mirror of
https://github.com/Team254/cheesy-arena-lite.git
synced 2026-03-10 06:06:47 -04:00
344 lines
8.2 KiB
Go
344 lines
8.2 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 [inputCount]bool
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Registers [registerCount]uint16
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Coils [coilCount]bool
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oldInputs [inputCount]bool
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oldRegisters [registerCount]uint16
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oldCoils [coilCount]bool
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IoChangeNotifier *Notifier
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cycleCounter 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 = 100
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)
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// Discrete inputs
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type input int
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const (
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fieldEstop input = iota
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redEstop1
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redEstop2
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redEstop3
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blueEstop1
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blueEstop2
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blueEstop3
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redConnected1
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redConnected2
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redConnected3
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blueConnected1
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blueConnected2
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blueConnected3
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scaleNear
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scaleFar
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redSwitchNear
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redSwitchFar
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blueSwitchNear
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blueSwitchFar
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redForceActivate
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redLevitateActivate
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redBoostActivate
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blueForceActivate
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blueLevitateActivate
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blueBoostActivate
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inputCount
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)
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// 16-bit registers
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type register int
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const (
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red1Bandwidth register = iota
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red2Bandwidth
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red3Bandwidth
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blue1Bandwidth
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blue2Bandwidth
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blue3Bandwidth
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redForceDistance
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redLevitateDistance
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redBoostDistance
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blueForceDistance
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blueLevitateDistance
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blueBoostDistance
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registerCount
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)
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// Coils
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type coil int
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const (
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heartbeat coil = iota
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matchReset
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stackLightGreen
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stackLightOrange
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stackLightRed
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stackLightBlue
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red1EthernetDisable
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red2EthernetDisable
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red3EthernetDisable
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blue1EthernetDisable
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blue2EthernetDisable
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blue3EthernetDisable
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coilCount
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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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plc.IoChangeNotifier = NewNotifier()
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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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// Detect any changes in input or output and notify listeners if so.
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if plc.Inputs != plc.oldInputs || plc.Registers != plc.oldRegisters || plc.Coils != plc.oldCoils {
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plc.IoChangeNotifier.Notify(nil)
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plc.oldInputs = plc.Inputs
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plc.oldRegisters = plc.Registers
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plc.oldCoils = plc.Coils
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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() (uint16, uint16, uint16, uint16, uint16, uint16) {
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return plc.Registers[redForceDistance], plc.Registers[redLevitateDistance], plc.Registers[redBoostDistance],
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plc.Registers[blueForceDistance], plc.Registers[blueLevitateDistance], plc.Registers[blueBoostDistance]
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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[redForceActivate], plc.Inputs[redLevitateActivate], plc.Inputs[redBoostActivate],
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plc.Inputs[blueForceActivate], plc.Inputs[blueLevitateActivate], plc.Inputs[blueBoostActivate]
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}
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// Set the on/off state of the stack lights on the scoring table.
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func (plc *Plc) SetStackLights(red, blue, green bool) {
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plc.Coils[stackLightRed] = red
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plc.Coils[stackLightBlue] = blue
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plc.Coils[stackLightGreen] = green
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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) GetInputNames() []string {
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inputNames := make([]string, inputCount)
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for i := range plc.Inputs {
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inputNames[i] = input(i).String()
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}
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return inputNames
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}
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func (plc *Plc) GetRegisterNames() []string {
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registerNames := make([]string, registerCount)
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for i := range plc.Registers {
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registerNames[i] = register(i).String()
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}
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return registerNames
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}
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func (plc *Plc) GetCoilNames() []string {
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coilNames := make([]string, coilCount)
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for i := range plc.Coils {
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coilNames[i] = coil(i).String()
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}
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return coilNames
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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.Registers) == 0 {
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return true
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}
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registers, err := plc.client.ReadHoldingRegisters(0, uint16(len(plc.Registers)))
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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.Registers) {
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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.Registers))
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return false
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}
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copy(plc.Registers[:], byteToUint(registers, len(plc.Registers)))
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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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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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