fix cpp compilation issues for esp-modbus v2.0.1

modbus/mb_controller/common/include/esp_modbus_common.h

@@ -5,6 +5,7 @@
  */
 
 #pragma once
+#include <inttypes.h>
 
 #include "driver/uart.h"                    // for UART types
 #include "sdkconfig.h"
@@ -13,20 +14,12 @@
 #include "mb_endianness_utils.h"
 #endif
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
 #include "port_common.h"
 
 #if __has_include("esp_check.h")
 #include "esp_check.h"
 #include "esp_log.h"
 
-#include <inttypes.h>
-
-#include "mb_port_types.h"
-
 #define MB_RETURN_ON_FALSE(a, err_code, tag, format, ...) ESP_RETURN_ON_FALSE(a, err_code, tag, format __VA_OPT__(,) __VA_ARGS__)
 
 #else
@@ -42,6 +35,10 @@ extern "C" {
 
 #endif
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define MB_SLAVE_ADDR_PLACEHOLDER           (0xFF)
 #define MB_CONTROLLER_STACK_SIZE            (CONFIG_FMB_CONTROLLER_STACK_SIZE)  // Stack size for Modbus controller
 #define MB_CONTROLLER_PRIORITY              (CONFIG_FMB_PORT_TASK_PRIO - 1)     // priority of MB controller task

modbus/mb_objects/include/mb_config.h

@@ -4,18 +4,16 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 #pragma once
-
+#include <inttypes.h>
 #include "sdkconfig.h" // for KConfig options
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
 #if __has_include("esp_idf_version.h")
 #include "esp_idf_version.h"
 #endif
 
-#include <inttypes.h>
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 /* ----------------------- Defines ------------------------------------------*/
 /*! \defgroup modbus_cfg Modbus Configuration
@@ -48,8 +46,8 @@ extern "C" {
 
 #ifdef ESP_IDF_VERSION
 
-#if (ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4, 4, 0))
-// Features supported from 4.4
+#if (ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 0, 0))
+// Features supported from v5.0
 #define MB_TIMER_SUPPORTS_ISR_DISPATCH_METHOD 1
 #endif
 

modbus/mb_objects/include/mb_port_types.h

@@ -5,11 +5,25 @@
  */
 #pragma once
 
-#include "stdatomic.h"
 #include "mb_config.h"
 #include "mb_types.h"
 
-#ifdef __cplusplus
+#if __has_include("esp_idf_version.h")
+#include "esp_idf_version.h"
+#define IS_OLD_IDF_VER (IDF_VERSION <= ESP_IDF_VERSION_VAL(5, 0, 0))
+#endif
+
+// Workaround for atomics incompatibility issue under CPP.
+#if defined(__cplusplus) && IS_OLD_IDF_VER
+#include <atomic>
+#define _Atomic(T) std::atomic<T>
+#else
+#include <stdatomic.h>
+#endif
+
+
+
+#if defined(__cplusplus)
 extern "C" {
 #endif
 
@@ -21,7 +35,6 @@ typedef enum _mb_comm_mode mb_mode_type_t;
 
 #include "driver/uart.h"
 
-__attribute__((__packed__))
 struct _port_serial_opts {
     mb_mode_type_t mode;            /*!< Modbus communication mode */
     uart_port_t port;               /*!< Modbus communication port (UART) number */
@@ -32,7 +45,7 @@ struct _port_serial_opts {
     uart_word_length_t data_bits;   /*!< Modbus number of data bits */
     uart_stop_bits_t stop_bits;     /*!< Modbus number of stop bits */
     uart_parity_t parity;           /*!< Modbus UART parity settings */
-};
+} __attribute__((__packed__));
 
 typedef struct _port_serial_opts mb_serial_opts_t;
 
@@ -44,16 +57,15 @@ typedef enum _addr_type_enum {
     MB_IPV6 = 2                     /*!< TCP IPV6 addressing */
 } mb_addr_type_t;
 
-__attribute__((__packed__))
+
 struct _port_common_opts {
     mb_mode_type_t mode;            /*!< Modbus communication mode */
     uint16_t port;                  /*!< Modbus communication port (UART) number */
     uint8_t uid;                    /*!< Modbus slave address field (dummy for master) */
     uint32_t response_tout_ms;      /*!< Modbus slave response timeout */
     uint64_t test_tout_us;          /*!< Modbus test timeout (reserved) */
-};
+} __attribute__((__packed__));
 
-__attribute__((__packed__))
 struct _port_tcp_opts {
     mb_mode_type_t mode;            /*!< Modbus communication mode */
     uint16_t port;                  /*!< Modbus communication port (UART) number */
@@ -65,7 +77,7 @@ struct _port_tcp_opts {
     void *ip_netif_ptr;             /*!< Modbus network interface */
     char *dns_name;                 /*!< Modbus node DNS name */
     bool start_disconnected;        /*!< (Master only option) do not wait for connection to all nodes before polling */
-};
+} __attribute__((__packed__));
 
 typedef struct _port_tcp_opts mb_tcp_opts_t;
 
@@ -100,7 +112,7 @@ typedef struct _uid_info {
     uint16_t uid;                   /*!< node unit ID (UID) field for MBAP frame  */
     uint16_t port;                  /*!< node port number */
     mb_comm_mode_t proto;           /*!< protocol type */
-    _Atomic mb_sock_state_t state;  /*!< node state */
+    _Atomic(int) state;             /*!< node state */
     void *inst;                     /*!< pointer to linked instance */
 } mb_uid_info_t;
 

modbus/mb_ports/common/mb_transaction.c

@@ -19,7 +19,7 @@ typedef struct transaction_item {
     int msg_id;
     void *pnode;
     transaction_tick_t tick;
-    _Atomic pending_state_t state;
+    _Atomic(int) state;
     STAILQ_ENTRY(transaction_item) next;
 } transaction_item_t;
 

modbus/mb_ports/common/port_event.c

@@ -18,11 +18,11 @@ static const char *TAG = "mb_port.event";
 
 struct mb_port_event_t
 {
-    _Atomic mb_err_event_t curr_err_type;
+    _Atomic(int) curr_err_type;
     SemaphoreHandle_t resource_hdl;
     EventGroupHandle_t event_group_hdl;
     QueueHandle_t event_hdl;
-    _Atomic uint64_t curr_trans_id;
+    _Atomic(uint64_t) curr_trans_id;
 };
 
 mb_err_enum_t mb_port_event_create(mb_port_base_t *inst)

modbus/mb_ports/common/port_other.c

@@ -11,7 +11,7 @@
 #include "port_common.h"
 
 /* ----------------------- Variables ----------------------------------------*/
-static _Atomic uint32_t inst_counter = 0;
+static _Atomic(uint32_t) inst_counter = 0;
 
 /* ----------------------- Start implementation -----------------------------*/
 int lock_obj(_lock_t *plock)

modbus/mb_ports/common/port_timer.c

@@ -29,9 +29,9 @@ struct mb_port_timer_t
     //spinlock_t spin_lock;
     esp_timer_handle_t timer_handle;
     uint16_t t35_ticks;
-    _Atomic uint32_t response_time_ms;
-    _Atomic bool timer_state;
-    _Atomic uint16_t timer_mode;
+    _Atomic(uint32_t) response_time_ms;
+    _Atomic(bool) timer_state;
+    _Atomic(uint16_t) timer_mode;
 };
 
 /* ----------------------- Static variables ---------------------------------*/

modbus/mb_ports/serial/port_serial.c

@@ -37,7 +37,7 @@ typedef struct
     uint64_t send_time_stamp;
     uint64_t recv_time_stamp;
     uint32_t flags;
-    bool enabled;
+    _Atomic(bool) enabled;
     QueueHandle_t uart_queue;           // A queue to handle UART event.
     TaskHandle_t  task_handle;          // UART task to handle UART event.
     SemaphoreHandle_t bus_sema_handle;   // Rx blocking semaphore handle

test_apps/cpp/modbus_serial_cpp_test/CMakeLists.txt

@@ -0,0 +1,6 @@
+# The following five lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.5)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(mb_serial_cpp)

test_apps/cpp/modbus_serial_cpp_test/main/CMakeLists.txt

@@ -0,0 +1,2 @@
+idf_component_register(SRCS "serial_test.cpp"
+                    INCLUDE_DIRS ".")

test_apps/cpp/modbus_serial_cpp_test/main/idf_component.yml

@@ -0,0 +1,6 @@
+dependencies:
+  idf: ">=5.0"
+  espressif/esp-modbus:
+    version: "^2.0.0"
+    override_path: "../../../../"
+

test_apps/cpp/modbus_serial_cpp_test/main/serial_test.cpp

@@ -0,0 +1,130 @@
+#include "esp_log.h"
+
+#include "sdkconfig.h"
+#include "mbcontroller.h"
+
+#define TEST_PORT_NUM (uart_port_t)1
+#define TEST_SPEED 115200
+
+#define TAG "CPP_TEST"
+#define MB_SLAVE_SHORT_ADDRESS 1
+
+enum {
+    MB_DEVICE_ADDR1 = 1
+};
+
+// Enumeration of all supported CIDs for device (used in parameter definition table)
+enum {
+    CID_DEV_REG0 = 0
+};
+
+#define STR(fieldname) ((const char*)( fieldname ))
+#define OPTS(min_val, max_val, step_val) { .opt1 = min_val, .opt2 = max_val, .opt3 = step_val }
+
+static void *pmaster_handle = NULL;
+static void *pslave_handle = NULL;
+
+// Example Data (Object) Dictionary for Modbus parameters
+const mb_parameter_descriptor_t dummy_dict[] = {
+    // CID, Name, Units, Modbus addr, register type, Modbus Reg Start Addr, Modbus Reg read length, 
+    // Instance offset (NA), Instance type, Instance length (bytes), Options (NA), Permissions
+    { CID_DEV_REG0, STR("MB_hold_reg-0"), STR("Data"), MB_DEVICE_ADDR1, MB_PARAM_HOLDING, 0, 1,
+                    0, PARAM_TYPE_U16, PARAM_SIZE_U16, OPTS( 0,0,0 ), PAR_PERMS_READ_WRITE_TRIGGER },
+};
+
+// Calculate number of parameters in the table
+const uint16_t num_device_parameters = (sizeof(dummy_dict)/sizeof(dummy_dict[0]));
+
+// Modbus serial master initialization
+static esp_err_t master_serial_init(void **pinst)
+{
+    mb_communication_info_t comm;
+    comm.ser_opts.port = (uart_port_t)TEST_PORT_NUM;
+    comm.ser_opts.mode = (mb_comm_mode_t)MB_RTU;
+    comm.ser_opts.baudrate = TEST_SPEED;
+    comm.ser_opts.parity = MB_PARITY_NONE;
+    comm.ser_opts.uid = 0;
+    comm.ser_opts.response_tout_ms = 100;
+    comm.ser_opts.data_bits = UART_DATA_8_BITS;
+    comm.ser_opts.stop_bits = UART_STOP_BITS_1;
+    // Initialize Modbus controller
+    esp_err_t err = mbc_master_create_serial(&comm, pinst);
+    MB_RETURN_ON_FALSE((pinst != NULL), ESP_ERR_INVALID_STATE, TAG,
+                                "mbc master initialization fail.");
+    MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE, TAG,
+                            "mbc master initialization fail, returns(0x%x).", (int)err);
+    err = mbc_master_set_descriptor(*pinst, &dummy_dict[0], num_device_parameters);
+    MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE, TAG,
+                                "mbc master set descriptor fail, returns(0x%x).", (int)err);
+    err = mbc_master_start(*pinst);
+    MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE, TAG,
+                            "mbc master start fail, returned (0x%x).", (int)err);
+    const mb_parameter_descriptor_t *pdescriptor = NULL;
+    err = mbc_master_get_cid_info(*pinst, CID_DEV_REG0, &pdescriptor);
+    MB_RETURN_ON_FALSE(((err != ESP_ERR_NOT_FOUND) && (pdescriptor != NULL)), ESP_ERR_INVALID_STATE, TAG,
+                            "mbc master get descriptor fail, returned (0x%x).", (int)err);
+    uint16_t regs[] = {0x1111, 0x2222};
+    uint8_t type = 0;
+    err = mbc_master_get_parameter(*pinst, pdescriptor->cid, (uint8_t *)&regs[0], &type);
+    MB_RETURN_ON_FALSE((err != ESP_ERR_INVALID_STATE), ESP_ERR_INVALID_STATE, TAG,
+                            "mbc master get parameter fail, returned (0x%x).", (int)err);
+    ESP_LOGI(TAG, "Modbus master stack initialized...");
+    return ESP_OK;
+}
+
+// Modbus serial slave initialization
+static esp_err_t slave_serial_init(void **pinst)
+{
+    mb_register_area_descriptor_t reg_area;
+    mb_communication_info_t comm;
+    comm.ser_opts.port = (uart_port_t)TEST_PORT_NUM;
+    comm.ser_opts.mode = (mb_comm_mode_t)MB_RTU;
+    comm.ser_opts.baudrate = TEST_SPEED;
+    comm.ser_opts.parity = MB_PARITY_NONE;
+    comm.ser_opts.uid = MB_SLAVE_SHORT_ADDRESS;
+    comm.ser_opts.response_tout_ms = 100;
+    comm.ser_opts.data_bits = UART_DATA_8_BITS;
+    comm.ser_opts.stop_bits = UART_STOP_BITS_1;
+    // Initialize Modbus controller
+    esp_err_t err = mbc_slave_create_serial(&comm, pinst);
+    MB_RETURN_ON_FALSE((pinst != NULL), ESP_ERR_INVALID_STATE, TAG,
+                                "mbc slave initialization fail.");
+    MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE, TAG,
+                            "mbc slave initialization fail, returns(0x%x).", (int)err);
+    uint16_t holding_regs[] = {0x1111, 0x2222, 0x3333, 0x4444};
+    reg_area.type = MB_PARAM_HOLDING;
+    reg_area.start_offset = 0;
+    reg_area.address = (void*)&holding_regs[0];
+    reg_area.size = sizeof(holding_regs);
+    reg_area.access = MB_ACCESS_RW;
+    ESP_ERROR_CHECK(mbc_slave_set_descriptor(*pinst, reg_area));
+    err = mbc_slave_start(*pinst);
+    MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE, TAG,
+                            "mbc slave start fail, returned (0x%x).", (int)err);
+    ESP_LOGI(TAG, "Modbus slave stack initialized...");
+    return err;
+}
+
+// Intentionally verify that atomic values are layout compatible with original types
+// Note: the `__is_layout_compatible() and ` is not supported in old versions
+static_assert(
+    sizeof(std::atomic_int) == sizeof(int) && 
+    sizeof(std::atomic<int>) == sizeof(int) &&
+    sizeof(_Atomic(int)) == sizeof(int) && 
+    sizeof(_Atomic(uint32_t)) == sizeof(uint32_t) &&
+    sizeof(_Atomic(uint16_t)) == sizeof(uint16_t) &&
+    sizeof(_Atomic(uint64_t)) == sizeof(uint64_t)
+);
+
+extern "C" void app_main(void)
+{
+    // Initialization of device peripheral and objects
+    ESP_LOGI(TAG, "Setup master cpp....");
+    ESP_ERROR_CHECK(master_serial_init(&pmaster_handle));
+    ESP_ERROR_CHECK(mbc_master_delete(pmaster_handle));
+    ESP_LOGI(TAG, "Master test passed successfully.");
+    ESP_LOGI(TAG, "Setup slave cpp....");
+    ESP_ERROR_CHECK(slave_serial_init(&pslave_handle));
+    ESP_ERROR_CHECK(mbc_slave_delete(pslave_handle));
+    ESP_LOGI(TAG, "Slave test passed successfully.");
+}

test_apps/cpp/modbus_serial_cpp_test/pytest_cpp_mb_serial_master_slave.py

@@ -0,0 +1,15 @@
+# SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+# SPDX-License-Identifier: Apache-2.0
+import pytest
+from pytest_embedded import Dut
+
+@pytest.mark.esp32
+@pytest.mark.generic
+def test_cpp_mb_serial_master_slave(dut: Dut) -> None:
+    dut.expect('Setup master cpp....')
+    dut.expect('Modbus master stack initialized...', timeout=5)
+    dut.expect('Master test passed successfully.', timeout=5)
+    dut.expect('Setup slave cpp....')
+    dut.expect('Modbus slave stack initialized...', timeout=5)
+    dut.expect('Slave test passed successfully.', timeout=5)
+    dut.expect('Returned from app_main()')

test_apps/test_common/mb_utest_lib/port_adapter.c

@@ -46,7 +46,7 @@ typedef struct _mb_adapter_port_entry
     uint16_t recv_length;
     uint64_t send_time_stamp;
     uint64_t recv_time_stamp;
-    _Atomic uint64_t test_timeout_us;
+    _Atomic(uint64_t) test_timeout_us;
     uint32_t flags;
     mb_uid_info_t addr_info;
     QueueHandle_t rx_queue;