Examples

Serial Example

The following example tinyslave.cpp shows how to implement a small Modbus RTU slave:

// HM platform detection
#include "hmplatf.h"

// Platform header
#include <stdio.h>
#include <stdlib.h>
#include <string.h>

// Include FieldTalk package header
#include "MbusRtuSlaveProtocol.hpp"


/*****************************************************************************
 * Gobal data
 *****************************************************************************/

#if defined(__WIN32__)
   const TCHAR *portName = TEXT("COM1");
#elif defined(__LINUX__)
   const char *portName = "/dev/ttyS0";
#elif defined(__MACOSX__)
   const char *portName = "/dev/ttys0";
#elif defined(__FREEBSD__) || defined(__NETBSD__) || defined(__OPENBSD__)
   const char *portName = "/dev/ttyd0";
#elif defined(__QNX__)
   const char *portName = "/dev/ser1";
#elif defined(__VXWORKS__)
   const char *portName = "/tyCo/0";
#elif defined(__SOLARIS__)
   const char *portName = "/dev/ttya";
#elif defined(__IRIX__)
   const char *portName = "/dev/ttyf1";
#elif defined(__OSF__)
   const char *portName = "/dev/tty00";
#else
   const char *portName = "/dev/tty";
#endif


/*****************************************************************************
 * Modbus data table
 *****************************************************************************/

typedef struct
{
   short actTemp;           // Register 1
   short minTemp;           // Register 2
   long  scanCounter;       // Register 3 and 4
   float setPoint;          // Register 5 and 6
   short statusReg;         // Register 7
   short configType;        // Register 8
} MyDeviceData;

MyDeviceData deviceData;


/*****************************************************************************
 * Data provider
 *****************************************************************************/

class MyDataProvider: public MbusDataTableInterface
{

  public:

   int readHoldingRegistersTable(int startRef, short regArr[], int refCnt)
   {
      // Adjust Modbus reference counting
      startRef--;

      //
      // Validate range
      //
      if (startRef + refCnt > int(sizeof(deviceData) / sizeof(short)))
         return 0;

      //
      // Copy data
      //
      memcpy(regArr, &((short *) &deviceData)[startRef],
             refCnt * sizeof(short));
      return 1;
   }


   int writeHoldingRegistersTable(int startRef,
                                  const short regArr[],
                                  int refCnt)
   {
      // Adjust Modbus reference counting
      startRef--;

      //
      // Validate range
      //
      if (startRef + refCnt > int(sizeof(deviceData) / sizeof(short)))
         return 0;

      //
      // Copy data
      //
      memcpy(&((short *) &deviceData)[startRef],
             regArr, refCnt * sizeof(short));
      return 1;
   }

} dataProvider;


/*****************************************************************************
 * Modbus protocol declaration
 *****************************************************************************/

MbusRtuSlaveProtocol mbusServer;


/*****************************************************************************
 * Function implementation
 *****************************************************************************/

void startupServer()
{
   int result;

   result = mbusServer.addDataTable(1, &dataProvider);
   if (result == FTALK_SUCCESS)
      result = mbusServer.startupServer(portName,
                                        19200L, // Baudrate
                                        8,      // Databits
                                        1,      // Stopbits
                                        2);     // Even parity
   if (result != FTALK_SUCCESS)
   {
      fprintf(stderr, "Error starting server: %s!\n",
              getBusProtocolErrorText(result));
      exit(EXIT_FAILURE);
   }
}


void shutdownServer()
{
   mbusServer.shutdownServer();
}


void runServer()
{
   int result = FTALK_SUCCESS;

   while (result == FTALK_SUCCESS)
   {
      result = mbusServer.serverLoop();
      if (result != FTALK_SUCCESS)
         fprintf(stderr, "%s!\n", getBusProtocolErrorText(result));
   }
}


#if defined(_WIN32_WCE)
int wmain()
#else
int main()
#endif
{
   atexit(shutdownServer);
   startupServer();
   runServer();
   return EXIT_FAILURE;
}

MODBUS/TCP Example

The following example tcpslave.cpp shows how to implement a small Modbus/TCP slave:

// Platform header
#include <stdio.h>
#include <stdlib.h>
#include <string.h>

// Include FieldTalk package header
#include "MbusTcpSlaveProtocol.hpp"


/*****************************************************************************
 * Modbus data table
 *****************************************************************************/

typedef struct
{
   short actTemp;           // Register 1
   short minTemp;           // Register 2
   long  scanCounter;       // Register 3 and 4
   float setPoint;          // Register 5 and 6
   short statusReg;         // Register 7
   short configType;        // Register 8
} MyDeviceData;

MyDeviceData deviceData;


/*****************************************************************************
 * Data provider
 *****************************************************************************/

class MyDataProvider: public MbusDataTableInterface
{

  public:

   int readHoldingRegistersTable(int startRef, short regArr[], int refCnt)
   {
      MasterInfo* masterInfo = getMasterInfo();
      printf("readHoldingRegisters from %d, %d references using %d by slave %d via %s\n", startRef, refCnt, masterInfo->protocol, masterInfo->slaveAddr, masterInfo->connection);

      // Adjust Modbus reference counting
      startRef--;

      //
      // Validate range
      //
      if (startRef + refCnt > int(sizeof(deviceData) / sizeof(short)))
         return 0;

      //
      // Copy data
      //
      memcpy(regArr, &((short *) &deviceData)[startRef],
             refCnt * sizeof(short));
      return 1;
   }


   int writeHoldingRegistersTable(int startRef,
                                  const short regArr[],
                                  int refCnt)
   {
      // Adjust Modbus reference counting
      startRef--;

      //
      // Validate range
      //
      if (startRef + refCnt > int(sizeof(deviceData) / sizeof(short)))
         return 0;

      //
      // Copy data
      //
      memcpy(&((short *) &deviceData)[startRef],
             regArr, refCnt * sizeof(short));
      return 1;
   }

} dataProvider;


/*****************************************************************************
 * Modbus protocol declaration
 *****************************************************************************/

MbusTcpSlaveProtocol mbusServer;


/*****************************************************************************
 * Function implementation
 *****************************************************************************/

void startupServer()
{
   int result;

   mbusServer.setTimeout(10000); // 3 sec activity time-out
   mbusServer.setConnectionTimeOut(10000); // 10 s connection time-out
   result = mbusServer.addDataTable(1, &dataProvider); // Unit ID is 1
   if (result == FTALK_SUCCESS)
      result = mbusServer.startupServer();
   if (result != FTALK_SUCCESS)
   {
      fprintf(stderr, "Error starting server: %s!\n",
              getBusProtocolErrorText(result));
      exit(EXIT_FAILURE);
   }
}


void shutdownServer()
{
   mbusServer.shutdownServer();
}


void runServer()
{
   int result = FTALK_SUCCESS;

   while (result == FTALK_SUCCESS)
   {
      result = mbusServer.serverLoop();
      if (result != FTALK_SUCCESS)
         fprintf(stderr, "%s!\n", getBusProtocolErrorText(result));
      if (deviceData.actTemp == 55)
      {
          result = mbusServer.addDataTable(1, NULL);
          if (result != FTALK_SUCCESS)
              fprintf(stderr, "%s!\n", getBusProtocolErrorText(result));
          result = mbusServer.addDataTable(2, &dataProvider);
          if (result != FTALK_SUCCESS)
              fprintf(stderr, "%s!\n", getBusProtocolErrorText(result));
      }
   }
}


#if defined(_WIN32_WCE)
int wmain()
#else
int main()
#endif
{
   atexit(shutdownServer);
   startupServer();
   runServer();
   return EXIT_FAILURE;
}

Shared Memory Data Provider example

The following example shows how to implement a Data Provider which serves it's data from shared memory:

class ShmemMbusDataTable: public MbusDataTableInterface
{
  public:

   ShmemMbusDataTable(int table0Size, int table1Size, int table3Size, int table4Size)
   {
      int i;
      int fd;

      for (i = 0; i < 5; i++)
      {
         //
         // Determine table sizes
         //
         switch (i)
         {
           case 0:
              if (table0Size <= 0)
                 break; // No table will be created for this type
              dataTableArr[i].size = table0Size * sizeof(char);
           break;
           case 1:
              if (table1Size <= 0)
                 break; // No table will be created for this type
              dataTableArr[i].size = table1Size * sizeof(char);
           break;
           case 2:
              dataTableArr[i].size = sizeof(SlaveStatusInfo);
           break;
           case 3:
              if (table3Size <= 0)
                 break; // No table will be created for this type
              dataTableArr[i].size = table3Size * sizeof(short);
           break;
           case 4:
              if (table4Size <= 0)
                 break; // No table will be created for this type
              dataTableArr[i].size = table4Size * sizeof(short);
           break;
         }

         //
         // Open shared memory tables
         //
         shm_unlink(dataTableArr[i].name);
         if (dataTableArr[i].size == 0)
            continue;
         fd = shm_open(dataTableArr[i].name, O_CREAT | O_RDWR | O_EXCL, S_IRWXU);
         if (fd < 0)
         {
            perror("Shared memory open failed");
            abort();
         }

         //
         // Size it
         //
         if (ftruncate(fd, dataTableArr[i].size) < 0)
         {
            perror("Shared memory ftruncate failed");
            abort();
         }

         //
         // Map shared memory into address space
         //
         dataTableArr[i].ptr = (short *) mmap(0, dataTableArr[i].size,
                                              PROT_READ | PROT_WRITE,
                                              MAP_SHARED, fd, 0L);
         if (dataTableArr[i].ptr == NULL)
         {
            perror("Shared memory mmap failed");
            abort();
         }

         close  (fd);  // No we can close the file descriptor
         memset(dataTableArr[i].ptr, 0, dataTableArr[i].size);
      }

      //
      // Handle special cases where we map table 3 to point to table 4 and
      // table 1 to point to table 0
      //
      if (table3Size == -1) // Map table 3 to table 4
      {
         dataTableArr[3].size = dataTableArr[4].size;
         dataTableArr[3].ptr = dataTableArr[4].ptr;
      }
      if (table1Size == -1) // Map table 1 to table 0
      {
         dataTableArr[1].size = dataTableArr[0].size;
         dataTableArr[1].ptr = dataTableArr[0].ptr;
      }

      // Setup pointer to status table
      slaveStatusInfoPtr = (SlaveStatusInfo *) dataTableArr[2].ptr;

   }


   ~ShmemMbusDataTable()
   {
      int i;

      for (i = 0; i < 5; i++)
      {
         if (dataTableArr[i].ptr != NULL)
         {
            munmap(dataTableArr[i].ptr, dataTableArr[i].size);
            shm_unlink(dataTableArr[i].name);
         }
      }
   }


   void timeOutHandler()
   {
      slaveStatusInfoPtr->timeoutCnt++;
   }


   int readInputDiscretesTable(int startRef,
                               char bitArr[],
                               int refCnt)
   {
      printf("\nreadInputDiscretesTable: %d, %d\n", startRef, refCnt);

      // Adjust Modbus reference counting
      startRef--;

      //
      // Validate range
      //
      if (startRef + refCnt > (int) (dataTableArr[1].size / sizeof(char)))
         return 0;

      //
      // Copy data
      //
      memcpy(bitArr, &((char *) dataTableArr[1].ptr)[startRef], refCnt * sizeof(char));
      slaveStatusInfoPtr->readDiscretesCnt++;
      return 1;
   }


   int readCoilsTable(int startRef,
                      char bitArr[],
                      int refCnt)
   {
      printf("\nreadCoilsTable: %d, %d\n", startRef, refCnt);

      // Adjust Modbus reference counting
      startRef--;

      //
      // Validate range
      //
      if (startRef + refCnt > (int) (dataTableArr[0].size / sizeof(char)))
         return 0;

      //
      // Copy data
      //
      memcpy(bitArr, &((char *) dataTableArr[0].ptr)[startRef], refCnt * sizeof(char));
      slaveStatusInfoPtr->readDiscretesCnt++;
      return 1;
   }


   int writeCoilsTable(int startRef,
                       const char bitArr[],
                       int refCnt)
   {
      printf("\nriteCoilsTable: %d, %d\n", startRef, refCnt);

      // Adjust Modbus reference counting
      startRef--;

      //
      // Validate range
      //
      if (startRef + refCnt > (int) (dataTableArr[0].size / sizeof(char)))
         return 0;

      //
      // Copy data
      //
      memcpy(&((char *) dataTableArr[0].ptr)[startRef], bitArr, refCnt * sizeof(char));
      slaveStatusInfoPtr->writeDiscretesCnt++;
      return 1;
   }


   int readInputRegistersTable(int startRef,
                               short regArr[],
                               int refCnt)
   {
      printf("\nreadInputRegistersTable: %d, %d\n", startRef, refCnt);

      // Adjust Modbus reference counting
      startRef--;

      //
      // Validate range
      //
      if (startRef + refCnt > (int) (dataTableArr[3].size / sizeof(short)))
         return 0;

      //
      // Copy data
      //
      memcpy(regArr, &((short *) dataTableArr[3].ptr)[startRef], refCnt * sizeof(short));
      slaveStatusInfoPtr->readRegistersCnt++;
      return 1;
   }


   int readHoldingRegistersTable(int startRef,
                                 short regArr[],
                                 int refCnt)
   {
      printf("\nreadHoldingRegistersTable: %d, %d\n", startRef, refCnt);

      // Adjust Modbus reference counting
      startRef--;

      //
      // Validate range
      //
      if (startRef + refCnt > (int) (dataTableArr[4].size / sizeof(short)))
         return 0;

      //
      // Copy data
      //
      memcpy(regArr, &((short *) dataTableArr[4].ptr)[startRef], refCnt * sizeof(short));
      slaveStatusInfoPtr->readRegistersCnt++;
      return 1;
   }


   int writeHoldingRegistersTable(int startRef,
                                  const short regArr[],
                                  int refCnt)
   {
      printf("\nwriteHoldingRegistersTable: %d, %d\n", startRef, refCnt);

      // Adjust Modbus reference counting
      startRef--;

      //
      // Validate range
      //
      if (startRef + refCnt > (int) (dataTableArr[4].size / sizeof(short)))
         return 0;

      //
      // Copy data
      //
      memcpy(&((short *) dataTableArr[4].ptr)[startRef], regArr, refCnt * sizeof(short));
      slaveStatusInfoPtr->writeRegistersCnt++;
      return 1;
   }


  private:

   SlaveStatusInfo *slaveStatusInfoPtr;

};