SlaveDevice.h

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//Copyright (c) 2024 Dominik M. Glogowski
//
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//to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//copies of the Software, and to permit persons to whom the Software is
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//
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//IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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#ifndef DYNAMIC_MODBUS_MASTER_SLAVEDEVICE_H
#define DYNAMIC_MODBUS_MASTER_SLAVEDEVICE_H
#include "ModbusData.hpp"
#include <ModbusError.h>
#include <esp_modbus_master.h>
#include <SlaveDeviceIfc.h>
 
namespace dynamic_modbus_master::slave {
class SlaveDevice: public SlaveDeviceIfc<SlaveDevice>{
public:
    SlaveDevice(uint8_t address, uint8_t retries);
    
    ~SlaveDevice() override = default;
    
    template<ModbusData T>
    ModbusError writeHolding(uint16_t reg, T data) const {
        mb_param_request_t request {
                .slave_addr = m_address,
            .command = 0x06,
            .reg_start = reg,
            .reg_size = (std::is_same_v<bool, T>? 1 : sizeof(T) / 2)
        };
        if (request.reg_size > 1) {
            request.command = 0x10;
        }
        return sendRequest(request, &data);
    }
    
    template<ModbusData T>
    SlaveReturn<T> readHolding(uint16_t reg) const {
        mb_param_request_t request {
                .slave_addr = m_address,
                .command = 0x03,
                .reg_start = reg,
                .reg_size = sizeof(T) / sizeof(uint16_t)
        };
        
        T data = 0;
        ModbusError error = sendRequest(request, &data);
        
        return SlaveReturn{error, data};
    }
    
    
    template<ModbusData T>
    ModbusError writeCoils(uint16_t reg, const T data, uint16_t coilNum) const {
        if (std::is_same_v<T, bool> && coilNum == 1) {
            mb_param_request_t request {
                .slave_addr = m_address,
                .command = 0x05,
                .reg_start = reg,
                .reg_size = coilNum
            };
            
            uint16_t sendData = (data == true ? 0xFF00 : 0x0000);
            
            return sendRequest(request, &sendData);
        } else if (!(std::is_same_v<T, bool>) && (coilNum > 1)){
            T sendData = data;
            mb_param_request_t  request {
                .slave_addr = m_address,
                .command = 0x0F,
                .reg_start = reg,
                .reg_size = coilNum
            };
            
            return sendRequest(request, &sendData);
        } else {
            return ModbusError::INVALID_ARG;
        }
    }
    
    template<ModbusData T>
    SlaveReturn<T> readCoils(uint16_t reg, uint16_t coilNum) {
        mb_param_request_t request {
            .slave_addr = m_address,
            .command = 0x01,
            .reg_start = reg,
            .reg_size = coilNum
        };
        if (std::is_same_v<T, bool> && coilNum == 1) {
            uint8_t data = 0;
            ModbusError error = sendRequest(request, &data);
            return {error, (data != 0)};
        } else if (!(std::is_same_v<T, bool> && coilNum > 1)) {
            T data;
            ModbusError error = sendRequest(request, &data);
            return {error, data};
        } else {
            return {ModbusError::INVALID_ARG, 0};
        }
    }
    
    template<ModbusData T>
    SlaveReturn<T> readInputs(uint16_t reg) {
        mb_param_request_t request {
            .slave_addr = m_address,
            .command = 0x04,
            .reg_start = reg,
            .reg_size = (std::is_same_v<bool, T>? 1 : sizeof(T) / 2)
        };
        
        T data = 0;
        ModbusError error;
        error = sendRequest(request, &data);
        
        return {error, data};
    }
    
    template<ModbusData T>
    SlaveReturn<T> readDiscreteInputs(uint16_t reg) {
        mb_param_request_t request {
                .slave_addr = m_address,
                .command = 0x02,
                .reg_start = reg,
                .reg_size = (std::is_same_v<bool, T>? 1 : sizeof(T) * 8)
        };
        
        if (std::is_same_v<bool, T>) {
            uint8_t data = 0;
            ModbusError error;
            error = sendRequest(request, &data);
            
            return {error, (data != 0)};
        } else {
            T data = 0;
            ModbusError error;
            error = sendRequest(request, &data);
            
            return {error, data};
        }
    }
    
private:
    uint8_t m_address;
    uint8_t m_retries;
    
    ModbusError sendRequest(mb_param_request_t request, void* data) const;
};
}
#endif //DYNAMIC_MODBUS_MASTER_SLAVEDEVICE_H