diff --git a/CMakeLists.txt b/CMakeLists.txt
index 979d485..251780f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,6 +42,10 @@ set(DRV_SOURCE
${PROJECT_SOURCE_DIR}/drv/drv_can.c
# TCP驱动源文件
${PROJECT_SOURCE_DIR}/drv/drv_tcp.c
+ # 4G驱动源文件
+ ${PROJECT_SOURCE_DIR}/drv/drv_4g.c
+ # CAN驱动源文件
+ ${PROJECT_SOURCE_DIR}/drv/drv_can.c
)
# 添加KIT源文件
@@ -71,6 +75,7 @@ include_directories(
lib/libxml2/include
lib/libssl/include
lib/libcjson/include
+ lib/libmodbus/include
# /usr/include
)
@@ -83,6 +88,7 @@ NAMES
ssl PATHS lib/libssl/lib
crypto PATHS lib/libssl/lib
cjson PATHS lib/libcjson/lib
+ modbus PATHS lib/libmodbus/lib
)
target_link_libraries(${ProjectName} PRIVATE ${MY_LIBRARY_PATH})
diff --git a/drv/drv_4g.c b/drv/drv_4g.c
index e69de29..6375189 100644
--- a/drv/drv_4g.c
+++ b/drv/drv_4g.c
@@ -0,0 +1,125 @@
+#include "drv_4g.h"
+
+#define BUFFER_SIZE 1024
+#define LOCAL "10.244.216.42"
+
+void client(char interface[], char server_addr[], int server_port) {
+ int sock = 0;
+ struct ifreq ifr;
+
+ char buffer[BUFFER_SIZE];
+
+
+ // 创建套接字
+ if ((sock = socket(AF_INET, SOCK_STREAM, 0)) == 0) {
+ perror("套接字创建失败");
+ exit(EXIT_FAILURE);
+ }
+
+ //************如果只绑定网卡名不能连接服务端，可以同时绑定ip和网卡尝试一下************* */
+ // //local ip
+ // struct sockaddr_in local_addr;
+ // local_addr.sin_family = AF_INET;
+ // local_addr.sin_port = htons(0);
+ // local_addr.sin_addr.s_addr = inet_addr("10.232.226.30");
+
+ // // if (inet_pton(AF_INET, "192.168.2.190", &local_addr.sin_addr) <= 0) {
+ // // perror("无效的地址");
+ // // exit(EXIT_FAILURE);
+ // // }
+
+ // if (bind(sock, (struct sockaddr *)&local_addr, sizeof(local_addr)) < 0) {
+ // perror("bind失败");
+ // exit(EXIT_FAILURE);
+ // }
+ // else
+ // {
+ // printf("bind success\n");
+ // }
+ // else {
+ // printf("bind success!\n");
+ // }
+
+
+
+ // if ((sock = socket(AF_INET, SOCK_STREAM, 0)) == 0) {
+ // perror("套接字创建失败");
+ // exit(EXIT_FAILURE);
+ // }
+
+ // 设置要绑定的网卡接口名称
+ strcpy(ifr.ifr_name, interface);
+
+ // 将套接字绑定到指定的网卡
+ if (setsockopt(sock, SOL_SOCKET, SO_BINDTODEVICE, &ifr, sizeof(ifr)) < 0) {
+ perror("setsockopt");
+ close(sock);
+ exit(1);
+ }
+ else{
+ printf("connect the local interface:%s\n", ifr.ifr_name);
+ }
+
+ //绑定服务端的ip
+ // 设置服务器地址结构体
+ struct sockaddr_in serv_addr;
+ serv_addr.sin_family = AF_INET;
+ serv_addr.sin_port = htons(server_port);
+ serv_addr.sin_addr.s_addr = inet_addr(server_addr);
+
+ // 连接服务器
+ if (connect(sock, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) < 0) {
+ perror("connect失败");
+ exit(EXIT_FAILURE);
+ }
+ else {
+ printf("connect success!\n");
+ }
+
+
+ // // 将服务器IP地址从点分十进制字符串转换为网络字节序
+ // if (inet_pton(AF_INET, "47.120.14.45", &serv_addr.sin_addr) <= 0) {
+ // perror("无效的地址");
+ // exit(EXIT_FAILURE);
+ // }
+
+ while (1)
+ {
+ // 输入要发送的数据
+ printf("请输入要发送的数据（输入'quit'退出）：");
+ fgets(buffer, BUFFER_SIZE, stdin);
+
+ // 去除换行符
+ buffer[strcspn(buffer, "\n")] = 0;
+
+ if (strcmp(buffer, "quit") == 0) {
+ break;
+ }
+
+ // 向服务器发送数据
+ if (send(sock, buffer, strlen(buffer), 0) < 0) {
+ perror("发送数据失败");
+ break;
+ }
+
+ printf("已向服务端发送数据\n");
+
+ // 接收服务器返回的回复数据
+ memset(buffer, 0, BUFFER_SIZE);
+ if (recv(sock, buffer, BUFFER_SIZE, 0) < 0) {
+ perror("接收数据失败");
+ break;
+ }
+
+ if (strlen(buffer) == 0) {
+ // 服务器断开连接
+ printf("服务器已断开连接\n");
+ break;
+ }
+
+ printf("收到服务端回复：%s\n", buffer);
+ }
+
+ // 关闭套接字
+ close(sock);
+}
diff --git a/drv/drv_4g.h b/drv/drv_4g.h
index e69de29..bc2e63c 100644
--- a/drv/drv_4g.h
+++ b/drv/drv_4g.h
@@ -0,0 +1,21 @@
+#ifndef __DRV_4G_H_
+#define __DRV_4G_H_
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/socket.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <netdb.h>
+#include <errno.h>
+#include <pthread.h>
+#include <sys/ioctl.h>
+
+void client(char interface[], char server_addr[], int server_port);
+
+#endif
diff --git a/drv/drv_can.c b/drv/drv_can.c
index fce1c04..6e85e4c 100644
--- a/drv/drv_can.c
+++ b/drv/drv_can.c
@@ -1,287 +1,123 @@
#include "drv_can.h"
-/*
- * @description : 字符串按格式输出
- * @param - *destpoint : 字符串格式缓冲区
- * @param - *fmt : 多个参数
- * @return : 按格式输出字符串缓冲区首指针
- */
-char func_dprintf(char *destpoint, char *fmt, ...)
+void can_recv(char cannum[], unsigned int canID[], int canIDnum, int dataLength)
{
- va_list arg_ptr;
- char ulen, *tmpBuf;
-
- tmpBuf = destpoint;
- va_start(arg_ptr, fmt);
- ulen = vsprintf(tmpBuf, fmt, arg_ptr);
-
- va_end(arg_ptr);
- return ulen;
-}
-
-/*
- * @description : 打开can外设，设置波特率，创建文件描述符
- * @param - *device : 设备名称
- * @param - para : can应用参数
- * @return : 打开设备执成功返回文件描述符，失败返回-1
- */
-int func_open_can(char *device, struct_can_param para)
-{
- FILE *fstream = NULL;
- char buff[300] = {0}, command[50] = {0};
- int fd = -1;
struct sockaddr_can addr;
- struct ifreq ifr;
+ struct can_frame frame;
+ struct can_frame frame_send;
+ int s;
+ int nbytes;
+ struct can_filter filters[canIDnum];
- /*关闭can设备 ifconfig can0 down*/
- memset(buff, 0, sizeof(buff));
- memset(command, 0, sizeof(command));
- func_dprintf(command, "ifconfig %s down", device);
- printf("%s \n", command);
+ s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+ if (s < 0) {
+ perror("Socket creation failed");
+ exit(EXIT_FAILURE);
+ }
+ printf("创建Can_recv_Socket sucess\n");
- if (NULL == (fstream = popen(command, "w")))
- {
- fprintf(stderr, "execute command failed: %s", strerror(errno));
- }
- while (NULL != fgets(buff, sizeof(buff), fstream))
- {
- printf("%s\n", buff);
- if (strstr(buff, "No such device") || strstr(buff, "Cannot find device"))
- return -1;
- }
- pclose(fstream);
- sleep(1);
-
- /*设置can波特率 ip link set can0 up type can bitrate 250000 triple-sampling on*/
- memset(buff, 0, sizeof(buff));
- memset(command, 0, sizeof(command));
- if (para.loopback_mode == 1)
- {
- func_dprintf(command, "ip link set %s up type can bitrate %d triple-sampling on loopback on", device, para.baudrate);
- }
- else
- {
- func_dprintf(command, "ip link set %s up type can bitrate %d triple-sampling on loopback off", device, para.baudrate);
- }
- printf("%s \n", command);
-
- if (NULL == (fstream = popen(command, "w")))
- {
- fprintf(stderr, "execute command failed: %s", strerror(errno));
- }
- while (NULL != fgets(buff, sizeof(buff), fstream))
- {
- printf("%s\n", buff);
- if (strstr(buff, "No such device") || strstr(buff, "Cannot find device"))
- return -1;
- }
- pclose(fstream);
- sleep(1);
-
- /*打开can设备 ifconfig can0 up*/
- memset(buff, 0, sizeof(buff));
- memset(command, 0, sizeof(command));
- func_dprintf(command, "ifconfig %s up", device);
- printf("%s \n", command);
-
- if (NULL == (fstream = popen(command, "w")))
- {
- fprintf(stderr, "execute command failed: %s", strerror(errno));
- }
- while (NULL != fgets(buff, sizeof(buff), fstream))
- {
- printf("%s\n", buff);
- if (strstr(buff, "No such device") || strstr(buff, "Cannot find device"))
- return -1;
- }
- pclose(fstream);
- sleep(3);
-
- /* 创建 socket */
- fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
- if (fd < 0)
- {
- printf("socket:%s", strerror(errno));
- return -1;
- }
- /* 设置接口设备名称 */
- strcpy(ifr.ifr_name, device);
- /* 确定接口 index */
- if (ioctl(fd, SIOCGIFINDEX, &ifr) < 0)
- {
- printf("SIOCGIFINDEX:%s\n", strerror(errno));
- return -1;
- }
-
- memset(&addr, 0, sizeof(addr));
+ memset(&addr, 0, sizeof(struct sockaddr_can));
addr.can_family = AF_CAN;
- addr.can_ifindex = ifr.ifr_ifindex;
- /* 绑定 socket到 CAN 接口 */
- if (bind(fd, (struct sockaddr *)&addr, sizeof(addr)) < 0)
+ addr.can_ifindex = if_nametoindex(cannum); // 设置can接口
+
+ if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("Binding failed");
+ exit(EXIT_FAILURE);
+ }
+ printf("连接CAN设备 sucess\n");
+
+ // 设置发送帧的参数，使用传入的canID和数据长度
+ frame_send.can_id = 0x123456;
+ frame_send.can_dlc = dataLength;
+ memset(frame_send.data, 0, dataLength);
+ frame_send.data[0] = 0x11;
+ frame_send.data[1] = 0x22;
+
+ // 设置过滤规则，只接收指定canID的帧
+ for(int i = 0; i < canIDnum; i++)
{
- printf("bind:%s\n", strerror(errno));
- return -1;
+ filters[i].can_id = canID[i];
+ filters[i].can_mask = 0x7FF; // 这里的掩码根据实际需求设置，0x7FF表示只匹配canID的低11位
}
- return fd;
+ if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, filters, sizeof(filters)) < 0) {
+ perror("Setting filter failed");
+ exit(EXIT_FAILURE);
+ }
+
+ nbytes = read(s, &frame, sizeof(struct can_frame));
+ if (nbytes < 0) {
+ perror("Read failed");
+ exit(EXIT_FAILURE);
+ }
+ int match_found = 0;
+ for (int i = 0; i < canIDnum; i++) {
+ if ((frame.can_id & filters[i].can_mask) == filters[i].can_id) {
+ match_found = 1;
+ break;
+ }
+ }
+ if (match_found) {
+ printf("Received %d bytes: CAN ID 0x%X, Data: ", nbytes, frame.can_id);
+ for (int i = 0; i < frame.can_dlc; i++) {
+ printf("%02X ", frame.data[i]);
+ }
+ printf("\n");
+ // nbytes = write(s, &frame_send, sizeof(struct can_frame));
+ // if (nbytes < 0) {
+ // perror("Send failed");
+ // exit(EXIT_FAILURE);
+ // }
+ // printf("Sent %d bytes: CAN ID 0x%X, Data: ", nbytes, frame_send.can_id);
+ // for (int i = 0; i < frame_send.can_dlc; i++) {
+ // printf("%02X ", frame_send.data[i]);
+ // }
+ // printf("\n");
+ }
+ close(s);
}
-/*
- * @description : 设置can回环模式和过滤规则
- * @param - fd : 文件描述符
- * @param - para: can应用参数
- * @return : 设置成功返回1，失败返回-1
- */
-int func_set_can(int fd, struct_can_param para)
+void can_send(char cannum[], unsigned int canID, char* dataToSend, int dataLength)
{
- int loopback = 1;
- int reciveown = 1;
+ struct sockaddr_can addr;
+ struct can_frame frame_send;
+ int s;
- if (para.loopback_mode == 1)
- {
- //回环设置 0 关闭回环 1 打开回环
- setsockopt(fd, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback));
- //接收自己的帧 0 不接收自己帧 1 接收自己帧
- setsockopt(fd, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, &reciveown, sizeof(reciveown));
+ s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+ if (s < 0) {
+ perror("Socket creation failed for sending");
+ exit(EXIT_FAILURE);
+ }
+ printf("create the can_send socket success!\n");
+
+ memset(&addr, 0, sizeof(struct sockaddr_can));
+ addr.can_family = AF_CAN;
+ addr.can_ifindex = if_nametoindex(cannum);
+
+ if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("Binding failed for sending");
+ exit(EXIT_FAILURE);
}
- /* 设置过滤规则 */
- if (setsockopt(fd, SOL_CAN_RAW, CAN_RAW_FILTER, ¶.filter, sizeof(para.filter)) < 0)
- {
- printf("error when set filter\n");
- return -1;
- }
- return 1;
-}
-
-/*
- * @description : can接收一个can帧
- * @param - fd : 文件描述符
- * @param - *pframe: 一个can帧结构体指针
- * @return : 接收数据长度
- */
-int func_receive_can_frame(int fd, struct can_frame *pframe)
-{
- int rx_count = 0;
-
- rx_count = recv(fd, pframe, sizeof(*pframe), 0);
- if (rx_count <= 0)
- {
- return rx_count;
- }
- else
- {
- if (pframe->can_id & CAN_EFF_FLAG) /*如果是扩展帧，清除扩展帧标识*/
- {
- pframe->can_id &= (~CAN_EFF_FLAG);
- }
- else
- {
- pframe->can_id &= (~CAN_SFF_MASK);
- }
+ // 设置发送帧的参数
+ frame_send.can_id = canID;
+ frame_send.can_dlc = dataLength;
+ memset(frame_send.data, 0, dataLength);
+ for (int i = 0; i < dataLength; i++) {
+ frame_send.data[i] = dataToSend[i];
}
- return pframe->can_dlc;
-}
-
-/*
- * @description : can接收一组数据包
- * @param - fd : 文件描述符
- * @param - *buff: 要接收can一组数据的缓冲区首指针
- * @param - len : 接收到一组数据的长度
- * @return : 接收数据长度
- */
-int func_receive_can_buff(int fd, unsigned char *buff, int len)
-{
- int receive_len = 0, total_receive_len = 0;
- struct can_frame frame;
- int i = 0;
-
- while (1)
- {
- receive_len = func_receive_can_frame(fd, &frame);
- for (i = 0; i < receive_len; i++)
- {
- *(buff + total_receive_len) = frame.data[i];
- total_receive_len++;
- }
- if ((receive_len < 8) || (total_receive_len > (len - 8)))
- {
- return total_receive_len;
- }
+ int nbytes = write(s, &frame_send, sizeof(struct can_frame));
+ if (nbytes < 0) {
+ perror("Send failed");
+ exit(EXIT_FAILURE);
}
- return total_receive_len;
-}
-/*
- * @description : can发送一个can帧
- * @param - fd : 文件描述符
- * @param - *pframe: 一个can帧结构体指针
- * @param - param : can应用参数
- * @return : 发送数据长度，发送失败返回-1
- */
-int func_send_can_frame(int fd, struct can_frame *pframe, struct_can_param param)
-{
- int result = 0;
-
- if (param.extend == 1) /*扩展帧增加扩展帧标志*/
- {
- pframe->can_id &= CAN_EFF_MASK;
- pframe->can_id |= CAN_EFF_FLAG;
+ printf("Sent %d bytes: CAN ID 0x%X, Data: ", nbytes, frame_send.can_id);
+ for (int i = 0; i < frame_send.can_dlc; i++) {
+ printf("%02X ", frame_send.data[i]);
}
- else
- {
- pframe->can_id &= CAN_SFF_MASK;
- }
- result = send(fd, pframe, sizeof(struct can_frame), 0);
- if (result == -1)
- {
- printf("send:%s\n", strerror(errno));
- return -1;
- }
- return result;
-}
+ printf("\n");
-/*
- * @description : can发送一组数据包
- * @param - fd : 文件描述符
- * @param - *buff: 要发送can一组数据的缓冲区首指针
- * @param - len : 发送数据的长度
- * @param - param: can应用参数
- * @return : 实际发送数据长度
- */
-int func_send_can_buff(int fd, unsigned char *buff, int len, struct_can_param param)
-{
- int remain_frame_len = 0, frame_numb = 0;
- struct can_frame frame;
- int i = 0;
-
- remain_frame_len = len;
- while (1)
- {
- if (remain_frame_len >= 8)
- {
- frame.can_dlc = 8; /*填充发送长度*/
- remain_frame_len -= 8; /*剩余数据长度*/
- }
- else
- {
- frame.can_dlc = remain_frame_len; /*填充发送长度*/
- remain_frame_len = 0; //
- }
-
- frame.can_id = param.id; /*填充发送id*/
-
- for (i = 0; i < frame.can_dlc; i++)
- {
- frame.data[i] = buff[frame_numb * 8 + i]; /*填充发送数据*/
- }
- func_send_can_frame(fd, &frame, param);
- frame_numb++;
- if (remain_frame_len == 0)
- {
- return len;
- }
- }
- return len;
+ close(s);
}
\ No newline at end of file
diff --git a/drv/drv_can.h b/drv/drv_can.h
index bf7a1cc..331fa2c 100644
--- a/drv/drv_can.h
+++ b/drv/drv_can.h
@@ -1,47 +1,19 @@
-#ifndef __DRV_CAN_H_
-#define __DRV_CAN_H_
+#ifndef __DEV_CAN_H_
+#define __DEV_CAN_H_
-#define _DEFAULT_SOURCE
-
-#include <linux/can.h>
-#include <errno.h>
#include <stdio.h>
-#include <stdarg.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
-#include <fcntl.h>
-#include <net/if.h>
-#include <sys/ioctl.h>
#include <sys/socket.h>
+#include <sys/ioctl.h>
#include <linux/can.h>
#include <linux/can/raw.h>
-#include <termios.h> /*PPSIX 终端控制定义*/
+#include <arpa/inet.h>
+#include <net/if.h>
-#define CAN_MODE 0
-#define CAN_FD_MODE 1
+void can_recv(char cannum[], unsigned int canID[], int canIDnum, int dataLength);
-/*CAN口参数结构体 */
-typedef struct
-{
- unsigned long baudrate; /*波特率 5k~1000k*/
- unsigned int id; /*设备ID*/
- struct can_filter filter; /*接收设备过滤ID*/
- unsigned char extend; /*扩展ID*/
- unsigned char loopback_mode; /*回环模式*/
-
- unsigned char canfd_mode; /*CANFD模式*/
- unsigned long data_baudrate; /*CANFD模式下需要单独设置数据波特率*/
-} struct_can_param;
-
-int func_open_can(char *device, struct_can_param para);
-int func_set_can(int fd, struct_can_param para);
-int func_receive_can_buff(int fd, unsigned char *buff, int len);
-int func_send_can_buff(int fd, unsigned char *buff, int len, struct_can_param param);
-
-// int func_open_canfd(char *device, struct_can_param para);
-// int func_set_canfd(int fd, struct_can_param para);
-// int func_receive_canfd_buff(int fd, unsigned char *buff, int len);
-// int func_send_canfd_buff(int fd, unsigned char *buff, int len, struct_can_param param);
+void can_send(char cannum[], unsigned int canID, char* dataToSend, int dataLength);
#endif
\ No newline at end of file
diff --git a/drv/drv_tcp.h b/drv/drv_tcp.h
index c1e422d..749aba3 100644
--- a/drv/drv_tcp.h
+++ b/drv/drv_tcp.h
@@ -1,8 +1,6 @@
#ifndef __DRV_TCP_H_
#define __DRV_TCP_H_
-#define _DEFAULT_SOURCE
-
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
@@ -13,9 +11,9 @@
#include <sys/ioctl.h>
#include <pthread.h>
-void getInterfacesAndIPs(char *interfaces[], char *ips[], int *numInterfaces);
+void getInterfacesAndIPs(char *interfaces[], char *ips[], int *count);
void closeAndFree(int server_fd, int new_socket, char *interface, char *ip);
-void *tcpServeThread(void *arg);
void tcpServe(int port);
+void *tcpServeThread(void *arg);
#endif
\ No newline at end of file
diff --git a/lib/libmodbus/include/config.h b/lib/libmodbus/include/config.h
new file mode 100644
index 0000000..3d77a65
--- /dev/null
+++ b/lib/libmodbus/include/config.h
@@ -0,0 +1,292 @@
+/* config.h. Generated from config.h.in by configure. */
+/* config.h.in. Generated from configure.ac by autoheader. */
+
+/* Define to 1 if you have the `accept4' function. */
+/* #undef HAVE_ACCEPT4 */
+
+/* Define to 1 if you have the <arpa/inet.h> header file. */
+/* #undef HAVE_ARPA_INET_H */
+
+/* Define to 1 if you have the <byteswap.h> header file. */
+/* #undef HAVE_BYTESWAP_H */
+
+/* Define to 1 if you have the declaration of `TIOCM_RTS', and to 0 if you
+ don't. */
+#define HAVE_DECL_TIOCM_RTS 0
+
+/* Define to 1 if you have the declaration of `TIOCSRS485', and to 0 if you
+ don't. */
+#define HAVE_DECL_TIOCSRS485 0
+
+/* Define to 1 if you have the declaration of `__CYGWIN__', and to 0 if you
+ don't. */
+#define HAVE_DECL___CYGWIN__ 0
+
+/* Define to 1 if you have the <dlfcn.h> header file. */
+/* #undef HAVE_DLFCN_H */
+
+/* Define to 1 if you have the <errno.h> header file. */
+#define HAVE_ERRNO_H 1
+
+/* Define to 1 if you have the <fcntl.h> header file. */
+#define HAVE_FCNTL_H 1
+
+/* Define to 1 if you have the `getaddrinfo' function. */
+/* #undef HAVE_GETADDRINFO */
+
+/* Define to 1 if you have the `gettimeofday' function. */
+#define HAVE_GETTIMEOFDAY 1
+
+/* Define to 1 if you have the `inet_ntop' function. */
+/* #undef HAVE_INET_NTOP */
+
+/* Define to 1 if you have the `inet_pton' function. */
+/* #undef HAVE_INET_PTON */
+
+/* Define to 1 if you have the <inttypes.h> header file. */
+#define HAVE_INTTYPES_H 1
+
+/* Define to 1 if you have the <limits.h> header file. */
+#define HAVE_LIMITS_H 1
+
+/* Define to 1 if you have the <linux/serial.h> header file. */
+/* #undef HAVE_LINUX_SERIAL_H */
+
+/* Define to 1 if you have the <minix/config.h> header file. */
+/* #undef HAVE_MINIX_CONFIG_H */
+
+/* Define to 1 if you have the <netdb.h> header file. */
+/* #undef HAVE_NETDB_H */
+
+/* Define to 1 if you have the <netinet/in.h> header file. */
+/* #undef HAVE_NETINET_IN_H */
+
+/* Define to 1 if you have the <netinet/tcp.h> header file. */
+/* #undef HAVE_NETINET_TCP_H */
+
+/* Define to 1 if you have the `select' function. */
+/* #undef HAVE_SELECT */
+
+/* Define to 1 if you have the `socket' function. */
+/* #undef HAVE_SOCKET */
+
+/* Define to 1 if you have the <stdint.h> header file. */
+#define HAVE_STDINT_H 1
+
+/* Define to 1 if you have the <stdio.h> header file. */
+#define HAVE_STDIO_H 1
+
+/* Define to 1 if you have the <stdlib.h> header file. */
+#define HAVE_STDLIB_H 1
+
+/* Define to 1 if you have the `strerror' function. */
+#define HAVE_STRERROR 1
+
+/* Define to 1 if you have the <strings.h> header file. */
+#define HAVE_STRINGS_H 1
+
+/* Define to 1 if you have the <string.h> header file. */
+#define HAVE_STRING_H 1
+
+/* Define to 1 if you have the `strlcpy' function. */
+/* #undef HAVE_STRLCPY */
+
+/* Define to 1 if you have the <sys/ioctl.h> header file. */
+/* #undef HAVE_SYS_IOCTL_H */
+
+/* Define to 1 if you have the <sys/params.h> header file. */
+/* #undef HAVE_SYS_PARAMS_H */
+
+/* Define to 1 if you have the <sys/socket.h> header file. */
+/* #undef HAVE_SYS_SOCKET_H */
+
+/* Define to 1 if you have the <sys/stat.h> header file. */
+#define HAVE_SYS_STAT_H 1
+
+/* Define to 1 if you have the <sys/time.h> header file. */
+#define HAVE_SYS_TIME_H 1
+
+/* Define to 1 if you have the <sys/types.h> header file. */
+#define HAVE_SYS_TYPES_H 1
+
+/* Define to 1 if you have the <termios.h> header file. */
+/* #undef HAVE_TERMIOS_H */
+
+/* Define to 1 if you have the <time.h> header file. */
+#define HAVE_TIME_H 1
+
+/* Define to 1 if you have the <unistd.h> header file. */
+#define HAVE_UNISTD_H 1
+
+/* Define to 1 if you have the <wchar.h> header file. */
+#define HAVE_WCHAR_H 1
+
+/* Define to 1 if you have the <winsock2.h> header file. */
+#define HAVE_WINSOCK2_H 1
+
+/* Define to the sub-directory where libtool stores uninstalled libraries. */
+#define LT_OBJDIR ".libs/"
+
+/* Name of package */
+#define PACKAGE "libmodbus"
+
+/* Define to the address where bug reports for this package should be sent. */
+#define PACKAGE_BUGREPORT "https://github.com/stephane/libmodbus/issues"
+
+/* Define to the full name of this package. */
+#define PACKAGE_NAME "libmodbus"
+
+/* Define to the full name and version of this package. */
+#define PACKAGE_STRING "libmodbus 3.1.10"
+
+/* Define to the one symbol short name of this package. */
+#define PACKAGE_TARNAME "libmodbus"
+
+/* Define to the home page for this package. */
+#define PACKAGE_URL "http://libmodbus.org/"
+
+/* Define to the version of this package. */
+#define PACKAGE_VERSION "3.1.10"
+
+/* Define to 1 if all of the C90 standard headers exist (not just the ones
+ required in a freestanding environment). This macro is provided for
+ backward compatibility; new code need not use it. */
+#define STDC_HEADERS 1
+
+/* Enable extensions on AIX 3, Interix. */
+#ifndef _ALL_SOURCE
+# define _ALL_SOURCE 1
+#endif
+/* Enable general extensions on macOS. */
+#ifndef _DARWIN_C_SOURCE
+# define _DARWIN_C_SOURCE 1
+#endif
+/* Enable general extensions on Solaris. */
+#ifndef __EXTENSIONS__
+# define __EXTENSIONS__ 1
+#endif
+/* Enable GNU extensions on systems that have them. */
+#ifndef _GNU_SOURCE
+# define _GNU_SOURCE 1
+#endif
+/* Enable X/Open compliant socket functions that do not require linking
+ with -lxnet on HP-UX 11.11. */
+#ifndef _HPUX_ALT_XOPEN_SOCKET_API
+# define _HPUX_ALT_XOPEN_SOCKET_API 1
+#endif
+/* Identify the host operating system as Minix.
+ This macro does not affect the system headers' behavior.
+ A future release of Autoconf may stop defining this macro. */
+#ifndef _MINIX
+/* # undef _MINIX */
+#endif
+/* Enable general extensions on NetBSD.
+ Enable NetBSD compatibility extensions on Minix. */
+#ifndef _NETBSD_SOURCE
+# define _NETBSD_SOURCE 1
+#endif
+/* Enable OpenBSD compatibility extensions on NetBSD.
+ Oddly enough, this does nothing on OpenBSD. */
+#ifndef _OPENBSD_SOURCE
+# define _OPENBSD_SOURCE 1
+#endif
+/* Define to 1 if needed for POSIX-compatible behavior. */
+#ifndef _POSIX_SOURCE
+/* # undef _POSIX_SOURCE */
+#endif
+/* Define to 2 if needed for POSIX-compatible behavior. */
+#ifndef _POSIX_1_SOURCE
+/* # undef _POSIX_1_SOURCE */
+#endif
+/* Enable POSIX-compatible threading on Solaris. */
+#ifndef _POSIX_PTHREAD_SEMANTICS
+# define _POSIX_PTHREAD_SEMANTICS 1
+#endif
+/* Enable extensions specified by ISO/IEC TS 18661-5:2014. */
+#ifndef __STDC_WANT_IEC_60559_ATTRIBS_EXT__
+# define __STDC_WANT_IEC_60559_ATTRIBS_EXT__ 1
+#endif
+/* Enable extensions specified by ISO/IEC TS 18661-1:2014. */
+#ifndef __STDC_WANT_IEC_60559_BFP_EXT__
+# define __STDC_WANT_IEC_60559_BFP_EXT__ 1
+#endif
+/* Enable extensions specified by ISO/IEC TS 18661-2:2015. */
+#ifndef __STDC_WANT_IEC_60559_DFP_EXT__
+# define __STDC_WANT_IEC_60559_DFP_EXT__ 1
+#endif
+/* Enable extensions specified by ISO/IEC TS 18661-4:2015. */
+#ifndef __STDC_WANT_IEC_60559_FUNCS_EXT__
+# define __STDC_WANT_IEC_60559_FUNCS_EXT__ 1
+#endif
+/* Enable extensions specified by ISO/IEC TS 18661-3:2015. */
+#ifndef __STDC_WANT_IEC_60559_TYPES_EXT__
+# define __STDC_WANT_IEC_60559_TYPES_EXT__ 1
+#endif
+/* Enable extensions specified by ISO/IEC TR 24731-2:2010. */
+#ifndef __STDC_WANT_LIB_EXT2__
+# define __STDC_WANT_LIB_EXT2__ 1
+#endif
+/* Enable extensions specified by ISO/IEC 24747:2009. */
+#ifndef __STDC_WANT_MATH_SPEC_FUNCS__
+# define __STDC_WANT_MATH_SPEC_FUNCS__ 1
+#endif
+/* Enable extensions on HP NonStop. */
+#ifndef _TANDEM_SOURCE
+# define _TANDEM_SOURCE 1
+#endif
+/* Enable X/Open extensions. Define to 500 only if necessary
+ to make mbstate_t available. */
+#ifndef _XOPEN_SOURCE
+/* # undef _XOPEN_SOURCE */
+#endif
+
+
+/* Version number of package */
+#define VERSION "3.1.10"
+
+/* _ */
+#define WINVER 0x0501
+
+/* Number of bits in a file offset, on hosts where this is settable. */
+#define _FILE_OFFSET_BITS 64
+
+/* Define for large files, on AIX-style hosts. */
+/* #undef _LARGE_FILES */
+
+/* Define for Solaris 2.5.1 so the uint32_t typedef from <sys/synch.h>,
+ <pthread.h>, or <semaphore.h> is not used. If the typedef were allowed, the
+ #define below would cause a syntax error. */
+/* #undef _UINT32_T */
+
+/* Define for Solaris 2.5.1 so the uint8_t typedef from <sys/synch.h>,
+ <pthread.h>, or <semaphore.h> is not used. If the typedef were allowed, the
+ #define below would cause a syntax error. */
+/* #undef _UINT8_T */
+
+/* Define to `__inline__' or `__inline' if that's what the C compiler
+ calls it, or to nothing if 'inline' is not supported under any name. */
+#ifndef __cplusplus
+/* #undef inline */
+#endif
+
+/* Define to the type of a signed integer type of width exactly 64 bits if
+ such a type exists and the standard includes do not define it. */
+/* #undef int64_t */
+
+/* Define to `unsigned int' if <sys/types.h> does not define. */
+/* #undef size_t */
+
+/* Define to `int' if <sys/types.h> does not define. */
+/* #undef ssize_t */
+
+/* Define to the type of an unsigned integer type of width exactly 16 bits if
+ such a type exists and the standard includes do not define it. */
+/* #undef uint16_t */
+
+/* Define to the type of an unsigned integer type of width exactly 32 bits if
+ such a type exists and the standard includes do not define it. */
+/* #undef uint32_t */
+
+/* Define to the type of an unsigned integer type of width exactly 8 bits if
+ such a type exists and the standard includes do not define it. */
+/* #undef uint8_t */
diff --git a/lib/libmodbus/include/modbus-private.h b/lib/libmodbus/include/modbus-private.h
new file mode 100644
index 0000000..4beab96
--- /dev/null
+++ b/lib/libmodbus/include/modbus-private.h
@@ -0,0 +1,125 @@
+/*
+ * Copyright © Stéphane Raimbault <stephane.raimbault@gmail.com>
+ *
+ * SPDX-License-Identifier: LGPL-2.1-or-later
+ */
+
+#ifndef MODBUS_PRIVATE_H
+#define MODBUS_PRIVATE_H
+
+// clang-format off
+#ifndef _MSC_VER
+# include <stdint.h>
+# include <sys/time.h>
+#else
+# include "stdint.h"
+# include <time.h>
+typedef int ssize_t;
+#endif
+// clang-format on
+#include <config.h>
+#include <sys/types.h>
+
+#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);
+ unsigned int (*is_connected)(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;
+ int quirks;
+ struct timeval response_timeout;
+ struct timeval byte_timeout;
+ struct timeval indication_timeout;
+ const modbus_backend_t *backend;
+ void *backend_data;
+ uint8_t *sendMsg;
+ int sendMsgLen;
+ uint8_t *recvMsg;
+ int recvMsgLen;
+};
+
+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/lib/libmodbus/include/modbus-rtu-private.h b/lib/libmodbus/include/modbus-rtu-private.h
new file mode 100644
index 0000000..01e6a91
--- /dev/null
+++ b/lib/libmodbus/include/modbus-rtu-private.h
@@ -0,0 +1,77 @@
+/*
+ * Copyright © Stéphane Raimbault <stephane.raimbault@gmail.com>
+ *
+ * SPDX-License-Identifier: LGPL-2.1-or-later
+ */
+
+#ifndef MODBUS_RTU_PRIVATE_H
+#define MODBUS_RTU_PRIVATE_H
+
+#ifndef _MSC_VER
+#include <stdint.h>
+#else
+#include "stdint.h"
+#endif
+
+#if defined(_WIN32)
+#include <windows.h>
+#else
+#include <termios.h>
+#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/lib/libmodbus/include/modbus-rtu.h b/lib/libmodbus/include/modbus-rtu.h
new file mode 100644
index 0000000..8e89e73
--- /dev/null
+++ b/lib/libmodbus/include/modbus-rtu.h
@@ -0,0 +1,43 @@
+/*
+ * Copyright © Stéphane Raimbault <stephane.raimbault@gmail.com>
+ *
+ * SPDX-License-Identifier: LGPL-2.1-or-later
+ */
+
+#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/lib/libmodbus/include/modbus-tcp-private.h b/lib/libmodbus/include/modbus-tcp-private.h
new file mode 100644
index 0000000..faffc21
--- /dev/null
+++ b/lib/libmodbus/include/modbus-tcp-private.h
@@ -0,0 +1,41 @@
+/*
+ * Copyright © Stéphane Raimbault <stephane.raimbault@gmail.com>
+ *
+ * SPDX-License-Identifier: LGPL-2.1-or-later
+ */
+
+#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 dependent 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;
+
+typedef struct _modbus_tcp_pi {
+ /* Transaction ID */
+ uint16_t t_id;
+ /* TCP port */
+ int port;
+ /* Node */
+ char *node;
+ /* Service */
+ char *service;
+} modbus_tcp_pi_t;
+
+#endif /* MODBUS_TCP_PRIVATE_H */
diff --git a/lib/libmodbus/include/modbus-tcp.h b/lib/libmodbus/include/modbus-tcp.h
new file mode 100644
index 0000000..768d38c
--- /dev/null
+++ b/lib/libmodbus/include/modbus-tcp.h
@@ -0,0 +1,52 @@
+/*
+ * Copyright © Stéphane Raimbault <stephane.raimbault@gmail.com>
+ *
+ * SPDX-License-Identifier: LGPL-2.1-or-later
+ */
+
+#ifndef MODBUS_TCP_H
+#define MODBUS_TCP_H
+
+#include "modbus.h"
+
+MODBUS_BEGIN_DECLS
+
+#if defined(_WIN32) && !defined(__CYGWIN__)
+/* Win32 with MinGW, supplement to <errno.h> */
+#include <winsock2.h>
+#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/lib/libmodbus/include/modbus-version.h b/lib/libmodbus/include/modbus-version.h
new file mode 100644
index 0000000..16a34da
--- /dev/null
+++ b/lib/libmodbus/include/modbus-version.h
@@ -0,0 +1,51 @@
+/*
+ * Copyright © Stéphane Raimbault <stephane.raimbault@gmail.com>
+ *
+ * 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 (10)
+
+/* The full version, like 1.2.3 */
+#define LIBMODBUS_VERSION 3.1.10
+
+/* The full version, in string form (suited for string concatenation)
+ */
+#define LIBMODBUS_VERSION_STRING "3.1.10"
+
+/* 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/lib/libmodbus/include/modbus.h b/lib/libmodbus/include/modbus.h
new file mode 100644
index 0000000..55ef08a
--- /dev/null
+++ b/lib/libmodbus/include/modbus.h
@@ -0,0 +1,329 @@
+/*
+ * Copyright © Stéphane Raimbault <stephane.raimbault@gmail.com>
+ *
+ * SPDX-License-Identifier: LGPL-2.1-or-later
+ */
+
+#ifndef MODBUS_H
+#define MODBUS_H
+
+// clang-format off
+/* Add this for macros that defined unix flavor */
+#if (defined(__unix__) || defined(unix)) && !defined(USG)
+# include <sys/param.h>
+#endif
+
+#ifndef _MSC_VER
+# include <stdint.h>
+#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
+// clang-format on
+
+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;
+
+typedef enum {
+ MODBUS_QUIRK_NONE = 0,
+ MODBUS_QUIRK_MAX_SLAVE = (1 << 1),
+ MODBUS_QUIRK_REPLY_TO_BROADCAST = (1 << 2),
+ MODBUS_QUIRK_ALL = 0xFF
+} modbus_quirks;
+
+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);
+MODBUS_API int modbus_enable_quirks(modbus_t *ctx, unsigned int quirks_mask);
+MODBUS_API int modbus_disable_quirks(modbus_t *ctx, unsigned int quirks_mask);
+
+/**
+ * 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) \
+ (((int32_t) tab_int16[(index)] << 16) | (int32_t) tab_int16[(index) + 1])
+#define MODBUS_GET_INT16_FROM_INT8(tab_int8, index) \
+ (((int16_t) tab_int8[(index)] << 8) | (int16_t) tab_int8[(index) + 1])
+#define MODBUS_SET_INT16_TO_INT8(tab_int8, index, value) \
+ do { \
+ ((int8_t *) (tab_int8))[(index)] = (int8_t) ((value) >> 8); \
+ ((int8_t *) (tab_int8))[(index) + 1] = (int8_t) (value); \
+ } while (0)
+#define MODBUS_SET_INT32_TO_INT16(tab_int16, index, value) \
+ do { \
+ ((int16_t *) (tab_int16))[(index)] = (int16_t) ((value) >> 16); \
+ ((int16_t *) (tab_int16))[(index) + 1] = (int16_t) (value); \
+ } while (0)
+#define MODBUS_SET_INT64_TO_INT16(tab_int16, index, value) \
+ do { \
+ ((int16_t *) (tab_int16))[(index)] = (int16_t) ((value) >> 48); \
+ ((int16_t *) (tab_int16))[(index) + 1] = (int16_t) ((value) >> 32); \
+ ((int16_t *) (tab_int16))[(index) + 2] = (int16_t) ((value) >> 16); \
+ ((int16_t *) (tab_int16))[(index) + 3] = (int16_t) (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-rtu.h"
+#include "modbus-tcp.h"
+
+MODBUS_END_DECLS
+
+#endif /* MODBUS_H */
diff --git a/lib/libmodbus/lib/libmodbus.so b/lib/libmodbus/lib/libmodbus.so
new file mode 100644
index 0000000..6d70657
Binary files /dev/null and b/lib/libmodbus/lib/libmodbus.so differ
diff --git a/test/test.c b/test/test.c
index 5e472c5..3b29277 100644
--- a/test/test.c
+++ b/test/test.c
@@ -23,7 +23,7 @@ void testCreatThreadTask()
{
printf("testThreadTask\n");
logger_init("./log");
- pthread_t tTestLogger, tTestDIDetect, tTestUart, tTestTcp;
+ pthread_t tTestLogger, tTestDIDetect, tTestUart, tTestTcp, tTest4G, tTestCanSend, tTestCanRecv;
// pthread_create(&tTestLogger, NULL, testLoggerThread, "testLoggerThread");
// pthread_join(tTestLogger, NULL);
// int ret = pthread_create(&tTestDIDetect, NULL, testDIDetectThread, "testDIDetectThread");
@@ -31,8 +31,14 @@ void testCreatThreadTask()
// pthread_join(tTestDIDetect, NULL);
// pthread_create(&tTestUart, NULL, testUartThread, "testUartThread");
// pthread_join(tTestUart, NULL);
- pthread_create(&tTestTcp, NULL, testTcpThread, "testTcpThread");
- pthread_join(tTestTcp, NULL);
+ // pthread_create(&tTestTcp, NULL, testTcpThread, "testTcpThread");
+ // pthread_join(tTestTcp, NULL);
+ // pthread_create(&tTest4G, NULL, test4GThread, "test4GThread");
+ // pthread_join(tTest4G, NULL);
+ pthread_create(&tTestCanSend, NULL, testCanSendThread, "testCanSendhread");
+ pthread_join(tTestCanSend, NULL);
+ // pthread_create(&tTestCanRecv, NULL, testCanRecvThread, "testCanRecvhread");
+ // pthread_join(tTestCanRecv, NULL);
logger_destroy();
}
@@ -118,11 +124,47 @@ void testUart()
write(devFd, test, strlen(test) + 1);
}
+//服务端功能测试
void *testTcpThread(void *arg)
{
logger_level_printf(LOGGER_DEBUG_LEVEL, arg);
printf("TCP Serve Start\n");
// getInterfacesAndIPs();
- tcpServe(8888);
+ tcpServe(8888);
+}
+
+//客户端功能测试
+void *test4GThread(void *arg)
+{
+ logger_level_printf(LOGGER_DEBUG_LEVEL, arg);
+ printf("client test!\n");
+ client(INTERFACE, SERVER_ADDR, PORT);
+}
+
+//Can接收功能测试
+void *testCanRecvThread(void *arg)
+{
+ logger_level_printf(LOGGER_DEBUG_LEVEL, arg);
+ printf("Can Recv test!\n");
+ unsigned int canIDs[] = {0x123, 0x456, 0x789};
+ while(1) {
+ printf("enter the can recv loop\n");
+ can_recv(CANNUM_RECV, canIDs, CANIDNUM, CANDLC_RECV);
+ sleep(1);
+ }
+}
+
+//Can发送功能测试
+void *testCanSendThread(void *arg)
+{
+ logger_level_printf(LOGGER_DEBUG_LEVEL, arg);
+ printf("Can Send test!\n");
+ unsigned int canID_send = 0x112233;
+ char * can_send_data = "01 02 03 04 05 06 07 08 09 10";
+ while(1) {
+ printf("enter the can send loop\n");
+ can_send(CANNUM_SEND, canID_send, can_send_data, CANDLC_SEND);
+ sleep(1);
+ }
}
diff --git a/test/test.h b/test/test.h
index f13465e..8fa8875 100644
--- a/test/test.h
+++ b/test/test.h
@@ -1,8 +1,6 @@
#ifndef __TEST_H_
#define __TEST_H_
-#define _DEFAULT_SOURCE
-
void runTest();
void testDI();
void testDO();
@@ -11,4 +9,8 @@ void testCreatThreadTask();
void *testLoggerThread(void *arg);
void *testDIDetectThread(void *arg);
void *testUartThread(void *arg);
-#endif
\ No newline at end of file
+void *testTcpThread(void *arg);
+void *test4GThread(void *arg);
+void *testCanSendThread(void *arg);
+void *testCanRecvThread(void *arg);
+#endif