IO libnodave for Siemens PLC added

otherio/exp/rt/src/openSocket.h

+/*
+ Part of Libnodave, a free communication libray for Siemens S7 300/400.
+ 
+ (C) Thomas Hergenhahn (thomas.hergenhahn@web.de) 2002, 2003.2004
+
+ Libnodave is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2, or (at your option)
+ any later version.
+
+ Libnodave is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with Libnodave; see the file COPYING.  If not, write to
+ the Free Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.  
+*/
+
+
+#ifndef opensocket__
+#define opensocket__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef BCCWIN
+#ifdef DOEXPORT
+#define EXPORTSPEC __declspec (dllexport)
+#else
+#define EXPORTSPEC __declspec (dllimport)
+#endif
+EXPORTSPEC HANDLE __stdcall openSocket(const int port, const char * peer);
+
+EXPORTSPEC int __stdcall closeSocket(HANDLE h);
+
+#endif
+
+#ifdef LINUX
+#define EXPORTSPEC
+int openSocket(const int port, const char * peer);
+
+int closeSocket(int h);
+
+#endif
+
+#ifdef __cplusplus
+ }
+#endif
+
+
+#endif //opensocket__
+
+
+/*
+    Changes: 
+    07/12/03  moved openSocket to it's own file, because it can be reused in other TCP clients
+    04/07/04  ported C++ version to C
+    12/17/04  additonal defines for WIN32
+    04/09/05  removed CYGWIN defines. As there were no more differences against LINUX, it should 
+	      work with LINUX defines.
+Version 0.8.4.5    
+    07/10/09  	Added closeSocket()
+	      
+*/

otherio/exp/rt/src/os_templ/hw_templ/makefile

@@ -23,7 +23,7 @@ all : init copy lib
 
 init :
 
-copy : $(inc_dir)/libusbio.h $(inc_dir)/pwr_arduino_uno.pde
+copy : $(inc_dir)/libusbio.h $(inc_dir)/openSocket.h $(inc_dir)/setport.h $(inc_dir)/pwr_arduino_uno.pde
 
 lib :
 
@@ -43,6 +43,14 @@ $(inc_dir)/libusbio.h : ../../libusbio.h
 	@ echo "Copying libusbio.h"
 	@ $(cp) $(cpflags) $(source) $(target)
 
+$(inc_dir)/openSocket.h : ../../openSocket.h
+	@ echo "Copying openSocket.h"
+	@ $(cp) $(cpflags) $(source) $(target)
+
+$(inc_dir)/setport.h : ../../setport.h
+	@ echo "Copying setport.h"
+	@ $(cp) $(cpflags) $(source) $(target)
+
 $(inc_dir)/pwr_arduino_uno.pde : ../../pwr_arduino_uno.pde
 	@ echo "Copying pwr_arduino_uno.pde"
 	@ $(cp) $(cpflags) $(source) $(target)

otherio/exp/rt/src/setport.h

+/*
+ Part of Libnodave, a free communication libray for Siemens S7 300/400.
+ 
+ (C) Thomas Hergenhahn (thomas.hergenhahn@web.de) 2001.
+
+ Libnodave is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2, or (at your option)
+ any later version.
+
+ Libnodave is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with Libnodave; see the file COPYING.  If not, write to
+ the Free Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.  
+*/
+
+#ifndef setport__
+#define setport__
+
+#ifdef __cplusplus  
+    extern "C" {        
+#endif              
+
+#ifdef BCCWIN
+
+#ifdef DOEXPORT
+#define EXPORTSPEC __declspec (dllexport)
+#else
+#define EXPORTSPEC __declspec (dllimport)
+#endif
+
+EXPORTSPEC HANDLE __stdcall setPort(char * name, char* baud,char parity);
+
+EXPORTSPEC int __stdcall closePort(HANDLE port);
+#endif
+
+#ifdef LINUX
+int setPort(char * name, char* baud, char parity);
+
+int closePort(int port);
+#endif
+
+#ifdef __cplusplus
+    }
+#endif
+
+#endif // setport__
+/*
+    01/08/07  Put __cplusplus directive as where suggested by Keith Harrison.
+*/

otherio/lib/nodave_dummy/src/nodave_dummy.c

+/*
+  Dummy for libnodave
+*/
+
+#include <stdint.h>
+
+#define DECL2
+#define EXPORTSPEC
+
+typedef void * _daveOSserialType;
+typedef void * daveInterface;
+typedef void * daveConnection;
+
+int openSocket(const int port, const char * peer) { return -1;}
+int closeSocket(int h) { return -1;}
+int setPort(char * name, char* baud, char parity) { return -1;}
+int closePort(int port) { return -1;}
+
+EXPORTSPEC int DECL2 daveInitAdapter(daveInterface * di) { return -1;}
+EXPORTSPEC int DECL2 daveConnectPLC(daveConnection * dc) { return -1;}
+EXPORTSPEC int DECL2 daveDisconnectPLC(daveConnection * dc) { return -1;}
+EXPORTSPEC int DECL2 daveDisconnectAdapter(daveInterface * di) { return -1;}
+EXPORTSPEC int DECL2 daveListReachablePartners(daveInterface * di, char * buf) { return -1;}
+EXPORTSPEC daveInterface * DECL2 daveNewInterface(_daveOSserialType nfd, char * nname, int localMPI, int protocol, int speed) { return 0;}
+EXPORTSPEC daveConnection * DECL2 daveNewConnection(daveInterface * di, int MPI,int rack, int slot) { return 0;}
+EXPORTSPEC int DECL2 daveReadBytes(daveConnection * dc, int area, int DB, int start, int len, void * buffer) { return -1;}
+EXPORTSPEC int DECL2 daveWriteBytes(daveConnection * dc,int area, int DB, int start, int len, void * buffer) { return -1;}
+EXPORTSPEC char * DECL2 daveStrerror(int code) {
+  static char r[] = "Not build with libnodave";
+  return r;
+}
+EXPORTSPEC void DECL2 daveSetTimeout(daveInterface * di, int tmo) {}
+
+
+
+
+
+
+

otherio/lib/nodave_dummy/src/os_templ/hw_templ/makefile

+include $(pwre_dir_symbols)
+
+-include $(pwre_kroot)/tools/bld/src/$(os_name)/$(hw_name)/$(type_name)_generic.mk
+
+ifeq ($($(type_name)_generic_mk),)
+ -include $(pwre_kroot)/tools/bld/src/$(os_name)/$(type_name)_generic.mk
+endif
+
+ifeq ($($(type_name)_generic_mk),)
+ include $(pwre_kroot)/tools/bld/src/$(type_name)_generic.mk
+endif
+
+-include ../../special.mk
+-include ../special.mk
+-include special.mk

otherio/lib/rt/src/os_linux/rt_io_m_gpio.h

-/* ra_io_m_motioncontrol_usb.h -- I/O methods for class MotionControl_USBIO. */
+/* ra_io_m_gpio.h -- I/O methods for GPIO. */
 
-#ifndef ra_io_m_gpio_h
-#define ra_io_m_gpio_h
+#ifndef rt_io_m_gpio_h
+#define rt_io_m_gpio_h
 
 #define GPIO_MAX_CHANNELS 32
 

otherio/lib/rt/src/os_linux/rt_io_m_motioncontrol_usb.h

-/* ra_io_m_motioncontrol_usb.h -- I/O methods for class MotionControl_USBIO. */
+/* rt_io_m_motioncontrol_usb.h -- I/O methods for class MotionControl_USBIO. */
 
-#ifndef ra_io_m_motioncontrol_usb_h
-#define ra_io_m_motioncontrol_usb_h
+#ifndef rt_io_m_motioncontrol_usb_h
+#define rt_io_m_motioncontrol_usb_h
 
 #define USB_MAX_CARDS 50
 

otherio/lib/rt/src/os_linux/rt_io_m_nodave.h

+/* ra_io_m_nodave.h -- I/O methods for libnodave. */
+
+#ifndef rt_io_m_nodave_h
+#define rt_io_m_nodave_h
+
+
+typedef struct {
+  _daveOSserialType fds;
+  daveInterface *di;
+  daveConnection *dc;
+  int status;
+  int reset_inputs;
+  char *input_area;
+  char *output_area;
+  unsigned int input_size;
+  unsigned int output_size;
+} io_sRackLocal;
+
+typedef struct {
+  int status;
+  int interval_cnt;
+  int has_read_method;
+  unsigned int input_size;
+  unsigned int output_size;
+  int op_read;
+  int op_write;
+  char *input_area;
+  char *output_area;
+} io_sCardLocal;
+
+#endif

otherio/lib/rt/src/os_linux/rt_io_m_nodave_transaction.c

+/* 
+ * Proview   Open Source Process Control.
+ * Copyright (C) 2005-2012 SSAB EMEA AB.
+ *
+ * This file is part of Proview.
+ *
+ * This program is free software; you can redistribute it and/or 
+ * modify it under the terms of the GNU General Public License as 
+ * published by the Free Software Foundation, either version 2 of 
+ * the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful 
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of 
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License 
+ * along with Proview. If not, see <http://www.gnu.org/licenses/>
+ *
+ * Linking Proview statically or dynamically with other modules is
+ * making a combined work based on Proview. Thus, the terms and 
+ * conditions of the GNU General Public License cover the whole 
+ * combination.
+ *
+ * In addition, as a special exception, the copyright holders of
+ * Proview give you permission to, from the build function in the
+ * Proview Configurator, combine Proview with modules generated by the
+ * Proview PLC Editor to a PLC program, regardless of the license
+ * terms of these modules. You may copy and distribute the resulting
+ * combined work under the terms of your choice, provided that every 
+ * copy of the combined work is accompanied by a complete copy of 
+ * the source code of Proview (the version used to produce the 
+ * combined work), being distributed under the terms of the GNU 
+ * General Public License plus this exception.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <errno.h>
+#include <math.h>
+
+#include "pwr.h"
+#include "pwr_baseclasses.h"
+#include "pwr_basecomponentclasses.h"
+#include "pwr_otherioclasses.h"
+#include "rt_io_base.h"
+#include "rt_io_msg.h"
+#include "rt_errh.h"
+#include "rt_io_bus.h"
+#include "rt_mb_msg.h"
+
+#if defined PWRE_CONF_NODAVE
+
+#if defined OS_LINUX
+#define LINUX
+#endif
+#include "nodave.h"
+#include "rt_io_m_nodave.h"
+
+/*----------------------------------------------------------------------------*\
+   Init method for the Modbus module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardInit (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+  io_sCardLocal *local;
+  pwr_sClass_Nodave_Transaction *op;
+
+  op = (pwr_sClass_Nodave_Transaction *) cp->op;
+  local = (io_sCardLocal *) cp->Local;
+  
+  local->interval_cnt = 0;
+  local->status = 1;
+
+  strcpy( op->Status, "Initialized");
+
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+   Read method for libnodave transaction
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardRead (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+  io_sCardLocal *local = (io_sCardLocal *) cp->Local;
+  io_sRackLocal *local_rack = (io_sRackLocal *)rp->Local;
+  pwr_sClass_Nodave_Transaction *op = (pwr_sClass_Nodave_Transaction *) cp->op;
+  pwr_sClass_Nodave_PLC *plcp = (pwr_sClass_Nodave_PLC *) rp->op;
+  int res;
+
+  if ( op->Continous == pwr_eYesNoEnum_No) {
+    /* Only read if triggered by op */
+    if ( !op->SendOp)
+      return IO__SUCCESS;
+    else if ( local->op_write) {
+      op->SendOp = 0;
+      local->op_read = 0;
+      local->op_write = 0;
+    }
+    else
+      local->op_read = 1;
+  }
+
+  if ( local->input_size == 0)
+    return IO__SUCCESS;
+
+  if ( op->ScanInterval > 1) {
+    local->has_read_method = 1;
+    if ( local->interval_cnt != 0) {
+      local->interval_cnt++;
+      if ( local->interval_cnt >= op->ScanInterval)
+        local->interval_cnt = 0;
+      return IO__SUCCESS;
+    }
+    local->interval_cnt++;
+  }
+
+  if (local_rack->status == IO__SUCCESS || local_rack->reset_inputs) {
+    
+    if ( local_rack->reset_inputs)
+      memset( local->input_area, 0, local->input_size);
+    else {
+      res = daveReadBytes( local_rack->dc, op->Area, op->DataBlock, op->Address, 
+			   local->input_size, local->input_area);
+      if ( res != 0) {
+	strncpy( op->Status, daveStrerror(res), sizeof(op->Status));	
+	plcp->ErrorCount++;
+	local->status = res;
+	
+	if ( plcp->ErrorCount >= plcp->ErrorLimit) {
+	  if ( plcp->StallAction == pwr_eStallActionEnum_ResetInputs) {
+	    memset( local->input_area, 0, local->input_size);
+	    local_rack->reset_inputs = 1;
+	  }
+	  else if ( plcp->StallAction == pwr_eStallActionEnum_EmergencyBreak) {
+	    errh_Error( "IO Card ErrorLimit reached '%s', IO stopped", cp->Name);
+	    ctx->Node->EmergBreakTrue = 1;
+	    return IO__ERRDEVICE;
+	  }
+	}
+      }
+      else if ( local->status != 0) {
+	strncpy( op->Status, "Success", sizeof(op->Status));
+	local->status = res;
+      }
+    }
+
+    if ( res == 0 || local_rack->reset_inputs)
+      io_bus_card_read(ctx, rp, cp, local->input_area, NULL,  plcp->ByteOrdering, 
+		       plcp->FloatRepresentation);
+  }
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+   Write method for the Nodave transaction
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardWrite (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+  io_sCardLocal *local = (io_sCardLocal *) cp->Local;
+  io_sRackLocal *local_rack = (io_sRackLocal *)rp->Local;
+  pwr_sClass_Nodave_Transaction *op = (pwr_sClass_Nodave_Transaction *) cp->op;
+  pwr_sClass_Nodave_PLC *plcp = (pwr_sClass_Nodave_PLC *) rp->op;
+  int res;
+  
+  if ( op->Continous == pwr_eYesNoEnum_No) {
+    /* Only write if triggered by op */
+    if ( !op->SendOp)
+      return IO__SUCCESS;
+    else if ( local->op_read) {
+      op->SendOp = 0;
+      local->op_read = 0;
+      local->op_write = 0;
+    }
+    else
+      local->op_write = 1;
+  }
+
+  if ( local->output_size == 0)
+    return IO__SUCCESS;
+
+  if ( op->ScanInterval > 1) {
+    if ( !local->has_read_method) {
+      if ( local->interval_cnt != 0) {
+	local->interval_cnt++;
+	if ( local->interval_cnt >= op->ScanInterval)
+	  local->interval_cnt = 0;
+	return IO__SUCCESS;
+      }
+      local->interval_cnt++;
+    }
+    else if ( local->interval_cnt != 1)
+      return IO__SUCCESS;
+  }
+
+  if ( local_rack->status == IO__SUCCESS) {
+    io_bus_card_write(ctx, cp, local->output_area, plcp->ByteOrdering, 
+		      plcp->FloatRepresentation);
+
+    res = daveWriteBytes( local_rack->dc, op->Area, op->DataBlock, op->Address, 
+			  local->output_size, local->output_area);
+    if ( res != 0) {
+      strncpy( op->Status, daveStrerror(res), sizeof(op->Status));	
+      plcp->ErrorCount++;
+      local->status = res;
+	
+      if ( plcp->ErrorCount >= plcp->ErrorLimit) {
+	if ( plcp->StallAction == pwr_eStallActionEnum_ResetInputs) {
+	  local_rack->reset_inputs = 1;
+	}
+	else if ( plcp->StallAction == pwr_eStallActionEnum_EmergencyBreak) {
+	  errh_Error( "IO Card ErrorLimit reached '%s', IO stopped", cp->Name);
+	  ctx->Node->EmergBreakTrue = 1;
+	  return IO__ERRDEVICE;
+	}
+      }
+    }
+    else if ( local->status != 0) {
+      strncpy( op->Status, "Success", sizeof(op->Status));
+      local->status = res;
+    }
+  }
+
+  return IO__SUCCESS;
+}
+
+#else
+static pwr_tStatus IoCardInit( io_tCtx ctx, io_sAgent *ap) { return IO__RELEASEBUILD;}
+static pwr_tStatus IoCardRead( io_tCtx ctx, io_sAgent *ap) { return IO__RELEASEBUILD;}
+static pwr_tStatus IoCardWrite( io_tCtx ctx, io_sAgent *ap) { return IO__RELEASEBUILD;}
+#endif
+
+/*----------------------------------------------------------------------------*\
+  Every method to be exported to the workbench should be registred here.
+\*----------------------------------------------------------------------------*/
+
+pwr_dExport pwr_BindIoMethods(Nodave_Transaction) = {
+  pwr_BindIoMethod(IoCardInit),
+  pwr_BindIoMethod(IoCardRead),
+  pwr_BindIoMethod(IoCardWrite),
+  pwr_NullMethod
+};
+

otherio/lib/rt/src/rt_io_otherio.meth

@@ -26,4 +26,6 @@ Hilscher_cifX_Module
 USB_Joystick
 UDP_IO
 SPI_Slave
+Nodave_PLC
+Nodave_Transaction
 #endif
\ No newline at end of file

src/tools/pwre/src/os_linux/pwre.pl

@@ -244,6 +244,7 @@ sub build_kernel # args: flavour
   _build("lib","usbio_dummy","src","init lib");
   _build("lib","usb_dummy","src","init lib");
   _build("lib","cifx_dummy","src","init lib");
+  _build("lib","nodave_dummy","src","init lib");
   merge();
   _module("xtt");
   build_all("exe", $flavour);
@@ -354,6 +355,7 @@ sub ebuild # args: pass flavour
     _build("lib","usbio_dummy","src","init lib");
     _build("lib","usb_dummy","src","init lib");
     _build("lib","cifx_dummy","src","init lib");
+    _build("lib","nodave_dummy","src","init lib");
     merge();
     _module("rt");
     _build("exe", "rt*", "src", "all");

src/tools/pwre/src/os_linux/pwre_configure.sh

@@ -389,6 +389,7 @@ else
   pwre_config_check_include mq    MQ    0 "/usr/local/dmq/include/p_entry.h"
   pwre_config_check_include wmq   WMQ   1 "/opt/mqm/inc/cmqc.h"
   pwre_config_check_include cifx  CIFX  1 "/usr/local/include/cifx/cifxlinux.h"
+  pwre_config_check_include nodave NODAVE  1 "/usr/include/nodave.h"
 
 
   export pwre_conf_alsa=1
@@ -410,7 +411,7 @@ else
   echo "export pwre_conf_libpwrco=\"-lpwr_co\"" >> $cfile
   echo "export pwre_conf_libpwrrt=\"-lpwr_rt -lpwr_co -lpwr_statussrv -lpwr_msg_dummy\"" >> $cfile
   echo "export pwre_conf_libpwrdtt=\"-lpwr_dtt\"" >> $cfile
-  echo "export pwre_conf_libpwrotherio=\"-lpwr_usbio_dummy -lpwr_usb_dummy -lpwr_cifx_dummy\"" >> $cfile
+  echo "export pwre_conf_libpwrotherio=\"-lpwr_usbio_dummy -lpwr_usb_dummy -lpwr_cifx_dummy -lpwr_nodave_dummy\"" >> $cfile
   echo "export pwre_conf_libpwrprofibus=\"-lpwr_pnak_dummy\"" >> $cfile
   echo "export pwre_conf_libpwrxtt=\"-lpwr_xtt -lpwr_ge -lpwr_cow -lpwr_flow -lpwr_glow\"" >> $cfile
   echo "export pwre_conf_libpwrxttgtk=\" -lpwr_xtt_gtk -lpwr_ge_gtk -lpwr_cow_gtk -lpwr_flow_gtk -lpwr_glow_gtk\"" >> $cfile

src/wbl/pwrb/src/pwrb_td_buildoptionsmask.wb_load

@@ -151,6 +151,16 @@ SObject pwrb:Type
        Attr Value = 524288
      EndBody
     EndObject
+    !/**
+    !  Nodave archive.
+    !*/
+    Object Nodave $Bit
+     Body SysBody
+       Attr PgmName = "Nodave"
+       Attr Text = "Nodave"
+       Attr Value = 1048576
+     EndBody
+    EndObject
   EndObject
 EndSObject
 

wb/exp/wb/src/pwr_wb_palette.cnf

@@ -252,7 +252,9 @@ palette NavigatorPalette
         class ChanAit
         class ChanAo
         class ChanBi
+        class ChanBiBlob
         class ChanBo
+        class ChanBoBlob
         class ChanCo
         class ChanD
         class ChanDi
@@ -389,6 +391,11 @@ palette NavigatorPalette
           class BaseIORack
         }
       }
+      menu Nodave
+      {
+        class Nodave_PLC
+	class Nodave_Transaction
+      }
     }
     menu Remote
     {

wb/lib/wb/src/wb_lfu.cpp

@@ -2093,6 +2093,11 @@ pwr_tStatus lfu_SaveDirectoryVolume(
 	      else
 		sprintf( &str[strlen(str)], "-lpwr_usbio_dummy ");
 
+	      if ( bop->SystemModules & pwr_mBuildOptionsMask_Nodave)
+		sprintf( &str[strlen(str)], "-lnodave ");
+	      else
+		sprintf( &str[strlen(str)], "-lpwr_nodave_dummy ");
+
 	      free( (char *)bop);
 
 	      if ( os == pwr_mOpSys_CustomBuild)