Modbus TCP module with both read and write

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

@@ -71,12 +71,12 @@ static pwr_tStatus IoCardInit (
   io_sCard	*cp
 ) 
 {
-  io_sCardLocal *local;
+  io_sCardLocalMsg *local;
   pwr_sClass_Modbus_Module *op;
   int i;
 
   op = (pwr_sClass_Modbus_Module *) cp->op;
-  local = (io_sCardLocal *) cp->Local;
+  local = ((io_sCardLocal *) cp->Local)->msg;
   
   for (i = 0; i < IO_MAXCHAN; i++) {
     local->scancount[i] = 0;
@@ -98,12 +98,12 @@ static pwr_tStatus IoCardRead (
   io_sCard	*cp
 ) 
 {
-  io_sCardLocal *local;
+  io_sCardLocalMsg *local;
   pwr_sClass_Modbus_Module *op;
   pwr_sClass_Modbus_TCP_Slave *slave;
 
   op = (pwr_sClass_Modbus_Module *) cp->op;
-  local = (io_sCardLocal *) cp->Local;
+  local = ((io_sCardLocal *) cp->Local)->msg;
   slave = (pwr_sClass_Modbus_TCP_Slave *) rp->op;
 
   if ( op->ScanInterval > 1) {
@@ -118,7 +118,7 @@ static pwr_tStatus IoCardRead (
   }
 
   if (slave->Status == MB__NORMAL) { 
-    io_bus_card_read(ctx, rp, cp, local->input_area, NULL,  pwr_eByteOrderingEnum_BigEndian, pwr_eFloatRepEnum_FloatIntel);  
+    io_bus_card_read(ctx, rp, cp, slave->Inputs, NULL,  pwr_eByteOrderingEnum_BigEndian, pwr_eFloatRepEnum_FloatIntel);  
   }
 //  printf("Method Modbus_Module-IoCardRead\n");
   return IO__SUCCESS;
@@ -135,13 +135,13 @@ static pwr_tStatus IoCardWrite (
   io_sCard	*cp
 ) 
 {
-  io_sCardLocal *local;
+  io_sCardLocalMsg *local;
   pwr_sClass_Modbus_Module *op;
   
   pwr_sClass_Modbus_TCP_Slave *slave;
 
   op = (pwr_sClass_Modbus_Module *) cp->op;
-  local = (io_sCardLocal *) cp->Local;
+  local = ((io_sCardLocal *) cp->Local)->msg;
   slave = (pwr_sClass_Modbus_TCP_Slave *) rp->op;
   
   if ( op->ScanInterval > 1) {
@@ -159,7 +159,7 @@ static pwr_tStatus IoCardWrite (
   }
 
   if (slave->Status == MB__NORMAL) { 
-    io_bus_card_write(ctx, cp, local->output_area, pwr_eByteOrderingEnum_BigEndian, pwr_eFloatRepEnum_FloatIntel);
+    io_bus_card_write(ctx, cp, slave->Outputs, pwr_eByteOrderingEnum_BigEndian, pwr_eFloatRepEnum_FloatIntel);
   }
 //  printf("Method Modbus_Module-IoCardWrite\n");
   return IO__SUCCESS;

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

@@ -112,6 +112,10 @@ typedef struct {
   short int no_do;
   int interval_cnt;
   int has_read_method;
+} io_sCardLocalMsg;
+
+typedef struct {
+  io_sCardLocalMsg msg[2];
 } io_sCardLocal;
 
 typedef struct {

otherio/lib/rt/src/rt_io_otherio.meth

@@ -2,6 +2,7 @@ MotionControl_USB
 MotionControl_USBIO
 Modbus_TCP_Slave
 Modbus_Module
+Modbus_ModuleReadWrite
 Modbus_Master
 Modbus_TCP_Server
 Modbus_TCP_ServerModule

wb/lib/wb/src/wb_c_chandi.cpp

@@ -142,7 +142,8 @@ static pwr_tStatus PostCreate( ldh_tSesContext Session,
   if ( !repr_set) {
     wb_cdef father_cdef = sp->cdef(Class);
     if ( strcmp( father_cdef.name(), "Modbus_TCP_ServerModule") == 0 ||
-	 strcmp( father_cdef.name(), "Modbus_Module") == 0) {
+	 strcmp( father_cdef.name(), "Modbus_Module") == 0 ||
+	 strcmp( father_cdef.name(), "Modbus_ModuleReadWrite") == 0) {
       
       wb_attribute a = sp->attribute( Object, "RtBody", "Representation");
       if ( !a) return a.sts();

wb/lib/wb/src/wb_c_chanii.cpp

@@ -104,7 +104,8 @@ static pwr_tStatus PostCreate( ldh_tSesContext Session,
   if ( !repr_set) {
     wb_cdef father_cdef = sp->cdef(Class);
     if ( strcmp( father_cdef.name(), "Modbus_TCP_ServerModule") == 0 ||
-	 strcmp( father_cdef.name(), "Modbus_Module") == 0) {
+	 strcmp( father_cdef.name(), "Modbus_Module") == 0 ||
+	 strcmp( father_cdef.name(), "Modbus_ModuleReadWrite") == 0) {
       
       wb_attribute a = sp->attribute( Object, "RtBody", "Representation");
       if ( !a) return a.sts();