+ The following shows the maven command to create the new maven project. Note that you should replace the placeholders in the brackets:
-mvn archetype:generate - -DarchetypeGroupId=li.strolch - -DarchetypeArtifactId=li.strolch.mvn.archetype.main - -DarchetypeVersion=1.6.0-SNAPSHOT - -DgroupId=<my.groupid> - -DartifactId=<my-artifactId> - -Dversion=<my.version> +mvn archetype:generate \ + -DarchetypeGroupId=li.strolch \ + -DarchetypeArtifactId=li.strolch.mvn.archetype.main \ + -DarchetypeVersion=1.6.0-SNAPSHOT \ + -DgroupId=<my.groupid> \ + -DartifactId=<my-artifactId> \ + -Dversion=<my.version> \ -DappName="<my app name>"
You change into the directory of the new project and then build the project by calling:
@@ -107,13 +107,13 @@ mvn exec:javaThe following shows the maven command to create the new maven project. Note that you should replace the placeholders in the brackets:
-mvn archetype:generate - -DarchetypeGroupId=li.strolch - -DarchetypeArtifactId=li.strolch.mvn.archetype.webapp - -DarchetypeVersion=1.6.0-SNAPSHOT - -DgroupId=<my.groupid> - -DartifactId=<my-artifactId> - -Dversion=<my.version> +mvn archetype:generate \ + -DarchetypeGroupId=li.strolch \ + -DarchetypeArtifactId=li.strolch.mvn.archetype.webapp \ + -DarchetypeVersion=1.6.0-SNAPSHOT \ + -DgroupId=<my.groupid> \ + -DartifactId=<my-artifactId> \ + -Dversion=<my.version> \ -DappName="<my app name>"
The Strolch PLC architecture sees the Strolch Agent as the server, managing logical devices, i.e. multiple - sensors and actors together and thus deciding
+ sensors and actors together and thus deciding on further steps. With this architecture multiple PLCs can be + combined together in one agent for flow control. + +
+ On the agent side the two main classes are the PlcGwServerHandler and the
+ PlcGwService
The PlcGwServerHandler handles connections from remote PLCs over WebSockets and sends the
+ requests to these PLCs. A PlcGwService instance will be notified and can then decide on an
+ action. In an execution model with Activities, the PlcNotificationListener
+ interface can be implemented, or the PlcExecutionPolicy can be directly extended.
On the PLC side, the PlcGwClientHandler is optional if no agent is required. The PlcHandler
+ initializes the model and connections. The Plc class is Strolch agnostic and manages the
+ connections and notifies PlcListener instances on changes coming from the underlying
+ connections. The PlcService implementations implement business logic, and can also be notified
+ on updates from connections.
This example setup describes the movement of containers over conveyors. The conveyors have motors which can
@@ -82,6 +99,453 @@
+
+<properties>
+ <strolch.version>1.6.0-SNAPSHOT</strolch.version>
+ <strolch.plc.version>0.1.0-SNAPSHOT</strolch.plc.version>
+</properties>
+
+<dependencyManagement>
+ <dependency>
+ <groupId>li.strolch</groupId>
+ <artifactId>li.strolch.bom</artifactId>
+ <type>pom</type>
+ <version>${strolch.version}</version>
+ <scope>import</scope>
+ </dependency>
+ <dependency>
+ <groupId>li.strolch</groupId>
+ <artifactId>strolch-plc-bom</artifactId>
+ <type>pom</type>
+ <version>${strolch.plc.version}</version>
+ <scope>import</scope>
+ </dependency>
+</dependencyManagement>
+
+<dependencies>
+ <!-- PLC -->
+ <dependency>
+ <groupId>li.strolch</groupId>
+ <artifactId>strolch-plc-core</artifactId>
+ </dependency>
+ <dependency>
+ <groupId>li.strolch</groupId>
+ <artifactId>strolch-plc-rest</artifactId>
+ </dependency>
+ <dependency>
+ <groupId>li.strolch</groupId>
+ <artifactId>strolch-plc-gw-client</artifactId>
+ </dependency>
+</dependencies>
+ Add a bower dependency: "strolch-wc-plc": "4treesCH/strolch-wc-plc#^0.3.4" to src/main/webapp/bower.json
+
After adding the dependeny, run gulp in the webapp directory. Gulp should have been
+ installed through the instructions from the development page.
Now we need to add the PLC web views to our new project. This is added in the src/main/webapp/app/src/c-app.html
+ file. Add the following:
+<!-- HTML Imports -->
+<link rel="import" href="../bower_components/strolch-wc-plc/strolch-wc-plc-connections.html">
+<link rel="import" href="../bower_components/strolch-wc-plc/strolch-wc-plc-logical-devices.html">
+
+<!-- Change default-page to plcLogicalDevices -->
+<c-app-routing id="appRouting"
+ login-page="login"
+ default-page="plcLogicalDevices"
+ auth-valid="[[authTokenValid]]"
+ page="{{page}}"
+ route-tail="{{routeTail}}"
+ use-hash-as-path></c-app-routing>
+
+<!-- Add the new pages in the iron-pages element: -->
+<template is="dom-if" if="[[equal(page, 'plcConnections')]]" restamp>
+ <strolch-wc-plc-connections id="plcConnections"
+ base-path="../"
+ base-rest-path="[[baseRestPath]]"
+ route="{{subroute}}"></strolch-wc-plc-connections>
+</template>
+<template is="dom-if" if="[[equal(page, 'plcLogicalDevices')]]" restamp>
+ <strolch-wc-plc-logical-devices id="plcLogicalDevices"
+ base-path="../"
+ base-rest-path="[[baseRestPath]]"
+ base-ws-path="[[baseWsPath]]"
+ route="{{subroute}}"></strolch-wc-plc-logical-devices>
+</template>
+
+// add a new property to the WebSocket path for observing changes on the PLC
+wsObserverPath: {
+ type: String,
+ value: function () {
+ return CustomWeb.baseWsPath + "/plc/observer";
+ }
+}
+ Now we need to configure the PLC's runtime by modifying runtime/StrolchConfiguration.xml
+ and adding the following:
+<!-- + This component configures the PlcHandler by + loading the PlcConnections, PlcAddresses and PlcTelegrams +--> +<Component> + <name>PlcHandler</name> + <api>li.strolch.plc.core.PlcHandler</api> + <impl>li.strolch.plc.core.DefaultPlcHandler</impl> + <depends>RealmHandler</depends> + <Properties> + <!-- The component handling the low level connections --> + <plcClass>li.strolch.plc.core.hw.DefaultPlc</plcClass> + </Properties> +</Component> + +<!-- + This component handles registrations of the PlcServices, i.e. your PLC business logic +--> +<Component> + <name>PlcServiceInitializer</name> + <api>li.strolch.plc.core.PlcServiceInitializer</api> + <impl>li.strolch.plc.example.CustomPlcServiceInitializer</impl> + <depends>PlcHandler</depends> + <Properties> + </Properties> +</Component> + +<!-- + This component notifies a Strolch agent of changes on the PLC + only if you have a Strolch server with a configured + li.strolch.plc.gw.server.PlcServerWebSocketEndpoint ready to accept connections +--> +<Component> + <name>PlcGwClientHandler</name> + <api>li.strolch.plc.gw.client.PlcGwClientHandler</api> + <impl>li.strolch.plc.gw.client.PlcGwClientHandler</impl> + <depends>PlcHandler</depends> + <depends>PlcServiceInitializer</depends> + <Properties> + <plcId>plc-01</plcId> + <gwUsername>plc-01</gwUsername> + <gwPassword>plc-01</gwPassword> + <gwServerUrl>ws://localhost:8080/agent/websocket/strolch/plc</gwServerUrl> + </Properties> +</Component>+
Now we add the custom classes we just declared.
+ +PlcServiceInitializer
+
+import java.util.ArrayList;
+import java.util.List;
+
+import li.strolch.plc.example.services.*;
+import li.strolch.agent.api.ComponentContainer;
+import li.strolch.plc.core.PlcHandler;
+import li.strolch.plc.core.PlcService;
+import li.strolch.plc.core.PlcServiceInitializer;
+
+public class CustomPlcServiceInitializer extends PlcServiceInitializer {
+
+ public CustomPlcServiceInitializer(ComponentContainer container, String componentName) {
+ super(container, componentName);
+ }
+
+ @Override
+ protected List<PlcService> getPlcServices(PlcHandler plcHandler) {
+ ArrayList<PlcService> plcServices = new ArrayList<>();
+
+ StartupPlcService startupPlcService = new StartupPlcService(plcHandler);
+ ConveyorPlcService conveyorPlcService = new ConveyorPlcService(plcHandler);
+
+ plcServices.add(conveyorPlcService);
+ plcServices.add(startupPlcService);
+
+ return plcServices;
+ }
+}
+
+ PlcPostInitializer
+
+import li.strolch.agent.api.ComponentContainer;
+import li.strolch.plc.core.PlcPostInitializer;
+
+public class CustomPostInitializer extends PlcPostInitializer {
+ public CustomPostInitializer(ComponentContainer container, String componentName) {
+ super(container, componentName);
+ }
+
+ // override the initialize(), start(), stop() and destroy() methods as needed
+}
+ In the CustomPlcServiceInitializer we added two PlcServices, for which the code is
+ missing. The following are simple examples:
StartupPlcService
+
+import li.strolch.persistence.api.StrolchTransaction;
+import li.strolch.plc.core.PlcHandler;
+import li.strolch.plc.core.PlcService;
+
+public class StartupPlcService extends PlcService {
+
+ public static final String PLC = "PLC";
+ public static final String STARTED = "Started";
+ public static final String STOPPED = "Stopped";
+
+ public StartupPlcService(PlcHandler plcHandler) {
+ super(plcHandler);
+ }
+
+ @Override
+ public void start(StrolchTransaction tx) {
+ send(PLC, STARTED);
+ super.start(tx);
+ }
+
+ @Override
+ public void stop() {
+ send(PLC, STOPPED);
+ super.stop();
+ }
+}
+
+ ConveyorPlcService
+
+import java.util.concurrent.ScheduledFuture;
+import java.util.concurrent.TimeUnit;
+
+import li.strolch.plc.core.PlcHandler;
+import li.strolch.plc.core.PlcService;
+import li.strolch.plc.model.PlcAddress;
+
+public class ConveyorPlcService extends PlcService {
+
+ public static final int BOX_TRANSFER_DURATION = 30;
+
+ private static final String R_CONVEYOR_01 = "Conveyor01";
+ private static final String A_START_BUTTON = "StartButton";
+ private static final String T_MOTOR_ON = "MotorOn";
+ private static final String T_MOTOR_OFF = "MotorOff";
+ private static final String A_BOX_DETECTED = "BoxDetected";
+
+ private boolean motorOn;
+ private ScheduledFuture<?> motorStopTask;
+
+ public ConveyorPlcService(PlcHandler plcHandler) {
+ super(plcHandler);
+ }
+
+ @Override
+ public void handleNotification(PlcAddress address, Object value) {
+ String resource = address.resource;
+ String action = address.action;
+
+ if (!resource.equals("Conveyor01"))
+ throw new IllegalStateException("Unexpected resource " + resource);
+
+ boolean active = (boolean) value;
+
+ if (action.equals(A_START_BUTTON)) {
+
+ if (active) {
+ logger.info("Start button pressed. Starting motors...");
+ send(R_CONVEYOR_01, T_MOTOR_ON);
+ this.motorOn = true;
+ scheduleStopTask();
+ }
+
+ } else if (action.equals(A_BOX_DETECTED)) {
+
+ if (active && this.motorOn) {
+ logger.info("Container detected, refreshing stop task...");
+ scheduleStopTask();
+ }
+
+ } else {
+ logger.info("Unhandled notification " + address.toKeyAddress());
+ }
+ }
+
+ private void scheduleStopTask() {
+ if (this.motorStopTask != null)
+ this.motorStopTask.cancel(false);
+ this.motorStopTask = schedule(this::stopMotor, BOX_TRANSFER_DURATION, TimeUnit.SECONDS);
+ }
+
+ private void stopMotor() {
+ send(R_CONVEYOR_01, T_MOTOR_OFF);
+ }
+
+ @Override
+ public void register() {
+ this.plcHandler.register(R_CONVEYOR_01, A_START_BUTTON, this);
+ this.plcHandler.register(R_CONVEYOR_01, A_BOX_DETECTED, this);
+ super.register();
+ }
+
+ @Override
+ public void unregister() {
+ this.plcHandler.unregister(R_CONVEYOR_01, A_START_BUTTON, this);
+ this.plcHandler.unregister(R_CONVEYOR_01, A_BOX_DETECTED, this);
+ super.unregister();
+ }
+}
+ Now the last part is to add the model, i.e. PlcConnections, PlcAddresses and PlcTelegrams. To have
+ less configuration files and make it easier to reconfigure at runtime, this data is stored in normal
+ Strolch Resources
In this example we will use simple Raspberry Pi GPIOs. For convenience, and also when sharing I/O
+ definitions with external partners, it is easier to use a CSV file to define the I/Os and then use
+ the PlcAddressGenerator to generate and validate the model.
For this purpose in this example, we will use one conveyor with 2 inputs and 1 output. The CSV file + should have the following content:
++Description,Type,SubType,Device,Pin,Resource,Action1,Action2,Connection,DeviceId +Material Flow,Group,,,,,,,,MaterialFlow +Conveyor 1,Input,GPIO,,4,Conveyor,Occupied,,raspiBcmGpioInput +Conveyor 1,Input,GPIO,,17,Conveyor,BoxDetected,,raspiBcmGpioInput +Conveyor 1,Output,GPIO,,18,Conveyor,MotorOn,MotorOff,raspiBcmGpioOutput+ +
The CSV headers are as follows:
+When you use this file as input for the PlcAddressGenerator, then it will generate
+ PlcLogicalDevice, PlcAddress and PlcTelegram elements:
+<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>+ +
The PlcLogicalDevice references the PlcAddress and PlcTelegram objects, and is then used in the UI + for grouping.
+The PlcAddress is used to store the current value and defines the keys with which the agent will be + notified
+The PlcTelegram is used to store default values to send, for specific keys. E.g. The action
+ On would send true, and Off would send false. This is semantics, and is
+ defined in each project depending on the hardware.
+<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>+
See + strolch-plc-example-connections.xml + for further examples.
+