Bachelorthesis/Modbus-CAPL/include/CAPL/PollingModbusClient.can

/*@!Encoding:1252*/

// This file is the Modbus Client for Airbus CIDS
// It automatically and periodically reads all input bits and registers and writes them to SysVars %BUSTYPE%%CHANNEL%::%NODE_NAME%::Data
// It also reacts on changes in the output SysVars and write those to the Modbus device.

includes
{
	#include "include\ModbusUdp.cin"			// Use UDP as Layer 4
	#include "include\ModbusClient.cin"			// Use Modbus as Application Layer
	#include "include\DeviceInformation.cin"	// Handle several vendors differently
}

variables
{
	msTimer gtRead;					// The timer that keeps on polling all the time
}

on preStart
{
	writeClear(0);					// Clear write window in CANoe
	setStartdelay(10);				// Wait for Ethernet device to be ready
	OutputDebugLevel = Warning;		// The debug level (messages in write window)
}

// Connect to Modbus server, read the status of output registers and bits and start the cyclic timer
on start
{
	char ip[16];
	sysGetVariableString("%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Config", "IP", ip, elCount(ip));							// Get IP address of device from sysvars config

	DeviceInit(@sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Info::Vendor);												// Set all device specific parameters (Wago / B&R)

	writeDbg(MbInfo, "Connecting to %s:%d", ip, @sysvar::Config::Modbus::Port);
	ModbusInit(ip, @sysvar::Config::Modbus::Port, @sysvar::Config::Modbus::RequestTimeout, @sysvar::Config::Modbus::MaxTransmissionCount);	// Connect to device. Opens socket and connection or what ever

	if (gSocketState < CONNECTING)	// We are not connecting and not connected
		return;

	ModbusReadOutBits(thisDev.Addr.Read.OutputBits, @sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Info::OutputBits);					// Read the start status of the output bits
	ModbusReadOutRegisters(thisDev.Addr.Read.OutputRegisters, @sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Info::OutputRegisters);		// Read the start status of the output registers

	if (@sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Config::Interval > 0)												// Start the polling timer
		setTimerCyclic(gtRead, 1, @sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Config::Interval);
}

// Stop all transactions and close connection
on preStop
{
	ModbusEnd();
}


// Modbus events ----------------------------------------------------------------------
/// 	All these events will be called by functions out of ModbusClientCommon.cin

// -- Modbus Failures -----------------------------------------------------------------
/// 	Several reasons are possible:
/// 	error == Timeout:		The packet will be resent
/// 	error == FinalTimeout:	The packet will not be resent
/// 	error == Exception:		The client responded with an exception (which again can have several reasons, see enum ModbusException)

// This method gets called when an error occured while trying to read some bits (ModbusReadBits())
void OnModbusReadBitsFailed(enum ModbusRequestError error, enum ModbusException ex, struct ModbusApHeader mbap)
{
	word i;

	switch (error)
	{
		case Exception:
		case Timeout:
		case NotSent:
			break;
		case FinalTimeout:
			sysBeginVariableStructUpdate("%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data", "InputBits");
			for (i = 0; i < @sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Info::InputBits; i++)
				@sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data::InputBits[i] = -1;
			sysEndVariableStructUpdate("%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data", "InputBits");
			break;
		default:
			writeDbg(MbError, "OnModbusReadBitsFailed: Unkown error: %d", error);
			OnModbusClientPanics(SwitchArgumentInvalid);
			return;
	}
}

// This method gets called when an error occured while trying to read some registers (ModbusReadRegisters())
void OnModbusReadRegistersFailed(enum ModbusRequestError error, enum ModbusException ex, struct ModbusApHeader mbap)
{
	byte i;

	switch (error)
	{
		case Exception:
		case Timeout:
		case NotSent:
			break;
		case FinalTimeout:
			sysBeginVariableStructUpdate("%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data", "InputRegisters");
			for (i = 0; i < @sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Info::InputRegisters; i++)
				@sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data::InputRegisters[i] = -1;
			sysEndVariableStructUpdate("%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data", "InputRegisters");
			break;
		default:
			writeDbg(MbError, "OnModbusReadBitsFailed: Unkown error: %d", error);
			OnModbusClientPanics(SwitchArgumentInvalid);
			return;
	}
}

// This method gets called when an error occured while trying to set a bit (ModbusWriteBit())
void OnModbusWriteBitFailed(enum ModbusRequestError error, enum ModbusException ex, struct ModbusApHeader mbap){}
// This method gets called when an error occured while trying to set a register (ModbusWriteRegister())
void OnModbusWriteRegisterFailed(enum ModbusRequestError error, enum ModbusException ex, struct ModbusApHeader mbap){}
// This method gets called when an error occured while trying to apply a mask on a register (ModbusWriteMask())
void OnModbusWriteMasksFailed(enum ModbusRequestError error, enum ModbusException ex, struct ModbusApHeader mbap){}
// This method gets called when an error occured while trying to read and write registers (ModbusReadWriteRegisters())
void OnModbusReadWriteRegistersFailed(enum ModbusRequestError error, enum ModbusException ex, struct ModbusApHeader mbap){}
// This method gets called when an error occured while trying to set multiple bits (ModbusWriteBits())
void OnModbusWriteBitsFailed(enum ModbusRequestError error, enum ModbusException ex, struct ModbusApHeader mbap){}
// This method gets called when an error occured while trying to set multiple registers (ModbusWriteRegisters())
void OnModbusWriteRegistersFailed(enum ModbusRequestError error, enum ModbusException ex, struct ModbusApHeader mbap){}

// -- Modbus Success ------------------------------------------------------------------
/// 	These functions get called when a device responds that a request was fulfilled successfully
/// 	Normally the Reponse as well the Request will be handed over


// This method gets called when some bits were read successfully. See 'bitStatus' for their values and 'mbreq.Address' for their start address
void OnModbusReadBitsSuccess(struct ModbusResReceiveBits mbres, byte bitStatus[], struct ModbusReqRead mbreq)
{
	word i, offset;

	switch (mbres.Header.FuncCode)	// We assume that we separate between 0x01 and 0x02 even though the address space may be the same
	{
		case ReadBitsOut:	// Read output bits
			sysBeginVariableStructUpdate("%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data", "OutputBits");

			offset = mbreq.Address - thisDev.Addr.Read.OutputBits;		// Get the offset to the base output bit address
			for (i = 0; i < mbreq.Count; i++)
				@sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data::OutputBits[i + offset] = bitStatus[i];

			sysEndVariableStructUpdate("%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data", "OutputBits");
			break;


		case ReadBitsIn:	// Read input bits
			sysBeginVariableStructUpdate("%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data", "InputBits");

			offset = mbreq.Address - thisDev.Addr.Read.InputBits;			// Get the offset to the base input bit address
			for (i = 0; i < mbreq.Count; i++)
				@sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data::InputBits[i + offset] = bitStatus[i];

			sysEndVariableStructUpdate("%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data", "InputBits");
			break;

		default:
			writeDbg(MbError, "OnModbusReadBitsSuccess: Unexpected function code: 0x%02X", mbreq.Header.FuncCode);
			OnModbusClientPanics(FuncCodeIncorrect);
			return;
	}
}

// This method gets called when some bits were read successfully. See 'mbres.Data' for their values and 'mbreq.Address' for their start address
void OnModbusReadRegistersSuccess(struct ModbusResReceiveRegisters mbres, struct ModbusReqRead mbreq)
{
	word i, offset;

	switch (mbres.Header.FuncCode)	// We assume that we separate between 0x03 and 0x04 even though the address space may be the same
	{
		case ReadRegistersOut:		// Read output registers
			sysBeginVariableStructUpdate("%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data", "OutputRegisters");

			offset = mbreq.Address - thisDev.Addr.Read.OutputRegisters;		// Get the offset to the base output register address
			for (i = 0; i < mbreq.Count; i++)
				@sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data::OutputRegisters[i + offset] = mbres.Data[i];

			sysEndVariableStructUpdate("%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data", "OutputRegisters");
			break;


		case ReadRegistersIn:		// Read input registers
			sysBeginVariableStructUpdate("%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data", "InputRegisters");

			offset = mbreq.Address - thisDev.Addr.Read.InputRegisters;			// Get the offset to the base input bit address
			for (i = 0; i < mbreq.Count; i++)
				@sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data::InputRegisters[i + offset] = mbres.Data[i];

			sysEndVariableStructUpdate("%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data", "InputRegisters");
			break;

		default:
			writeDbg(MbError, "OnModbusReadBitsSuccess: Unexpected function code: 0x%02X", mbreq.Header.FuncCode);
			OnModbusClientPanics(FuncCodeIncorrect);
			return;
	}
}

// This method gets called when a bit was set successfully.
void OnModbusWriteBitSuccess(struct ModbusResConfirmSingle mbres){}
// This method gets called when a register was set successsfully.
void OnModbusWriteRegisterSuccess(struct ModbusResConfirmSingle mbres){}
// This method gets called when multiple bits were set successfully.
void OnModbusWriteBitsSuccess(struct ModbusResConfirmMultiple mbres){}
// This method gets called when multiple registers were set successfully.
void OnModbusWriteRegistersSuccess(struct ModbusResConfirmMultiple mbres){}
// This method gets called when a mask was applied successfully.
void OnModbusWriteMasksSuccess(struct ModbusResConfirmMasks mbres){}


// This method gets called when the Modbus Client panics (saying a fatal error occured).
// It will pass as argument what happened. Please see the log (increase debug level in preStart) for more details.
void OnModbusClientPanics(enum FatalErrors reason)
{
	switch(reason)
	{
		case ParsingBuffer:
			writeLineEx(0, 4, "<%NODE_NAME%> Fatal Error while parsing the received buffer");
			runError(1001, reason);
			break;
		case ModbusPackageWasSplit:
			writeLineEx(0, 4, "<%NODE_NAME%> Fatal Error while parsing the received buffer: The Modbus package was split", reason);
			runError(1001, reason);
			break;
		case VendorIdUnknown:
			writeLineEx(0, 4, "<%NODE_NAME%> Fatal Error: Vendor ID unknown");
			runError(1001, reason);
			break;
		case FuncCodeIncorrect:
			writeLineEx(0, 4, "<%NODE_NAME%> Fatal Error: Function code is incorrect");
			runError(1001, reason);
			break;
		case AddressFailure:
			writeLineEx(0, 4, "<%NODE_NAME%> Fatal Error: Start address is incorrect");
			runError(1001, reason);
			break;
		case ConnectionError:
			writeLineEx(0, 4, "<%NODE_NAME%> Fatal Connection Error");
			gtRead.Cancel();
			break;
		case SwitchArgumentInvalid:
			writeLineEx(0, 4, "<%NODE_NAME%> Fatal Error: A argument of a switch statement is incorrect");
			runError(1001, reason);
			break;
	}
	stop();
}

//  -------------------------------------------------------------------------
// The timer will continuously poll the input registers and intput bits
on timer gtRead
{
	ModbusReadRegisters(thisDev.Addr.Read.InputRegisters, @sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Info::InputRegisters);
	ModbusReadBits(thisDev.Addr.Read.InputBits, @sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Info::InputBits);
}

// If Data::OutputBits is changed we will send this update to the device
on sysvar %BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data::OutputBits
{
	word count, i;
	byte bitStatus[1968];

	count = @sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Info::OutputBits;

	for (i = 0; i < count; i++)				// Copy the data from SysVars to byte[]
		bitStatus[i] = @sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data::OutputBits[i];

	ModbusWriteBitsB(0, count, bitStatus);	// Send update command
}
// If Data::OutputRergisters is changed we will send this update to the device
on sysvar %BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data::OutputRegisters
{
	word count, i;
	word regValues[123];

	count = @sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Info::OutputRegisters;

	for (i = 0; i < count; i++)				// Copy the data from SysVars to word[]
		regValues[i] = @sysvar::%BUS_TYPE%%CHANNEL%::%NODE_NAME%::Data::OutputRegisters[i];

	ModbusWriteRegisters(0, count, regValues);	// Send update command
}
// Config::Interval is changed we will update the timer gtRead accordingly
on sysvar %BUS_TYPE%%CHANNEL%::%NODE_NAME%::Config::Interval
{
	if (@this <= 0)
		gtRead.Cancel();
	else
		setTimerCyclic(gtRead, @this);
}