534 lines
16 KiB
C++
534 lines
16 KiB
C++
#include "ModbusTCPServer.h"
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#include <iostream>
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#include <cstring>
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#include <stdexcept>
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#include "VrError.h"
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#include "VrLog.h"
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#ifdef _WIN32
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#include <winsock2.h>
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#include <ws2tcpip.h>
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#pragma comment(lib, "ws2_32.lib")
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#else
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#include <unistd.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <arpa/inet.h>
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#include <sys/select.h>
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#include <errno.h>
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#endif
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ModbusTCPServer::ModbusTCPServer()
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: m_modbusCtx(nullptr)
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, m_mapping(nullptr)
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, m_isRunning(false)
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, m_shouldStop(false)
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, m_serverSocket(-1)
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, m_port(502)
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, m_maxConnections(10)
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{
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}
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ModbusTCPServer::~ModbusTCPServer()
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{
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stop();
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}
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int ModbusTCPServer::start(int port, int maxConnections)
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{
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if (m_isRunning.load()) {
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setLastError("服务器已在运行");
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return SUCCESS;
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}
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m_port = port;
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m_maxConnections = maxConnections;
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// 创建modbus TCP context
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m_modbusCtx = modbus_new_tcp("0.0.0.0", port);
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if (m_modbusCtx == nullptr) {
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setLastError("创建Modbus TCP上下文失败");
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return ERR_CODE(NET_ERR_CREAT_INIT);
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}
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// 创建数据映射 - 分配足够的空间
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// 线圈: 0-9999, 离散输入: 0-9999, 保持寄存器: 0-9999, 输入寄存器: 0-9999
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m_mapping = modbus_mapping_new(10000, 10000, 10000, 10000);
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if (m_mapping == nullptr) {
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setLastError("创建数据映射失败");
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modbus_free(m_modbusCtx);
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m_modbusCtx = nullptr;
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return ERR_CODE(NET_ERR_CONFIG);
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}
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// 监听连接
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m_serverSocket = modbus_tcp_listen(m_modbusCtx, maxConnections);
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if (m_serverSocket == -1) {
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setLastError(std::string("监听失败: ") + modbus_strerror(errno));
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modbus_mapping_free(m_mapping);
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m_mapping = nullptr;
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modbus_free(m_modbusCtx);
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m_modbusCtx = nullptr;
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return ERR_CODE(NET_ERR_CREAT_LISTEN);
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}
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m_isRunning.store(true);
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m_shouldStop.store(false);
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// 启动服务器线程
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m_serverThread = std::make_unique<std::thread>(&ModbusTCPServer::serverLoop, this);
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// 初始状态：服务器启动但没有客户端连接
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if (m_connectionStatusCallback) {
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m_connectionStatusCallback(false);
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}
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return SUCCESS;
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}
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void ModbusTCPServer::stop()
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{
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if (!m_isRunning.load()) {
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return;
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}
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m_shouldStop.store(true);
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// 关闭服务器socket以中断accept调用
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if (m_serverSocket != -1) {
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#ifdef _WIN32
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closesocket(m_serverSocket);
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#else
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close(m_serverSocket);
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#endif
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m_serverSocket = -1;
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}
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// 等待服务器线程退出
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if (m_serverThread && m_serverThread->joinable()) {
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m_serverThread->join();
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}
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// 清理所有客户端连接
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{
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std::lock_guard<std::mutex> lock(m_clientsMutex);
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m_clients.clear();
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}
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// 清理资源
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if (m_mapping) {
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modbus_mapping_free(m_mapping);
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m_mapping = nullptr;
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}
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if (m_modbusCtx) {
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modbus_free(m_modbusCtx);
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m_modbusCtx = nullptr;
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}
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m_isRunning.store(false);
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}
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void ModbusTCPServer::serverLoop()
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{
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fd_set readfds;
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int maxfd = m_serverSocket;
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while (!m_shouldStop.load()) {
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FD_ZERO(&readfds);
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FD_SET(m_serverSocket, &readfds);
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maxfd = m_serverSocket;
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// 添加所有客户端socket到监听集合
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{
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std::lock_guard<std::mutex> lock(m_clientsMutex);
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for (const auto& pair : m_clients) {
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int clientSocket = pair.first;
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FD_SET(clientSocket, &readfds);
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if (clientSocket > maxfd) {
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maxfd = clientSocket;
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}
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}
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}
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// 设置超时时间（1秒），避免阻塞太久
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struct timeval timeout;
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timeout.tv_sec = 1;
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timeout.tv_usec = 0;
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int selectResult = select(maxfd + 1, &readfds, nullptr, nullptr, &timeout);
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if (selectResult == -1) {
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if (!m_shouldStop.load()) {
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LOG_WARNING("select error: %s\n", strerror(errno));
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}
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break;
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}
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if (selectResult == 0) {
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// 超时，继续循环
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continue;
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}
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// 检查服务器socket是否有新连接
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if (FD_ISSET(m_serverSocket, &readfds)) {
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handleNewConnection();
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}
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// 检查客户端socket是否有数据
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std::vector<int> socketsToRemove;
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{
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std::lock_guard<std::mutex> lock(m_clientsMutex);
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for (const auto& pair : m_clients) {
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int clientSocket = pair.first;
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if (FD_ISSET(clientSocket, &readfds)) {
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try {
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handleClientData(pair.second);
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} catch (...) {
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// 客户端处理出错，标记删除
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socketsToRemove.push_back(clientSocket);
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}
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}
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}
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}
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// 删除有问题的客户端连接
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for (int socket : socketsToRemove) {
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removeClient(socket);
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}
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}
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}
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void ModbusTCPServer::handleNewConnection()
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{
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int clientSocket = modbus_tcp_accept(m_modbusCtx, &m_serverSocket);
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if (clientSocket == -1) {
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if (!m_shouldStop.load()) {
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LOG_ERRO("Accept connection failed: %s\n", modbus_strerror(errno));
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}
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return;
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}
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// 创建新的modbus context用于此客户端
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modbus_t* clientCtx = modbus_new_tcp("0.0.0.0", m_port);
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if (clientCtx == nullptr) {
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LOG_ERRO("Create Modbus context for client failed\n");
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#ifdef _WIN32
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closesocket(clientSocket);
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#else
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close(clientSocket);
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#endif
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return;
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}
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// 设置socket为非阻塞模式
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modbus_set_socket(clientCtx, clientSocket);
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// 创建客户端连接对象
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auto client = std::make_shared<ClientConnection>(clientSocket, clientCtx);
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// 添加到客户端列表
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{
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std::lock_guard<std::mutex> lock(m_clientsMutex);
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m_clients[clientSocket] = client;
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}
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LOG_INFO("New client connected: socket=%d\n", clientSocket);
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// 触发连接状态回调
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if (m_connectionStatusCallback) {
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m_connectionStatusCallback(true);
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}
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}
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void ModbusTCPServer::handleClientData(std::shared_ptr<ClientConnection> client)
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{
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uint8_t buffer[MODBUS_TCP_MAX_ADU_LENGTH];
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// 接收数据
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int bytesReceived = recv(client->socket, reinterpret_cast<char*>(buffer), sizeof(buffer), 0);
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if (bytesReceived <= 0) {
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// 连接断开或错误
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if (bytesReceived == 0) {
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LOG_VERBOSE("Client disconnected: socket=%d\n", client->socket);
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} else {
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LOG_ERRO("Receive data error: %s\n", strerror(errno));
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}
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throw std::runtime_error("客户端连接错误");
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}
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// 处理Modbus请求
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processModbusRequest(client, buffer, bytesReceived);
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}
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void ModbusTCPServer::removeClient(int socket)
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{
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std::lock_guard<std::mutex> lock(m_clientsMutex);
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auto it = m_clients.find(socket);
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if (it != m_clients.end()) {
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LOG_INFO("Remove client connection: socket=%d\n", socket);
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m_clients.erase(it);
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// 如果没有客户端连接了，触发断开回调
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if (m_clients.empty() && m_connectionStatusCallback) {
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m_connectionStatusCallback(false);
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}
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}
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}
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void ModbusTCPServer::processModbusRequest(std::shared_ptr<ClientConnection> client, const uint8_t* query, int queryLength)
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{
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// 使用modbus标准异常码，0表示成功
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uint8_t exceptionCode = 0;
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// 解析ModbusTCP ADU的基本字段
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uint16_t transactionId = 0;
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uint16_t protocolId = 0;
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uint16_t length = 0;
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uint8_t unitId = 0;
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uint8_t function = 0;
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uint16_t address = 0;
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uint16_t value = 0;
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uint16_t quantity = 0;
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uint8_t byteCount = 0;
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std::vector<uint16_t> registerValues;
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std::vector<uint8_t> coilValues;
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// 基本长度检查
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if (queryLength < 8) {
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exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
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modbus_reply_exception(client->modbusCtx, query, exceptionCode);
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return;
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}
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// 解析ADU头部
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transactionId = (query[0] << 8) | query[1];
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protocolId = (query[2] << 8) | query[3];
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length = (query[4] << 8) | query[5];
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unitId = query[6];
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function = query[7];
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// 验证协议ID
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if (protocolId != 0) {
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exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
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}
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// 验证长度字段
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else if (length != (queryLength - 6)) {
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exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
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}
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if(exceptionCode != 0) {
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modbus_reply_exception(client->modbusCtx, query, exceptionCode);
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return;
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}
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// 根据功能码验证数据格式并执行回调
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LOG_DEBUG("Modbus %02X - Trans:%d Unit:%d\n", function, transactionId, unitId);
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switch (function) {
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case MODBUS_FC_WRITE_SINGLE_COIL:
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{
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if (queryLength < 12) {
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exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
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} else {
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address = (query[8] << 8) | query[9];
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value = (query[10] << 8) | query[11];
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if (m_writeCoilsCallback) {
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uint8_t coilValue = (value == 0xFF00) ? 1 : 0;
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IYModbusTCPServer::ErrorCode result = m_writeCoilsCallback(unitId, address, 1, &coilValue);
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exceptionCode = (uint8_t)result;
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}
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}
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}
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break;
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case MODBUS_FC_WRITE_MULTIPLE_COILS:
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{
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if (queryLength < 13) {
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exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
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} else {
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address = (query[8] << 8) | query[9];
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quantity = (query[10] << 8) | query[11];
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byteCount = query[12];
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if (queryLength < (13 + byteCount)) {
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exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
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} else {
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coilValues.assign(&query[13], &query[13 + byteCount]);
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if (m_writeCoilsCallback) {
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IYModbusTCPServer::ErrorCode result = m_writeCoilsCallback(unitId, address, quantity, coilValues.data());
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exceptionCode = (uint8_t)result;
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}
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}
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}
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}
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break;
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case MODBUS_FC_WRITE_SINGLE_REGISTER:
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{
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if (queryLength < 12) {
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exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
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} else {
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address = (query[8] << 8) | query[9];
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value = (query[10] << 8) | query[11];
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if (m_writeRegistersCallback) {
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IYModbusTCPServer::ErrorCode result = m_writeRegistersCallback(unitId, address, 1, &value);
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exceptionCode = (uint8_t)result;
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}
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}
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}
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break;
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case MODBUS_FC_WRITE_MULTIPLE_REGISTERS:
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{
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if (queryLength < 13) {
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exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
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} else {
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address = (query[8] << 8) | query[9];
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quantity = (query[10] << 8) | query[11];
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byteCount = query[12];
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if (queryLength < (13 + byteCount) || byteCount != (quantity * 2)) {
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exceptionCode = MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE;
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} else {
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registerValues.reserve(quantity);
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for (int i = 0; i < quantity; i++) {
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uint16_t regValue = (query[13 + i*2] << 8) | query[13 + i*2 + 1];
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registerValues.push_back(regValue);
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}
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if (m_writeRegistersCallback) {
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IYModbusTCPServer::ErrorCode result = m_writeRegistersCallback(unitId, address, quantity, registerValues.data());
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exceptionCode = (uint8_t)result;
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}
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}
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}
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}
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break;
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default:
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// exceptionCode = MODBUS_EXCEPTION_ILLEGAL_FUNCTION;
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break;
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}
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LOG_DEBUG("exceptionCode: %d\n", exceptionCode);
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// 统一处理响应
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if (exceptionCode != 0) {
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modbus_reply_exception(client->modbusCtx, query, exceptionCode);
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return;
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}
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// 发送正常响应
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{
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std::lock_guard<std::mutex> lock(m_dataMutex);
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int responseRc = modbus_reply(client->modbusCtx, query, queryLength, m_mapping);
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if (responseRc == -1) {
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modbus_reply_exception(client->modbusCtx, query, MODBUS_EXCEPTION_SLAVE_OR_SERVER_FAILURE);
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return;
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}
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}
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}
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void ModbusTCPServer::updateCoil(uint16_t address, bool value)
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{
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std::lock_guard<std::mutex> lock(m_dataMutex);
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if (m_mapping && address < m_mapping->nb_bits) {
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m_mapping->tab_bits[address] = value ? 1 : 0;
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}
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}
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void ModbusTCPServer::updateCoils(uint16_t startAddress, const std::vector<bool>& values)
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{
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std::lock_guard<std::mutex> lock(m_dataMutex);
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if (!m_mapping) return;
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for (size_t i = 0; i < values.size() && (startAddress + i) < m_mapping->nb_bits; ++i) {
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m_mapping->tab_bits[startAddress + i] = values[i] ? 1 : 0;
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}
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}
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void ModbusTCPServer::updateDiscreteInput(uint16_t address, bool value)
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{
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std::lock_guard<std::mutex> lock(m_dataMutex);
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if (m_mapping && address < m_mapping->nb_input_bits) {
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m_mapping->tab_input_bits[address] = value ? 1 : 0;
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}
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}
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void ModbusTCPServer::updateDiscreteInputs(uint16_t startAddress, const std::vector<bool>& values)
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{
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std::lock_guard<std::mutex> lock(m_dataMutex);
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if (!m_mapping) return;
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for (size_t i = 0; i < values.size() && (startAddress + i) < m_mapping->nb_input_bits; ++i) {
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m_mapping->tab_input_bits[startAddress + i] = values[i] ? 1 : 0;
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}
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}
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void ModbusTCPServer::updateHoldingRegister(uint16_t address, uint16_t value)
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{
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std::lock_guard<std::mutex> lock(m_dataMutex);
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if (m_mapping && address < m_mapping->nb_registers) {
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m_mapping->tab_registers[address] = value;
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}
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}
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void ModbusTCPServer::updateHoldingRegisters(uint16_t startAddress, const std::vector<uint16_t>& values)
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{
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std::lock_guard<std::mutex> lock(m_dataMutex);
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if (!m_mapping) return;
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for (size_t i = 0; i < values.size() && (startAddress + i) < m_mapping->nb_registers; ++i) {
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m_mapping->tab_registers[startAddress + i] = values[i];
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}
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}
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void ModbusTCPServer::updateInputRegister(uint16_t address, uint16_t value)
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{
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std::lock_guard<std::mutex> lock(m_dataMutex);
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if (m_mapping && address < m_mapping->nb_input_registers) {
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m_mapping->tab_input_registers[address] = value;
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}
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}
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void ModbusTCPServer::updateInputRegisters(uint16_t startAddress, const std::vector<uint16_t>& values)
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{
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std::lock_guard<std::mutex> lock(m_dataMutex);
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if (!m_mapping) return;
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for (size_t i = 0; i < values.size() && (startAddress + i) < m_mapping->nb_input_registers; ++i) {
|
||
m_mapping->tab_input_registers[startAddress + i] = values[i];
|
||
}
|
||
}
|
||
|
||
std::string ModbusTCPServer::getLastError() const
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_errorMutex);
|
||
return m_lastError;
|
||
}
|
||
|
||
void ModbusTCPServer::setLastError(const std::string& error)
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_errorMutex);
|
||
m_lastError = error;
|
||
}
|
||
|
||
bool IYModbusTCPServer::CreateInstance(IYModbusTCPServer** ppModbusTCPServer)
|
||
{
|
||
if (ppModbusTCPServer == nullptr) {
|
||
return false;
|
||
}
|
||
|
||
*ppModbusTCPServer = new ModbusTCPServer();
|
||
return true;
|
||
}
|