uarep-ctl/modbus/pymodbus/utilities.gd

extends Node

## Modbus Utilities.
## A collection of utilities for packing data, unpacking
## data computing checksums, and decode checksums.


## Modbus Client States
class ModbusTransactionState extends Object:
    const IDLE: = 0
    const SENDING: = 1
    const WAITING_FOR_REPLY: = 2
    const WAITING_TURNAROUND_DELAY: = 3
    const PROCESSING_REPLY: = 4
    const PROCESSING_ERROR: = 5
    const TRANSACTION_COMPLETE: = 6
    const RETRYING: = 7
    const NO_RESPONSE_STATE: = 8

    func state_to_string(state) -> String:
        var states: = {
            ModbusTransactionState.IDLE:                     'IDLE',
            ModbusTransactionState.SENDING:                  'SENDING',
            ModbusTransactionState.WAITING_FOR_REPLY:        'WAITING_FOR_REPLY',
            ModbusTransactionState.WAITING_TURNAROUND_DELAY: 'WAITING_TURNAROUND_DELAY',
            ModbusTransactionState.PROCESSING_REPLY:         'PROCESSING_REPLY',
            ModbusTransactionState.PROCESSING_ERROR:         'PROCESSING_ERROR',
            ModbusTransactionState.TRANSACTION_COMPLETE:     'TRANSACTION_COMPLETE',
            ModbusTransactionState.RETRYING:                 'RETRYING TRANSACTION' }
        return states.get(state, null)

var __crc16_table: = []

func _ready():
    __crc16_table = __generate_crc16_table()


## Creates a string out of an array of bits
## [code]
## var bits   = [False, True, False, True]
## var result = pack_bitstring(bits)
## [/code]
func pack_bitstring(bits: Array):
    var ret = PackedByteArray()
    var i = 0
    var packed: int = 0
    for bit in bits:
        if bit:
            packed += 128
        i += 1
        if i == 8:
            ret += packed
            i = 0
            packed = 0
        else:
            packed >>= 1
    if 0 < i < 8:
        packed >>= (7 - i)
        ret += packed
    return ret


## Creates bit array out of a string
## param string: The modbus data packet to decode
## [code]
## var bytes  = 'bytes to decode'
## var result = unpack_bitstring(bytes)
## [/code]
func unpack_bitstring(string: String):
    var psa: = string.to_ascii_buffer()
    var byte_count = psa.size()
    var bits: = []
    for byte in byte_count:
        var value = psa.decode_u8(byte)
        for i in 8:
            bits.append((value & (1 << i)) > 0)
    return bits


## Returns byte string from a given string
## [param s]
func make_byte_string(s) -> PackedByteArray:
    return PackedByteArray(s)


# Error Detection Functions
func __generate_crc16_table() -> Array:
    ## Generates a crc16 lookup table
    ## note:: This will only be generated once
    var result: = []
    for byte in 256:
        var crc = 0x0000
        for i in 8:
            if (byte ^ crc) & 0x0001:
                crc = (crc >> 1) ^ 0xa001
            else:
                crc >>= 1
            byte >>= 1
        result.append(crc)
    return result


## Computes a crc16 on the passed in string. For modbus,
## this is only used on the binary serial protocols (in this
## case RTU). The difference between modbus's crc16 and a normal crc16
## is that modbus starts the crc value out at 0xffff.
## [param data] The data to create a crc16 of
## [b]returns[/b] The calculated CRC
func computeCRC(data: PackedByteArray) -> int:
    var crc: int = 0xffff
    for a in data:
        var idx = __crc16_table[(crc ^ a) & 0xff]
        crc = ((crc >> 8) & 0xff) ^ idx
    return ((crc << 8) & 0xff00) | ((crc >> 8) & 0x00ff)


##  Checks if the data matches the passed in CRC
##  [param data] The data to create a crc16 of
##  [param check] The CRC to validate
##  [b]returns[/b] True if matched, False otherwise
func checkCRC(data, check: int) -> bool:
    return computeCRC(data) == check


## Used to compute the longitudinal redundancy check
## against a string. This is only used on the serial ASCII
## modbus protocol. A full description of this implementation
## can be found in appendex B of the serial line modbus description.
## [param data] The data to apply a lrc to
## [b]return[/b] The calculated LRC
func computeLRC(data: PackedByteArray) -> int:
    var lrc: int = 0
    for a in data:
        lrc += a
    lrc &= 0xff
    lrc = (lrc ^ 0xff) + 1
    return lrc & 0xff


## Checks if the passed in data matches the LRC
## [param data] The data to calculate
## [param check] The LRC to validate
## [b]returns[/b] True if matched, False otherwise
func checkLRC(data: PackedByteArray, check: int) -> bool:
    return computeLRC(data) == check


## Calculates the size of the frame based on the byte count.
## param data: The buffer containing the frame.
## param byte_count_pos: The index of the byte count in the buffer.
## returns: The size of the frame.
##
## The structure of frames with a byte count field is always the
## same:
##
## first, there are some header fields
## then the byte count field
## then as many data bytes as indicated by the byte count,
## finally the CRC (two bytes).
##
## To calculate the frame size, it is therefore sufficient to extract
## the contents of the byte count field, add the position of this
## field, and finally increment the sum by three (one byte for the
## byte count field, two for the CRC).
func rtuFrameSize(data: PackedByteArray, byte_count_pos: int) -> int:
    return data.decode_u32(byte_count_pos) + byte_count_pos + 3


## Returns hex representation of bytestring received
## [param packet]
## [b]return[/b]
func hexlify_packets(packet: PackedByteArray):
    if not packet: return ''
    var s = String()
    for ch in packet:
        s += '%02x' % ch
    return s