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master_client.c
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master_client.c
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#include <stdio.h>
#ifndef _MSC_VER
#include <unistd.h>
#endif
#include <string.h>
#include <stdlib.h>
#include <errno.h>
#include <modbus.h>
#include <stdbool.h>
#include <libconfig.h>
#include "config.h"
#include "utility.h"
void initialize_connection(modbus_t *ctx) {
if (modbus_connect(ctx) == -1) {
fprintf(stderr, "Connection failed: %s\n", modbus_strerror(errno));
modbus_free(ctx);
exit(1);
}
}
int main(int argc, char*argv[])
{
struct ModbusConfig *config = parse_config_devices();
struct ModbusDevice *devices = config->devices;
print_configs(devices);
int mIterations = 0;
struct ModbusDevice *plc = get_device(config, "hitachiwj200");
struct ModbusDevice *kep = get_device(config, "kepware");
modbus_t *plc_ctx;
modbus_t *kep_ctx;
plc_ctx = plc->conn->ctx;
kep_ctx = kep->conn->ctx;
if (!plc_ctx || !kep_ctx) {
fprintf(stderr, "Failed to connect context: %s\n", modbus_strerror(errno));
exit(1);
}
modbus_set_slave(plc_ctx, plc->address);
modbus_set_slave(kep_ctx, kep->address);
initialize_connection(plc_ctx);
initialize_connection(kep_ctx);
int write_freq_addr = get_data(plc, "write_freq")->address;
int write_coil_addr = get_data(plc, "write_coil")->address;
int read_freq_addr = get_data(plc, "read_freq")->address;
int read_coil_addr = get_data(plc, "read_estop")->address;
int kep_req_freq = get_data(kep, "req_freq")->address;
/* modbus_set_debug(ctx, TRUE); */
uint16_t real_freq;
uint8_t estop_coil;
int success;
for (;;) {
switch (mIterations % 400) {
case 0:
set_speed(plc_ctx, write_freq_addr, 15);
set_coil(plc_ctx, write_coil_addr, true);
set_kep_req_speed(kep_ctx, kep_req_freq, 15);
break;
case 100:
set_speed(plc_ctx, write_freq_addr, 25);
set_kep_req_speed(kep_ctx, kep_req_freq, 25);
break;
case 200:
set_speed(plc_ctx, write_freq_addr, 10);
set_kep_req_speed(kep_ctx, kep_req_freq, 10);
break;
case 300:
set_coil(plc_ctx, write_coil_addr, false);
set_speed(plc_ctx, write_freq_addr, 0);
set_kep_req_speed(kep_ctx, kep_req_freq, 0);
break;
default:
break;
}
/* Relay values to Kepware via TCP */
success = read_register(plc_ctx, read_freq_addr, &real_freq);
if (success == 1) {
set_kep_req_speed(kep_ctx, get_data(kep, "write_freq")->address, real_freq / 100);
}
else {
set_kep_req_speed(kep_ctx, get_data(kep, "write_freq")->address, 0);
}
success = read_coil(plc_ctx, read_coil_addr, &estop_coil);
if (success == 1) {
if (modbus_write_bit(kep_ctx, get_data(kep, "write_coil")->address, estop_coil ? 0 : 1) != 1) {
fprintf(stderr, "Failed to write to coil: %s\n", modbus_strerror(errno));
}
}
else {
if (modbus_write_bit(kep_ctx, get_data(kep, "write_coil")->address, 0) != 1) {
fprintf(stderr, "Failed to write to coil: %s\n", modbus_strerror(errno));
}
}
mIterations++;
sleep_ms(1);
}
printf("Exit the loop.\n");
modbus_close(plc_ctx);
modbus_free(plc_ctx);
modbus_close(kep_ctx);
modbus_free(kep_ctx);
free(config);
free(devices);
}