libmodbus/modbus/modbus.c

/*
 * Copyright © 2001-2010 Stéphane Raimbault <stephane.raimbault@gmail.com>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser 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 Public License for more details.
 *
 * You should have received a copy of the GNU Lesser Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

/*
   The library is designed to send and receive data from a device that
   communicate via the Modbus protocol.

   The function names used are inspired by the Modicon Modbus Protocol
   Reference Guide which can be obtained from Schneider at
   www.schneiderautomation.com.

   Documentation:
   http://www.easysw.com/~mike/serial/serial.html
   http://copyleft.free.fr/wordpress/index.php/libmodbus/
*/

#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#ifdef HAVE_INTTYPES_H
#include <inttypes.h>
#endif
#ifdef HAVE_STDINT_H
#include <stdint.h>
#endif
#include <termios.h>
#include <sys/time.h>
#include <unistd.h>
#include <errno.h>
#include <assert.h>
#include <limits.h>
#include <fcntl.h>

/* TCP */
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#if defined(__FreeBSD__ ) && __FreeBSD__ < 5
#include <netinet/in_systm.h>
#endif
#include <netinet/in.h>
#include <netinet/ip.h>
#include <netinet/tcp.h>
#include <arpa/inet.h>

#if !defined(UINT16_MAX)
#define UINT16_MAX 0xFFFF
#endif

#include <config.h>

#include <modbus/modbus.h>

/* Exported version */
const unsigned int mb_version_major = MB_VERSION_MAJOR;
const unsigned int mb_version_minor = MB_VERSION_MINOR;
const unsigned int mb_version_micro = MB_VERSION_MICRO;

/* This structure reduces the number of params in functions and so
 * optimizes the speed of execution (~ 37%). */
typedef struct {
        int slave;
        int function;
        int t_id;
} sft_t;

/* Table of CRC values for high-order byte */
static uint8_t table_crc_hi[] = {
        0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
        0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
        0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
        0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
        0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
        0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
        0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
        0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
        0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
        0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
        0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
        0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
        0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
        0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
        0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
        0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
        0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
        0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
        0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
        0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
        0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
        0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
        0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
        0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
        0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
        0x80, 0x41, 0x00, 0xC1, 0x81, 0x40
};

/* Table of CRC values for low-order byte */
static uint8_t table_crc_lo[] = {
        0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06,
        0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD,
        0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
        0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A,
        0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4,
        0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
        0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3,
        0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4,
        0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
        0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29,
        0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED,
        0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
        0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60,
        0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67,
        0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
        0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68,
        0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E,
        0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
        0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71,
        0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92,
        0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
        0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B,
        0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B,
        0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
        0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42,
        0x43, 0x83, 0x41, 0x81, 0x80, 0x40
};

static const int TAB_HEADER_LENGTH[2] = {
        HEADER_LENGTH_RTU,
        HEADER_LENGTH_TCP
};

static const int TAB_CHECKSUM_LENGTH[2] = {
        CHECKSUM_LENGTH_RTU,
        CHECKSUM_LENGTH_TCP
};

static const int TAB_MAX_ADU_LENGTH[2] = {
        MAX_ADU_LENGTH_RTU,
        MAX_ADU_LENGTH_TCP,
};

const char *modbus_strerror(int errnum) {
        switch (errnum) {
        case EMBXILFUN:
                return "Illegal function";
        case EMBXILADD:
                return "Illegal data address";
        case EMBXILVAL:
                return "Illegal data value";
        case EMBXSFAIL:
                return "Slave device or server failure";
        case EMBXACK:
                return "Acknowledge";
        case EMBXSBUSY:
                return "Slave device or server is busy";
        case EMBXNACK:
                return "Negative acknowledge";
        case EMBXMEMPAR:
                return "Memory parity error";
        case EMBXGPATH:
                return "Gateway path unavailable";
        case EMBXGTAR:
                return "Target device failed to respond";
        case EMBBADCRC:
                return "Invalid CRC";
        case EMBBADDATA:
                return "Invalid data";
        case EMBBADEXC:
                return "Invalid exception code";
        case EMBMDATA:
                return "Too many data";
        default:
                return strerror(errnum);
        }
}

static void error_print(modbus_param_t *mb_param, const char *context)
{
        if (mb_param->debug) {
                fprintf(stderr, "ERROR %s", modbus_strerror(errno));
                if (context != NULL) {
                        fprintf(stderr, ": %s\n", context);
                } else {
                        fprintf(stderr, "\n");
                }
        }
}

int modbus_flush(modbus_param_t *mb_param)
{
        int rc;

        if (mb_param->type_com == RTU) {
                rc = tcflush(mb_param->fd, TCIOFLUSH);
        } else {
                do {
                        /* Extract the garbage from the socket */
                        char devnull[MAX_ADU_LENGTH_TCP];
#if (!HAVE_DECL___CYGWIN__)
                        rc = recv(mb_param->fd, devnull, MAX_ADU_LENGTH_TCP, MSG_DONTWAIT);
#else
                        /* On Cygwin, it's a bit more complicated to not wait */
                        fd_set rfds;
                        struct timeval tv;

                        tv.tv_sec = 0;
                        tv.tv_usec = 0;
                        FD_ZERO(&rfds);
                        FD_SET(mb_param->fd, &rfds);
                        rc = select(mb_param->fd+1, &rfds, NULL, NULL, &tv);
                        if (rc == -1) {
                                return -1;
                        }

                        rc = recv(mb_param->fd, devnull, MAX_ADU_LENGTH_TCP, 0);
#endif
                        if (mb_param->debug && rc != -1) {
                                printf("\n%d bytes flushed\n", rc);
                        }
                } while (rc > 0);
        }
}

/* Computes the length of the expected response */
static unsigned int compute_response_length(modbus_param_t *mb_param,
                                            uint8_t *query)
{
        int length;
        int offset;

        offset = TAB_HEADER_LENGTH[mb_param->type_com];

        switch (query[offset]) {
        case FC_READ_COIL_STATUS:
        case FC_READ_INPUT_STATUS: {
                /* Header + nb values (code from force_multiple_coils) */
                int nb = (query[offset + 3] << 8) | query[offset + 4];
                length = 2 + (nb / 8) + ((nb % 8) ? 1 : 0);
        }
                break;
        case FC_READ_HOLDING_REGISTERS:
        case FC_READ_INPUT_REGISTERS:
                /* Header + 2 * nb values */
                length = 2 + 2 * (query[offset + 3] << 8 |
                                       query[offset + 4]);
                break;
        case FC_READ_EXCEPTION_STATUS:
                length = 3;
                break;
        case FC_REPORT_SLAVE_ID:
                /* The response is device specific (the header provides the
                   length) */
                return MSG_LENGTH_UNDEFINED;
        default:
                length = 5;
        }

        return length + offset + TAB_CHECKSUM_LENGTH[mb_param->type_com];
}

/* Builds a RTU query header */
static int build_query_basis_rtu(int slave, int function,
                                 int start_addr, int nb,
                                 uint8_t *query)
{
        query[0] = slave;
        query[1] = function;
        query[2] = start_addr >> 8;
        query[3] = start_addr & 0x00ff;
        query[4] = nb >> 8;
        query[5] = nb & 0x00ff;

        return PRESET_QUERY_LENGTH_RTU;
}

/* Builds a TCP query header */
static int build_query_basis_tcp(int slave, int function,
                                 int start_addr, int nb,
                                 uint8_t *query)
{

        /* Extract from MODBUS Messaging on TCP/IP Implementation Guide V1.0b
           (page 23/46):
           The transaction identifier is used to associate the future response
           with the request. So, at a time, on a TCP connection, this identifier
           must be unique. */
        static uint16_t t_id = 0;

        /* Transaction ID */
        if (t_id < UINT16_MAX)
                t_id++;
        else
                t_id = 0;
        query[0] = t_id >> 8;
        query[1] = t_id & 0x00ff;

        /* Protocol Modbus */
        query[2] = 0;
        query[3] = 0;

        /* Length will be defined later by set_query_length_tcp at offsets 4
           and 5 */

        query[6] = slave;
        query[7] = function;
        query[8] = start_addr >> 8;
        query[9] = start_addr & 0x00ff;
        query[10] = nb >> 8;
        query[11] = nb & 0x00ff;

        return PRESET_QUERY_LENGTH_TCP;
}

static int build_query_basis(modbus_param_t *mb_param,
                             int function, int start_addr,
                             int nb, uint8_t *query)
{
        if (mb_param->type_com == RTU)
                return build_query_basis_rtu(mb_param->slave, function,
                                             start_addr, nb, query);
        else
                return build_query_basis_tcp(mb_param->slave, function,
                                             start_addr, nb, query);
}

/* Builds a RTU response header */
static int build_response_basis_rtu(sft_t *sft, uint8_t *response)
{
        response[0] = sft->slave;
        response[1] = sft->function;

        return PRESET_RESPONSE_LENGTH_RTU;
}

/* Builds a TCP response header */
static int build_response_basis_tcp(sft_t *sft, uint8_t *response)
{
        /* Extract from MODBUS Messaging on TCP/IP Implementation
           Guide V1.0b (page 23/46):
           The transaction identifier is used to associate the future
           response with the request. */
        response[0] = sft->t_id >> 8;
        response[1] = sft->t_id & 0x00ff;

        /* Protocol Modbus */
        response[2] = 0;
        response[3] = 0;

        /* Length to fix later with set_message_length_tcp (4 and 5) */

        response[6] = sft->slave;
        response[7] = sft->function;

        return PRESET_RESPONSE_LENGTH_TCP;
}

static int build_response_basis(modbus_param_t *mb_param, sft_t *sft,
                                uint8_t *response)
{
        if (mb_param->type_com == RTU)
                return build_response_basis_rtu(sft, response);
        else
                return build_response_basis_tcp(sft, response);
}

/* Sets the length of TCP message in the message (query and response) */
void set_message_length_tcp(uint8_t *msg, int msg_length)
{
        /* Substract the header length to the message length */
        int mbap_length = msg_length - 6;

        msg[4] = mbap_length >> 8;
        msg[5] = mbap_length & 0x00FF;
}

/* Fast CRC */
static uint16_t crc16(uint8_t *buffer, uint16_t buffer_length)
{
        uint8_t crc_hi = 0xFF; /* high CRC byte initialized */
        uint8_t crc_lo = 0xFF; /* low CRC byte initialized */
        unsigned int i; /* will index into CRC lookup */

        /* pass through message buffer */
        while (buffer_length--) {
                i = crc_hi ^ *buffer++; /* calculate the CRC  */
                crc_hi = crc_lo ^ table_crc_hi[i];
                crc_lo = table_crc_lo[i];
        }

        return (crc_hi << 8 | crc_lo);
}

/* The check_crc16 function shall return the message length if the CRC is
   valid. Otherwise it shall return -1 and set errno to EMBADCRC. */
static int check_crc16(modbus_param_t *mb_param,
                       uint8_t *msg,
                       const int msg_length)
{
        uint16_t crc_calculated;
        uint16_t crc_received;

        crc_calculated = crc16(msg, msg_length - 2);
        crc_received = (msg[msg_length - 2] << 8) | msg[msg_length - 1];

        /* Check CRC of msg */
        if (crc_calculated == crc_received) {
                return msg_length;
        } else {
                if (mb_param->debug) {
                        fprintf(stderr, "ERROR CRC received %0X != CRC calculated %0X\n",
                                crc_received, crc_calculated);
                }
                if (mb_param->error_recovery) {
                        modbus_flush(mb_param);
                }
                errno = EMBBADCRC;
                return -1;
        }
}

/* Sends a query/response over a serial or a TCP communication */
static int modbus_send(modbus_param_t *mb_param, uint8_t *query,
                       int query_length)
{
        int rc;
        uint16_t s_crc;
        int i;

        if (mb_param->type_com == RTU) {
                s_crc = crc16(query, query_length);
                query[query_length++] = s_crc >> 8;
                query[query_length++] = s_crc & 0x00FF;
        } else {
                set_message_length_tcp(query, query_length);
        }

        if (mb_param->debug) {
                for (i = 0; i < query_length; i++)
                        printf("[%.2X]", query[i]);
                printf("\n");
        }

        /* In recovery mode, the write command will be issued until to be
           successful! Disabled by default.
         */
        do {
                if (mb_param->type_com == RTU)
                        rc = write(mb_param->fd, query, query_length);
                else
                        /* MSG_NOSIGNAL
                           Requests not to send SIGPIPE on errors on stream oriented
                           sockets when the other end breaks the connection.  The EPIPE
                           error is still returned. */
                        rc = send(mb_param->fd, query, query_length, MSG_NOSIGNAL);

                if (rc == -1) {
                        error_print(mb_param, NULL);
                        if (mb_param->error_recovery && (errno == EBADF ||
                            errno == ECONNRESET || errno == EPIPE)) {
                                modbus_close(mb_param);
                                modbus_connect(mb_param);
                        }
                }
        } while (mb_param->error_recovery && rc == -1);

        if (rc > 0 && rc != query_length) {
                errno = EMBBADDATA;
                return -1;
        }

        return rc;
}

/* Computes the length of the header following the function code */
static uint8_t compute_query_length_header(int function)
{
        int length;

        if (function <= FC_FORCE_SINGLE_COIL ||
            function == FC_PRESET_SINGLE_REGISTER)
                /* Read and single write */
                length = 4;
        else if (function == FC_FORCE_MULTIPLE_COILS ||
                 function == FC_PRESET_MULTIPLE_REGISTERS)
                /* Multiple write */
                length = 5;
        else if (function == FC_REPORT_SLAVE_ID)
                length = 1;
        else
                length = 0;

        return length;
}

/* Computes the length of the data to write in the query */
static int compute_query_length_data(modbus_param_t *mb_param, uint8_t *msg)
{
        int function = msg[TAB_HEADER_LENGTH[mb_param->type_com]];
        int length;

        if (function == FC_FORCE_MULTIPLE_COILS ||
            function == FC_PRESET_MULTIPLE_REGISTERS)
                length = msg[TAB_HEADER_LENGTH[mb_param->type_com] + 5];
        else if (function == FC_REPORT_SLAVE_ID)
                length = msg[TAB_HEADER_LENGTH[mb_param->type_com] + 1];
        else
                length = 0;

        length += TAB_CHECKSUM_LENGTH[mb_param->type_com];

        return length;
}

#define WAIT_DATA()                                                           \
{                                                                             \
    while ((s_rc = select(mb_param->fd+1, &rfds, NULL, NULL, &tv)) == -1) {   \
            if (errno == EINTR) {                                             \
                    if (mb_param->debug) {                                    \
                            fprintf(stderr,                                   \
                                    "A non blocked signal was caught\n");     \
                    }                                                         \
                    /* Necessary after an error */                            \
                    FD_ZERO(&rfds);                                           \
                    FD_SET(mb_param->fd, &rfds);                              \
            } else {                                                          \
                    error_print(mb_param, "select");                          \
                    if (mb_param->error_recovery && (errno == EBADF)) {       \
                            modbus_close(mb_param);                           \
                            modbus_connect(mb_param);                         \
                            errno = EBADF;                                    \
                            return -1;                                        \
                    } else {                                                  \
                            return -1;                                        \
                    }                                                         \
            }                                                                 \
    }                                                                         \
                                                                              \
    if (s_rc == 0) {                                                          \
            /* Timeout */                                                     \
            if (msg_length == (TAB_HEADER_LENGTH[mb_param->type_com] + 2 +    \
                               TAB_CHECKSUM_LENGTH[mb_param->type_com])) {    \
                    /* Optimization allowed because exception response is     \
                       the smallest trame in modbus protocol (3) so always    \
                       raise a timeout error.                                 \
                       Temporary error before exception analyze. */           \
                    errno = EMBUNKEXC;                                        \
            } else {                                                          \
                    errno = ETIMEDOUT;                                        \
                    error_print(mb_param, "select");                          \
            }                                                                 \
            return -1;                                                        \
    }                                                                         \
}

/* Waits a reply from a modbus slave or a query from a modbus master.
   This function blocks if there is no replies (3 timeouts).

   The argument msg_length_computed must be set to MSG_LENGTH_UNDEFINED if
   undefined.

   The function shall return the number of received characters and the received
   message in an array of uint8_t if successful. Otherwise it shall return -1
   and errno is set to one of the values defined below:
   - ECONNRESET
   - EMBBADDATA
   - EMBUNKEXC
   - ETIMEDOUT
   - read() or recv() error codes
*/
static int receive_msg(modbus_param_t *mb_param,
                       int msg_length_computed,
                       uint8_t *msg)
{
        int s_rc;
        int read_rc;
        fd_set rfds;
        struct timeval tv;
        int length_to_read;
        uint8_t *p_msg;
        enum { FUNCTION, BYTE, COMPLETE };
        int state;

        int msg_length = 0;

        if (mb_param->debug) {
                if (msg_length_computed == MSG_LENGTH_UNDEFINED)
                        printf("Waiting for a message...\n");
                else
                        printf("Waiting for a message (%d bytes)...\n",
                               msg_length_computed);
        }

        /* Add a file descriptor to the set */
        FD_ZERO(&rfds);
        FD_SET(mb_param->fd, &rfds);

        if (msg_length_computed == MSG_LENGTH_UNDEFINED) {
                /* Wait for a message */
                tv.tv_sec = 60;
                tv.tv_usec = 0;

                /* The message length is undefined (query receiving) so
                 * we need to analyse the message step by step.
                 * At the first step, we want to reach the function
                 * code because all packets have that information. */
                state = FUNCTION;
                msg_length_computed = TAB_HEADER_LENGTH[mb_param->type_com] + 1;
        } else {
                tv.tv_sec = 0;
                tv.tv_usec = TIME_OUT_BEGIN_OF_TRAME;
                state = COMPLETE;
        }

        length_to_read = msg_length_computed;

        s_rc = 0;
        WAIT_DATA();

        p_msg = msg;
        while (s_rc) {
                if (mb_param->type_com == RTU)
                        read_rc = read(mb_param->fd, p_msg, length_to_read);
                else
                        read_rc = recv(mb_param->fd, p_msg, length_to_read, 0);

                if (read_rc == 0) {
                        errno = ECONNRESET;
                        read_rc = -1;
                }

                if (read_rc == -1) {
                        error_print(mb_param, "read");
                        if (mb_param->error_recovery && (errno == ECONNRESET ||
                            errno == ECONNREFUSED)) {
                                modbus_close(mb_param);
                                modbus_connect(mb_param);
                                /* Could be removed by previous calls */
                                errno = ECONNRESET;
                                return -1;
                        }
                        return -1;
                }

                /* Sums bytes received */
                msg_length += read_rc;

                /* Display the hex code of each character received */
                if (mb_param->debug) {
                        int i;
                        for (i=0; i < read_rc; i++)
                                printf("<%.2X>", p_msg[i]);
                }

                if (msg_length < msg_length_computed) {
                        /* Message incomplete */
                        length_to_read = msg_length_computed - msg_length;
                } else {
                        switch (state) {
                        case FUNCTION:
                                /* Function code position */
                                length_to_read = compute_query_length_header(
                                        msg[TAB_HEADER_LENGTH[mb_param->type_com]]);
                                msg_length_computed += length_to_read;
                                /* It's useless to check the value of
                                   msg_length_computed in this case (only
                                   defined values are used). */
                                state = BYTE;
                                break;
                        case BYTE:
                                length_to_read = compute_query_length_data(mb_param, msg);
                                msg_length_computed += length_to_read;
                                if (msg_length_computed > TAB_MAX_ADU_LENGTH[mb_param->type_com]) {
                                        errno = EMBBADDATA;
                                        error_print(mb_param, "too many data");
                                        return -1;
                                }
                                state = COMPLETE;
                                break;
                        case COMPLETE:
                                length_to_read = 0;
                                break;
                        }
                }

                /* Moves the pointer to receive other data */
                p_msg = &(p_msg[read_rc]);

                if (length_to_read > 0) {
                        /* If no character at the buffer wait
                           TIME_OUT_END_OF_TRAME before to generate an error. */
                        tv.tv_sec = 0;
                        tv.tv_usec = TIME_OUT_END_OF_TRAME;

                        WAIT_DATA();
                } else {
                        /* All chars are received */
                        s_rc = FALSE;
                }
        }

        if (mb_param->debug)
                printf("\n");

        if (mb_param->type_com == RTU) {
                /* Returns msg_length on success and a negative value on
                   failure */
                return check_crc16(mb_param, msg, msg_length);
        } else {
                /* OK */
                return msg_length;
        }
}

/* Listens for any query from a modbus master in TCP, requires the socket file
   descriptor etablished with the master device in argument or -1 to use the
   internal one of modbus_param_t.

   The modbus_slave_receive function shall return the request received and its
   byte length if successul. Otherwise, it shall return -1 and errno is set. */
int modbus_slave_receive(modbus_param_t *mb_param, int sockfd, uint8_t *query)
{
        if (sockfd != -1) {
                mb_param->fd = sockfd;
        }

        /* The length of the query to receive isn't known. */
        return receive_msg(mb_param, MSG_LENGTH_UNDEFINED, query);
}

/* Receives the response and checks values (and checksum in RTU).

   The function shall return the number of values (bits or words) and the
   response if successful. Otherwise, its shall return -1 and errno is set.

   Note: all functions used to send or receive data with modbus return
   these values. */
static int modbus_receive(modbus_param_t *mb_param,
                          uint8_t *query,
                          uint8_t *response)
{
        int rc;
        int response_length_computed;
        int offset = TAB_HEADER_LENGTH[mb_param->type_com];

        response_length_computed = compute_response_length(mb_param, query);
        rc = receive_msg(mb_param, response_length_computed, response);
        if (rc != -1) {
                /* GOOD RESPONSE */
                int query_nb_value;
                int response_nb_value;

                /* The number of values is returned if it's corresponding
                 * to the query */
                switch (response[offset]) {
                case FC_READ_COIL_STATUS:
                case FC_READ_INPUT_STATUS:
                        /* Read functions, 8 values in a byte (nb
                         * of values in the query and byte count in
                         * the response. */
                        query_nb_value = (query[offset + 3] << 8) + query[offset + 4];
                        query_nb_value = (query_nb_value / 8) + ((query_nb_value % 8) ? 1 : 0);
                        response_nb_value = response[offset + 1];
                        break;
                case FC_READ_HOLDING_REGISTERS:
                case FC_READ_INPUT_REGISTERS:
                        /* Read functions 1 value = 2 bytes */
                        query_nb_value = (query[offset + 3] << 8) + query[offset + 4];
                        response_nb_value = (response[offset + 1] / 2);
                        break;
                case FC_FORCE_MULTIPLE_COILS:
                case FC_PRESET_MULTIPLE_REGISTERS:
                        /* N Write functions */
                        query_nb_value = (query[offset + 3] << 8) + query[offset + 4];
                        response_nb_value = (response[offset + 3] << 8) | response[offset + 4];
                        break;
                case FC_REPORT_SLAVE_ID:
                        /* Report slave ID (bytes received) */
                        query_nb_value = response_nb_value = rc;
                        break;
                default:
                        /* 1 Write functions & others */
                        query_nb_value = response_nb_value = 1;
                }

                if (query_nb_value == response_nb_value) {
                        rc = response_nb_value;
                } else {
                        if (mb_param->debug) {
                                fprintf(stderr,
                                        "Quantity not corresponding to the query (%d != %d)\n",
                                        response_nb_value, query_nb_value);
                        }
                        errno = EMBBADDATA;
                        rc = -1;
                }
        } else if (errno == EMBUNKEXC) {
                /* EXCEPTION CODE RECEIVED */

                /* CRC must be checked here (not done in receive_msg) */
                if (mb_param->type_com == RTU) {
                        rc = check_crc16(mb_param, response, EXCEPTION_RESPONSE_LENGTH_RTU);
                        if (rc == -1)
                                return -1;
                }

                /* Check for exception response.
                   0x80 + function is stored in the exception
                   response. */
                if (0x80 + query[offset] == response[offset]) {
                        int exception_code = response[offset + 1];
                        if (exception_code < MODBUS_EXCEPTION_MAX) {
                                errno = MODBUS_ENOBASE + exception_code;
                        } else {
                                errno = EMBBADEXC;
                        }
                        error_print(mb_param, NULL);
                        return -1;
                }
        }

        return rc;
}

static int response_io_status(int address, int nb,
                              uint8_t *tab_io_status,
                              uint8_t *response, int offset)
{
        int shift = 0;
        int byte = 0;
        int i;

        for (i = address; i < address+nb; i++) {
                byte |= tab_io_status[i] << shift;
                if (shift == 7) {
                        /* Byte is full */
                        response[offset++] = byte;
                        byte = shift = 0;
                } else {
                        shift++;
                }
        }

        if (shift != 0)
                response[offset++] = byte;

        return offset;
}

/* Build the exception response */
static int response_exception(modbus_param_t *mb_param, sft_t *sft,
                              int exception_code, uint8_t *response)
{
        int response_length;

        sft->function = sft->function + 0x80;
        response_length = build_response_basis(mb_param, sft, response);

        /* Positive exception code */
        response[response_length++] = exception_code;

        return response_length;
}

/* Manages the received query.
   Analyses the query and constructs a response.

   If an error occurs, this function construct the response
   accordingly.
*/
int modbus_slave_manage(modbus_param_t *mb_param, const uint8_t *query,
                        int query_length, modbus_mapping_t *mb_mapping)
{
        int offset = TAB_HEADER_LENGTH[mb_param->type_com];
        int slave = query[offset - 1];
        int function = query[offset];
        uint16_t address = (query[offset + 1] << 8) + query[offset + 2];
        uint8_t response[MAX_MESSAGE_LENGTH];
        int resp_length = 0;
        sft_t sft;

        if (slave != mb_param->slave && slave != MODBUS_BROADCAST_ADDRESS) {
                // Ignores the query (not for me)
                if (mb_param->debug) {
                        printf("Request for slave %d ignored (not %d)\n",
                               slave, mb_param->slave);
                }
                return 0;
        }

        sft.slave = slave;
        sft.function = function;
        if (mb_param->type_com == TCP) {
                sft.t_id = (query[0] << 8) + query[1];
        } else {
                sft.t_id = 0;
                query_length -= CHECKSUM_LENGTH_RTU;
        }

        switch (function) {
        case FC_READ_COIL_STATUS: {
                int nb = (query[offset + 3] << 8) + query[offset + 4];

                if ((address + nb) > mb_mapping->nb_coil_status) {
                        if (mb_param->debug) {
                                fprintf(stderr, "Illegal data address %0X in read_coil_status\n",
                                        address + nb);
                        }
                        resp_length = response_exception(
                                mb_param, &sft,
                                MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, response);
                } else {
                        resp_length = build_response_basis(mb_param, &sft, response);
                        response[resp_length++] = (nb / 8) + ((nb % 8) ? 1 : 0);
                        resp_length = response_io_status(address, nb,
                                                         mb_mapping->tab_coil_status,
                                                         response, resp_length);
                }
        }
                break;
        case FC_READ_INPUT_STATUS: {
                /* Similar to coil status (but too much arguments to use a
                 * function) */
                int nb = (query[offset + 3] << 8) + query[offset + 4];

                if ((address + nb) > mb_mapping->nb_input_status) {
                        if (mb_param->debug) {
                                fprintf(stderr, "Illegal data address %0X in read_input_status\n",
                                        address + nb);
                        }
                        resp_length = response_exception(
                                mb_param, &sft,
                                MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, response);
                } else {
                        resp_length = build_response_basis(mb_param, &sft, response);
                        response[resp_length++] = (nb / 8) + ((nb % 8) ? 1 : 0);
                        resp_length = response_io_status(address, nb,
                                                         mb_mapping->tab_input_status,
                                                         response, resp_length);
                }
        }
                break;
        case FC_READ_HOLDING_REGISTERS: {
                int nb = (query[offset + 3] << 8) + query[offset + 4];

                if ((address + nb) > mb_mapping->nb_holding_registers) {
                        if (mb_param->debug) {
                                fprintf(stderr, "Illegal data address %0X in read_holding_registers\n",
                                        address + nb);
                        }
                        resp_length = response_exception(
                                mb_param, &sft,
                                MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, response);
                } else {
                        int i;

                        resp_length = build_response_basis(mb_param, &sft, response);
                        response[resp_length++] = nb << 1;
                        for (i = address; i < address + nb; i++) {
                                response[resp_length++] = mb_mapping->tab_holding_registers[i] >> 8;
                                response[resp_length++] = mb_mapping->tab_holding_registers[i] & 0xFF;
                        }
                }
        }
                break;
        case FC_READ_INPUT_REGISTERS: {
                /* Similar to holding registers (but too much arguments to use a
                 * function) */
                int nb = (query[offset + 3] << 8) + query[offset + 4];

                if ((address + nb) > mb_mapping->nb_input_registers) {
                        if (mb_param->debug) {
                                fprintf(stderr, "Illegal data address %0X in read_input_registers\n",
                                        address + nb);
                        }
                        resp_length = response_exception(
                                mb_param, &sft,
                                MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, response);
                } else {
                        int i;

                        resp_length = build_response_basis(mb_param, &sft, response);
                        response[resp_length++] = nb << 1;
                        for (i = address; i < address + nb; i++) {
                                response[resp_length++] = mb_mapping->tab_input_registers[i] >> 8;
                                response[resp_length++] = mb_mapping->tab_input_registers[i] & 0xFF;
                        }
                }
        }
                break;
        case FC_FORCE_SINGLE_COIL:
                if (address >= mb_mapping->nb_coil_status) {
                        if (mb_param->debug) {
                                fprintf(stderr, "Illegal data address %0X in force_singe_coil\n",
                                        address);
                        }
                        resp_length = response_exception(
                                mb_param, &sft,
                                MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, response);
                } else {
                        int data = (query[offset + 3] << 8) + query[offset + 4];

                        if (data == 0xFF00 || data == 0x0) {
                                mb_mapping->tab_coil_status[address] = (data) ? ON : OFF;

                                /* In RTU mode, the CRC is computed and added
                                   to the query by modbus_send, the computed
                                   CRC will be same and optimisation is
                                   possible here (FIXME). */
                                memcpy(response, query, query_length);
                                resp_length = query_length;
                        } else {
                                if (mb_param->debug) {
                                        fprintf(stderr, "Illegal data value %0X in force_single_coil request at address %0X\n",
                                               data, address);
                                }
                                resp_length = response_exception(
                                        mb_param, &sft,
                                        MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE, response);
                        }
                }
                break;
        case FC_PRESET_SINGLE_REGISTER:
                if (address >= mb_mapping->nb_holding_registers) {
                        if (mb_param->debug) {
                                fprintf(stderr, "Illegal data address %0X in preset_holding_register\n",
                                        address);
                        }
                        resp_length = response_exception(
                                mb_param, &sft,
                                MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, response);
                } else {
                        int data = (query[offset + 3] << 8) + query[offset + 4];

                        mb_mapping->tab_holding_registers[address] = data;
                        memcpy(response, query, query_length);
                        resp_length = query_length;
                }
                break;
        case FC_FORCE_MULTIPLE_COILS: {
                int nb = (query[offset + 3] << 8) + query[offset + 4];

                if ((address + nb) > mb_mapping->nb_coil_status) {
                        if (mb_param->debug) {
                                fprintf(stderr, "Illegal data address %0X in force_multiple_coils\n",
                                        address + nb);
                        }
                        resp_length = response_exception(
                                mb_param, &sft,
                                MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, response);
                } else {
                        /* 6 = byte count */
                        set_bits_from_bytes(mb_mapping->tab_coil_status, address, nb, &query[offset + 6]);

                        resp_length = build_response_basis(mb_param, &sft, response);
                        /* 4 to copy the coil address (2) and the quantity of coils */
                        memcpy(response + resp_length, query + resp_length, 4);
                        resp_length += 4;
                }
        }
                break;
        case FC_PRESET_MULTIPLE_REGISTERS: {
                int nb = (query[offset + 3] << 8) + query[offset + 4];

                if ((address + nb) > mb_mapping->nb_holding_registers) {
                        if (mb_param->debug) {
                                fprintf(stderr, "Illegal data address %0X in preset_multiple_registers\n",
                                        address + nb);
                        }
                        resp_length = response_exception(
                                mb_param, &sft,
                                MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, response);
                } else {
                        int i, j;
                        for (i = address, j = 6; i < address + nb; i++, j += 2) {
                                /* 6 and 7 = first value */
                                mb_mapping->tab_holding_registers[i] =
                                        (query[offset + j] << 8) + query[offset + j + 1];
                        }

                        resp_length = build_response_basis(mb_param, &sft, response);
                        /* 4 to copy the address (2) and the no. of registers */
                        memcpy(response + resp_length, query + resp_length, 4);
                        resp_length += 4;
                }
        }
                break;
        case FC_READ_EXCEPTION_STATUS:
        case FC_REPORT_SLAVE_ID:
                if (mb_param->debug) {
                        fprintf(stderr, "FIXME Not implemented\n");
                }
                errno = ENOPROTOOPT;
                return -1;
                break;
        default:
                /* FIXME Invalid function exception */
                break;
        }

        return modbus_send(mb_param, response, resp_length);
}

/* Reads IO status */
static int read_io_status(modbus_param_t *mb_param, int function,
                          int start_addr, int nb, uint8_t *data_dest)
{
        int rc;
        int query_length;

        uint8_t query[MIN_QUERY_LENGTH];
        uint8_t response[MAX_MESSAGE_LENGTH];

        query_length = build_query_basis(mb_param, function,
                                         start_addr, nb, query);

        rc = modbus_send(mb_param, query, query_length);
        if (rc > 0) {
                int i, temp, bit;
                int pos = 0;
                int offset;
                int offset_end;

                rc = modbus_receive(mb_param, query, response);
                if (rc == -1)
                        return -1;

                offset = TAB_HEADER_LENGTH[mb_param->type_com];
                offset_end = offset + rc;
                for (i = offset; i < offset_end; i++) {
                        /* Shift reg hi_byte to temp */
                        temp = response[i + 2];

                        for (bit = 0x01; (bit & 0xff) && (pos < nb);) {
                                data_dest[pos++] = (temp & bit) ? TRUE : FALSE;
                                bit = bit << 1;
                        }

                }
        }

        return rc;
}

/* Reads the boolean status of coils and sets the array elements
   in the destination to TRUE or FALSE. */
int read_coil_status(modbus_param_t *mb_param, int start_addr,
                     int nb, uint8_t *data_dest)
{
        int rc;

        if (nb > MAX_STATUS) {
                if (mb_param->debug) {
                        fprintf(stderr,
                                "ERROR Too many coils status requested (%d > %d)\n",
                                nb, MAX_STATUS);
                }
                errno = EMBMDATA;
                return -1;
        }

        rc = read_io_status(mb_param, FC_READ_COIL_STATUS, start_addr, nb,
                            data_dest);

        if (rc == -1)
                return -1;
        else
                return nb;
}


/* Same as read_coil_status but reads the slaves input table */
int read_input_status(modbus_param_t *mb_param, int start_addr,
                      int nb, uint8_t *data_dest)
{
        int rc;

        if (nb > MAX_STATUS) {
                if (mb_param->debug) {
                        fprintf(stderr,
                                "ERROR Too many input status requested (%d > %d)\n",
                                nb, MAX_STATUS);
                }
                errno = EMBMDATA;
                return -1;
        }

        rc = read_io_status(mb_param, FC_READ_INPUT_STATUS, start_addr,
                            nb, data_dest);

        if (rc == -1)
                return -1;
        else
                return nb;
}

/* Reads the data from a modbus slave and put that data into an array */
static int read_registers(modbus_param_t *mb_param, int function,
                          int start_addr, int nb, uint16_t *data_dest)
{
        int rc;
        int query_length;
        uint8_t query[MIN_QUERY_LENGTH];
        uint8_t response[MAX_MESSAGE_LENGTH];

        if (nb > MAX_REGISTERS) {
                if (mb_param->debug) {
                        fprintf(stderr,
                                "ERROR Too many holding registers requested (%d > %d)\n",
                                nb, MAX_REGISTERS);
                }
                errno = EMBMDATA;
                return -1;
        }

        query_length = build_query_basis(mb_param, function,
                                         start_addr, nb, query);

        rc = modbus_send(mb_param, query, query_length);
        if (rc > 0) {
                int offset;
                int i;

                rc = modbus_receive(mb_param, query, response);

                offset = TAB_HEADER_LENGTH[mb_param->type_com];

                /* If rc is negative, the loop is jumped ! */
                for (i = 0; i < rc; i++) {
                        /* shift reg hi_byte to temp OR with lo_byte */
                        data_dest[i] = (response[offset + 2 + (i << 1)] << 8) |
                                response[offset + 3 + (i << 1)];
                }
        }

        return rc;
}

/* Reads the holding registers in a slave and put the data into an
   array */
int read_holding_registers(modbus_param_t *mb_param,
                           int start_addr, int nb, uint16_t *data_dest)
{
        int status;

        if (nb > MAX_REGISTERS) {
                if (mb_param->debug) {
                        fprintf(stderr,
                                "ERROR Too many holding registers requested (%d > %d)\n",
                                nb, MAX_REGISTERS);
                }
                errno = EMBMDATA;
                return -1;
        }

        status = read_registers(mb_param, FC_READ_HOLDING_REGISTERS,
                                start_addr, nb, data_dest);
        return status;
}

/* Reads the input registers in a slave and put the data into
   an array */
int read_input_registers(modbus_param_t *mb_param, int start_addr, int nb,
                         uint16_t *data_dest)
{
        int status;

        if (nb > MAX_REGISTERS) {
                fprintf(stderr,
                        "ERROR Too many input registers requested (%d > %d)\n",
                        nb, MAX_REGISTERS);
                errno = EMBMDATA;
                return -1;
        }

        status = read_registers(mb_param, FC_READ_INPUT_REGISTERS,
                                start_addr, nb, data_dest);

        return status;
}

/* Sends a value to a register in a slave.
   Used by force_single_coil and preset_single_register */
static int set_single(modbus_param_t *mb_param, int function,
                      int addr, int value)
{
        int rc;
        int query_length;
        uint8_t query[MIN_QUERY_LENGTH];

        query_length = build_query_basis(mb_param, function,
                                         addr, value, query);

        rc = modbus_send(mb_param, query, query_length);
        if (rc > 0) {
                /* Used by force_single_coil and
                 * preset_single_register */
                uint8_t response[MIN_QUERY_LENGTH];
                rc = modbus_receive(mb_param, query, response);
        }

        return rc;
}

/* Turns ON or OFF a single coil in the slave device */
int force_single_coil(modbus_param_t *mb_param, int coil_addr, int state)
{
        int status;

        if (state)
                state = 0xFF00;

        status = set_single(mb_param, FC_FORCE_SINGLE_COIL,
                            coil_addr, state);

        return status;
}

/* Sets a value in one holding register in the slave device */
int preset_single_register(modbus_param_t *mb_param, int reg_addr, int value)
{
        int status;

        status = set_single(mb_param, FC_PRESET_SINGLE_REGISTER,
                            reg_addr, value);

        return status;
}

/* Sets/resets the coils in the slave from an array in argument */
int force_multiple_coils(modbus_param_t *mb_param, int start_addr, int nb,
                         const uint8_t *data_src)
{
        int rc;
        int i;
        int byte_count;
        int query_length;
        int coil_check = 0;
        int pos = 0;

        uint8_t query[MAX_MESSAGE_LENGTH];

        if (nb > MAX_STATUS) {
                if (mb_param->debug) {
                        fprintf(stderr, "ERROR Writing to too many coils (%d > %d)\n",
                                nb, MAX_STATUS);
                }
                errno = EMBMDATA;
                return -1;
        }

        query_length = build_query_basis(mb_param, FC_FORCE_MULTIPLE_COILS,
                                         start_addr, nb, query);
        byte_count = (nb / 8) + ((nb % 8) ? 1 : 0);
        query[query_length++] = byte_count;

        for (i = 0; i < byte_count; i++) {
                int bit;

                bit = 0x01;
                query[query_length] = 0;

                while ((bit & 0xFF) && (coil_check++ < nb)) {
                        if (data_src[pos++])
                                query[query_length] |= bit;
                        else
                                query[query_length] &=~ bit;

                        bit = bit << 1;
                }
                query_length++;
        }

        rc = modbus_send(mb_param, query, query_length);
        if (rc > 0) {
                uint8_t response[MAX_MESSAGE_LENGTH];
                rc = modbus_receive(mb_param, query, response);
        }


        return rc;
}

/* Copies the values in the slave from the array given in argument */
int preset_multiple_registers(modbus_param_t *mb_param, int start_addr, int nb,
                              const uint16_t *data_src)
{
        int rc;
        int i;
        int query_length;
        int byte_count;

        uint8_t query[MAX_MESSAGE_LENGTH];

        if (nb > MAX_REGISTERS) {
                if (mb_param->debug) {
                        fprintf(stderr,
                                "ERROR Trying to write to too many registers (%d > %d)\n",
                                nb, MAX_REGISTERS);
                }
                errno = EMBMDATA;
                return -1;
        }

        query_length = build_query_basis(mb_param, FC_PRESET_MULTIPLE_REGISTERS,
                                         start_addr, nb, query);
        byte_count = nb * 2;
        query[query_length++] = byte_count;

        for (i = 0; i < nb; i++) {
                query[query_length++] = data_src[i] >> 8;
                query[query_length++] = data_src[i] & 0x00FF;
        }

        rc = modbus_send(mb_param, query, query_length);
        if (rc > 0) {
                uint8_t response[MAX_MESSAGE_LENGTH];
                rc = modbus_receive(mb_param, query, response);
        }

        return rc;
}

/* Returns the slave id! */
int report_slave_id(modbus_param_t *mb_param, uint8_t *data_dest)
{
        int rc;
        int query_length;
        uint8_t query[MIN_QUERY_LENGTH];

        query_length = build_query_basis(mb_param, FC_REPORT_SLAVE_ID, 0, 0, query);

        /* HACKISH, start_addr and count are not used */
        query_length -= 4;

        rc = modbus_send(mb_param, query, query_length);
        if (rc > 0) {
                int i;
                int offset;
                int offset_end;
                uint8_t response[MAX_MESSAGE_LENGTH];

                /* Byte count, slave id, run indicator status,
                   additional data */
                rc = modbus_receive(mb_param, query, response);
                if (rc == -1)
                        return rc;

                offset = TAB_HEADER_LENGTH[mb_param->type_com] - 1;
                offset_end = offset + rc;

                for (i = offset; i < offset_end; i++)
                        data_dest[i] = response[i];
        }

        return rc;
}

/* Initializes the modbus_param_t structure for RTU
   - device: "/dev/ttyS0"
   - baud:   9600, 19200, 57600, 115200, etc
   - parity: "even", "odd" or "none"
   - data_bits: 5, 6, 7, 8
   - stop_bits: 1, 2
*/
void modbus_init_rtu(modbus_param_t *mb_param, const char *device,
                     int baud, const char *parity, int data_bit,
                     int stop_bit, int slave)
{
        memset(mb_param, 0, sizeof(modbus_param_t));
        strcpy(mb_param->device, device);
        mb_param->baud = baud;
        strcpy(mb_param->parity, parity);
        mb_param->debug = FALSE;
        mb_param->data_bit = data_bit;
        mb_param->stop_bit = stop_bit;
        mb_param->type_com = RTU;
        mb_param->error_recovery = FALSE;
        mb_param->slave = slave;
}

/* Initializes the modbus_param_t structure for TCP.
   - ip : "192.168.0.5"
   - port : 1099

   Set the port to MODBUS_TCP_DEFAULT_PORT to use the default one
   (502). It's convenient to use a port number greater than or equal
   to 1024 because it's not necessary to be root to use this port
   number.
*/
void modbus_init_tcp(modbus_param_t *mb_param, const char *ip, int port, int slave)
{
        memset(mb_param, 0, sizeof(modbus_param_t));
        strncpy(mb_param->ip, ip, sizeof(char)*16);
        mb_param->port = port;
        mb_param->type_com = TCP;
        mb_param->error_recovery = FALSE;
        mb_param->slave = slave;
}

/* Define the slave number.
   The special value MODBUS_BROADCAST_ADDRESS can be used. */
void modbus_set_slave(modbus_param_t *mb_param, int slave)
{
        mb_param->slave = slave;
}

/*
   When disabled (default), it is expected that the application will check for error
   returns and deal with them as necessary. 

   It's not recommanded to enable error recovery for slave/server.

   When enabled, the library will attempt an immediate reconnection which may
   hang for several seconds if the network to the remote target unit is down.
   The write will try a infinite close/connect loop until to be successful and
   the select/read calls will just try to retablish the connection one time
   then will return an error (if the connecton was down, the values to read are
   certainly not available anymore after reconnection, except for slave/server).
*/
int modbus_set_error_recovery(modbus_param_t *mb_param, int enabled)
{
        if (enabled == TRUE || enabled == FALSE) {
                mb_param->error_recovery = (uint8_t) enabled;
        } else {
                errno = EINVAL;
                return -1;
        }

        return 0;
}

/* Sets up a serial port for RTU communications */
static int modbus_connect_rtu(modbus_param_t *mb_param)
{
        struct termios tios;
        speed_t speed;

        if (mb_param->debug) {
                printf("Opening %s at %d bauds (%s)\n",
                       mb_param->device, mb_param->baud, mb_param->parity);
        }

        /* The O_NOCTTY flag tells UNIX that this program doesn't want
           to be the "controlling terminal" for that port. If you
           don't specify this then any input (such as keyboard abort
           signals and so forth) will affect your process

           Timeouts are ignored in canonical input mode or when the
           NDELAY option is set on the file via open or fcntl */
        mb_param->fd = open(mb_param->device, O_RDWR | O_NOCTTY | O_NDELAY | O_EXCL);
        if (mb_param->fd == -1) {
                fprintf(stderr, "ERROR Can't open the device %s (%s)\n",
                        mb_param->device, strerror(errno));
                return -1;
        }

        /* Save */
        tcgetattr(mb_param->fd, &(mb_param->old_tios));

        memset(&tios, 0, sizeof(struct termios));

        /* C_ISPEED     Input baud (new interface)
           C_OSPEED     Output baud (new interface)
        */
        switch (mb_param->baud) {
        case 110:
                speed = B110;
                break;
        case 300:
                speed = B300;
                break;
        case 600:
                speed = B600;
                break;
        case 1200:
                speed = B1200;
                break;
        case 2400:
                speed = B2400;
                break;
        case 4800:
                speed = B4800;
                break;
        case 9600:
                speed = B9600;
                break;
        case 19200:
                speed = B19200;
                break;
        case 38400:
                speed = B38400;
                break;
        case 57600:
                speed = B57600;
                break;
        case 115200:
                speed = B115200;
                break;
        default:
                speed = B9600;
                if (mb_param->debug) {
                        fprintf(stderr,
                                "WARNING Unknown baud rate %d for %s (B9600 used)\n",
                                mb_param->baud, mb_param->device);
                }
        }

        /* Set the baud rate */
        if ((cfsetispeed(&tios, speed) < 0) ||
            (cfsetospeed(&tios, speed) < 0)) {
                return -1;
        }

        /* C_CFLAG      Control options
           CLOCAL       Local line - do not change "owner" of port
           CREAD        Enable receiver
        */
        tios.c_cflag |= (CREAD | CLOCAL);
        /* CSIZE, HUPCL, CRTSCTS (hardware flow control) */

        /* Set data bits (5, 6, 7, 8 bits)
           CSIZE        Bit mask for data bits
        */
        tios.c_cflag &= ~CSIZE;
        switch (mb_param->data_bit) {
        case 5:
                tios.c_cflag |= CS5;
                break;
        case 6:
                tios.c_cflag |= CS6;
                break;
        case 7:
                tios.c_cflag |= CS7;
                break;
        case 8:
        default:
                tios.c_cflag |= CS8;
                break;
        }

        /* Stop bit (1 or 2) */
        if (mb_param->stop_bit == 1)
                tios.c_cflag &=~ CSTOPB;
        else /* 2 */
                tios.c_cflag |= CSTOPB;

        /* PARENB       Enable parity bit
           PARODD       Use odd parity instead of even */
        if (strncmp(mb_param->parity, "none", 4) == 0) {
                tios.c_cflag &=~ PARENB;
        } else if (strncmp(mb_param->parity, "even", 4) == 0) {
                tios.c_cflag |= PARENB;
                tios.c_cflag &=~ PARODD;
        } else {
                /* odd */
                tios.c_cflag |= PARENB;
                tios.c_cflag |= PARODD;
        }

        /* Read the man page of termios if you need more information. */

        /* This field isn't used on POSIX systems
           tios.c_line = 0;
        */

        /* C_LFLAG      Line options

           ISIG Enable SIGINTR, SIGSUSP, SIGDSUSP, and SIGQUIT signals
           ICANON       Enable canonical input (else raw)
           XCASE        Map uppercase \lowercase (obsolete)
           ECHO Enable echoing of input characters
           ECHOE        Echo erase character as BS-SP-BS
           ECHOK        Echo NL after kill character
           ECHONL       Echo NL
           NOFLSH       Disable flushing of input buffers after
           interrupt or quit characters
           IEXTEN       Enable extended functions
           ECHOCTL      Echo control characters as ^char and delete as ~?
           ECHOPRT      Echo erased character as character erased
           ECHOKE       BS-SP-BS entire line on line kill
           FLUSHO       Output being flushed
           PENDIN       Retype pending input at next read or input char
           TOSTOP       Send SIGTTOU for background output

           Canonical input is line-oriented. Input characters are put
           into a buffer which can be edited interactively by the user
           until a CR (carriage return) or LF (line feed) character is
           received.

           Raw input is unprocessed. Input characters are passed
           through exactly as they are received, when they are
           received. Generally you'll deselect the ICANON, ECHO,
           ECHOE, and ISIG options when using raw input
        */

        /* Raw input */
        tios.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);

        /* C_IFLAG      Input options

           Constant     Description
           INPCK        Enable parity check
           IGNPAR       Ignore parity errors
           PARMRK       Mark parity errors
           ISTRIP       Strip parity bits
           IXON Enable software flow control (outgoing)
           IXOFF        Enable software flow control (incoming)
           IXANY        Allow any character to start flow again
           IGNBRK       Ignore break condition
           BRKINT       Send a SIGINT when a break condition is detected
           INLCR        Map NL to CR
           IGNCR        Ignore CR
           ICRNL        Map CR to NL
           IUCLC        Map uppercase to lowercase
           IMAXBEL      Echo BEL on input line too long
        */
        if (strncmp(mb_param->parity, "none", 4) == 0) {
                tios.c_iflag &= ~INPCK;
        } else {
                tios.c_iflag |= INPCK;
        }

        /* Software flow control is disabled */
        tios.c_iflag &= ~(IXON | IXOFF | IXANY);

        /* C_OFLAG      Output options
           OPOST        Postprocess output (not set = raw output)
           ONLCR        Map NL to CR-NL

           ONCLR ant others needs OPOST to be enabled
        */

        /* Raw ouput */
        tios.c_oflag &=~ OPOST;

        /* C_CC         Control characters
           VMIN         Minimum number of characters to read
           VTIME        Time to wait for data (tenths of seconds)

           UNIX serial interface drivers provide the ability to
           specify character and packet timeouts. Two elements of the
           c_cc array are used for timeouts: VMIN and VTIME. Timeouts
           are ignored in canonical input mode or when the NDELAY
           option is set on the file via open or fcntl.

           VMIN specifies the minimum number of characters to read. If
           it is set to 0, then the VTIME value specifies the time to
           wait for every character read. Note that this does not mean
           that a read call for N bytes will wait for N characters to
           come in. Rather, the timeout will apply to the first
           character and the read call will return the number of
           characters immediately available (up to the number you
           request).

           If VMIN is non-zero, VTIME specifies the time to wait for
           the first character read. If a character is read within the
           time given, any read will block (wait) until all VMIN
           characters are read. That is, once the first character is
           read, the serial interface driver expects to receive an
           entire packet of characters (VMIN bytes total). If no
           character is read within the time allowed, then the call to
           read returns 0. This method allows you to tell the serial
           driver you need exactly N bytes and any read call will
           return 0 or N bytes. However, the timeout only applies to
           the first character read, so if for some reason the driver
           misses one character inside the N byte packet then the read
           call could block forever waiting for additional input
           characters.

           VTIME specifies the amount of time to wait for incoming
           characters in tenths of seconds. If VTIME is set to 0 (the
           default), reads will block (wait) indefinitely unless the
           NDELAY option is set on the port with open or fcntl.
        */
        /* Unused because we use open with the NDELAY option */
        tios.c_cc[VMIN] = 0;
        tios.c_cc[VTIME] = 0;

        if (tcsetattr(mb_param->fd, TCSANOW, &tios) < 0) {
                return -1;
        }

        return 0;
}

/* Establishes a modbus TCP connection with a modbus slave */
static int modbus_connect_tcp(modbus_param_t *mb_param)
{
        int rc;
        int option;
        struct sockaddr_in addr;

        mb_param->fd = socket(PF_INET, SOCK_STREAM, 0);
        if (mb_param->fd == -1) {
                return -1;
        }

        /* Set the TCP no delay flag */
        /* SOL_TCP = IPPROTO_TCP */
        option = 1;
        rc = setsockopt(mb_param->fd, IPPROTO_TCP, TCP_NODELAY,
                         (const void *)&option, sizeof(int));
        if (rc == -1) {
                close(mb_param->fd);
                return -1;
        }

#if (!HAVE_DECL___CYGWIN__)
        /**
         * Cygwin defines IPTOS_LOWDELAY but can't handle that flag so it's
         * necessary to workaround that problem.
         **/
        /* Set the IP low delay option */
        option = IPTOS_LOWDELAY;
        rc = setsockopt(mb_param->fd, IPPROTO_IP, IP_TOS,
                         (const void *)&option, sizeof(int));
        if (rc == -1) {
                close(mb_param->fd);
                return -1;
        }
#endif

        if (mb_param->debug) {
                printf("Connecting to %s\n", mb_param->ip);
        }

        addr.sin_family = AF_INET;
        addr.sin_port = htons(mb_param->port);
        addr.sin_addr.s_addr = inet_addr(mb_param->ip);
        rc = connect(mb_param->fd, (struct sockaddr *)&addr,
                      sizeof(struct sockaddr_in));
        if (rc == -1) {
                close(mb_param->fd);
                return -1;
        }

        return 0;
}

/* Establishes a modbus connexion.
   Returns 0 on success or -1 on failure. */
int modbus_connect(modbus_param_t *mb_param)
{
        int rc;

        if (mb_param->type_com == RTU)
                rc = modbus_connect_rtu(mb_param);
        else
                rc = modbus_connect_tcp(mb_param);

        return rc;
}

/* Closes the file descriptor in RTU mode */
static void modbus_close_rtu(modbus_param_t *mb_param)
{
        tcsetattr(mb_param->fd, TCSANOW, &(mb_param->old_tios));
        close(mb_param->fd);
}

/* Closes the network connection and socket in TCP mode */
static void modbus_close_tcp(modbus_param_t *mb_param)
{
        shutdown(mb_param->fd, SHUT_RDWR);
        close(mb_param->fd);
}

/* Closes a modbus connection */
void modbus_close(modbus_param_t *mb_param)
{
        if (mb_param->type_com == RTU)
                modbus_close_rtu(mb_param);
        else
                modbus_close_tcp(mb_param);
}

/* Activates the debug messages */
void modbus_set_debug(modbus_param_t *mb_param, int boolean)
{
        mb_param->debug = boolean;
}

/* Allocates 4 arrays to store coils, input status, input registers and
   holding registers. The pointers are stored in modbus_mapping structure.

   The modbus_mapping_new() function shall return 0 if successful. Otherwise it
   shall return -1 and set errno to ENOMEM.
*/
int modbus_mapping_new(modbus_mapping_t *mb_mapping,
                       int nb_coil_status, int nb_input_status,
                       int nb_holding_registers, int nb_input_registers)
{
        /* 0X */
        mb_mapping->nb_coil_status = nb_coil_status;
        mb_mapping->tab_coil_status =
                (uint8_t *) malloc(nb_coil_status * sizeof(uint8_t));
        if (mb_mapping->tab_coil_status == NULL) {
                errno = ENOMEM;
                return -1;
        }
        memset(mb_mapping->tab_coil_status, 0,
               nb_coil_status * sizeof(uint8_t));

        /* 1X */
        mb_mapping->nb_input_status = nb_input_status;
        mb_mapping->tab_input_status =
                (uint8_t *) malloc(nb_input_status * sizeof(uint8_t));
        if (mb_mapping->tab_input_status == NULL) {
                free(mb_mapping->tab_coil_status);
                errno = ENOMEM;
                return -1;
        }
        memset(mb_mapping->tab_input_status, 0,
               nb_input_status * sizeof(uint8_t));

        /* 4X */
        mb_mapping->nb_holding_registers = nb_holding_registers;
        mb_mapping->tab_holding_registers =
                (uint16_t *) malloc(nb_holding_registers * sizeof(uint16_t));
        if (mb_mapping->tab_holding_registers == NULL) {
                free(mb_mapping->tab_coil_status);
                free(mb_mapping->tab_input_status);
                errno = ENOMEM;
                return -1;
        }
        memset(mb_mapping->tab_holding_registers, 0,
               nb_holding_registers * sizeof(uint16_t));

        /* 3X */
        mb_mapping->nb_input_registers = nb_input_registers;
        mb_mapping->tab_input_registers =
                (uint16_t *) malloc(nb_input_registers * sizeof(uint16_t));
        if (mb_mapping->tab_input_registers == NULL) {
                free(mb_mapping->tab_coil_status);
                free(mb_mapping->tab_input_status);
                free(mb_mapping->tab_holding_registers);
                errno = ENOMEM;
                return -1;
        }
        memset(mb_mapping->tab_input_registers, 0,
               nb_input_registers * sizeof(uint16_t));

        return 0;
}

/* Frees the 4 arrays */
void modbus_mapping_free(modbus_mapping_t *mb_mapping)
{
        free(mb_mapping->tab_coil_status);
        free(mb_mapping->tab_input_status);
        free(mb_mapping->tab_holding_registers);
        free(mb_mapping->tab_input_registers);
}

/* Listens for any query from one or many modbus masters in TCP */
int modbus_slave_listen_tcp(modbus_param_t *mb_param, int nb_connection)
{
        int new_socket;
        int yes;
        struct sockaddr_in addr;

        new_socket = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP);
        if (new_socket == -1) {
                return -1;
        }

        yes = 1;
        if (setsockopt(new_socket, SOL_SOCKET, SO_REUSEADDR,
                       (char *) &yes, sizeof(yes)) == -1) {
                close(new_socket);
                return -1;
        }

        memset(&addr, 0, sizeof(addr));
        addr.sin_family = AF_INET;
        /* If the modbus port is < to 1024, we need the setuid root. */
        addr.sin_port = htons(mb_param->port);
        addr.sin_addr.s_addr = INADDR_ANY;
        if (bind(new_socket, (struct sockaddr *)&addr, sizeof(addr)) == -1) {
                close(new_socket);
                return -1;
        }

        if (listen(new_socket, nb_connection) == -1) {
                close(new_socket);
                return -1;
        }

        return new_socket;
}

/* On success, the function return a non-negative integer that is a descriptor
   for the accepted socket. On error, -1 is returned, and errno is set
   appropriately. */
int modbus_slave_accept_tcp(modbus_param_t *mb_param, int *socket)
{
        struct sockaddr_in addr;
        socklen_t addrlen;

        addrlen = sizeof(struct sockaddr_in);
        mb_param->fd = accept(*socket, (struct sockaddr *)&addr, &addrlen);
        if (mb_param->fd == -1) {
                close(*socket);
                *socket = 0;
                return -1;
        }

        if (mb_param->debug) {
                printf("The client %s is connected\n",
                       inet_ntoa(addr.sin_addr));
        }

        return mb_param->fd;
}

/* Closes a TCP socket */
void modbus_slave_close_tcp(int socket)
{
        shutdown(socket, SHUT_RDWR);
        close(socket);
}

/** Utils **/

/* Sets many input/coil status from a single byte value (all 8 bits of
   the byte value are set) */
void set_bits_from_byte(uint8_t *dest, int address, const uint8_t value)
{
        int i;

        for (i=0; i<8; i++) {
                dest[address+i] = (value & (1 << i)) ? ON : OFF;
        }
}

/* Sets many input/coil status from a table of bytes (only the bits
   between address and address + nb_bits are set) */
void set_bits_from_bytes(uint8_t *dest, int address, unsigned int nb_bits,
                         const uint8_t tab_byte[])
{
        int i;
        int shift = 0;

        for (i = address; i < address + nb_bits; i++) {
                dest[i] = tab_byte[(i - address) / 8] & (1 << shift) ? ON : OFF;
                /* gcc doesn't like: shift = (++shift) % 8; */
                shift++;
                shift %= 8;
        }
}

/* Gets the byte value from many input/coil status.
   To obtain a full byte, set nb_bits to 8. */
uint8_t get_byte_from_bits(const uint8_t *src, int address, unsigned int nb_bits)
{
        int i;
        uint8_t value = 0;

        if (nb_bits > 8) {
                assert(nb_bits < 8);
                nb_bits = 8;
        }

        for (i=0; i < nb_bits; i++) {
                value |= (src[address+i] << i);
        }

        return value;
}

/* Read a float from 4 bytes in Modbus format */
float modbus_read_float(const uint16_t *src)
{
        float r = 0.0f;
        uint32_t i;

        i = (((uint32_t)src[1]) << 16) + src[0];
        memcpy(&r, &i, sizeof (r));
        return r;
}

/* Write a float to 4 bytes in Modbus format */
void modbus_write_float(float real, uint16_t *dest)
{
        uint32_t i = 0;

        memcpy(&i, &real, sizeof (i));
        dest[0] = (uint16_t)i;
        dest[1] = (uint16_t)(i >> 16);
}