Obbart/ETcontroller_PRO
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Adjusted mutex lock and delay for modbus

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This commit is contained in:
Emanuele Trabattoni
2025-07-24 16:18:42 +02:00
parent 07dd200de8
commit cdbc904bec
11 changed files with 130 additions and 80 deletions
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35
src/remoteIO.cpp
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@@ -4,13 +4,14 @@ remoteIO::remoteIO(const uint8_t address, drivers::MODBUS &bus) : m_address(addr
{
LOG_INFO("Initializing relay module");
std::vector<uint16_t> response;
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
if (!m_bus.readHoldingRegisters(m_address, REG_VERSION, 1, response))
{
LOG_ERROR("Unable to inizialize relay module");
};
LOG_INFO("Software version", std::to_string(response.at(0) / 100.0f).c_str());
m_initialized = true;
m_lastRequest = millis();
resetAll(false);
}
@@ -20,11 +21,23 @@ remoteIO::~remoteIO()
resetAll(false);
}
void remoteIO::delayRequest()
{
auto now = millis();
if ((now - m_lastRequest) < c_minDelay)
{ // minimum m_lastRequest between requests
LOG_DEBUG("remoteIO delay request", (now - m_lastRequest));
delay(now - m_lastRequest);
}
m_lastRequest = millis();
}
const bool remoteIO::setOut(const channel_t ch, const bool value)
{
if (!m_initialized)
return false;
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
delayRequest();
LOG_DEBUG("Write Channel", ch, "->", value ? "True" : "False");
return m_bus.writeCoil(m_address, REG_COILS + ch, value);
}
@@ -33,7 +46,8 @@ const bool remoteIO::toggleOut(const channel_t ch)
{
if (!m_initialized)
return false;
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
delayRequest();
std::vector<bool> value;
if (!m_bus.readCoils(m_address, REG_COILS + ch, 1, value))
return false;
@@ -45,7 +59,8 @@ const bool remoteIO::setOutPort(const std::vector<bool> values)
{
if (!m_initialized)
return false;
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
delayRequest();
LOG_DEBUG("Write Port", CH_MAX);
return m_bus.writeCoils(m_address, REG_COILS, values);
}
@@ -54,7 +69,8 @@ const bool remoteIO::getOut(const channel_t ch, bool &value)
{
if (!m_initialized)
return false;
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
delayRequest();
std::vector<bool> values;
if (!m_bus.readCoils(m_address, REG_COILS + ch, 1, values))
return false;
@@ -67,7 +83,8 @@ const bool remoteIO::getOutPort(std::vector<bool> &values)
{
if (!m_initialized)
return false;
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
delayRequest();
LOG_DEBUG("Read Port", CH_MAX);
return m_bus.readCoils(m_address, REG_COILS, CH_MAX, values);
}
@@ -76,7 +93,8 @@ const bool remoteIO::getIn(const channel_t input, bool &value)
{
if (!m_initialized)
return false;
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
delayRequest();
std::vector<bool> values;
if (!m_bus.readInputs(m_address, REG_INPUT + input, 1, values))
return false;
@@ -89,7 +107,8 @@ const bool remoteIO::getInPort(std::vector<bool> &values)
{
if (!m_initialized)
return false;
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
delayRequest();
LOG_DEBUG("Read Inputs", CH_MAX);
return m_bus.readInputs(m_address, REG_INPUT, CH_MAX, values);
}