pilz_modbus_server_mock.h

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/*
 * Copyright (c) 2018 Pilz GmbH & Co. KG
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.

 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.

 * You should have received a copy of the GNU Lesser General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef PRBT_HARDWARE_SUPPORT_PILZ_MODBUS_SERVER_MOCK_H
#define PRBT_HARDWARE_SUPPORT_PILZ_MODBUS_SERVER_MOCK_H

#include <mutex>
#include <atomic>
#include <cstdint>
#include <vector>
#include <thread>
#include <condition_variable>

#include <modbus/modbus.h>

#include <ros/console.h>

#include "prbt_hardware_support/register_container.h"

namespace prbt_hardware_support
{
class PilzModbusServerMock
{
public:
  PilzModbusServerMock(const unsigned int& holding_register_size);

  ~PilzModbusServerMock();

  void start(const char* ip, const unsigned int port);

  void startAsync(const char* ip, const unsigned int port);

  void setHoldingRegister(std::initializer_list<std::pair<unsigned int, uint16_t> > reg_list);

  void setHoldingRegister(const RegCont& data, unsigned int start_index);

  RegCont readHoldingRegister(const RegCont::size_type start_index, const RegCont::size_type num_reg_to_read);

  void terminate();

  void setTerminateFlag();

  bool init(const char* ip, unsigned int port);

  void run();

private:
  bool shutdownSignalReceived();

private:
  const unsigned int holding_register_size_;
  const unsigned int terminate_register_idx_;

private:
  int socket_{ -1 };
  modbus_t* modbus_connection_{ nullptr };
  modbus_mapping_t* mb_mapping_{ nullptr };

  std::atomic_bool terminate_{ false };

  std::mutex modbus_register_access_mutex;

  std::mutex running_mutex_;
  std::condition_variable running_cv_;

  std::thread thread_;

private:
  static constexpr uint32_t DISCONNECT_TIMEOUT_IN_SEC{ 1 };
  static constexpr uint32_t DISCONNECT_TIMEOUT_IN_USEC{ 0 };

  static constexpr uint32_t RESPONSE_TIMEOUT_IN_SEC{ 0 };
  static constexpr uint32_t RESPONSE_TIMEOUT_IN_USEC{ 10000 };

  static constexpr uint16_t TERMINATE_SIGNAL{ 1 };
};

inline void PilzModbusServerMock::setTerminateFlag()
{
  ROS_INFO_NAMED("ServerMock", "Set terminate to true.");
  terminate_ = true;
}

inline void PilzModbusServerMock::terminate()
{
  ROS_INFO_NAMED("ServerMock", "Terminate called on ServerMock.");
  setTerminateFlag();

  if (thread_.joinable())
  {
    ROS_DEBUG_NAMED("ServerMock", "Waiting for worker Thread of ServerMock to be joined.");
    thread_.join();
    ROS_DEBUG_NAMED("ServerMock", "Waiting for worker Thread of ServerMock joined.");
  }
}

inline bool PilzModbusServerMock::shutdownSignalReceived()
{
  return readHoldingRegister(terminate_register_idx_, 1).back() == TERMINATE_SIGNAL;
}

}  // namespace prbt_hardware_support
#endif  // PRBT_HARDWARE_SUPPORT_PILZ_MODBUS_SERVER_MOCK_H