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275 lines
9.1 KiB
C
275 lines
9.1 KiB
C
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/***************************************************************************
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rlstate.h - description
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-------------------
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begin : Sat Dec 29 2012
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copyright : (C) 2012 by R. Lehrig
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email : lehrig@t-online.de
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***************************************************************************/
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/***************************************************************************
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* *
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* This library is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU LESSER GENERAL PUBLIC LICENSE as *
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* published by the Free Software Foundation *
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* *
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***************************************************************************/
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#ifndef _RL_STATE_H
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#define _RL_STATE_H
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <ctype.h>
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#include "rlthread.h"
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/*! <pre>
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This class is used to implement a statemachine.
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Under pvbaddon/templates/statemachine/plc you find the statemachine consisting of several threads.
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The main thread will read/write a Modbus PLC.
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The statemachine stm2 will handle a small demo statemachine.
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The statemachine stm1 will start stm2 if the user selects this function.
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The data will be stored in a shared memory.
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The shared memory contains a complex datastructure (typedef struct {...} USER_DEFINED_STRUCTURE;) which can be used to exchange values between several processes.
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The pvbrowser visualization server is located under pvbaddon/templates/statemachine/pvs
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There we use a SVG graphic (stm2.svg) showing the statemachine.
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This graphic is generated by graphviz from stm2.dot
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pvs and plc exchange data only via shared memory.
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Please start both (plc and pvs) in a separate terminal and then start the pvbrowser client
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Here is some sourcecode from the template:
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// ***************************************************************************
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// main.cpp - description
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// -------------------
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// begin : Sa. Mai 4 09:29:07 2013
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// generated by : pvdevelop (C) Lehrig Software Engineering
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// email : lehrig@t-online.de
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// ***************************************************************************
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#include "plcapp.h"
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SHM_DATA *shm_data;
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rlSharedMemory shm("/srv/automation/shm/plc.shm", sizeof(SHM_DATA));
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rlSerial tty;
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rlModbus mb;
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rlMutex mb_mutex;
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rlState sm1, sm2;
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//// helper functions
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int printBinByte(unsigned char val)
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{
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if(val & BIT7) printf("1");
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else printf("0");
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if(val & BIT6) printf("1");
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else printf("0");
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if(val & BIT5) printf("1");
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else printf("0");
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if(val & BIT4) printf("1");
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else printf("0");
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printf(":");
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if(val & BIT3) printf("1");
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else printf("0");
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if(val & BIT2) printf("1");
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else printf("0");
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if(val & BIT1) printf("1");
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else printf("0");
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if(val & BIT0) printf("1");
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else printf("0");
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return 0;
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}
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int printBin(unsigned char *data)
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{
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printf("BinData: ");
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printBinByte(data[0]);
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printf(" - ");
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printBinByte(data[1]);
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return 0;
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}
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//// Schneider PLC: first 4 bits are outputs then 6 bits input follow
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static int readIO()
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{
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unsigned char data[256];
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int ret;
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MB_readInputStatus(1,0,10,data); // read all IO values from modbus
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shm_data->plc.in.in1 = mb.data2int(data); // store data in shared memory
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if(trace)
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{
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printf("readIO:: ret=%d ", ret);
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printBin(data);
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printf(" in1=%x\n", shm_data->plc.in.in1);
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}
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return 0;
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}
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static int writeIO()
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{
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unsigned char coils[8];
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int ret;
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coils[0] = shm_data->plc.out.out1 & 0x0ff;
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MB_forceMultipleCoils(1,0,4,coils); // write the 4 output bits to modbus
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return 0;
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}
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int main()
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{
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if(trace) printf("plc starting ...\n");
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if(trace) printf("shm.status=%d\n", shm.status);
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if(shm.status != rlSharedMemory::OK)
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{
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printf("ERROR: shared memory status is not ok\n");
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return -1;
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}
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shm_data = (SHM_DATA *) shm.getUserAdr();
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memset(shm_data,0,sizeof(SHM_DATA));
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if(tty.openDevice("/dev/ttyUSB0",B9600,1,1,8,1,rlSerial::NONE) < 0)
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{
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printf("ERROR: openDevice(\"/dev/tty/USB0\")\n");
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}
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mb.registerSerial(&tty);
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startStepsStm1(&sm1, 100); // start statemachine 1
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startStepsStm2(&sm2, 100); // start statemachine 2
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printf("going to IO loop\n");
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while(1)
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{
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readIO();
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writeIO();
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rlsleep(10);
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}
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return 0;
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}
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// *****************************************************************************
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// stm2.cpp - description
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// -------------------
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// begin : Sa. Mai 4 09:29:07 2013
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// generated by : pvdevelop (C) Lehrig Software Engineering
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// email : lehrig@t-online.de
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// A simple template for implementing your own statemachine
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// See: pvbaddon/templates/statemachine
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// *****************************************************************************
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#include "plcapp.h"
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////TODO: define our states
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//// Your states are defined by static functions which get a pointer to the statemachine
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//// The pointer sm->user might be used to transfer the address of a user defined datastructure
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//// A transition from one state to the next is done by sm->gotoState(theNextState);
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//// Your statemachine runs within a separate thread and the current state is called within "cycletime" intervals
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static void stStart(rlState *sm);
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static void stProcess(rlState *sm);
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static void stFinish(rlState *sm);
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////TODO: implement our states
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static void stStart(rlState *sm)
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{
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shm_data->plc.out.out1 = 1; // set output 1 in shared memory
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if(sm->stepCounter > 20)
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{
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shm_data->plc.out.out1 = 2; // reset output 1 in shared memory
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strcpy(shm_data->plc.state.stm2_name,"Process"); // set next state name in shared memory
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sm->gotoState(stProcess); // goto the next state
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}
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}
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static void stProcess(rlState *sm)
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{
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shm_data->plc.out.out1 = sm->stepCounter; // set output 1 in shared memory
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if(sm->stepCounter > 30)
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{
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strcpy(shm_data->plc.state.stm2_name,"Finish"); // set next state name in shared memory
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sm->gotoState(stFinish); // goto the next state
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}
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}
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static void stFinish(rlState *sm)
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{
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shm_data->plc.out.out1 = 1; // set output 1 in shared memory
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if(sm->stepCounter > 30)
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{
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shm_data->plc.out.out1 = 0; // reset output 1 in shared memory
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strcpy(shm_data->plc.state.stm2_name,"NULL"); // set next state name NULL
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shm_data->plc.state.stm2_running = 0; // reset running in shared memory
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sm->gotoState(NULL); // goto NULL state
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}
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}
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int startStepsStm2(rlState *sm, int cycletime) // start our statemachine
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{
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if(trace) printf("stm2 starting\n");
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shm_data->plc.state.stm2_running = 1; // set running in shared memory
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strcpy(shm_data->plc.state.stm2_name,"Start"); // set next state name in shared memory
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sm->gotoState(stStart); // goto nextState
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sm->startSteps(cycletime); // start a thread which handles the statemachine
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return 0;
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}
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// ***************************************************************************
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// stm1.cpp - description
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// -------------------
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// begin : Sa. Mai 4 09:29:07 2013
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// generated by : pvdevelop (C) Lehrig Software Engineering
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// email : lehrig@t-online.de
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// ***************************************************************************
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#include "plcapp.h"
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extern rlState sm2;
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////TODO: define our states
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static void stStart(rlState *sm);
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////TODO: implement our states
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static void stStart(rlState *sm)
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{
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shm_data->plc.out.out2 = sm->stepCounter;
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if(shm_data->plc.state.stm2_running == 0)
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{
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if(shm_data->pvs.state.button_start_stm2 == 1)
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{
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startStepsStm2(&sm2, 100); // start statemachine 2 thread
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}
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else if(shm_data->plc.in.in1 & BIT1)
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{
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startStepsStm2(&sm2, 100); // start statemachine 2 thread
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}
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}
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}
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int startStepsStm1(rlState *sm, int cycletime) // start our statemachine
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{
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if(trace) printf("Start stm1\n");
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shm_data->plc.state.stm1_running = 1; // set running within shared memory
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sm->gotoState(stStart); // goto nextState
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sm->startSteps(cycletime); // start a thread that will handle our statemachine
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return 0;
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}
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</pre>
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*/
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class rlState
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{
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public:
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rlState();
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~rlState();
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int startSteps(int cycletime);
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int runSteps(int cycletime);
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void gotoState(void (*funcPtr)(rlState *sm));
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void *user;
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int stepCounter;
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int cycletime;
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static const long MAX_STEP = 1000*1000*1000;
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void (*nextStep)(rlState *sm);
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void (*lastState)(rlState *sm);
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rlThread thread;
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};
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#endif
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