[Project] Added initial PLC documentation
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@ -44,5 +44,6 @@ blockquote {
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.image {
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display: block;
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margin-left: auto;
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margin-right: auto
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margin-right: auto;
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margin-bottom: 10px;
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}
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@ -83,13 +83,13 @@ mvn clean install -DskipTests</pre>
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<p>The following shows the maven command to create the new maven project. Note that you should replace the
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placeholders in the brackets:</p>
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<pre>
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mvn archetype:generate
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-DarchetypeGroupId=li.strolch
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-DarchetypeArtifactId=li.strolch.mvn.archetype.main
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-DarchetypeVersion=1.6.0-SNAPSHOT
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-DgroupId=<my.groupid>
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-DartifactId=<my-artifactId>
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-Dversion=<my.version>
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mvn archetype:generate \
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-DarchetypeGroupId=li.strolch \
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-DarchetypeArtifactId=li.strolch.mvn.archetype.main \
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-DarchetypeVersion=1.6.0-SNAPSHOT \
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-DgroupId=<my.groupid> \
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-DartifactId=<my-artifactId> \
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-Dversion=<my.version> \
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-DappName="<my app name>"</pre>
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<p>You change into the directory of the new project and then build the project by calling:</p>
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@ -107,13 +107,13 @@ mvn exec:java</pre>
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<p>The following shows the maven command to create the new maven project. Note that you should replace the
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placeholders in the brackets:</p>
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<pre>
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mvn archetype:generate
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-DarchetypeGroupId=li.strolch
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-DarchetypeArtifactId=li.strolch.mvn.archetype.webapp
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-DarchetypeVersion=1.6.0-SNAPSHOT
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-DgroupId=<my.groupid>
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-DartifactId=<my-artifactId>
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-Dversion=<my.version>
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mvn archetype:generate \
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-DarchetypeGroupId=li.strolch \
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-DarchetypeArtifactId=li.strolch.mvn.archetype.webapp \
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-DarchetypeVersion=1.6.0-SNAPSHOT \
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-DgroupId=<my.groupid> \
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-DartifactId=<my-artifactId> \
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-Dversion=<my.version> \
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-DappName="<my app name>"</pre>
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<h4>Install the web dependencies</h4>
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@ -68,9 +68,26 @@
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are satisfied with the result. What follows is a description in how to set up your own Strolch based PLC.</p>
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<h2>Architecture</h2>
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<h3>Overview</h3>
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<img class="image" src="images/Strolch-PLC-Architecture-Overview.png" alt="Strolch PLC Architecture Overview">
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<p>The Strolch PLC architecture sees the Strolch Agent as the server, managing logical devices, i.e. multiple
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sensors and actors together and thus deciding </p>
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sensors and actors together and thus deciding on further steps. With this architecture multiple PLCs can be
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combined together in one agent for flow control.</p>
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<h3>PLC Architecture</h3>
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<img class="image" src="images/Strolch-PLC-Architecture.png" alt="Strolch PLC Architecture">
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<p>On the agent side the two main classes are the <code>PlcGwServerHandler</code> and the
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<code>PlcGwService</code></p>
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<p>The <code>PlcGwServerHandler</code> handles connections from remote PLCs over WebSockets and sends the
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requests to these PLCs. A <code>PlcGwService</code> instance will be notified and can then decide on an
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action. In an execution model with <code>Activities</code>, the <code>PlcNotificationListener</code>
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interface can be implemented, or the <code>PlcExecutionPolicy</code> can be directly extended.</p>
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<p>On the PLC side, the <code>PlcGwClientHandler</code> is optional if no agent is required. The <code>PlcHandler</code>
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initializes the model and connections. The <code>Plc</code> class is Strolch agnostic and manages the
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connections and notifies <code>PlcListener</code> instances on changes coming from the underlying
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connections. The <code>PlcService</code> implementations implement business logic, and can also be notified
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on updates from connections.</p>
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<h2>Example set up</h2>
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<p>This example setup describes the movement of containers over conveyors. The conveyors have motors which can
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@ -82,6 +99,453 @@
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<img class="image" src="images/Strolch-Plc-Example.png" alt="Strolch PLC Conveyor Example" />
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<h2>New Project</h2>
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<ol>
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<li>First create a new Strolch Web project using the <a href="development.html">Strolch Maven archetype</a>
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</li>
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<li>Now add the following Maven dependencies:
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<pre>
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<properties>
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<strolch.version>1.6.0-SNAPSHOT</strolch.version>
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<strolch.plc.version>0.1.0-SNAPSHOT</strolch.plc.version>
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</properties>
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<dependencyManagement>
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<dependency>
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<groupId>li.strolch</groupId>
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<artifactId>li.strolch.bom</artifactId>
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<type>pom</type>
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<version>${strolch.version}</version>
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<scope>import</scope>
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</dependency>
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<dependency>
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<groupId>li.strolch</groupId>
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<artifactId>strolch-plc-bom</artifactId>
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<type>pom</type>
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<version>${strolch.plc.version}</version>
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<scope>import</scope>
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</dependency>
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</dependencyManagement>
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<dependencies>
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<!-- PLC -->
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<dependency>
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<groupId>li.strolch</groupId>
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<artifactId>strolch-plc-core</artifactId>
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</dependency>
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<dependency>
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<groupId>li.strolch</groupId>
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<artifactId>strolch-plc-rest</artifactId>
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</dependency>
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<dependency>
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<groupId>li.strolch</groupId>
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<artifactId>strolch-plc-gw-client</artifactId>
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</dependency>
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</dependencies></pre>
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</li>
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<li>
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<p>Add a bower dependency: <code>"strolch-wc-plc": "4treesCH/strolch-wc-plc#^0.3.4"</code> to <code>src/main/webapp/bower.json</code>
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</p>
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<p>After adding the dependeny, run <code>gulp</code> in the webapp directory. Gulp should have been
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installed through the instructions from the <a href="development.html">development page</a>.</p>
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</li>
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<li>
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<p>Now we need to add the PLC web views to our new project. This is added in the <code>src/main/webapp/app/src/c-app.html</code>
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file. Add the following:</p>
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<pre>
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<!-- HTML Imports -->
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<link rel="import" href="../bower_components/strolch-wc-plc/strolch-wc-plc-connections.html">
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<link rel="import" href="../bower_components/strolch-wc-plc/strolch-wc-plc-logical-devices.html">
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<!-- Change default-page to plcLogicalDevices -->
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<c-app-routing id="appRouting"
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login-page="login"
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default-page="plcLogicalDevices"
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auth-valid="[[authTokenValid]]"
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page="{{page}}"
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route-tail="{{routeTail}}"
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use-hash-as-path></c-app-routing>
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<!-- Add the new pages in the iron-pages element: -->
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<template is="dom-if" if="[[equal(page, 'plcConnections')]]" restamp>
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<strolch-wc-plc-connections id="plcConnections"
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base-path="../"
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base-rest-path="[[baseRestPath]]"
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route="{{subroute}}"></strolch-wc-plc-connections>
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</template>
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<template is="dom-if" if="[[equal(page, 'plcLogicalDevices')]]" restamp>
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<strolch-wc-plc-logical-devices id="plcLogicalDevices"
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base-path="../"
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base-rest-path="[[baseRestPath]]"
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base-ws-path="[[baseWsPath]]"
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route="{{subroute}}"></strolch-wc-plc-logical-devices>
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</template>
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// add a new property to the WebSocket path for observing changes on the PLC
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wsObserverPath: {
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type: String,
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value: function () {
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return CustomWeb.baseWsPath + "/plc/observer";
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}
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}</pre>
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</li>
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<li>
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<p>Now we need to configure the PLC's runtime by modifying <code>runtime/StrolchConfiguration.xml</code>
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and adding the following:</p>
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<pre>
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<!--
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This component configures the PlcHandler by
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loading the PlcConnections, PlcAddresses and PlcTelegrams
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-->
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<Component>
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<name>PlcHandler</name>
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<api>li.strolch.plc.core.PlcHandler</api>
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<impl>li.strolch.plc.core.DefaultPlcHandler</impl>
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<depends>RealmHandler</depends>
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<Properties>
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<!-- The component handling the low level connections -->
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<plcClass>li.strolch.plc.core.hw.DefaultPlc</plcClass>
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</Properties>
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</Component>
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<!--
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This component handles registrations of the PlcServices, i.e. your PLC business logic
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-->
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<Component>
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<name>PlcServiceInitializer</name>
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<api>li.strolch.plc.core.PlcServiceInitializer</api>
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<impl>li.strolch.plc.example.CustomPlcServiceInitializer</impl>
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<depends>PlcHandler</depends>
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<Properties>
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</Properties>
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</Component>
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<!--
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This component notifies a Strolch agent of changes on the PLC
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only if you have a Strolch server with a configured
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li.strolch.plc.gw.server.PlcServerWebSocketEndpoint ready to accept connections
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-->
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<Component>
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<name>PlcGwClientHandler</name>
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<api>li.strolch.plc.gw.client.PlcGwClientHandler</api>
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<impl>li.strolch.plc.gw.client.PlcGwClientHandler</impl>
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<depends>PlcHandler</depends>
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<depends>PlcServiceInitializer</depends>
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<Properties>
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<plcId>plc-01</plcId>
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<gwUsername>plc-01</gwUsername>
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<gwPassword>plc-01</gwPassword>
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<gwServerUrl>ws://localhost:8080/agent/websocket/strolch/plc</gwServerUrl>
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</Properties>
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</Component></pre>
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</li>
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<li>
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<p>Now we add the custom classes we just declared.</p>
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<p><b>PlcServiceInitializer</b></p>
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<pre>
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import java.util.ArrayList;
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import java.util.List;
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import li.strolch.plc.example.services.*;
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import li.strolch.agent.api.ComponentContainer;
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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.core.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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}</pre>
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<p><b>PlcPostInitializer</b></p>
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<pre>
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import li.strolch.agent.api.ComponentContainer;
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import li.strolch.plc.core.PlcPostInitializer;
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public class CustomPostInitializer extends PlcPostInitializer {
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public CustomPostInitializer(ComponentContainer container, String componentName) {
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super(container, componentName);
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}
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// override the initialize(), start(), stop() and destroy() methods as needed
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}</pre>
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</li>
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<li>
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<p>In the <code>CustomPlcServiceInitializer</code> we added two PlcServices, for which the code is
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missing. The following are simple examples:</p>
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<p><b>StartupPlcService</b></p>
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<pre>
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import li.strolch.persistence.api.StrolchTransaction;
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import li.strolch.plc.core.PlcHandler;
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import li.strolch.plc.core.PlcService;
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public class StartupPlcService extends PlcService {
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public static final String PLC = "PLC";
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public static final String STARTED = "Started";
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public static final String STOPPED = "Stopped";
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public StartupPlcService(PlcHandler plcHandler) {
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super(plcHandler);
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}
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@Override
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public void start(StrolchTransaction tx) {
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send(PLC, STARTED);
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super.start(tx);
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}
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@Override
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public void stop() {
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send(PLC, STOPPED);
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super.stop();
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}
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}</pre>
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<p><b>ConveyorPlcService</b></p>
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<pre>
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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 resource = address.resource;
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String action = address.action;
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if (!resource.equals("Conveyor01"))
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throw new IllegalStateException("Unexpected resource " + resource);
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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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}</pre>
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</li>
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<li>
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<p>Now the last part is to add the model, i.e. PlcConnections, PlcAddresses and PlcTelegrams. To have
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less configuration files and make it easier to reconfigure at runtime, this data is stored in normal
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Strolch <code>Resources</code></p>
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<p>In this example we will use simple Raspberry Pi GPIOs. For convenience, and also when sharing I/O
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definitions with external partners, it is easier to use a CSV file to define the I/Os and then use
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the <code>PlcAddressGenerator</code> to generate and validate the model.</p>
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<p>For this purpose in this example, we will use one conveyor with 2 inputs and 1 output. The CSV file
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should have the following content:</p>
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<pre>
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Description,Type,SubType,Device,Pin,Resource,Action1,Action2,Connection,DeviceId
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Material Flow,Group,,,,,,,,MaterialFlow
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Conveyor 1,Input,GPIO,,4,Conveyor,Occupied,,raspiBcmGpioInput
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Conveyor 1,Input,GPIO,,17,Conveyor,BoxDetected,,raspiBcmGpioInput
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Conveyor 1,Output,GPIO,,18,Conveyor,MotorOn,MotorOff,raspiBcmGpioOutput</pre>
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<p>The CSV headers are as follows:</p>
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<ul>
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<li>Description → a simple description for this PlcAddress</li>
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<li>Type →
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<ul>
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<li>Group → Must be the first line and generates a PlcLogicalDevice, all succeeding
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lines are grouped to this device. Add additional to group further devices
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</li>
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<li>Input → defines a boolean input</li>
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<li>Output → defines a boolean output</li>
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<li>Virtual → defines a virtual address which has no corresponding hardware connection.
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Used for internal communication.
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</li>
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<li>DataLogicScanner → defines an address to read barcodes from a DataLogic Scanner.
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The actions must be left empty as the keys Barcode (address), On and Off (telegrams)
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will be generated.
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</li>
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</ul>
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</li>
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<li>SubType →
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<ul>
|
||||
<li>For Input and Output types →
|
||||
<ul>
|
||||
<li>PCF8574 → For PCF8574 the Device and Pin values must be defined and will be
|
||||
appended to the Connection. Define the device and pin values starting with 1,
|
||||
the values will be decremented, to fit the hardware index
|
||||
</li>
|
||||
<li>GPIO → For GPIO the Pin will be appended to the Connection</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li>For Virtual types →
|
||||
<ul>
|
||||
<li>Boolean</li>
|
||||
<li>String</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li>Device → Device number</li>
|
||||
<li>Pin → The pin number on the device</li>
|
||||
<li>Resource → The resource ID with which to notify the agent</li>
|
||||
<li>Action1 → The action ID</li>
|
||||
<li>Action2 → The second action ID if required</li>
|
||||
<li>Connection → The ID of the PlcConnection with which this I/O is attached</li>
|
||||
<li>DeviceId → For type Group: Set the ID of this PlcLogicalDevice being generated</li>
|
||||
</ul>
|
||||
|
||||
<p>When you use this file as input for the <code>PlcAddressGenerator</code>, then it will generate
|
||||
PlcLogicalDevice, PlcAddress and PlcTelegram elements:</p>
|
||||
<pre>
|
||||
<Resource Id="D_MaterialFlow" Name="MaterialFlow" Type="PlcLogicalDevice">
|
||||
<ParameterBag Id="parameters" Name="Parameters" Type="Parameters">
|
||||
<Parameter Id="description" Name="Description" Type="String" Value="Material Flow"/>
|
||||
<Parameter Id="group" Name="Group" Type="String" Value="01 Material Flow"/>
|
||||
<Parameter Id="index" Name="Index" Type="Integer" Value="10"/>
|
||||
</ParameterBag>
|
||||
<ParameterBag Id="relations" Name="Relations" Type="Relations">
|
||||
<Parameter Id="addresses" Name="Addresses" Type="StringList" Interpretation="Resource-Ref" Uom="PlcAddress" Value="A_Conveyor-Occupied, A_Conveyor-BoxDetected, A_Conveyor-MotorOn"/>
|
||||
<Parameter Id="telegrams" Name="Telegrams" Type="StringList" Interpretation="Resource-Ref" Uom="PlcTelegram" Value="T_Conveyor-MotorOn, T_Conveyor-MotorOff"/>
|
||||
</ParameterBag>
|
||||
</Resource>
|
||||
|
||||
<Resource Id="A_Conveyor-Occupied" Name="Conveyor - Occupied" Type="PlcAddress">
|
||||
<ParameterBag Id="parameters" Name="Parameters" Type="Parameters">
|
||||
<Parameter Id="description" Name="Description" Type="String" Index="5" Value="Conveyor 1"/>
|
||||
<Parameter Id="address" Name="HW Address" Type="String" Interpretation="PlcConnection" Index="10" Value="raspiBcmGpioInput.4"/>
|
||||
<Parameter Id="resource" Name="Resource ID for PlcAddress" Type="String" Index="20" Value="Conveyor"/>
|
||||
<Parameter Id="action" Name="Action ID for PlcAddress" Type="String" Index="30" Value="Occupied"/>
|
||||
<Parameter Id="index" Name="Index" Type="Integer" Index="40" Value="10"/>
|
||||
<Parameter Id="value" Name="Value" Type="Boolean" Index="100" Value="false"/>
|
||||
</ParameterBag>
|
||||
</Resource>
|
||||
|
||||
<Resource Id="T_Conveyor-MotorOn" Name="Conveyor - MotorOn" Type="PlcTelegram">
|
||||
<ParameterBag Id="parameters" Name="Parameters" Type="Parameters">
|
||||
<Parameter Id="description" Name="Description" Type="String" Index="5" Value="Conveyor 1"/>
|
||||
<Parameter Id="address" Name="HW Address" Type="String" Interpretation="PlcConnection" Index="10" Value="raspiBcmGpioOutput.18"/>
|
||||
<Parameter Id="resource" Name="Resource ID for PlcAddress" Type="String" Index="20" Value="Conveyor"/>
|
||||
<Parameter Id="action" Name="Action ID for PlcAddress" Type="String" Index="30" Value="MotorOn"/>
|
||||
<Parameter Id="index" Name="Index" Type="Integer" Index="40" Value="10"/>
|
||||
<Parameter Id="value" Name="Value" Type="Boolean" Index="100" Value="true"/>
|
||||
</ParameterBag>
|
||||
</Resource></pre>
|
||||
|
||||
<p>The PlcLogicalDevice references the PlcAddress and PlcTelegram objects, and is then used in the UI
|
||||
for grouping.</p>
|
||||
<p>The PlcAddress is used to store the current value and defines the keys with which the agent will be
|
||||
notified</p>
|
||||
<p>The PlcTelegram is used to store default values to send, for specific keys. E.g. The action
|
||||
<code>On</code> would send true, and <code>Off</code> would send false. This is semantics, and is
|
||||
defined in each project depending on the hardware.</p>
|
||||
</li>
|
||||
|
||||
<li>Now that we have a model, the PlcConnections are to be defined. In the previous example we used a
|
||||
Raspberry Pi's GPIOs. This needs to be defined as a PlcConnection:
|
||||
<pre>
|
||||
<Resource Id="raspiBcmGpioOutput" Name="Raspi BCM GPIO Output" Type="PlcConnection">
|
||||
<ParameterBag Id="parameters" Name="Parameters" Type="Parameters">
|
||||
<Parameter Id="className" Name="Connection Class" Type="String" Value="li.strolch.plc.core.hw.gpio.RaspiBcmGpioOutputConnection"/>
|
||||
<Parameter Id="state" Name="Connection State" Type="String" Interpretation="Enumeration" Uom="ConnectionState" Value="Disconnected"/>
|
||||
<Parameter Id="stateMsg" Name="Connection State Msg" Type="String" Interpretation="Enumeration" Uom="ConnectionState"
|
||||
Value=""/>
|
||||
<Parameter Id="inverted" Name="Inverted" Type="Boolean" Value="false"/>
|
||||
<Parameter Id="bcmOutputPins" Name="BCM Output Pins" Type="IntegerList" Value="27"/>
|
||||
</ParameterBag>
|
||||
</Resource>
|
||||
<Resource Id="raspiBcmGpioInput" Name="Raspi BCM GPIO Input" Type="PlcConnection">
|
||||
<ParameterBag Id="parameters" Name="Parameters" Type="Parameters">
|
||||
<Parameter Id="className" Name="Connection Class" Type="String" Value="li.strolch.plc.core.hw.gpio.RaspiBcmGpioInputConnection"/>
|
||||
<Parameter Id="state" Name="Connection State" Type="String" Interpretation="Enumeration" Uom="ConnectionState" Value="Disconnected"/>
|
||||
<Parameter Id="stateMsg" Name="Connection State Msg" Type="String" Interpretation="Enumeration" Uom="ConnectionState"
|
||||
Value=""/>
|
||||
<Parameter Id="inverted" Name="Inverted" Type="Boolean" Value="true"/>
|
||||
<Parameter Id="bcmInputPins" Name="BCM Input Pins" Type="IntegerList" Value="4"/>
|
||||
</ParameterBag>
|
||||
</Resource></pre>
|
||||
<p>See
|
||||
<a href="https://github.com/4treesCH/strolch-plc/blob/develop/example/strolch-plc-example-connections.xml">strolch-plc-example-connections.xml</a>
|
||||
for further examples. </p>
|
||||
</li>
|
||||
</ol>
|
||||
|
||||
|
||||
</div>
|
||||
<!-- /.content -->
|
||||
|
|
|
|||
Loading…
Reference in New Issue