Powerlink CN server added

otherio/exe/rt_powerlink/src/rt_powerlink.c

@@ -90,6 +90,12 @@ int main()
     exit(sts);
   }
 
+  sts = gdh_GetClassList(pwr_cClass_Epl_CNServer, &oid);
+  if ( ODD(sts)) {
+    system("rt_powerlink_cn &");
+    exit(0);
+  }
+
   // Get Powerlink handler object
   sts = io_get_plhandler_object(&plhp, &oid);
   if (EVEN(sts)) {

otherio/exe/rt_powerlink_cn/src/os_templ/hw_templ/makefile

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

otherio/exe/rt_powerlink_cn/src/os_templ/link_rule.mk

+ifndef link_rule_mk
+link_rule_mk := 1
+
+  link = $(ldxx) $(explinkflags) $(domap) -o $(export_exe) \
+	$(export_obj) $(pwr_eobj)/rt_io_user.o \
+	$(pwre_conf_libdir) $(pwre_conf_libpwrrt) $(pwre_conf_lib) \
+	-lpwr_usbio_dummy -lpwr_usb_dummy -lpwr_cifx_dummy -lpwr_nodave_dummy \
+	$(pwre_conf_libpwrprofibus) $(pwre_conf_libpwrpowerlinkcn) -lpcap
+endif

otherio/exe/rt_powerlink_cn/src/rt_powerlink_cn.c

+/* 
+ * Proview   Open Source Process Control.
+ * Copyright (C) 2005-2012 SSAB EMEA AB.
+ *
+ * This file is part of Proview.
+ *
+ * This program is free software; you can redistribute it and/or 
+ * modify it under the terms of the GNU General Public License as 
+ * published by the Free Software Foundation, either version 2 of 
+ * the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful 
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of 
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License 
+ * along with Proview. If not, see <http://www.gnu.org/licenses/>
+ *
+ * Linking Proview statically or dynamically with other modules is
+ * making a combined work based on Proview. Thus, the terms and 
+ * conditions of the GNU General Public License cover the whole 
+ * combination.
+ *
+ * In addition, as a special exception, the copyright holders of
+ * Proview give you permission to, from the build function in the
+ * Proview Configurator, combine Proview with modules generated by the
+ * Proview PLC Editor to a PLC program, regardless of the license
+ * terms of these modules. You may copy and distribute the resulting
+ * combined work under the terms of your choice, provided that every 
+ * copy of the combined work is accompanied by a complete copy of 
+ * the source code of Proview (the version used to produce the 
+ * combined work), being distributed under the terms of the GNU 
+ * General Public License plus this exception.
+ **/
+
+
+#include "pwr.h"
+#include "rt_io_msg.h"
+#include "rt_pwr_msg.h"
+#include "rt_gdh.h"
+#include "rt_io_base.h"
+#include "rt_errh.h"
+#include "rt_aproc.h"
+#include "pwr_basecomponentclasses.h"
+#include "pwr_otherioclasses.h"
+
+// Test for CN build
+#include "Epl.h"
+tEplKernel EplApiSetCdcFilename(char* pszCdcFilename_p) 
+{
+  return 0;
+}
+
+pwr_tStatus io_get_plhandler_object (  
+  pwr_sClass_EplHandler	**o,
+  pwr_tObjid		*roid
+)
+{
+  pwr_tStatus		sts;
+  pwr_tObjid		oid;
+
+  // Get EplHandler object
+  sts = gdh_GetClassList(pwr_cClass_EplHandler, &oid);
+  if (EVEN(sts)) return sts;
+
+  sts = gdh_ObjidToPointer( oid, (void *) o);
+  if (EVEN(sts)) return sts;
+
+  if (roid != NULL)
+    *roid = oid;
+  return IO__SUCCESS;
+}
+
+
+int main() 
+{
+  pwr_tStatus sts;
+  io_tCtx io_ctx;
+  float ctime = 1;
+	
+  pwr_sClass_EplHandler *plhp;
+  pwr_tOid oid;
+	
+  struct timespec tim1, tim2;
+	
+
+  // Make connection to error handler
+  errh_Init("pwr_powerlink", errh_eAnix_powerlink);
+  errh_SetStatus( PWR__SRVSTARTUP);
+
+  // Make connection to realtime database
+  sts = gdh_Init("rt_powerlink");
+  if (EVEN(sts)) {
+    errh_Fatal("rt_powerlink aborted, gdh_Init failed\n%m", sts);
+    errh_SetStatus( PWR__SRVTERM);
+    exit(sts);
+  }
+
+  // Get Powerlink handler object
+  sts = io_get_plhandler_object(&plhp, &oid);
+  if (EVEN(sts)) {
+    errh_SetStatus( 0);
+    errh_Info("rt_powerlink terminated, no EplHandler object found");
+    exit(sts);
+  }
+	
+  // Create context and call init functions of all agent,
+  // rack and cardobjects
+  sts = io_init(io_mProcess_Powerlink, pwr_cNObjid, &io_ctx, 1, ctime);
+  if ( EVEN(sts)) {
+    errh_SetStatus( PWR__SRVTERM);
+    errh_Fatal("rt_powerlink aborted, io_init() failed\n%m", sts);
+    exit(sts);
+  }
+
+  tim1.tv_sec = 0;
+  tim1.tv_nsec = (plhp->CycleTime)*1000000000L;
+	
+  aproc_TimeStamp( plhp->CycleTime, 5.0);
+  errh_SetStatus( PWR__SRUN);
+  aproc_RegisterObject( oid);
+
+  // Call IoAgentRead() IoAgentWrite() IoCardRead() IoCardWrite()
+  // IoModuleRead() IoModuleWrite() forever
+  for (;;) {
+    
+    sts = io_read(io_ctx);
+    sts = io_write(io_ctx); 
+    nanosleep(&tim1, &tim2);
+    aproc_TimeStamp( plhp->CycleTime, 5.0);
+  }
+}
+
+

otherio/exp/powerlink/src/README

+Instructions to build openPOWERLINK for Proview:
+
+Define enviroment variable epl to the root of the openPOWERLINK
+installation
+
+> export epl=/usr/local/openPOWERLINK-Vx.x.x
+
+Copy otherio/exp/powerlink/src/objdict.h to $epl/ObjDicts/CiA401_CN/.
+
+Create one build directory for MN (build) and one for CN (buildcn)
+
+> mkdir $epl/build
+> mkdir $epl/buildcn
+
+Go to $epl/build and build for MN, then go to $epl/buildcn and build for CN.
+
+Execute 'pwre configure' and check powerlink includes and archives are found,
+and finally build Proview.

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

@@ -55,4 +55,16 @@ typedef struct {
 	struct timespec tpe, tps;
 } io_sLocalEpl_CN;
 
+typedef struct {
+	int byte_ordering;
+	int float_representation;
+	struct timespec tpe, tps;
+	int input_area_size;
+	int output_area_size;
+	void *input_area;
+	void *output_area;
+	void *tmp_area;
+	short inputResetEnabled;
+} io_sLocalEpl_CNServer;
+
 #endif

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

+/* 
+ * Proview   Open Source Process Control.
+ * Copyright (C) 2005-2012 SSAB EMEA AB.
+ *
+ * This file is part of Proview.
+ *
+ * This program is free software; you can redistribute it and/or 
+ * modify it under the terms of the GNU General Public License as 
+ * published by the Free Software Foundation, either version 2 of 
+ * the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful 
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of 
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License 
+ * along with Proview. If not, see <http://www.gnu.org/licenses/>
+ *
+ * Linking Proview statically or dynamically with other modules is
+ * making a combined work based on Proview. Thus, the terms and 
+ * conditions of the GNU General Public License cover the whole 
+ * combination.
+ *
+ * In addition, as a special exception, the copyright holders of
+ * Proview give you permission to, from the build function in the
+ * Proview Configurator, combine Proview with modules generated by the
+ * Proview PLC Editor to a PLC program, regardless of the license
+ * terms of these modules. You may copy and distribute the resulting
+ * combined work under the terms of your choice, provided that every 
+ * copy of the combined work is accompanied by a complete copy of 
+ * the source code of Proview (the version used to produce the 
+ * combined work), being distributed under the terms of the GNU 
+ * General Public License plus this exception.
+ **/
+#include "pwr.h"
+#include "pwr_basecomponentclasses.h"
+#include "rt_io_base.h"
+#include "rt_io_card_init.h"
+#include "rt_io_card_close.h"
+#include "rt_io_card_read.h"
+#include "rt_io_card_write.h"
+#include "rt_io_msg.h"
+
+#include "pwr_otherioclasses.h"
+
+
+/*----------------------------------------------------------------------------*\
+   Init method for the Powerlink module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardInit (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+	
+	return IO__SUCCESS;
+
+}
+
+
+/*----------------------------------------------------------------------------*\
+   Read method for the Powerlink module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardRead (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+
+	return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+   Write method for the Powerlink module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardWrite (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+
+
+	return IO__SUCCESS;
+
+}
+
+/*----------------------------------------------------------------------------*\
+   Close method for the Powerlink module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardClose (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+
+	return IO__SUCCESS;
+
+}
+
+
+/*----------------------------------------------------------------------------*\
+  Every method to be exported to the workbench should be registred here.
+\*----------------------------------------------------------------------------*/
+pwr_dExport pwr_BindIoMethods(Epl_CNServerModule) = {
+  pwr_BindIoMethod(IoCardInit),
+  pwr_BindIoMethod(IoCardRead),
+  pwr_BindIoMethod(IoCardWrite),
+  pwr_BindIoMethod(IoCardClose),
+  pwr_NullMethod
+};

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

@@ -147,15 +147,6 @@ tEplKernel PUBLIC AppCbEvent(
 			     io_sAgent*           pUserArg_p);
 tEplKernel PUBLIC AppCbSync(void);
 
-pwr_tStatus io_bus_card_init_pl( io_tCtx ctx,
-				 io_sCard *cp, 
-				 unsigned int *input_area_offset, 
-				 unsigned int *input_area_chansize, 
-				 unsigned int *output_area_offset, 
-				 unsigned int *output_area_chansize, 
-				 pwr_tByteOrderingEnum byte_order
-				 );
-
 
 /*----------------------------------------------------------------------------*\
   Init method for the Powerlink module
@@ -281,15 +272,16 @@ static pwr_tStatus IoAgentInit (io_tCtx ctx, io_sAgent *ap) {
   struct sched_param          schedParam;
 
   // adjust process priority
-  if (nice (-20) == -1)         // push nice level in case we have no RTPreempt
-    {
-      errh_Error("%s() couldn't set nice value! (%s)", __func__, strerror(errno));
-    }
-  schedParam.__sched_priority = MAIN_THREAD_PRIORITY;
-  if (pthread_setschedparam(pthread_self(), SCHED_RR, &schedParam) != 0)
-    {
-      errh_Error("%s() couldn't set thread scheduling parameters! %d", __func__, schedParam.__sched_priority);
-    }
+  // push nice level in case we have no RTPreempt
+  if (nice (-20) == -1) {
+    errh_Error("%s() couldn't set nice value! (%s)", __func__, strerror(errno));
+  }
+  //schedParam.sched_priority = MIN(sched_get_priority_max(SCHED_FIFO), 
+  //				  sched_get_priority_min(SCHED_FIFO) + op->Priority);
+  schedParam.__sched_priority = op->Priority;
+  if (pthread_setschedparam(pthread_self(), SCHED_RR, &schedParam) != 0) {
+    errh_Error("%s() couldn't set thread scheduling parameters! %d", __func__, schedParam.__sched_priority);
+  }
     
   // binds all openPOWERLINK threads to the second CPU core
   cpu_set_t                   affinity;

otherio/lib/rt/src/rt_io_otherio.meth

@@ -30,4 +30,6 @@ Nodave_PLC
 Nodave_Transaction
 Epl_MN
 Epl_Module
+Epl_CNServer
+Epl_CNServerModule
 #endif
\ No newline at end of file

otherio/lib/wb/src/wb_c_epl_mn.cpp

@@ -61,7 +61,7 @@ static pwr_tStatus Configure (
   ldh_sMenuCall *ip
 )
 {
-  pwr_tCmd cmd = "openCONFIGURATOR";
+  pwr_tCmd cmd = "export HOME=$pwrp_login;openCONFIGURATOR";
 
   system( cmd);
 

src/lib/rt/src/rt_io_bus.c

@@ -269,6 +269,7 @@ pwr_tStatus io_bus_card_init( io_tCtx ctx,
       if (chan_di->Number == 0) {
 	*input_area_offset += *input_area_chansize;
 	*input_area_chansize = GetChanSize( chan_di->Representation);
+	chanp->size = *input_area_chansize;
       }
       if ( !chanp->sop)
 	continue;
@@ -278,6 +279,7 @@ pwr_tStatus io_bus_card_init( io_tCtx ctx,
 
       chanp->offset = *input_area_offset;
       chanp->mask = 1 << chan_di->Number;
+      chanp->size = *input_area_chansize;
       if ( byte_order == pwr_eByteOrderingEnum_BigEndian) {
 	if ( chan_di->Representation == pwr_eDataRepEnum_Bit16)
 	  chanp->mask = swap16( (unsigned short)chanp->mask);
@@ -415,6 +417,7 @@ pwr_tStatus io_bus_card_init( io_tCtx ctx,
       if (chan_do->Number == 0) {
 	*output_area_offset += *output_area_chansize;
 	*output_area_chansize = GetChanSize( chan_do->Representation);
+	chanp->size = *output_area_chansize;
       }
       if ( !chanp->sop)
 	continue;
@@ -424,6 +427,7 @@ pwr_tStatus io_bus_card_init( io_tCtx ctx,
 
       chanp->offset = *output_area_offset;
       chanp->mask = 1 << chan_do->Number;
+      chanp->size = *output_area_chansize;
       if ( byte_order == pwr_eByteOrderingEnum_BigEndian) {
 	if ( chan_do->Representation == pwr_eDataRepEnum_Bit16)
 	  chanp->mask = swap16( (unsigned short)chanp->mask);
@@ -473,6 +477,7 @@ pwr_tStatus io_bus_card_init( io_tCtx ctx,
 	if (chan_d->Number == 0) {
 	  *input_area_offset += *input_area_chansize;
 	  *input_area_chansize = GetChanSize( chan_d->Representation);
+	  chanp->size = *input_area_chansize;
 	}
 	if ( !chanp->sop)
 	  continue;
@@ -482,6 +487,7 @@ pwr_tStatus io_bus_card_init( io_tCtx ctx,
 
 	chanp->offset = *input_area_offset;
 	chanp->mask = 1 << chan_d->Number;
+	chanp->size = *input_area_chansize;
 	if ( byte_order == pwr_eByteOrderingEnum_BigEndian) {
 	  if ( chan_d->Representation == pwr_eDataRepEnum_Bit16)
 	    chanp->mask = swap16( (unsigned short)chanp->mask);
@@ -494,6 +500,7 @@ pwr_tStatus io_bus_card_init( io_tCtx ctx,
 	if (chan_d->Number == 0) {
 	  *output_area_offset += *output_area_chansize;
 	  *output_area_chansize = GetChanSize( chan_d->Representation);
+	  chanp->size = *output_area_chansize;
 	}
 	if ( !chanp->sop)
 	  continue;
@@ -503,6 +510,7 @@ pwr_tStatus io_bus_card_init( io_tCtx ctx,
 
 	chanp->offset = *output_area_offset;
 	chanp->mask = 1 << chan_d->Number;
+	chanp->size = *output_area_chansize;
 	if ( byte_order == pwr_eByteOrderingEnum_BigEndian) {
 	  if ( chan_d->Representation == pwr_eDataRepEnum_Bit16)
 	    chanp->mask = swap16( (unsigned short)chanp->mask);

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

@@ -142,8 +142,14 @@ pwre_config_check_lib()
 	  fi
 
 	  if test $libfound -eq 0; then
-	    lib_array[$lib_cnt]=$libdir
-            lib_cnt=$((lib_cnt+1))
+	    if test $4 == "powerlink"; then
+              lib_path=$libdir
+            elif test $4 == "powerlinkcn"; then
+              lib_path=$libdir
+	    else
+	      lib_array[$lib_cnt]=$libdir
+	      lib_cnt=$((lib_cnt+1))
+	    fi
           fi
 
 	  lib=${file##/*/lib}
@@ -162,7 +168,9 @@ pwre_config_check_lib()
           elif test $4 == "libusb"; then
 	    conf_lib=$conf_lib" -lusb-1.0"
           elif test $4 == "powerlink"; then
-	    conf_libpowerlink=$conf_libpowerlink" -l${lib%.*}"
+	    conf_libpowerlink=$conf_libpowerlink" -L$lib_path -l${lib%.*}"
+          elif test $4 == "powerlinkcn"; then
+	    conf_libpowerlinkcn=$conf_libpowerlinkcn" -L$lib_path -l${lib%.*}"
           else
 	    conf_lib=$conf_lib" -l${lib%%.*}"
           fi
@@ -433,7 +441,8 @@ else
   pwre_config_check_lib libpnioif PNAK     lib pnak 1 "/usr/lib/libpnioif.a:/usr/local/lib/libpnioif.a"
   pwre_config_check_lib libusb    LIBUSB   lib libusb 1 "/usr/lib/libusb-1.0.so:/usr/lib/$hwpl-linux-$gnu/libusb-1.0.so"
   pwre_config_check_lib powerlink POWERLINK lib powerlink 1 "$epl/build/Examples/X86/Generic/powerlink_user_lib/libpowerlink.a"
-
+  pwre_config_check_lib powerlinkcn POWERLINKCN lib powerlinkcn 1 "$epl/buildcn/Examples/X86/Generic/powerlink_user_lib/libpowerlink.a"
+        
   pwre_config_check_include mq    MQ    0 "/usr/local/dmq/include/p_entry.h"
   pwre_config_check_include wmq   WMQ   1 "/opt/mqm/inc/cmqc.h"
   pwre_config_check_include cifx  CIFX  1 "/usr/local/include/cifx/cifxlinux.h"
@@ -465,6 +474,7 @@ else
   echo "export pwre_conf_libpwrotherio=\"-lpwr_usbio_dummy -lpwr_usb_dummy -lpwr_cifx_dummy -lpwr_nodave_dummy -lpwr_epl_dummy\"" >> $cfile
   echo "export pwre_conf_libpwrprofibus=\"-lpwr_pnak_dummy\"" >> $cfile
   echo "export pwre_conf_libpwrpowerlink=\"$conf_libpowerlink\"" >> $cfile
+  echo "export pwre_conf_libpwrpowerlinkcn=\"$conf_libpowerlinkcn\"" >> $cfile
   echo "export pwre_conf_libpwrxtt=\"-lpwr_xtt -lpwr_ge -lpwr_cow -lpwr_flow -lpwr_glow\"" >> $cfile
   echo "export pwre_conf_libpwrxttgtk=\" -lpwr_xtt_gtk -lpwr_ge_gtk -lpwr_cow_gtk -lpwr_flow_gtk -lpwr_glow_gtk\"" >> $cfile
   echo "export pwre_conf_libpwrxttmotif=\" -lpwr_xtt_motif -lpwr_ge_motif -lpwr_cow_motif -lpwr_flow_motif -lpwr_glow_motif\"" >> $cfile

wb/exp/wb/src/pwr_wb_palette.cnf

@@ -332,8 +332,8 @@ palette NavigatorPalette
         class EPl_Module
 	menu Server
 	{
-	  class Epl_Server
-          class Epl_ServerModule
+	  class Epl_CNServer
+          class Epl_CNServerModule
 	}
       } 
       menu Profibus