modbustcpclient/client.go

package modbustcpclient

import (
	"encoding/binary"
	"fmt"
	"io"
	"net"
	"sync"
	"time"
)

type Mbclient struct {
	transactionCounter uint16
	address            string
	header             [7]byte
	unit               uint8
	conn               net.Conn
	t                  *time.Timer
	keepAliveDuration  time.Duration
	timeOut            time.Duration
	wg                 sync.WaitGroup
	registerOffset     uint16
}

func New(Address string, Unit uint8, KeepAlive, TimeOut time.Duration, registerOffset uint16) (*Mbclient, error) {

	c := new(Mbclient)
	c.address = Address
	c.unit = Unit
	c.t = time.NewTimer(0)
	<-c.t.C
	c.keepAliveDuration = KeepAlive
	c.timeOut = TimeOut
	c.registerOffset = registerOffset
	return c, nil
}

func (m *Mbclient) closer() {

	<-m.t.C
	m.conn.Close()
	//m.transactionCounter = 0
	m.wg.Done()
}

// closeConn can be called when a tcp communication failure require the current
// connection to be closed, it should only be used when closer routine is running
// and the timer is stopped.
func (m *Mbclient) closeConn() {
	m.t.Reset(0)
	m.wg.Wait()
}

// Reads one or many holding registers (Function code 03)
func (m *Mbclient) ReadHoldingRegisters(first uint16, numRegs uint16) ([]uint16, error) {
	return m.readRegisters(3, first, numRegs)
}

// Reads one or many input registers (Function code 04)
func (m *Mbclient) ReadInputRegisters(first uint16, numRegs uint16) ([]uint16, error) {
	return m.readRegisters(4, first, numRegs)
}

func (m *Mbclient) readRegisters(functionCode uint8, first uint16, numRegs uint16) ([]uint16, error) {
	var err error
	// If The timer is expired, conn is closed and needs to be reopened
	if !m.t.Stop() {
		// Wait for closer to exit to mitigate race condiion
		// between closer routine and this code path
		m.wg.Wait()
		m.conn, err = net.DialTimeout("tcp", m.address, m.timeOut)
		if err != nil {
			return nil, err
		}
		m.wg.Add(1)
		go m.closer()
	}

	const requestLength = 12
	m.transactionCounter++
	req := make([]byte, requestLength)
	var responseHeader mbapHeader
	var mbpayload mbPDU

	binary.BigEndian.PutUint16(req[0:2], m.transactionCounter)
	binary.BigEndian.PutUint16(req[2:4], 0) // Protocol identifier
	binary.BigEndian.PutUint16(req[4:6], 6) // Length
	req[6] = m.unit
	req[7] = functionCode
	binary.BigEndian.PutUint16(req[8:10], first-m.registerOffset)
	binary.BigEndian.PutUint16(req[10:12], numRegs)
	m.conn.SetDeadline(time.Now().Add(5 * time.Second))

	byteswritten, err := m.conn.Write(req)
	if err != nil {
		m.closeConn()
		return nil, err
	}
	if byteswritten != requestLength {
		m.closeConn()
		return nil, fmt.Errorf("failed to send request")
	}
	m.conn.SetDeadline(time.Now().Add(m.timeOut))
	_, err = io.ReadFull(m.conn, m.header[:])
	if err != nil {
		m.closeConn()
		return nil, err
	}
	responseHeader.unMarshal(m.header)
	expectedDataLength := responseHeader.length - 1

	if m.transactionCounter != responseHeader.transactionID {
		m.closeConn()
		return nil, fmt.Errorf("modbus transaction mismatch %v != %v", m.transactionCounter, responseHeader.transactionID)
	}
	response := make([]byte, expectedDataLength)
	m.conn.SetDeadline(time.Now().Add(m.timeOut))
	bytesRead, err := io.ReadFull(m.conn, response)
	if err != nil {
		m.closeConn()
		return nil, err
	}
	if uint16(bytesRead) != expectedDataLength {
		m.t.Reset(m.keepAliveDuration)
		return nil, fmt.Errorf("failed to read complete package")
	}

	err = mbpayload.unMarshal(response)
	if mbpayload.functionCode != functionCode {
		m.t.Reset(m.keepAliveDuration)
		return nil, fmt.Errorf("modbus exception %v req: %x", mbpayload.functionCode&0x7F, req)
	}
	if err != nil {
		m.t.Reset(m.keepAliveDuration)
		return nil, err
	}

	m.t.Reset(m.keepAliveDuration)
	return mbpayload.registers, nil
}

type mbapHeader struct {
	transactionID      uint16
	protocolIdentifier uint16
	length             uint16
	unitIdentifier     byte
}

func (m *mbapHeader) unMarshal(data [7]byte) error {
	m.transactionID = binary.BigEndian.Uint16(data[0:2])
	m.protocolIdentifier = binary.BigEndian.Uint16(data[2:4])
	m.length = binary.BigEndian.Uint16(data[4:6])
	m.unitIdentifier = data[6]

	return nil
}

type mbPDU struct {
	functionCode uint8
	length       uint8
	registers    []uint16
}

func (d *mbPDU) unMarshal(data []byte) error {
	d.functionCode = data[0]
	d.length = data[1]
	if d.length+2 != uint8(len(data)) {
		return fmt.Errorf("length mismatch in modbus payload")
	}
	d.registers = make([]uint16, d.length/2)
	var n uint8
	for n < d.length/2 {
		d.registers[n] = binary.BigEndian.Uint16(data[n*2+2 : n*2+4])
		n++
	}
	return nil
}