Merge pull request #1 from r2k-in-the-vortex/ethercat_dev

Ethercat dev

.gitignore

@@ -15,3 +15,4 @@ CMakeSettings.json
 webserver/bin
 webserver/build
 obj/
+utils/dnp3_src/CMakeFiles/

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "utils/ethercat_src"]
+	path = utils/ethercat_src
+	url = https://github.com/r2k-in-the-vortex/ethercat_src.git

background_installer.sh

@@ -98,6 +98,16 @@ function install_all_libs {
     fi
     cd ../..
 
+    echo ""
+    echo "[EtherCAT]"
+    cd utils/ethercat_src
+    mkdir -p build
+    sudo cmake -S . -B build/
+    sudo cmake --build build/
+    sudo cmake --install build/
+    sudo /sbin/ldconfig -v | grep ethercat
+    cd ../..
+
     echo ""
     echo "[OPEN DNP3]"
     cd utils/dnp3_src

webserver/check_openplc_db.py

@@ -0,0 +1,156 @@
+##############################################################################
+#
+# Checks and initializes default database if needed
+#
+##############################################################################
+
+
+import sqlite3
+from sqlite3 import Error
+import os
+
+builddir = r"build/"
+dbfile = r"build/openplc.db"
+
+createTablePrograms = r"""CREATE TABLE `Programs` (
+    `Prog_ID`	INTEGER NOT NULL PRIMARY KEY AUTOINCREMENT,
+    `Name`	TEXT NOT NULL,
+    `Description`	TEXT,
+    `File`	TEXT NOT NULL,
+    `Date_upload`	INTEGER NOT NULL
+)"""
+
+insertblankProgram = r"INSERT INTO Programs VALUES (1, 'Blank Program', 'Dummy empty program', 'blank_program.st', 1527184953)"
+
+createTableSettings = r"""CREATE TABLE `Settings` (
+    `Key`	TEXT NOT NULL UNIQUE,
+    `Value`	TEXT NOT NULL,
+    PRIMARY KEY(`Key`)
+)"""
+
+
+createTableSlave_dev = r"""CREATE TABLE "Slave_dev" (
+    "dev_id"	INTEGER NOT NULL UNIQUE,
+    "dev_name"	TEXT NOT NULL UNIQUE,
+    "dev_type"	TEXT NOT NULL,
+    "slave_id"	INTEGER NOT NULL,
+    "com_port"	TEXT,
+    "baud_rate"	INTEGER,
+    "parity"	TEXT,
+    "data_bits"	INTEGER,
+    "stop_bits"	INTEGER,
+    "ip_address"	TEXT,
+    "ip_port"	INTEGER,
+    "di_start"	INTEGER NOT NULL,
+    "di_size"	INTEGER NOT NULL,
+    "coil_start"	INTEGER NOT NULL,
+    "coil_size"	INTEGER NOT NULL,
+    "ir_start"	INTEGER NOT NULL,
+    "ir_size"	INTEGER NOT NULL,
+    "hr_read_start"	INTEGER NOT NULL,
+    "hr_read_size"	INTEGER NOT NULL,
+    "hr_write_start"	INTEGER NOT NULL,
+    "hr_write_size"	INTEGER NOT NULL,
+    "pause"	INTEGER,
+    PRIMARY KEY("dev_id" AUTOINCREMENT)
+)"""
+
+createTableUsers = r"""CREATE TABLE "Users" (
+    `user_id`	INTEGER NOT NULL PRIMARY KEY AUTOINCREMENT,
+    `name`	TEXT NOT NULL,
+    `username`	TEXT NOT NULL UNIQUE,
+    `email`	TEXT,
+    `password`	TEXT NOT NULL,
+    `pict_file`	TEXT
+)"""
+
+insertDefaultUser = r"INSERT INTO Users VALUES (10, 'OpenPLC User', 'openplc', 'openplc@openplc.com','openplc', NULL)"
+
+
+
+gettablesQuery = r"""SELECT name FROM sqlite_master  
+  WHERE type='table';"""
+getsettingsQuery = r"""SELECT Key FROM Settings"""
+
+# return true if created fresh table
+def checkTableExists(conn, tablename, tablecreatecommand):
+    cur = conn.cursor()
+    cur.execute(gettablesQuery)
+    rows = cur.fetchall()
+    for row in rows:
+        if row[0] == tablename:
+            cur.close()
+            return False
+    print(tablename, " didn't exist, creating")
+    cur.execute(tablecreatecommand)
+    cur.close()
+    return True
+
+def checkTablePrograms(conn):
+    if checkTableExists(conn, "Programs", createTablePrograms):
+        cur = conn.cursor()
+        cur.execute(insertblankProgram)
+        cur.close()
+    return
+
+def checkTableUsers(conn):
+    if checkTableExists(conn, "Users", createTableUsers):
+        cur = conn.cursor()
+        cur.execute(insertDefaultUser)
+        cur.close()
+    return
+
+# if code has new features, old database might not have required settings
+def checkSettingExists(conn, setting, defaultvalue):
+    cur = conn.cursor()
+    cur.execute(getsettingsQuery)
+    rows = cur.fetchall()
+    for row in rows:
+        if row[0] == setting:
+            cur.close()
+            return False
+    print(setting, " didn't exist, creating")
+    cur.execute("INSERT INTO Settings VALUES (?, ?)", (setting, defaultvalue))
+    cur.close()
+    return
+
+def checkTableSettings(conn):
+    checkTableExists(conn, "Settings", createTableSettings)
+    checkSettingExists(conn, 'Modbus_port', '502')
+    checkSettingExists(conn, 'Dnp3_port', '20000')
+    checkSettingExists(conn, 'Start_run_mode', 'false')
+    checkSettingExists(conn, 'Slave_polling', '100')
+    checkSettingExists(conn, 'Slave_timeout', '1000')
+    checkSettingExists(conn, 'Enip_port', '44818')
+    checkSettingExists(conn, 'Pstorage_polling', 'disabled')
+    return
+
+def checkTableSlave_dev(conn):
+    checkTableExists(conn, "Slave_dev", createTableSlave_dev)
+    return
+
+def create_connection():
+    """ create a database connection to a SQLite database """
+    if not os.path.exists(builddir):
+        os.mkdir(builddir)
+
+    conn = None
+    try:
+        conn = sqlite3.connect(dbfile)
+        checkTablePrograms(conn)
+        checkTableUsers(conn)
+        checkTableSettings(conn)
+        checkTableSlave_dev(conn)
+    except Error as e:
+        print(sqlite3.version)
+        print(e)
+    finally:
+        if conn:
+            # NB, if you close without commiting, last actions might not be saved
+            conn.commit()
+            return conn
+
+
+if __name__ == '__main__':
+    conn = create_connection()
+    conn.close()

webserver/core/interactive_server.cpp

@@ -36,8 +36,11 @@
 #include <time.h>
 
 #include "ladder.h"
+#define BUFFER_SIZE 1024
 
 //Global Variables
+bool ethercat_configured = 0;
+char ethercat_conf_file[BUFFER_SIZE];
 bool run_modbus = 0;
 uint16_t modbus_port = 502;
 bool run_dnp3 = 0;
@@ -58,6 +61,12 @@ pthread_t dnp3_thread;
 pthread_t enip_thread;
 pthread_t pstorage_thread;
 
+//-----------------------------------------------------------------------------
+// Configure Ethercat
+//-----------------------------------------------------------------------------
+int configureEthercat(){
+    return 1;
+}
 //-----------------------------------------------------------------------------
 // Start the Modbus Thread
 //-----------------------------------------------------------------------------
@@ -111,6 +120,28 @@ int readCommandArgument(unsigned char *command)
     
     return atoi(argument);
 }
+//-----------------------------------------------------------------------------
+// Read string argument from a command function
+//-----------------------------------------------------------------------------
+unsigned char *readCommandArgumentStr(unsigned char *command)
+{
+    int i = 0;
+    int j = 0;
+    unsigned char *argument;
+    argument = (unsigned char *)malloc(1024 * sizeof(unsigned char));
+    
+    while (command[i] != '(' && command[i] != '\0') i++;
+    if (command[i] == '(') i++;
+    while (command[i] != ')' && command[i] != '\0')
+    {
+        argument[j] = command[i];
+        i++;
+        j++;
+        argument[j] = '\0';
+    }
+    
+    return argument;
+}
 
 //-----------------------------------------------------------------------------
 // Create the socket and bind it. Returns the file descriptor for the socket
@@ -235,6 +266,19 @@ void processCommand(unsigned char *buffer, int client_fd)
         run_openplc = 0;
         processing_command = false;
     }
+    else if (strncmp(buffer, "start_ethercat(", 15) == 0)
+    {
+        processing_command = true;
+        char *argument;
+        argument = (char)readCommandArgumentStr(buffer);
+        strcpy(ethercat_conf_file, argument);
+        free(argument);
+        sprintf(log_msg, "Issued start_ethercat() command to start with config: %s\n", ethercat_conf_file);
+        log(log_msg);
+        //Configure ethercat
+        ethercat_configured = configureEthercat();
+        processing_command = false;
+    }
     else if (strncmp(buffer, "start_modbus(", 13) == 0)
     {
         processing_command = true;

webserver/core/main.cpp

@@ -32,6 +32,7 @@
 
 #include "iec_types.h"
 #include "ladder.h"
+#include "ethercat_src.h"
 
 #define OPLC_CYCLE          50000000
 
@@ -181,6 +182,15 @@ void handleSpecialFunctions()
     //insert other special functions below
 }
 
+// pointers to IO *array[const][const] from cpp to c and back again don't work as expected, so instead callbacks
+u_int8_t *bool_input_call_back(int a, int b){ return bool_input[a][b]; }
+u_int8_t *bool_output_call_back(int a, int b){ return bool_output[a][b]; }
+u_int8_t *byte_input_call_back(int a){ return byte_input[a]; }
+u_int8_t *byte_output_call_back(int a){ return byte_output[a]; }
+u_int16_t *int_input_call_back(int a){ return int_input[a]; }
+u_int16_t *int_output_call_back(int a){ return int_output[a]; }
+
+
 int main(int argc,char **argv)
 {
     unsigned char log_msg[1000];
@@ -209,6 +219,7 @@ int main(int argc,char **argv)
     //======================================================
     //              HARDWARE INITIALIZATION
     //======================================================
+    ethercat_configure("../utils/ethercat_src/conf/ethercatcfg.txt");
     initializeHardware();
     initializeMB();
     initCustomLayer();
@@ -225,6 +236,8 @@ int main(int argc,char **argv)
     readPersistentStorage();
     //pthread_t persistentThread;
     //pthread_create(&persistentThread, NULL, persistentStorage, NULL);
+    
+
 
 #ifdef __linux__
     //======================================================
@@ -261,9 +274,28 @@ int main(int argc,char **argv)
 		//attached to the user variables
 		glueVars();
         
+        boolvar_call_back bool_input_callback = bool_input_call_back;
+        boolvar_call_back bool_output_callback = bool_output_call_back;
+        int8var_call_back byte_input_callback = byte_input_call_back;
+        int8var_call_back byte_output_callback = byte_output_call_back;
+        int16var_call_back int_input_callback = int_input_call_back;
+        int16var_call_back int_output_callback = int_output_call_back;
+        
 		updateBuffersIn(); //read input image
 
 		pthread_mutex_lock(&bufferLock); //lock mutex
+
+
+        if(ethercat_callcyclic(BUFFER_SIZE, 
+                bool_input_callback, 
+                bool_output_callback, 
+                byte_input_callback, 
+                byte_output_callback, 
+                int_input_callback, 
+                int_output_callback)){
+            printf("EtherCAT cyclic failed\n");
+            break;
+        }
 		updateCustomIn();
         updateBuffersIn_MB(); //update input image table with data from slave devices
         handleSpecialFunctions();

webserver/scripts/compile_program.sh

@@ -78,7 +78,7 @@ elif [ "$OPENPLC_PLATFORM" = "linux" ]; then
     echo "Generating glueVars..."
     ./glue_generator
     echo "Compiling main program..."
-    g++ -std=gnu++11 *.cpp *.o -o openplc -I ./lib -pthread -fpermissive `pkg-config --cflags --libs libmodbus` -lasiodnp3 -lasiopal -lopendnp3 -lopenpal -w
+    g++ -std=gnu++11 *.cpp *.o -o openplc -I ./lib -pthread -fpermissive `pkg-config --cflags --libs libmodbus` -lasiodnp3 -lasiopal -lopendnp3 -lopenpal -w  -L../../utils/ethercat_src/build/lib -lethercat_src -I../../utils/ethercat_src/src
     if [ $? -ne 0 ]; then
         echo "Error compiling C files"
         echo "Compilation finished with errors!"