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tidy up TODOs

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proddy
2024-09-09 17:46:13 +02:00
parent 5fae9872e6
commit 54d8c5ad8f
2 changed files with 294 additions and 294 deletions
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585
lib/eModbus/src/ModbusClientTCPasync.cpp
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@@ -7,210 +7,213 @@
// #undef LOCAL_LOG_LEVEL // #undef LOCAL_LOG_LEVEL
#include "Logging.h" #include "Logging.h"
ModbusClientTCPasync::ModbusClientTCPasync(IPAddress address, uint16_t port, uint16_t queueLimit) : ModbusClientTCPasync::ModbusClientTCPasync(IPAddress address, uint16_t port, uint16_t queueLimit)
ModbusClient(), : ModbusClient()
txQueue(), , txQueue()
rxQueue(), , rxQueue()
MTA_client(), , MTA_client()
MTA_timeout(DEFAULTTIMEOUT), , MTA_timeout(DEFAULTTIMEOUT)
MTA_idleTimeout(DEFAULTIDLETIME), , MTA_idleTimeout(DEFAULTIDLETIME)
MTA_qLimit(queueLimit), , MTA_qLimit(queueLimit)
MTA_maxInflightRequests(queueLimit), , MTA_maxInflightRequests(queueLimit)
MTA_lastActivity(0), , MTA_lastActivity(0)
MTA_state(DISCONNECTED), , MTA_state(DISCONNECTED)
MTA_host(address), , MTA_host(address)
MTA_port(port) , MTA_port(port) {
{ // attach all handlers on async tcp events
// attach all handlers on async tcp events MTA_client.onConnect([](void * i, AsyncClient * c) { (static_cast<ModbusClientTCPasync *>(i))->onConnected(); }, this);
MTA_client.onConnect([](void* i, AsyncClient* c) { (static_cast<ModbusClientTCPasync*>(i))->onConnected(); }, this); MTA_client.onDisconnect([](void * i, AsyncClient * c) { (static_cast<ModbusClientTCPasync *>(i))->onDisconnected(); }, this);
MTA_client.onDisconnect([](void* i, AsyncClient* c) { (static_cast<ModbusClientTCPasync*>(i))->onDisconnected(); }, this); MTA_client.onError([](void * i, AsyncClient * c, int8_t error) { (static_cast<ModbusClientTCPasync *>(i))->onACError(c, error); }, this);
MTA_client.onError([](void* i, AsyncClient* c, int8_t error) { (static_cast<ModbusClientTCPasync*>(i))->onACError(c, error); }, this); // MTA_client.onTimeout([](void* i, AsyncClient* c, uint32_t time) { (static_cast<ModbusClientTCPasync*>(i))->onTimeout(time); }, this);
// MTA_client.onTimeout([](void* i, AsyncClient* c, uint32_t time) { (static_cast<ModbusClientTCPasync*>(i))->onTimeout(time); }, this); // MTA_client.onAck([](void* i, AsyncClient* c, size_t len, uint32_t time) { (static_cast<ModbusClientTCPasync*>(i))->onAck(len, time); }, this);
// MTA_client.onAck([](void* i, AsyncClient* c, size_t len, uint32_t time) { (static_cast<ModbusClientTCPasync*>(i))->onAck(len, time); }, this); MTA_client.onData([](void * i,
MTA_client.onData([](void* i, AsyncClient* c, void* data, size_t len) { (static_cast<ModbusClientTCPasync*>(i))->onPacket(static_cast<uint8_t*>(data), len); }, this); AsyncClient * c,
MTA_client.onPoll([](void* i, AsyncClient* c) { (static_cast<ModbusClientTCPasync*>(i))->onPoll(); }, this); void * data,
size_t len) { (static_cast<ModbusClientTCPasync *>(i))->onPacket(static_cast<uint8_t *>(data), len); },
this);
MTA_client.onPoll([](void * i, AsyncClient * c) { (static_cast<ModbusClientTCPasync *>(i))->onPoll(); }, this);
// disable nagle algorithm ref Modbus spec // disable nagle algorithm ref Modbus spec
MTA_client.setNoDelay(true); MTA_client.setNoDelay(true);
} }
// Destructor: clean up queue, task etc. // Destructor: clean up queue, task etc.
ModbusClientTCPasync::~ModbusClientTCPasync() { ModbusClientTCPasync::~ModbusClientTCPasync() {
// Clean up queue // Clean up queue
{ {
// Safely lock access // Safely lock access
LOCK_GUARD(lock1, qLock); LOCK_GUARD(lock1, qLock);
LOCK_GUARD(lock2, sLock); LOCK_GUARD(lock2, sLock);
// Delete all elements from queues // Delete all elements from queues
while (!txQueue.empty()) { while (!txQueue.empty()) {
delete txQueue.front(); delete txQueue.front();
txQueue.pop_front(); txQueue.pop_front();
}
for (auto it = rxQueue.cbegin(); it != rxQueue.cend(); /* no increment */) {
delete it->second;
it = rxQueue.erase(it);
}
} }
for (auto it = rxQueue.cbegin(); it != rxQueue.cend();/* no increment */) { // force close client
delete it->second; MTA_client.close(true);
it = rxQueue.erase(it);
}
}
// force close client
MTA_client.close(true);
} }
// optionally manually connect to modbus server. Otherwise connection will be made upon first request // optionally manually connect to modbus server. Otherwise connection will be made upon first request
void ModbusClientTCPasync::connect() { void ModbusClientTCPasync::connect() {
LOG_D("connecting\n"); LOG_D("connecting\n");
LOCK_GUARD(lock1, sLock); LOCK_GUARD(lock1, sLock);
// only connect if disconnected // only connect if disconnected
if (MTA_state == DISCONNECTED) { if (MTA_state == DISCONNECTED) {
MTA_state = CONNECTING; MTA_state = CONNECTING;
MTA_client.connect(MTA_host, MTA_port); MTA_client.connect(MTA_host, MTA_port);
} }
} }
// connect to another modbus server. // connect to another modbus server.
void ModbusClientTCPasync::connect(IPAddress host, uint16_t port) { void ModbusClientTCPasync::connect(IPAddress host, uint16_t port) {
// First disconnect, if connected // First disconnect, if connected
disconnect(true); disconnect(true);
// Set new host and port // Set new host and port
MTA_host = host; MTA_host = host;
MTA_port = port; MTA_port = port;
connect(); connect();
} }
// manually disconnect from modbus server. Connection will also auto close after idle time // manually disconnect from modbus server. Connection will also auto close after idle time
void ModbusClientTCPasync::disconnect(bool force) { void ModbusClientTCPasync::disconnect(bool force) {
LOG_D("disconnecting\n"); LOG_D("disconnecting\n");
MTA_client.close(force); MTA_client.close(force);
} }
// Set timeout value // Set timeout value
void ModbusClientTCPasync::setTimeout(uint32_t timeout) { void ModbusClientTCPasync::setTimeout(uint32_t timeout) {
MTA_timeout = timeout; MTA_timeout = timeout;
} }
// Set idle timeout value (time before connection auto closes after being idle) // Set idle timeout value (time before connection auto closes after being idle)
void ModbusClientTCPasync::setIdleTimeout(uint32_t timeout) { void ModbusClientTCPasync::setIdleTimeout(uint32_t timeout) {
MTA_idleTimeout = timeout; MTA_idleTimeout = timeout;
} }
void ModbusClientTCPasync::setMaxInflightRequests(uint32_t maxInflightRequests) { void ModbusClientTCPasync::setMaxInflightRequests(uint32_t maxInflightRequests) {
MTA_maxInflightRequests = maxInflightRequests; MTA_maxInflightRequests = maxInflightRequests;
} }
// Remove all pending request from queue // Remove all pending request from queue
void ModbusClientTCPasync::clearQueue() void ModbusClientTCPasync::clearQueue() {
{ LOCK_GUARD(lock1, qLock);
LOCK_GUARD(lock1, qLock); LOCK_GUARD(lock2, sLock);
LOCK_GUARD(lock2, sLock); // Delete all elements from queues
// Delete all elements from queues while (!txQueue.empty()) {
while (!txQueue.empty()) { delete txQueue.front();
delete txQueue.front(); txQueue.pop_front();
txQueue.pop_front(); }
}
} }
// Base addRequest for preformatted ModbusMessage and last set target // Base addRequest for preformatted ModbusMessage and last set target
Error ModbusClientTCPasync::addRequestM(ModbusMessage msg, uint32_t token) { Error ModbusClientTCPasync::addRequestM(ModbusMessage msg, uint32_t token) {
Error rc = SUCCESS; // Return value Error rc = SUCCESS; // Return value
// Add it to the queue, if valid // Add it to the queue, if valid
if (msg) { if (msg) {
// Queue add successful? // Queue add successful?
if (!addToQueue(token, msg)) { if (!addToQueue(token, msg)) {
// No. Return error after deleting the allocated request. // No. Return error after deleting the allocated request.
rc = REQUEST_QUEUE_FULL; rc = REQUEST_QUEUE_FULL;
}
} }
}
LOG_D("Add TCP request result: %02X\n", rc); LOG_D("Add TCP request result: %02X\n", rc);
return rc; return rc;
} }
// Base syncRequest follows the same pattern // Base syncRequest follows the same pattern
ModbusMessage ModbusClientTCPasync::syncRequestM(ModbusMessage msg, uint32_t token) { ModbusMessage ModbusClientTCPasync::syncRequestM(ModbusMessage msg, uint32_t token) {
ModbusMessage response; ModbusMessage response;
if (msg) { if (msg) {
// Queue add successful? // Queue add successful?
if (!addToQueue(token, msg, true)) { if (!addToQueue(token, msg, true)) {
// No. Return error after deleting the allocated request. // No. Return error after deleting the allocated request.
response.setError(msg.getServerID(), msg.getFunctionCode(), REQUEST_QUEUE_FULL); response.setError(msg.getServerID(), msg.getFunctionCode(), REQUEST_QUEUE_FULL);
} else {
// Request is queued - wait for the result.
response = waitSync(msg.getServerID(), msg.getFunctionCode(), token);
}
} else { } else {
// Request is queued - wait for the result. response.setError(msg.getServerID(), msg.getFunctionCode(), EMPTY_MESSAGE);
response = waitSync(msg.getServerID(), msg.getFunctionCode(), token);
} }
} else { return response;
response.setError(msg.getServerID(), msg.getFunctionCode(), EMPTY_MESSAGE);
}
return response;
} }
// addToQueue: send freshly created request to queue // addToQueue: send freshly created request to queue
bool ModbusClientTCPasync::addToQueue(int32_t token, ModbusMessage request, bool syncReq) { bool ModbusClientTCPasync::addToQueue(int32_t token, ModbusMessage request, bool syncReq) {
// Did we get one? // Did we get one?
if (request) { if (request) {
LOCK_GUARD(lock1, qLock); LOCK_GUARD(lock1, qLock);
if (txQueue.size() + rxQueue.size() < MTA_qLimit) { if (txQueue.size() + rxQueue.size() < MTA_qLimit) {
HEXDUMP_V("Enqueue", request.data(), request.size()); HEXDUMP_V("Enqueue", request.data(), request.size());
RequestEntry *re = new RequestEntry(token, request, syncReq); RequestEntry * re = new RequestEntry(token, request, syncReq);
if (!re) return false; //TODO: proper error returning in case allocation fails if (!re)
// inject proper transactionID return false; // TODO: proper error returning in case allocation fails
re->head.transactionID = messageCount++; // inject proper transactionID
re->head.len = request.size(); re->head.transactionID = messageCount++;
// if we're already connected, try to send and push to rxQueue re->head.len = request.size();
// or else push to txQueue and (re)connect // if we're already connected, try to send and push to rxQueue
if (MTA_state == CONNECTED && send(re)) { // or else push to txQueue and (re)connect
re->sentTime = millis(); if (MTA_state == CONNECTED && send(re)) {
rxQueue[re->head.transactionID] = re; re->sentTime = millis();
} else { rxQueue[re->head.transactionID] = re;
txQueue.push_back(re); } else {
if (MTA_state == DISCONNECTED) { txQueue.push_back(re);
connect(); if (MTA_state == DISCONNECTED) {
connect();
}
}
return true;
} }
} LOG_E("queue is full\n");
return true;
} }
LOG_E("queue is full\n"); return false;
}
return false;
} }
void ModbusClientTCPasync::onConnected() { void ModbusClientTCPasync::onConnected() {
LOG_D("connected\n"); LOG_D("connected\n");
LOCK_GUARD(lock1, sLock); LOCK_GUARD(lock1, sLock);
MTA_state = CONNECTED; MTA_state = CONNECTED;
MTA_lastActivity = millis(); MTA_lastActivity = millis();
// from now on onPoll will be called every 500 msec // from now on onPoll will be called every 500 msec
} }
void ModbusClientTCPasync::onDisconnected() { void ModbusClientTCPasync::onDisconnected() {
LOG_D("disconnected\n"); LOG_D("disconnected\n");
LOCK_GUARD(lock1, sLock); LOCK_GUARD(lock1, sLock);
MTA_state = DISCONNECTED; MTA_state = DISCONNECTED;
// empty queue on disconnect, calling errorcode on every waiting request // empty queue on disconnect, calling errorcode on every waiting request
LOCK_GUARD(lock2, qLock); LOCK_GUARD(lock2, qLock);
while (!txQueue.empty()) { while (!txQueue.empty()) {
RequestEntry* r = txQueue.front(); RequestEntry * r = txQueue.front();
if (onError) { if (onError) {
onError(IP_CONNECTION_FAILED, r->token); onError(IP_CONNECTION_FAILED, r->token);
}
delete r;
txQueue.pop_front();
} }
delete r; while (!rxQueue.empty()) {
txQueue.pop_front(); RequestEntry * r = rxQueue.begin()->second;
} if (onError) {
while (!rxQueue.empty()) { onError(IP_CONNECTION_FAILED, r->token);
RequestEntry *r = rxQueue.begin()->second; }
if (onError) { delete r;
onError(IP_CONNECTION_FAILED, r->token); rxQueue.erase(rxQueue.begin());
} }
delete r;
rxQueue.erase(rxQueue.begin());
}
} }
void ModbusClientTCPasync::onACError(AsyncClient* c, int8_t error) { void ModbusClientTCPasync::onACError(AsyncClient * c, int8_t error) {
// onDisconnect will alse be called, so nothing to do here // onDisconnect will alse be called, so nothing to do here
LOG_W("TCP error: %s\n", c->errorToString(error)); LOG_W("TCP error: %s\n", c->errorToString(error));
} }
/* /*
@@ -222,180 +225,178 @@ void onAck(size_t len, uint32_t time) {
// assuming we don't need this // assuming we don't need this
} }
*/ */
void ModbusClientTCPasync::onPacket(uint8_t* data, size_t length) { void ModbusClientTCPasync::onPacket(uint8_t * data, size_t length) {
LOG_D("packet received (len:%d)\n", length); LOG_D("packet received (len:%d)\n", length);
// reset idle timeout // reset idle timeout
MTA_lastActivity = millis(); MTA_lastActivity = millis();
if (length) { if (length) {
LOG_D("parsing (len:%d)\n", length + 1); LOG_D("parsing (len:%d)\n", length + 1);
}
while (length > 0) {
RequestEntry* request = nullptr;
ModbusMessage* response = nullptr;
uint16_t transactionID = 0;
uint16_t protocolID = 0;
uint16_t messageLength = 0;
bool isOkay = false;
// 1. Check for valid modbus message
// MBAP header is 6 bytes, we can't do anything with less
// total message should fit MBAP plus remaining bytes (in data[4], data[5])
if (length > 6) {
transactionID = (data[0] << 8) | data[1];
protocolID = (data[2] << 8) | data[3];
messageLength = (data[4] << 8) | data[5];
if (protocolID == 0 &&
length >= (uint32_t)messageLength + 6 &&
messageLength < 256) {
response = new ModbusMessage(messageLength);
response->add(&data[6], messageLength);
LOG_D("packet validated (len:%d)\n", messageLength);
// on next iteration: adjust remaining length and pointer to data
length -= 6 + messageLength;
data += 6 + messageLength;
isOkay = true;
}
} }
while (length > 0) {
RequestEntry * request = nullptr;
ModbusMessage * response = nullptr;
uint16_t transactionID = 0;
uint16_t protocolID = 0;
uint16_t messageLength = 0;
bool isOkay = false;
if (!isOkay) { // 1. Check for valid modbus message
// invalid packet, abort function
LOG_W("packet invalid\n");
return;
} else {
// 2. we got a valid response, match with a request
LOCK_GUARD(lock1, qLock);
auto i = rxQueue.find(transactionID);
if (i != rxQueue.end()) {
// found it, handle it and stop iterating
request = i->second;
i = rxQueue.erase(i);
LOG_D("matched request\n");
} else {
// TCP packet did not yield valid modbus response, abort function
LOG_W("no matching request found\n");
return;
}
}
// 3. we have a valid request and a valid response, call appropriate callback // MBAP header is 6 bytes, we can't do anything with less
if (request) { // total message should fit MBAP plus remaining bytes (in data[4], data[5])
// compare request with response if (length > 6) {
Error error = SUCCESS; transactionID = (data[0] << 8) | data[1];
if (request->msg.getFunctionCode() != (response->getFunctionCode() & 0x7F)) { protocolID = (data[2] << 8) | data[3];
error = FC_MISMATCH; messageLength = (data[4] << 8) | data[5];
} else if (request->msg.getServerID() != response->getServerID()) { if (protocolID == 0 && length >= (uint32_t)messageLength + 6 && messageLength < 256) {
error = SERVER_ID_MISMATCH; response = new ModbusMessage(messageLength);
} else { response->add(&data[6], messageLength);
error = response->getError(); LOG_D("packet validated (len:%d)\n", messageLength);
}
if (error != SUCCESS) { // on next iteration: adjust remaining length and pointer to data
LOCK_GUARD(errorCntLock, countAccessM); length -= 6 + messageLength;
errorCount++; data += 6 + messageLength;
} isOkay = true;
}
if (request->isSyncRequest) {
{
LOCK_GUARD(sL ,syncRespM);
syncResponse[request->token] = *response;
} }
} else if (onResponse) {
onResponse(*response, request->token); if (!isOkay) {
} else { // invalid packet, abort function
if (error == SUCCESS) { LOG_W("packet invalid\n");
if (onData) { return;
onData(*response, request->token);
}
} else { } else {
if (onError) { // 2. we got a valid response, match with a request
onError(response->getError(), request->token); LOCK_GUARD(lock1, qLock);
} auto i = rxQueue.find(transactionID);
if (i != rxQueue.end()) {
// found it, handle it and stop iterating
request = i->second;
i = rxQueue.erase(i);
LOG_D("matched request\n");
} else {
// TCP packet did not yield valid modbus response, abort function
LOG_W("no matching request found\n");
return;
}
} }
}
delete request;
}
delete response;
} // end processing of incoming data // 3. we have a valid request and a valid response, call appropriate callback
if (request) {
// compare request with response
Error error = SUCCESS;
if (request->msg.getFunctionCode() != (response->getFunctionCode() & 0x7F)) {
error = FC_MISMATCH;
} else if (request->msg.getServerID() != response->getServerID()) {
error = SERVER_ID_MISMATCH;
} else {
error = response->getError();
}
// check if we have to send the next request if (error != SUCCESS) {
LOCK_GUARD(lock1, qLock); LOCK_GUARD(errorCntLock, countAccessM);
handleSendingQueue(); errorCount++;
}
if (request->isSyncRequest) {
{
LOCK_GUARD(sL, syncRespM);
syncResponse[request->token] = *response;
}
} else if (onResponse) {
onResponse(*response, request->token);
} else {
if (error == SUCCESS) {
if (onData) {
onData(*response, request->token);
}
} else {
if (onError) {
onError(response->getError(), request->token);
}
}
}
delete request;
}
delete response;
} // end processing of incoming data
// check if we have to send the next request
LOCK_GUARD(lock1, qLock);
handleSendingQueue();
} }
void ModbusClientTCPasync::onPoll() { void ModbusClientTCPasync::onPoll() {
{ {
LOCK_GUARD(lock1, qLock); LOCK_GUARD(lock1, qLock);
// try to send whatever is waiting // try to send whatever is waiting
handleSendingQueue(); handleSendingQueue();
// next check if timeout has struck for oldest request // next check if timeout has struck for oldest request
if (!rxQueue.empty()) { if (!rxQueue.empty()) {
RequestEntry* request = rxQueue.begin()->second; RequestEntry * request = rxQueue.begin()->second;
if (millis() - request->sentTime > MTA_timeout) { if (millis() - request->sentTime > MTA_timeout) {
LOG_D("request timeouts (now:%lu-sent:%u)\n", millis(), request->sentTime); LOG_D("request timeouts (now:%lu-sent:%u)\n", millis(), request->sentTime);
// oldest element timeouts, call onError and clean up // oldest element timeouts, call onError and clean up
if (onError) { if (onError) {
// Handle timeout error // Handle timeout error
onError(TIMEOUT, request->token); onError(TIMEOUT, request->token);
} }
delete request; delete request;
rxQueue.erase(rxQueue.begin()); rxQueue.erase(rxQueue.begin());
}
}
} // end lockguard scope
// if nothing happened during idle timeout, gracefully close connection
if (millis() - MTA_lastActivity > MTA_idleTimeout) {
disconnect();
} }
}
} // end lockguard scope
// if nothing happened during idle timeout, gracefully close connection
if (millis() - MTA_lastActivity > MTA_idleTimeout) {
disconnect();
}
} }
void ModbusClientTCPasync::handleSendingQueue() { void ModbusClientTCPasync::handleSendingQueue() {
// ATTENTION: This method does not have a lock guard. // ATTENTION: This method does not have a lock guard.
// Calling sites must assure shared resources are protected // Calling sites must assure shared resources are protected
// by mutex. // by mutex.
// try to send everything we have waiting // try to send everything we have waiting
std::list<RequestEntry*>::iterator it = txQueue.begin(); std::list<RequestEntry *>::iterator it = txQueue.begin();
while (it != txQueue.end()) { while (it != txQueue.end()) {
// get the actual element // get the actual element
if (send(*it)) { if (send(*it)) {
// after sending, update timeout value, add to other queue and remove from this queue // after sending, update timeout value, add to other queue and remove from this queue
(*it)->sentTime = millis(); (*it)->sentTime = millis();
rxQueue[(*it)->head.transactionID] = (*it); // push request to other queue rxQueue[(*it)->head.transactionID] = (*it); // push request to other queue
it = txQueue.erase(it); // remove from toSend queue and point i to next request it = txQueue.erase(it); // remove from toSend queue and point i to next request
} else { } else {
// sending didn't succeed, try next request // sending didn't succeed, try next request
++it; ++it;
}
} }
}
} }
bool ModbusClientTCPasync::send(RequestEntry* re) { bool ModbusClientTCPasync::send(RequestEntry * re) {
// ATTENTION: This method does not have a lock guard. // ATTENTION: This method does not have a lock guard.
// Calling sites must assure shared resources are protected // Calling sites must assure shared resources are protected
// by mutex. // by mutex.
if (rxQueue.size() >= MTA_maxInflightRequests) { if (rxQueue.size() >= MTA_maxInflightRequests) {
return false;
}
// check if TCP client is able to send
if (MTA_client.space() > ((uint32_t)re->msg.size() + 6)) {
// Write TCP header first
MTA_client.add(reinterpret_cast<const char *>((const uint8_t *)(re->head)), 6, ASYNC_WRITE_FLAG_COPY);
// Request comes next
MTA_client.add(reinterpret_cast<const char *>(re->msg.data()), re->msg.size(), ASYNC_WRITE_FLAG_COPY);
// done
MTA_client.send();
LOG_D("request sent (msgid:%d)\n", re->head.transactionID);
return true;
}
return false; return false;
}
// check if TCP client is able to send
if (MTA_client.space() > ((uint32_t)re->msg.size() + 6)) {
// Write TCP header first
MTA_client.add(reinterpret_cast<const char *>((const uint8_t *)(re->head)), 6, ASYNC_WRITE_FLAG_COPY);
// Request comes next
MTA_client.add(reinterpret_cast<const char*>(re->msg.data()), re->msg.size(), ASYNC_WRITE_FLAG_COPY);
// done
MTA_client.send();
LOG_D("request sent (msgid:%d)\n", re->head.transactionID);
return true;
}
return false;
} }

3
src/modbus.cpp
View File

@@ -1,6 +1,5 @@
/** /**
* TODO: * TODO: verwendete libs in readme hinzufügen
* - verwendete libs in readme hinzufügen
*/ */
#include "modbus.h" #include "modbus.h"
#include "modbus_entity_parameters.hpp" #include "modbus_entity_parameters.hpp"