Revision 7bdb98c5
Initial commit of mainbox code.
mainbox/Makefile | ||
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SRC=main.c tool.c |
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HDR=tool.h |
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FLAGS=-O2 -g -Wall -I.. `pkg-config --cflags --libs libmodbus` |
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all: tooltron |
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tooltron: $(SRC) $(HDR) |
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gcc $(SRC) $(FLAGS) -o $@ |
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install: tooltron |
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cp tooltron /usr/local/bin |
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clean: |
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rm -f *.o tooltron |
mainbox/main.c | ||
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#include "tool.h" |
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#include <unistd.h> |
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#include <signal.h> |
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#include <strings.h> |
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#include <stdio.h> |
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#define SLEEP_MS 250 |
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struct tool_t tools[] = { |
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{4, "test", TS_INIT} |
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}; |
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#define N_TOOLS (sizeof(tools)/sizeof(struct tool_t)) |
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volatile int run = 1; |
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void sigint(int sig) { |
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run = 0; |
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} |
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int main(int argc, char **argv) { |
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int i; |
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struct sigaction sigact; |
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const char *device = "/dev/ttyUSB0"; |
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// TODO getopts to get device name |
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bzero(&sigact, sizeof(sigact)); |
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sigact.sa_handler = sigint; |
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sigact.sa_flags = SA_RESTART; |
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sigemptyset(&sigact.sa_mask); |
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sigaction(SIGINT, &sigact, NULL); |
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if (tool_init_mb(device)) { |
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return 1; |
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} |
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printf("Modbus initialized; polling tools...\n"); |
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i = 0; |
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while (run) { |
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tool_poll(&tools[i]); |
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usleep(SLEEP_MS * (useconds_t)1000); |
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i = (i+1) % N_TOOLS; |
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} |
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printf("\nDisabling tools\n"); |
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for (i = 0; i < N_TOOLS; i++) { |
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tool_request_disable(&tools[i]); |
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} |
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printf("Closing modbus connection\n"); |
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tool_close_mb(); |
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printf("Exiting\n"); |
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return 0; |
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} |
mainbox/tool.c | ||
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#include "tool.h" |
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#include "tooltron_mb.h" |
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#include <modbus.h> |
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#include <stdio.h> |
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#include <errno.h> |
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#include <stdlib.h> // TODO temporary |
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modbus_t *ctx; |
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int tool_init_mb(const char *device) { |
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ctx = modbus_new_rtu(device, MB_BAUD, 'N', 8, 1); |
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if (ctx == NULL) { |
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fprintf(stderr, "modbus_new_rtu: %s\n", modbus_strerror(errno)); |
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return 1; |
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} |
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if (modbus_connect(ctx) == -1) { |
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fprintf(stderr, "modbus_connect: %s\n", modbus_strerror(errno)); |
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modbus_free(ctx); |
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return 1; |
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} |
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return 0; |
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} |
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void tool_close_mb() { |
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modbus_close(ctx); |
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modbus_free(ctx); |
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} |
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static void tool_write_coil(int addr, int bit) { |
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if (modbus_write_bit(ctx, addr, bit) == -1) { |
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fprintf(stderr, "modbus_write_bit: %s\n", modbus_strerror(errno)); |
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} |
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} |
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static void tool_init(struct tool_t *tool) { |
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// TODO write current limit values |
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tool_write_coil(MB_COIL_INIT, 1); |
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tool->state = TS_OFF; |
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} |
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static void tool_get_user(struct tool_t *tool) { |
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unsigned short serno[2]; |
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if (modbus_read_registers(ctx, MB_INP_SERNOL, 2, serno) == -1) { |
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fprintf(stderr, "modbus_read_registers: %s\n", modbus_strerror(errno)); |
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tool->user = 0; |
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} else { |
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tool->user = MODBUS_GET_INT32_FROM_INT16(serno, 0); |
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} |
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} |
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static void tool_grant_access(struct tool_t *tool) { |
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printf("Granting access to %08x on %s\n", tool->user, tool->name); |
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tool_write_coil(MB_COIL_EN, 1); |
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} |
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static void tool_deny_access(struct tool_t *tool) { |
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printf("Denying access to %08x on %s\n", tool->user, tool->name); |
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tool_write_coil(MB_COIL_EN, 0); |
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} |
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void tool_request_disable(struct tool_t *tool) { |
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printf("Requesting disable on %s\n", tool->name); |
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tool_write_coil(MB_COIL_REQ_DIS, 1); |
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} |
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void tool_poll(struct tool_t *tool) { |
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unsigned char status[N_COILS]; |
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if (modbus_set_slave(ctx, SLAVE_ADDR) == -1) { |
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fprintf(stderr, "modbus_set_slave: %s\n", modbus_strerror(errno)); |
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} |
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if (modbus_read_bits(ctx, 0, N_COILS, status) == -1) { |
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fprintf(stderr, "modbus_read_bits: %s\n", modbus_strerror(errno)); |
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return; |
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} |
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if (!status[MB_COIL_INIT]) { |
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tool->state = TS_INIT; |
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} |
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switch (tool->state) { |
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case TS_INIT: |
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tool_init(tool); |
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break; |
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case TS_OFF: |
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if (status[MB_COIL_NEW]) { |
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tool_get_user(tool); |
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// TODO check actual credentials |
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if (rand() & 1) { |
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tool_grant_access(tool); |
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} else { |
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tool_deny_access(tool); |
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} |
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} |
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break; |
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case TS_ON: |
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if (!status[MB_COIL_EN]) { |
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printf("Tool %s is off\n", tool->name); |
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tool->state = TS_OFF; |
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} |
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break; |
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case TS_REQ_DIS: |
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if (!status[MB_COIL_EN]) { |
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printf("Tool %s is off after requested disable\n", tool->name); |
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tool->state = TS_OFF; |
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} |
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break; |
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} |
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} |
mainbox/tool.h | ||
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#ifndef TOOL_H |
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#define TOOL_H |
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enum toolstate_t { |
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TS_INIT, |
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TS_OFF, |
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TS_REQ_DIS, |
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TS_ON |
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}; |
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struct tool_t { |
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int address; |
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const char *name; |
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enum toolstate_t state; |
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unsigned int user; |
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}; |
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int tool_init_mb(const char *device); |
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void tool_close_mb(); |
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void tool_request_disable(struct tool_t *tool); |
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void tool_poll(struct tool_t *tool); |
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#endif |
tooltron_mb.h | ||
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* Coils, 1 bit read/write |
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*/ |
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/* When 1, there is a new rfid tag in the tool. The main box should either |
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* write 1 to MB_COIL_EN, which automatically clears MB_COIL_NEW, or it should |
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* write 0 directly to MB_COIL_NEW which denies the request */ |
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/* When 1, there is a new rfid tag in the tool. Automatically cleared when the |
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* main box writes to MB_COIL_EN */ |
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#define MB_COIL_NEW 0 |
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/* When 1, tool can be turned on. Write 0 to immediately shut off tool */ |
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/* When 1, the tool receives power. Write 1 or 0 to grant or deny an access |
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* request, respectively. If the tool is running, write 0 to immediately shut |
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* off the tool */ |
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#define MB_COIL_EN 1 |
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/* Write 1 to request that the tool is disabled soon (what that means will be |
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* later) */ |
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#define MB_COIL_INIT 3 |
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/* Number of coils */ |
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#define N_COILS 4 |
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/* |
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* Other things |
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*/ |
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