2020-03-31 08:40:08 +02:00
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# Strolch as a software PLC
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2022-01-05 12:33:22 +01:00
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[](https://github.com/strolch-li/strolch-plc/graphs/contributors)
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[](https://github.com/strolch-li/strolch-plc/blob/master/LICENSE)
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2020-03-31 08:40:08 +02:00
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A soft real time PLC written in Strolch running on Strolch
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2020-03-30 22:43:14 +02:00
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2023-07-19 12:48:08 +02:00
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Checkout the documentation at https://strolch.li/plc/
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2020-03-31 08:40:08 +02:00
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## Features
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Strolch PLC supports the following features:
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* Notification model
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* Raspberry Pi GPIO Input and Output addresses
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* I2C Input and Output addresses over PCF8574 chips
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* DataLogic Scanner connection
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* Virtual addresses
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* WebUI to observer and manipulate the addresses
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* WebSocket connection to Strolch Agent for notifying of changes
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* Simple two key addressing of hardware addresses to store semantics, e.g. `Convey01 - MotorOn`, instead of `i2cInput.dev01.0.0`
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2020-04-01 11:43:31 +02:00
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## PlcService
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PlcServices are sub classes of `PlcService`. You can register for notifications, send keys and delay actions:
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import java.util.concurrent.ScheduledFuture;
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import java.util.concurrent.TimeUnit;
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import li.strolch.plc.core.PlcHandler;
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import li.strolch.plc.core.PlcService;
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import li.strolch.plc.model.PlcAddress;
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public class ConveyorPlcService extends PlcService {
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public static final int BOX_TRANSFER_DURATION = 30;
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private static final String R_CONVEYOR_01 = "Conveyor01";
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private static final String A_START_BUTTON = "StartButton";
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private static final String T_MOTOR_ON = "MotorOn";
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private static final String T_MOTOR_OFF = "MotorOff";
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private static final String A_BOX_DETECTED = "BoxDetected";
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private boolean motorOn;
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private ScheduledFuture<?> motorStopTask;
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public ConveyorPlcService(PlcHandler plcHandler) {
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super(plcHandler);
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}
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@Override
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public void handleNotification(PlcAddress address, Object value) {
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String action = address.action;
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boolean active = (boolean) value;
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if (action.equals(A_START_BUTTON)) {
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if (active) {
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logger.info("Start button pressed. Starting motors...");
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send(R_CONVEYOR_01, T_MOTOR_ON);
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this.motorOn = true;
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scheduleStopTask();
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}
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} else if (action.equals(A_BOX_DETECTED)) {
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if (active && this.motorOn) {
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logger.info("Container detected, refreshing stop task...");
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scheduleStopTask();
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}
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} else {
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logger.info("Unhandled notification " + address.toKeyAddress());
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}
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}
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private void scheduleStopTask() {
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if (this.motorStopTask != null)
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this.motorStopTask.cancel(false);
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this.motorStopTask = schedule(this::stopMotor, BOX_TRANSFER_DURATION, TimeUnit.SECONDS);
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}
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private void stopMotor() {
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send(R_CONVEYOR_01, T_MOTOR_OFF);
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}
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@Override
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public void register() {
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this.plcHandler.register(R_CONVEYOR_01, A_START_BUTTON, this);
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this.plcHandler.register(R_CONVEYOR_01, A_BOX_DETECTED, this);
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super.register();
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}
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@Override
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public void unregister() {
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this.plcHandler.unregister(R_CONVEYOR_01, A_START_BUTTON, this);
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this.plcHandler.unregister(R_CONVEYOR_01, A_BOX_DETECTED, this);
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super.unregister();
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}
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This example registered for changes to the keys `Conveyor01 - StartButton` and
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`Conveyor01 - BoxDetected`. When the start button is pressed, then it sends the
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keys `Conveyor01 - MotorOn` and schedules the motor off action with a delay of
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30s.
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This class should then be registered in the `PlcServiceInitializer`:
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public class CustomPlcServiceInitializer extends PlcServiceInitializer {
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public CustomPlcServiceInitializer(ComponentContainer container, String componentName) {
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super(container, componentName);
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}
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@Override
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protected List<PlcService> getPlcServices(PlcHandler plcHandler) {
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ArrayList<PlcService> plcServices = new ArrayList<>();
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StartupPlcService startupPlcService = new StartupPlcService(plcHandler);
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ConveyorPlcService conveyorPlcService = new ConveyorPlcService(plcHandler);
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plcServices.add(conveyorPlcService);
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plcServices.add(startupPlcService);
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return plcServices;
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}
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As one can see, there is little fuss for writing business logic, state is
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persisted automatically so it is visible in the UI, and the PlcServices can
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handle their state as needed.
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2020-03-31 08:40:08 +02:00
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## PlcAddress
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PlcAddresses store the value of a hardware address:
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<Resource Id="A_Conveyor01-Occupied" Name="Conveyor01 - Occupied" Type="PlcAddress">
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<ParameterBag Id="parameters" Name="Parameters" Type="Parameters">
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<Parameter Id="description" Name="Description" Type="String" Index="5" Value="Conveyor 1"/>
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<Parameter Id="address" Name="HW Address" Type="String" Interpretation="PlcConnection" Index="10" Value="i2cInput.dev01.0.0"/>
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<Parameter Id="resource" Name="Resource ID for PlcAddress" Type="String" Index="20" Value="Conveyor01"/>
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<Parameter Id="action" Name="Action ID for PlcAddress" Type="String" Index="30" Value="Occupied"/>
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<Parameter Id="index" Name="Index" Type="Integer" Index="40" Value="10"/>
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<Parameter Id="value" Name="Value" Type="Boolean" Index="100" Value="false"/>
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</ParameterBag>
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</Resource>
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The two parameters `resource` and `action` are the local keys for the address,
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while `address` is used to find the actual connection and the address on that
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connection.
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## PlcTelegram
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PlcTelegrams are used to store keys with a default value. For example it is
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easier to understand `Conveyor01 - MotorOn` instead of `Conveyor01 - Motor` with the value true or false.
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<Resource Id="T_Conveyor01-MotorOn" Name="Conveyor01 - MotorOn" Type="PlcTelegram">
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<ParameterBag Id="parameters" Name="Parameters" Type="Parameters">
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<Parameter Id="description" Name="Description" Type="String" Index="5" Value="Conveyor 1"/>
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<Parameter Id="address" Name="HW Address" Type="String" Interpretation="PlcConnection" Index="10" Value="i2cOutput.dev01.0.0"/>
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<Parameter Id="resource" Name="Resource ID for PlcAddress" Type="String" Index="20" Value="Conveyor01"/>
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<Parameter Id="action" Name="Action ID for PlcAddress" Type="String" Index="30" Value="MotorOn"/>
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<Parameter Id="index" Name="Index" Type="Integer" Index="40" Value="10"/>
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<Parameter Id="value" Name="Value" Type="Boolean" Index="100" Value="true"/>
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</ParameterBag>
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</Resource>
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## PlcLogicalDevice
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Multiple PlcAddresses can be grouped together into a PlcLogicalDevice for
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visualization on the UI. In logistics a single conveyor might have multiple
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sensors and actors, e.g. the conveyor's motor, a light barrier and a scanner,
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grouping them together makes it easier for debugging.
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<Resource Id="D_MaterialFlow" Name="MaterialFlow" Type="PlcLogicalDevice">
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<ParameterBag Id="parameters" Name="Parameters" Type="Parameters">
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<Parameter Id="description" Name="Description" Type="String" Index="5" Value="Material Flow"/>
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<Parameter Id="group" Name="Group" Type="String" Index="20" Value="01 Material Flow"/>
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<Parameter Id="index" Name="Index" Type="Integer" Index="30" Value="10"/>
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</ParameterBag>
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<ParameterBag Id="relations" Name="Relations" Type="Relations">
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<Parameter Id="addresses" Name="Addresses" Type="StringList" Interpretation="Resource-Ref" Uom="PlcAddress" Index="10" Value="A_Conveyor01-Occupied, A_Conveyor02-Occupied, A_Conveyor03-Occupied, A_Conveyor04-Occupied, A_Conveyor01-MotorOn, A_Conveyor02-MotorOn, A_Conveyor03-MotorOn, A_Conveyor04-MotorOn, A_Conveyor03-Barcode, A_Conveyor03-On"/>
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<Parameter Id="telegrams" Name="Telegrams" Type="StringList" Interpretation="Resource-Ref" Uom="PlcTelegram" Index="20" Value="T_Conveyor01-MotorOn, T_Conveyor01-MotorOff, T_Conveyor02-MotorOn, T_Conveyor02-MotorOff, T_Conveyor03-MotorOn, T_Conveyor03-MotorOff, T_Conveyor04-MotorOn, T_Conveyor04-MotorOff, T_Conveyor03-On, T_Conveyor03-Off"/>
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</ParameterBag>
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</Resource>
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## PlcConnections
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PlcConnections are used to model the actual hardware connections and define with
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which class the connection is to be established. The following shows some of the implementations:
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<!--
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Raspberry GPIO BCM Address connection
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-->
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<Resource Id="raspiBcmGpioOutput" Name="Raspi BCM GPIO Output" Type="PlcConnection">
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<ParameterBag Id="parameters" Name="Parameters" Type="Parameters">
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<Parameter Id="className" Name="Connection Class" Type="String" Value="li.strolch.plc.core.hw.gpio.RaspiBcmGpioOutputConnection"/>
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<Parameter Id="state" Name="Connection State" Type="String" Interpretation="Enumeration" Uom="ConnectionState" Value="Disconnected"/>
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<Parameter Id="stateMsg" Name="Connection State Msg" Type="String" Interpretation="Enumeration" Uom="ConnectionState"
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Value=""/>
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<Parameter Id="inverted" Name="Inverted" Type="Boolean" Value="false"/>
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<Parameter Id="bcmOutputPins" Name="BCM Output Pins" Type="IntegerList" Value="27"/>
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</ParameterBag>
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</Resource>
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<Resource Id="raspiBcmGpioInput" Name="Raspi BCM GPIO Input" Type="PlcConnection">
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<ParameterBag Id="parameters" Name="Parameters" Type="Parameters">
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<Parameter Id="className" Name="Connection Class" Type="String" Value="li.strolch.plc.core.hw.gpio.RaspiBcmGpioInputConnection"/>
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<Parameter Id="state" Name="Connection State" Type="String" Interpretation="Enumeration" Uom="ConnectionState" Value="Disconnected"/>
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<Parameter Id="stateMsg" Name="Connection State Msg" Type="String" Interpretation="Enumeration" Uom="ConnectionState"
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Value=""/>
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<Parameter Id="inverted" Name="Inverted" Type="Boolean" Value="true"/>
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<Parameter Id="bcmInputPins" Name="BCM Input Pins" Type="IntegerList" Value="4"/>
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</ParameterBag>
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</Resource>
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<!--
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I2C input connections
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-->
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<Resource Id="i2cInput.dev01" Name="PCF8574 Input 0x38" Type="PlcConnection">
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<ParameterBag Id="parameters" Name="Parameters" Type="Parameters">
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<Parameter Id="className" Name="Connection Class" Type="String" Value="li.strolch.plc.core.hw.i2c.PCF8574InputConnection"/>
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<Parameter Id="state" Name="Connection State" Type="String" Interpretation="Enumeration" Uom="ConnectionState" Value="Disconnected"/>
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<Parameter Id="stateMsg" Name="Connection State Msg" Type="String" Interpretation="Enumeration" Uom="ConnectionState"
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Value=""/>
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<Parameter Id="i2cBus" Name="I2C Bus" Type="Integer" Value="1"/>
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<Parameter Id="addresses" Name="Addresses" Type="IntegerList" Value="0x38"/>
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<Parameter Id="verbose" Name="Verbose" Type="Boolean" Value="true"/>
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<Parameter Id="inverted" Name="Inverted" Type="Boolean" Value="true"/>
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<Parameter Id="interruptPinPullResistance" Name="Raspi Interrupt PinPullResistance" Type="String" Value="PULL_DOWN"/>
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<Parameter Id="interruptChangeState" Name="Raspi Interrupt Change State" Type="String" Value="HIGH"/>
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<Parameter Id="interruptBcmPinAddress" Name="Raspi BCM Interrupt Pin" Type="Integer" Value="17"/>
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</ParameterBag>
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</Resource>
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<!--
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I2C output connections
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-->
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<Resource Id="i2cOutput.dev01" Name="PCF8574 Output 0x21" Type="PlcConnection">
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<ParameterBag Id="parameters" Name="Parameters" Type="Parameters">
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<Parameter Id="className" Name="Connection Class" Type="String" Value="li.strolch.plc.core.hw.i2c.PCF8574OutputConnection"/>
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<Parameter Id="state" Name="Connection State" Type="String" Interpretation="Enumeration" Uom="ConnectionState" Value="Disconnected"/>
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<Parameter Id="stateMsg" Name="Connection State Msg" Type="String" Interpretation="Enumeration" Uom="ConnectionState"
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Value=""/>
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<Parameter Id="i2cBus" Name="I2C Bus" Type="Integer" Value="1"/>
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<Parameter Id="addresses" Name="Addresses" Type="IntegerList" Value="0x21"/>
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<Parameter Id="inverted" Name="Inverted" Type="Boolean" Value="false"/>
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</ParameterBag>
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</Resource>
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<!--
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Barcode reader connection, currently place holder with RandomString
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-->
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<Resource Id="dataLogicScanner" Name="DataLogic Scanner Connection" Type="PlcConnection">
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<ParameterBag Id="parameters" Name="Parameters" Type="Parameters">
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<Parameter Id="className" Name="Connection Class" Type="String" Value="li.strolch.plc.core.hw.connections.DataLogicScannerConnection"/>
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<Parameter Id="address" Name="Scanner IP Address" Type="String" Value="192.168.1.249:51236"/>
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<Parameter Id="readTimeout" Name="Read Timeout (s)" Type="Integer" Value="60"/>
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<Parameter Id="state" Name="Connection State" Type="String" Interpretation="Enumeration" Uom="ConnectionState" Value="Disconnected"/>
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<Parameter Id="stateMsg" Name="Connection State Msg" Type="String" Interpretation="Enumeration" Uom="ConnectionState"
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Value=""/>
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</ParameterBag>
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</Resource>
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## Virtual Addresses
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In some cases, especially in conjunction with a Strolch Agent as the main
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server, it is necessary to also have virtual addresses, with which to perform
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notifications. The following shows examples:
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<Resource Id="addrPlcConnected" Name="PLC - Connected" Type="PlcAddress">
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<ParameterBag Id="parameters" Name="Parameters" Type="Parameters">
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<Parameter Id="address" Name="HW Address" Type="String" Interpretation="PlcConnection" Value="virtualString.plcServerConnected"/>
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<Parameter Id="resource" Name="Resource ID for PlcAddress" Type="String" Value="PLC"/>
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<Parameter Id="action" Name="Action ID for PlcAddress" Type="String" Value="ServerConnected"/>
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<Parameter Id="valueType" Name="Value Type" Type="String" Interpretation="Interpretation" Uom="PlcValueType" Value="String"/>
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<Parameter Id="value" Name="Value" Type="String" Value="false"/>
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<Parameter Id="index" Name="Index" Type="Integer" Value="5"/>
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</ParameterBag>
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</Resource>
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2020-03-31 08:45:17 +02:00
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## More Information
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Find more to Strolch PLC at our website: https://strolch.li/plc.html
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