First cherry-picker PLC program demo / POC.

Beremiz/cherry_picker_opc_ua_prod/beremiz.xml

+<?xml version='1.0' encoding='utf-8'?>
+<BeremizRoot xmlns:xsd="http://www.w3.org/2001/XMLSchema" URI_location="LOCAL://">
+  <TargetType/>
+</BeremizRoot>

Beremiz/cherry_picker_opc_ua_prod/build/LOCATED_VARIABLES.h

+__LOCATED_VAR(DINT,__QD1_0,Q,D,1,0)
+__LOCATED_VAR(DINT,__QD1_1,Q,D,1,1)
+__LOCATED_VAR(DINT,__QD1_2,Q,D,1,2)
+__LOCATED_VAR(DINT,__QD1_3,Q,D,1,3)

Beremiz/cherry_picker_opc_ua_prod/build/POUS.c

+void LOGGER_init__(LOGGER *data__, BOOL retain) {
+  __INIT_VAR(data__->EN,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->ENO,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->TRIG,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->MSG,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->LEVEL,LOGLEVEL__INFO,retain)
+  __INIT_VAR(data__->TRIG0,__BOOL_LITERAL(FALSE),retain)
+}
+
+// Code part
+void LOGGER_body__(LOGGER *data__) {
+  // Control execution
+  if (!__GET_VAR(data__->EN)) {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(FALSE));
+    return;
+  }
+  else {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(TRUE));
+  }
+  // Initialise TEMP variables
+
+  if ((__GET_VAR(data__->TRIG,) && !(__GET_VAR(data__->TRIG0,)))) {
+    #define GetFbVar(var,...) __GET_VAR(data__->var,__VA_ARGS__)
+    #define SetFbVar(var,val,...) __SET_VAR(data__->,var,__VA_ARGS__,val)
+
+   LogMessage(GetFbVar(LEVEL),(char*)GetFbVar(MSG, .body),GetFbVar(MSG, .len));
+  
+    #undef GetFbVar
+    #undef SetFbVar
+;
+  };
+  __SET_VAR(data__->,TRIG0,,__GET_VAR(data__->TRIG,));
+
+  goto __end;
+
+__end:
+  return;
+} // LOGGER_body__() 
+
+
+
+
+
+void PYTHON_EVAL_init__(PYTHON_EVAL *data__, BOOL retain) {
+  __INIT_VAR(data__->EN,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->ENO,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->TRIG,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->CODE,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->ACK,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->RESULT,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->STATE,0,retain)
+  __INIT_VAR(data__->BUFFER,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->PREBUFFER,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->TRIGM1,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->TRIGGED,__BOOL_LITERAL(FALSE),retain)
+}
+
+// Code part
+void PYTHON_EVAL_body__(PYTHON_EVAL *data__) {
+  // Control execution
+  if (!__GET_VAR(data__->EN)) {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(FALSE));
+    return;
+  }
+  else {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(TRUE));
+  }
+  // Initialise TEMP variables
+
+  __IL_DEFVAR_T __IL_DEFVAR;
+  __IL_DEFVAR_T __IL_DEFVAR_BACK;
+  #define GetFbVar(var,...) __GET_VAR(data__->var,__VA_ARGS__)
+  #define SetFbVar(var,val,...) __SET_VAR(data__->,var,__VA_ARGS__,val)
+extern void __PythonEvalFB(int, PYTHON_EVAL*);__PythonEvalFB(0, data__);
+  #undef GetFbVar
+  #undef SetFbVar
+;
+
+  goto __end;
+
+__end:
+  return;
+} // PYTHON_EVAL_body__() 
+
+
+
+
+
+void PYTHON_POLL_init__(PYTHON_POLL *data__, BOOL retain) {
+  __INIT_VAR(data__->EN,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->ENO,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->TRIG,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->CODE,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->ACK,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->RESULT,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->STATE,0,retain)
+  __INIT_VAR(data__->BUFFER,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->PREBUFFER,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->TRIGM1,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->TRIGGED,__BOOL_LITERAL(FALSE),retain)
+}
+
+// Code part
+void PYTHON_POLL_body__(PYTHON_POLL *data__) {
+  // Control execution
+  if (!__GET_VAR(data__->EN)) {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(FALSE));
+    return;
+  }
+  else {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(TRUE));
+  }
+  // Initialise TEMP variables
+
+  __IL_DEFVAR_T __IL_DEFVAR;
+  __IL_DEFVAR_T __IL_DEFVAR_BACK;
+  #define GetFbVar(var,...) __GET_VAR(data__->var,__VA_ARGS__)
+  #define SetFbVar(var,val,...) __SET_VAR(data__->,var,__VA_ARGS__,val)
+extern void __PythonEvalFB(int, PYTHON_EVAL*);__PythonEvalFB(1,(PYTHON_EVAL*)(void*)data__);
+  #undef GetFbVar
+  #undef SetFbVar
+;
+
+  goto __end;
+
+__end:
+  return;
+} // PYTHON_POLL_body__() 
+
+
+
+
+
+void PYTHON_GEAR_init__(PYTHON_GEAR *data__, BOOL retain) {
+  __INIT_VAR(data__->EN,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->ENO,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->N,0,retain)
+  __INIT_VAR(data__->TRIG,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->CODE,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->ACK,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->RESULT,__STRING_LITERAL(0,""),retain)
+  PYTHON_EVAL_init__(&data__->PY_EVAL,retain);
+  __INIT_VAR(data__->COUNTER,0,retain)
+  __INIT_VAR(data__->_TMP_ADD10_OUT,0,retain)
+  __INIT_VAR(data__->_TMP_EQ13_OUT,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->_TMP_SEL15_OUT,0,retain)
+  __INIT_VAR(data__->_TMP_AND7_OUT,__BOOL_LITERAL(FALSE),retain)
+}
+
+// Code part
+void PYTHON_GEAR_body__(PYTHON_GEAR *data__) {
+  // Control execution
+  if (!__GET_VAR(data__->EN)) {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(FALSE));
+    return;
+  }
+  else {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(TRUE));
+  }
+  // Initialise TEMP variables
+
+  __SET_VAR(data__->,_TMP_ADD10_OUT,,ADD__UINT__UINT(
+    (BOOL)__BOOL_LITERAL(TRUE),
+    NULL,
+    (UINT)2,
+    (UINT)__GET_VAR(data__->COUNTER,),
+    (UINT)1));
+  __SET_VAR(data__->,_TMP_EQ13_OUT,,EQ__BOOL__UINT(
+    (BOOL)__BOOL_LITERAL(TRUE),
+    NULL,
+    (UINT)2,
+    (UINT)__GET_VAR(data__->N,),
+    (UINT)__GET_VAR(data__->_TMP_ADD10_OUT,)));
+  __SET_VAR(data__->,_TMP_SEL15_OUT,,SEL__UINT__BOOL__UINT__UINT(
+    (BOOL)__BOOL_LITERAL(TRUE),
+    NULL,
+    (BOOL)__GET_VAR(data__->_TMP_EQ13_OUT,),
+    (UINT)__GET_VAR(data__->_TMP_ADD10_OUT,),
+    (UINT)0));
+  __SET_VAR(data__->,COUNTER,,__GET_VAR(data__->_TMP_SEL15_OUT,));
+  __SET_VAR(data__->,_TMP_AND7_OUT,,AND__BOOL__BOOL(
+    (BOOL)__BOOL_LITERAL(TRUE),
+    NULL,
+    (UINT)2,
+    (BOOL)__GET_VAR(data__->_TMP_EQ13_OUT,),
+    (BOOL)__GET_VAR(data__->TRIG,)));
+  __SET_VAR(data__->PY_EVAL.,TRIG,,__GET_VAR(data__->_TMP_AND7_OUT,));
+  __SET_VAR(data__->PY_EVAL.,CODE,,__GET_VAR(data__->CODE,));
+  PYTHON_EVAL_body__(&data__->PY_EVAL);
+  __SET_VAR(data__->,ACK,,__GET_VAR(data__->PY_EVAL.ACK,));
+  __SET_VAR(data__->,RESULT,,__GET_VAR(data__->PY_EVAL.RESULT,));
+
+  goto __end;
+
+__end:
+  return;
+} // PYTHON_GEAR_body__() 
+
+
+
+
+
+void COUNTERST_init__(COUNTERST *data__, BOOL retain) {
+  __INIT_VAR(data__->EN,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->ENO,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->RESET,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->OUT1,0,retain)
+  __INIT_VAR(data__->OUT0,0,retain)
+  __INIT_VAR(data__->CNT1,0,retain)
+  __INIT_VAR(data__->CNT0,0,retain)
+  __INIT_EXTERNAL(INT,RESETCOUNTERVALUE,data__->RESETCOUNTERVALUE,retain)
+  __INIT_EXTERNAL(DINT,RELAY0,data__->RELAY0,retain)
+  __INIT_EXTERNAL(DINT,RELAY1,data__->RELAY1,retain)
+  __INIT_EXTERNAL(DINT,RELAY2,data__->RELAY2,retain)
+  __INIT_EXTERNAL(DINT,RELAY3,data__->RELAY3,retain)
+}
+
+// Code part
+void COUNTERST_body__(COUNTERST *data__) {
+  // Control execution
+  if (!__GET_VAR(data__->EN)) {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(FALSE));
+    return;
+  }
+  else {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(TRUE));
+  }
+  // Initialise TEMP variables
+
+  if (__GET_VAR(data__->RESET,)) {
+    __SET_VAR(data__->,CNT0,,__GET_EXTERNAL(data__->RESETCOUNTERVALUE,));
+    __SET_VAR(data__->,CNT1,,__GET_EXTERNAL(data__->RESETCOUNTERVALUE,));
+    __SET_VAR(data__->,RESET,,__BOOL_LITERAL(FALSE));
+  } else {
+    __SET_VAR(data__->,CNT0,,(__GET_VAR(data__->CNT0,) + 1));
+    __SET_VAR(data__->,CNT1,,(__GET_VAR(data__->CNT1,) + 1));
+    if ((__GET_VAR(data__->CNT1,) == 50)) {
+      __SET_EXTERNAL(data__->,RELAY0,,1);
+      __SET_EXTERNAL(data__->,RELAY1,,1);
+    };
+    if ((__GET_VAR(data__->CNT1,) == 100)) {
+      __SET_EXTERNAL(data__->,RELAY0,,1);
+      __SET_EXTERNAL(data__->,RELAY1,,0);
+      __SET_VAR(data__->,CNT1,,0);
+    };
+  };
+  __SET_VAR(data__->,OUT1,,__GET_VAR(data__->CNT1,));
+  __SET_VAR(data__->,OUT0,,__GET_VAR(data__->CNT0,));
+
+  goto __end;
+
+__end:
+  return;
+} // COUNTERST_body__() 
+
+
+
+
+
+void PLC_PRG_init__(PLC_PRG *data__, BOOL retain) {
+  __INIT_VAR(data__->RESET,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->CNT0,0,retain)
+  __INIT_VAR(data__->CNT1,0,retain)
+  COUNTERST_init__(&data__->COUNTERST0,retain);
+}
+
+// Code part
+void PLC_PRG_body__(PLC_PRG *data__) {
+  // Initialise TEMP variables
+
+  __SET_VAR(data__->COUNTERST0.,RESET,,__GET_VAR(data__->RESET,));
+  COUNTERST_body__(&data__->COUNTERST0);
+  __SET_VAR(data__->,CNT1,,__GET_VAR(data__->COUNTERST0.OUT1,));
+  __SET_VAR(data__->,CNT0,,__GET_VAR(data__->COUNTERST0.OUT0,));
+
+  goto __end;
+
+__end:
+  return;
+} // PLC_PRG_body__() 
+
+
+
+
+

Beremiz/cherry_picker_opc_ua_prod/build/POUS.h

+#include "beremiz.h"
+#ifndef __POUS_H
+#define __POUS_H
+
+#include "accessor.h"
+#include "iec_std_lib.h"
+
+__DECLARE_ENUMERATED_TYPE(LOGLEVEL,
+  LOGLEVEL__CRITICAL,
+  LOGLEVEL__WARNING,
+  LOGLEVEL__INFO,
+  LOGLEVEL__DEBUG
+)
+// FUNCTION_BLOCK LOGGER
+// Data part
+typedef struct {
+  // FB Interface - IN, OUT, IN_OUT variables
+  __DECLARE_VAR(BOOL,EN)
+  __DECLARE_VAR(BOOL,ENO)
+  __DECLARE_VAR(BOOL,TRIG)
+  __DECLARE_VAR(STRING,MSG)
+  __DECLARE_VAR(LOGLEVEL,LEVEL)
+
+  // FB private variables - TEMP, private and located variables
+  __DECLARE_VAR(BOOL,TRIG0)
+
+} LOGGER;
+
+void LOGGER_init__(LOGGER *data__, BOOL retain);
+// Code part
+void LOGGER_body__(LOGGER *data__);
+// FUNCTION_BLOCK PYTHON_EVAL
+// Data part
+typedef struct {
+  // FB Interface - IN, OUT, IN_OUT variables
+  __DECLARE_VAR(BOOL,EN)
+  __DECLARE_VAR(BOOL,ENO)
+  __DECLARE_VAR(BOOL,TRIG)
+  __DECLARE_VAR(STRING,CODE)
+  __DECLARE_VAR(BOOL,ACK)
+  __DECLARE_VAR(STRING,RESULT)
+
+  // FB private variables - TEMP, private and located variables
+  __DECLARE_VAR(DWORD,STATE)
+  __DECLARE_VAR(STRING,BUFFER)
+  __DECLARE_VAR(STRING,PREBUFFER)
+  __DECLARE_VAR(BOOL,TRIGM1)
+  __DECLARE_VAR(BOOL,TRIGGED)
+
+} PYTHON_EVAL;
+
+void PYTHON_EVAL_init__(PYTHON_EVAL *data__, BOOL retain);
+// Code part
+void PYTHON_EVAL_body__(PYTHON_EVAL *data__);
+// FUNCTION_BLOCK PYTHON_POLL
+// Data part
+typedef struct {
+  // FB Interface - IN, OUT, IN_OUT variables
+  __DECLARE_VAR(BOOL,EN)
+  __DECLARE_VAR(BOOL,ENO)
+  __DECLARE_VAR(BOOL,TRIG)
+  __DECLARE_VAR(STRING,CODE)
+  __DECLARE_VAR(BOOL,ACK)
+  __DECLARE_VAR(STRING,RESULT)
+
+  // FB private variables - TEMP, private and located variables
+  __DECLARE_VAR(DWORD,STATE)
+  __DECLARE_VAR(STRING,BUFFER)
+  __DECLARE_VAR(STRING,PREBUFFER)
+  __DECLARE_VAR(BOOL,TRIGM1)
+  __DECLARE_VAR(BOOL,TRIGGED)
+
+} PYTHON_POLL;
+
+void PYTHON_POLL_init__(PYTHON_POLL *data__, BOOL retain);
+// Code part
+void PYTHON_POLL_body__(PYTHON_POLL *data__);
+// FUNCTION_BLOCK PYTHON_GEAR
+// Data part
+typedef struct {
+  // FB Interface - IN, OUT, IN_OUT variables
+  __DECLARE_VAR(BOOL,EN)
+  __DECLARE_VAR(BOOL,ENO)
+  __DECLARE_VAR(UINT,N)
+  __DECLARE_VAR(BOOL,TRIG)
+  __DECLARE_VAR(STRING,CODE)
+  __DECLARE_VAR(BOOL,ACK)
+  __DECLARE_VAR(STRING,RESULT)
+
+  // FB private variables - TEMP, private and located variables
+  PYTHON_EVAL PY_EVAL;
+  __DECLARE_VAR(UINT,COUNTER)
+  __DECLARE_VAR(UINT,_TMP_ADD10_OUT)
+  __DECLARE_VAR(BOOL,_TMP_EQ13_OUT)
+  __DECLARE_VAR(UINT,_TMP_SEL15_OUT)
+  __DECLARE_VAR(BOOL,_TMP_AND7_OUT)
+
+} PYTHON_GEAR;
+
+void PYTHON_GEAR_init__(PYTHON_GEAR *data__, BOOL retain);
+// Code part
+void PYTHON_GEAR_body__(PYTHON_GEAR *data__);
+// FUNCTION_BLOCK COUNTERST
+// Data part
+typedef struct {
+  // FB Interface - IN, OUT, IN_OUT variables
+  __DECLARE_VAR(BOOL,EN)
+  __DECLARE_VAR(BOOL,ENO)
+  __DECLARE_VAR(BOOL,RESET)
+  __DECLARE_VAR(INT,OUT1)
+  __DECLARE_VAR(INT,OUT0)
+
+  // FB private variables - TEMP, private and located variables
+  __DECLARE_VAR(INT,CNT1)
+  __DECLARE_VAR(INT,CNT0)
+  __DECLARE_EXTERNAL(INT,RESETCOUNTERVALUE)
+  __DECLARE_EXTERNAL(DINT,RELAY0)
+  __DECLARE_EXTERNAL(DINT,RELAY1)
+  __DECLARE_EXTERNAL(DINT,RELAY2)
+  __DECLARE_EXTERNAL(DINT,RELAY3)
+
+} COUNTERST;
+
+void COUNTERST_init__(COUNTERST *data__, BOOL retain);
+// Code part
+void COUNTERST_body__(COUNTERST *data__);
+// PROGRAM PLC_PRG
+// Data part
+typedef struct {
+  // PROGRAM Interface - IN, OUT, IN_OUT variables
+  __DECLARE_VAR(BOOL,RESET)
+  __DECLARE_VAR(INT,CNT0)
+  __DECLARE_VAR(INT,CNT1)
+
+  // PROGRAM private variables - TEMP, private and located variables
+  COUNTERST COUNTERST0;
+
+} PLC_PRG;
+
+void PLC_PRG_init__(PLC_PRG *data__, BOOL retain);
+// Code part
+void PLC_PRG_body__(PLC_PRG *data__);
+#endif //__POUS_H

Beremiz/cherry_picker_opc_ua_prod/build/VARIABLES.csv

+// Programs
+0;CONFIG.RESOURCE1.INSTANCE0;PLC_PRG;
+
+// Variables
+0;VAR;CONFIG.RESETCOUNTERVALUE;CONFIG.RESETCOUNTERVALUE;INT;INT;
+1;OUT;CONFIG.RELAY0;CONFIG.RELAY0;DINT;DINT;
+2;OUT;CONFIG.RELAY1;CONFIG.RELAY1;DINT;DINT;
+3;OUT;CONFIG.RELAY2;CONFIG.RELAY2;DINT;DINT;
+4;OUT;CONFIG.RELAY3;CONFIG.RELAY3;DINT;DINT;
+5;FB;CONFIG.RESOURCE1.INSTANCE0;CONFIG.RESOURCE1.INSTANCE0;PLC_PRG;;
+6;VAR;CONFIG.RESOURCE1.INSTANCE0.RESET;CONFIG.RESOURCE1.INSTANCE0.RESET;BOOL;BOOL;
+7;VAR;CONFIG.RESOURCE1.INSTANCE0.CNT0;CONFIG.RESOURCE1.INSTANCE0.CNT0;INT;INT;
+8;VAR;CONFIG.RESOURCE1.INSTANCE0.CNT1;CONFIG.RESOURCE1.INSTANCE0.CNT1;INT;INT;
+9;FB;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0;COUNTERST;;
+10;VAR;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.EN;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.EN;BOOL;BOOL;
+11;VAR;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.ENO;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.ENO;BOOL;BOOL;
+12;VAR;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RESET;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RESET;BOOL;BOOL;
+13;VAR;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.OUT1;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.OUT1;INT;INT;
+14;VAR;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.OUT0;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.OUT0;INT;INT;
+15;VAR;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.CNT1;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.CNT1;INT;INT;
+16;VAR;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.CNT0;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.CNT0;INT;INT;
+17;EXT;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RESETCOUNTERVALUE;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RESETCOUNTERVALUE;INT;INT;
+18;EXT;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RELAY0;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RELAY0;DINT;DINT;
+19;EXT;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RELAY1;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RELAY1;DINT;DINT;
+20;EXT;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RELAY2;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RELAY2;DINT;DINT;
+21;EXT;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RELAY3;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RELAY3;DINT;DINT;
+
+
+// Ticktime
+20000000

Beremiz/cherry_picker_opc_ua_prod/build/beremiz.h

+#ifndef _BEREMIZ_H_
+#define _BEREMIZ_H_
+
+/* Beremiz' header file for use by extensions */
+
+#include "iec_types.h"
+
+#define LOG_LEVELS 4
+#define LOG_CRITICAL 0
+#define LOG_WARNING 1
+#define LOG_INFO 2
+#define LOG_DEBUG 3
+
+extern unsigned long long common_ticktime__;
+
+#ifdef TARGET_LOGGING_DISABLE
+static inline int LogMessage(uint8_t level, char* buf, uint32_t size)
+{
+	(void)level;
+	(void)buf;
+	(void)size;
+	return 0;
+}
+#else
+int     LogMessage(uint8_t level, char* buf, uint32_t size);
+#endif
+
+long AtomicCompareExchange(long* atomicvar,long compared, long exchange);
+void *create_RT_to_nRT_signal(char* name);
+void delete_RT_to_nRT_signal(void* handle);
+int wait_RT_to_nRT_signal(void* handle);
+int unblock_RT_to_nRT_signal(void* handle);
+void nRT_reschedule(void);
+
+#endif

Beremiz/cherry_picker_opc_ua_prod/build/config.c

+/*******************************************/
+/*     FILE GENERATED BY iec2c             */
+/* Editing this file is not recommended... */
+/*******************************************/
+
+#include "iec_std_lib.h"
+
+#include "accessor.h"
+
+#include "POUS.h"
+
+// CONFIGURATION CONFIG
+__DECLARE_GLOBAL(INT,CONFIG,RESETCOUNTERVALUE)
+__DECLARE_GLOBAL_LOCATION(DINT,__QD1_0)
+__DECLARE_GLOBAL_LOCATED(DINT,CONFIG,RELAY0)
+__DECLARE_GLOBAL_LOCATION(DINT,__QD1_1)
+__DECLARE_GLOBAL_LOCATED(DINT,CONFIG,RELAY1)
+__DECLARE_GLOBAL_LOCATION(DINT,__QD1_2)
+__DECLARE_GLOBAL_LOCATED(DINT,CONFIG,RELAY2)
+__DECLARE_GLOBAL_LOCATION(DINT,__QD1_3)
+__DECLARE_GLOBAL_LOCATED(DINT,CONFIG,RELAY3)
+
+void RESOURCE1_init__(void);
+
+void config_init__(void) {
+  BOOL retain;
+  retain = 0;
+  __INIT_GLOBAL(INT,RESETCOUNTERVALUE,__INITIAL_VALUE(0),retain)
+  __INIT_GLOBAL_LOCATED(CONFIG,RELAY0,__QD1_0,retain)
+  __INIT_GLOBAL(DINT,RELAY0,__INITIAL_VALUE(0),retain)
+  __INIT_GLOBAL_LOCATED(CONFIG,RELAY1,__QD1_1,retain)
+  __INIT_GLOBAL(DINT,RELAY1,__INITIAL_VALUE(0),retain)
+  __INIT_GLOBAL_LOCATED(CONFIG,RELAY2,__QD1_2,retain)
+  __INIT_GLOBAL(DINT,RELAY2,__INITIAL_VALUE(0),retain)
+  __INIT_GLOBAL_LOCATED(CONFIG,RELAY3,__QD1_3,retain)
+  __INIT_GLOBAL(DINT,RELAY3,__INITIAL_VALUE(0),retain)
+  RESOURCE1_init__();
+}
+
+void RESOURCE1_run__(unsigned long tick);
+
+void config_run__(unsigned long tick) {
+  RESOURCE1_run__(tick);
+}
+unsigned long long common_ticktime__ = 20000000ULL * 1ULL; /*ns*/
+unsigned long greatest_tick_count__ = (unsigned long)0UL; /*tick*/

Beremiz/cherry_picker_opc_ua_prod/build/config.h

+#include "beremiz.h"
+__DECLARE_GLOBAL_PROTOTYPE(INT,RESETCOUNTERVALUE)
+__DECLARE_GLOBAL_PROTOTYPE(DINT,RELAY0)
+__DECLARE_GLOBAL_PROTOTYPE(DINT,RELAY1)
+__DECLARE_GLOBAL_PROTOTYPE(DINT,RELAY2)
+__DECLARE_GLOBAL_PROTOTYPE(DINT,RELAY3)
+

Beremiz/cherry_picker_opc_ua_prod/build/generated_plc.st

+FUNCTION_BLOCK CounterST
+  VAR_INPUT
+    Reset : BOOL;
+  END_VAR
+  VAR_OUTPUT
+    Out1 : INT;
+    Out0 : INT;
+  END_VAR
+  VAR
+    Cnt1 : INT;
+    Cnt0 : INT;
+  END_VAR
+  VAR_EXTERNAL
+    ResetCounterValue : INT;
+    Relay0 : DINT;
+    Relay1 : DINT;
+    Relay2 : DINT;
+    Relay3 : DINT;
+  END_VAR
+
+  IF Reset THEN
+    Cnt0 := ResetCounterValue;
+    Cnt1 := ResetCounterValue;
+    Reset := False;
+  ELSE
+    Cnt0 := Cnt0 + 1;
+    Cnt1 := Cnt1 + 1;
+    IF Cnt1 = 50 THEN
+      Relay0 := 1;
+      Relay1 := 1; 
+    END_IF;
+    
+    IF Cnt1 = 100 THEN
+      Relay0 := 1;
+      Relay1 := 0;
+      Cnt1 := 0;
+    END_IF;
+    
+  END_IF;
+
+  Out1 := Cnt1;
+  Out0 := Cnt0;
+END_FUNCTION_BLOCK
+
+PROGRAM plc_prg
+  VAR_INPUT
+    Reset : BOOL;
+  END_VAR
+  VAR_OUTPUT
+    Cnt0 : INT;
+    Cnt1 : INT;
+  END_VAR
+  VAR
+    CounterST0 : CounterST;
+  END_VAR
+
+  CounterST0(Reset := Reset);
+  Cnt1 := CounterST0.Out1;
+  Cnt0 := CounterST0.Out0;
+END_PROGRAM
+
+
+CONFIGURATION config
+  VAR_GLOBAL
+    ResetCounterValue : INT := 0;
+    Relay0 AT %QD1.0 : DINT := 0;
+    Relay1 AT %QD1.1 : DINT := 0;
+    Relay2 AT %QD1.2 : DINT := 0;
+    Relay3 AT %QD1.3 : DINT := 0;
+  END_VAR
+
+  RESOURCE resource1 ON PLC
+    TASK task0(INTERVAL := T#20ms,PRIORITY := 0);
+    PROGRAM instance0 WITH task0 : plc_prg;
+  END_RESOURCE
+END_CONFIGURATION

Beremiz/cherry_picker_opc_ua_prod/build/lastbuildPLC.md5

+5872cdee1c8e83c0f2e6225bddbac9ab
\ No newline at end of file

Beremiz/cherry_picker_opc_ua_prod/build/opcua_client__1.c

+/* code generated by beremiz OPC-UA extension */
+
+#include <open62541/client_config_default.h>
+#include <open62541/client_highlevel.h>
+#include <open62541/plugin/log_stdout.h>
+
+UA_Client *client;
+
+#define DECL_VAR(ua_type, C_type, c_loc_name)                                                       \
+UA_Variant *c_loc_name##_variant;                                                                   \
+C_type c_loc_name##_buf = 0;                                                                        \
+C_type *c_loc_name = &c_loc_name##_buf;
+
+
+DECL_VAR(UA_Int32, uint32_t, __ID1_0)
+DECL_VAR(UA_Int32, uint32_t, __ID1_1)
+DECL_VAR(UA_Int32, uint32_t, __ID1_2)
+DECL_VAR(UA_Int32, uint32_t, __ID1_3)
+DECL_VAR(UA_Int32, uint32_t, __QD1_0)
+DECL_VAR(UA_Int32, uint32_t, __QD1_1)
+DECL_VAR(UA_Int32, uint32_t, __QD1_2)
+DECL_VAR(UA_Int32, uint32_t, __QD1_3)
+
+#define FREE_VARIANT(ua_type, c_loc_name)                                                           \
+    UA_Variant_delete(c_loc_name##_variant);
+
+void __cleanup_1(void)
+{
+    UA_Client_disconnect(client);
+    UA_Client_delete(client);
+
+    FREE_VARIANT(UA_Int32, __ID1_0)
+    FREE_VARIANT(UA_Int32, __ID1_1)
+    FREE_VARIANT(UA_Int32, __ID1_2)
+    FREE_VARIANT(UA_Int32, __ID1_3)
+    FREE_VARIANT(UA_Int32, __QD1_0)
+    FREE_VARIANT(UA_Int32, __QD1_1)
+    FREE_VARIANT(UA_Int32, __QD1_2)
+    FREE_VARIANT(UA_Int32, __QD1_3)
+}
+
+
+#define ALLOC_VARIANT(ua_type, c_loc_name)                                                          \
+    c_loc_name##_variant = UA_Variant_new();
+
+int __init_1(int argc,char **argv)
+{
+    UA_StatusCode retval;
+    client = UA_Client_new();
+    UA_ClientConfig_setDefault(UA_Client_getConfig(client));
+
+    ALLOC_VARIANT(UA_Int32, __ID1_0)
+    ALLOC_VARIANT(UA_Int32, __ID1_1)
+    ALLOC_VARIANT(UA_Int32, __ID1_2)
+    ALLOC_VARIANT(UA_Int32, __ID1_3)
+    ALLOC_VARIANT(UA_Int32, __QD1_0)
+    ALLOC_VARIANT(UA_Int32, __QD1_1)
+    ALLOC_VARIANT(UA_Int32, __QD1_2)
+    ALLOC_VARIANT(UA_Int32, __QD1_3)
+
+    /* Connect to server */
+    retval = UA_Client_connect(client, "opc.tcp://192.168.0.114:4840");
+    if(retval != UA_STATUSCODE_GOOD) {
+        UA_Client_delete(client);
+        return EXIT_FAILURE;
+    }
+}
+
+#define READ_VALUE(ua_type, ua_type_enum, c_loc_name, ua_nodeid_type, ua_nsidx, ua_node_id)         \
+    retval = UA_Client_readValueAttribute(                                                          \
+        client, ua_nodeid_type(ua_nsidx, ua_node_id), c_loc_name##_variant);                        \
+    if(retval == UA_STATUSCODE_GOOD && UA_Variant_isScalar(c_loc_name##_variant) &&                 \
+       c_loc_name##_variant->type == &UA_TYPES[ua_type_enum]) {                                     \
+            c_loc_name##_buf = *(ua_type*)c_loc_name##_variant->data;                               \
+    }
+
+void __retrieve_1(void)
+{
+    UA_StatusCode retval;
+
+    READ_VALUE(UA_Int32, UA_TYPES_INT32, __ID1_0, UA_NODEID_STRING, 1, "relay0")
+    READ_VALUE(UA_Int32, UA_TYPES_INT32, __ID1_1, UA_NODEID_STRING, 1, "relay1")
+    READ_VALUE(UA_Int32, UA_TYPES_INT32, __ID1_2, UA_NODEID_STRING, 1, "relay2")
+    READ_VALUE(UA_Int32, UA_TYPES_INT32, __ID1_3, UA_NODEID_STRING, 1, "relay3")
+    READ_VALUE(UA_Int32, UA_TYPES_INT32, __QD1_0, UA_NODEID_STRING, 1, "relay0")
+    READ_VALUE(UA_Int32, UA_TYPES_INT32, __QD1_1, UA_NODEID_STRING, 1, "relay1")
+    READ_VALUE(UA_Int32, UA_TYPES_INT32, __QD1_2, UA_NODEID_STRING, 1, "relay2")
+    READ_VALUE(UA_Int32, UA_TYPES_INT32, __QD1_3, UA_NODEID_STRING, 1, "relay3")
+}
+
+#define WRITE_VALUE(ua_type, ua_type_enum, c_loc_name, ua_nodeid_type, ua_nsidx, ua_node_id)        \
+    UA_Variant_setScalarCopy(c_loc_name##_variant, (ua_type*)c_loc_name, &UA_TYPES[ua_type_enum]);  \
+    UA_Client_writeValueAttribute(client, ua_nodeid_type(ua_nsidx, ua_node_id), c_loc_name##_variant);
+
+void __publish_1(void)
+{
+
+    WRITE_VALUE(UA_Int32, UA_TYPES_INT32, __ID1_0, UA_NODEID_STRING, 1, "relay0")
+    WRITE_VALUE(UA_Int32, UA_TYPES_INT32, __ID1_1, UA_NODEID_STRING, 1, "relay1")
+    WRITE_VALUE(UA_Int32, UA_TYPES_INT32, __ID1_2, UA_NODEID_STRING, 1, "relay2")
+    WRITE_VALUE(UA_Int32, UA_TYPES_INT32, __ID1_3, UA_NODEID_STRING, 1, "relay3")
+    WRITE_VALUE(UA_Int32, UA_TYPES_INT32, __QD1_0, UA_NODEID_STRING, 1, "relay0")
+    WRITE_VALUE(UA_Int32, UA_TYPES_INT32, __QD1_1, UA_NODEID_STRING, 1, "relay1")
+    WRITE_VALUE(UA_Int32, UA_TYPES_INT32, __QD1_2, UA_NODEID_STRING, 1, "relay2")
+    WRITE_VALUE(UA_Int32, UA_TYPES_INT32, __QD1_3, UA_NODEID_STRING, 1, "relay3")
+}
+

Beremiz/cherry_picker_opc_ua_prod/build/plc.st

+TYPE
+  LOGLEVEL : (CRITICAL, WARNING, INFO, DEBUG) := INFO;
+END_TYPE
+
+FUNCTION_BLOCK LOGGER
+  VAR_INPUT
+    TRIG : BOOL;
+    MSG : STRING;
+    LEVEL : LOGLEVEL := INFO;
+  END_VAR
+  VAR
+    TRIG0 : BOOL;
+  END_VAR
+
+  IF TRIG AND NOT TRIG0 THEN
+  {{
+   LogMessage(GetFbVar(LEVEL),(char*)GetFbVar(MSG, .body),GetFbVar(MSG, .len));
+  }}
+  END_IF;
+  TRIG0:=TRIG;
+END_FUNCTION_BLOCK
+
+
+
+FUNCTION_BLOCK python_eval
+  VAR_INPUT
+    TRIG : BOOL;
+    CODE : STRING;
+  END_VAR
+  VAR_OUTPUT
+    ACK : BOOL;
+    RESULT : STRING;
+  END_VAR
+  VAR
+    STATE : DWORD;
+    BUFFER : STRING;
+    PREBUFFER : STRING;
+    TRIGM1 : BOOL;
+    TRIGGED : BOOL;
+  END_VAR
+
+  {extern void __PythonEvalFB(int, PYTHON_EVAL*);__PythonEvalFB(0, data__);}
+END_FUNCTION_BLOCK
+
+FUNCTION_BLOCK python_poll
+  VAR_INPUT
+    TRIG : BOOL;
+    CODE : STRING;
+  END_VAR
+  VAR_OUTPUT
+    ACK : BOOL;
+    RESULT : STRING;
+  END_VAR
+  VAR
+    STATE : DWORD;
+    BUFFER : STRING;
+    PREBUFFER : STRING;
+    TRIGM1 : BOOL;
+    TRIGGED : BOOL;
+  END_VAR
+
+  {extern void __PythonEvalFB(int, PYTHON_EVAL*);__PythonEvalFB(1,(PYTHON_EVAL*)(void*)data__);}
+END_FUNCTION_BLOCK
+
+FUNCTION_BLOCK python_gear
+  VAR_INPUT
+    N : UINT;
+    TRIG : BOOL;
+    CODE : STRING;
+  END_VAR
+  VAR_OUTPUT
+    ACK : BOOL;
+    RESULT : STRING;
+  END_VAR
+  VAR
+    py_eval : python_eval;
+    COUNTER : UINT;
+    _TMP_ADD10_OUT : UINT;
+    _TMP_EQ13_OUT : BOOL;
+    _TMP_SEL15_OUT : UINT;
+    _TMP_AND7_OUT : BOOL;
+  END_VAR
+
+  _TMP_ADD10_OUT := ADD(COUNTER, 1);
+  _TMP_EQ13_OUT := EQ(N, _TMP_ADD10_OUT);
+  _TMP_SEL15_OUT := SEL(_TMP_EQ13_OUT, _TMP_ADD10_OUT, 0);
+  COUNTER := _TMP_SEL15_OUT;
+  _TMP_AND7_OUT := AND(_TMP_EQ13_OUT, TRIG);
+  py_eval(TRIG := _TMP_AND7_OUT, CODE := CODE);
+  ACK := py_eval.ACK;
+  RESULT := py_eval.RESULT;
+END_FUNCTION_BLOCK
+
+
+FUNCTION_BLOCK CounterST
+  VAR_INPUT
+    Reset : BOOL;
+  END_VAR
+  VAR_OUTPUT
+    Out1 : INT;
+    Out0 : INT;
+  END_VAR
+  VAR
+    Cnt1 : INT;
+    Cnt0 : INT;
+  END_VAR
+  VAR_EXTERNAL
+    ResetCounterValue : INT;
+    Relay0 : DINT;
+    Relay1 : DINT;
+    Relay2 : DINT;
+    Relay3 : DINT;
+  END_VAR
+
+  IF Reset THEN
+    Cnt0 := ResetCounterValue;
+    Cnt1 := ResetCounterValue;
+    Reset := False;
+  ELSE
+    Cnt0 := Cnt0 + 1;
+    Cnt1 := Cnt1 + 1;
+    IF Cnt1 = 50 THEN
+      Relay0 := 1;
+      Relay1 := 1; 
+    END_IF;
+    
+    IF Cnt1 = 100 THEN
+      Relay0 := 1;
+      Relay1 := 0;
+      Cnt1 := 0;
+    END_IF;
+    
+  END_IF;
+
+  Out1 := Cnt1;
+  Out0 := Cnt0;
+END_FUNCTION_BLOCK
+
+PROGRAM plc_prg
+  VAR_INPUT
+    Reset : BOOL;
+  END_VAR
+  VAR_OUTPUT
+    Cnt0 : INT;
+    Cnt1 : INT;
+  END_VAR
+  VAR
+    CounterST0 : CounterST;
+  END_VAR
+
+  CounterST0(Reset := Reset);
+  Cnt1 := CounterST0.Out1;
+  Cnt0 := CounterST0.Out0;
+END_PROGRAM
+
+
+CONFIGURATION config
+  VAR_GLOBAL
+    ResetCounterValue : INT := 0;
+    Relay0 AT %QD1.0 : DINT := 0;
+    Relay1 AT %QD1.1 : DINT := 0;
+    Relay2 AT %QD1.2 : DINT := 0;
+    Relay3 AT %QD1.3 : DINT := 0;
+  END_VAR
+
+  RESOURCE resource1 ON PLC
+    TASK task0(INTERVAL := T#20ms,PRIORITY := 0);
+    PROGRAM instance0 WITH task0 : plc_prg;
+  END_RESOURCE
+END_CONFIGURATION

Beremiz/cherry_picker_opc_ua_prod/build/plc_debugger.c

+/*
+ * DEBUGGER code
+ * 
+ * On "publish", when buffer is free, debugger stores arbitrary variables 
+ * content into, and mark this buffer as filled
+ * 
+ * 
+ * Buffer content is read asynchronously, (from non real time part), 
+ * and then buffer marked free again.
+ *  
+ * 
+ * */
+#ifdef TARGET_DEBUG_AND_RETAIN_DISABLE
+
+void __init_debug    (void){}
+void __cleanup_debug (void){}
+void __retrieve_debug(void){}
+void __publish_debug (void){}
+
+#else
+
+#include "iec_types_all.h"
+#include "POUS.h"
+/*for memcpy*/
+#include <string.h>
+#include <stdio.h>
+
+#ifndef TARGET_ONLINE_DEBUG_DISABLE
+#define BUFFER_SIZE 52
+
+/* Atomically accessed variable for buffer state */
+#define BUFFER_FREE 0
+#define BUFFER_BUSY 1
+static long buffer_state = BUFFER_FREE;
+
+/* The buffer itself */
+char debug_buffer[BUFFER_SIZE];
+
+/* Buffer's cursor*/
+static char* buffer_cursor = debug_buffer;
+#endif
+
+static unsigned int retain_offset = 0;
+/***
+ * Declare programs 
+ **/
+extern PLC_PRG RESOURCE1__INSTANCE0;
+
+/***
+ * Declare global variables from resources and conf 
+ **/
+extern __IEC_INT_t CONFIG__RESETCOUNTERVALUE;
+extern __IEC_DINT_p CONFIG__RELAY0;
+extern __IEC_DINT_p CONFIG__RELAY1;
+extern __IEC_DINT_p CONFIG__RELAY2;
+extern __IEC_DINT_p CONFIG__RELAY3;
+extern       PLC_PRG   RESOURCE1__INSTANCE0;
+
+typedef const struct {
+    void *ptr;
+    __IEC_types_enum type;
+} dbgvardsc_t;
+
+static dbgvardsc_t dbgvardsc[] = {
+{&(CONFIG__RESETCOUNTERVALUE), INT_ENUM},
+{&(CONFIG__RELAY0), DINT_O_ENUM},
+{&(CONFIG__RELAY1), DINT_O_ENUM},
+{&(CONFIG__RELAY2), DINT_O_ENUM},
+{&(CONFIG__RELAY3), DINT_O_ENUM},
+{&(RESOURCE1__INSTANCE0.RESET), BOOL_ENUM},
+{&(RESOURCE1__INSTANCE0.CNT0), INT_ENUM},
+{&(RESOURCE1__INSTANCE0.CNT1), INT_ENUM},
+{&(RESOURCE1__INSTANCE0.COUNTERST0.EN), BOOL_ENUM},
+{&(RESOURCE1__INSTANCE0.COUNTERST0.ENO), BOOL_ENUM},
+{&(RESOURCE1__INSTANCE0.COUNTERST0.RESET), BOOL_ENUM},
+{&(RESOURCE1__INSTANCE0.COUNTERST0.OUT1), INT_ENUM},
+{&(RESOURCE1__INSTANCE0.COUNTERST0.OUT0), INT_ENUM},
+{&(RESOURCE1__INSTANCE0.COUNTERST0.CNT1), INT_ENUM},
+{&(RESOURCE1__INSTANCE0.COUNTERST0.CNT0), INT_ENUM},
+{&(RESOURCE1__INSTANCE0.COUNTERST0.RESETCOUNTERVALUE), INT_P_ENUM},
+{&(RESOURCE1__INSTANCE0.COUNTERST0.RELAY0), DINT_P_ENUM},
+{&(RESOURCE1__INSTANCE0.COUNTERST0.RELAY1), DINT_P_ENUM},
+{&(RESOURCE1__INSTANCE0.COUNTERST0.RELAY2), DINT_P_ENUM},
+{&(RESOURCE1__INSTANCE0.COUNTERST0.RELAY3), DINT_P_ENUM}
+};
+
+typedef void(*__for_each_variable_do_fp)(dbgvardsc_t*);
+void __for_each_variable_do(__for_each_variable_do_fp fp)
+{
+    unsigned int i;
+    for(i = 0; i < sizeof(dbgvardsc)/sizeof(dbgvardsc_t); i++){
+        dbgvardsc_t *dsc = &dbgvardsc[i];
+        if(dsc->type != UNKNOWN_ENUM) 
+            (*fp)(dsc);
+    }
+}
+
+#define __Unpack_desc_type dbgvardsc_t
+
+
+#define __Unpack_case_t(TYPENAME) \
+        case TYPENAME##_ENUM :\
+            *flags = ((__IEC_##TYPENAME##_t *)varp)->flags;\
+            forced_value_p = *real_value_p = &((__IEC_##TYPENAME##_t *)varp)->value;\
+            break;
+
+#define __Unpack_case_p(TYPENAME)\
+        case TYPENAME##_O_ENUM :\
+            *flags = __IEC_OUTPUT_FLAG;\
+        case TYPENAME##_P_ENUM :\
+            *flags |= ((__IEC_##TYPENAME##_p *)varp)->flags;\
+            *real_value_p = ((__IEC_##TYPENAME##_p *)varp)->value;\
+            forced_value_p = &((__IEC_##TYPENAME##_p *)varp)->fvalue;\
+            break;
+
+#define __Is_a_string(dsc) (dsc->type == STRING_ENUM)   ||\
+                           (dsc->type == STRING_P_ENUM) ||\
+                           (dsc->type == STRING_O_ENUM)
+
+static void* UnpackVar(__Unpack_desc_type *dsc, void **real_value_p, char *flags)
+{
+    void *varp = dsc->ptr;
+    void *forced_value_p = NULL;
+    *flags = 0;
+    /* find data to copy*/
+    switch(dsc->type){
+        __ANY(__Unpack_case_t)
+        __ANY(__Unpack_case_p)
+    default:
+        break;
+    }
+    if (*flags & __IEC_FORCE_FLAG)
+        return forced_value_p;
+    return *real_value_p;
+}
+
+
+
+void Remind(unsigned int offset, unsigned int count, void * p);
+
+void RemindIterator(dbgvardsc_t *dsc)
+{
+    void *real_value_p = NULL;
+    char flags = 0;
+    UnpackVar(dsc, &real_value_p, &flags);
+
+    if(flags & __IEC_RETAIN_FLAG){
+        USINT size = __get_type_enum_size(dsc->type);
+        /* compute next cursor positon*/
+        unsigned int next_retain_offset = retain_offset + size;
+        /* if buffer not full */
+        Remind(retain_offset, size, real_value_p);
+        /* increment cursor according size*/
+        retain_offset = next_retain_offset;
+    }
+}
+
+extern int CheckRetainBuffer(void);
+extern void InitRetain(void);
+
+void __init_debug(void)
+{
+    /* init local static vars */
+#ifndef TARGET_ONLINE_DEBUG_DISABLE
+    buffer_cursor = debug_buffer;
+    buffer_state = BUFFER_FREE;
+#endif
+
+    retain_offset = 0;
+    InitRetain();
+    /* Iterate over all variables to fill debug buffer */
+    if(CheckRetainBuffer()){
+        __for_each_variable_do(RemindIterator);
+    }else{
+        char mstr[] = "RETAIN memory invalid - defaults used";
+        LogMessage(LOG_WARNING, mstr, sizeof(mstr));
+    }
+    retain_offset = 0;
+}
+
+extern void InitiateDebugTransfer(void);
+extern void CleanupRetain(void);
+
+extern unsigned long __tick;
+
+void __cleanup_debug(void)
+{
+#ifndef TARGET_ONLINE_DEBUG_DISABLE
+    buffer_cursor = debug_buffer;
+    InitiateDebugTransfer();
+#endif    
+
+    CleanupRetain();
+}
+
+void __retrieve_debug(void)
+{
+}
+
+
+void Retain(unsigned int offset, unsigned int count, void * p);
+
+static inline void BufferIterator(dbgvardsc_t *dsc, int do_debug)
+{
+    void *real_value_p = NULL;
+    void *visible_value_p = NULL;
+    char flags = 0;
+
+    visible_value_p = UnpackVar(dsc, &real_value_p, &flags);
+
+    if(flags & ( __IEC_DEBUG_FLAG | __IEC_RETAIN_FLAG)){
+        USINT size = __get_type_enum_size(dsc->type);
+
+#ifndef TARGET_ONLINE_DEBUG_DISABLE
+        if(flags & __IEC_DEBUG_FLAG){
+            /* copy visible variable to buffer */;
+            if(do_debug){
+                /* compute next cursor positon.
+                   No need to check overflow, as BUFFER_SIZE
+                   is computed large enough */
+                if(__Is_a_string(dsc)){
+                    /* optimization for strings */
+                    size = ((STRING*)visible_value_p)->len + 1;
+                }
+                char* next_cursor = buffer_cursor + size;
+                /* copy data to the buffer */
+                memcpy(buffer_cursor, visible_value_p, size);
+                /* increment cursor according size*/
+                buffer_cursor = next_cursor;
+            }
+            /* re-force real value of outputs (M and Q)*/
+            if((flags & __IEC_FORCE_FLAG) && (flags & __IEC_OUTPUT_FLAG)){
+                memcpy(real_value_p, visible_value_p, size);
+            }
+        }
+#endif
+
+        if(flags & __IEC_RETAIN_FLAG){
+            /* compute next cursor positon*/
+            unsigned int next_retain_offset = retain_offset + size;
+            /* if buffer not full */
+            Retain(retain_offset, size, real_value_p);
+            /* increment cursor according size*/
+            retain_offset = next_retain_offset;
+        }
+    }
+}
+
+void DebugIterator(dbgvardsc_t *dsc){
+    BufferIterator(dsc, 1);
+}
+
+void RetainIterator(dbgvardsc_t *dsc){
+    BufferIterator(dsc, 0);
+}
+
+
+unsigned int retain_size = 0;
+
+/* GetRetainSizeIterator */
+void GetRetainSizeIterator(dbgvardsc_t *dsc)
+{
+    void *real_value_p = NULL;
+    char flags = 0;
+    UnpackVar(dsc, &real_value_p, &flags);
+
+    if(flags & __IEC_RETAIN_FLAG){
+        USINT size = __get_type_enum_size(dsc->type);
+        /* Calc retain buffer size */
+        retain_size += size;
+    }
+}
+
+/* Return size of all retain variables */
+unsigned int GetRetainSize(void)
+{
+    __for_each_variable_do(GetRetainSizeIterator);
+    return retain_size;
+}
+
+
+extern void PLC_GetTime(IEC_TIME*);
+extern int TryEnterDebugSection(void);
+extern long AtomicCompareExchange(long*, long, long);
+extern long long AtomicCompareExchange64(long long* , long long , long long);
+extern void LeaveDebugSection(void);
+extern void ValidateRetainBuffer(void);
+extern void InValidateRetainBuffer(void);
+
+void __publish_debug(void)
+{
+    retain_offset = 0;
+    InValidateRetainBuffer();
+    
+#ifndef TARGET_ONLINE_DEBUG_DISABLE 
+    /* Check there is no running debugger re-configuration */
+    if(TryEnterDebugSection()){
+        /* Lock buffer */
+        long latest_state = AtomicCompareExchange(
+            &buffer_state,
+            BUFFER_FREE,
+            BUFFER_BUSY);
+            
+        /* If buffer was free */
+        if(latest_state == BUFFER_FREE)
+        {
+            /* Reset buffer cursor */
+            buffer_cursor = debug_buffer;
+            /* Iterate over all variables to fill debug buffer */
+            __for_each_variable_do(DebugIterator);
+            
+            /* Leave debug section,
+             * Trigger asynchronous transmission 
+             * (returns immediately) */
+            InitiateDebugTransfer(); /* size */
+        }else{
+            /* when not debugging, do only retain */
+            __for_each_variable_do(RetainIterator);
+        }
+        LeaveDebugSection();
+    }else
+#endif
+    {
+        /* when not debugging, do only retain */
+        __for_each_variable_do(RetainIterator);
+    }
+    ValidateRetainBuffer();
+}
+
+#ifndef TARGET_ONLINE_DEBUG_DISABLE
+#define __RegisterDebugVariable_case_t(TYPENAME) \
+        case TYPENAME##_ENUM :\
+            ((__IEC_##TYPENAME##_t *)varp)->flags |= flags;\
+            if(force)\
+             ((__IEC_##TYPENAME##_t *)varp)->value = *((TYPENAME *)force);\
+            break;
+#define __RegisterDebugVariable_case_p(TYPENAME)\
+        case TYPENAME##_P_ENUM :\
+            ((__IEC_##TYPENAME##_p *)varp)->flags |= flags;\
+            if(force)\
+             ((__IEC_##TYPENAME##_p *)varp)->fvalue = *((TYPENAME *)force);\
+            break;\
+        case TYPENAME##_O_ENUM :\
+            ((__IEC_##TYPENAME##_p *)varp)->flags |= flags;\
+            if(force){\
+             ((__IEC_##TYPENAME##_p *)varp)->fvalue = *((TYPENAME *)force);\
+             *(((__IEC_##TYPENAME##_p *)varp)->value) = *((TYPENAME *)force);\
+            }\
+            break;
+void RegisterDebugVariable(unsigned int idx, void* force)
+{
+    if(idx  < sizeof(dbgvardsc)/sizeof(dbgvardsc_t)){
+        unsigned char flags = force ?
+            __IEC_DEBUG_FLAG | __IEC_FORCE_FLAG :
+            __IEC_DEBUG_FLAG;
+        dbgvardsc_t *dsc = &dbgvardsc[idx];
+        void *varp = dsc->ptr;
+        switch(dsc->type){
+            __ANY(__RegisterDebugVariable_case_t)
+            __ANY(__RegisterDebugVariable_case_p)
+        default:
+            break;
+        }
+    }
+}
+
+#define __ResetDebugVariablesIterator_case_t(TYPENAME) \
+        case TYPENAME##_ENUM :\
+            ((__IEC_##TYPENAME##_t *)varp)->flags &= ~(__IEC_DEBUG_FLAG|__IEC_FORCE_FLAG);\
+            break;
+
+#define __ResetDebugVariablesIterator_case_p(TYPENAME)\
+        case TYPENAME##_P_ENUM :\
+        case TYPENAME##_O_ENUM :\
+            ((__IEC_##TYPENAME##_p *)varp)->flags &= ~(__IEC_DEBUG_FLAG|__IEC_FORCE_FLAG);\
+            break;
+
+void ResetDebugVariablesIterator(dbgvardsc_t *dsc)
+{
+    /* force debug flag to 0*/
+    void *varp = dsc->ptr;
+    switch(dsc->type){
+        __ANY(__ResetDebugVariablesIterator_case_t)
+        __ANY(__ResetDebugVariablesIterator_case_p)
+    default:
+        break;
+    }
+}
+
+void ResetDebugVariables(void)
+{
+    __for_each_variable_do(ResetDebugVariablesIterator);
+}
+
+void FreeDebugData(void)
+{
+    /* atomically mark buffer as free */
+    AtomicCompareExchange(
+        &buffer_state,
+        BUFFER_BUSY,
+        BUFFER_FREE);
+}
+int WaitDebugData(unsigned long *tick);
+/* Wait until debug data ready and return pointer to it */
+int GetDebugData(unsigned long *tick, unsigned long *size, void **buffer){
+    int wait_error = WaitDebugData(tick);
+    if(!wait_error){
+        *size = buffer_cursor - debug_buffer;
+        *buffer = debug_buffer;
+    }
+    return wait_error;
+}
+#endif
+#endif
+

Beremiz/cherry_picker_opc_ua_prod/build/plc_main.c

+/**
+ * Head of code common to all C targets
+ **/
+
+#include "beremiz.h"
+#include <string.h>
+/*
+ * Prototypes of functions provided by generated C softPLC
+ **/
+void config_run__(unsigned long tick);
+void config_init__(void);
+
+/*
+ * Prototypes of functions provided by generated target C code
+ * */
+long long AtomicCompareExchange64(long long*, long long, long long);
+void __init_debug(void);
+void __cleanup_debug(void);
+/*void __retrieve_debug(void);*/
+void __publish_debug(void);
+
+/*
+ *  Variables used by generated C softPLC and plugins
+ **/
+IEC_TIME __CURRENT_TIME;
+IEC_BOOL __DEBUG = 0;
+unsigned long __tick = 0;
+char *PLC_ID = NULL;
+
+/*
+ *  Variable generated by C softPLC and plugins
+ **/
+extern unsigned long greatest_tick_count__;
+
+/* Help to quit cleanly when init fail at a certain level */
+static int init_level = 0;
+
+/*
+ * Prototypes of functions exported by plugins
+ **/
+int __init_py_ext(int argc,char **argv);
+void __cleanup_py_ext(void);
+void __retrieve_py_ext(void);
+void __publish_py_ext(void);
+int __init_1(int argc,char **argv);
+void __cleanup_1(void);
+void __retrieve_1(void);
+void __publish_1(void);
+
+/*
+ * Retrieve input variables, run PLC and publish output variables
+ **/
+void __run(void)
+{
+    __tick++;
+    if (greatest_tick_count__)
+        __tick %= greatest_tick_count__;
+
+    __retrieve_py_ext();
+    __retrieve_1();
+
+    /*__retrieve_debug();*/
+
+    config_run__(__tick);
+
+    __publish_debug();
+
+    __publish_1();
+    __publish_py_ext();
+
+}
+
+/*
+ * Initialize variables according to PLC's default values,
+ * and then init plugins with that values
+ **/
+int __init(int argc,char **argv)
+{
+    int res = 0;
+    init_level = 0;
+    
+    /* Effective tick time with 1ms default value */
+    if(!common_ticktime__)
+        common_ticktime__ = 1000000;
+
+    config_init__();
+    __init_debug();
+    init_level=1; if((res = __init_py_ext(argc,argv))){return res;}
+    init_level=2; if((res = __init_1(argc,argv))){return res;}
+    return res;
+}
+/*
+ * Calls plugin cleanup proc.
+ **/
+void __cleanup(void)
+{
+    if(init_level >= 2) __cleanup_1();
+    if(init_level >= 1) __cleanup_py_ext();
+    __cleanup_debug();
+}
+
+void PLC_GetTime(IEC_TIME *CURRENT_TIME);
+void PLC_SetTimer(unsigned long long next, unsigned long long period);
+
+
+
+/**
+ * Linux specific code
+ **/
+
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+#include <signal.h>
+#include <stdlib.h>
+#include <pthread.h>
+#include <locale.h>
+#include <semaphore.h>
+
+static sem_t Run_PLC;
+
+long AtomicCompareExchange(long* atomicvar,long compared, long exchange)
+{
+    return __sync_val_compare_and_swap(atomicvar, compared, exchange);
+}
+long long AtomicCompareExchange64(long long* atomicvar, long long compared, long long exchange)
+{
+    return __sync_val_compare_and_swap(atomicvar, compared, exchange);
+}
+
+void PLC_GetTime(IEC_TIME *CURRENT_TIME)
+{
+    struct timespec tmp;
+    clock_gettime(CLOCK_REALTIME, &tmp);
+    CURRENT_TIME->tv_sec = tmp.tv_sec;
+    CURRENT_TIME->tv_nsec = tmp.tv_nsec;
+}
+
+void PLC_timer_notify(sigval_t val)
+{
+    PLC_GetTime(&__CURRENT_TIME);
+    sem_post(&Run_PLC);
+}
+
+timer_t PLC_timer;
+
+void PLC_SetTimer(unsigned long long next, unsigned long long period)
+{
+    struct itimerspec timerValues;
+	/*
+	printf("SetTimer(%lld,%lld)\n",next, period);
+	*/
+    memset (&timerValues, 0, sizeof (struct itimerspec));
+	{
+#ifdef __lldiv_t_defined
+		lldiv_t nxt_div = lldiv(next, 1000000000);
+		lldiv_t period_div = lldiv(period, 1000000000);
+	    timerValues.it_value.tv_sec = nxt_div.quot;
+	    timerValues.it_value.tv_nsec = nxt_div.rem;
+	    timerValues.it_interval.tv_sec = period_div.quot;
+	    timerValues.it_interval.tv_nsec = period_div.rem;
+#else
+	    timerValues.it_value.tv_sec = next / 1000000000;
+	    timerValues.it_value.tv_nsec = next % 1000000000;
+	    timerValues.it_interval.tv_sec = period / 1000000000;
+	    timerValues.it_interval.tv_nsec = period % 1000000000;
+#endif
+	}
+    timer_settime (PLC_timer, 0, &timerValues, NULL);
+}
+//
+void catch_signal(int sig)
+{
+//  signal(SIGTERM, catch_signal);
+  signal(SIGINT, catch_signal);
+  printf("Got Signal %d\n",sig);
+  exit(0);
+}
+
+
+static unsigned long __debug_tick;
+
+pthread_t PLC_thread;
+static pthread_mutex_t python_wait_mutex = PTHREAD_MUTEX_INITIALIZER;
+static pthread_mutex_t python_mutex = PTHREAD_MUTEX_INITIALIZER;
+static pthread_mutex_t debug_wait_mutex = PTHREAD_MUTEX_INITIALIZER;
+static pthread_mutex_t debug_mutex = PTHREAD_MUTEX_INITIALIZER;
+
+int PLC_shutdown = 0;
+
+int ForceSaveRetainReq(void) {
+    return PLC_shutdown;
+}
+
+void PLC_thread_proc(void *arg)
+{
+    while (!PLC_shutdown) {
+        sem_wait(&Run_PLC);
+        __run();
+    }
+    pthread_exit(0);
+}
+
+#define maxval(a,b) ((a>b)?a:b)
+int startPLC(int argc,char **argv)
+{
+    struct sigevent sigev;
+    setlocale(LC_NUMERIC, "C");
+
+    PLC_shutdown = 0;
+
+    sem_init(&Run_PLC, 0, 0);
+
+    pthread_create(&PLC_thread, NULL, (void*) &PLC_thread_proc, NULL);
+
+    memset (&sigev, 0, sizeof (struct sigevent));
+    sigev.sigev_value.sival_int = 0;
+    sigev.sigev_notify = SIGEV_THREAD;
+    sigev.sigev_notify_attributes = NULL;
+    sigev.sigev_notify_function = PLC_timer_notify;
+
+    pthread_mutex_init(&debug_wait_mutex, NULL);
+    pthread_mutex_init(&debug_mutex, NULL);
+    pthread_mutex_init(&python_wait_mutex, NULL);
+    pthread_mutex_init(&python_mutex, NULL);
+
+    pthread_mutex_lock(&debug_wait_mutex);
+    pthread_mutex_lock(&python_wait_mutex);
+
+    timer_create (CLOCK_MONOTONIC, &sigev, &PLC_timer);
+    if(  __init(argc,argv) == 0 ){
+        PLC_SetTimer(common_ticktime__,common_ticktime__);
+
+        /* install signal handler for manual break */
+        signal(SIGINT, catch_signal);
+    }else{
+        return 1;
+    }
+    return 0;
+}
+
+int TryEnterDebugSection(void)
+{
+    if (pthread_mutex_trylock(&debug_mutex) == 0){
+        /* Only enter if debug active */
+        if(__DEBUG){
+            return 1;
+        }
+        pthread_mutex_unlock(&debug_mutex);
+    }
+    return 0;
+}
+
+void LeaveDebugSection(void)
+{
+    pthread_mutex_unlock(&debug_mutex);
+}
+
+int stopPLC()
+{
+    /* Stop the PLC */
+    PLC_shutdown = 1;
+    sem_post(&Run_PLC);
+    PLC_SetTimer(0,0);
+	pthread_join(PLC_thread, NULL);
+	sem_destroy(&Run_PLC);
+    timer_delete (PLC_timer);
+    __cleanup();
+    pthread_mutex_destroy(&debug_wait_mutex);
+    pthread_mutex_destroy(&debug_mutex);
+    pthread_mutex_destroy(&python_wait_mutex);
+    pthread_mutex_destroy(&python_mutex);
+    return 0;
+}
+
+extern unsigned long __tick;
+
+int WaitDebugData(unsigned long *tick)
+{
+    int res;
+    if (PLC_shutdown) return 1;
+    /* Wait signal from PLC thread */
+    res = pthread_mutex_lock(&debug_wait_mutex);
+    *tick = __debug_tick;
+    return res;
+}
+
+/* Called by PLC thread when debug_publish finished
+ * This is supposed to unlock debugger thread in WaitDebugData*/
+void InitiateDebugTransfer()
+{
+    /* remember tick */
+    __debug_tick = __tick;
+    /* signal debugger thread it can read data */
+    pthread_mutex_unlock(&debug_wait_mutex);
+}
+
+int suspendDebug(int disable)
+{
+    /* Prevent PLC to enter debug code */
+    pthread_mutex_lock(&debug_mutex);
+    /*__DEBUG is protected by this mutex */
+    __DEBUG = !disable;
+    if (disable)
+    	pthread_mutex_unlock(&debug_mutex);
+    return 0;
+}
+
+void resumeDebug(void)
+{
+    __DEBUG = 1;
+    /* Let PLC enter debug code */
+    pthread_mutex_unlock(&debug_mutex);
+}
+
+/* from plc_python.c */
+int WaitPythonCommands(void)
+{
+    /* Wait signal from PLC thread */
+    return pthread_mutex_lock(&python_wait_mutex);
+}
+
+/* Called by PLC thread on each new python command*/
+void UnBlockPythonCommands(void)
+{
+    /* signal python thread it can read data */
+    pthread_mutex_unlock(&python_wait_mutex);
+}
+
+int TryLockPython(void)
+{
+    return pthread_mutex_trylock(&python_mutex) == 0;
+}
+
+void UnLockPython(void)
+{
+    pthread_mutex_unlock(&python_mutex);
+}
+
+void LockPython(void)
+{
+    pthread_mutex_lock(&python_mutex);
+}
+
+struct RT_to_nRT_signal_s {
+    pthread_cond_t WakeCond;
+    pthread_mutex_t WakeCondLock;
+};
+
+typedef struct RT_to_nRT_signal_s RT_to_nRT_signal_t;
+
+#define _LogAndReturnNull(text) \
+    {\
+    	char mstr[256] = text " for ";\
+        strncat(mstr, name, 255);\
+        LogMessage(LOG_CRITICAL, mstr, strlen(mstr));\
+        return NULL;\
+    }
+
+void *create_RT_to_nRT_signal(char* name){
+    RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)malloc(sizeof(RT_to_nRT_signal_t));
+
+    if(!sig) 
+    	_LogAndReturnNull("Failed allocating memory for RT_to_nRT signal");
+
+    pthread_cond_init(&sig->WakeCond, NULL);
+    pthread_mutex_init(&sig->WakeCondLock, NULL);
+
+    return (void*)sig;
+}
+
+void delete_RT_to_nRT_signal(void* handle){
+    RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle;
+
+    pthread_cond_destroy(&sig->WakeCond);
+    pthread_mutex_destroy(&sig->WakeCondLock);
+
+    free(sig);
+}
+
+int wait_RT_to_nRT_signal(void* handle){
+    int ret;
+    RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle;
+    pthread_mutex_lock(&sig->WakeCondLock);
+    ret = pthread_cond_wait(&sig->WakeCond, &sig->WakeCondLock);
+    pthread_mutex_unlock(&sig->WakeCondLock);
+    return ret;
+}
+
+int unblock_RT_to_nRT_signal(void* handle){
+    RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle;
+    return pthread_cond_signal(&sig->WakeCond);
+}
+
+void nRT_reschedule(void){
+    sched_yield();
+}
+
+/*
+  This file is part of Beremiz, a Integrated Development Environment for
+  programming IEC 61131-3 automates supporting plcopen standard and CanFestival.
+
+  See COPYING.runtime
+
+  Copyright (C) 2018: Sergey Surkov <surkov.sv@summatechnology.ru>
+  Copyright (C) 2018: Andrey Skvortsov <andrej.skvortzov@gmail.com>
+
+*/
+
+#ifndef HAVE_RETAIN
+#include <stdio.h>
+#include <stdint.h>
+#include <unistd.h>
+#include "iec_types.h"
+
+int GetRetainSize(void);
+
+/* Retain buffer.  */
+FILE *retain_buffer;
+const char rb_file[]      = "retain_buffer_file";
+const char rb_file_bckp[] = "retain_buffer_file.bak";
+
+
+/* Retain header struct.  */
+struct retain_info_t {
+	uint32_t retain_size;
+	uint32_t hash_size;
+	uint8_t* hash;
+	uint32_t header_offset;
+	uint32_t header_crc;
+};
+
+/* Init retain info structure.  */
+struct retain_info_t retain_info;
+
+/* CRC lookup table and initial state.  */
+static const uint32_t crc32_table[256] = {
+	0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3,
+	0x0EDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91,
+	0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7,
+	0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC, 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5,
+	0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172, 0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B,
+	0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59,
+	0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116, 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F,
+	0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB, 0xB6662D3D,
+	0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433,
+	0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818, 0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01,
+	0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E, 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457,
+	0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65,
+	0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2, 0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB,
+	0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0, 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,
+	0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F,
+	0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4, 0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD,
+	0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683,
+	0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8, 0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1,
+	0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7,
+	0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5,
+	0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252, 0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B,
+	0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79,
+	0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, 0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F,
+	0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04, 0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D,
+	0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713,
+	0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38, 0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21,
+	0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777,
+	0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45,
+	0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2, 0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB,
+	0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9,
+	0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605, 0xCDD70693, 0x54DE5729, 0x23D967BF,
+	0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94, 0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D,
+};
+uint32_t retain_crc;
+
+
+/* Calculate CRC32 for len bytes from pointer buf with init starting value.  */
+uint32_t GenerateCRC32Sum(const void* buf, unsigned int len, uint32_t init)
+{
+	uint32_t crc = ~init;
+	unsigned char* current = (unsigned char*) buf;
+	while (len--)
+		crc = crc32_table[(crc ^ *current++) & 0xFF] ^ (crc >> 8);
+	return ~crc;
+}
+
+/* Calc CRC32 for retain file byte by byte.  */
+int CheckFileCRC(FILE* file_buffer)
+{
+	/* Set the magic constant for one-pass CRC calc according to ZIP CRC32.  */
+	const uint32_t magic_number = 0x2144df1c;
+
+	/* CRC initial state.  */
+	uint32_t calc_crc32 = 0;
+	char data_block = 0;
+
+	while(!feof(file_buffer)){
+		if (fread(&data_block, sizeof(data_block), 1, file_buffer))
+			calc_crc32 = GenerateCRC32Sum(&data_block, sizeof(char), calc_crc32);
+	}
+
+	/* Compare crc result with a magic number.  */
+	return (calc_crc32 == magic_number) ? 1 : 0;
+}
+
+/* Compare current hash with hash from file byte by byte.  */
+int CheckFilehash(void)
+{
+	int k,ret;
+	int offset = sizeof(retain_info.retain_size);
+
+	rewind(retain_buffer);
+	fseek(retain_buffer, offset , SEEK_SET);
+
+	uint32_t size;
+	ret = fread(&size, sizeof(size), 1, retain_buffer);
+	if (size != retain_info.hash_size)
+		return 0;
+
+	for(k = 0; k < retain_info.hash_size; k++){
+		uint8_t file_digit;
+		ret = fread(&file_digit, sizeof(char), 1, retain_buffer);
+		if (file_digit != *(retain_info.hash+k))
+			return 0;
+	}
+
+	return 1;
+}
+
+void InitRetain(void)
+{
+	int i;
+
+	/* Get retain size in bytes */
+	retain_info.retain_size = GetRetainSize();
+
+	/* Hash stored in retain file as array of char in hex digits
+	   (that's why we divide strlen in two).  */
+	retain_info.hash_size = PLC_ID ? strlen(PLC_ID)/2 : 0;
+	//retain_info.hash_size = 0;
+	retain_info.hash = malloc(retain_info.hash_size);
+
+	/* Transform hash string into byte sequence.  */
+	for (i = 0; i < retain_info.hash_size; i++) {
+		int byte = 0;
+		sscanf((PLC_ID + i*2), "%02X", &byte);
+		retain_info.hash[i] = byte;
+	}
+
+	/* Calc header offset.  */
+	retain_info.header_offset = sizeof(retain_info.retain_size) + \
+		sizeof(retain_info.hash_size) + \
+		retain_info.hash_size;
+
+	/*  Set header CRC initial state.  */
+	retain_info.header_crc = 0;
+
+	/* Calc crc for header.  */
+	retain_info.header_crc = GenerateCRC32Sum(
+		&retain_info.retain_size,
+		sizeof(retain_info.retain_size),
+		retain_info.header_crc);
+
+	retain_info.header_crc = GenerateCRC32Sum(
+		&retain_info.hash_size,
+		sizeof(retain_info.hash_size),
+		retain_info.header_crc);
+
+	retain_info.header_crc = GenerateCRC32Sum(
+		retain_info.hash,
+		retain_info.hash_size,
+		retain_info.header_crc);
+}
+
+void CleanupRetain(void)
+{
+	/* Free hash memory.  */
+	free(retain_info.hash);
+}
+
+int CheckRetainFile(const char * file)
+{
+	retain_buffer = fopen(file, "rb");
+	if (retain_buffer) {
+		/* Check CRC32 and hash.  */
+		if (CheckFileCRC(retain_buffer))
+			if (CheckFilehash())
+				return 1;
+		fclose(retain_buffer);
+		retain_buffer = NULL;
+	}
+	return 0;
+}
+
+int CheckRetainBuffer(void)
+{
+	retain_buffer = NULL;
+	if (!retain_info.retain_size)
+		return 1;
+
+	/* Check latest retain file.  */
+	if (CheckRetainFile(rb_file))
+		return 1;
+
+	/* Check if we have backup.  */
+	if (CheckRetainFile(rb_file_bckp))
+		return 1;
+
+	/* We don't have any valid retain buffer - nothing to remind.  */
+	return 0;
+}
+
+#ifndef FILE_RETAIN_SAVE_PERIOD_S
+#define FILE_RETAIN_SAVE_PERIOD_S 1.0
+#endif
+
+static double CalcDiffSeconds(IEC_TIME* t1, IEC_TIME *t2)
+{
+	IEC_TIME dt ={
+		t1->tv_sec  - t2->tv_sec,
+		t1->tv_nsec - t2->tv_nsec
+	};
+
+	if ((dt.tv_nsec < -1000000000) || ((dt.tv_sec > 0) && (dt.tv_nsec < 0))){
+		dt.tv_sec--;
+		dt.tv_nsec += 1000000000;
+	}
+	if ((dt.tv_nsec > +1000000000) || ((dt.tv_sec < 0) && (dt.tv_nsec > 0))){
+		dt.tv_sec++;
+		dt.tv_nsec -= 1000000000;
+	}
+	return dt.tv_sec + 1e-9*dt.tv_nsec;
+}
+
+
+int RetainSaveNeeded(void)
+{
+	int ret = 0;
+	static IEC_TIME last_save;
+	IEC_TIME now;
+	double diff_s;
+
+	/* no retain */
+	if (!retain_info.retain_size)
+		return 0;
+
+	/* periodic retain flush to avoid high I/O load */
+	PLC_GetTime(&now);
+
+	diff_s = CalcDiffSeconds(&now, &last_save);
+
+	if ((diff_s > FILE_RETAIN_SAVE_PERIOD_S) || ForceSaveRetainReq()) {
+		ret = 1;
+		last_save = now;
+	}
+	return ret;
+}
+
+void ValidateRetainBuffer(void)
+{
+	if (!retain_buffer)
+		return;
+
+	/* Add retain data CRC to the end of buffer file.  */
+	fseek(retain_buffer, 0, SEEK_END);
+	fwrite(&retain_crc, sizeof(uint32_t), 1, retain_buffer);
+
+	/* Sync file buffer and close file.  */
+#ifdef __WIN32
+	fflush(retain_buffer);
+#else
+	fsync(fileno(retain_buffer));
+#endif
+
+	fclose(retain_buffer);
+	retain_buffer = NULL;
+}
+
+void InValidateRetainBuffer(void)
+{
+	if (!RetainSaveNeeded())
+		return;
+
+	/* Rename old retain file into *.bak if it exists.  */
+	rename(rb_file, rb_file_bckp);
+
+	/* Set file CRC initial value.  */
+	retain_crc = retain_info.header_crc;
+
+	/* Create new retain file.  */
+	retain_buffer = fopen(rb_file, "wb+");
+	if (!retain_buffer) {
+		fprintf(stderr, "Failed to create retain file : %s\n", rb_file);
+		return;
+	}
+
+	/* Write header to the new file.  */
+	fwrite(&retain_info.retain_size,
+		sizeof(retain_info.retain_size), 1, retain_buffer);
+	fwrite(&retain_info.hash_size,
+		sizeof(retain_info.hash_size),   1, retain_buffer);
+	fwrite(retain_info.hash ,
+		sizeof(char), retain_info.hash_size, retain_buffer);
+}
+
+void Retain(unsigned int offset, unsigned int count, void *p)
+{
+	if (!retain_buffer)
+		return;
+
+	/* Generate CRC 32 for each data block.  */
+	retain_crc = GenerateCRC32Sum(p, count, retain_crc);
+
+	/* Save current var in file.  */
+	fseek(retain_buffer, retain_info.header_offset+offset, SEEK_SET);
+	fwrite(p, count, 1, retain_buffer);
+}
+
+void Remind(unsigned int offset, unsigned int count, void *p)
+{
+    int ret;
+	/* Remind variable from file.  */
+	fseek(retain_buffer, retain_info.header_offset+offset, SEEK_SET);
+	ret = fread((void *)p, count, 1, retain_buffer);
+}
+#endif // !HAVE_RETAIN
+/**
+ * Tail of code common to all C targets
+ **/
+
+/** 
+ * LOGGING
+ **/
+#ifndef TARGET_LOGGING_DISABLE
+
+#ifndef LOG_BUFFER_SIZE
+#define LOG_BUFFER_SIZE (1<<14) /*16Ko*/
+#endif
+#ifndef LOG_BUFFER_ATTRS
+#define LOG_BUFFER_ATTRS
+#endif
+
+#define LOG_BUFFER_MASK (LOG_BUFFER_SIZE-1)
+
+static char LogBuff[LOG_LEVELS][LOG_BUFFER_SIZE] LOG_BUFFER_ATTRS;
+static void inline copy_to_log(uint8_t level, uint32_t buffpos, void* buf, uint32_t size){
+    if(buffpos + size < LOG_BUFFER_SIZE){
+        memcpy(&LogBuff[level][buffpos], buf, size);
+    }else{
+        uint32_t remaining = LOG_BUFFER_SIZE - buffpos; 
+        memcpy(&LogBuff[level][buffpos], buf, remaining);
+        memcpy(LogBuff[level], (char*)buf + remaining, size - remaining);
+    }
+}
+static void inline copy_from_log(uint8_t level, uint32_t buffpos, void* buf, uint32_t size){
+    if(buffpos + size < LOG_BUFFER_SIZE){
+        memcpy(buf, &LogBuff[level][buffpos], size);
+    }else{
+        uint32_t remaining = LOG_BUFFER_SIZE - buffpos; 
+        memcpy(buf, &LogBuff[level][buffpos], remaining);
+        memcpy((char*)buf + remaining, LogBuff[level], size - remaining);
+    }
+}
+
+/* Log buffer structure
+
+ |<-Tail1.msgsize->|<-sizeof(mTail)->|<--Tail2.msgsize-->|<-sizeof(mTail)->|...
+ |  Message1 Body  |      Tail1      |   Message2 Body   |      Tail2      |
+
+*/
+typedef struct {
+    uint32_t msgidx;
+    uint32_t msgsize;
+    unsigned long tick;
+    IEC_TIME time;
+} mTail;
+
+/* Log cursor : 64b
+   |63 ... 32|31 ... 0|
+   | Message | Buffer |
+   | counter | Index  | */
+static uint64_t LogCursor[LOG_LEVELS] LOG_BUFFER_ATTRS = {0x0,0x0,0x0,0x0};
+
+void ResetLogCount(void) {
+	uint8_t level;
+	for(level=0;level<LOG_LEVELS;level++){
+		LogCursor[level] = 0;
+	}
+}
+
+/* Store one log message of give size */
+int LogMessage(uint8_t level, char* buf, uint32_t size){
+    if(size < LOG_BUFFER_SIZE - sizeof(mTail)){
+        uint32_t buffpos;
+        uint64_t new_cursor, old_cursor;
+
+        mTail tail;
+        tail.msgsize = size;
+        tail.tick = __tick;
+        PLC_GetTime(&tail.time);
+
+        /* We cannot increment both msg index and string pointer 
+           in a single atomic operation but we can detect having been interrupted.
+           So we can try with atomic compare and swap in a loop until operation
+           succeeds non interrupted */
+        do{
+            old_cursor = LogCursor[level];
+            buffpos = (uint32_t)old_cursor;
+            tail.msgidx = (old_cursor >> 32); 
+            new_cursor = ((uint64_t)(tail.msgidx + 1)<<32) 
+                         | (uint64_t)((buffpos + size + sizeof(mTail)) & LOG_BUFFER_MASK);
+        }while(AtomicCompareExchange64(
+            (long long*)&LogCursor[level],
+            (long long)old_cursor,
+            (long long)new_cursor)!=(long long)old_cursor);
+
+        copy_to_log(level, buffpos, buf, size);
+        copy_to_log(level, (buffpos + size) & LOG_BUFFER_MASK, &tail, sizeof(mTail));
+
+        return 1; /* Success */
+    }else{
+    	char mstr[] = "Logging error : message too big";
+        LogMessage(LOG_CRITICAL, mstr, sizeof(mstr));
+    }
+    return 0;
+}
+
+uint32_t GetLogCount(uint8_t level){
+    return (uint64_t)LogCursor[level] >> 32;
+}
+
+/* Return message size and content */
+uint32_t GetLogMessage(uint8_t level, uint32_t msgidx, char* buf, uint32_t max_size, uint32_t* tick, uint32_t* tv_sec, uint32_t* tv_nsec){
+    uint64_t cursor = LogCursor[level];
+    if(cursor){
+        /* seach cursor */
+        uint32_t stailpos = (uint32_t)cursor; 
+        uint32_t smsgidx;
+        mTail tail;
+        tail.msgidx = cursor >> 32;
+        tail.msgsize = 0;
+
+        /* Message search loop */
+        do {
+            smsgidx = tail.msgidx;
+            stailpos = (stailpos - sizeof(mTail) - tail.msgsize ) & LOG_BUFFER_MASK;
+            copy_from_log(level, stailpos, &tail, sizeof(mTail));
+        }while((tail.msgidx == smsgidx - 1) && (tail.msgidx > msgidx));
+
+        if(tail.msgidx == msgidx){
+            uint32_t sbuffpos = (stailpos - tail.msgsize ) & LOG_BUFFER_MASK; 
+            uint32_t totalsize = tail.msgsize;
+            *tick = tail.tick; 
+            *tv_sec = tail.time.tv_sec; 
+            *tv_nsec = tail.time.tv_nsec; 
+            copy_from_log(level, sbuffpos, buf, 
+                          totalsize > max_size ? max_size : totalsize);
+            return totalsize;
+        }
+    }
+    return 0;
+}
+
+#endif
+
+#ifndef TARGET_EXT_SYNC_DISABLE
+
+#define CALIBRATED -2
+#define NOT_CALIBRATED -1
+static int calibration_count = NOT_CALIBRATED;
+static IEC_TIME cal_begin;
+static long long Tsync = 0;
+static long long FreqCorr = 0;
+static int Nticks = 0;
+static unsigned long last_tick = 0;
+
+/*
+ * Called on each external periodic sync event
+ * make PLC tick synchronous with external sync
+ * ratio defines when PLC tick occurs between two external sync
+ * @param sync_align_ratio 
+ *          0->100 : align ratio
+ *          < 0 : no align, calibrate period
+ **/
+void align_tick(int sync_align_ratio)
+{
+	/*
+	printf("align_tick(%d)\n", calibrate);
+	*/
+	if(sync_align_ratio < 0){ /* Calibration */
+		if(calibration_count == CALIBRATED)
+			/* Re-calibration*/
+			calibration_count = NOT_CALIBRATED;
+		if(calibration_count == NOT_CALIBRATED)
+			/* Calibration start, get time*/
+			PLC_GetTime(&cal_begin);
+		calibration_count++;
+	}else{ /* do alignment (if possible) */
+		if(calibration_count >= 0){
+			/* End of calibration */
+			/* Get final time */
+			IEC_TIME cal_end;
+			PLC_GetTime(&cal_end);
+			/*adjust calibration_count*/
+			calibration_count++;
+			/* compute mean of Tsync, over calibration period */
+			Tsync = ((long long)(cal_end.tv_sec - cal_begin.tv_sec) * (long long)1000000000 +
+					(cal_end.tv_nsec - cal_begin.tv_nsec)) / calibration_count;
+			if( (Nticks = (Tsync / common_ticktime__)) > 0){
+				FreqCorr = (Tsync % common_ticktime__); /* to be divided by Nticks */
+			}else{
+				FreqCorr = Tsync - (common_ticktime__ % Tsync);
+			}
+			/*
+			printf("Tsync = %ld\n", Tsync);
+			printf("calibration_count = %d\n", calibration_count);
+			printf("Nticks = %d\n", Nticks);
+			*/
+			calibration_count = CALIBRATED;
+		}
+		if(calibration_count == CALIBRATED){
+			/* Get Elapsed time since last PLC tick (__CURRENT_TIME) */
+			IEC_TIME now;
+			long long elapsed;
+			long long Tcorr;
+			long long PhaseCorr;
+			long long PeriodicTcorr;
+			PLC_GetTime(&now);
+			elapsed = (now.tv_sec - __CURRENT_TIME.tv_sec) * 1000000000 + now.tv_nsec - __CURRENT_TIME.tv_nsec;
+			if(Nticks > 0){
+				PhaseCorr = elapsed - (common_ticktime__ + FreqCorr/Nticks)*sync_align_ratio/100; /* to be divided by Nticks */
+				Tcorr = common_ticktime__ + (PhaseCorr + FreqCorr) / Nticks;
+				if(Nticks < 2){
+					/* When Sync source period is near Tick time */
+					/* PhaseCorr may not be applied to Periodic time given to timer */
+					PeriodicTcorr = common_ticktime__ + FreqCorr / Nticks;
+				}else{
+					PeriodicTcorr = Tcorr;
+				}
+			}else if(__tick > last_tick){
+				last_tick = __tick;
+				PhaseCorr = elapsed - (Tsync*sync_align_ratio/100);
+				PeriodicTcorr = Tcorr = common_ticktime__ + PhaseCorr + FreqCorr;
+			}else{
+				/*PLC did not run meanwhile. Nothing to do*/
+				return;
+			}
+			/* DO ALIGNEMENT */
+			PLC_SetTimer(Tcorr - elapsed, PeriodicTcorr);
+		}
+	}
+}
+
+#endif

Beremiz/cherry_picker_opc_ua_prod/build/py_ext.c

+/*
+ * Python Asynchronous execution code
+ *
+ * PLC put python commands in a fifo, respecting execution order
+ * with the help of C pragmas inserted in python_eval FB code
+ *
+ * Buffer content is read asynchronously, (from non real time part),
+ * commands are executed and result stored for later use by PLC.
+ *
+ * In this implementation, fifo is a list of pointer to python_eval
+ * function blocks structures. Some local variables have been added in
+ * python_eval interface. We use those local variables as buffer and state
+ * flags.
+ *
+ * */
+
+#include "iec_types_all.h"
+#include "POUS.h"
+#include <string.h>
+
+/* The fifo (fixed size, as number of FB is fixed) */
+static PYTHON_EVAL* EvalFBs[1];
+/* Producer and consumer cursors */
+static int Current_PLC_EvalFB;
+static int Current_Python_EvalFB;
+
+/* A global IEC-Python gateway state, for use inside python_eval FBs*/
+static int PythonState;
+#define PYTHON_LOCKED_BY_PYTHON 0
+#define PYTHON_LOCKED_BY_PLC 1
+#define PYTHON_MUSTWAKEUP 2
+#define PYTHON_FINISHED 4
+
+/* Each python_eval FunctionBlock have it own state */
+#define PYTHON_FB_FREE 0
+#define PYTHON_FB_REQUESTED 1
+#define PYTHON_FB_PROCESSING 2
+#define PYTHON_FB_ANSWERED 3
+
+int WaitPythonCommands(void);
+void UnBlockPythonCommands(void);
+int TryLockPython(void);
+void UnLockPython(void);
+void LockPython(void);
+
+int __init_py_ext()
+{
+	int i;
+	/* Initialize cursors */
+	Current_Python_EvalFB = 0;
+	Current_PLC_EvalFB = 0;
+	PythonState = PYTHON_LOCKED_BY_PYTHON;
+	for(i = 0; i < 1; i++)
+		EvalFBs[i] = NULL;
+  return 0;
+}
+
+void __cleanup_py_ext()
+{
+	PythonState = PYTHON_FINISHED;
+	UnBlockPythonCommands();
+}
+
+void __retrieve_py_ext()
+{
+	/* Check Python thread is not being
+	 * modifying internal python_eval data */
+	PythonState = TryLockPython() ?
+	                PYTHON_LOCKED_BY_PLC :
+	                PYTHON_LOCKED_BY_PYTHON;
+	/* If python thread _is_ in, then PythonState remains PYTHON_LOCKED_BY_PYTHON
+	 * and python_eval will no do anything */
+}
+
+void __publish_py_ext()
+{
+	if(PythonState & PYTHON_LOCKED_BY_PLC){
+		/* If runnig PLC did push something in the fifo*/
+		if(PythonState & PYTHON_MUSTWAKEUP){
+			/* WakeUp python thread */
+			UnBlockPythonCommands();
+		}
+		UnLockPython();
+	}
+}
+/**
+ * Called by the PLC, each time a python_eval
+ * FB instance is executed
+ */
+void __PythonEvalFB(int poll, PYTHON_EVAL* data__)
+{
+    if(!__GET_VAR(data__->TRIG)){
+        /* ACK is False when TRIG is false, except a pulse when receiving result */
+        __SET_VAR(data__->, ACK,, 0);
+    }
+	/* detect rising edge on TRIG to trigger evaluation */
+	if(((__GET_VAR(data__->TRIG) && !__GET_VAR(data__->TRIGM1)) ||
+	   /* polling is equivalent to trig on value rather than on rising edge*/
+	    (poll && __GET_VAR(data__->TRIG) )) &&
+	    /* trig only if not already trigged */
+	    __GET_VAR(data__->TRIGGED) == 0){
+		/* mark as trigged */
+	    __SET_VAR(data__->, TRIGGED,, 1);
+		/* make a safe copy of the code */
+		__SET_VAR(data__->, PREBUFFER,, __GET_VAR(data__->CODE));
+	}
+	/* retain value for next rising edge detection */
+	__SET_VAR(data__->, TRIGM1,, __GET_VAR(data__->TRIG));
+
+	/* python thread is not in ? */
+	if( PythonState & PYTHON_LOCKED_BY_PLC){
+		/* if some answer are waiting, publish*/
+		if(__GET_VAR(data__->STATE) == PYTHON_FB_ANSWERED){
+			/* Copy buffer content into result*/
+			__SET_VAR(data__->, RESULT,, __GET_VAR(data__->BUFFER));
+			/* signal result presence to PLC*/
+			__SET_VAR(data__->, ACK,, 1);
+			/* Mark as free */
+			__SET_VAR(data__->, STATE,, PYTHON_FB_FREE);
+			/* mark as not trigged */
+			if(!poll)
+			    __SET_VAR(data__->, TRIGGED,, 0);
+			/*printf("__PythonEvalFB pop %d - %*s\n",Current_PLC_EvalFB, data__->BUFFER.len, data__->BUFFER.body);*/
+		}else if(poll){
+			/* when in polling, no answer == ack down */
+		    __SET_VAR(data__->, ACK,, 0);
+		}
+		/* got the order to act ?*/
+		if(__GET_VAR(data__->TRIGGED) == 1 &&
+		   /* and not already being processed */
+		   __GET_VAR(data__->STATE) == PYTHON_FB_FREE)
+		{
+			/* Enter the block in the fifo
+			 * Don't have to check if fifo cell is free
+			 * as fifo size == FB count, and a FB cannot
+			 * be requested twice */
+			EvalFBs[Current_PLC_EvalFB] = data__;
+			/* copy into BUFFER local*/
+			__SET_VAR(data__->, BUFFER,, __GET_VAR(data__->PREBUFFER));
+			/* Set ACK pin to low so that we can set a rising edge on result */
+			if(!poll){
+				/* when not polling, a new answer imply reseting ack*/
+			    __SET_VAR(data__->, ACK,, 0);
+			}else{
+				/* when in polling, acting reset trigger */
+			    __SET_VAR(data__->, TRIGGED,, 0);
+			}
+			/* Mark FB busy */
+			__SET_VAR(data__->, STATE,, PYTHON_FB_REQUESTED);
+			/* Have to wakeup python thread in case he was asleep */
+			PythonState |= PYTHON_MUSTWAKEUP;
+			/*printf("__PythonEvalFB push %d - %*s\n",Current_PLC_EvalFB, data__->BUFFER.len, data__->BUFFER.body);*/
+			/* Get a new line */
+			Current_PLC_EvalFB = (Current_PLC_EvalFB + 1) % 1;
+		}
+	}
+}
+
+char* PythonIterator(char* result, void** id)
+{
+	char* next_command;
+	PYTHON_EVAL* data__;
+	//printf("PythonIterator result %s\n", result);
+    /*emergency exit*/
+    if(PythonState & PYTHON_FINISHED) return NULL;
+	/* take python mutex to prevent changing PLC data while PLC running */
+	LockPython();
+	/* Get current FB */
+	data__ = EvalFBs[Current_Python_EvalFB];
+	if(data__ && /* may be null at first run */
+	    __GET_VAR(data__->STATE) == PYTHON_FB_PROCESSING){ /* some answer awaited*/
+	   	/* If result not None */
+	   	if(result){
+			/* Get results len */
+	   	    __SET_VAR(data__->, BUFFER, .len, strlen(result));
+			/* prevent results overrun */
+			if(__GET_VAR(data__->BUFFER, .len) > STR_MAX_LEN)
+			{
+			    __SET_VAR(data__->, BUFFER, .len, STR_MAX_LEN);
+				/* TODO : signal error */
+			}
+			/* Copy results to buffer */
+			strncpy((char*)__GET_VAR(data__->BUFFER, .body), result, __GET_VAR(data__->BUFFER,.len));
+	   	}else{
+	   	    __SET_VAR(data__->, BUFFER, .len, 0);
+	   	}
+		/* remove block from fifo*/
+		EvalFBs[Current_Python_EvalFB] = NULL;
+		/* Mark block as answered */
+		__SET_VAR(data__->, STATE,, PYTHON_FB_ANSWERED);
+		/* Get a new line */
+		Current_Python_EvalFB = (Current_Python_EvalFB + 1) % 1;
+		//printf("PythonIterator ++ Current_Python_EvalFB %d\n", Current_Python_EvalFB);
+	}
+	/* while next slot is empty */
+	while(((data__ = EvalFBs[Current_Python_EvalFB]) == NULL) ||
+	 	  /* or doesn't contain command */
+	      __GET_VAR(data__->STATE) != PYTHON_FB_REQUESTED)
+	{
+		UnLockPython();
+		/* wait next FB to eval */
+		//printf("PythonIterator wait\n");
+		if(WaitPythonCommands()) return NULL;
+		/*emergency exit*/
+		if(PythonState & PYTHON_FINISHED) return NULL;
+		LockPython();
+	}
+	/* Mark block as processing */
+	__SET_VAR(data__->, STATE,, PYTHON_FB_PROCESSING);
+	//printf("PythonIterator\n");
+	/* make BUFFER a null terminated string */
+	__SET_VAR(data__->, BUFFER, .body[__GET_VAR(data__->BUFFER, .len)], 0);
+	/* next command is BUFFER */
+	next_command = (char*)__GET_VAR(data__->BUFFER, .body);
+	*id=data__;
+	/* free python mutex */
+	UnLockPython();
+	/* return the next command to eval */
+	return next_command;
+}
+

Beremiz/cherry_picker_opc_ua_prod/build/resource1.c

+/*******************************************/
+/*     FILE GENERATED BY iec2c             */
+/* Editing this file is not recommended... */
+/*******************************************/
+
+#include "iec_std_lib.h"
+
+// RESOURCE RESOURCE1
+
+extern unsigned long long common_ticktime__;
+
+#include "accessor.h"
+#include "POUS.h"
+
+#include "config.h"
+
+#include "POUS.c"
+
+BOOL TASK0;
+PLC_PRG RESOURCE1__INSTANCE0;
+#define INSTANCE0 RESOURCE1__INSTANCE0
+
+void RESOURCE1_init__(void) {
+  BOOL retain;
+  retain = 0;
+  
+  TASK0 = __BOOL_LITERAL(FALSE);
+  PLC_PRG_init__(&INSTANCE0,retain);
+}
+
+void RESOURCE1_run__(unsigned long tick) {
+  TASK0 = !(tick % 1);
+  if (TASK0) {
+    PLC_PRG_body__(&INSTANCE0);
+  }
+}
+

Beremiz/cherry_picker_opc_ua_prod/opcua_0@opcua/baseconfnode.xml

+<?xml version='1.0' encoding='utf-8'?>
+<BaseParams xmlns:xsd="http://www.w3.org/2001/XMLSchema" IEC_Channel="1" Name="opcua_0"/>

Beremiz/cherry_picker_opc_ua_prod/opcua_0@opcua/confnode.xml

+<?xml version='1.0' encoding='utf-8'?>
+<OPCUAClient xmlns:xsd="http://www.w3.org/2001/XMLSchema" Server_URI="opc.tcp://192.168.0.114:4840"/>

Beremiz/cherry_picker_opc_ua_prod/opcua_0@opcua/selected.csv

+input,"LocalizedText(Encoding:3, Locale:en-US, Text:Relay 0)",1,str,relay0,Int32,0
+input,"LocalizedText(Encoding:3, Locale:en-US, Text:Relay 1)",1,str,relay1,Int32,1
+input,"LocalizedText(Encoding:3, Locale:en-US, Text:Relay 2)",1,str,relay2,Int32,2
+input,"LocalizedText(Encoding:3, Locale:en-US, Text:Relay 3)",1,str,relay3,Int32,3
+output,"LocalizedText(Encoding:3, Locale:en-US, Text:Relay 0)",1,str,relay0,Int32,0
+output,"LocalizedText(Encoding:3, Locale:en-US, Text:Relay 1)",1,str,relay1,Int32,1
+output,"LocalizedText(Encoding:3, Locale:en-US, Text:Relay 2)",1,str,relay2,Int32,2
+output,"LocalizedText(Encoding:3, Locale:en-US, Text:Relay 3)",1,str,relay3,Int32,3

Beremiz/cherry_picker_opc_ua_prod/plc.xml

+<?xml version='1.0' encoding='utf-8'?>
+<project xmlns:ns1="http://www.plcopen.org/xml/tc6_0201" xmlns:xhtml="http://www.w3.org/1999/xhtml" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns="http://www.plcopen.org/xml/tc6_0201">
+  <fileHeader companyName="Unknown" productName="Unnamed" productVersion="1" creationDateTime="2021-05-14T14:33:11"/>
+  <contentHeader name="Counter (OSIE)" modificationDateTime="2021-10-25T16:19:46">
+    <coordinateInfo>
+      <fbd>
+        <scaling x="0" y="0"/>
+      </fbd>
+      <ld>
+        <scaling x="0" y="0"/>
+      </ld>
+      <sfc>
+        <scaling x="0" y="0"/>
+      </sfc>
+    </coordinateInfo>
+  </contentHeader>
+  <types>
+    <dataTypes/>
+    <pous>
+      <pou name="plc_prg" pouType="program">
+        <interface>
+          <inputVars>
+            <variable name="Reset">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+          </inputVars>
+          <outputVars>
+            <variable name="Cnt0">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+            <variable name="Cnt1">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+          </outputVars>
+          <localVars>
+            <variable name="CounterST0">
+              <type>
+                <derived name="CounterST"/>
+              </type>
+            </variable>
+          </localVars>
+        </interface>
+        <body>
+          <FBD>
+            <comment localId="1" height="143" width="201">
+              <position x="566" y="75"/>
+              <content>
+                <xhtml:p><![CDATA[Test Ivan: this PLC will switch ON / OFF attached over modbus relays {0..3} of a Lime2 coupler.]]></xhtml:p>
+              </content>
+            </comment>
+            <block localId="2" typeName="CounterST" instanceName="CounterST0" executionOrderId="0" height="109" width="99">
+              <position x="288" y="192"/>
+              <inputVariables>
+                <variable formalParameter="Reset">
+                  <connectionPointIn>
+                    <relPosition x="0" y="42"/>
+                    <connection refLocalId="3">
+                      <position x="288" y="234"/>
+                      <position x="258" y="234"/>
+                      <position x="258" y="218"/>
+                      <position x="231" y="218"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="Out1">
+                  <connectionPointOut>
+                    <relPosition x="99" y="42"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Out0">
+                  <connectionPointOut>
+                    <relPosition x="99" y="86"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <inVariable localId="3" executionOrderId="0" height="24" width="50" negated="false">
+              <position x="181" y="206"/>
+              <connectionPointOut>
+                <relPosition x="50" y="12"/>
+              </connectionPointOut>
+              <expression>Reset</expression>
+            </inVariable>
+            <outVariable localId="4" executionOrderId="0" height="24" width="42" negated="false">
+              <position x="433" y="266"/>
+              <connectionPointIn>
+                <relPosition x="0" y="12"/>
+                <connection refLocalId="2" formalParameter="Out0">
+                  <position x="433" y="278"/>
+                  <position x="387" y="278"/>
+                </connection>
+              </connectionPointIn>
+              <expression>Cnt0</expression>
+            </outVariable>
+            <outVariable localId="6" executionOrderId="0" height="24" width="42" negated="false">
+              <position x="435" y="222"/>
+              <connectionPointIn>
+                <relPosition x="0" y="12"/>
+                <connection refLocalId="2" formalParameter="Out1">
+                  <position x="435" y="234"/>
+                  <position x="387" y="234"/>
+                </connection>
+              </connectionPointIn>
+              <expression>Cnt1</expression>
+            </outVariable>
+          </FBD>
+        </body>
+      </pou>
+      <pou name="CounterST" pouType="functionBlock">
+        <interface>
+          <inputVars>
+            <variable name="Reset">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+          </inputVars>
+          <outputVars>
+            <variable name="Out1">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+            <variable name="Out0">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+          </outputVars>
+          <localVars>
+            <variable name="Cnt1">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+            <variable name="Cnt0">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+          </localVars>
+          <externalVars>
+            <variable name="ResetCounterValue">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+            <variable name="Relay0">
+              <type>
+                <DINT/>
+              </type>
+            </variable>
+            <variable name="Relay1">
+              <type>
+                <DINT/>
+              </type>
+            </variable>
+            <variable name="Relay2">
+              <type>
+                <DINT/>
+              </type>
+            </variable>
+            <variable name="Relay3">
+              <type>
+                <DINT/>
+              </type>
+            </variable>
+          </externalVars>
+        </interface>
+        <body>
+          <ST>
+            <xhtml:p><![CDATA[IF Reset THEN
+  Cnt0 := ResetCounterValue;
+  Cnt1 := ResetCounterValue;
+  Reset := False;
+ELSE
+  Cnt0 := Cnt0 + 1;
+  Cnt1 := Cnt1 + 1;
+  IF Cnt1 = 50 THEN
+    Relay0 := 1;
+    Relay1 := 1; 
+  END_IF;
+  
+  IF Cnt1 = 100 THEN
+    Relay0 := 1;
+    Relay1 := 0;
+    Cnt1 := 0;
+  END_IF;
+  
+END_IF;
+
+Out1 := Cnt1;
+Out0 := Cnt0;]]></xhtml:p>
+          </ST>
+        </body>
+      </pou>
+    </pous>
+  </types>
+  <instances>
+    <configurations>
+      <configuration name="config">
+        <resource name="resource1">
+          <task name="task0" priority="0" interval="T#20ms">
+            <pouInstance name="instance0" typeName="plc_prg"/>
+          </task>
+        </resource>
+        <globalVars>
+          <variable name="ResetCounterValue">
+            <type>
+              <INT/>
+            </type>
+            <initialValue>
+              <simpleValue value="0"/>
+            </initialValue>
+          </variable>
+          <variable name="Relay0" address="%QD1.0">
+            <type>
+              <DINT/>
+            </type>
+            <initialValue>
+              <simpleValue value="0"/>
+            </initialValue>
+            <documentation>
+              <xhtml:p><![CDATA[OPC-UA relay 0]]></xhtml:p>
+            </documentation>
+          </variable>
+          <variable name="Relay1" address="%QD1.1">
+            <type>
+              <DINT/>
+            </type>
+            <initialValue>
+              <simpleValue value="0"/>
+            </initialValue>
+            <documentation>
+              <xhtml:p><![CDATA[OPC-UA relay 1]]></xhtml:p>
+            </documentation>
+          </variable>
+          <variable name="Relay2" address="%QD1.2">
+            <type>
+              <DINT/>
+            </type>
+            <initialValue>
+              <simpleValue value="0"/>
+            </initialValue>
+            <documentation>
+              <xhtml:p><![CDATA[OPC-UA relay 2]]></xhtml:p>
+            </documentation>
+          </variable>
+          <variable name="Relay3" address="%QD1.3">
+            <type>
+              <DINT/>
+            </type>
+            <initialValue>
+              <simpleValue value="0"/>
+            </initialValue>
+            <documentation>
+              <xhtml:p><![CDATA[OPC-UA relay 2]]></xhtml:p>
+            </documentation>
+          </variable>
+        </globalVars>
+      </configuration>
+    </configurations>
+  </instances>
+</project>