mirror of
https://github.com/Team254/cheesy-arena-lite.git
synced 2026-03-09 21:56:50 -04:00
327 lines
8.1 KiB
Go
327 lines
8.1 KiB
Go
// Copyright 2017 Team 254. All Rights Reserved.
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// Author: pat@patfairbank.com (Patrick Fairbank)
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//
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// Methods for interfacing with the field PLC.
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package field
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import (
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"fmt"
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"github.com/goburrow/modbus"
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"log"
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"time"
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)
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type Plc struct {
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IsHealthy bool
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address string
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handler *modbus.TCPClientHandler
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client modbus.Client
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Inputs [37]bool
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Counters [0]uint16
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Coils [8]bool
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cycleCounter int
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resetCountCycles int
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}
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const (
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modbusPort = 502
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plcLoopPeriodMs = 100
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plcRetryIntevalSec = 3
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cycleCounterMax = 96
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)
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// Discrete inputs
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const (
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fieldEstop = iota
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scaleNear
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scaleFar
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redEstop1
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redEstop2
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redEstop3
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redSwitchNear
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redSwitchFar
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redForceCube1
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redForceCube2
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redForceCube3
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redForceButton
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redLevitateCube1
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redLevitateCube2
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redLevitateCube3
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redLevitateButton
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redBoostCube1
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redBoostCube2
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redBoostCube3
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redBoostButton
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blueEstop1
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blueEstop2
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blueEstop3
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blueSwitchNear
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blueSwitchFar
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blueForceCube1
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blueForceCube2
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blueForceCube3
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blueForceButton
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blueLevitate1
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blueLevitate2
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blueLevitate3
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blueLevitateButton
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blueBoostCube1
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blueBoostCube2
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blueBoostCube3
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blueBoostButton
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)
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// 16-bit registers
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const ()
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// Coils
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const (
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redForceLight = iota
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redLevitateLight
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redBoostLight
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blueForceLight
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blueLevitateLight
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blueBoostLight
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resetCounts
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heartbeat
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)
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func (plc *Plc) SetAddress(address string) {
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plc.address = address
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plc.resetConnection()
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}
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// Loops indefinitely to read inputs from and write outputs to PLC.
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func (plc *Plc) Run() {
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for {
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if plc.handler == nil {
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if plc.address == "" {
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time.Sleep(time.Second * plcRetryIntevalSec)
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plc.IsHealthy = false
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continue
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}
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err := plc.connect()
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if err != nil {
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log.Printf("PLC error: %v", err)
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time.Sleep(time.Second * plcRetryIntevalSec)
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plc.IsHealthy = false
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continue
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}
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}
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startTime := time.Now()
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isHealthy := true
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isHealthy = isHealthy && plc.writeCoils()
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isHealthy = isHealthy && plc.readInputs()
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isHealthy = isHealthy && plc.readCounters()
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if !isHealthy {
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plc.resetConnection()
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}
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plc.IsHealthy = isHealthy
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plc.cycleCounter++
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if plc.cycleCounter == cycleCounterMax {
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plc.cycleCounter = 0
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}
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time.Sleep(time.Until(startTime.Add(time.Millisecond * plcLoopPeriodMs)))
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}
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}
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// Returns the state of the field emergency stop button (true if e-stop is active).
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func (plc *Plc) GetFieldEstop() bool {
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return plc.address != "" && !plc.Inputs[fieldEstop]
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}
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// Returns the state of the red and blue driver station emergency stop buttons (true if e-stop is active).
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func (plc *Plc) GetTeamEstops() ([3]bool, [3]bool) {
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var redEstops, blueEstops [3]bool
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if plc.address != "" {
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redEstops[0] = !plc.Inputs[redEstop1]
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redEstops[1] = !plc.Inputs[redEstop2]
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redEstops[2] = !plc.Inputs[redEstop3]
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blueEstops[0] = !plc.Inputs[blueEstop1]
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blueEstops[1] = !plc.Inputs[blueEstop2]
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blueEstops[2] = !plc.Inputs[blueEstop3]
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}
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return redEstops, blueEstops
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}
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// Returns the state of the scale and the red and blue switches.
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func (plc *Plc) GetScaleAndSwitches() ([2]bool, [2]bool, [2]bool) {
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var scale, redSwitch, blueSwitch [2]bool
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scale[0] = plc.Inputs[scaleNear]
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scale[1] = plc.Inputs[scaleFar]
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redSwitch[0] = plc.Inputs[redSwitchNear]
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redSwitch[1] = plc.Inputs[redSwitchFar]
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blueSwitch[0] = plc.Inputs[blueSwitchNear]
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blueSwitch[1] = plc.Inputs[blueSwitchFar]
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return scale, redSwitch, blueSwitch
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}
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// Returns the state of the red and blue vault power cube sensors.
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func (plc *Plc) GetVaults() ([3]bool, [3]bool, [3]bool, [3]bool, [3]bool, [3]bool) {
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var redForce, redLevitate, redBoost, blueForce, blueLevitate, blueBoost [3]bool
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redForce[0] = plc.Inputs[redForceCube1]
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redForce[1] = plc.Inputs[redForceCube2]
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redForce[2] = plc.Inputs[redForceCube3]
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redLevitate[0] = plc.Inputs[redLevitateCube1]
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redLevitate[1] = plc.Inputs[redLevitateCube2]
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redLevitate[2] = plc.Inputs[redLevitateCube3]
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redBoost[0] = plc.Inputs[redBoostCube1]
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redBoost[1] = plc.Inputs[redBoostCube2]
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redBoost[2] = plc.Inputs[redBoostCube3]
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blueForce[0] = plc.Inputs[blueForceCube1]
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blueForce[1] = plc.Inputs[blueForceCube2]
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blueForce[2] = plc.Inputs[blueForceCube3]
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blueLevitate[0] = plc.Inputs[blueLevitate1]
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blueLevitate[1] = plc.Inputs[blueLevitate2]
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blueLevitate[2] = plc.Inputs[blueLevitate3]
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blueBoost[0] = plc.Inputs[blueBoostCube1]
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blueBoost[1] = plc.Inputs[blueBoostCube2]
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blueBoost[2] = plc.Inputs[blueBoostCube3]
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return redForce, redLevitate, redBoost, blueForce, blueLevitate, blueBoost
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}
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// Returns the state of the red and blue power up buttons on the vaults.
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func (plc *Plc) GetPowerUpButtons() (bool, bool, bool, bool, bool, bool) {
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return plc.Inputs[redForceButton], plc.Inputs[redLevitateButton], plc.Inputs[redBoostButton],
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plc.Inputs[blueForceButton], plc.Inputs[blueLevitateButton], plc.Inputs[blueBoostButton]
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}
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// Resets the counter counts to zero.
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func (plc *Plc) ResetCounts() {
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plc.Coils[resetCounts] = true
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plc.resetCountCycles = 0
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}
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// Sets the state of the lights inside the power up buttons on the vaults.
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func (plc *Plc) SetPowerUpLights(redForce, redLevitate, redBoost, blueForce, blueLevitate, blueBoost bool) {
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plc.Coils[redForceLight] = redForce
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plc.Coils[redLevitateLight] = redLevitate
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plc.Coils[redBoostLight] = redBoost
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plc.Coils[blueForceLight] = blueForce
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plc.Coils[blueLevitateLight] = blueLevitate
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plc.Coils[blueBoostLight] = blueBoost
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}
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func (plc *Plc) GetCycleState(max, index, duration int) bool {
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return plc.cycleCounter/duration%max == index
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}
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func (plc *Plc) connect() error {
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address := fmt.Sprintf("%s:%d", plc.address, modbusPort)
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handler := modbus.NewTCPClientHandler(address)
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handler.Timeout = 1 * time.Second
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handler.SlaveId = 0xFF
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err := handler.Connect()
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if err != nil {
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return err
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}
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log.Printf("Connected to PLC at %s", address)
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plc.handler = handler
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plc.client = modbus.NewClient(plc.handler)
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plc.writeCoils() // Force initial write of the coils upon connection since they may not be triggered by a change.
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return nil
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}
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func (plc *Plc) resetConnection() {
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if plc.handler != nil {
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plc.handler.Close()
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plc.handler = nil
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}
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}
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func (plc *Plc) readInputs() bool {
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if len(plc.Inputs) == 0 {
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return true
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}
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inputs, err := plc.client.ReadDiscreteInputs(0, uint16(len(plc.Inputs)))
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if err != nil {
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log.Printf("PLC error reading inputs: %v", err)
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return false
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}
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if len(inputs)*8 < len(plc.Inputs) {
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log.Printf("Insufficient length of PLC inputs: got %d bytes, expected %d bits.", len(inputs), len(plc.Inputs))
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return false
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}
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copy(plc.Inputs[:], byteToBool(inputs, len(plc.Inputs)))
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return true
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}
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func (plc *Plc) readCounters() bool {
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if len(plc.Counters) == 0 {
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return true
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}
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registers, err := plc.client.ReadHoldingRegisters(0, uint16(len(plc.Counters)))
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if err != nil {
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log.Printf("PLC error reading registers: %v", err)
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return false
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}
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if len(registers)/2 < len(plc.Counters) {
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log.Printf("Insufficient length of PLC counters: got %d bytes, expected %d words.", len(registers),
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len(plc.Counters))
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return false
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}
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copy(plc.Counters[:], byteToUint(registers, len(plc.Counters)))
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return true
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}
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func (plc *Plc) writeCoils() bool {
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// Send a heartbeat to the PLC so that it can disable outputs if the connection is lost.
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plc.Coils[heartbeat] = true
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coils := boolToByte(plc.Coils[:])
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_, err := plc.client.WriteMultipleCoils(0, uint16(len(plc.Coils)), coils)
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if err != nil {
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log.Printf("PLC error writing coils: %v", err)
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return false
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}
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if plc.resetCountCycles > 5 {
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plc.Coils[resetCounts] = false // Need to send a short pulse to reset the counters.
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} else {
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plc.resetCountCycles++
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}
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return true
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}
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func byteToBool(bytes []byte, size int) []bool {
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bools := make([]bool, size)
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for i := 0; i < size; i++ {
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byteIndex := i / 8
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bitIndex := uint(i % 8)
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bitMask := byte(1 << bitIndex)
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bools[i] = bytes[byteIndex]&bitMask != 0
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}
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return bools
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}
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func byteToUint(bytes []byte, size int) []uint16 {
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uints := make([]uint16, size)
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for i := 0; i < size; i++ {
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uints[i] = uint16(bytes[2*i])<<8 + uint16(bytes[2*i+1])
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}
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return uints
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}
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func boolToByte(bools []bool) []byte {
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bytes := make([]byte, (len(bools)+7)/8)
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for i, bit := range bools {
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if bit {
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bytes[i/8] |= 1 << uint(i%8)
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}
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}
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return bytes
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}
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