forked from xuos/xiuos
481 lines
16 KiB
C
481 lines
16 KiB
C
/*
|
|
* Copyright (c) 2022 AIIT XUOS Lab
|
|
* XiUOS is licensed under Mulan PSL v2.
|
|
* You can use this software according to the terms and conditions of the Mulan PSL v2.
|
|
* You may obtain a copy of Mulan PSL v2 at:
|
|
* http://license.coscl.org.cn/MulanPSL2
|
|
* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
|
|
* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
|
|
* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
|
|
* See the Mulan PSL v2 for more details.
|
|
*/
|
|
|
|
/**
|
|
* @file control_def.c
|
|
* @brief code for control framework
|
|
* @version 3.0
|
|
* @author AIIT XUOS Lab
|
|
* @date 2022-10-9
|
|
*/
|
|
|
|
#include <control_def.h>
|
|
#include <control_io.h>
|
|
|
|
/*using cirtular area to receive data*/
|
|
#define PLC_DATA_LENGTH 1024
|
|
struct CircularAreaApp *g_circular_area;
|
|
static pthread_t recv_plc_data_task;
|
|
|
|
/*extern function*/
|
|
extern void *ReceivePlcDataTask(void *parameter);
|
|
|
|
#ifdef CONTROL_PROTOCOL_FINS
|
|
extern int FinsProtocolInit(struct ControlRecipe *p_recipe);
|
|
#endif
|
|
|
|
#ifdef CONTROL_PROTOCOL_MELSEC
|
|
extern int MelsecProtocolInit(struct ControlRecipe *p_recipe);
|
|
#endif
|
|
|
|
#ifdef CONTROL_PROTOCOL_MODBUS_TCP
|
|
extern int ModbusTcpProtocolInit(struct ControlRecipe *p_recipe);
|
|
#endif
|
|
|
|
#ifdef CONTROL_PROTOCOL_MODBUS_UART
|
|
extern int ModbusUartProtocolInit(struct ControlRecipe *p_recipe);
|
|
#endif
|
|
|
|
#ifdef CONTROL_PROTOCOL_S7
|
|
extern int S7ProtocolInit(struct ControlRecipe *p_recipe);
|
|
#endif
|
|
|
|
/*
|
|
CONTROL FRAMEWORK READ DATA FORMAT:
|
|
| HEAD |device_id|read data length|read item count| data |
|
|
|2 Bytes| 2 Bytes | 2 Bytes | 2 Bytes |read data length Bytes|
|
|
*/
|
|
#define CONTROL_DATA_HEAD_LENGTH 8
|
|
#define CONTROL_DATA_HEAD_1 0xAA
|
|
#define CONTROL_DATA_HEAD_2 0xBB
|
|
|
|
typedef int (*ControlProtocolInitFunc)(struct ControlRecipe *p_recipe);
|
|
|
|
struct ControlProtocolInitParam
|
|
{
|
|
int protocol_type;
|
|
const ControlProtocolInitFunc fn;
|
|
};
|
|
|
|
static struct ControlProtocolInitParam protocol_init[] =
|
|
{
|
|
#ifdef CONTROL_PROTOCOL_FINS
|
|
{ PROTOCOL_FINS, FinsProtocolInit },
|
|
#endif
|
|
#ifdef CONTROL_PROTOCOL_MELSEC
|
|
{ PROTOCOL_MELSEC_1E, MelsecProtocolInit },
|
|
{ PROTOCOL_MELSEC_3E_Q_L, MelsecProtocolInit },
|
|
{ PROTOCOL_MELSEC_3E_IQ_R, MelsecProtocolInit },
|
|
{ PROTOCOL_MELSEC_1C, MelsecProtocolInit },
|
|
{ PROTOCOL_MELSEC_3C, MelsecProtocolInit },
|
|
#endif
|
|
#ifdef CONTROL_PROTOCOL_MODBUS_TCP
|
|
{ PROTOCOL_MODBUS_TCP, ModbusTcpProtocolInit },
|
|
#endif
|
|
#ifdef CONTROL_PROTOCOL_MODBUS_UART
|
|
{ PROTOCOL_MODBUS_UART, ModbusUartProtocolInit },
|
|
#endif
|
|
#ifdef CONTROL_PROTOCOL_S7
|
|
{ PROTOCOL_S7, S7ProtocolInit },
|
|
#endif
|
|
|
|
{ PROTOCOL_END, NULL },
|
|
};
|
|
|
|
/**
|
|
* @description: Control Framework Sub_Protocol Desc Init
|
|
* @param p_recipe - Control recipe pointer
|
|
* @param sub_protocol_desc - sub_protocol desc
|
|
* @return success : 0 error : -1
|
|
*/
|
|
static int ControlProtocolInitDesc(struct ControlRecipe *p_recipe, struct ControlProtocolInitParam sub_protocol_desc[])
|
|
{
|
|
int i = 0;
|
|
int ret = 0;
|
|
for( i = 0; sub_protocol_desc[i].fn != NULL; i++ ) {
|
|
if (p_recipe->protocol_type == sub_protocol_desc[i].protocol_type) {
|
|
ret = sub_protocol_desc[i].fn(p_recipe);
|
|
printf("%s initialize %d %s\n", __func__, sub_protocol_desc[i].protocol_type, ret == 0 ? "success" : "failed");
|
|
break;
|
|
}
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
/**
|
|
* @description: Control Framework Protocol Data Header Format
|
|
* @param p_recipe - Control recipe pointer
|
|
* @return
|
|
*/
|
|
static void FormatDataHeader(struct ControlRecipe *p_recipe)
|
|
{
|
|
uint16_t plc_read_data_length = CONTROL_DATA_HEAD_LENGTH + p_recipe->total_data_length;//Head length is CONTROL_DATA_HEAD_LENGTH
|
|
uint8_t *data = p_recipe->protocol_data.data;
|
|
|
|
data[0] = CONTROL_DATA_HEAD_1;
|
|
data[1] = CONTROL_DATA_HEAD_2;
|
|
data[2] = (uint8_t)(p_recipe->device_id >> 8);
|
|
data[3] = (uint8_t)p_recipe->device_id;
|
|
data[4] = (uint8_t)(plc_read_data_length >> 8);
|
|
data[5] = (uint8_t)plc_read_data_length;
|
|
data[6] = (uint8_t)(p_recipe->read_item_count >> 8);
|
|
data[7] = (uint8_t)p_recipe->read_item_count;
|
|
}
|
|
|
|
/**
|
|
* @description: Get Recipe Total Data Length
|
|
* @param read_item_list_json - read_item_list_json pointer
|
|
* @return success : total_data_length error : 0
|
|
*/
|
|
static uint16_t GetRecipeTotalDataLength(cJSON* read_item_list_json)
|
|
{
|
|
uint16_t read_item_count = cJSON_GetArraySize(read_item_list_json);
|
|
uint16_t total_data_length = 0;
|
|
for (uint16_t read_item_index = 0; read_item_index < read_item_count; read_item_index++) {
|
|
cJSON* read_item_json = cJSON_GetArrayItem(read_item_list_json, read_item_index);
|
|
UniformValueType value_type = cJSON_GetObjectItem(read_item_json, "value_type")->valueint;
|
|
total_data_length += GetValueTypeMemorySize(value_type);
|
|
}
|
|
return total_data_length;
|
|
}
|
|
|
|
/**
|
|
* @description: Control Framework Basic Serial Configure
|
|
* @param p_recipe - Control recipe pointer
|
|
* @param p_recipe_file_json - p_recipe_file_json pointer
|
|
* @return
|
|
*/
|
|
static void ControlBasicSerialConfig(struct ControlRecipe *p_recipe, cJSON *p_recipe_file_json)
|
|
{
|
|
cJSON *p_serial_config_json = cJSON_GetObjectItem(p_recipe_file_json, "serial_config");
|
|
p_recipe->serial_config.station = cJSON_GetObjectItem(p_serial_config_json, "station")->valueint;
|
|
p_recipe->serial_config.baud_rate = cJSON_GetObjectItem(p_serial_config_json, "baud_rate")->valueint;
|
|
p_recipe->serial_config.data_bits = cJSON_GetObjectItem(p_serial_config_json, "data_bits")->valueint;
|
|
p_recipe->serial_config.stop_bits = cJSON_GetObjectItem(p_serial_config_json, "stop_bits")->valueint;
|
|
p_recipe->serial_config.check_mode = cJSON_GetObjectItem(p_serial_config_json, "check_mode")->valueint;
|
|
printf("Serial_config:station: %d baud_rate: %d, data_bits: %d, stop_bits: %d, check_mode is %d\n",
|
|
p_recipe->serial_config.station, p_recipe->serial_config.baud_rate, p_recipe->serial_config.data_bits, p_recipe->serial_config.stop_bits, p_recipe->serial_config.check_mode);
|
|
}
|
|
|
|
/**
|
|
* @description: Control Framework Basic Socket Configure
|
|
* @param p_recipe - Control recipe pointer
|
|
* @param p_recipe_file_json - p_recipe_file_json pointer
|
|
* @return
|
|
*/
|
|
static void ControlBasicSocketConfig(struct ControlRecipe *p_recipe, cJSON *p_recipe_file_json)
|
|
{
|
|
cJSON *p_socket_address_json = cJSON_GetObjectItem(p_recipe_file_json, "socket_config");
|
|
char *plc_ip_string = cJSON_GetObjectItem(p_socket_address_json, "plc_ip")->valuestring;
|
|
sscanf(plc_ip_string, "%d.%d.%d.%d",
|
|
p_recipe->socket_config.plc_ip,
|
|
p_recipe->socket_config.plc_ip + 1,
|
|
p_recipe->socket_config.plc_ip + 2,
|
|
p_recipe->socket_config.plc_ip + 3);
|
|
|
|
char *local_ip_string = cJSON_GetObjectItem(p_socket_address_json, "local_ip")->valuestring;
|
|
sscanf(local_ip_string, "%d.%d.%d.%d",
|
|
p_recipe->socket_config.local_ip,
|
|
p_recipe->socket_config.local_ip + 1,
|
|
p_recipe->socket_config.local_ip + 2,
|
|
p_recipe->socket_config.local_ip + 3);
|
|
|
|
char *gateway_ip_string = cJSON_GetObjectItem(p_socket_address_json, "gateway")->valuestring;
|
|
sscanf(gateway_ip_string, "%d.%d.%d.%d",
|
|
p_recipe->socket_config.gateway,
|
|
p_recipe->socket_config.gateway + 1,
|
|
p_recipe->socket_config.gateway + 2,
|
|
p_recipe->socket_config.gateway + 3);
|
|
|
|
char *netmask_string = cJSON_GetObjectItem(p_socket_address_json, "netmask")->valuestring;
|
|
sscanf(netmask_string, "%d.%d.%d.%d",
|
|
p_recipe->socket_config.netmask,
|
|
p_recipe->socket_config.netmask + 1,
|
|
p_recipe->socket_config.netmask + 2,
|
|
p_recipe->socket_config.netmask + 3);
|
|
|
|
p_recipe->socket_config.port = cJSON_GetObjectItem(p_socket_address_json, "port")->valueint;
|
|
printf("Socket_config: local ip is %s, plc ip is %s, gateway is %s, port is %d.\n",
|
|
local_ip_string, plc_ip_string, gateway_ip_string, p_recipe->socket_config.port);
|
|
}
|
|
|
|
/**
|
|
* @description: Control Framework Printf List Function
|
|
* @param name - printf function name
|
|
* @param number_list - number_list pointer
|
|
* @param length - number_list length
|
|
* @return
|
|
*/
|
|
void ControlPrintfList(char name[5], uint8_t *number_list, uint16_t length)
|
|
{
|
|
printf("\n******************%s****************\n", name);
|
|
for (int32_t i = 0;i < length;i ++) {
|
|
printf("0x%x ", number_list[i]);
|
|
}
|
|
printf("\n**************************************\n");
|
|
}
|
|
|
|
#ifdef CONTROL_USING_SOCKET
|
|
/**
|
|
* @description: Control Framework Connect Socket
|
|
* @param p_plc - basic socket plc pointer
|
|
* @return success : 0 error : -1 -2 -3 -4 -5
|
|
*/
|
|
int ControlConnectSocket(BasicSocketPlc *p_plc)
|
|
{
|
|
if (p_plc->socket >= 0)
|
|
return 0;
|
|
|
|
struct sockaddr_in plc_addr_in;
|
|
plc_addr_in.sin_family = AF_INET;
|
|
plc_addr_in.sin_port = htons(p_plc->port);
|
|
|
|
char ip_string[20] = {0};
|
|
sprintf(ip_string, "%u.%u.%u.%u", p_plc->ip[0], p_plc->ip[1], p_plc->ip[2], p_plc->ip[3]);
|
|
plc_addr_in.sin_addr.s_addr = inet_addr(ip_string);
|
|
memset(&(plc_addr_in.sin_zero), 0, sizeof(plc_addr_in.sin_zero));
|
|
|
|
int plc_socket = socket(AF_INET, SOCK_STREAM, 0);
|
|
int flag = 1;
|
|
|
|
struct timeval timeout;
|
|
timeout.tv_sec = 10;
|
|
timeout.tv_usec = 0;
|
|
if (setsockopt(plc_socket, IPPROTO_TCP, TCP_NODELAY, (void*)&flag, sizeof(flag)) < 0) {
|
|
printf("Error setting TCP_NODELAY function!\n");
|
|
return -1;
|
|
}
|
|
|
|
if (setsockopt(plc_socket, SOL_SOCKET, SO_SNDTIMEO, (char*)&timeout, (socklen_t)sizeof(struct timeval)) < 0) {
|
|
printf("Error setting SO_SNDTIMEO function!\n");
|
|
return -2;
|
|
}
|
|
|
|
if (setsockopt(plc_socket, SOL_SOCKET, SO_RCVTIMEO, (char*)&timeout, (socklen_t)sizeof(struct timeval)) < 0) {
|
|
printf("Error setting SO_RCVTIMEO function!\n");
|
|
return -3;
|
|
}
|
|
|
|
if (plc_socket < 0) {
|
|
printf("Get socket error!\n");
|
|
return -4;
|
|
}
|
|
|
|
printf("%s %d ip %u.%u.%u.%u port %d\n", __func__, __LINE__,
|
|
p_plc->ip[0], p_plc->ip[1], p_plc->ip[2], p_plc->ip[3],
|
|
p_plc->port);
|
|
|
|
if (connect(plc_socket, (struct sockaddr*)&plc_addr_in, sizeof(struct sockaddr)) == -1) {
|
|
printf("Connect plc socket failed!errno %d\n", errno);
|
|
closesocket(plc_socket);
|
|
return -5;
|
|
} else {
|
|
p_plc->socket = plc_socket;
|
|
printf("Connect plc socket success!\n");
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @description: Control Framework Disconnect Socket
|
|
* @param p_plc - basic socket plc pointer
|
|
* @return success : 0 error : -1
|
|
*/
|
|
int ControlDisconnectSocket(BasicSocketPlc *p_plc)
|
|
{
|
|
if (p_plc->socket < 0)
|
|
return -1;
|
|
|
|
int error = closesocket(p_plc->socket);
|
|
if (0 == error)
|
|
p_plc->socket = -1;
|
|
|
|
return error;
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* @description: Control Framework Protocol Open for Sub_Protocol, Init Circular Area and Receive Data Task
|
|
* @param control_protocol - Control protocol pointer
|
|
* @return success : 0 error : -1
|
|
*/
|
|
int ControlProtocolOpenDef(struct ControlProtocol *control_protocol)
|
|
{
|
|
g_circular_area = CircularAreaAppInit(PLC_DATA_LENGTH);
|
|
if (NULL == g_circular_area) {
|
|
printf("%s CircularAreaInit error\n", __func__);
|
|
return -1;
|
|
}
|
|
|
|
control_protocol->args = (void *)g_circular_area;
|
|
|
|
pthread_attr_t attr;
|
|
attr.schedparam.sched_priority = 19;
|
|
attr.stacksize = 2048;
|
|
|
|
char task_name[] = "control_recv_data";
|
|
pthread_args_t args;
|
|
args.pthread_name = task_name;
|
|
args.arg = (void *)control_protocol;
|
|
|
|
PrivTaskCreate(&recv_plc_data_task, &attr, &ReceivePlcDataTask, (void *)&args);
|
|
PrivTaskStartup(&recv_plc_data_task);
|
|
}
|
|
|
|
/**
|
|
* @description: Control Framework Protocol Open for Sub_Protocol, Release Circular Area and Delete Receive Data Task
|
|
* @param void
|
|
* @return success : 0 error : -1
|
|
*/
|
|
int ControlProtocolCloseDef(void)
|
|
{
|
|
CircularAreaAppRelease(g_circular_area);
|
|
|
|
PrivTaskDelete(recv_plc_data_task, 0);
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @description: Control Framework Get Value Memory Size From Recipe File
|
|
* @param uniform_value_type - uniform value type
|
|
* @return success : size error : 0
|
|
*/
|
|
uint8_t GetValueTypeMemorySize(UniformValueType uniform_value_type)
|
|
{
|
|
switch (uniform_value_type)
|
|
{
|
|
case UNIFORM_BOOL:
|
|
case UNIFORM_INT8:
|
|
case UNIFORM_UINT8:
|
|
return 1;
|
|
break;
|
|
case UNIFORM_INT16:
|
|
case UNIFORM_UINT16:
|
|
return 2;
|
|
break;
|
|
case UNIFORM_INT32:
|
|
case UNIFORM_UINT32:
|
|
case UNIFORM_FLOAT:
|
|
return 4;
|
|
break;
|
|
case UNIFORM_DOUBLE:
|
|
return 8;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @description: Control Framework Peripheral Device Init
|
|
* @param p_recipe - Control recipe pointer
|
|
* @return success : 0 error :
|
|
*/
|
|
int ControlPeripheralInit(struct ControlRecipe *p_recipe)
|
|
{
|
|
switch (p_recipe->communication_type)
|
|
{
|
|
case 0://Socket Init
|
|
SocketInit(p_recipe->socket_config.local_ip, p_recipe->socket_config.netmask, p_recipe->socket_config.gateway);
|
|
break;
|
|
case 1://Serial Init
|
|
SerialInit(p_recipe->serial_config.baud_rate, p_recipe->serial_config.data_bits, p_recipe->serial_config.stop_bits, p_recipe->serial_config.check_mode);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @description: Control Framework Get Recipe Basic Information
|
|
* @param p_recipe - Control recipe pointer
|
|
* @param p_recipe_file_json - recipe_file_json pointer
|
|
* @return success : 0 error : -1
|
|
*/
|
|
int RecipeBasicInformation(struct ControlRecipe *p_recipe, cJSON *p_recipe_file_json)
|
|
{
|
|
p_recipe->protocol_type = (ProtocolType)(cJSON_GetObjectItem(p_recipe_file_json, "protocol_type")->valueint);
|
|
|
|
p_recipe->device_id = cJSON_GetObjectItem(p_recipe_file_json, "device_id")->valueint;
|
|
strncpy(p_recipe->device_name, cJSON_GetObjectItem(p_recipe_file_json, "device_name")->valuestring, 20);
|
|
p_recipe->read_period = cJSON_GetObjectItem(p_recipe_file_json, "read_period")->valueint;
|
|
p_recipe->communication_type = cJSON_GetObjectItem(p_recipe_file_json, "communication_type")->valueint;
|
|
|
|
printf("\n**************** RECIPE BASIC INFORMATION ******************\n");
|
|
printf("\nprotocol_type: %d, communication_type: %d, device_id: %d, device_name: %s, read_period is %d\n",
|
|
p_recipe->protocol_type, p_recipe->communication_type, p_recipe->device_id, p_recipe->device_name, p_recipe->read_period);
|
|
|
|
switch (p_recipe->communication_type)
|
|
{
|
|
case 0://Get Socket Config
|
|
ControlBasicSocketConfig(p_recipe, p_recipe_file_json);
|
|
break;
|
|
case 1://Get Serial Config
|
|
ControlBasicSerialConfig(p_recipe, p_recipe_file_json);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
printf("\n************************************************************\n");
|
|
}
|
|
|
|
/**
|
|
* @description: Control Framework Read Variable Item Function
|
|
* @param p_recipe - Control recipe pointer
|
|
* @param p_recipe_file_json - recipe_file_json pointer
|
|
* @return
|
|
*/
|
|
void RecipeReadVariableItem(struct ControlRecipe *p_recipe, cJSON *p_recipe_file_json)
|
|
{
|
|
int i, ret = 0;
|
|
|
|
ProtocolFormatInfo protocol_format_info;
|
|
memset(&protocol_format_info, 0, sizeof(ProtocolFormatInfo));
|
|
|
|
cJSON *read_item_list_json = cJSON_GetObjectItem(p_recipe_file_json, "read_item_list");
|
|
if (cJSON_IsArray(read_item_list_json)) {
|
|
/*Get Recipe Variable Item Count and total length*/
|
|
p_recipe->read_item_count = cJSON_GetArraySize(read_item_list_json);
|
|
p_recipe->total_data_length = GetRecipeTotalDataLength(read_item_list_json);
|
|
|
|
/*Malloc Read Data Pointer, Reference "CONTROL FRAMEWORK READ DATA FORMAT"*/
|
|
p_recipe->protocol_data.data = PrivMalloc(CONTROL_DATA_HEAD_LENGTH + p_recipe->total_data_length);
|
|
p_recipe->protocol_data.data_length = CONTROL_DATA_HEAD_LENGTH + p_recipe->total_data_length;
|
|
memset(p_recipe->protocol_data.data, 0, p_recipe->protocol_data.data_length);
|
|
protocol_format_info.p_read_item_data = p_recipe->protocol_data.data + CONTROL_DATA_HEAD_LENGTH;
|
|
/*Init The Control Protocol*/
|
|
ControlProtocolInitDesc(p_recipe, protocol_init);
|
|
/*Format Data Header, Reference "CONTROL FRAMEWORK READ DATA FORMAT"*/
|
|
FormatDataHeader(p_recipe);
|
|
uint16_t read_item_count = p_recipe->read_item_count;
|
|
for (i = 0; i < read_item_count; i ++) {
|
|
cJSON *read_single_item_json = cJSON_GetArrayItem(read_item_list_json, i);
|
|
protocol_format_info.read_single_item_json = read_single_item_json;
|
|
protocol_format_info.read_item_index = i;
|
|
/*Format Protocol Cmd By Analyze Variable Item One By One*/
|
|
ret = p_recipe->ControlProtocolFormatCmd(p_recipe, &protocol_format_info);
|
|
if (ret < 0) {
|
|
printf("%s read %d item failed!\n", __func__, i);
|
|
continue;
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
|