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connect.go
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connect.go
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package gologix
import (
"bytes"
"encoding/binary"
"errors"
"fmt"
"log/slog"
"net"
"time"
)
const (
connSizeLargeDefault = 4000 // default large connection size
connSizeStandardDefault = 511 // default small connection size
connSizeStandardMax = 511 // maximum size of connection for standard
portDefault = 44818 // default CIP port
vendorIdDefault = 0x9999 // default vendor id. Used to prevent vendor ID conflicts
socketTimeoutDefault = time.Second * 10
rpiDefault = time.Millisecond * 2500
)
// Connect to the PLC.
func (client *Client) Connect() error {
if client.disconnecting {
client.SLogger.Debug("waiting for client to finish disconnecting before connecting")
for client.disconnecting {
time.Sleep(time.Millisecond * 10)
}
}
if client.connected || client.connecting {
return nil
}
client.connecting = true
defer func() { client.connecting = false }()
if client.SLogger != nil {
client.SLogger = client.SLogger.With(slog.String("controllerIp", client.Controller.IpAddress))
}
if client.ConnectionSize == 0 {
client.ConnectionSize = connSizeLargeDefault
}
if client.Controller.Port == 0 {
client.Controller.Port = portDefault
}
if client.Controller.VendorId == 0 {
client.Controller.VendorId = vendorIdDefault
}
if client.SocketTimeout == 0 {
client.SocketTimeout = socketTimeoutDefault
}
if client.RPI == 0 {
client.RPI = rpiDefault
}
client.sequenceNumber.Add(uint32(time.Now().UnixMilli()))
// default path is back plane -> slot 0
var err error
if client.Controller.Path == nil {
client.Controller.Path, err = Serialize(CIPPort{PortNo: 1}, cipAddress(0))
if err != nil {
msg := "cannot setup default path"
client.SLogger.Error(msg, slog.Any("err", err))
return fmt.Errorf("%s: %w", msg, err)
}
}
if client.ioi_cache == nil {
client.ioi_cache = make(map[string]*tagIOI)
}
address := fmt.Sprintf("%s:%v", client.Controller.IpAddress, client.Controller.Port)
client.conn, err = net.DialTimeout("tcp", address, client.SocketTimeout)
if err != nil {
msg := "cannot connect to controller"
client.SLogger.Error(msg, slog.Any("err", err))
return fmt.Errorf("%s: %w", msg, err)
}
err = client.registerSession()
if err != nil {
return err
}
if client.ConnectionSize > connSizeStandardMax {
item, err := client.newForwardOpenLarge()
if err != nil {
return err
}
err = client.forwardOpen(item)
if err != nil {
client.SLogger.Warn("large forward open failed. falling back to standard forward open", slog.Any("err", err))
client.ConnectionSize = connSizeStandardDefault
}
}
if client.ConnectionSize <= connSizeStandardMax {
item, err := client.newForwardOpenStandard()
if err != nil {
return err
}
err = client.forwardOpen(item)
if err != nil {
client.SLogger.Error("unable to open connection", slog.Any("err", err))
return err
}
}
client.connected = true
if client.KeepAliveAutoStart {
go client.KeepAlive()
}
return nil
}
func (client *Client) Connected() bool {
return client.connected
}
func (client *Client) registerSession() error {
reg_msg := msgCIPRegister{
ProtocolVersion: 1,
OptionFlag: 0,
}
header, _, err := client.send_recv_data(cipCommandRegisterSession, reg_msg)
if err != nil {
msg := "cannot get connect response"
client.SLogger.Error(msg, slog.Any("err", err))
return fmt.Errorf("%s: %w", msg, err)
}
client.SessionHandle = header.SessionHandle
client.SLogger.Info("Session connected", slog.Any("sessionHandle", client.SessionHandle))
return nil
}
func (client *Client) KeepAlive() {
if !client.KeepAliveAutoStart || client.SocketTimeout == 0 {
return
}
if client.keepAliveRunning {
err := errors.New("keepalive already running")
client.SLogger.Warn(err.Error())
}
client.SLogger.Debug("starting keep alive")
client.cancel_keepalive = make(chan struct{})
client.keepAliveRunning = true
defer func() { client.keepAliveRunning = false }()
originalProps, err := client.GetAttrList(CipObject_ControllerInfo, 1, client.KeepAliveProps...)
if err != nil {
client.Logger.Printf("keepalive prop list failed. %w", err)
client.SLogger.Error(
"initial keep alive property get failed",
slog.Any("client.KeepAliveProps", client.KeepAliveProps),
slog.Any("err", err),
)
return
}
err = client.ListAllTags(0)
if err != nil {
client.Logger.Printf("keepalive list tags failed. %w", err)
client.SLogger.Error("keepalive list tags failed", slog.Any("err", err))
return
}
t := time.NewTicker(client.KeepAliveFrequency)
defer t.Stop()
for {
select {
case <-t.C:
if !client.connected {
client.SLogger.Warn("keepalive failed. not connected")
return
}
newProps, err := client.GetAttrList(CipObject_ControllerInfo, 1, client.KeepAliveProps...)
if err != nil {
client.Logger.Printf("keepalive failed. %w", err)
client.SLogger.Error("keepalive failed", slog.Any("err", err))
client.Disconnect()
return
}
if newProps != originalProps {
client.Logger.Printf("controller change detected. re-analyzing types.\n Was: %+v\n Is: %+v", originalProps, newProps)
client.SLogger.Info(
"controller change detected. re-analyzing types",
slog.Any("originalProps", originalProps),
slog.Any("newProps", newProps),
)
err := client.ListAllTags(0)
if err != nil {
client.Logger.Printf("keepalive list tags failed. %v", err)
return
}
originalProps = newProps
}
case <-client.cancel_keepalive:
client.KeepAliveAutoStart = false
return
}
}
}
type msgPreItemData struct {
Handle uint32
Timeout uint16
}
type msgCIPMessageRouterResponse struct {
Service CIPService
Reserved byte // always 0
Status CIPStatus // result status
StatusLen byte // additional result word count - can be zero
}
type msgEIPForwardClose struct {
Service CIPService
PathSize byte
ClassType byte
Class byte
InstanceType byte
Instance byte
Priority byte
TimeoutTicks byte
ConnectionSerialNumber uint16
VendorID uint16
OriginatorSerialNumber uint32
ConnPathSize byte
}
// message for opening either a large or standard connection
// in this message T is for target and O is for originator so
// TO is target -> originator and OT is originator -> target
type cipForwardOpen[T uint16 | uint32] struct {
Service CIPService
PathSize byte // length in words
ClassType cipClassSize
Class byte
InstanceType cipInstanceSize
Instance byte
Priority byte // 0x0A means normal multiplier (about 1 second)
TimeoutTicks byte // number of "priority" ticks (Ex: 0x0E = 14 * Priority = ~1 sec => ~ 14 seconds.)
OTConnectionID uint32
TOConnectionID uint32
ConnectionSerialNumber uint16
VendorID uint16
OriginatorSerialNumber uint32
Multiplier uint32
OtRpi uint32
OTNetworkConnParams T // uint16 if standard, uint32 if large
ToRpi uint32
TONetworkConnParams T // uint16 if standard, uint32 if large
TransportTrigger byte
ConnPathSize byte
}
func (client *Client) newForwardOpenLarge() (CIPItem, error) {
item := CIPItem{Header: cipItemHeader{ID: cipItem_UnconnectedData}}
if client.ConnectionSize == 0 {
client.ConnectionSize = connSizeLargeDefault
}
if client.ConnectionSize <= connSizeStandardMax {
client.SLogger.Info(
"The size could be a standard connection",
slog.Any("standardMaxSize", connSizeStandardMax),
slog.Any("size", client.ConnectionSize),
)
}
path, err := Serialize(
client.Controller.Path,
CipObject_MessageRouter,
CIPInstance(1),
)
if err != nil {
return item, fmt.Errorf("couldn't build path. %w", err)
}
client.ConnectionSerialNumber = uint16(client.sequenceNumber.Add(1))
const (
redundantOwner uint32 = 0 // 0 = no-redundant, 1 = redundant
connectionType uint32 = 2 // 0 = null, 1 = multicast, 2 = point to point, 3 = reserved
priority uint32 = 0 // 0 = low, 1 = high, 2 = scheduled, 3 = urgent
connectionSizeType uint32 = 1 // 1 = variable, 0 = fixed
)
connectionParameters := uint32(
redundantOwner<<31 |
connectionType<<29 |
priority<<26 |
connectionSizeType<<25 |
uint32(client.ConnectionSize),
)
var msg cipForwardOpen[uint32]
msg.Service = CIPService_LargeForwardOpen
// this next section is the path
msg.PathSize = 0x02
msg.ClassType = cipClass_8bit
msg.Class = byte(CipObject_ConnectionManager)
msg.InstanceType = cipInstance_8bit
msg.Instance = 0x01
// this next section is the path
msg.Priority = 0x0A
msg.TimeoutTicks = 0x0E
msg.OTConnectionID = client.sequenceNumber.Add(1) // pyLogix always uses 0x20000002
msg.TOConnectionID = client.sequenceNumber.Add(1)
msg.ConnectionSerialNumber = client.ConnectionSerialNumber
msg.VendorID = client.VendorId
msg.OriginatorSerialNumber = client.SerialNumber
msg.Multiplier = 0x03
msg.OtRpi = uint32(client.RPI / time.Microsecond)
msg.OTNetworkConnParams = connectionParameters
msg.ToRpi = uint32(client.RPI / time.Microsecond)
msg.TONetworkConnParams = connectionParameters
msg.TransportTrigger = 0xA3
msg.ConnPathSize = byte(path.Len() / 2)
item.Serialize(msg)
item.Serialize(path.Bytes())
return item, nil
}
type msgCIPRegister struct {
ProtocolVersion uint16
OptionFlag uint16
}
func (client *Client) newForwardOpenStandard() (CIPItem, error) {
if client.ConnectionSize == 0 {
client.ConnectionSize = connSizeStandardDefault
}
if client.ConnectionSize > connSizeStandardMax {
client.SLogger.Warn(
"connection size too large. resetting to max size",
slog.Any("oldConnectionSize", client.ConnectionSize),
slog.Any("newConnectionSize", connSizeStandardMax),
)
client.ConnectionSize = connSizeStandardMax
}
item := CIPItem{Header: cipItemHeader{ID: cipItem_UnconnectedData}}
path, err := Serialize(
client.Controller.Path,
CipObject_MessageRouter,
CIPInstance(1),
)
if err != nil {
return item, fmt.Errorf("couldn't build path. %w", err)
}
client.ConnectionSerialNumber = uint16(client.sequenceNumber.Add(1))
const (
redundantOwner uint16 = 0 // 0 = no-redundant, 1 = redundant
connectionType uint16 = 2 // 0 = null, 1 = multicast, 2 = point to point, 3 = reserved
priority uint16 = 0 // 0 = low, 1 = high, 2 = scheduled, 3 = urgent
connectionSizeType uint16 = 1 // 1 = variable, 0 = fixed
)
connectionParameters := uint16(
redundantOwner<<15 |
connectionType<<13 |
priority<<10 |
connectionSizeType<<9 |
client.ConnectionSize,
)
var msg cipForwardOpen[uint16]
msg.Service = CIPService_ForwardOpen
// this next section is the path
msg.PathSize = 0x02
msg.ClassType = cipClass_8bit
msg.Class = byte(CipObject_ConnectionManager)
msg.InstanceType = cipInstance_8bit
msg.Instance = 0x01
// end of path
msg.Priority = 0x07
msg.TimeoutTicks = 0xE9
msg.OTConnectionID = client.sequenceNumber.Add(1)
msg.TOConnectionID = client.sequenceNumber.Add(1)
msg.ConnectionSerialNumber = client.ConnectionSerialNumber
msg.VendorID = client.VendorId
msg.OriginatorSerialNumber = client.SerialNumber
msg.Multiplier = 0x00
msg.OtRpi = uint32(client.RPI / time.Microsecond)
msg.OTNetworkConnParams = connectionParameters
msg.ToRpi = uint32(client.RPI / time.Microsecond)
msg.TONetworkConnParams = connectionParameters
msg.TransportTrigger = 0xA3
msg.ConnPathSize = byte(path.Len() / 2)
item.Serialize(msg)
item.Serialize(path.Bytes())
return item, nil
}
func (client *Client) forwardOpen(forwardOpenMsg CIPItem) error {
reqItems := make([]CIPItem, 2)
reqItems[0] = CIPItem{Header: cipItemHeader{ID: cipItem_Null}}
reqItems[1] = forwardOpenMsg
itemData, err := serializeItems(reqItems)
if err != nil {
client.SLogger.Error("error serializing items", slog.Any("err", err))
return err
}
header, data, err := client.send_recv_data(cipCommandSendRRData, itemData)
if err != nil {
client.SLogger.Error("error sending data", slog.Any("err", err))
return err
}
items, err := client.parseResponse(&header, data)
if err != nil {
client.SLogger.Error("error parsing response", slog.Any("err", err))
return err
}
respContent := msgCipForwardOpenReply{}
err = items[1].DeSerialize(&respContent)
if err != nil {
client.SLogger.Error("error deserializing forward open response", slog.Any("err", err))
return fmt.Errorf("error deserializing forward open response content. %w", err)
}
client.OTNetworkConnectionID = respContent.OtNetworkConnectionId
client.SLogger.Info(
"successfully opened connection",
slog.Any("ConnectionSize", uint32(client.ConnectionSize)),
slog.Any("OTNetworkConnectionId", respContent.OtNetworkConnectionId),
)
return nil
}
type msgCipForwardOpenReply struct {
OtNetworkConnectionId uint32
TOConnectionId uint32
ConnectionSerialNumber uint16
OriginatorVendorId uint16
OriginatorSerialNumber uint32
OTApiNs uint32
TOApiNs uint32
ApplicationReply uint8
Reserved uint8
}
type msgEIPForwardOpen_Standard_Reply struct {
Service CIPService
Reserved byte
Status CIPStatus
StatusLen byte
OTConnectionID uint32
TOConnectionID uint32
ConnectionSerialNumber uint16
VendorID uint16
OriginatorSerialNumber uint32
OTApi uint32
TOApi uint32
ReplySize byte
Reserved2 byte
}
func (client *Client) checkConnection() error {
if !client.connected {
if client.AutoConnect {
err := client.Connect()
if err != nil {
return fmt.Errorf("not connected and connect attempt failed: %w", err)
}
} else {
return fmt.Errorf("not connected and AutoConnect not enabled")
}
}
return nil
}
func (client *Client) parseResponse(header *eipHeader, data *bytes.Buffer) ([]CIPItem, error) {
if header.Status != 0 {
return nil, fmt.Errorf("forward open failed. status: %v", header.Status)
}
preItem := msgPreItemData{}
err := binary.Read(data, binary.LittleEndian, &preItem)
if err != nil {
return nil, fmt.Errorf("problem reading items header from forward open request. %w", err)
}
items, err := readItems(data)
if err != nil {
return nil, fmt.Errorf("problem reading items from forward open request. %w", err)
}
respHeader := msgCIPMessageRouterResponse{}
err = items[1].DeSerialize(&respHeader)
if err != nil {
return nil, fmt.Errorf("error deserializing forward open response header. %w", err)
}
extended_status := make([]byte, respHeader.StatusLen*2)
if respHeader.StatusLen != 0 {
err = items[1].DeSerialize(&extended_status)
if err != nil {
return nil, fmt.Errorf("error deserializing forward open response header extended status. %w", err)
}
}
if respHeader.Status != 0 {
errMsg := "bad status on response"
client.SLogger.Error(errMsg,
slog.Any("status", respHeader.Status),
slog.String("statusDesc", respHeader.Status.String()),
)
return nil, fmt.Errorf("%s status: %v", errMsg, respHeader.Status)
}
return items, nil
}