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Add support for acting as Modbus server (#4874)

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Co-authored-by: Jeroen van Oort <jeroen.vanoort@webparking.nl>
Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com>
This commit is contained in:
Jeroen van Oort 2024-05-22 06:17:32 +02:00 committed by GitHub
parent 76abf2200c
commit 1ca7c2d7dd
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GPG Key ID: B5690EEEBB952194
7 changed files with 203 additions and 21 deletions
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35
esphome/components/modbus/__init__.py
View File

@ -1,5 +1,9 @@
from __future__ import annotations
from typing import Literal
import esphome.codegen as cg
import esphome.config_validation as cv
import esphome.final_validate as fv
from esphome.cpp_helpers import gpio_pin_expression
from esphome.components import uart
from esphome.const import (
@ -17,13 +21,21 @@ Modbus = modbus_ns.class_("Modbus", cg.Component, uart.UARTDevice)
ModbusDevice = modbus_ns.class_("ModbusDevice")
MULTI_CONF = True
CONF_ROLE = "role"
CONF_MODBUS_ID = "modbus_id"
CONF_SEND_WAIT_TIME = "send_wait_time"
ModbusRole = modbus_ns.enum("ModbusRole")
MODBUS_ROLES = {
"client": ModbusRole.CLIENT,
"server": ModbusRole.SERVER,
}
CONFIG_SCHEMA = (
cv.Schema(
{
cv.GenerateID(): cv.declare_id(Modbus),
cv.Optional(CONF_ROLE, default="client"): cv.enum(MODBUS_ROLES),
cv.Optional(CONF_FLOW_CONTROL_PIN): pins.gpio_output_pin_schema,
cv.Optional(
CONF_SEND_WAIT_TIME, default="250ms"
@ -43,6 +55,7 @@ async def to_code(config):
await uart.register_uart_device(var, config)
cg.add(var.set_role(config[CONF_ROLE]))
if CONF_FLOW_CONTROL_PIN in config:
pin = await gpio_pin_expression(config[CONF_FLOW_CONTROL_PIN])
cg.add(var.set_flow_control_pin(pin))
@ -62,6 +75,28 @@ def modbus_device_schema(default_address):
return cv.Schema(schema)
def final_validate_modbus_device(
name: str, *, role: Literal["server", "client"] | None = None
):
def validate_role(value):
assert role in MODBUS_ROLES
if value != role:
raise cv.Invalid(f"Component {name} requires role to be {role}")
return value
def validate_hub(hub_config):
hub_schema = {}
if role is not None:
hub_schema[cv.Required(CONF_ROLE)] = validate_role
return cv.Schema(hub_schema, extra=cv.ALLOW_EXTRA)(hub_config)
return cv.Schema(
{cv.Required(CONF_MODBUS_ID): fv.id_declaration_match_schema(validate_hub)},
extra=cv.ALLOW_EXTRA,
)
async def register_modbus_device(var, config):
parent = await cg.get_variable(config[CONF_MODBUS_ID])
cg.add(var.set_parent(parent))

27
esphome/components/modbus/modbus.cpp
View File

@ -77,7 +77,13 @@ bool Modbus::parse_modbus_byte_(uint8_t byte) {
ESP_LOGD(TAG, "Modbus user-defined function %02X found", function_code);
} else {
// the response for write command mirrors the requests and data startes at offset 2 instead of 3 for read commands
// data starts at 2 and length is 4 for read registers commands
if (this->role == ModbusRole::SERVER && (function_code == 0x3 || function_code == 0x4)) {
data_offset = 2;
data_len = 4;
}
// the response for write command mirrors the requests and data starts at offset 2 instead of 3 for read commands
if (function_code == 0x5 || function_code == 0x06 || function_code == 0xF || function_code == 0x10) {
data_offset = 2;
data_len = 4;
@ -123,6 +129,9 @@ bool Modbus::parse_modbus_byte_(uint8_t byte) {
// Ignore modbus exception not related to a pending command
ESP_LOGD(TAG, "Ignoring Modbus error - not expecting a response");
}
} else if (this->role == ModbusRole::SERVER && (function_code == 0x3 || function_code == 0x4)) {
device->on_modbus_read_registers(function_code, uint16_t(data[1]) | (uint16_t(data[0]) << 8),
uint16_t(data[3]) | (uint16_t(data[2]) << 8));
} else {
device->on_modbus_data(data);
}
@ -164,16 +173,18 @@ void Modbus::send(uint8_t address, uint8_t function_code, uint16_t start_address
std::vector<uint8_t> data;
data.push_back(address);
data.push_back(function_code);
data.push_back(start_address >> 8);
data.push_back(start_address >> 0);
if (function_code != 0x5 && function_code != 0x6) {
data.push_back(number_of_entities >> 8);
data.push_back(number_of_entities >> 0);
if (this->role == ModbusRole::CLIENT) {
data.push_back(start_address >> 8);
data.push_back(start_address >> 0);
if (function_code != 0x5 && function_code != 0x6) {
data.push_back(number_of_entities >> 8);
data.push_back(number_of_entities >> 0);
}
}
if (payload != nullptr) {
if (function_code == 0xF || function_code == 0x10) { // Write multiple
data.push_back(payload_len); // Byte count is required for write
if (this->role == ModbusRole::SERVER || function_code == 0xF || function_code == 0x10) { // Write multiple
data.push_back(payload_len); // Byte count is required for write
} else {
payload_len = 2; // Write single register or coil
}

9
esphome/components/modbus/modbus.h
View File

@ -8,6 +8,11 @@
namespace esphome {
namespace modbus {
enum ModbusRole {
CLIENT,
SERVER,
};
class ModbusDevice;
class Modbus : public uart::UARTDevice, public Component {
@ -27,11 +32,14 @@ class Modbus : public uart::UARTDevice, public Component {
void send(uint8_t address, uint8_t function_code, uint16_t start_address, uint16_t number_of_entities,
uint8_t payload_len = 0, const uint8_t *payload = nullptr);
void send_raw(const std::vector<uint8_t> &payload);
void set_role(ModbusRole role) { this->role = role; }
void set_flow_control_pin(GPIOPin *flow_control_pin) { this->flow_control_pin_ = flow_control_pin; }
uint8_t waiting_for_response{0};
void set_send_wait_time(uint16_t time_in_ms) { send_wait_time_ = time_in_ms; }
void set_disable_crc(bool disable_crc) { disable_crc_ = disable_crc; }
ModbusRole role;
protected:
GPIOPin *flow_control_pin_{nullptr};
@ -50,6 +58,7 @@ class ModbusDevice {
void set_address(uint8_t address) { address_ = address; }
virtual void on_modbus_data(const std::vector<uint8_t> &data) = 0;
virtual void on_modbus_error(uint8_t function_code, uint8_t exception_code) {}
virtual void on_modbus_read_registers(uint8_t function_code, uint16_t start_address, uint16_t number_of_registers){};
void send(uint8_t function, uint16_t start_address, uint16_t number_of_entities, uint8_t payload_len = 0,
const uint8_t *payload = nullptr) {
this->parent_->send(this->address_, function, start_address, number_of_entities, payload_len, payload);

52
esphome/components/modbus_controller/__init__.py
View File

@ -23,6 +23,8 @@ CODEOWNERS = ["@martgras"]
AUTO_LOAD = ["modbus"]
CONF_READ_LAMBDA = "read_lambda"
CONF_SERVER_REGISTERS = "server_registers"
MULTI_CONF = True
modbus_controller_ns = cg.esphome_ns.namespace("modbus_controller")
@ -31,6 +33,7 @@ ModbusController = modbus_controller_ns.class_(
)
SensorItem = modbus_controller_ns.struct("SensorItem")
ServerRegister = modbus_controller_ns.struct("ServerRegister")
ModbusFunctionCode_ns = modbus_controller_ns.namespace("ModbusFunctionCode")
ModbusFunctionCode = ModbusFunctionCode_ns.enum("ModbusFunctionCode")
@ -94,10 +97,18 @@ TYPE_REGISTER_MAP = {
"FP32_R": 2,
}
MULTI_CONF = True
_LOGGER = logging.getLogger(__name__)
ModbusServerRegisterSchema = cv.Schema(
{
cv.GenerateID(): cv.declare_id(ServerRegister),
cv.Required(CONF_ADDRESS): cv.positive_int,
cv.Optional(CONF_VALUE_TYPE, default="U_WORD"): cv.enum(SENSOR_VALUE_TYPE),
cv.Required(CONF_READ_LAMBDA): cv.returning_lambda,
}
)
CONFIG_SCHEMA = cv.All(
cv.Schema(
{
@ -106,6 +117,9 @@ CONFIG_SCHEMA = cv.All(
CONF_COMMAND_THROTTLE, default="0ms"
): cv.positive_time_period_milliseconds,
cv.Optional(CONF_OFFLINE_SKIP_UPDATES, default=0): cv.positive_int,
cv.Optional(
CONF_SERVER_REGISTERS,
): cv.ensure_list(ModbusServerRegisterSchema),
}
)
.extend(cv.polling_component_schema("60s"))
@ -154,6 +168,17 @@ def validate_modbus_register(config):
return config
def _final_validate(config):
if CONF_SERVER_REGISTERS in config:
return modbus.final_validate_modbus_device("modbus_controller", role="server")(
config
)
return config
FINAL_VALIDATE_SCHEMA = _final_validate
def modbus_calc_properties(config):
byte_offset = 0
reg_count = 0
@ -183,7 +208,7 @@ def modbus_calc_properties(config):
async def add_modbus_base_properties(
var, config, sensor_type, lamdba_param_type=cg.float_, lamdba_return_type=float
var, config, sensor_type, lambda_param_type=cg.float_, lambda_return_type=float
):
if CONF_CUSTOM_COMMAND in config:
cg.add(var.set_custom_data(config[CONF_CUSTOM_COMMAND]))
@ -196,13 +221,13 @@ async def add_modbus_base_properties(
config[CONF_LAMBDA],
[
(sensor_type.operator("ptr"), "item"),
(lamdba_param_type, "x"),
(lambda_param_type, "x"),
(
cg.std_vector.template(cg.uint8).operator("const").operator("ref"),
"data",
),
],
return_type=cg.optional.template(lamdba_return_type),
return_type=cg.optional.template(lambda_return_type),
)
cg.add(var.set_template(template_))
@ -211,6 +236,23 @@ async def to_code(config):
var = cg.new_Pvariable(config[CONF_ID])
cg.add(var.set_command_throttle(config[CONF_COMMAND_THROTTLE]))
cg.add(var.set_offline_skip_updates(config[CONF_OFFLINE_SKIP_UPDATES]))
if CONF_SERVER_REGISTERS in config:
for server_register in config[CONF_SERVER_REGISTERS]:
cg.add(
var.add_server_register(
cg.new_Pvariable(
server_register[CONF_ID],
server_register[CONF_ADDRESS],
server_register[CONF_VALUE_TYPE],
TYPE_REGISTER_MAP[server_register[CONF_VALUE_TYPE]],
await cg.process_lambda(
server_register[CONF_READ_LAMBDA],
[],
return_type=cg.float_,
),
)
)
)
await register_modbus_device(var, config)

57
esphome/components/modbus_controller/modbus_controller.cpp
View File

@ -7,10 +7,7 @@ namespace modbus_controller {
static const char *const TAG = "modbus_controller";
void ModbusController::setup() {
// Modbus::setup();
this->create_register_ranges_();
}
void ModbusController::setup() { this->create_register_ranges_(); }
/*
To work with the existing modbus class and avoid polling for responses a command queue is used.
@ -102,6 +99,51 @@ void ModbusController::on_modbus_error(uint8_t function_code, uint8_t exception_
}
}
void ModbusController::on_modbus_read_registers(uint8_t function_code, uint16_t start_address,
uint16_t number_of_registers) {
ESP_LOGD(TAG,
"Received read holding/input registers for device 0x%X. FC: 0x%X. Start address: 0x%X. Number of registers: "
"0x%X.",
this->address_, function_code, start_address, number_of_registers);
std::vector<uint16_t> sixteen_bit_response;
for (uint16_t current_address = start_address; current_address < start_address + number_of_registers;) {
bool found = false;
for (auto *server_register : this->server_registers_) {
if (server_register->address == current_address) {
float value = server_register->read_lambda();
ESP_LOGD(TAG, "Matched register. Address: 0x%02X. Value type: %zu. Register count: %u. Value: %0.1f.",
server_register->address, static_cast<uint8_t>(server_register->value_type),
server_register->register_count, value);
number_to_payload(sixteen_bit_response, value, server_register->value_type);
current_address += server_register->register_count;
found = true;
break;
}
}
if (!found) {
ESP_LOGW(TAG, "Could not match any register to address %02X. Sending exception response.", current_address);
std::vector<uint8_t> error_response;
error_response.push_back(this->address_);
error_response.push_back(0x81);
error_response.push_back(0x02);
this->send_raw(error_response);
return;
}
}
std::vector<uint8_t> response;
for (auto v : sixteen_bit_response) {
auto decoded_value = decode_value(v);
response.push_back(decoded_value[0]);
response.push_back(decoded_value[1]);
}
this->send(function_code, start_address, number_of_registers, response.size(), response.data());
}
SensorSet ModbusController::find_sensors_(ModbusRegisterType register_type, uint16_t start_address) const {
auto reg_it = find_if(begin(register_ranges_), end(register_ranges_), [=](RegisterRange const &r) {
return (r.start_address == start_address && r.register_type == register_type);
@ -190,7 +232,7 @@ void ModbusController::update() {
// walk through the sensors and determine the register ranges to read
size_t ModbusController::create_register_ranges_() {
register_ranges_.clear();
if (sensorset_.empty()) {
if (this->parent_->role == modbus::ModbusRole::CLIENT && sensorset_.empty()) {
ESP_LOGW(TAG, "No sensors registered");
return 0;
}
@ -309,6 +351,11 @@ void ModbusController::dump_config() {
ESP_LOGCONFIG(TAG, " Range type=%zu start=0x%X count=%d skip_updates=%d", static_cast<uint8_t>(it.register_type),
it.start_address, it.register_count, it.skip_updates);
}
ESP_LOGCONFIG(TAG, "server registers");
for (auto &r : server_registers_) {
ESP_LOGCONFIG(TAG, " Address=0x%02X value_type=%zu register_count=%u", r->address,
static_cast<uint8_t>(r->value_type), r->register_count);
}
#endif
}

22
esphome/components/modbus_controller/modbus_controller.h
View File

@ -8,6 +8,7 @@
#include <list>
#include <queue>
#include <set>
#include <utility>
#include <vector>
namespace esphome {
@ -251,6 +252,21 @@ class SensorItem {
bool force_new_range{false};
};
class ServerRegister {
public:
ServerRegister(uint16_t address, SensorValueType value_type, uint8_t register_count,
std::function<float()> read_lambda) {
this->address = address;
this->value_type = value_type;
this->register_count = register_count;
this->read_lambda = std::move(read_lambda);
}
uint16_t address;
SensorValueType value_type;
uint8_t register_count;
std::function<float()> read_lambda;
};
// ModbusController::create_register_ranges_ tries to optimize register range
// for this the sensors must be ordered by register_type, start_address and bitmask
class SensorItemsComparator {
@ -418,10 +434,14 @@ class ModbusController : public PollingComponent, public modbus::ModbusDevice {
void queue_command(const ModbusCommandItem &command);
/// Registers a sensor with the controller. Called by esphomes code generator
void add_sensor_item(SensorItem *item) { sensorset_.insert(item); }
/// Registers a server register with the controller. Called by esphomes code generator
void add_server_register(ServerRegister *server_register) { server_registers_.push_back(server_register); }
/// called when a modbus response was parsed without errors
void on_modbus_data(const std::vector<uint8_t> &data) override;
/// called when a modbus error response was received
void on_modbus_error(uint8_t function_code, uint8_t exception_code) override;
/// called when a modbus request (function code 3 or 4) was parsed without errors
void on_modbus_read_registers(uint8_t function_code, uint16_t start_address, uint16_t number_of_registers) final;
/// default delegate called by process_modbus_data when a response has retrieved from the incoming queue
void on_register_data(ModbusRegisterType register_type, uint16_t start_address, const std::vector<uint8_t> &data);
/// default delegate called by process_modbus_data when a response for a write response has retrieved from the
@ -452,6 +472,8 @@ class ModbusController : public PollingComponent, public modbus::ModbusDevice {
void dump_sensors_();
/// Collection of all sensors for this component
SensorSet sensorset_;
/// Collection of all server registers for this component
std::vector<ServerRegister *> server_registers_;
/// Continuous range of modbus registers
std::vector<RegisterRange> register_ranges_;
/// Hold the pending requests to be sent

22
tests/components/modbus_controller/test.esp32.yaml
View File

@ -1,14 +1,30 @@
uart:
- id: uart_modbus
- id: uart_modbus_client
tx_pin: 17
rx_pin: 16
baud_rate: 9600
- id: uart_modbus_server
tx_pin: 1
rx_pin: 3
baud_rate: 9600
modbus:
id: mod_bus1
flow_control_pin: 15
- id: mod_bus1
uart_id: uart_modbus_client
flow_control_pin: 15
- id: mod_bus2
uart_id: uart_modbus_server
role: server
modbus_controller:
- id: modbus_controller1
address: 0x2
modbus_id: mod_bus1
- id: modbus_controller2
address: 0x2
modbus_id: mod_bus2
server_registers:
- address: 0x0000
value_type: S_DWORD_R
read_lambda: |-
return 42.3;