├── .github └── workflows │ └── cmake.yml ├── .gitignore ├── .vscode └── settings.json ├── CMakeLists.txt ├── README.md ├── example └── example.cpp ├── license └── modbus.h /.github/workflows/cmake.yml: -------------------------------------------------------------------------------- 1 | name: CMake 2 | 3 | on: 4 | push: 5 | branches: [ master ] 6 | pull_request: 7 | branches: [ master ] 8 | env: 9 | BUILD_TYPE: Debug 10 | jobs: 11 | build: 12 | runs-on: ubuntu-latest 13 | steps: 14 | - uses: actions/checkout@v2 15 | - name: Configure CMake 16 | run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} 17 | - name: Build 18 | # Build your program with the given configuration 19 | run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} 20 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | ### CMake template 2 | .idea 3 | cmake-build-debug 4 | .DS_Store 5 | .vs 6 | build 7 | out -------------------------------------------------------------------------------- /.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "C_Cpp.formatting": "Default", 3 | "editor.formatOnSave": true 4 | } -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.1) 2 | project(modbuspp) 3 | set(CMAKE_CXX_STANDARD 11) 4 | 5 | 6 | if(WIN32) 7 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall") 8 | else() 9 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror") 10 | endif() 11 | 12 | # BUILD INTERFACE LIB 13 | install(FILES 14 | "modbus.h" 15 | DESTINATION 16 | include/modbuspp 17 | ) 18 | # BUILD EXAMPLE 19 | set(EXAMPLE_FILES example/example.cpp) 20 | add_executable(modbuspp_example ${EXAMPLE_FILES}) 21 | target_compile_definitions(modbuspp_example 22 | PUBLIC 23 | ENABLE_MODBUSPP_LOGGING 24 | ) 25 | target_include_directories(modbuspp_example 26 | PUBLIC 27 | . 28 | ) 29 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # MODBUS++ [(MODBSPP)](https://github.com/fanzhe98/modbuspp.git) v0.3 2 | [![CMake](https://github.com/fanzhe98/modbuspp/actions/workflows/cmake.yml/badge.svg)](https://github.com/fanzhe98/modbuspp/actions/workflows/cmake.yml) 3 | # 0 Info, Updates and Discalimer 4 | ## 0.0 Info 5 | MODBUS++ (MODBUSPP) is an header-only open source c++ class/ library making an encapsulation of [Modbus](https://en.wikipedia.org/wiki/Modbus) TCP Protocol for client. 6 | 7 | MODBUS++ is providing a more OOP friendly syntax. 8 | 9 | The code now is modified to extend for Windows! However, the code for running on Windows is not 10 | throughly tested. 11 | 12 | ## 0.1 Updates 13 | 14 | UPDATES in v0.3 compared to V0.2: 15 | 1. Bug Fixing 16 | 2. Type fixing 17 | 3. Initial Windows support (in dev, not fully tested) 18 | 4. Logging as Option 19 | 5. Cmake install script 20 | 6. Pasting licensing information in file 21 | 22 | # 1 Usage 23 | To use the library, please follow the steps below. Please note current library is only compatible with Linux distributions because of the socket library dependencies. 24 | 25 | ## 1.1 Download 26 | Download the MODBUS++, you can: 27 | - Open your command window (cmd, shell, bash, etc.) 28 | > git clone https://github.com/fanzhe98/modbuspp.git 29 | - Directly download from the page. 30 | 31 | ## 1.2 Include In your code 32 | 1. Copy the "moodbus.h" to your include directory and include the code whenever appropriate: 33 | > include "modbus.h" 34 | 2. On Linux platform, you could also use 35 | ```sh 36 | mkdir build 37 | cd build 38 | cmake .. 39 | sudo make install 40 | ``` 41 | This will install the header under usr/local/include 42 | and include the code whenever appropriate 43 | > include "modbuspp/modbus.h" 44 | 45 | ## 1.3 Logging as Option 46 | To enable logging, simply set `ENABLE_MODBUSPP_LOGGING` in your compile option, see CMakeLists.txt with example. 47 | 48 | # 2 Getting Started with a Example 49 | ## 2.1 Getting the Example 50 | Checkout [example.cpp](https://github.com/fanzhe98/modbuspp/blob/master/example/example.cpp) for a example usage of MODBUSPP. Please note that the code should be compiled using c++11 compilers. 51 | A sample CMakeLists.txt is included. To build example: 52 | ### 2.1.1 CMAKE 53 | ```shell script 54 | mkdir build 55 | cd build 56 | cmake .. 57 | make 58 | ``` 59 | ### 2.1.2 G++ 60 | ```shell script 61 | g++ example.cpp --std=c++11 -o example 62 | ``` 63 | ### 2.1.3 MSCV 64 | Open your Visual Studio to compile the project 65 | 66 | ## 2.2 Tutorials 67 | Let's break the code down, before you read this, reference to [example.cpp](https://github.com/fanzhe98/modbuspp/blob/master/example.cpp). The example shows basic usages of how to create a modbus client connecting to a modbus server and perform modbus operations in your program. 68 | ### Include the header 69 | 70 | To start with, be sure to include the modbus.h header in your program 71 | > #include "modbus.h" 72 | 73 | This line includes the header modbus.h from the library, this will tell the compiler to look for functions and variables in the related file. 74 | 75 | ### Create and connects a mobus server 76 | Before performing any modbus operations, a connection needed to be setup between the modbus client(your program) and a modbus server(could be a controller). 77 | 78 | > modbus mb = modbus("127.0.0.1", 502); 79 | > mb.modbus_set_slave_id(1); 80 | > mb.modbus_connect(); 81 | 82 | These lines creates local modbus client with target IP address at 127.0.0.1 and port at 502, a server with id 1. 83 | 84 | ### Performe Mobus Operations 85 | Modbus usually have 2 types of operations, reading and writing. Reading operations include reading a coil, reading input bits, reading holding registers, and reading input registers. Writing Operations include writing sigle coil, wirting single register, writing multiple coil, and writing multiple registers. Be sure to create a connection before performing any operations. Modbus is relatively low-level protocols. It is useful to have strong computer structure knowledge to understand it. 86 | 87 | 1. The following line show how to read a coil (function 0x01). These lines read a bit from the coil at address 0. 88 | > bool read_coil; 89 | > mb.modbus_read_coils(0, 1, &read_coil); 90 | 91 | 2. The following lines show how to read input bits(discrete input) (function 0x02). These lines read a bit from discrete inputs at address 0. 92 | > bool read_bits; 93 | > mb.modbus_read_input_bits(0, 1, &read_bits); 94 | 95 | 3. The follwing lines show how to read holding registers (function 0x03). These lines read a word(16 bits) from holding registers starting at address 0. 96 | > uint16_t read_holding_regs[1]; 97 | > mb.modbus_read_holding_registers(0, 1, read_holding_regs); 98 | 99 | 4. The following lines show how to Read input registers (function 0x04). These lines read a word(16 bits) from input registers starting at address 0. 100 | > uint16_t read_input_regs[1]; 101 | > mb.modbus_read_input_registers(0, 1, read_input_regs); 102 | 103 | 5. The following lines show how to write single coil (function 0x05). These lines write a bit to the coil at address 0. 104 | > mb.modbus_write_coil(0, true); 105 | 106 | 6. The following lines show how to write single register (function 0x06). These lines write a word(16 bits) to the register at address 0. 107 | > mb.modbus_write_register(0, 123); 108 | 109 | 7. The following lines show how to write multiple coils (function 0x0F). These lines write multiple bits to the coil starting from address 0, for a length of 4. 110 | > bool write_cols[4] = {true, true, true, true}; 111 | > mb.modbus_write_coils(0,4,write_cols); 112 | 113 | 8. The following lines show how to write multiple regs (function 0x10). These lines write multiple words to the register starting from address 0, for a length of 4. 114 | > uint16_t write_regs[4] = {123, 123, 123}; 115 | > mb.modbus_write_registers(0, 4, write_regs); 116 | 117 | -------------------------------------------------------------------------------- /example/example.cpp: -------------------------------------------------------------------------------- 1 | /* example.cpp 2 | * 3 | * Copyright (C) 20017-2021 Fanzhe Lyu , all rights reserved. 4 | * 5 | * modbuspp is free software: you can redistribute it and/or modify 6 | * it under the terms of the GNU General Public License as published by 7 | * the Free Software Foundation, either version 3 of the License, or 8 | * (at your option) any later version. 9 | * 10 | * This program is distributed in the hope that it will be useful, 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | * GNU General Public License for more details. 14 | * 15 | * You should have received a copy of the GNU General Public License 16 | * along with this program. If not, see . 17 | */ 18 | 19 | #include "modbus.h" 20 | 21 | int main(int argc, char **argv) 22 | { 23 | // create a modbus object 24 | modbus mb = modbus("127.0.0.1", 502); 25 | 26 | // set slave id 27 | mb.modbus_set_slave_id(1); 28 | 29 | // connect with the server 30 | mb.modbus_connect(); 31 | 32 | // read coil function 0x01 33 | bool read_coil; 34 | mb.modbus_read_coils(0, 1, &read_coil); 35 | 36 | // read input bits(discrete input) function 0x02 37 | bool read_bits; 38 | mb.modbus_read_input_bits(0, 1, &read_bits); 39 | 40 | // read holding registers function 0x03 41 | uint16_t read_holding_regs[1]; 42 | mb.modbus_read_holding_registers(0, 1, read_holding_regs); 43 | 44 | // read input registers function 0x04 45 | uint16_t read_input_regs[1]; 46 | mb.modbus_read_input_registers(0, 1, read_input_regs); 47 | 48 | // write single coil function 0x05 49 | mb.modbus_write_coil(0, true); 50 | 51 | // write single reg function 0x06 52 | mb.modbus_write_register(0, 123); 53 | 54 | // write multiple coils function 0x0F 55 | bool write_cols[4] = {true, true, true, true}; 56 | mb.modbus_write_coils(0, 4, write_cols); 57 | 58 | // write multiple regs function 0x10 59 | uint16_t write_regs[4] = {123, 123, 123}; 60 | mb.modbus_write_registers(0, 4, write_regs); 61 | 62 | // close connection and free the memory 63 | mb.modbus_close(); 64 | return 0; 65 | } 66 | -------------------------------------------------------------------------------- /license: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | {one line to give the program's name and a brief idea of what it does.} 635 | Copyright (C) {year} {name of author} 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | {project} Copyright (C) {year} {fullname} 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /modbus.h: -------------------------------------------------------------------------------- 1 | /* modbus.h 2 | * 3 | * Copyright (C) 20017-2021 Fanzhe Lyu , all rights reserved. 4 | * 5 | * modbuspp is free software: you can redistribute it and/or modify 6 | * it under the terms of the GNU General Public License as published by 7 | * the Free Software Foundation, either version 3 of the License, or 8 | * (at your option) any later version. 9 | * 10 | * This program is distributed in the hope that it will be useful, 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | * GNU General Public License for more details. 14 | * 15 | * You should have received a copy of the GNU General Public License 16 | * along with this program. If not, see . 17 | */ 18 | 19 | #ifndef MODBUSPP_MODBUS_H 20 | #define MODBUSPP_MODBUS_H 21 | 22 | #include 23 | #include 24 | #include 25 | 26 | #ifdef ENABLE_MODBUSPP_LOGGING 27 | #include 28 | #define LOG(fmt, ...) printf("[ modbuspp ]" fmt, ##__VA_ARGS__) 29 | #else 30 | #define LOG(...) (void)0 31 | #endif 32 | 33 | #ifdef _WIN32 34 | // WINDOWS socket 35 | #define _WINSOCK_DEPRECATED_NO_WARNINGS 36 | 37 | #include 38 | #pragma comment(lib, "Ws2_32.lib") 39 | using X_SOCKET = SOCKET; 40 | using ssize_t = int; 41 | 42 | #define X_ISVALIDSOCKET(s) ((s) != INVALID_SOCKET) 43 | #define X_CLOSE_SOCKET(s) closesocket(s) 44 | #define X_ISCONNECTSUCCEED(s) ((s) != SOCKET_ERROR) 45 | 46 | #else 47 | // Berkeley socket 48 | #include 49 | #include 50 | #include 51 | #include 52 | using X_SOCKET = int; 53 | 54 | #define X_ISVALIDSOCKET(s) ((s) >= 0) 55 | #define X_CLOSE_SOCKET(s) close(s) 56 | #define X_ISCONNECTSUCCEED(s) ((s) >= 0) 57 | #endif 58 | 59 | using SOCKADDR = struct sockaddr; 60 | using SOCKADDR_IN = struct sockaddr_in; 61 | 62 | #define MAX_MSG_LENGTH 260 63 | 64 | ///Function Code 65 | #define READ_COILS 0x01 66 | #define READ_INPUT_BITS 0x02 67 | #define READ_REGS 0x03 68 | #define READ_INPUT_REGS 0x04 69 | #define WRITE_COIL 0x05 70 | #define WRITE_REG 0x06 71 | #define WRITE_COILS 0x0F 72 | #define WRITE_REGS 0x10 73 | 74 | ///Exception Codes 75 | 76 | #define EX_ILLEGAL_FUNCTION 0x01 // Function Code not Supported 77 | #define EX_ILLEGAL_ADDRESS 0x02 // Output Address not exists 78 | #define EX_ILLEGAL_VALUE 0x03 // Output Value not in Range 79 | #define EX_SERVER_FAILURE 0x04 // Slave Deive Fails to process request 80 | #define EX_ACKNOWLEDGE 0x05 // Service Need Long Time to Execute 81 | #define EX_SERVER_BUSY 0x06 // Server Was Unable to Accept MB Request PDU 82 | #define EX_NEGATIVE_ACK 0x07 83 | #define EX_MEM_PARITY_PROB 0x08 84 | #define EX_GATEWAY_PROBLEMP 0x0A // Gateway Path not Available 85 | #define EX_GATEWAY_PROBLEMF 0x0B // Target Device Failed to Response 86 | #define EX_BAD_DATA 0XFF // Bad Data lenght or Address 87 | 88 | #define BAD_CON -1 89 | 90 | /// Modbus Operator Class 91 | /** 92 | * Modbus Operator Class 93 | * Providing networking support and mobus operation support. 94 | */ 95 | class modbus 96 | { 97 | 98 | public: 99 | bool err{}; 100 | int err_no{}; 101 | std::string error_msg; 102 | 103 | modbus(std::string host, uint16_t port); 104 | ~modbus(); 105 | 106 | bool modbus_connect(); 107 | void modbus_close() const; 108 | 109 | bool is_connected() const { return _connected; } 110 | 111 | void modbus_set_slave_id(int id); 112 | 113 | int modbus_read_coils(uint16_t address, uint16_t amount, bool *buffer); 114 | int modbus_read_input_bits(uint16_t address, uint16_t amount, bool *buffer); 115 | int modbus_read_holding_registers(uint16_t address, uint16_t amount, uint16_t *buffer); 116 | int modbus_read_input_registers(uint16_t address, uint16_t amount, uint16_t *buffer); 117 | 118 | int modbus_write_coil(uint16_t address, const bool &to_write); 119 | int modbus_write_register(uint16_t address, const uint16_t &value); 120 | int modbus_write_coils(uint16_t address, uint16_t amount, const bool *value); 121 | int modbus_write_registers(uint16_t address, uint16_t amount, const uint16_t *value); 122 | 123 | private: 124 | bool _connected{}; 125 | uint16_t PORT{}; 126 | uint32_t _msg_id{}; 127 | int _slaveid{}; 128 | std::string HOST; 129 | 130 | X_SOCKET _socket{}; 131 | SOCKADDR_IN _server{}; 132 | 133 | #ifdef _WIN32 134 | WSADATA wsadata; 135 | #endif 136 | 137 | void modbus_build_request(uint8_t *to_send, uint16_t address, int func) const; 138 | 139 | int modbus_read(uint16_t address, uint16_t amount, int func); 140 | int modbus_write(uint16_t address, uint16_t amount, int func, const uint16_t *value); 141 | 142 | ssize_t modbus_send(uint8_t *to_send, size_t length); 143 | ssize_t modbus_receive(uint8_t *buffer) const; 144 | 145 | void modbuserror_handle(const uint8_t *msg, int func); 146 | 147 | void set_bad_con(); 148 | void set_bad_input(); 149 | }; 150 | 151 | /** 152 | * Main Constructor of Modbus Connector Object 153 | * @param host IP Address of Host 154 | * @param port Port for the TCP Connection 155 | * @return A Modbus Connector Object 156 | */ 157 | inline modbus::modbus(std::string host, uint16_t port = 502) 158 | { 159 | HOST = host; 160 | PORT = port; 161 | _slaveid = 1; 162 | _msg_id = 1; 163 | _connected = false; 164 | err = false; 165 | err_no = 0; 166 | error_msg = ""; 167 | } 168 | 169 | /** 170 | * Destructor of Modbus Connector Object 171 | */ 172 | inline modbus::~modbus(void) = default; 173 | 174 | /** 175 | * Modbus Slave ID Setter 176 | * @param id ID of the Modbus Server Slave 177 | */ 178 | inline void modbus::modbus_set_slave_id(int id) 179 | { 180 | _slaveid = id; 181 | } 182 | 183 | /** 184 | * Build up a Modbus/TCP Connection 185 | * @return If A Connection Is Successfully Built 186 | */ 187 | inline bool modbus::modbus_connect() 188 | { 189 | if (HOST.empty() || PORT == 0) 190 | { 191 | LOG("Missing Host and Port"); 192 | return false; 193 | } 194 | else 195 | { 196 | LOG("Found Proper Host %s and Port %d", HOST.c_str(), PORT); 197 | } 198 | 199 | #ifdef _WIN32 200 | if (WSAStartup(0x0202, &wsadata)) 201 | { 202 | return false; 203 | } 204 | #endif 205 | 206 | _socket = socket(AF_INET, SOCK_STREAM, 0); 207 | if (!X_ISVALIDSOCKET(_socket)) 208 | { 209 | LOG("Error Opening Socket"); 210 | #ifdef _WIN32 211 | WSACleanup(); 212 | #endif 213 | return false; 214 | } 215 | else 216 | { 217 | LOG("Socket Opened Successfully"); 218 | } 219 | 220 | #ifdef WIN32 221 | const DWORD timeout = 20; 222 | #else 223 | struct timeval timeout 224 | { 225 | }; 226 | timeout.tv_sec = 20; // after 20 seconds connect() will timeout 227 | timeout.tv_usec = 0; 228 | #endif 229 | 230 | setsockopt(_socket, SOL_SOCKET, SO_SNDTIMEO, (const char *)&timeout, sizeof(timeout)); 231 | setsockopt(_socket, SOL_SOCKET, SO_RCVTIMEO, (const char *)&timeout, sizeof(timeout)); 232 | _server.sin_family = AF_INET; 233 | _server.sin_addr.s_addr = inet_addr(HOST.c_str()); 234 | _server.sin_port = htons(PORT); 235 | 236 | if (!X_ISCONNECTSUCCEED(connect(_socket, (SOCKADDR *)&_server, sizeof(_server)))) 237 | { 238 | LOG("Connection Error"); 239 | #ifdef _WIN32 240 | WSACleanup(); 241 | #endif 242 | return false; 243 | } 244 | 245 | LOG("Connected"); 246 | _connected = true; 247 | return true; 248 | } 249 | 250 | /** 251 | * Close the Modbus/TCP Connection 252 | */ 253 | inline void modbus::modbus_close() const 254 | { 255 | X_CLOSE_SOCKET(_socket); 256 | #ifdef _WIN32 257 | WSACleanup(); 258 | #endif 259 | LOG("Socket Closed"); 260 | } 261 | 262 | /** 263 | * Modbus Request Builder 264 | * @param to_send Message Buffer to Be Sent 265 | * @param address Reference Address 266 | * @param func Modbus Functional Code 267 | */ 268 | inline void modbus::modbus_build_request(uint8_t *to_send, uint16_t address, int func) const 269 | { 270 | to_send[0] = (uint8_t)(_msg_id >> 8u); 271 | to_send[1] = (uint8_t)(_msg_id & 0x00FFu); 272 | to_send[2] = 0; 273 | to_send[3] = 0; 274 | to_send[4] = 0; 275 | to_send[6] = (uint8_t)_slaveid; 276 | to_send[7] = (uint8_t)func; 277 | to_send[8] = (uint8_t)(address >> 8u); 278 | to_send[9] = (uint8_t)(address & 0x00FFu); 279 | } 280 | 281 | /** 282 | * Write Request Builder and Sender 283 | * @param address Reference Address 284 | * @param amount Amount of data to be Written 285 | * @param func Modbus Functional Code 286 | * @param value Data to Be Written 287 | */ 288 | inline int modbus::modbus_write(uint16_t address, uint16_t amount, int func, const uint16_t *value) 289 | { 290 | int status = 0; 291 | uint8_t *to_send; 292 | if (func == WRITE_COIL || func == WRITE_REG) 293 | { 294 | to_send = new uint8_t[12]; 295 | modbus_build_request(to_send, address, func); 296 | to_send[5] = 6; 297 | to_send[10] = (uint8_t)(value[0] >> 8u); 298 | to_send[11] = (uint8_t)(value[0] & 0x00FFu); 299 | status = modbus_send(to_send, 12); 300 | } 301 | else if (func == WRITE_REGS) 302 | { 303 | to_send = new uint8_t[13 + 2 * amount]; 304 | modbus_build_request(to_send, address, func); 305 | to_send[5] = (uint8_t)(7 + 2 * amount); 306 | to_send[10] = (uint8_t)(amount >> 8u); 307 | to_send[11] = (uint8_t)(amount & 0x00FFu); 308 | to_send[12] = (uint8_t)(2 * amount); 309 | for (int i = 0; i < amount; i++) 310 | { 311 | to_send[13 + 2 * i] = (uint8_t)(value[i] >> 8u); 312 | to_send[14 + 2 * i] = (uint8_t)(value[i] & 0x00FFu); 313 | } 314 | status = modbus_send(to_send, 13 + 2 * amount); 315 | } 316 | else if (func == WRITE_COILS) 317 | { 318 | to_send = new uint8_t[14 + (amount - 1) / 8]; 319 | modbus_build_request(to_send, address, func); 320 | to_send[5] = (uint8_t)(7 + (amount + 7) / 8); 321 | to_send[10] = (uint8_t)(amount >> 8u); 322 | to_send[11] = (uint8_t)(amount & 0x00FFu); 323 | to_send[12] = (uint8_t)((amount + 7) / 8); 324 | for (int i = 0; i < (amount + 7) / 8; i++) 325 | to_send[13 + i] = 0; // init needed before summing! 326 | for (int i = 0; i < amount; i++) 327 | { 328 | to_send[13 + i / 8] += (uint8_t)(value[i] << (i % 8u)); 329 | } 330 | status = modbus_send(to_send, 14 + (amount - 1) / 8); 331 | } 332 | delete[] to_send; 333 | return status; 334 | } 335 | 336 | /** 337 | * Read Request Builder and Sender 338 | * @param address Reference Address 339 | * @param amount Amount of Data to Read 340 | * @param func Modbus Functional Code 341 | */ 342 | inline int modbus::modbus_read(uint16_t address, uint16_t amount, int func) 343 | { 344 | uint8_t to_send[12]; 345 | modbus_build_request(to_send, address, func); 346 | to_send[5] = 6; 347 | to_send[10] = (uint8_t)(amount >> 8u); 348 | to_send[11] = (uint8_t)(amount & 0x00FFu); 349 | return modbus_send(to_send, 12); 350 | } 351 | 352 | /** 353 | * Read Holding Registers 354 | * MODBUS FUNCTION 0x03 355 | * @param address Reference Address 356 | * @param amount Amount of Registers to Read 357 | * @param buffer Buffer to Store Data Read from Registers 358 | */ 359 | inline int modbus::modbus_read_holding_registers(uint16_t address, uint16_t amount, uint16_t *buffer) 360 | { 361 | if (_connected) 362 | { 363 | modbus_read(address, amount, READ_REGS); 364 | uint8_t to_rec[MAX_MSG_LENGTH]; 365 | ssize_t k = modbus_receive(to_rec); 366 | if (k == -1) 367 | { 368 | set_bad_con(); 369 | return BAD_CON; 370 | } 371 | modbuserror_handle(to_rec, READ_REGS); 372 | if (err) 373 | return err_no; 374 | for (auto i = 0; i < amount; i++) 375 | { 376 | buffer[i] = ((uint16_t)to_rec[9u + 2u * i]) << 8u; 377 | buffer[i] += (uint16_t)to_rec[10u + 2u * i]; 378 | } 379 | return 0; 380 | } 381 | else 382 | { 383 | set_bad_con(); 384 | return BAD_CON; 385 | } 386 | } 387 | 388 | /** 389 | * Read Input Registers 390 | * MODBUS FUNCTION 0x04 391 | * @param address Reference Address 392 | * @param amount Amount of Registers to Read 393 | * @param buffer Buffer to Store Data Read from Registers 394 | */ 395 | inline int modbus::modbus_read_input_registers(uint16_t address, uint16_t amount, uint16_t *buffer) 396 | { 397 | if (_connected) 398 | { 399 | modbus_read(address, amount, READ_INPUT_REGS); 400 | uint8_t to_rec[MAX_MSG_LENGTH]; 401 | ssize_t k = modbus_receive(to_rec); 402 | if (k == -1) 403 | { 404 | set_bad_con(); 405 | return BAD_CON; 406 | } 407 | modbuserror_handle(to_rec, READ_INPUT_REGS); 408 | if (err) 409 | return err_no; 410 | for (auto i = 0; i < amount; i++) 411 | { 412 | buffer[i] = ((uint16_t)to_rec[9u + 2u * i]) << 8u; 413 | buffer[i] += (uint16_t)to_rec[10u + 2u * i]; 414 | } 415 | return 0; 416 | } 417 | else 418 | { 419 | set_bad_con(); 420 | return BAD_CON; 421 | } 422 | } 423 | 424 | /** 425 | * Read Coils 426 | * MODBUS FUNCTION 0x01 427 | * @param address Reference Address 428 | * @param amount Amount of Coils to Read 429 | * @param buffer Buffer to Store Data Read from Coils 430 | */ 431 | inline int modbus::modbus_read_coils(uint16_t address, uint16_t amount, bool *buffer) 432 | { 433 | if (_connected) 434 | { 435 | if (amount > 2040) 436 | { 437 | set_bad_input(); 438 | return EX_BAD_DATA; 439 | } 440 | modbus_read(address, amount, READ_COILS); 441 | uint8_t to_rec[MAX_MSG_LENGTH]; 442 | ssize_t k = modbus_receive(to_rec); 443 | if (k == -1) 444 | { 445 | set_bad_con(); 446 | return BAD_CON; 447 | } 448 | modbuserror_handle(to_rec, READ_COILS); 449 | if (err) 450 | return err_no; 451 | for (auto i = 0; i < amount; i++) 452 | { 453 | buffer[i] = (bool)((to_rec[9u + i / 8u] >> (i % 8u)) & 1u); 454 | } 455 | return 0; 456 | } 457 | else 458 | { 459 | set_bad_con(); 460 | return BAD_CON; 461 | } 462 | } 463 | 464 | /** 465 | * Read Input Bits(Discrete Data) 466 | * MODBUS FUNCITON 0x02 467 | * @param address Reference Address 468 | * @param amount Amount of Bits to Read 469 | * @param buffer Buffer to store Data Read from Input Bits 470 | */ 471 | inline int modbus::modbus_read_input_bits(uint16_t address, uint16_t amount, bool *buffer) 472 | { 473 | if (_connected) 474 | { 475 | if (amount > 2040) 476 | { 477 | set_bad_input(); 478 | return EX_BAD_DATA; 479 | } 480 | modbus_read(address, amount, READ_INPUT_BITS); 481 | uint8_t to_rec[MAX_MSG_LENGTH]; 482 | ssize_t k = modbus_receive(to_rec); 483 | if (k == -1) 484 | { 485 | set_bad_con(); 486 | return BAD_CON; 487 | } 488 | if (err) 489 | return err_no; 490 | for (auto i = 0; i < amount; i++) 491 | { 492 | buffer[i] = (bool)((to_rec[9u + i / 8u] >> (i % 8u)) & 1u); 493 | } 494 | modbuserror_handle(to_rec, READ_INPUT_BITS); 495 | return 0; 496 | } 497 | else 498 | { 499 | return BAD_CON; 500 | } 501 | } 502 | 503 | /** 504 | * Write Single Coils 505 | * MODBUS FUNCTION 0x05 506 | * @param address Reference Address 507 | * @param to_write Value to be Written to Coil 508 | */ 509 | inline int modbus::modbus_write_coil(uint16_t address, const bool &to_write) 510 | { 511 | if (_connected) 512 | { 513 | int value = to_write * 0xFF00; 514 | modbus_write(address, 1, WRITE_COIL, (uint16_t *)&value); 515 | uint8_t to_rec[MAX_MSG_LENGTH]; 516 | ssize_t k = modbus_receive(to_rec); 517 | if (k == -1) 518 | { 519 | set_bad_con(); 520 | return BAD_CON; 521 | } 522 | modbuserror_handle(to_rec, WRITE_COIL); 523 | if (err) 524 | return err_no; 525 | return 0; 526 | } 527 | else 528 | { 529 | set_bad_con(); 530 | return BAD_CON; 531 | } 532 | } 533 | 534 | /** 535 | * Write Single Register 536 | * FUCTION 0x06 537 | * @param address Reference Address 538 | * @param value Value to Be Written to Register 539 | */ 540 | inline int modbus::modbus_write_register(uint16_t address, const uint16_t &value) 541 | { 542 | if (_connected) 543 | { 544 | modbus_write(address, 1, WRITE_REG, &value); 545 | uint8_t to_rec[MAX_MSG_LENGTH]; 546 | ssize_t k = modbus_receive(to_rec); 547 | if (k == -1) 548 | { 549 | set_bad_con(); 550 | return BAD_CON; 551 | } 552 | modbuserror_handle(to_rec, WRITE_COIL); 553 | if (err) 554 | return err_no; 555 | return 0; 556 | } 557 | else 558 | { 559 | set_bad_con(); 560 | return BAD_CON; 561 | } 562 | } 563 | 564 | /** 565 | * Write Multiple Coils 566 | * MODBUS FUNCTION 0x0F 567 | * @param address Reference Address 568 | * @param amount Amount of Coils to Write 569 | * @param value Values to Be Written to Coils 570 | */ 571 | inline int modbus::modbus_write_coils(uint16_t address, uint16_t amount, const bool *value) 572 | { 573 | if (_connected) 574 | { 575 | uint16_t *temp = new uint16_t[amount]; 576 | for (int i = 0; i < amount; i++) 577 | { 578 | temp[i] = (uint16_t)value[i]; 579 | } 580 | modbus_write(address, amount, WRITE_COILS, temp); 581 | delete[] temp; 582 | uint8_t to_rec[MAX_MSG_LENGTH]; 583 | ssize_t k = modbus_receive(to_rec); 584 | if (k == -1) 585 | { 586 | set_bad_con(); 587 | return BAD_CON; 588 | } 589 | modbuserror_handle(to_rec, WRITE_COILS); 590 | if (err) 591 | return err_no; 592 | return 0; 593 | } 594 | else 595 | { 596 | set_bad_con(); 597 | return BAD_CON; 598 | } 599 | } 600 | 601 | /** 602 | * Write Multiple Registers 603 | * MODBUS FUNCION 0x10 604 | * @param address Reference Address 605 | * @param amount Amount of Value to Write 606 | * @param value Values to Be Written to the Registers 607 | */ 608 | inline int modbus::modbus_write_registers(uint16_t address, uint16_t amount, const uint16_t *value) 609 | { 610 | if (_connected) 611 | { 612 | modbus_write(address, amount, WRITE_REGS, value); 613 | uint8_t to_rec[MAX_MSG_LENGTH]; 614 | ssize_t k = modbus_receive(to_rec); 615 | if (k == -1) 616 | { 617 | set_bad_con(); 618 | return BAD_CON; 619 | } 620 | modbuserror_handle(to_rec, WRITE_REGS); 621 | if (err) 622 | return err_no; 623 | return 0; 624 | } 625 | else 626 | { 627 | set_bad_con(); 628 | return BAD_CON; 629 | } 630 | } 631 | 632 | /** 633 | * Data Sender 634 | * @param to_send Request to Be Sent to Server 635 | * @param length Length of the Request 636 | * @return Size of the request 637 | */ 638 | inline ssize_t modbus::modbus_send(uint8_t *to_send, size_t length) 639 | { 640 | _msg_id++; 641 | return send(_socket, (const char *)to_send, (size_t)length, 0); 642 | } 643 | 644 | /** 645 | * Data Receiver 646 | * @param buffer Buffer to Store the Data Retrieved 647 | * @return Size of Incoming Data 648 | */ 649 | inline ssize_t modbus::modbus_receive(uint8_t *buffer) const 650 | { 651 | return recv(_socket, (char *)buffer, MAX_MSG_LENGTH, 0); 652 | } 653 | 654 | inline void modbus::set_bad_con() 655 | { 656 | err = true; 657 | error_msg = "BAD CONNECTION"; 658 | } 659 | 660 | inline void modbus::set_bad_input() 661 | { 662 | err = true; 663 | error_msg = "BAD FUNCTION INPUT"; 664 | } 665 | 666 | /** 667 | * Error Code Handler 668 | * @param msg Message Received from the Server 669 | * @param func Modbus Functional Code 670 | */ 671 | inline void modbus::modbuserror_handle(const uint8_t *msg, int func) 672 | { 673 | err = false; 674 | error_msg = "NO ERR"; 675 | if (msg[7] == func + 0x80) 676 | { 677 | err = true; 678 | switch (msg[8]) 679 | { 680 | case EX_ILLEGAL_FUNCTION: 681 | error_msg = "1 Illegal Function"; 682 | break; 683 | case EX_ILLEGAL_ADDRESS: 684 | error_msg = "2 Illegal Address"; 685 | break; 686 | case EX_ILLEGAL_VALUE: 687 | error_msg = "3 Illegal Value"; 688 | break; 689 | case EX_SERVER_FAILURE: 690 | error_msg = "4 Server Failure"; 691 | break; 692 | case EX_ACKNOWLEDGE: 693 | error_msg = "5 Acknowledge"; 694 | break; 695 | case EX_SERVER_BUSY: 696 | error_msg = "6 Server Busy"; 697 | break; 698 | case EX_NEGATIVE_ACK: 699 | error_msg = "7 Negative Acknowledge"; 700 | break; 701 | case EX_MEM_PARITY_PROB: 702 | error_msg = "8 Memory Parity Problem"; 703 | break; 704 | case EX_GATEWAY_PROBLEMP: 705 | error_msg = "10 Gateway Path Unavailable"; 706 | break; 707 | case EX_GATEWAY_PROBLEMF: 708 | error_msg = "11 Gateway Target Device Failed to Respond"; 709 | break; 710 | default: 711 | error_msg = "UNK"; 712 | break; 713 | } 714 | } 715 | } 716 | 717 | #endif //MODBUSPP_MODBUS_H 718 | --------------------------------------------------------------------------------