Modbus RTU added

otherio/lib/rt/src/os_linux/rt_io_m_mb_rtu_module.c

+/* 
+ * Proview   Open Source Process Control.
+ * Copyright (C) 2005-2011 SSAB Oxelosund AB.
+ *
+ * This file is part of Proview.
+ *
+ * This program is free software; you can redistribute it and/or 
+ * modify it under the terms of the GNU General Public License as 
+ * published by the Free Software Foundation, either version 2 of 
+ * the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful 
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of 
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License 
+ * along with Proview. If not, see <http://www.gnu.org/licenses/>
+ *
+ * Linking Proview statically or dynamically with other modules is
+ * making a combined work based on Proview. Thus, the terms and 
+ * conditions of the GNU General Public License cover the whole 
+ * combination.
+ *
+ * In addition, as a special exception, the copyright holders of
+ * Proview give you permission to, from the build function in the
+ * Proview Configurator, combine Proview with modules generated by the
+ * Proview PLC Editor to a PLC program, regardless of the license
+ * terms of these modules. You may copy and distribute the resulting
+ * combined work under the terms of your choice, provided that every 
+ * copy of the combined work is accompanied by a complete copy of 
+ * the source code of Proview (the version used to produce the 
+ * combined work), being distributed under the terms of the GNU 
+ * General Public License plus this exception.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <errno.h>
+#include <math.h>
+#include <sys/file.h>
+#include <sys/ioctl.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <sys/socket.h>
+
+
+
+#include "pwr.h"
+#include "pwr_baseclasses.h"
+#include "pwr_basecomponentclasses.h"
+#include "pwr_otherioclasses.h"
+#include "rt_io_base.h"
+#include "rt_io_msg.h"
+#include "rt_errh.h"
+#include "rt_io_bus.h"
+#include "rt_mb_msg.h"
+
+#include "rt_io_mb_rtu.h"
+
+/*----------------------------------------------------------------------------*\
+   Init method for the Modbus module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardInit (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+  io_sCardLocalMsg *local;
+  pwr_sClass_Modbus_RTU_Module *op;
+  int i;
+
+  op = (pwr_sClass_Modbus_RTU_Module *) cp->op;
+  local = ((io_sCardLocal *) cp->Local)->msg;
+  
+  for (i = 0; i < IO_MAXCHAN; i++) {
+    local->scancount[i] = 0;
+  }
+
+  op->Status = pwr_eModbusModule_StatusEnum_StatusUnknown;
+
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+   Read method for the Modbus RTU module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardRead (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+  io_sCardLocalMsg *local;
+  io_sRackLocal *local_rack = (io_sRackLocal *)rp->Local;
+  pwr_sClass_Modbus_RTU_Module *op;
+  pwr_sClass_Modbus_RTU_Slave *slave;
+
+  op = (pwr_sClass_Modbus_RTU_Module *) cp->op;
+  local = ((io_sCardLocal *) cp->Local)->msg;
+  slave = (pwr_sClass_Modbus_RTU_Slave *) rp->op;
+
+  if ( op->ScanInterval > 1) {
+    local->has_read_method = 1;
+    if ( local->interval_cnt != 0) {
+      local->interval_cnt++;
+      if ( local->interval_cnt >= op->ScanInterval)
+        local->interval_cnt = 0;
+      return IO__SUCCESS;
+    }
+    local->interval_cnt++;
+  }
+
+  if (slave->Status == MB__NORMAL || local_rack->reset_inputs) { 
+    io_bus_card_read(ctx, rp, cp, slave->Inputs, NULL,  pwr_eByteOrderingEnum_BigEndian, pwr_eFloatRepEnum_FloatIntel);  
+  }
+//  printf("Method Modbus_RTU_Module-IoCardRead\n");
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+   Write method for the Modbus RTU module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardWrite (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+  io_sCardLocalMsg *local;
+  pwr_sClass_Modbus_RTU_Module *op;
+  
+  pwr_sClass_Modbus_RTU_Slave *slave;
+
+  op = (pwr_sClass_Modbus_RTU_Module *) cp->op;
+  local = ((io_sCardLocal *) cp->Local)->msg;
+  slave = (pwr_sClass_Modbus_RTU_Slave *) rp->op;
+  
+  if ( op->ScanInterval > 1) {
+    if ( !local->has_read_method) {
+      if ( local->interval_cnt != 0) {
+	local->interval_cnt++;
+	if ( local->interval_cnt >= op->ScanInterval)
+	  local->interval_cnt = 0;
+	return IO__SUCCESS;
+      }
+      local->interval_cnt++;
+    }
+    else if ( local->interval_cnt != 1)
+      return IO__SUCCESS;
+  }
+
+  if (slave->Status == MB__NORMAL) { 
+    io_bus_card_write(ctx, cp, slave->Outputs, pwr_eByteOrderingEnum_BigEndian, pwr_eFloatRepEnum_FloatIntel);
+  }
+//  printf("Method Modbus_RTU_Module-IoCardWrite\n");
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+  Every method to be exported to the workbench should be registred here.
+\*----------------------------------------------------------------------------*/
+
+pwr_dExport pwr_BindIoMethods(Modbus_RTU_Module) = {
+  pwr_BindIoMethod(IoCardInit),
+  pwr_BindIoMethod(IoCardRead),
+  pwr_BindIoMethod(IoCardWrite),
+  pwr_NullMethod
+};
+

otherio/lib/rt/src/os_linux/rt_io_m_mb_rtu_servermodule.c

+/* 
+ * Proview   Open Source Process Control.
+ * Copyright (C) 2005-2011 SSAB Oxelosund AB.
+ *
+ * This file is part of Proview.
+ *
+ * This program is free software; you can redistribute it and/or 
+ * modify it under the terms of the GNU General Public License as 
+ * published by the Free Software Foundation, either version 2 of 
+ * the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful 
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of 
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License 
+ * along with Proview. If not, see <http://www.gnu.org/licenses/>
+ *
+ * Linking Proview statically or dynamically with other modules is
+ * making a combined work based on Proview. Thus, the terms and 
+ * conditions of the GNU General Public License cover the whole 
+ * combination.
+ *
+ * In addition, as a special exception, the copyright holders of
+ * Proview give you permission to, from the build function in the
+ * Proview Configurator, combine Proview with modules generated by the
+ * Proview PLC Editor to a PLC program, regardless of the license
+ * terms of these modules. You may copy and distribute the resulting
+ * combined work under the terms of your choice, provided that every 
+ * copy of the combined work is accompanied by a complete copy of 
+ * the source code of Proview (the version used to produce the 
+ * combined work), being distributed under the terms of the GNU 
+ * General Public License plus this exception.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <errno.h>
+#include <math.h>
+#include <sys/file.h>
+#include <sys/ioctl.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+
+#include "pwr.h"
+#include "pwr_baseclasses.h"
+#include "pwr_basecomponentclasses.h"
+#include "pwr_otherioclasses.h"
+#include "rt_io_base.h"
+#include "rt_io_msg.h"
+#include "rt_errh.h"
+#include "rt_io_bus.h"
+#include "rt_mb_msg.h"
+
+#include "rt_io_mb_rtu.h"
+#include "co_time.h"
+
+/*----------------------------------------------------------------------------*\
+   Init method for the Modbus server module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardInit (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+  io_sServerModuleLocal *local;
+  pwr_sClass_Modbus_RTU_ServerModule *op;
+  int i;
+
+  op = (pwr_sClass_Modbus_RTU_ServerModule *) cp->op;
+  local = (io_sServerModuleLocal *) cp->Local;
+  
+  for (i = 0; i < IO_MAXCHAN; i++) {
+    local->scancount[i] = 0;
+  }
+
+  op->Status = pwr_eModbusModule_StatusEnum_StatusUnknown;
+
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+   Read method for the Modbus RTU server module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardRead (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+  io_sServerModuleLocal *local;
+  io_sServerLocal *local_server;
+  pwr_sClass_Modbus_RTU_ServerModule *op;
+  pwr_sClass_Modbus_RTU_Server *server;
+
+  op = (pwr_sClass_Modbus_RTU_ServerModule *) cp->op;
+  local = (io_sServerModuleLocal *) cp->Local;
+  server = (pwr_sClass_Modbus_RTU_Server *) rp->op;
+  local_server = (io_sServerLocal *) rp->Local;
+
+  if ( server->DisableServer || !local)
+    return IO__SUCCESS;
+
+  if (server->Status == MB__NORMAL) { 
+    thread_MutexLock( &local_server->mutex);
+
+    io_bus_card_read(ctx, rp, cp, local->input_area, NULL,  pwr_eByteOrderingEnum_BigEndian, pwr_eFloatRepEnum_FloatIntel);  
+
+    thread_MutexUnlock( &local_server->mutex);
+  }
+//  printf("Method Modbus_Module-IoCardRead\n");
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+   Write method for the Modbus RTU server module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardWrite (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+  io_sServerModuleLocal *local;
+  io_sServerLocal *local_server;
+  pwr_sClass_Modbus_RTU_ServerModule *op;  
+  pwr_sClass_Modbus_RTU_Server *server;
+
+  op = (pwr_sClass_Modbus_RTU_ServerModule *) cp->op;
+  local = (io_sServerModuleLocal *) cp->Local;
+  server = (pwr_sClass_Modbus_RTU_Server *) rp->op;
+  local_server = (io_sServerLocal *) rp->Local;
+  
+  if ( server->DisableServer || !local)
+    return IO__SUCCESS;
+
+  if (server->Status == MB__NORMAL) { 
+    thread_MutexLock( &local_server->mutex);
+
+    io_bus_card_write(ctx, cp, local->output_area, pwr_eByteOrderingEnum_BigEndian, pwr_eFloatRepEnum_FloatIntel);
+
+    thread_MutexUnlock( &local_server->mutex);
+  }
+//  printf("Method Modbus_Module-IoCardWrite\n");
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+  Every method to be exported to the workbench should be registred here.
+\*----------------------------------------------------------------------------*/
+
+pwr_dExport pwr_BindIoMethods(Modbus_RTU_ServerModule) = {
+  pwr_BindIoMethod(IoCardInit),
+  pwr_BindIoMethod(IoCardRead),
+  pwr_BindIoMethod(IoCardWrite),
+  pwr_NullMethod
+};
+

otherio/lib/rt/src/os_linux/rt_io_m_mb_rtu_slave.c

+/* 
+ * Proview   Open Source Process Control.
+ * Copyright (C) 2005-2011 SSAB Oxelosund AB.
+ *
+ * This file is part of Proview.
+ *
+ * This program is free software; you can redistribute it and/or 
+ * modify it under the terms of the GNU General Public License as 
+ * published by the Free Software Foundation, either version 2 of 
+ * the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful 
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of 
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License 
+ * along with Proview. If not, see <http://www.gnu.org/licenses/>
+ *
+ * Linking Proview statically or dynamically with other modules is
+ * making a combined work based on Proview. Thus, the terms and 
+ * conditions of the GNU General Public License cover the whole 
+ * combination.
+ *
+ * In addition, as a special exception, the copyright holders of
+ * Proview give you permission to, from the build function in the
+ * Proview Configurator, combine Proview with modules generated by the
+ * Proview PLC Editor to a PLC program, regardless of the license
+ * terms of these modules. You may copy and distribute the resulting
+ * combined work under the terms of your choice, provided that every 
+ * copy of the combined work is accompanied by a complete copy of 
+ * the source code of Proview (the version used to produce the 
+ * combined work), being distributed under the terms of the GNU 
+ * General Public License plus this exception.
+ */
+
+/* rt_io_m_mb_rtu_slave.c -- io methods for a Modbus RTU slave */
+
+
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+#include <sys/file.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#include "pwr.h"
+#include "co_cdh.h"
+#include "pwr_baseclasses.h"
+#include "pwr_basecomponentclasses.h"
+#include "pwr_otherioclasses.h"
+#include "rt_gdh.h"
+#include "rt_io_base.h"
+#include "rt_io_bus.h"
+#include "rt_io_msg.h"
+#include "rt_errh.h"
+#include "co_cdh.h"
+#include "co_time.h"
+#include "rt_mb_msg.h"
+
+#include "rt_io_mb_rtu.h"
+
+
+/*----------------------------------------------------------------------------*\
+   Init method for the Modbus_TCP slave 
+\*----------------------------------------------------------------------------*/
+
+static pwr_tStatus IoRackInit (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp
+) 
+{
+  io_sCardLocal *local_card;
+  io_sCard *cardp;
+  io_sRackLocal *local;
+  int no_di;
+  int no_do;
+  pwr_sClass_Modbus_RTU_Slave *op;
+  char name[196];
+  pwr_tStatus sts;
+  pwr_tCid cid;
+  
+  io_sChannel *chanp;
+  int i;
+
+  sts = gdh_ObjidToName(rp->Objid, (char *) &name, sizeof(name), cdh_mNName);
+  errh_Info( "Init of Modbus TCP Slave and Modules %s", name);
+
+  op = (pwr_sClass_Modbus_RTU_Slave *) rp->op;
+  
+  rp->Local = calloc(1, sizeof(io_sRackLocal));
+  local = rp->Local;
+
+  op->Status = MB__NORMAL;
+  
+  /* Do configuration check and initialize modules. */
+
+  cardp = rp->cardlist;
+
+  unsigned int prev_input_area_offset = 0;
+  unsigned int prev_output_area_offset = 0;
+  unsigned int input_area_offset = 0;
+  unsigned int output_area_offset = 0;
+  unsigned int input_area_chansize = 0;
+  unsigned int output_area_chansize = 0;
+
+  while(cardp) {
+    local_card = calloc(1, sizeof(*local_card));
+
+    cid = cardp->Class;
+    /* Find the super class */
+    while ( ODD( gdh_GetSuperClass( cid, &cid, cardp->Objid))) ;
+
+    switch (cid) {
+    case pwr_cClass_Modbus_RTU_Module: {
+      pwr_sClass_Modbus_RTU_Module *modulep;
+
+      cardp->Local = local_card;
+      no_di = 0;
+      no_do = 0;
+
+      local_card->msg[0].input_area = (void *) &(op->Inputs) + input_area_offset + 
+	input_area_chansize;
+      local_card->msg[0].output_area = (void *) &(op->Outputs) + output_area_offset + 
+	output_area_chansize;
+
+    
+      modulep = (pwr_sClass_Modbus_RTU_Module *) cardp->op;
+      modulep->Status = pwr_eModbusModule_StatusEnum_StatusUnknown;
+
+      io_bus_card_init( ctx, cardp, &input_area_offset, &input_area_chansize,
+			&output_area_offset, &output_area_chansize, 
+			pwr_eByteOrderingEnum_BigEndian);
+
+      /* Count number of di and do */
+      for (i = 0; i < cardp->ChanListSize; i++) {
+	chanp = &cardp->chanlist[i];
+	switch (chanp->ChanClass) {      
+	case pwr_cClass_ChanDi:
+	  no_di++;
+	  break;
+	case pwr_cClass_ChanDo:
+	  no_do++;
+	  break;
+	}
+      }	   
+      local_card->msg[0].input_size = input_area_offset + input_area_chansize - 
+	prev_input_area_offset;
+      local_card->msg[0].output_size = output_area_offset + output_area_chansize - 
+	prev_output_area_offset;
+      local_card->msg[0].no_di = no_di;
+      local_card->msg[0].no_do = no_do;
+      
+      break;
+    }
+      
+    } /* End - switch ... */
+
+
+    prev_input_area_offset = input_area_offset + input_area_chansize;
+    prev_output_area_offset = output_area_offset + output_area_chansize;
+
+    cardp = cardp->next;
+  }
+
+  local->input_size = input_area_offset + input_area_chansize;
+  local->output_size = output_area_offset + output_area_chansize;
+
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+   Read method for the Modbus_TCP slave 
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoRackRead (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp
+) 
+{
+#if 0
+  io_sRackLocal *local;
+  pwr_sClass_Modbus_TCP_Slave *sp;
+  pwr_tStatus sts;
+  pwr_tTime now;
+  pwr_tDeltaTime dt;
+  
+  local = rp->Local;
+  
+  sp = (pwr_sClass_Modbus_TCP_Slave *) rp->op;
+
+
+  /* Receive data */
+  if ((sp->Status == MB__NORMAL) && !sp->SingleOp) {
+    sts = mb_recv_data(local, rp, sp);
+  }  
+  
+  if (sp->DisableSlave != 1) {
+  
+    if (sp->Status == MB__NORMAL) {
+      sp->ErrorCount = 0;
+    }
+    else {
+      sp->ErrorCount++;
+    }
+
+    if (sp->ErrorCount > sp->ErrorLimit) {
+      memset(&sp->Inputs, 0, local->input_size);
+    }
+  }
+  else {
+    sp->ErrorCount = 0;
+    sp->Status = MB__DISABLED;
+  }
+#endif  
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+   Write method for the Modbus_TCP slave
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoRackWrite (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp
+) 
+{
+#if 0
+  io_sRackLocal *local;
+  pwr_sClass_Modbus_TCP_Slave *sp;
+  pwr_tStatus sts;
+
+  local = rp->Local;
+  
+  sp = (pwr_sClass_Modbus_TCP_Slave *) rp->op;
+  
+  local->expected_msgs = 0;
+
+  if (sp->Status == MB__NORMAL && sp->DisableSlave != 1) {
+    sts = mb_send_data( rp, ap->Local, local, ap->op, sp, mb_mSendMask_WriteReq);
+  }
+
+  if (sp->DisableSlave == 1) sp->Status = MB__DISABLED;
+#endif
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+  
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoRackClose (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp
+) 
+{
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+  Every method to be exported to the workbench should be registred here.
+\*----------------------------------------------------------------------------*/
+
+pwr_dExport pwr_BindIoMethods(Modbus_RTU_Slave) = {
+  pwr_BindIoMethod(IoRackInit),
+  pwr_BindIoMethod(IoRackRead),
+  pwr_BindIoMethod(IoRackWrite),
+  pwr_BindIoMethod(IoRackClose),
+  pwr_NullMethod
+};

otherio/lib/rt/src/os_linux/rt_io_mb_rtu.h

+/* 
+ * Proview   Open Source Process Control.
+ * Copyright (C) 2005-2011 SSAB Oxelosund AB.
+ *
+ * This file is part of Proview.
+ *
+ * This program is free software; you can redistribute it and/or 
+ * modify it under the terms of the GNU General Public License as 
+ * published by the Free Software Foundation, either version 2 of 
+ * the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful 
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of 
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License 
+ * along with Proview. If not, see <http://www.gnu.org/licenses/>
+ *
+ * Linking Proview statically or dynamically with other modules is
+ * making a combined work based on Proview. Thus, the terms and 
+ * conditions of the GNU General Public License cover the whole 
+ * combination.
+ *
+ * In addition, as a special exception, the copyright holders of
+ * Proview give you permission to, from the build function in the
+ * Proview Configurator, combine Proview with modules generated by the
+ * Proview PLC Editor to a PLC program, regardless of the license
+ * terms of these modules. You may copy and distribute the resulting
+ * combined work under the terms of your choice, provided that every 
+ * copy of the combined work is accompanied by a complete copy of 
+ * the source code of Proview (the version used to produce the 
+ * combined work), being distributed under the terms of the GNU 
+ * General Public License plus this exception.
+ */
+
+#ifndef pwr_class_h
+#include "pwr_class.h"
+#endif
+
+#define IO_MAXCHAN 96
+#define MAX_MSGS_LOST 5
+
+// These constants are obsolete from V4.1, except for the old style
+// (Pb_Di, Pb_Do etc)
+
+#define PB_MODULE_STATE_NOTINIT 0
+#define PB_MODULE_STATE_OPERATE 1
+
+#define PB_NUMREP_UNSIGNEDINT	0
+#define PB_NUMREP_SIGNEDINT	1
+#define PB_NUMREP_FLOATIEEE	2
+#define PB_NUMREP_FLOATVAX	3
+#define PB_NUMREP_FLOATINTEL	4
+
+#define PB_ORIENTATION_BYTE	8
+#define PB_ORIENTATION_WORD	16
+#define PB_ORIENTATION_DWORD	32
+
+#define PB_UDATA_DIAG 		1
+
+#define MB_MAX_CONNECTIONS 	20
+
+typedef pwr_tMask mb_tSendMask;
+
+typedef enum {
+  mb_mSendMask_ReadReq               = 1,
+  mb_mSendMask_WriteReq              = 2,
+} mb_mSendMask;
+
+typedef struct {
+  int initialized;
+  int fd;
+} io_sAgentLocal;
+
+typedef struct {
+  int initialized;
+  short int trans_id;
+  int input_size;
+  int output_size;
+  int msgs_lost;
+  pwr_tTime last_try_connect_time;
+  int reset_inputs;
+} io_sRackLocal;
+
+typedef struct {
+  void *input_area;
+  void *output_area;
+  int scancount[IO_MAXCHAN];
+  int trans_id;
+  int input_size;
+  int output_size;
+  short int no_di;
+  short int no_do;
+  int interval_cnt;
+  int has_read_method;
+} io_sCardLocalMsg;
+
+typedef struct {
+  io_sCardLocalMsg msg[2];
+} io_sCardLocal;
+
+typedef struct {
+  int initialized;
+  int fd;
+  int input_size;
+  int output_size;
+  pwr_tTime last_req_time;
+  thread_sMutex mutex;
+  thread_s receive_thread;
+} io_sServerLocal;
+
+typedef struct {
+  void *input_area;
+  void *output_area;
+  int scancount[IO_MAXCHAN];
+  int trans_id;
+  int input_size;
+  int output_size;
+  int no_di;
+  int no_do;
+  int di_offset;
+  int do_offset;
+  int di_size;
+  int do_size;
+} io_sServerModuleLocal;
+
+#pragma pack(1)
+
+
+typedef struct _read_req {
+  unsigned char unit_id;
+  unsigned char fc;
+  short int    addr;
+  short int    quant;
+  short int    crc;
+} read_req;
+
+typedef struct _rec_buf {
+  unsigned char unit_id;
+  unsigned char fc;
+  unsigned char buf[255];
+} rec_buf;
+
+typedef struct _write_single_req {
+  unsigned char unit_id;
+  unsigned char fc;
+  short int    addr;
+  short int    value;
+  short int    crc;
+} write_single_req;
+
+typedef struct _write_reg_req {
+  unsigned char unit_id;
+  unsigned char fc;
+  short int    addr;
+  short int    quant;
+  unsigned char         bc;
+  short int    reg[125];
+  short int    crc;
+} write_reg_req;
+
+typedef struct _write_coils_req {
+  unsigned char unit_id;
+  unsigned char fc;
+  short int    addr;
+  short int    quant;
+  unsigned char bc;
+  unsigned char reg[247];
+  short int    crc;
+} write_coils_req;
+
+typedef struct _read_dev_id_req {
+  unsigned char unit_id;
+  unsigned char fc;
+  unsigned char mei_type;
+  unsigned char id_code;
+  unsigned char object_id;
+  short int     crc;
+} read_dev_id_req;
+
+typedef struct _res_write {
+  unsigned char unit_id;
+  unsigned char fc;
+  short int    addr;
+  short int    quant;
+  unsigned char buf[248];
+  short int    crc;
+} res_write;
+
+typedef struct _res_read {
+  unsigned char unit_id;
+  unsigned char fc;
+  unsigned char bc;
+  unsigned char buf[251];
+  short int    crc;
+} res_read;
+
+typedef struct _res_fault {
+  unsigned char unit_id;
+  unsigned char         fc;
+  unsigned char         ec;
+  short int             crc;
+} res_fault;
+
+typedef struct _rsp_fault {
+  unsigned char unit_id;
+  unsigned char fc;
+  unsigned char         ec;
+  short int             crc;
+} rsp_fault;
+
+typedef struct _rsp_read {
+  unsigned char unit_id;
+  unsigned char fc;
+  unsigned char         bc;
+  unsigned char         buf[250];
+  short int             crc;
+} rsp_read;
+
+typedef struct _rsp_write {
+  unsigned char unit_id;
+  unsigned char fc;
+  short int    		addr;
+  short int    		quant;
+  short int             crc;
+} rsp_write;
+
+typedef struct _rsp_single_write {
+  unsigned char unit_id;
+  unsigned char fc;
+  short int    		addr;
+  short int    		value;
+  short int             crc;
+} rsp_single_write;
+
+typedef struct _rsp_dev_id {
+  unsigned char unit_id;
+  unsigned char fc;
+  unsigned char mei_type;
+  unsigned char id_code;
+  unsigned char conformity_level;
+  unsigned char more_follows;
+  unsigned char next_object_id;
+  unsigned char number_of_objects;
+  unsigned char list[80];
+  short int     crc;
+} rsp_dev_id;
+
+#pragma pack(0)
+
+pwr_tStatus mb_recv_data(io_sRackLocal *local, 
+                             io_sRack      *rp,
+			     pwr_sClass_Modbus_TCP_Slave *sp);
+
+pwr_tStatus mb_send_data(io_sRackLocal *local, 
+                             io_sRack      *rp,
+			     pwr_sClass_Modbus_TCP_Slave *sp, 
+			     mb_tSendMask   mask);
+
+

otherio/lib/rt/src/rt_io_otherio.meth

@@ -6,6 +6,11 @@ Modbus_ModuleReadWrite
 Modbus_Master
 Modbus_TCP_Server
 Modbus_TCP_ServerModule
+Modbus_RTU_Slave
+Modbus_RTU_Module
+Modbus_RTU_Master
+Modbus_RTU_Server
+Modbus_RTU_ServerModule
 Arduino_Uno
 #if OS_LINUX
 GPIO

src/wbl/pwrb/src/pwrb_td_stallactionenum.wb_load

+! 
+!  Proview   Open Source Process Control.
+!  Copyright (C) 2005-2011 SSAB Oxelosund AB.
+! 
+!  This file is part of Proview.
+!
+!  This program is free software; you can redistribute it and/or 
+!  modify it under the terms of the GNU General Public License as 
+!  published by the Free Software Foundation, either version 2 of 
+!  the License, or (at your option) any later version.
+!
+!  This program is distributed in the hope that it will be useful 
+!  but WITHOUT ANY WARRANTY; without even the implied warranty of 
+!  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
+!  GNU General Public License for more details.
+!
+!  You should have received a copy of the GNU General Public License 
+!  along with Proview. If not, see <http://www.gnu.org/licenses/>
+! 
+!  Linking Proview statically or dynamically with other modules is
+!  making a combined work based on Proview. Thus, the terms and 
+!  conditions of the GNU General Public License cover the whole 
+!  combination.
+! 
+!  In addition, as a special exception, the copyright holders of
+!  Proview give you permission to, from the build function in the
+!  Proview Configurator, combine Proview with modules generated by the
+!  Proview PLC Editor to a PLC program, regardless of the license
+!  terms of these modules. You may copy and distribute the resulting
+!  combined work under the terms of your choice, provided that every 
+!  copy of the combined work is accompanied by a complete copy of 
+!  the source code of Proview (the version used to produce the 
+!  combined work), being distributed under the terms of the GNU 
+!  General Public License plus this exception.
+!
+!  pwrb_td_stallactionenum.wb_load -- Defines the enum type StallAction
+!
+SObject pwrb:Type
+!/**
+!  @Version 1.0
+!  @Group Types
+!  Enumeration for I/O stall action.
+!*/
+  Object StallActionEnum $TypeDef 58
+    Body SysBody
+      Attr TypeRef = "pwrs:Type-$Enum"
+      Attr PgmName = "StallActionEnum"
+    EndBody
+    !/**
+    !  No.
+    !*/
+    Object No $Value
+     Body SysBody
+       Attr PgmName = "No"
+       Attr Text = "No"
+       Attr Value = 0
+     EndBody
+    EndObject
+    !/**
+    !  Reset inputs.
+    !*/
+    Object ResetInputs $Value
+     Body SysBody
+       Attr PgmName = "ResetInputs"
+       Attr Text = "Reset inputs"
+       Attr Value = 1
+     EndBody
+    EndObject
+    !/**
+    !  Emergency break.
+    !*/
+    Object EmergencyBreak $Value
+     Body SysBody
+       Attr PgmName = "EmergencyBreak"
+       Attr Text = "Set emergency break"
+       Attr Value = 2
+     EndBody
+    EndObject
+  EndObject
+EndSObject
+
+
+
+
+
+
+
+

wb/exp/wb/src/pwr_wb_palette.cnf

@@ -307,6 +307,17 @@ palette NavigatorPalette
           class Modbus_TCP_ServerModule
 	}
       } 
+      menu Modbus_RTU 
+      {
+	class Modbus_RTU_Master
+        class Modbus_RTU_Slave
+        class Modbus_RTU_Module
+	menu Server
+	{
+	  class Modbus_RTU_Server
+          class Modbus_RTU_ServerModule
+	}
+      } 
       menu Hilscher_cifX
       {
         class Hilscher_cifX_Master