diff -ru libmodbus-xeno-3.1.6-src/src/Makefile.am libmodbus-xeno-3.1.6/src/Makefile.am
@@ -7,7 +7,7 @@
-DLIBEXECDIR=\""$(libexecdir)"\" \
-I${top_srcdir}/src
-AM_CFLAGS = ${my_CFLAGS}
+AM_CFLAGS = ${my_CFLAGS} -I/usr/xenomai/include/ -I/usr/xenomai/include/cobalt
libmodbus_la_SOURCES = \
modbus.c \
@@ -23,7 +23,7 @@
modbus-version.h
libmodbus_la_LDFLAGS = -no-undefined \
- -version-info $(LIBMODBUS_LT_VERSION_INFO)
+ -version-info $(LIBMODBUS_LT_VERSION_INFO) -Wl,--no-as-needed -Wl,@/usr/xenomai/lib/cobalt.wrappers -Wl,@/usr/xenomai/lib/modechk.wrappers /usr/xenomai/lib/xenomai/bootstrap.lo -L/usr/xenomai/lib -lcobalt -lmodechk -lpthread -lrt
if OS_WIN32
libmodbus_la_LIBADD = -lwsock32
diff -ru libmodbus-xeno-3.1.6-src/src/Makefile.in libmodbus-xeno-3.1.6/src/Makefile.in
@@ -349,7 +349,7 @@
-DLIBEXECDIR=\""$(libexecdir)"\" \
-I${top_srcdir}/src
-AM_CFLAGS = ${my_CFLAGS}
+AM_CFLAGS = ${my_CFLAGS} -I/usr/xenomai/include/ -I/usr/xenomai/include/cobalt
libmodbus_la_SOURCES = \
modbus.c \
modbus.h \
@@ -364,7 +364,7 @@
modbus-version.h
libmodbus_la_LDFLAGS = -no-undefined \
- -version-info $(LIBMODBUS_LT_VERSION_INFO)
+ -version-info $(LIBMODBUS_LT_VERSION_INFO) -Wl,--no-as-needed -Wl,@/usr/xenomai/lib/cobalt.wrappers -Wl,@/usr/xenomai/lib/modechk.wrappers /usr/xenomai/lib/xenomai/bootstrap.lo -L/usr/xenomai/lib -lcobalt -lmodechk -lpthread -lrt
@OS_QNX_TRUE@libmodbus_la_LIBADD = -lsocket
@OS_WIN32_TRUE@libmodbus_la_LIBADD = -lwsock32
diff -ru libmodbus-xeno-3.1.6-src/src/modbus.c libmodbus-xeno-3.1.6/src/modbus.c
@@ -383,25 +383,26 @@
p_tv = &tv;
}
- while (length_to_read != 0) {
- rc = ctx->backend->select(ctx, &rset, p_tv, length_to_read);
- if (rc == -1) {
- _error_print(ctx, "select");
- if (ctx->error_recovery & MODBUS_ERROR_RECOVERY_LINK) {
- int saved_errno = errno;
+ // only set timeout once
+ rc = ctx->backend->select(ctx, &rset, p_tv, length_to_read);
+ if (rc == -1) {
+ _error_print(ctx, "select");
+ if (ctx->error_recovery & MODBUS_ERROR_RECOVERY_LINK) {
+ int saved_errno = errno;
- if (errno == ETIMEDOUT) {
- _sleep_response_timeout(ctx);
- modbus_flush(ctx);
- } else if (errno == EBADF) {
- modbus_close(ctx);
- modbus_connect(ctx);
- }
- errno = saved_errno;
+ if (errno == ETIMEDOUT) {
+ _sleep_response_timeout(ctx);
+ modbus_flush(ctx);
+ } else if (errno == EBADF) {
+ modbus_close(ctx);
+ modbus_connect(ctx);
}
- return -1;
+ errno = saved_errno;
}
+ return -1;
+ }
+ while (length_to_read != 0) {
rc = ctx->backend->recv(ctx, msg + msg_length, length_to_read);
if (rc == 0) {
errno = ECONNRESET;
@@ -528,7 +529,7 @@
}
rsp_length_computed = compute_response_length_from_request(ctx, req);
-
+
/* Exception code */
if (function >= 0x80) {
if (rsp_length == (offset + 2 + (int)ctx->backend->checksum_length) &&
diff -ru libmodbus-xeno-3.1.6-src/src/modbus-rtu.c libmodbus-xeno-3.1.6/src/modbus-rtu.c
@@ -18,10 +18,14 @@
#include "modbus-rtu.h"
#include "modbus-rtu-private.h"
-
+#if 1
+#include <rtdm/rtdm.h>
+#include <rtdm/serial.h>
+#else
#if HAVE_DECL_TIOCSRS485 || HAVE_DECL_TIOCM_RTS
#include <sys/ioctl.h>
#endif
+#endif
#if HAVE_DECL_TIOCSRS485
#include <linux/serial.h>
@@ -399,8 +403,8 @@
#if defined(_WIN32)
DCB dcb;
#else
- struct termios tios;
- speed_t speed;
+ // struct termios tios;
+ // speed_t speed;
int flags;
#endif
modbus_rtu_t *ctx_rtu = ctx->backend_data;
@@ -583,11 +587,11 @@
Timeouts are ignored in canonical input mode or when the
NDELAY option is set on the file via open or fcntl */
- flags = O_RDWR | O_NOCTTY | O_NDELAY | O_EXCL;
-#ifdef O_CLOEXEC
- flags |= O_CLOEXEC;
-#endif
-
+// flags = O_RDWR | O_NOCTTY | O_NDELAY | O_EXCL;
+// #ifdef O_CLOEXEC
+// flags |= O_CLOEXEC;
+// #endif
+ flags = O_RDWR;
ctx->s = open(ctx_rtu->device, flags);
if (ctx->s == -1) {
if (ctx->debug) {
@@ -596,7 +600,7 @@
}
return -1;
}
-
+#if 0
/* Save */
tcgetattr(ctx->s, &ctx_rtu->old_tios);
@@ -893,6 +897,7 @@
ctx->s = -1;
return -1;
}
+#endif
#endif
return 0;
@@ -1115,7 +1120,7 @@
static void _modbus_rtu_close(modbus_t *ctx)
{
/* Restore line settings and close file descriptor in RTU mode */
- modbus_rtu_t *ctx_rtu = ctx->backend_data;
+ //modbus_rtu_t *ctx_rtu = ctx->backend_data;
#if defined(_WIN32)
/* Revert settings */
@@ -1130,13 +1135,15 @@
}
#else
if (ctx->s != -1) {
- tcsetattr(ctx->s, TCSANOW, &ctx_rtu->old_tios);
+ //tcsetattr(ctx->s, TCSANOW, &ctx_rtu->old_tios);
close(ctx->s);
ctx->s = -1;
}
#endif
}
+#define RTSER_RTIOC_FLUSH_SERIAL _IOR(RTIOC_TYPE_SERIAL, 0x07, int)
+
static int _modbus_rtu_flush(modbus_t *ctx)
{
#if defined(_WIN32)
@@ -1144,13 +1151,36 @@
ctx_rtu->w_ser.n_bytes = 0;
return (PurgeComm(ctx_rtu->w_ser.fd, PURGE_RXCLEAR) == FALSE);
#else
- return tcflush(ctx->s, TCIOFLUSH);
+ int ret = 0;
+
+ ret = ioctl(ctx->s, RTSER_RTIOC_FLUSH_SERIAL);
+ if (ret)
+ fprintf(stderr, "RTSER_RTIOC_FLUSH_SERIAL failed\n");
+ return ret;//tcflush(ctx->s, TCIOFLUSH);
#endif
}
static int _modbus_rtu_select(modbus_t *ctx, fd_set *rset,
struct timeval *tv, int length_to_read)
{
+#if 1
+ int ret = 0;
+ struct rtser_config config = {0};
+
+ config.config_mask = RTSER_SET_TIMEOUT_RX;
+ if(tv == NULL)
+ config.rx_timeout = 0;
+ else
+ config.rx_timeout = tv->tv_sec * 1000000000 + tv->tv_usec * 1000;
+
+ ret = ioctl(ctx->s, RTSER_RTIOC_SET_CONFIG, &config);
+ if (ret)
+ {
+ fprintf(stderr, "RTSER_RTIOC_SET_CONFIG set timeout failed\n");
+ return -1;
+ }
+ return 0;
+#else
int s_rc;
#if defined(_WIN32)
s_rc = win32_ser_select(&((modbus_rtu_t *)ctx->backend_data)->w_ser,
@@ -1185,6 +1215,7 @@
#endif
return s_rc;
+#endif
}
static void _modbus_rtu_free(modbus_t *ctx) {
diff -ru libmodbus-xeno-3.1.6-src/tests/Makefile.am libmodbus-xeno-3.1.6/tests/Makefile.am
@@ -11,7 +11,7 @@
version
common_ldflags = \
- $(top_builddir)/src/libmodbus.la
+ $(top_builddir)/src/libmodbus.la /usr/xenomai/lib/xenomai/bootstrap.o
bandwidth_server_one_SOURCES = bandwidth-server-one.c
bandwidth_server_one_LDADD = $(common_ldflags)
@@ -44,7 +44,7 @@
-I${top_srcdir}/src \
-I${top_builddir}/src
-AM_CFLAGS = ${my_CFLAGS}
+AM_CFLAGS = ${my_CFLAGS} -I/usr/xenomai/include/trank -D__XENO_COMPAT__ -I/usr/xenomai/include/cobalt -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__COBALT__ -I/usr/xenomai/include/alchemy -Wl,--no-as-needed -Wl,@/usr/xenomai/lib/cobalt.wrappers -Wl,@/usr/xenomai/lib/modechk.wrappers -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lcobalt -lmodechk -lpthread -lrt
CLEANFILES = *~ *.log
diff -ru libmodbus-xeno-3.1.6-src/tests/Makefile.in libmodbus-xeno-3.1.6/tests/Makefile.in
@@ -554,7 +554,7 @@
top_srcdir = @top_srcdir@
EXTRA_DIST = README.md unit-tests.sh
common_ldflags = \
- $(top_builddir)/src/libmodbus.la
+ $(top_builddir)/src/libmodbus.la /usr/xenomai/lib/xenomai/bootstrap.o
bandwidth_server_one_SOURCES = bandwidth-server-one.c
bandwidth_server_one_LDADD = $(common_ldflags)
@@ -579,7 +579,7 @@
-I${top_srcdir}/src \
-I${top_builddir}/src
-AM_CFLAGS = ${my_CFLAGS}
+AM_CFLAGS = ${my_CFLAGS} -I/usr/xenomai/include/trank -D__XENO_COMPAT__ -I/usr/xenomai/include/cobalt -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__COBALT__ -I/usr/xenomai/include/alchemy -Wl,--no-as-needed -Wl,@/usr/xenomai/lib/cobalt.wrappers -Wl,@/usr/xenomai/lib/modechk.wrappers -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lcobalt -lmodechk -lpthread -lrt
CLEANFILES = *~ *.log
noinst_SCRIPTS = unit-tests.sh
TESTS = ./unit-tests.sh
diff -ru libmodbus-xeno-3.1.6-src/tests/unit-test-client.c libmodbus-xeno-3.1.6/tests/unit-test-client.c
@@ -87,7 +87,8 @@
} else if (use_backend == TCP_PI) {
ctx = modbus_new_tcp_pi("::1", "1502");
} else {
- ctx = modbus_new_rtu("/dev/ttyUSB1", 115200, 'N', 8, 1);
+ ctx = modbus_new_rtu("/dev/rtdm/rtser0", 115200, 'N', 8, 1);
+ //ctx = modbus_new_rtu("/dev/ttyAMA0", 115200, 'N', 8, 1);
}
if (ctx == NULL) {
fprintf(stderr, "Unable to allocate libmodbus context\n");
@@ -110,6 +111,8 @@
}
modbus_get_response_timeout(ctx, &new_response_to_sec, &new_response_to_usec);
+ modbus_set_response_timeout(ctx,1,0);
+
printf("** UNIT TESTING **\n");
printf("1/1 No response timeout modification on connect: ");
@@ -237,6 +240,7 @@
/* Write registers to zero from tab_rp_registers and store read registers
into tab_rp_registers. So the read registers must set to 0, except the
first one because there is an offset of 1 register on write. */
+ modbus_flush(ctx);
rc = modbus_write_and_read_registers(ctx,
UT_REGISTERS_ADDRESS + 1,
UT_REGISTERS_NB - 1,
diff -ru libmodbus-xeno-3.1.6-src/tests/unit-test-server.c libmodbus-xeno-3.1.6/tests/unit-test-server.c
@@ -63,7 +63,7 @@
ctx = modbus_new_tcp_pi("::0", "1502");
query = malloc(MODBUS_TCP_MAX_ADU_LENGTH);
} else {
- ctx = modbus_new_rtu("/dev/ttyUSB0", 115200, 'N', 8, 1);
+ ctx = modbus_new_rtu("/dev/rtdm/rtser0", 115200, 'N', 8, 1);
modbus_set_slave(ctx, SERVER_ID);
query = malloc(MODBUS_RTU_MAX_ADU_LENGTH);
}
@@ -110,6 +110,7 @@
}
}
+ printf("loop test start ...\n");
for (;;) {
do {
rc = modbus_receive(ctx, query);