *) malloc(nb_input_registers * sizeof(uint16_t)); + if (mb_mapping->tab_input_registers == NULL) { + free(mb_mapping->tab_registers); + free(mb_mapping->tab_input_bits); + free(mb_mapping->tab_bits); + free(mb_mapping); + return NULL; + } + memset(mb_mapping->tab_input_registers, 0, + nb_input_registers * sizeof(uint16_t)); + } + + return mb_mapping; +} + +modbus_mapping_t* modbus_mapping_new(int nb_bits, int nb_input_bits, + int nb_registers, int nb_input_registers) +{ + return modbus_mapping_new_start_address( + 0, nb_bits, 0, nb_input_bits, 0, nb_registers, 0, nb_input_registers); +} + +/* Frees the 4 arrays */ +void modbus_mapping_free(modbus_mapping_t *mb_mapping) +{ + if (mb_mapping == NULL) { + return; + } + + free(mb_mapping->tab_input_registers); + free(mb_mapping->tab_registers); + free(mb_mapping->tab_input_bits); + free(mb_mapping->tab_bits); + free(mb_mapping); +} + +#ifndef HAVE_STRLCPY +/* + * Function strlcpy was originally developed by + * Todd C. Miller to simplify writing secure code. + * See ftp://ftp.openbsd.org/pub/OpenBSD/src/lib/libc/string/strlcpy.3 + * for more information. + * + * Thank you Ulrich Drepper... not! + * + * Copy src to string dest of size dest_size. At most dest_size-1 characters + * will be copied. Always NUL terminates (unless dest_size == 0). Returns + * strlen(src); if retval >= dest_size, truncation occurred. + */ +size_t strlcpy(char *dest, const char *src, size_t dest_size) +{ + register char *d = dest; + register const char *s = src; + register size_t n = dest_size; + + /* Copy as many bytes as will fit */ + if (n != 0 && --n != 0) { + do { + if ((*d++ = *s++) == 0) + break; + } while (--n != 0); + } + + /* Not enough room in dest, add NUL and traverse rest of src */ + if (n == 0) { + if (dest_size != 0) + *d = '\0'; /* NUL-terminate dest */ + while (*s++) + ; + } + + return (s - src - 1); /* count does not include NUL */ +} +#endif diff --git a/src/modbus.h b/src/modbus.h new file mode 100644 index 0000000..fbe20bc --- /dev/null +++ b/src/modbus.h @@ -0,0 +1,293 @@ +/* + * Copyright © 2001-2013 Stéphane Raimbault + * + * SPDX-License-Identifier: LGPL-2.1+ + */ + +#ifndef MODBUS_H +#define MODBUS_H + +/* Add this for macros that defined unix flavor */ +#if (defined(__unix__) || defined(unix)) && !defined(USG) +#include +#endif + +#ifndef _MSC_VER +#include +#else +#include "stdint.h" +#endif + +#include "modbus-version.h" + +#if defined(_MSC_VER) +# if defined(DLLBUILD) +/* define DLLBUILD when building the DLL */ +# define MODBUS_API __declspec(dllexport) +# else +# define MODBUS_API __declspec(dllimport) +# endif +#else +# define MODBUS_API +#endif + +#ifdef __cplusplus +# define MODBUS_BEGIN_DECLS extern "C" { +# define MODBUS_END_DECLS } +#else +# define MODBUS_BEGIN_DECLS +# define MODBUS_END_DECLS +#endif + +MODBUS_BEGIN_DECLS + +#ifndef FALSE +#define FALSE 0 +#endif + +#ifndef TRUE +#define TRUE 1 +#endif + +#ifndef OFF +#define OFF 0 +#endif + +#ifndef ON +#define ON 1 +#endif + +/* Modbus function codes */ +#define MODBUS_FC_READ_COILS 0x01 +#define MODBUS_FC_READ_DISCRETE_INPUTS 0x02 +#define MODBUS_FC_READ_HOLDING_REGISTERS 0x03 +#define MODBUS_FC_READ_INPUT_REGISTERS 0x04 +#define MODBUS_FC_WRITE_SINGLE_COIL 0x05 +#define MODBUS_FC_WRITE_SINGLE_REGISTER 0x06 +#define MODBUS_FC_READ_EXCEPTION_STATUS 0x07 +#define MODBUS_FC_WRITE_MULTIPLE_COILS 0x0F +#define MODBUS_FC_WRITE_MULTIPLE_REGISTERS 0x10 +#define MODBUS_FC_REPORT_SLAVE_ID 0x11 +#define MODBUS_FC_MASK_WRITE_REGISTER 0x16 +#define MODBUS_FC_WRITE_AND_READ_REGISTERS 0x17 + +#define MODBUS_BROADCAST_ADDRESS 0 + +/* Modbus_Application_Protocol_V1_1b.pdf (chapter 6 section 1 page 12) + * Quantity of Coils to read (2 bytes): 1 to 2000 (0x7D0) + * (chapter 6 section 11 page 29) + * Quantity of Coils to write (2 bytes): 1 to 1968 (0x7B0) + */ +#define MODBUS_MAX_READ_BITS 2000 +#define MODBUS_MAX_WRITE_BITS 1968 + +/* Modbus_Application_Protocol_V1_1b.pdf (chapter 6 section 3 page 15) + * Quantity of Registers to read (2 bytes): 1 to 125 (0x7D) + * (chapter 6 section 12 page 31) + * Quantity of Registers to write (2 bytes) 1 to 123 (0x7B) + * (chapter 6 section 17 page 38) + * Quantity of Registers to write in R/W registers (2 bytes) 1 to 121 (0x79) + */ +#define MODBUS_MAX_READ_REGISTERS 125 +#define MODBUS_MAX_WRITE_REGISTERS 123 +#define MODBUS_MAX_WR_WRITE_REGISTERS 121 +#define MODBUS_MAX_WR_READ_REGISTERS 125 + +/* The size of the MODBUS PDU is limited by the size constraint inherited from + * the first MODBUS implementation on Serial Line network (max. RS485 ADU = 256 + * bytes). Therefore, MODBUS PDU for serial line communication = 256 - Server + * address (1 byte) - CRC (2 bytes) = 253 bytes. + */ +#define MODBUS_MAX_PDU_LENGTH 253 + +/* Consequently: + * - RTU MODBUS ADU = 253 bytes + Server address (1 byte) + CRC (2 bytes) = 256 + * bytes. + * - TCP MODBUS ADU = 253 bytes + MBAP (7 bytes) = 260 bytes. + * so the maximum of both backend in 260 bytes. This size can used to allocate + * an array of bytes to store responses and it will be compatible with the two + * backends. + */ +#define MODBUS_MAX_ADU_LENGTH 260 + +/* Random number to avoid errno conflicts */ +#define MODBUS_ENOBASE 112345678 + +/* Protocol exceptions */ +enum { + MODBUS_EXCEPTION_ILLEGAL_FUNCTION = 0x01, + MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, + MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE, + MODBUS_EXCEPTION_SLAVE_OR_SERVER_FAILURE, + MODBUS_EXCEPTION_ACKNOWLEDGE, + MODBUS_EXCEPTION_SLAVE_OR_SERVER_BUSY, + MODBUS_EXCEPTION_NEGATIVE_ACKNOWLEDGE, + MODBUS_EXCEPTION_MEMORY_PARITY, + MODBUS_EXCEPTION_NOT_DEFINED, + MODBUS_EXCEPTION_GATEWAY_PATH, + MODBUS_EXCEPTION_GATEWAY_TARGET, + MODBUS_EXCEPTION_MAX +}; + +#define EMBXILFUN (MODBUS_ENOBASE + MODBUS_EXCEPTION_ILLEGAL_FUNCTION) +#define EMBXILADD (MODBUS_ENOBASE + MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS) +#define EMBXILVAL (MODBUS_ENOBASE + MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE) +#define EMBXSFAIL (MODBUS_ENOBASE + MODBUS_EXCEPTION_SLAVE_OR_SERVER_FAILURE) +#define EMBXACK (MODBUS_ENOBASE + MODBUS_EXCEPTION_ACKNOWLEDGE) +#define EMBXSBUSY (MODBUS_ENOBASE + MODBUS_EXCEPTION_SLAVE_OR_SERVER_BUSY) +#define EMBXNACK (MODBUS_ENOBASE + MODBUS_EXCEPTION_NEGATIVE_ACKNOWLEDGE) +#define EMBXMEMPAR (MODBUS_ENOBASE + MODBUS_EXCEPTION_MEMORY_PARITY) +#define EMBXGPATH (MODBUS_ENOBASE + MODBUS_EXCEPTION_GATEWAY_PATH) +#define EMBXGTAR (MODBUS_ENOBASE + MODBUS_EXCEPTION_GATEWAY_TARGET) + +/* Native libmodbus error codes */ +#define EMBBADCRC (EMBXGTAR + 1) +#define EMBBADDATA (EMBXGTAR + 2) +#define EMBBADEXC (EMBXGTAR + 3) +#define EMBUNKEXC (EMBXGTAR + 4) +#define EMBMDATA (EMBXGTAR + 5) +#define EMBBADSLAVE (EMBXGTAR + 6) + +extern const unsigned int libmodbus_version_major; +extern const unsigned int libmodbus_version_minor; +extern const unsigned int libmodbus_version_micro; + +typedef struct _modbus modbus_t; + +typedef struct _modbus_mapping_t { + int nb_bits; + int start_bits; + int nb_input_bits; + int start_input_bits; + int nb_input_registers; + int start_input_registers; + int nb_registers; + int start_registers; + uint8_t *tab_bits; + uint8_t *tab_input_bits; + uint16_t *tab_input_registers; + uint16_t *tab_registers; +} modbus_mapping_t; + +typedef enum +{ + MODBUS_ERROR_RECOVERY_NONE = 0, + MODBUS_ERROR_RECOVERY_LINK = (1<<1), + MODBUS_ERROR_RECOVERY_PROTOCOL = (1<<2) +} modbus_error_recovery_mode; + +MODBUS_API int modbus_set_slave(modbus_t* ctx, int slave); +MODBUS_API int modbus_get_slave(modbus_t* ctx); +MODBUS_API int modbus_set_error_recovery(modbus_t *ctx, modbus_error_recovery_mode error_recovery); +MODBUS_API int modbus_set_socket(modbus_t *ctx, int s); +MODBUS_API int modbus_get_socket(modbus_t *ctx); + +MODBUS_API int modbus_get_response_timeout(modbus_t *ctx, uint32_t *to_sec, uint32_t *to_usec); +MODBUS_API int modbus_set_response_timeout(modbus_t *ctx, uint32_t to_sec, uint32_t to_usec); + +MODBUS_API int modbus_get_byte_timeout(modbus_t *ctx, uint32_t *to_sec, uint32_t *to_usec); +MODBUS_API int modbus_set_byte_timeout(modbus_t *ctx, uint32_t to_sec, uint32_t to_usec); + +MODBUS_API int modbus_get_indication_timeout(modbus_t *ctx, uint32_t *to_sec, uint32_t *to_usec); +MODBUS_API int modbus_set_indication_timeout(modbus_t *ctx, uint32_t to_sec, uint32_t to_usec); + +MODBUS_API int modbus_get_header_length(modbus_t *ctx); + +MODBUS_API int modbus_connect(modbus_t *ctx); +MODBUS_API void modbus_close(modbus_t *ctx); + +MODBUS_API void modbus_free(modbus_t *ctx); + +MODBUS_API int modbus_flush(modbus_t *ctx); +MODBUS_API int modbus_set_debug(modbus_t *ctx, int flag); + +MODBUS_API const char *modbus_strerror(int errnum); + +MODBUS_API int modbus_read_bits(modbus_t *ctx, int addr, int nb, uint8_t *dest); +MODBUS_API int modbus_read_input_bits(modbus_t *ctx, int addr, int nb, uint8_t *dest); +MODBUS_API int modbus_read_registers(modbus_t *ctx, int addr, int nb, uint16_t *dest); +MODBUS_API int modbus_read_input_registers(modbus_t *ctx, int addr, int nb, uint16_t *dest); +MODBUS_API int modbus_write_bit(modbus_t *ctx, int coil_addr, int status); +MODBUS_API int modbus_write_register(modbus_t *ctx, int reg_addr, const uint16_t value); +MODBUS_API int modbus_write_bits(modbus_t *ctx, int addr, int nb, const uint8_t *data); +MODBUS_API int modbus_write_registers(modbus_t *ctx, int addr, int nb, const uint16_t *data); +MODBUS_API int modbus_mask_write_register(modbus_t *ctx, int addr, uint16_t and_mask, uint16_t or_mask); +MODBUS_API int modbus_write_and_read_registers(modbus_t *ctx, int write_addr, int write_nb, + const uint16_t *src, int read_addr, int read_nb, + uint16_t *dest); +MODBUS_API int modbus_report_slave_id(modbus_t *ctx, int max_dest, uint8_t *dest); + +MODBUS_API modbus_mapping_t* modbus_mapping_new_start_address( + unsigned int start_bits, unsigned int nb_bits, + unsigned int start_input_bits, unsigned int nb_input_bits, + unsigned int start_registers, unsigned int nb_registers, + unsigned int start_input_registers, unsigned int nb_input_registers); + +MODBUS_API modbus_mapping_t* modbus_mapping_new(int nb_bits, int nb_input_bits, + int nb_registers, int nb_input_registers); +MODBUS_API void modbus_mapping_free(modbus_mapping_t *mb_mapping); + +MODBUS_API int modbus_send_raw_request(modbus_t *ctx, const uint8_t *raw_req, int raw_req_length); + +MODBUS_API int modbus_receive(modbus_t *ctx, uint8_t *req); + +MODBUS_API int modbus_receive_confirmation(modbus_t *ctx, uint8_t *rsp); + +MODBUS_API int modbus_reply(modbus_t *ctx, const uint8_t *req, + int req_length, modbus_mapping_t *mb_mapping); +MODBUS_API int modbus_reply_exception(modbus_t *ctx, const uint8_t *req, + unsigned int exception_code); + +/** + * UTILS FUNCTIONS + **/ + +#define MODBUS_GET_HIGH_BYTE(data) (((data) >> 8) & 0xFF) +#define MODBUS_GET_LOW_BYTE(data) ((data) & 0xFF) +#define MODBUS_GET_INT64_FROM_INT16(tab_int16, index) \ + (((int64_t)tab_int16[(index) ] << 48) + \ + ((int64_t)tab_int16[(index) + 1] << 32) + \ + ((int64_t)tab_int16[(index) + 2] << 16) + \ + (int64_t)tab_int16[(index) + 3]) +#define MODBUS_GET_INT32_FROM_INT16(tab_int16, index) ((tab_int16[(index)] << 16) + tab_int16[(index) + 1]) +#define MODBUS_GET_INT16_FROM_INT8(tab_int8, index) ((tab_int8[(index)] << 8) + tab_int8[(index) + 1]) +#define MODBUS_SET_INT16_TO_INT8(tab_int8, index, value) \ + do { \ + tab_int8[(index)] = (value) >> 8; \ + tab_int8[(index) + 1] = (value) & 0xFF; \ + } while (0) +#define MODBUS_SET_INT32_TO_INT16(tab_int16, index, value) \ + do { \ + tab_int16[(index) ] = (value) >> 16; \ + tab_int16[(index) + 1] = (value); \ + } while (0) +#define MODBUS_SET_INT64_TO_INT16(tab_int16, index, value) \ + do { \ + tab_int16[(index) ] = (value) >> 48; \ + tab_int16[(index) + 1] = (value) >> 32; \ + tab_int16[(index) + 2] = (value) >> 16; \ + tab_int16[(index) + 3] = (value); \ + } while (0) + +MODBUS_API void modbus_set_bits_from_byte(uint8_t *dest, int idx, const uint8_t value); +MODBUS_API void modbus_set_bits_from_bytes(uint8_t *dest, int idx, unsigned int nb_bits, + const uint8_t *tab_byte); +MODBUS_API uint8_t modbus_get_byte_from_bits(const uint8_t *src, int idx, unsigned int nb_bits); +MODBUS_API float modbus_get_float(const uint16_t *src); +MODBUS_API float modbus_get_float_abcd(const uint16_t *src); +MODBUS_API float modbus_get_float_dcba(const uint16_t *src); +MODBUS_API float modbus_get_float_badc(const uint16_t *src); +MODBUS_API float modbus_get_float_cdab(const uint16_t *src); + +MODBUS_API void modbus_set_float(float f, uint16_t *dest); +MODBUS_API void modbus_set_float_abcd(float f, uint16_t *dest); +MODBUS_API void modbus_set_float_dcba(float f, uint16_t *dest); +MODBUS_API void modbus_set_float_badc(float f, uint16_t *dest); +MODBUS_API void modbus_set_float_cdab(float f, uint16_t *dest); + +#include "modbus-tcp.h" +#include "modbus-rtu.h" + +MODBUS_END_DECLS + +#endif /* MODBUS_H */ diff --git a/src/modbus.lib b/src/modbus.lib new file mode 100644 index 0000000..2490d0d Binary files /dev/null and b/src/modbus.lib differ diff --git a/thread.cpp b/thread.cpp new file mode 100644 index 0000000..83c6008 --- /dev/null +++ b/thread.cpp @@ -0,0 +1,457 @@ + +#include "thread.h" +#include +#include +#include +#include +#include + +int index = 0; +extern camera *m_camera; +extern correct *m_correct; + +extern uint8_t learning_flag; +extern Process_img * process_img; +cv::Mat mat_1; +cv::Mat mat_2; +cv::Mat img_pop; +extern int save_flag; +int m_index1; +QSemaphore usebuff(0); +QSemaphore read_to_send(0); +//unsigned char *send_buf; +char *recv_buf; + +extern uint8_t adjust_correct_flag; + +#define WHITE_IMAGE_PATH "C:/Users/USER/Desktop/wood_aduiduiduiplus/build-wooden-Desktop_Qt_5_9_5_MSVC2017_64bit-Release/white" +#define BLACK_IMAGE_PATH "C:/Users/USER/Desktop/wood_aduiduiduiplus/build-wooden-Desktop_Qt_5_9_5_MSVC2017_64bit-Release/black" +#define correct_path "D:/correct.png" +int get_height(cv::Mat img) +{ + int b_temp = 0; + float b_avg = 0.0; + int i, j; + for(i = 0; i < img.rows; i++) + { + for(j = 0; j < img.cols; j++) + { + b_temp += (int)img.at(i, j)[0]; + } + b_avg = b_temp / 4096.0f; + if(b_avg == 0) + { +// qDebug() << i; + return i; + } + b_temp = 0; + } + return -1; +} + +//采集 +void onImageDataCallback(SapXferCallbackInfo *pInfo) +{ + qDebug() << "enter to calback" ; + if(pInfo) + { + + unsigned char *pData; + int width = m_camera->m_buffer->GetWidth(); + int height = m_camera->m_buffer->GetHeight(); + qDebug() << "enter to calback: limian"; + + m_camera->m_buffer->GetAddress((void**)&pData); + cv::Mat img(height, width, CV_8UC3, pData); + img.convertTo(img, CV_32FC3); + m_camera->calibrated_img = (img - m_camera->black_mat) / (m_camera->white_mat - m_camera->black_mat + m_camera->eps); + m_camera->calibrated_img *= 255; + m_camera->calibrated_img.convertTo(m_camera->calibrated_img, CV_8UC3); + + m_camera->rgb_height = get_height(img); +// qDebug() << "rgb_height: " << rgb_height; + + if(m_camera->rgb_height < 3000 && m_camera->rgb_height > 500 && !adjust_correct_flag) + { + + m_camera->imgqueue.push(m_camera->calibrated_img); + +// m_camera->imgqueue.push(mat_2); +// emit process_img->show_img(mat_1); + // usebuff.release(); + // if(!learning_flag) + // read_to_send.release(); + } + else if(adjust_correct_flag) + { + img.convertTo(img, CV_8UC3); + mat_1 = img; + usebuff.release(); + } + else if(m_camera->rgb_height == 0 || m_camera->rgb_height == -1) + { + + m_camera->m_buffer->Clear(); + return; + } + } +} + +//校正 +void onImageCorrectCallback(SapXferCallbackInfo *pInfo) +{ + qDebug() <<"11111111222222222333333333"; + qDebug() << " onImageCorrectCallback start "; + //采集黑白帧 + if(pInfo) + { + qDebug() << "pInfo"; + if( m_camera->capture_black_flag || m_camera->capture_white_flag ) + { + qDebug() << "flag"; + + unsigned char pdata_rgb; + void* pDataAddr_rgb = &pdata_rgb; + m_camera->m_buffer->GetAddress(&pDataAddr_rgb); + cv::Mat img(4096, 3000, CV_8UC3,pDataAddr_rgb); + img.convertTo(img, CV_32FC3); + if( m_camera->capture_black_flag ) + { + qDebug() << "capture_black_flag"; + m_camera->capture_black_flag = false; + m_camera->black_mat = img; + qDebug() << "img"; + FILE* fp = fopen(BLACK_IMAGE_PATH, "wb"); + fwrite(m_camera->black_mat.data, 4096*3000*3*4, 1, fp); + fclose(fp); + qDebug() << "black frame acquisition OK!"; + } + else if( m_camera->capture_white_flag ) + { + m_camera->capture_white_flag = false; + m_camera->white_mat = img; + FILE* fp = fopen(WHITE_IMAGE_PATH, "wb"); + fwrite(m_camera->white_mat.data, 4096*3000*3*4, 1, fp); + fclose(fp); + qDebug() << " white frame acquisition OK!"; + } + } + } + + // Widget::getInstance()->set(); +} + +Process_img::Process_img(QObject *parent) : QThread(parent), m_stop(false) +{ + +} + +void Process_img::run() +{ + qDebug() << "process_imgID: " << currentThreadId(); + + while(1) + { + stop_mutex.lock(); + if(m_stop) + { + stop_mutex.unlock(); + qDebug() << "process thread quit______________________"; + return; + } + stop_mutex.unlock(); + + if(m_camera->imgqueue.size()>1) + { + + + // read_to_send.acquire(); //没有mat_2就阻塞 + + m_camera->imgqueue.pop(); + qDebug()<<"the wood image's queue size: "<imgqueue.size(); + img_pop = m_camera->imgqueue.front(); + img_pop = m_camera->calibrated_img(cv::Rect(0, 0, 4096, m_camera->rgb_height)); //4096 + + int save_count = 0; + save_count++; + + if(save_flag && save_count == 1) + { + qDebug() << "1111111111111"; + // QDateTime time = QDateTime::currentDateTime(); + // QString str = time.toString("yyyyMMddhhmmss"); + // QString filepath = SAVE_IMAGE_PATH + str + ".png"; + // qDebug() << filepath; + // cv::imwrite(filepath.toLatin1().data(), img); + + char fileName[64]; + sprintf(fileName, "D:/save_image/rgb%d.bmp", m_index1); + + m_index1++; + qDebug() << fileName; + cv::imwrite(fileName, img_pop); + save_count = 0; + + } + + emit process_img->show_img(img_pop); + usebuff.release(); + if(!learning_flag) + read_to_send.release(); + + } + +// if(!usebuff.tryAcquire()) +// continue; + + } + +} + +void Process_img::exitThread() +{ + stop_mutex.lock(); + m_stop = true; + stop_mutex.unlock(); +} + + +Adjust_para::Adjust_para(QObject *parent) : QThread(parent), is_stop(false), correct_flag(false) +{ + +} + +void Adjust_para::run() +{ + while(1) + { + stop_mutex.lock(); + if(is_stop) + { + stop_mutex.unlock(); + qDebug() << "adjust thread qiut_______________________"; + return; + } + stop_mutex.unlock(); + if(!usebuff.tryAcquire()) + continue; + + qDebug() << "234"; + + emit(send_image_debug(mat_1)); + + correct_mutex.lock(); + + qDebug() << "aabbbbbbbcccccc"; + + if(correct_flag) + { + cv::imwrite(correct_path, mat_1); + correct_flag = false; + } + correct_mutex.unlock(); + } +} + +void Adjust_para::get_correct_signal() +{ + correct_mutex.lock(); + correct_flag = true; +// qDebug() << "llllllllllll"; + correct_mutex.unlock(); +} + +void Adjust_para::exitThread() +{ + stop_mutex.lock(); + is_stop = true; + stop_mutex.unlock(); +} + + +SendThread::SendThread(QObject *parent) : QThread(parent) +{ + +} + + +void SendThread::run() +{ + bool is_timeout; + cv::Mat temp_img; + unsigned char* send_buf; + + send_server = new QTcpServer(); + send_server->listen(QHostAddress::Any, 21122); + qDebug() << "sendthread waiting connect....."; + send_server->waitForNewConnection(50000, &is_timeout); + if(is_timeout) + { + qDebug() << "sendthread time out"; + return; + } + send_socket = send_server->nextPendingConnection(); + qDebug() << "sendsocket new connection"; + + while(1) + { + if(!usebuff.tryAcquire()) + continue; + read_to_send.acquire(); + temp_img = img_pop; +// emit process_img->show_img(img_pop); + + + + send_buf = (uint8_t*)malloc(temp_img.cols * temp_img.rows * 3 + 16); + memset(send_buf, 0, temp_img.cols * temp_img.rows * 3 + 16); + + uint16_t width = temp_img.cols; + uint16_t height = temp_img.rows; + uint32_t data_len = width * height * 3 + 8; + + //协议 + send_buf[0] = 0xAA; + // 总体报文长度 + for(int i = 1; i<= 4; i++) + send_buf[i] = (uint8_t)(data_len >> 8 * (4 - i)); + // 数据和指令部分 + send_buf[5] = ' '; + send_buf[6] = ' '; + send_buf[7] = 'I'; + send_buf[8] = 'M'; + send_buf[9] = (uint8_t)(height>>8) & 0xFF; + send_buf[10] = (uint8_t)height; + send_buf[11] = (uint8_t)(width>>8) & 0xFF; + send_buf[12] = (uint8_t)width; + memcpy(send_buf + 13, temp_img.data, temp_img.cols*temp_img.rows*3+4); + // 末尾校验位、协议位 + send_buf[temp_img.cols * temp_img.rows*3 + 13] = 0xFF; + send_buf[temp_img.cols * temp_img.rows*3 + 14] = 0xFF; + send_buf[temp_img.cols * temp_img.rows*3 + 15] = 0xBB; + + send_socket->write((const char*)send_buf, (temp_img.cols * temp_img.rows * 3 + 16)*sizeof(unsigned char)); + send_socket->flush(); + + qDebug() << "====send success===="; + + + free(send_buf); + + + } + +// +} + + + +RecvThread::RecvThread(QObject *parent) : QThread(parent) +{ + +} + + +void RecvThread::run() +{ + bool is_timeout; + char buf[1100] = {0}; + int len = 0; + recv_server = new QTcpServer(); + recv_server->listen(QHostAddress::Any, 21123); + qDebug() << "recvthread waiting connect....."; + + recv_server->waitForNewConnection(50000, &is_timeout); + if(is_timeout == true) + { + qDebug() << "recvthread time out"; + return; + } + recv_socket = recv_server->nextPendingConnection(); + qDebug() << "recvthread new connection"; + while(1) + { + /*** +// memset(buf, 0, 10); +// recv_socket->waitForReadyRead(-1); //没有东西就阻塞 +// len = recv_socket->read(buf, 10); + +//// emit read_plc(); + +// if(len < 0) +// { +// qDebug() << "receive data error"; +// } +// else +// { +// qDebug() << "receive :" << len; +// FILE* fp; +// fp = fopen("C:/Users/USER/Desktop/1.txt", "a+"); +// fwrite(buf, 1, 1, fp); +// fclose(fp); +// } + +// emit send_sortingResult(buf); +***/ + memset(buf, 0, 1100);//初始化为0 + recv_socket->waitForReadyRead(-1);//阻塞 + qDebug() << "======receive success======"; + len = recv_socket->read(buf, 1100); + qDebug() << "len" << len; + char buf1[1100] = {0}; + for(int i = 0; i < 1080; i++) + { +// qDebug() << "buf" << buf[i] << i; + buf1[i] = buf[i+6]; + } + + if(len < 0) + { +// qDebug() << "receiv data error"; + } + else if(len < 10) + { +// qDebug() << "receive:" << len; + emit send_sortingResult(buf); + } + else + { + qDebug() << "KM"; + //需要把获得的buf数据发送到showpic里 + emit SendPicInfo(buf1); + } + } + + +} + +RestartThread::RestartThread(QObject *parent) : QThread(parent), restr_flag(false) +{ + +} + +void RestartThread::run() +{ + while(1) + { + restr_mutex.lock(); + if(restr_flag) + { +// restr_mutex.unlock(); + m_camera->openCamera(); + qDebug() << "aa"; + restr_flag = false; + qDebug() << "bb"; + } + msleep(1); + restr_mutex.unlock(); + msleep(1); + } +} + +void RestartThread::restr_fun() +{ + restr_mutex.lock(); + restr_flag = true; + restr_mutex.unlock(); +} diff --git a/thread.h b/thread.h new file mode 100644 index 0000000..de99da5 --- /dev/null +++ b/thread.h @@ -0,0 +1,129 @@ +#ifndef THREAD_H +#define THREAD_H + +#include +#include "opencv2/opencv.hpp" +#include +#include "SapClassBasic.h" +#include "camera.h" +#include +#include +#include "correct.h" +#include +#include + +//#define REALWIDTH 500 +//#define READHEIGHT real_height +//#define HEIGHT 500 + +class QModbusClient; +class QModbusReply; + +static int count; + +void onImageDataCallback(SapXferCallbackInfo *pInfo); +void onImageCorrectCallback(SapXferCallbackInfo *pInfo); + +class Process_img : public QThread +{ + Q_OBJECT + +private: + QMutex stop_mutex; + bool m_stop; + +protected: + void run(); + +public: + explicit Process_img(QObject *parent = nullptr); + void exitThread(); + +signals: + void show_img(cv::Mat); + +public slots: +}; + + + +class Adjust_para: public QThread +{ + Q_OBJECT + +private: + QMutex stop_mutex; + bool is_stop; + bool correct_flag; + QMutex correct_mutex; + +protected: + void run(); + +public: + explicit Adjust_para(QObject *parent = nullptr); + void exitThread(); + +signals: + void send_image_debug(cv::Mat); + + +public slots: + void get_correct_signal(); +}; + + + +class SendThread: public QThread +{ + Q_OBJECT + +protected: + void run(); + +public: + explicit SendThread(QObject *parent = NULL); + QTcpServer *send_server; + QTcpSocket *send_socket; +}; + + +class RecvThread: public QThread +{ + Q_OBJECT + +protected: + void run(); + +public: + explicit RecvThread(QObject *parent = NULL); + QTcpServer *recv_server; + QTcpSocket *recv_socket; + +public slots: + +signals: + void send_sortingResult(char*); + void SendPicInfo(char*); +// void read_plc(); +}; + +class RestartThread: public QThread +{ + Q_OBJECT + +private: + QMutex restr_mutex; + bool restr_flag; + +protected: + void run(); + +public: + explicit RestartThread(QObject *parent = NULL); + void restr_fun(); + +}; + + +#endif // THREAD_H diff --git a/widget.cpp b/widget.cpp new file mode 100644 index 0000000..8327c82 --- /dev/null +++ b/widget.cpp @@ -0,0 +1,1054 @@ +#include "widget.h" +#include "ui_widget.h" +#include +#include +#include +#include "thread.h" +#include +#include +#include +//#include +#include "src/modbus.h" + +# pragma execution_character_set("utf-8") + +#define ResultPath "D:/Log.txt" +Process_img * process_img; + +modbus_t* plc1; +camera *m_camera = nullptr; +correct *m_correct = nullptr; + +extern QSemaphore usebuff; +QSemaphore plc_signal(0); +int save_flag; //保存标志位 + +uint8_t learning_flag; +uint8_t light_flag; +uint8_t middle_flag; +uint8_t dark_flag; +int m_index; + +uint8_t adjust_exit_flag; +uint8_t adjust_correct_flag; +uint8_t restart_flag; + +int a = 0, b = 0, c = 0; + +#define SAVE_IMAGE_PATH "E:/527picture/" +#define WHITE_IMAGE_PATH "C:/Users/USER/Desktop/wood_aduiduiduiplus/build-wooden-Desktop_Qt_5_9_5_MSVC2017_64bit-Release/white" +#define BLACK_IMAGE_PATH "C:/Users/USER/Desktop/wood_aduiduiduiplus/build-wooden-Desktop_Qt_5_9_5_MSVC2017_64bit-Release/black" + +#define CORRECT_WIDTH 4096 +#define CORRECT_HEIGHT 3000 +#define Train_number 30 + +#define changeModel_path "D:/wood_color317/models" + +QString DirPath = "D:/picture/527paper"; + +Widget::Widget(QWidget *parent) : + QWidget(parent), + ui(new Ui::Widget) +{ + +// qDebug() << "1111111111111111"; + ui->setupUi(this); + m_camera = new camera; + init_window(); + plc_connect(); + ui->btn_Tab2_stop->setEnabled(false); + save_flag = 0; + send_thread = new SendThread(); + recv_thread = new RecvThread(); + send_thread->start(); + recv_thread->start(); + connect_signals(); + ui->btn_Tab2_light->setEnabled(false); + ui->btn_Tab2_middle->setEnabled(false); + ui->btn_Tab2_dark->setEnabled(false); + ui->btn_Tab2_train->setEnabled(false); + + ui->btn_Tab2_Preprocessing->setEnabled(false); + ui->btn_Tab2_show->setEnabled(false); + + learning_flag = 0; + light_flag = 0; + middle_flag = 0; + dark_flag = 0; + adjust_exit_flag = 0; + adjust_correct_flag = 0; + restart_flag = 0; + + restart_thread = new RestartThread(); + restart_thread->start(); + + ui->btn_Tab4_black->hide(); + ui->btn_Tab2_start_2->hide(); + ui->btn_Tab2_start_3->hide(); + ui->btn_Tab2_start_4->hide(); + + ui->btn_Tab4_wbcorrect->setEnabled(false); + ui->btn_Tab4_exit->setEnabled(false); + +} + +Widget::~Widget() +{ + delete ui; + delete [] m_camera->black_buf; + delete [] m_camera->white_buf; + +} + +void Widget::plc_connect() +{ + int status = -1; + plc1 = modbus_new_rtu("COM7", 115200, 'N', 8, 1); + modbus_set_slave(plc1, 4); //设置modbus从机地址 + status = modbus_connect(plc1); + if(status == -1) + { + qDebug() << "modbus connect failed"; + } + modbus_set_response_timeout(plc1, 0, 1000000); + qDebug() << "status" << status; + qDebug() << "connect plc success"; +} + +void Widget::connect_signals() +{ + //Tab_1 + connect(ui->btn_Tab1_1, SIGNAL(clicked()), this, SLOT(btn_Tab1_1_click())); + connect(ui->btn_Tab1_2, SIGNAL(clicked()), this, SLOT(btn_Tab1_2_click())); + //Tab_2 + connect(ui->btn_Tab2_mainMenu, SIGNAL(clicked()), this, SLOT(btn_Tab2_mainMenu_click())); + connect(ui->btn_Tab2_start, SIGNAL(clicked()), this, SLOT(btn_Tab2_start_click())); + connect(ui->btn_Tab2_stop, SIGNAL(clicked()), this, SLOT(btn_Tab2_stop_click())); + + connect(ui->btn_Tab2_autoLearning, SIGNAL(clicked()), this, SLOT(btn_Tab2_autoLearning_click())); + connect(ui->btn_Tab2_light, SIGNAL(clicked()), this, SLOT(btn_Tab2_light_click())); + connect(ui->btn_Tab2_middle, SIGNAL(clicked()), this, SLOT(btn_Tab2_middle_click())); + connect(ui->btn_Tab2_dark, SIGNAL(clicked()), this, SLOT(btn_Tab2_dark_click())); + connect(ui->btn_Tab2_train, SIGNAL(clicked()), this, SLOT(btn_Tab2_train_click())); + + //Tab_3 + connect(ui->btn_Tab3_cameraParasettings, SIGNAL(clicked()), this, SLOT(btn_Tab3_cameraParasettings_click())); + connect(ui->btn_Tab3_mainMenu, SIGNAL(clicked()), this, SLOT(btn_Tab3_mainMenu_click())); + connect(ui->btn_Tab3_saveImg, SIGNAL(clicked()), this, SLOT(btn_Tab3_saveImg_click())); + connect(ui->btn_Tab3_changeModel, SIGNAL(clicked()), this, SLOT(btn_Tab3_changeModel_click())); + //Tab_4 + connect(ui->btn_Tab4_return, SIGNAL(clicked()), this, SLOT(btn_Tab4_return_click())); + connect(ui->btn_Tab4_getCorrect, SIGNAL(clicked()), this, SLOT(btn_Tab4_getCorrect_click())); + + connect(ui->btn_Tab4_black, SIGNAL(clicked()), this, SLOT(btn_Tab4_black_click())); + connect(ui->btn_Tab4_white, SIGNAL(clicked()), this, SLOT(btn_Tab4_white_click())); + connect(ui->btn_Tab4_wbcorrect, SIGNAL(clicked()), this, SLOT(btn_Tab4_wbcorrect_click())); + + //Tab_5 + connect(ui->btn_Tab5_skip, SIGNAL(clicked()), this, SLOT(btn_Tab5_skip_click())); + + + + connect(recv_thread, SIGNAL(SendPicInfo(char*)), this, SLOT(showPic(char*)), Qt::BlockingQueuedConnection); + +} + +void Widget::init_window() +{ + ui->tabWidget->findChildren().at(0)->hide(); + ui->btn_Tab2_dark->hide(); + ui->tabWidget->setCurrentIndex(4); + + if(!m_camera->openCamera()) + { + qDebug() << "open camera failed"; + return; + } + + //校正 + m_camera->white_mat = cv::Mat(CORRECT_HEIGHT, CORRECT_WIDTH, CV_32FC3, cv::Scalar(0, 0, 0)); + m_camera->black_mat = cv::Mat(CORRECT_HEIGHT, CORRECT_WIDTH, CV_32FC3, cv::Scalar(0, 0, 0)); + m_camera->eps = cv::Mat(CORRECT_HEIGHT, CORRECT_WIDTH, CV_32FC3, cv::Scalar(0.00000001, 0.00000001, 0.00000001)); + m_camera->white_buf = new float[CORRECT_WIDTH*CORRECT_HEIGHT*3*4]; + m_camera->black_buf = new float[CORRECT_WIDTH*CORRECT_HEIGHT*3*4]; + + FILE* fp; + fp = fopen(WHITE_IMAGE_PATH, "rb"); + fread(m_camera->white_buf, 4, CORRECT_WIDTH*CORRECT_HEIGHT*3*4, fp); + fclose(fp); + fp = fopen(BLACK_IMAGE_PATH, "rb"); + fread(m_camera->black_buf, 4, CORRECT_WIDTH*CORRECT_HEIGHT*3*4, fp); + fclose(fp); + + m_camera->white_mat = cv::Mat(CORRECT_HEIGHT, CORRECT_WIDTH, CV_32FC3, m_camera->white_buf); + m_camera->black_mat = cv::Mat(CORRECT_HEIGHT, CORRECT_WIDTH, CV_32FC3, m_camera->black_buf); + + skip = new QTimer(); + connect(skip, SIGNAL(timeout()), this, SLOT(skip_Notime())); + skip->start(30000); + +} + +//Tab1 +void Widget::btn_Tab1_1_click() +{ + ui->tabWidget->setCurrentIndex(1); +} + +void Widget::btn_Tab1_2_click() +{ + ui->tabWidget->setCurrentIndex(2); +} + +//Tab2 +void Widget::showlabel(cv::Mat img) +{ +// qDebug() << count++; +// qDebug() << "save_flag: " << save_flag; + int counter = 0; + counter++; +// qDebug() << "counter: " << counter; +// if(save_flag && counter == 1) +// { +//// QDateTime time = QDateTime::currentDateTime(); +//// QString str = time.toString("yyyyMMddhhmmss"); +//// QString filepath = SAVE_IMAGE_PATH + str + ".png"; +//// qDebug() << filepath; +//// cv::imwrite(filepath.toLatin1().data(), img); + +// char fileName[64]; +// sprintf(fileName, "D:/save_image/rgb%d.png", m_index); + +// m_index++; +// qDebug() << fileName; +// cv::imwrite(fileName, img); +// counter = 0; + +// } + + static uint8_t light_index = 0; + if(learning_flag && counter == 1 && light_flag) + { + qDebug() << "learning light saved"; + qDebug() << "light_index: " << light_index; + char str[32]; + + //使用sprintf补0，QString使用.toLatin1().data()改变Path的格式 + char file[16]; + sprintf(file, "rgb%02d.png", light_index);//定义图片保存名file + QString Name = QString(QLatin1String(file)); + QString fileName = DirPath + "//hua//" + Name;//形如D://2023//wooden//2023318//light//rgb00.png + + sprintf(str, "light number:%d", ++light_index); + if(light_index == Train_number) + { + cv::imwrite(fileName.toLatin1().data(), img); + ui->label_showSorting->setText("花纹木板采集完成"); + m_camera->stopCapture(); + ui->btn_Tab2_middle->setEnabled(true); + light_flag = 0; + } + else + { + QString s = QString(str); + ui->label_showSorting->setText(s); + qDebug() << fileName; + cv::imwrite(fileName.toLatin1().data(), img); + } + counter = 0; + } + + static uint8_t middle_index = 0; + if(learning_flag && counter == 1 && middle_flag) + { + qDebug() << "learning middle saved"; + qDebug() << "middle_index: " << middle_index; + char str[32]; + char file[16]; + sprintf(file, "rgb%02d.png", middle_index + 30);//定义图片保存名file + QString Name = QString(QLatin1String(file)); + QString fileName = DirPath + "//zhi//" + Name; + +// sprintf(fileName, "E:/autoLearning/middle/rgb%02d.png", middle_index); + sprintf(str, "middle number:%d", ++middle_index); + if(middle_index == Train_number) + { + cv::imwrite(fileName.toLatin1().data(), img); + ui->label_showSorting->setText("直纹木板采集完成"); + m_camera->stopCapture(); + ui->btn_Tab2_dark->setEnabled(true); + middle_flag = 0; + } + else + { + QString s = QString(str); + ui->label_showSorting->setText(s); + qDebug() << fileName; + cv::imwrite(fileName.toLatin1().data(), img); + } + counter = 0; + } + +// static uint8_t dark_index = 0; +// if(learning_flag && counter == 1 && dark_flag) +// { +// qDebug() << "learning dark saved"; +// qDebug() << "dark_index: " << dark_index; +// char str[32]; +// char file[16]; +// sprintf(file, "rgb%02d.png", dark_index + 60);//定义图片保存名file +// QString Name = QString(QLatin1String(file)); +// QString fileName = DirPath + "//dark//" + Name; +//// sprintf(fileName, "E:/autoLearning/dark/rgb%02d.png", dark_index); +// sprintf(str, "dark number:%d", ++dark_index); +// if(dark_index == Train_number) +// { +// cv::imwrite(fileName.toLatin1().data(), img); +// ui->label_showSorting->setText("深色木板采集完成"); +// m_camera->stopCapture(); +// ui->btn_Tab2_Preprocessing->setEnabled(true); +// dark_flag = 0; +// } +// else +// { +// QString s = QString(str); +// ui->label_showSorting->setText(s); +// qDebug() << fileName; +// cv::imwrite(fileName.toLatin1().data(), img); +// } +// counter = 0; +// } + +// char fileName[64]; +// sprintf(fileName, "E:/88/rgb%d.png", m_index++); +// cv::imwrite(fileName, img); + + cv::cvtColor(img, img, CV_BGR2RGB); + const unsigned char *pSrc = (const unsigned char*)img.data; + QImage image(pSrc, img.cols, img.rows, img.step, QImage::Format_RGB888); + pix = QPixmap::fromImage(image.scaled(ui->showlabel->width(), ui->showlabel->height(), Qt::KeepAspectRatio)); + ui->showlabel->setPixmap(pix); + ui->showlabel->show(); +// Sleep(150); + m_camera->m_buffer->Clear(); +} + +void Widget::btn_Tab2_start_click() +{ + + learning_flag = 0; +// m_camera->m_pAcq->SetParameter(CORACQ_PRM_FRAME_LENGTH, CORACQ_VAL_FRAME_LENGTH_VARIABLE, TRUE); + process_img = new Process_img(this); + connect(process_img, SIGNAL(show_img(cv::Mat)), this, SLOT(showlabel(cv::Mat)), Qt::BlockingQueuedConnection); + connect(recv_thread, SIGNAL(send_sortingResult(char*)), this, SLOT(showlabelSorting(char*)), Qt::BlockingQueuedConnection); +// connect(recv_thread, SIGNAL(SendPicInfo(char*)), this, SLOT(showPic(char*)), Qt::BlockingQueuedConnection); + + m_camera->startCapture(); + process_img->start(); + + ui->btn_Tab2_start->setEnabled(false); + ui->btn_Tab2_stop->setEnabled(true); +//打印分选时间戳 + QDateTime curDateTime = QDateTime::currentDateTime(); + QString tmp1 =curDateTime.toString("yyyy-MM-dd hh:mm:ss"); + QByteArray tmp2 = tmp1.toLatin1(); + tmp2.append(QString::fromUtf8("开始分选\n")); + int len = tmp2.size(); + char* ch = tmp2.data(); + FILE* fp; + fp = fopen(ResultPath, "a+"); + fwrite(ch, len, 1, fp); + + fclose(fp); + ch = NULL; + +} + +void Widget::btn_Tab2_stop_click() +{ + qDebug() << "S: " << a; + qDebug() << "Z: " << b; + qDebug() << "Q: " << c; + +/***************打印时间戳分选结果(形如Q:0 Z:0 S:0 sum:0)*************/ + FILE* fp; + fp = fopen(ResultPath, "a+"); + QString Result = "Q:" + QString::number(c) + " Z:" + QString::number(b) + " S:" + QString::number(a) + " sum:" + QString::number(count); + char* ch = Result.toLatin1().data(); + int len = Result.size(); + fwrite(ch, len, 1, fp); + + QDateTime curDateTime = QDateTime::currentDateTime(); + QString tmp1 =curDateTime.toString("\nyyyy-MM-dd hh:mm:ss"); + QByteArray tmp2 = tmp1.toLatin1(); + tmp2.append(QString::fromUtf8("结束分选\n\n")); + len = tmp2.size(); + ch = tmp2.data(); + + fwrite(ch, len, 1, fp); + + fclose(fp); + ch = NULL; +/*** **** ***** **** ***/ + disconnect(process_img, SIGNAL(show_img(cv::Mat)), this, SLOT(showlabel(cv::Mat))); + disconnect(recv_thread, SIGNAL(send_sortingResult(char*)), this, SLOT(showlabelSorting(char*))); + qDebug() << "aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa"; + + m_camera->stopCapture(); +// a->closeCamera(); + process_img->exitThread(); + process_img->wait(); + if(process_img->isFinished()) + qDebug() <<"process thread finish"; + delete process_img; + + ui->btn_Tab2_start->setEnabled(true); + ui->btn_Tab2_stop->setEnabled(false); + + a = 0; + b = 0; + c = 0; + count = 0; +} + +void Widget::btn_Tab2_mainMenu_click() +{ + ui->tabWidget->setCurrentIndex(0); +} + +void Widget::showlabelSorting(char *buf) +{ + + uint16_t tmp = 0; +// qDebug() << "AAAAAAAAAAA"; + switch(buf[0]) + { + case 'H': + ++a; +// qDebug() << "S:" << a; + tmp = 0; + ui->label_showSorting->setText(QString::fromStdString("花纹")); + if(modbus_write_registers(plc1, 0x400002, 1, &tmp) == -1) + qDebug() << "dark write error"; + qDebug() << "识别结果:" << tmp; + Sleep(10); + tmp = 1; + if(modbus_write_registers(plc1, 0x400001, 1, &tmp) == -1) + qDebug() << "R1 error"; + break; + + case 'Z': + ++b; +// qDebug() << "Z:" << b; + tmp = 1; + ui->label_showSorting->setText(QString::fromStdString("直纹")); + if(modbus_write_registers(plc1, 0x400002, 1, &tmp) == -1) + qDebug() << "middle write error"; + qDebug() << "识别结果:" << tmp; + Sleep(10); + tmp = 1; + if(modbus_write_registers(plc1, 0x400001, 1, &tmp) == -1) + qDebug() << "R1 error"; + break; + +// case 'Q': +// ++c; +//// qDebug() << "Q:" << c; +// tmp = 2; +// ui->label_showSorting->setText(QString::fromStdString("浅色 ")); +// if(modbus_write_registers(plc1, 0x400002, 1, &tmp) == -1) +// qDebug() << "light write error"; +// qDebug() << "识别结果:" << tmp; +// Sleep(10); +// tmp = 1; +// if(modbus_write_registers(plc1, 0x400001, 1, &tmp) == -1) +// qDebug() << "R1 error"; +// break; + + case 'A': + ui->label_showSorting->setText(QString::fromStdString("训练模型完成")); + break; + + case 'D': + ui->label_showSorting->setText(QString::fromStdString("切换模型完成")); + break; + + default: + break; + } + +} + + + +void Widget::btn_Tab2_autoLearning_click() +{ + //创建存图文件夹 + QString DirName = QInputDialog::getText(this,"存图路径","请输入文件夹名称（英文与数字）：",QLineEdit::Normal); + if(DirName.size() == 0) + { + QMessageBox::warning(NULL, "警告", "输入图片文件夹名为空,请重新操作！"); + return; + } + //创建文件夹 + DirPath = "D:/picture/" + DirName;//DirPath设置全局变量523 + QDir dir(DirPath); + if (!dir.exists()) + { + dir.mkdir(DirPath); + } + else + { + QMessageBox::warning(NULL, "警告", "输入图片文件夹名重复,请重新操作！"); + return; + } + + ui->btn_Tab2_light->setEnabled(true); + learning_flag = 1; + ui->label_showSorting->setText(QString::fromStdString("请点击保存浅色 ")); +} + +void Widget::btn_Tab2_light_click() +{ + QString DirPathLight = DirPath + "/hua"; + QDir dir(DirPathLight); + if (!dir.exists()) + { + dir.mkdir(DirPathLight); + } + + light_flag = 1; + ui->label_showSorting->setText(QString::fromStdString("请放花纹木板")); + process_img = new Process_img(this); + connect(process_img, SIGNAL(show_img(cv::Mat)), this, SLOT(showlabel(cv::Mat)), Qt::BlockingQueuedConnection); + + m_camera->startCapture(); + process_img->start(); + ui->btn_Tab2_light->setEnabled(false); + +} + +void Widget::btn_Tab2_middle_click() +{ + QString DirPathMiddle = DirPath + "/zhi"; + QDir dir(DirPathMiddle); + if (!dir.exists()) + { + dir.mkdir(DirPathMiddle); + } + ui->label_showSorting->setText(QString::fromStdString("请放直纹木板")); + middle_flag = 1; + m_camera->startCapture(); + + ui->btn_Tab2_middle->setEnabled(false); + +} + +void Widget::btn_Tab2_dark_click() +{ + QString DirPathDark = DirPath + "/dark"; + QDir dir(DirPathDark); + + if (!dir.exists()) + { + dir.mkdir(DirPathDark); + } + + dark_flag = 1; + ui->label_showSorting->setText(QString::fromStdString("请放深色木板")); + + m_camera->startCapture(); + + ui->btn_Tab2_dark->setEnabled(false); + +} + + +void Widget::on_btn_Tab2_Preprocessing_clicked() +{ + + char fileName[64]; + +// QString DirPathSolid = "D:/picture/524test/"; +// sprintf(fileName, DirPathSolid.toLatin1().data()); + + sprintf(fileName, DirPath.toLatin1().data()); + + + uint8_t* sendbuf = new uint8_t[strlen(fileName)+12]; + sendbuf[0] = 0xAA; + sendbuf[1] = 0x00; + sendbuf[2] = 0x00; + sendbuf[3] = 0x00; + sendbuf[4] = strlen(fileName)+4; + sendbuf[5] = ' '; + sendbuf[6] = ' '; + sendbuf[7] = 'K'; + sendbuf[8] = 'M'; + memcpy(sendbuf+9, fileName, strlen(fileName)); + sendbuf[strlen(fileName) + 9] = 0xFF; + sendbuf[strlen(fileName) + 10] = 0xFF; + sendbuf[strlen(fileName) + 11] = 0xBB; + + send_thread->send_socket->write((const char*)sendbuf, strlen(fileName) + 12); + send_thread->send_socket->flush(); + qDebug() << "====send DirName success===="; + + +} + +void Widget::showPic(char* buf1) +{ + qDebug() << "111"; + pic = new showpic(buf1); + + connect(pic, SIGNAL(PictureReady()), this, SLOT(PictureProcess())); + + ui->btn_Tab2_show->setEnabled(true); + ui->btn_Tab2_Preprocessing->setEnabled(false); +} + +void Widget::on_btn_Tab2_show_clicked() +{ + pic->show(); + //522 + ui->btn_Tab2_show->setEnabled(false); + ui->btn_Tab2_train->setEnabled(true); +} + + +void Widget::btn_Tab2_train_click() +{ + ui->btn_Tab2_train->setEnabled(false); + disconnect(process_img, SIGNAL(show_img(cv::Mat)), this, SLOT(showlabel(cv::Mat))); + process_img->exitThread(); + process_img->wait(); + if(process_img->isFinished()) + qDebug() <<"process thread finish"; + delete process_img; + + char fileName[64]; + sprintf(fileName, DirPath.toLatin1().data()); + +// uint8_t* sendbuf = new uint8_t[strlen(fileName)+12]; +//// uint8_t sendbuf[strlen(fileName) + 12]; +// sendbuf[0] = 0xAA; +// sendbuf[1] = 0x00; +// sendbuf[2] = 0x00; +// sendbuf[3] = 0x00; +// sendbuf[4] = 0x13; +// sendbuf[5] = ' '; +// sendbuf[6] = ' '; +// sendbuf[7] = 'T'; +// sendbuf[8] = 'R'; +// memcpy(sendbuf+9, fileName, 15); +// sendbuf[strlen(fileName) + 9] = 0xFF; +// sendbuf[strlen(fileName) + 10] = 0xFF; +// sendbuf[strlen(fileName) + 11] = 0xBB; + +// send_thread->send_socket->write((const char*)sendbuf, strlen(fileName) + 12); +// send_thread->send_socket->flush(); +// qDebug() << "====send fileName success===="; + + + //先定义 标题，提示框 + QString ModelName = QInputDialog::getText(this,"命名","请给本次训练的模型命名：",QLineEdit::Normal); + if(ModelName.size() == 0) + { + QMessageBox::warning(NULL, "警告", "输入模型名为空,请重新操作！"); + return; + } + + QString cut = "$"; + QString Dir_ModelName = DirPath + cut + ModelName; + + qDebug() << "Dir+DirName" << Dir_ModelName; + int len = Dir_ModelName.length(); + uint8_t* assign_buf = new uint8_t[len+12]; + char* ba = Dir_ModelName.toLatin1().data(); + + if(len > 0) + { + assign_buf[0] = 0xAA; + assign_buf[1] = 0x00; + assign_buf[2] = 0x00; + assign_buf[3] = 0x00; + assign_buf[4] = len+4; + assign_buf[5] = ' '; + assign_buf[6] = ' '; + assign_buf[7] = 'T'; + assign_buf[8] = 'R'; + memcpy(assign_buf+9, ba, len); + assign_buf[len+9] = 0xFF; + assign_buf[len+10] = 0xFF; + assign_buf[len+11] = 0xBB; + send_thread->send_socket->write((const char*)assign_buf, len+12); + send_thread->send_socket->flush(); + qDebug() << "====send fileName success===="; + } + else + { + return; + } +} + + + +//Tab3 +void Widget::btn_Tab3_cameraParasettings_click() +{ + ui->tabWidget->setCurrentIndex(3); + //设置相机参数 + //设置相机采集模式 + +} + +void Widget::btn_Tab3_mainMenu_click() +{ + ui->tabWidget->setCurrentIndex(0); +} + +void Widget::showimage_test(cv::Mat img) +{ +// cv::cvtColor(img, img, CV_BGRA2BGR); +// cv::Mat img_gray; +// cv::cvtColor(img, img_gray, CV_RGB2BGRA); + + cv::cvtColor(img, img, CV_BGR2RGB); + int value = 0; + for(int i=300; i<400; i++) + { + for(int j=300; j<400; j++) + { + value += img.ptr(i)[j]; + } + } + float bringhtness = value / 10000.0; + ui->label_Tab4_2->setText(QString("%1").arg(bringhtness)); + const unsigned char *pSrc = (const unsigned char*)img.data; + QImage image(pSrc, img.cols, img.rows, img.step, QImage::Format_RGB888); + pix_test = QPixmap::fromImage(image.scaled(ui->showlabel_set->width(), ui->showlabel_set->height(), Qt::KeepAspectRatio)); + ui->showlabel_set->setPixmap(pix_test); + ui->showlabel_set->show(); + +} + +void Widget::btn_Tab3_saveImg_click() +{ + if(save_flag == 1) + { + save_flag = 0; + ui->btn_Tab3_saveImg->setText(QString::fromStdString("保存图片 ")); + } + else + { + save_flag = 1; + ui->btn_Tab3_saveImg->setText(QString::fromStdString(" 不要保存图片 ")); + } +} + +void Widget::btn_Tab3_changeModel_click() +{ + QString fileName = QFileDialog::getOpenFileName(NULL, "切换模型", changeModel_path, "*.p"); + int len = fileName.length(); + uint8_t* assign_buf = new uint8_t[len+12]; + char* ba = fileName.toLatin1().data(); + if(len > 0) + { + assign_buf[0] = 0xAA; + assign_buf[1] = 0x00; + assign_buf[2] = 0x00; + assign_buf[3] = 0x00; + assign_buf[4] = len+4; + assign_buf[5] = ' '; + assign_buf[6] = ' '; + assign_buf[7] = 'M'; + assign_buf[8] = 'D'; + memcpy(assign_buf+9, ba, len); + assign_buf[len+9] = 0xFF; + assign_buf[len+10] = 0xFF; + assign_buf[len+11] = 0xBB; + send_thread->send_socket->write((const char*)assign_buf, len+12); + send_thread->send_socket->flush(); + } + else + { + return; + } +} + +//Tab4 +void Widget::btn_Tab4_return_click() +{ + if(restart_flag) + { + + ui->btn_Tab4_return->setEnabled(false); + restart_thread->restr_fun(); + restart_flag = 0; + + connect(dafei, SIGNAL(timeout()), this, SLOT(dafei_slot())); + ui->btn_Tab4_return->setText("参数设置"); + dafei->start(20000); + ui->btn_Tab4_return->setEnabled(true); + } + else + { + ui->tabWidget->setCurrentIndex(2); + + } + +} + +void Widget::dafei_slot() +{ + ui->btn_Tab4_white->setEnabled(true); + ui->btn_Tab4_getCorrect->setEnabled(true); + dafei->stop(); + ui->btn_Tab4_return->setText("返回"); + ui->tabWidget->setCurrentIndex(2); +} + +void Widget::btn_Tab4_getCorrect_click() +{ + m_camera->m_pAcq->SetParameter(CORACQ_PRM_EXT_FRAME_TRIGGER_ENABLE, FALSE, TRUE); + m_camera->m_pAcq->SetParameter(CORACQ_PRM_FRAME_LENGTH, CORACQ_VAL_FRAME_LENGTH_FIX, TRUE); + adjust_exit_flag = 1; + adjust_correct_flag = 1; + adjust_para = new Adjust_para(this); + connect(adjust_para, SIGNAL(send_image_debug(cv::Mat)), this, SLOT(showimage_test(cv::Mat)), Qt::BlockingQueuedConnection); + connect(this, SIGNAL(correct_signal()), adjust_para, SLOT(get_correct_signal())); + m_camera->startCapture(); + adjust_para->start(); + qDebug() << "get correct"; +// emit correct_signal(); + + ui->btn_Tab4_white->setEnabled(false); + ui->btn_Tab4_exit->setEnabled(true); + ui->btn_Tab4_return->setEnabled(false); + +} + +void Widget::on_btn_Tab4_exit_clicked() +{ + disconnect(adjust_para, SIGNAL(send_image_debug(cv::Mat)), this, SLOT(showimage_test(cv::Mat))); + disconnect(this, SIGNAL(correct_signal()), adjust_para, SLOT(get_correct_signal())); + m_camera->stopCapture(); + + adjust_para->exitThread(); + adjust_para->wait(); + if(adjust_para->isFinished()) + { + qDebug() << "dajust_para thread finish"; + } + delete adjust_para; + + adjust_exit_flag = 0; + adjust_correct_flag = 0; + //更改相机触发模式为外触发 + if(m_camera->m_pAcq->SetParameter(CORACQ_PRM_FRAME_LENGTH, 0x00000002, FALSE)) + qDebug() << "set success"; + else + qDebug() << "set error"; + m_camera->m_pAcq->SetParameter(CORACQ_PRM_EXT_FRAME_TRIGGER_ENABLE, TRUE, TRUE); + + if(m_camera->m_buffer && *m_camera->m_buffer) + { + m_camera->m_buffer->Destroy(); + qDebug() << "1111"; + } + + if(m_camera->m_pAcq && *m_camera->m_pAcq) + { + m_camera->m_pAcq->Destroy(); + qDebug() << "2222"; + } + + if(m_camera->m_trans) + { + delete m_camera->m_trans; + qDebug() << "3333"; + } + + if(m_camera->m_buffer) + { + delete m_camera->m_buffer; + qDebug() << "4444"; + } + + if(m_camera->m_pAcq) + { + delete m_camera->m_pAcq; + qDebug() << "5555"; + } + + if(m_camera->m_loc) + { + delete m_camera->m_loc; + qDebug() << "6666"; + } + + restart_flag = 1; + ui->btn_Tab4_return->setEnabled(true); + +} + +void Widget::PictureProcess() +{ + ui->label_showSorting->setText(QString::fromStdString("图片预处理完成")); +} + +void Widget::btn_Tab4_black_click() +{ + qDebug() << "black start"; +// ui->btn_Tab4_black->setDisabled(true); +// ui->btn_Tab4_white->setDisabled(true); + + //加锁 + m_camera->capture_black_flag = true; +// m_camera->ret_SCorrect = m_camera->startCorrect(); + qDebug() << "black end"; +} + + +void Widget::btn_Tab4_white_click() +{ + m_camera->m_pAcq->SetParameter(CORACQ_PRM_EXT_FRAME_TRIGGER_ENABLE, FALSE, TRUE); + m_camera->m_pAcq->SetParameter(CORACQ_PRM_FRAME_LENGTH, CORACQ_VAL_FRAME_LENGTH_FIX, TRUE); + m_camera->capture_white_flag = true; + m_camera->startCorrect(); + + ui->btn_Tab4_getCorrect->setEnabled(false); + ui->btn_Tab4_wbcorrect->setEnabled(true); + ui->btn_Tab4_return->setEnabled(false); + +} + + +void Widget::btn_Tab4_wbcorrect_click() +{ + m_camera->stopCorrect(); + //更改相机触发模式为外触发 + m_camera->m_pAcq->SetParameter(CORACQ_PRM_FRAME_LENGTH, CORACQ_VAL_FRAME_LENGTH_VARIABLE, TRUE); + m_camera->m_pAcq->SetParameter(CORACQ_PRM_EXT_FRAME_TRIGGER_ENABLE, TRUE, TRUE); + + + FILE* fp; + fp = fopen(WHITE_IMAGE_PATH, "rb"); + fread(m_camera->white_buf, 4, CORRECT_WIDTH*CORRECT_HEIGHT*3*4, fp); + fclose(fp); + fp = fopen(BLACK_IMAGE_PATH, "rb"); + fread(m_camera->black_buf, 4, CORRECT_WIDTH*CORRECT_HEIGHT*3*4, fp); + fclose(fp); + + m_camera->white_mat = cv::Mat(CORRECT_HEIGHT, CORRECT_WIDTH, CV_32FC3, m_camera->white_buf); + m_camera->black_mat = cv::Mat(CORRECT_HEIGHT, CORRECT_WIDTH, CV_32FC3, m_camera->black_buf); + + if(m_camera->m_buffer && *m_camera->m_buffer) + { + m_camera->m_buffer->Destroy(); + qDebug() << "aaaa"; + } + + if(m_camera->m_pAcq && *m_camera->m_pAcq) + { + m_camera->m_pAcq->Destroy(); + qDebug() << "bbbb"; + } + + if(m_camera->c_trans) + { + delete m_camera->c_trans; + qDebug() << "cccc"; + } + + if(m_camera->m_buffer) + { + delete m_camera->m_buffer; + qDebug() << "dddd"; + } + + if(m_camera->m_pAcq) + { + delete m_camera->m_pAcq; + qDebug() << "eeee"; + } + + if(m_camera->m_loc) + { + delete m_camera->m_loc; + qDebug() << "ffff"; + } + + restart_flag = 1; + ui->btn_Tab4_return->setEnabled(true); + +} + +void Widget::on_btn_Tab2_start_2_clicked() +{ +// write_modbus(0x400001, 2); +// write_modbus(0x400002, 2); + char fileName[64]; + sprintf(fileName, "E:/autoLearning"); + int len = strlen(fileName); + qDebug() << len; +} + +void Widget::on_btn_Tab2_start_3_clicked() +{ +// write_modbus(0x400001, 1); +// uint16_t tmp = 900; +// int ret = modbus_write_registers(plc1, 0x400002, 1, &tmp); +// if(ret == -1) +// qDebug() << "write error"; +// else +// qDebug() << "write success"; + + uint16_t tmp = 0; + uint16_t arr[9] = {0x400001, 0x400002, 0x400003, 0x400004, 0x400005, 0x400006, 0x400007, 0x400008, 0x400009}; + for(int i = 0; i < 9; i++) + { + tmp = i; + int ret = modbus_write_registers(plc1, arr[i], 1, &tmp); + if(ret == -1) + qDebug() << "write error"; + else + qDebug() << "write success"; + Sleep(100); + } + +} + +void Widget::on_btn_Tab2_start_4_clicked() +{ +// write_modbus(0x400001, 0); + uint16_t tmp = 2; + int ret = modbus_read_registers(plc1, 0x400002, 1, &tmp); + if(ret == -1) + qDebug() << "write error"; + else + qDebug() << "read success: " <tabWidget->setCurrentIndex(0); + skip->stop(); + disconnect(skip, SIGNAL(timeout()), this, SLOT(skip_Notime())); + delete skip; +} + +void Widget::skip_Notime() +{ + ui->tabWidget->setCurrentIndex(0); + disconnect(skip, SIGNAL(timeout()), this, SLOT(skip_Notime())); + delete skip; +} + + + + + diff --git a/widget.h b/widget.h new file mode 100644 index 0000000..e95d13f --- /dev/null +++ b/widget.h @@ -0,0 +1,109 @@ +#ifndef WIDGET_H +#define WIDGET_H + +#define WIN32_LEAN_AND_MEAN +#include +#include "camera.h" +#include "opencv2/opencv.hpp" +#include "opencv2/imgproc/types_c.h" +#include +#include "correct.h" +#include +#include +#include +#include +#include +#include "showpic.h" + +#pragma comment(lib,"ws2_32.lib") + +class QModbusClient; +class QModbusReply; + +namespace Ui { +class Widget; +} + +class Widget : public QWidget +{ + Q_OBJECT + +public: + explicit Widget(QWidget *parent = 0); + ~Widget(); + void plc_connect(); + +private slots: + //button + //Tab_1 + void btn_Tab1_1_click(); + void btn_Tab1_2_click(); + + //Tab_2 + void showlabel(cv::Mat); + void btn_Tab2_start_click(); + void btn_Tab2_stop_click(); + void btn_Tab2_mainMenu_click(); + void showlabelSorting(char*); + void btn_Tab2_autoLearning_click(); + void btn_Tab2_light_click(); + void btn_Tab2_middle_click(); + void btn_Tab2_dark_click(); + void on_btn_Tab2_Preprocessing_clicked(); + void on_btn_Tab2_show_clicked(); + void btn_Tab2_train_click(); + void showPic(char*); + //Tab_3 + void btn_Tab3_cameraParasettings_click(); + void btn_Tab3_mainMenu_click(); + void showimage_test(cv::Mat); + void btn_Tab3_saveImg_click(); + void btn_Tab3_changeModel_click(); + //Tab_4 + void btn_Tab4_return_click(); + void btn_Tab4_getCorrect_click(); + void btn_Tab4_black_click(); + void btn_Tab4_white_click(); + void btn_Tab4_wbcorrect_click(); + void on_btn_Tab2_start_2_clicked(); + void on_btn_Tab2_start_3_clicked(); + void on_btn_Tab2_start_4_clicked(); + + void dafei_slot(); + + //Tab_5 + void btn_Tab5_skip_click(); + void skip_Notime(); + + void on_btn_Tab4_exit_clicked(); + + //picture + void PictureProcess(); + + + +private: + Ui::Widget *ui; + + Adjust_para * adjust_para; + QPixmap pix; + QPixmap pix_test; + SendThread *send_thread = nullptr; + RecvThread *recv_thread = nullptr; + + QTimer *skip; + + QTimer* dafei = new QTimer; + void connect_signals(); + void init_window(); + + RestartThread *restart_thread = nullptr; + + showpic *pic = nullptr; + +signals: + void correct_signal(); +}; + + +#endif // WIDGET_H diff --git a/widget.ui b/widget.ui new file mode 100644 index 0000000..fd5fe6b --- /dev/null +++ b/widget.ui @@ -0,0 +1,776 @@ + + + Widget + + + + 0 + 0 + 1038 + 701 + + + + Widget + + + + + 0 + 0 + 1041 + 701 + + + + + Arial + 9 + + + + background-color: rgb(218, 239, 252); + + + 1 + + + + Tab 1 + + + + + 200 + 90 + 631 + 121 + + + + + Arial + 72 + + + + color:rgb(0, 0, 0); +background-color: rgb(153, 204, 153); +border-radius: 50px; + + + 木地板分选 + + + Qt::AlignCenter + + + + + + 190 + 440 + 211 + 81 + + + + + 36 + + + + color: rgb(153, 102, 51); +border-radius:20px; +background-color:rgb(170, 214, 255); +border-width:4px; + + + 分选页面 + + + + + + 630 + 440 + 211 + 81 + + + + + 36 + + + + color: rgb(153, 102, 51); +border-radius:20px; +background-color:rgb(170, 214, 255); +border-width:4px; + + + 详细设置 + + + + + + Tab 2 + + + + + 0 + 0 + 611 + 431 + + + + background-color: rgb(0, 0, 0); + + + TextLabel + + + + + + 670 + 498 + 121 + 61 + + + + + 22 + + + + 开始 + + + + + + 870 + 498 + 121 + 61 + + + + + 22 + + + + 结束 + + + + + + 40 + 498 + 150 + 61 + + + + + 24 + + + + color: rgb(238, 238, 236); +border-radius:15px; +background-color: rgb(136, 138, 133); +border-width:4px; + + + 主菜单 + + + + + + 0 + 430 + 611 + 51 + + + + + Arial + 33 + + + + color:rgb(0, 0, 0); +background-color: rgb(153, 204, 153); +border-radius: 50px; + + + + + + Qt::AlignCenter + + + + + + 640 + 20 + 381 + 381 + + + + 自学习 + + + + + 30 + 50 + 121 + 61 + + + + + 22 + + + + 自学习 + + + + + + 30 + 140 + 121 + 61 + + + + + 22 + + + + 保存花纹 + + + + + + 220 + 140 + 121 + 61 + + + + + 22 + + + + 保存直纹 + + + + + + 30 + 230 + 121 + 61 + + + + + 22 + + + + 保存深色 + + + + + + 220 + 310 + 121 + 61 + + + + + 22 + + + + 训练模型 + + + + + + 220 + 230 + 121 + 61 + + + + + 17 + + + + 图片预处理 + + + + + + 30 + 310 + 121 + 61 + + + + + 17 + + + + 图片展示 + + + + + + + 520 + 580 + 121 + 61 + + + + + 22 + + + + light + + + + + + 670 + 580 + 121 + 61 + + + + + 22 + + + + middle + + + + + + 820 + 580 + 121 + 61 + + + + + 22 + + + + dark + + + + + + 页 + + + + + 0 + 30 + 180 + 58 + + + + + 30 + + + + color: rgb(238, 238, 236); +background-color: rgb(204, 0, 0); +border-radius:10px; + + + 详细设置 + + + Qt::AlignCenter + + + + + + 210 + 140 + 211 + 61 + + + + color: rgb(238, 238, 236); +border-radius:10px; +background-color: rgb(136, 138, 133); +font: 24pt "Ubuntu"; +border-width:4px; + + + 相机校正 + + + + + + 820 + 560 + 150 + 61 + + + + color: rgb(238, 238, 236); +border-radius:10px; +background-color: rgb(136, 138, 133); +font: 24pt "Ubuntu"; +border-width:4px; + + + 主菜单 + + + + + + 570 + 140 + 211 + 61 + + + + color: rgb(238, 238, 236); +border-radius:10px; +background-color: rgb(136, 138, 133); +font: 24pt "Ubuntu"; +border-width:4px; + + + 保存图片 + + + + + + 210 + 260 + 211 + 61 + + + + color: rgb(238, 238, 236); +border-radius:10px; +background-color: rgb(136, 138, 133); +font: 24pt "Ubuntu"; +border-width:4px; + + + 切换模型 + + + + + + 页 + + + + + 730 + 560 + 261 + 51 + + + + + 24 + + + + color: rgb(238, 238, 236); +background-color: rgb(136, 138, 133); +border-radius:10px; + + + 返回 + + + + + + 0 + 0 + 591 + 401 + + + + background-color: rgb(0, 0, 0); + + + TextLabel + + + + + + 150 + 530 + 281 + 101 + + + + + 17 + + + + 亮度值 + + + + + + 250 + 550 + 141 + 71 + + + + + + + + + + 660 + 130 + 121 + 61 + + + + + 22 + + + + 黑场采集 + + + + + + 810 + 130 + 121 + 61 + + + + + 22 + + + + 白场采集 + + + + + + 810 + 210 + 121 + 61 + + + + + 22 + + + + 黑白校正 + + + + + + 310 + 430 + 211 + 61 + + + + + 22 + + + + 停止显示 + + + + + + 30 + 430 + 211 + 61 + + + + + 22 + + + + 显示图像亮度 + + + + + + 页 + + + + + 30 + 90 + 971 + 121 + + + + + Arial + 64 + + + + color:rgb(0, 0, 0); +background-color: rgb(153, 204, 153); +border-radius: 50px; + + + 木地板颜色分选系统 + + + Qt::AlignCenter + + + + + + 270 + 310 + 441 + 51 + + + + + Arial + 33 + + + + color:rgb(0, 0, 0); +background-color: rgb(255, 192, 203); +border-radius: 50px; + + + 光源预热中... + + + Qt::AlignCenter + + + + + + 840 + 540 + 121 + 61 + + + + + 22 + + + + 忽略 + + + + + + + + + diff --git a/wooden.pro b/wooden.pro new file mode 100644 index 0000000..cf7b7ae --- /dev/null +++ b/wooden.pro @@ -0,0 +1,91 @@ +#------------------------------------------------- +# +# Project created by QtCreator 2022-03-18T10:12:37 +# +#------------------------------------------------- + +QT += core gui network serialbus serialport + +greaterThan(QT_MAJOR_VERSION, 4): QT += widgets + +TARGET = wooden +TEMPLATE = app + +LIBS += -Ldll -lws2_32 + +# The following define makes your compiler emit warnings if you use +# any feature of Qt which as been marked as deprecated (the exact warnings +# depend on your compiler). Please consult the documentation of the +# deprecated API in order to know how to port your code away from it. +DEFINES += QT_DEPRECATED_WARNINGS + +# You can also make your code fail to compile if you use deprecated APIs. +# In order to do so, uncomment the following line. +# You can also select to disable deprecated APIs only up to a certain version of Qt. +#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0 + + +SOURCES += \ + main.cpp \ + widget.cpp \ + camera.cpp \ + thread.cpp \ + correct.cpp \ + src/modbus.c \ + src/modbus-data.c \ + src/modbus-rtu.c \ + src/modbus-tcp.c \ + showpic.cpp \ + relistwidget_item.cpp \ + imagewin.cpp + +HEADERS += \ + widget.h \ + camera.h \ + thread.h \ + correct.h \ + src/modbus.h \ + src/modbus-private.h \ + src/modbus-rtu.h \ + src/modbus-rtu-private.h \ + src/modbus-tcp.h \ + src/modbus-tcp-private.h \ + src/modbus-version.h \ + showpic.h \ + relistwidget_item.h \ + imagewin.h + +FORMS += \ + widget.ui \ + showpic.ui \ + imagewin.ui + +#LIBS += -LC:/opencv/build/x64/vc15/lib -lopencv_world453 + +#INCLUDEPATH += C:/opencv/build/include \ +# += C:/opencv/build/include/opencv2 + +#LIBS += -LC:/Users/lzy/Downloads/opencv/build/x64/vc15/lib -lopencv_world453 + +#INCLUDEPATH += C:/Users/lzy/Downloads/opencv/build/include \ +# += C:/Users/lzy/Downloads/opencv/build/include/opencv2 + +LIBS += -LC:/Users/USER/Downloads/opencv/build/x64/vc15/lib -lopencv_world453 + +INCLUDEPATH += C:/Users/USER/Downloads/opencv/build/include \ + += C:/Users/USER/Downloads/opencv/build/include/opencv2 + +LIBS += -L'C:/Program Files/Teledyne DALSA/Sapera/Lib/Win64' -lSapClassBasic +LIBS += -L'C:/Program Files/Teledyne DALSA/Sapera/Lib/Win64' -lcorapi + +INCLUDEPATH += 'C:/Program Files/Teledyne DALSA/Sapera/Include' +DEPENDPATH += 'C:/Program Files/Teledyne DALSA/Sapera/Include' +INCLUDEPATH += 'C:/Program Files/Teledyne DALSA/Sapera/Classes/Basic' +DEPENDPATH += 'C:/Program Files/Teledyne DALSA/Sapera/Classes/Basic' + +DISTFILES += \ + src/modbus.lib + + + + diff --git a/wooden.pro.user b/wooden.pro.user new file mode 100644 index 0000000..3e99014 --- /dev/null +++ b/wooden.pro.user @@ -0,0 +1,318 @@ + + + + + + EnvironmentId + {9e31907b-3cc3-479e-b8f2-f24c1d383612} + + + ProjectExplorer.Project.ActiveTarget + 0 + + + ProjectExplorer.Project.EditorSettings + + true + false + true + + Cpp + + CppGlobal + + + + QmlJS + + QmlJSGlobal + + + 2 + UTF-8 + false + 4 + false + 80 + true + true + 1 + true + false + 0 + true + true + 0 + 8 + true + 1 + true + true + true + false + + + + ProjectExplorer.Project.PluginSettings + + + + ProjectExplorer.Project.Target.0 + + Desktop Qt 5.9.5 MSVC2017 64bit + Desktop Qt 5.9.5 MSVC2017 64bit + qt.595.win64_msvc2017_64_kit + 1 + 0 + 0 + + C:/Users/USER/Desktop/wood9.3/build-wooden-Desktop_Qt_5_9_5_MSVC2017_64bit-Debug + + + true + qmake + + QtProjectManager.QMakeBuildStep + true + + false + false + false + + + true + Make + + Qt4ProjectManager.MakeStep + + false + + + + 2 + 构建 + + ProjectExplorer.BuildSteps.Build + + + + true + Make + + Qt4ProjectManager.MakeStep + + true + clean + + + 1 + 清理 + + ProjectExplorer.BuildSteps.Clean + + 2 + false + + Debug + + Qt4ProjectManager.Qt4BuildConfiguration + 2 + true + + + D:/522/wood_aduiduiduiplus + + + true + qmake + + QtProjectManager.QMakeBuildStep + false + + false + false + false + + + true + Make + + Qt4ProjectManager.MakeStep + + false + + + + 2 + 构建 + + ProjectExplorer.BuildSteps.Build + + + + true + Make + + Qt4ProjectManager.MakeStep + + true + clean + + + 1 + 清理 + + ProjectExplorer.BuildSteps.Clean + + 2 + false + + Release + + Qt4ProjectManager.Qt4BuildConfiguration + 0 + true + + + C:/Users/USER/Desktop/wood9.3/build-wooden-Desktop_Qt_5_9_5_MSVC2017_64bit-Profile + + + true + qmake + + QtProjectManager.QMakeBuildStep + true + + false + true + false + + + true + Make + + Qt4ProjectManager.MakeStep + + false + + + + 2 + 构建 + + ProjectExplorer.BuildSteps.Build + + + + true + Make + + Qt4ProjectManager.MakeStep + + true + clean + + + 1 + 清理 + + ProjectExplorer.BuildSteps.Clean + + 2 + false + + Profile + + Qt4ProjectManager.Qt4BuildConfiguration + 0 + true + + 3 + + + 0 + 部署 + + ProjectExplorer.BuildSteps.Deploy + + 1 + 在本地部署 + + ProjectExplorer.DefaultDeployConfiguration + + 1 + + + false + false + 1000 + + true + + false + false + false + false + true + 0.01 + 10 + true + 1 + 25 + + 1 + true + false + true + valgrind + + 0 + 1 + 2 + 3 + 4 + 5 + 6 + 7 + 8 + 9 + 10 + 11 + 12 + 13 + 14 + + 2 + + wooden + + Qt4ProjectManager.Qt4RunConfiguration:D:/522/wood_aduiduiduiplus/wooden/wooden.pro + true + + wooden.pro + false + + D:/522/wood_aduiduiduiplus + 3768 + false + true + false + false + true + + 1 + + + + ProjectExplorer.Project.TargetCount + 1 + + + ProjectExplorer.Project.Updater.FileVersion + 18 + + + Version + 18 + +