Ns-Modbus: Integration of Modbus with ns-3 network simulator
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1 Final Project Presentation Summer 2013 Ns-Modbus: Integration of Modbus with ns-3 network simulator Mohammad Reza Sahraei May 8,
2 Road map Introduction Background knowledge Ns-Modbus design and implementation Verification and validation Model performance Future work Conclusion References May 8,
3 Road map Introduction Background knowledge Ns-Modbus design and implementation Verification and validation Model performance Future work Conclusion References May 8,
4 Introduction: project motivation EtherNet/IP then Modbus Learning ns-3 to assist CNL projects migration Graduation! CNL: Communication Networks Laboratory May 8,
5 Introduction: project scope Understanding the Modbus protocol Gaining experience with ns-3 Incorporating Modbus TCP in ns-3 May 8,
6 Introduction: project scope creep Incorporating Modbus UDP in ns-3 Modbus is based on client/server paradigm Getting familiar with ns-3 using the simpler UDP implementation Comparing TCP vs. UDP implementation May 8,
7 Road map Introduction Background knowledge Ns-Modbus design and implementation Verification and validation Model performance Future work Conclusion References May 8,
8 Background knowledge Modbus Network simulator May 8,
9 Background knowledge Modbus Network simulator May 8,
10 Modbus protocol overview Application layer protocol Request/response Exceptions ( status messages ) Timeout May 8,
11 Modbus protocol: frame Maximum ADU size: 256 bytes (RS 485) Maximum PDU size: 253 bytes May 8,
12 Modbus protocol: PDU type Modbus request Function code (1 byte, 1:127) Request data (variable length) Modbus response Function code (echoed) Response data (variable length) Modbus exception Exception function code (129:255) Exception code (1 byte) May 8,
13 Modbus protocol: function code Public General purpose, well documented, conformance test 1-64, 73-99, and User-defined Vendor-specific, not in specification, functionality not unique 65-72, and Reserved Vendors legacy applications, not public 9, 10, 13, 14, 41, 42, 90, 91, 125, 126, and 127 sub-codes 0-12 (8) and (43) May 8,
14 Modbus protocol: exception code 0x01: Illegal function 0x02: Illegal data address 0x03: Illegal data value 0x04: Device failure 0x05: Request in progress May 8,
15 May 8,
16 Modbus protocol: data model Data direction Input Output Data length Bit addressable Word addressable May 8,
17 Modbus protocol: primary tables Discrete input: bit, read only, I/O system Coils: bit, read/write Input registers: 16-bit, read only, I/O system Holding registers: 16-bit, read/write May 8,
18 Background knowledge Modbus Network simulator May 8,
19 Ns-3 overview Wired, wireless Routing algorithms Traffic generator: CBR, exponential, Pareto, trace file PCAP, trace file, log messages Visualization: NetAnim Ns: Network Simulator CBR: Constant Bit Rate PCAP: Packet CAPture NetAnim: Network Animator May 8,
20 Ns-2 versus ns-3 Ns-2 Code: C++ and OTcl Script: OTcl Nam More models Ns-3 C++ C++ or Python NetAnim More support Better design Better performance Nam: Network Animator May 8,
21 Ns-3 ecosystem Source control: Mercurial Distributed Build system: Waf Python-based wscript Visualization: NetAnim XML Waf: The shortest and easily typed name, no particular meaning! May 8,
22 Ns-3: NetAnim Node 0: server Node 1: client May 8,
23 Road map Introduction Background knowledge Ns-Modbus design and implementation Verification and validation Model performance Future work Conclusion References May 8,
24 Ns-Modbus classes Simulation scenario classes Bus and star topologies UDP and TCP Topology helper classes Assist users with common tasks: assigning IP, defining nodes, arranging connections, setting application on each node Model classes Core component, implements Modbus protocol specification May 8,
25 Ns-Modbus files File Name Relative Path Action myfirstmodbusudp.cc ~/ns-3-allinone/ns-3-dev/scratch/ Added myfirstmodbustcp.cc ~/ns-3-allinone/ns-3-dev/scratch/ Added busmodbusudp.cc ~/ns-3-allinone/ns-3-dev/scratch/ Added busmodbustcp.cc ~/ns-3-allinone/ns-3-dev/scratch/ Added busmodbustcpscenario1.cc ~/ns-3-allinone/ns-3-dev/scratch/ Added busmodbustcpscenario2.cc ~/ns-3-allinone/ns-3-dev/scratch/ Added busmodbustcpscenario3.cc ~/ns-3-allinone/ns-3-dev/scratch/ Added starmodbusudp.cc ~/ns-3-allinone/ns-3-dev/scratch/ Added starmodbustcp.cc ~/ns-3-allinone/ns-3-dev/scratch/ Added wscript ~/ns-3-allinone/ns-3-dev/src/applications/ Modified modbus-udp-helper.h ~/ns-3-allinone/ns-3-dev/src/applications/helper/ Added modbus-udp-helper.cc ~/ns-3-allinone/ns-3-dev/src/applications/helper/ Added modbus-tcp-helper.h ~/ns-3-allinone/ns-3-dev/src/applications/helper/ Added modbus-tcp-helper.cc ~/ns-3-allinone/ns-3-dev/src/applications/helper/ Added modbus-pdu.h ~/ns-3-allinone/ns-3-dev/src/applications/model/ Added modbus-pdu.cc ~/ns-3-allinone/ns-3-dev/src/applications/model/ Added modbus-mgr.h ~/ns-3-allinone/ns-3-dev/src/applications/model/ Added modbus-mgr.cc ~/ns-3-allinone/ns-3-dev/src/applications/model/ Added modbus-udp-client.h ~/ns-3-allinone/ns-3-dev/src/applications/model/ Added modbus-udp-client.cc ~/ns-3-allinone/ns-3-dev/src/applications/model/ Added modbus-udp-server.h ~/ns-3-allinone/ns-3-dev/src/applications/model/ Added modbus-udp-server.cc ~/ns-3-allinone/ns-3-dev/src/applications/model/ Added modbus-tcp-client.h ~/ns-3-allinone/ns-3-dev/src/applications/model/ Added modbus-tcp-client.cc ~/ns-3-allinone/ns-3-dev/src/applications/model/ Added modbus-tcp-server.h ~/ns-3-allinone/ns-3-dev/src/applications/model/ Added modbus-tcp-server.cc ~/ns-3-allinone/ns-3-dev/src/applications/model/ Added May 8,
26 Ns-Modbus function codes Function Code Sub Code Description Comments 02 Read Discrete Inputs Physical Discrete Inputs (bit access) 01 Read Coils Internal bits or Physical Coils (bit access) 05 Write Single Coil Internal bits or Physical Coils (bit access) 15 Write Multiple Coils Internal bits or Physical Coils (bit access) 04 Read Input Register 03 Read Holding Registers 06 Write Signle Register 16 Write Multiple Registers 23 Read/Write Multiple Registers 22 Mask Write Register Physical Input Registers (16-bit access) Internal Registers or Physical Output Registers (16-bit access) Internal Registers or Physical Output Registers (16-bit access) Internal Registers or Physical Output Registers (16-bit access) Internal Registers or Physical Output Registers (16-bit access) Internal Registers or Physical Output Registers (16-bit access) 24 Read FIFO queue Internal Registers or Physical Output Registers (16-bit access) 20 Read File Record File Record access 21 Write File Record File Record access 07 Read Exception Status Diagnostics , 20 Diagnostic Diagnostics 11 Get Com Event Counter Diagnostics 12 Get Com Event Log Diagnostics 17 Report Slave ID Diagnostics Read Device Identification Diagnostics 43 13, 14 Encapsulated Interface Transport Other CANopen General Reference Other May 8,
27 Ns-Modbus sample script May 8,
28 Ns-Modbus sample script May 8,
29 Ns-Modbus sample script May 8,
30 Ns-Modbus wscript May 8,
31 Ns-Modbus wscript May 8,
32 Road map Introduction Background knowledge Ns-Modbus design and implementation Verification and validation Model performance Future work Conclusion References May 8,
33 Verification and validation: test cases Sending request and receiving response Encapsulated interface transport Read coils Writing to and reading from primary table Write multiple coils Read coils Sending Modbus request with illegal data Undefined function code Invalid data address Invalid data value May 8,
34 Verification and validation: test cases Sending request and receiving response Encapsulated interface transport Read coils Writing to and reading from primary table Write multiple coils Read coils Sending Modbus request with illegal data Undefined function code Invalid data address Invalid data value May 8,
35 Sending request and receiving response test case: function codes Starting address: 19 Quantity of coils: 19 Read coils Encapsulated interface transport May 8,
36 Sending request and receiving response test case: scheduled requests Starts at 2s May 8,
37 Sending request and receiving response test case: verbose message logs Client sends the request at 3s May 8,
38 Sending request and receiving response test case: verbose message logs Client sends the request at 4s May 8,
39 Sending request and receiving response test case: Wireshark capture May 8,
40 Verification and validation: test cases Sending request and receiving response Encapsulated interface transport Read coils Writing to and reading from primary table Write multiple coils Read coils Sending Modbus request with illegal data Undefined function code Invalid data address Invalid data value May 8,
41 Writing to and reading from primary table test case: function codes Write coils Starting address Number of coils Length Coils values Write coils and read coils requests Read coils Starting address Number of coils May 8,
42 Writing to and reading from primary table test case: scheduled requests May 8,
43 Writing to and reading from primary table test case: verbose message logs May 8,
44 Writing to and reading from primary table test case: verbose message logs May 8,
45 Verification and validation: test cases Sending request and receiving response Encapsulated interface transport Read coils Writing to and reading from primary table Write multiple coils Read coils Sending Modbus request with illegal data Undefined function code Invalid data address Invalid data value May 8,
46 Sending Modbus request with illegal data test case: function codes May 8,
47 Sending Modbus request with illegal data test case: scheduled requests May 8,
48 Sending Modbus request with illegal data test case: verbose message logs May 8,
49 Sending Modbus request with illegal data test case: verbose message logs May 8,
50 Sending Modbus request with illegal data test case: verbose message logs May 8,
51 Road map Introduction Background knowledge Ns-Modbus design and implementation Verification and validation Model performance Future work Conclusion References May 8,
52 Model performance Application profiling Model scalability: Bus topology and star topology Runtime overhead Simulation robustness May 8,
53 Model performance: simulation environment Dell Inspiron Intel Pentium Dual-Core CPU 2.00 GHz 3 GB DIMM 800 MHz DDR, 4.5 GB Swap Hitachi 250 GB, Dual Port Cache, 5400 RPM HDD Ubuntu 11.10, with Linux generic GCC (Ubuntu/Linaro ubuntu3) Ns-3.13 (released Dec 2011) May 8,
54 Model performance: application profiling Node and link creation time Modbus simulation time Round-trip Modbus request/response time Total time May 8,
55 Model performance: application profiling probe locations May 8,
56 Model performance: application profiling probe locations May 8,
57 Model performance: scalability Modus UDP -> bus topology May 8,
58 Model performance: scalability Modbus TCP -> bus topology May 8,
59 Model performance: scalability Modbus TCP -> bus topology May 8,
60 Model performance: scalability Modbus UDP -> star topology May 8,
61 Model performance: scalability Modbus TCP -> star topology May 8,
62 Model performance: runtime overhead Modbus UDP -> bus topology May 8,
63 Model performance: runtime overhead Modbus TCP -> bus topology May 8,
64 Model performance: runtime overhead Modbus UDP -> star topology May 8,
65 Model performance: runtime overhead Modbus TCP -> star topology May 8,
66 Model performance: simulation robustness The maximum number of nodes tested for star topology is 3,500 The maximum number of nodes tested for bus topology is 253 No application crashes have been observed May 8,
67 Road map Introduction Background knowledge Ns-Modbus design and implementation Verification and validation Model performance Future work Conclusion References May 8,
68 Future work Incorporate the ns-modbus code into ns-3 distribution Upgrade ns-modbus to the latest ns-3 build (ns-3.16) Add emulating feature Send the Modbus frames in variable length May 8,
69 Future work Add Modbus client timeout Add bit manipulation memory blocks (m_inputsstatus and m_coilsstatus) Employ Modbus conformance test specifications for verification of the application May 8,
70 Road map Introduction Background knowledge Ns-Modbus design and implementation Verification and validation Model performance Future work Conclusion References May 8,
71 Conclusion Achieved the project objectives Modbus TCP and UDP integrated with ns-3 Validation result Logging messages, PCAP captures, and output animation show ns-modbus works properly and robustly Modbus core classes may be used in industrial devices Ns-Modbus over UDP has much better performance especially for the number of nodes higher than 50 May 8,
72 Road map Introduction Background knowledge Ns-Modbus design and implementation Verification and validation Model performance Future work Conclusion References May 8,
73 References [1] Modbus-IDA. (2006, December) Modbus application protocol specification V1.1b. [Online]. Available: [2] D. Peng, H. Zhang, L. Yang, and H. Li, Design and realization of Modbus protocol based on embedded Linux system, in Proc. ICESS 08, July 2008, pp [3] ns-3. (2012, November) Network simulator release [Online]. Available: [4] GNU Operating System. (2012, November) GNU General Public License. [Online]. Available: [5] ns-3. (2012, November) ns-3 Tutorial, Release ns-3.15 [Online]. Available: [6] Mercurial. (2012, November) mercurial [Online]. Available: [7] waf. (2012, November) waf [Online]. Available: May 8,
74 References [8] ns-3. (2012, April) ns-3 Tutorial [Online]. Available: [9] Modbus Organization (2009, December) Conformance test specification for Modbus TCP Version 3.0. [Online]. Available: [10] ns-3. (2012, November) Download [Online]. Available: [11] ns-3 Network Simulator. (2012, December) ns-3 Manual, Release ns-3.15 [Online]. Available: [12] ns-3 Network Simulator. (2012, December) ns-3 Model Library, Release ns-3.15 [Online]. Available: [13] ns-3 A Discrete-Event Network Simulator. (2012, December) ns-3 API, Release ns-3.15 [Online]. Available: May 8,
75 References [14] ns-3. (2012, December) Coding Style [Online]. Available: [15] ns-3. (2012, December) wiki [Online]. Available: May 8,
76 Thank You May 8,
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