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kernel-library/include/cresult.h

@@ -17,7 +17,7 @@
  *
  *  Author: Vladimir Kloz <[email protected]>
  *  Project home: http://sourceforge.net/projects/softwareplc
- *  Version: $Revision: 1.10 $
+ *  Version: $Revision: 1.11 $
  */
 
 #ifndef _RTL_PLC_CRESULT
@@ -66,7 +66,7 @@
 	 * @param dt	Specified data type
 	 * @param op	Implemented operator (+,-,/ ....)
 	 */
-	#define CResultOp(dt, op)	case DT_##dt: InternalData.m_##dt##_Value op##= Value.InternalData.m_##dt##_Value; break;
+	#define CResultOp(dt, op)	case DT_##dt: this->InternalData.m_##dt##_Value op##= Value.Result##dt(); break;
 
 	/**
 	 * Macro for short implementation of comparing operators
@@ -75,7 +75,7 @@
 	 * @param dt	Specified data type
 	 * @param op	Implemented operator (<,<=,==, ...)
 	 */
-	#define CResultCmpOp(dt, op)	case DT_##dt: return(InternalData.m_##dt##_Value op Value.InternalData.m_##dt##_Value); break;
+	#define CResultCmpOp(dt, op)	case DT_##dt: return(InternalData.m_##dt##_Value op Value.Result##dt()); break;
 
 	/**
 	 * Macro for short implementation when getting
@@ -85,6 +85,7 @@
 	 * @param dt	Internaly stored data type
 	 */
 	#define CResultGV(dt)	case DT_##dt: Var =  (DataType) InternalData.m_##dt##_Value; break;
+
 	/**
 	 * Macro for short implementation when getting
 	 * negated current result into CVariable<> or CProperty<>
@@ -93,13 +94,46 @@
 	 * @param dt	Internaly stored data type
 	 */
 	#define CResultNegGV(dt)	case DT_##dt: Var =  ~((DataType) InternalData.m_##dt##_Value); break;
-/**
+
+	/**
+	 * Macro for short implementation when getting internaly
+	 * stored value in operators
+	 *
+	 * @param idt	Internal data type stored in result
+	 * @param rdt	Requested data type into which convert result
+	 */
+	#define CResultDT(idt, rdt)	case DT_##idt: return ((rdt) (this->InternalData.m_##idt##_Value)); break;
+	/**
+	 * Macro for short implementation when getting current
+	 * value of result converted to specified datatype
+	 *
+	 * @param dt	Requested datatype
+	 */
+	#define ImplementResult(dt)		dt Result##dt(void) const \
+					{\
+						switch(m_iStoredDataType) \
+						{\
+							CResultDT(SINT, dt);\
+							CResultDT(INT, dt);\
+							CResultDT(DINT, dt);\
+							CResultDT(USINT, dt);\
+							CResultDT(UINT, dt);\
+							CResultDT(UDINT, dt);\
+							CResultDT(REAL, dt);\
+							CResultDT(TIME, dt);\
+							CResultDT(BYTE, dt);\
+							CResultDT(WORD, dt);\
+							CResultDT(DWORD, dt);\
+						}\
+						return ((dt)0);\
+					}
+	/**
 	 * This class implements  result functionality for PLC
 	 * IL language operations.
 	 * All operations (comparisions, additions, multiplications...)
 	 * are defined here as operators
 	 *
-	 * @version	$Revision: 1.10 $
+	 * @version	$Revision: 1.11 $
 	 * @author	Voloda <[email protected]>
 	 */
 	class CResult
@@ -127,10 +161,27 @@
 				TOD	m_todValue;
 				DT	m_dtValue;
 				*/
-				BYTE	m_bValue;
-				WORD	m_wValue;
-				DWORD	m_dwValue;
+				BYTE	m_BYTE_Value;
+				WORD	m_WORD_Value;
+				DWORD	m_DWORD_Value;
 			} InternalData;
+
+			/*
+			 * Implementation of functions, which returns
+			 * internal value converted into specified datatype
+			 */
+			ImplementResult(SINT);
+			ImplementResult(INT);
+			ImplementResult(DINT);
+			ImplementResult(USINT);
+			ImplementResult(UINT);
+			ImplementResult(UDINT);
+			ImplementResult(REAL);
+			ImplementResult(TIME);
+			ImplementResult(BYTE);
+			ImplementResult(WORD);
+			ImplementResult(DWORD);
+
 			/**
 			 * Contain information about current data type
 			 * stored in result object as defined in
@@ -278,7 +329,7 @@
 				 * kernel space. Returns current value
 				 * stored in result
 				 */
-				if (InternalData.m_REAL_Value == 0)
+				if (Value.ResultINT() == 0)
 				{
 					rtl_printf("SoftwarePLC: Division by zerp detected, returned result is wrong!");
 					return (*this);

plc/library/pid.plc

@@ -15,22 +15,21 @@
 (* Outputs:                                *)
 (*  AV - action variable                   *)
 (* *************************************** *)
-(* Include: max.plc, min.plc *)
 FUNCTION_BLOCK	pid
 	VAR_INPUT
-		P: DINT := 0;
-		I: DINT := 0;
-		D: DINT := 0;
-		ISAT: DINT := 16#0fff_ffff_ffff_ffff;
-		PV: DINT := 0;
+		P: REAL := 0;
+		I: REAL := 0;
+		D: REAL := 0;
+		ISAT: DINT := 16#0fff_ffff_ffff_ffff; 
+		PV: REAL := 0;
 	END_VAR
 	VAR_OUTPUT
-		AV: UDINT := 0; (* Action Variable *)
+		AV: REAL := 0; (* Action Variable *)
 	END_VAR
 	VAR
-		OLD_PV: DINT := 0;
-		INTEGRATION: DINT := 0;
-		TMPSAT: DINT;
+		OLD_PV: REAL := 0;
+		INTEGRATION: REAL := 0;
+		TMPSAT: REAL;
 	END_VAR
 
 	(* Calculate P part of controler *)
@@ -48,20 +47,25 @@ FUNCTION_BLOCK	pid
 	(* Calculate I part of controler *)
 	LD	PV
 	ADD	INTEGRATION
+	ST	INTEGRATION
 
-	min	ISAT
+	LE	ISAT
+	JMPC	test_minsat
 
-	ST	INTEGRATION
+	LD	0
 
-	LD	ISAT
-
+	JMP	compute_int
+
+test_minsat:	
 	LD	ISAT
 	MUL	-1
 	ST	TMPSAT
 
-	LD	INTEGRATION
-	max	TMPSAT
+	LE	INTEGRATION
+	JMPC	compute_int
 
+	LD	0
+compute_int:
 	ST	INTEGRATION
 
 	MUL	I

plc/motorek/motorek.plc

@@ -37,6 +37,7 @@ FUNCTION_BLOCK pwm
 
 	LD	pwmval
 	LT	0
+
 	ST	runback
 
 	JMPCN	runpwm
@@ -109,7 +110,6 @@ PROGRAM prg_motorek
 		RPS: DINT;
 	END_VAR
 
-
 	LD	P
 	ST	controler.P
 	LD	I
@@ -119,7 +119,8 @@ PROGRAM prg_motorek
 	LD	ISAT
 	ST	controler.ISAT
 
-	LD	SP
+	LD	1.3
+	MUL	SP
 	SUB	RPS
 
 	ST	controler.PV
@@ -219,7 +220,7 @@ PROGRAM	prg_RPS
 	ADD	OtOld
 	DIV	2
 	ST	OtOld
-	MUL	200
+	MUL	20
 	DIV	16
 	ST	RPS
 
@@ -249,20 +250,20 @@ CONFIGURATION motorek
 		(* TRUE - otaceni vpred, FALSE - otaceni vzad *)
 		Direction: BOOL := FALSE;
 
-		(* Constants for PID controler *)
-		P: DINT := 1;
-		I: DINT := 2; 
-		D: DINT := 2;
+		(* Constants for PID controler 3, 0.5 *)
+		P: REAL := 3;
+		I: REAL := 0.5; 
+		D: REAL := 0;
 
 		ISAT: DINT := 100;
 	END_VAR
 
 	RESOURCE xx ON yy
-		TASK rustTask(INTERVAL:=T#0.1ms);
-		TASK measureRotationTask(INTERVAL:=T#0.05ms);
-		TASK measureRPSTask(INTERVAL:=T#5ms);
+		TASK controlTask(INTERVAL:=T#0.1ms, PRIORITY := 20);
+		TASK measureRotationTask(INTERVAL:=T#0.05ms, PRIORITY := 50);
+		TASK measureRPSTask(INTERVAL:=T#50ms, PRIORITY := 30);
 
-		PROGRAM p1 WITH rustTask: prg_motorek(); 
+		PROGRAM p1 WITH controlTask: prg_motorek(); 
 		PROGRAM p2 WITH measureRotationTask: prg_otacky();
 		PROGRAM p3 WITH measureRPSTask: prg_rps();
 	END_RESOURCE

plc2cpp/holders/ccontainerconfiguration.cpp

@@ -17,7 +17,7 @@
  *
  *  Author: Vladimir Kloz <[email protected]>
  *  Project home: http://sourceforge.net/projects/softwareplc
- *  Version: $Revision: 1.6 $
+ *  Version: $Revision: 1.7 $
  */
 
 #include "include/ccodeprocessor.h"
@@ -107,7 +107,10 @@ void CContainerConfiguration :: GenerateCode(int iType)
 			// generate module initialization routine
 			// ---
 			CurrentOutput << "\n\nint init_module(void)\n{\n";
-			CurrentOutput << "\tint iRetv = 0, iCount = 0;\n\n\t__do_global_ctors_aux();\n\n";
+			CurrentOutput << "\tint iRetv = 0, iCount = 0;\npthread_attr_t\tattr;\n\n\t__do_global_ctors_aux();\n\n";
+
+			CurrentOutput << "\tpthread_attr_init(&attr);\n\tpthread_attr_setfp_np(&attr, 1);\n\n";
+
 			// generate code for task thread
 			// initializations (module initialization)
 			m_pPCalls->GenerateCode(1);

plc2cpp/holders/ccontainerpcall.cpp

@@ -17,7 +17,7 @@
  *
  *  Author: Vladimir Kloz <[email protected]>
  *  Project home: http://sourceforge.net/projects/softwareplc
- *  Version: $Revision: 1.10 $
+ *  Version: $Revision: 1.11 $
  */
 
 #include <iostream>
@@ -159,7 +159,7 @@ void CContainerPCall :: GenerateCode(int iCodePart)
 			break;
 		// generates program call thread initialization
 		case 1:
-			CurrentOutput << "\tiRetv += pthread_create(&threads[iCount++], NULL, PCall" << m_sBlockName.c_str() << ", NULL);\n";
+			CurrentOutput << "\tiRetv += pthread_create(&threads[iCount++], &attr, PCall" << m_sBlockName.c_str() << ", NULL);\n";
 			break;
 	}
 }

plc2cpp/plc2cpp.y

@@ -114,7 +114,7 @@ extern FILE *yyin;
 
 void help(void)
 {
-	cout << "plc2cpp 0.01a\n\n";
+	cout << "plc2cpp 1.01\n\n";
 	cout << "  --target [-t] directory  Target directory for converted PLC sources\n";
 	cout << "  --source [-s] file       Name of source file in PLC IL language\n";
 	cout << "  --project [-p] file      Name of project file\n";

visualisation/include/visualisationcanvas.h

@@ -17,7 +17,7 @@
  *
  *  Author: Vladimir Kloz <[email protected]>
  *  Project home: http://sourceforge.net/projects/softwareplc
- *  Version: $Revision: 1.2 $
+ *  Version: $Revision: 1.3 $
  */
 
 #ifndef _CVisualisationCanvas_H_
@@ -41,6 +41,7 @@
 			wxFrame *m_pParent;
 
 			void DrawAxes(wxDC& dc);
+			void WriteText(wxDC &dc, const wxString &sText, int iYMiddle, int iXMax);
 			void OnSize(wxSizeEvent& event);
 			void OnTimer(wxTimerEvent &event);
 

visualisation/include/visualisationmain.h

@@ -17,7 +17,7 @@
  *
  *  Author: Vladimir Kloz <[email protected]>
  *  Project home: http://sourceforge.net/projects/softwareplc
- *  Version: $Revision: 1.2 $
+ *  Version: $Revision: 1.3 $
  */
 
 #ifndef _CVisualisationMain_H_
@@ -43,7 +43,6 @@
 
 			wxSpinCtrl	*m_RotPerSec;
 			CVisualisationCanvas	*m_Canvas;
-			wxStaticText	*m_RotPerSecAct;
 
 			DECLARE_EVENT_TABLE()
 	};

visualisation/measure.cpp

@@ -17,7 +17,7 @@
  *
  *  Author: Vladimir Kloz <[email protected]>
  *  Project home: http://sourceforge.net/projects/softwareplc
- *  Version: $Revision: 1.2 $
+ *  Version: $Revision: 1.3 $
  */
 
 #include <sys/types.h>
@@ -70,7 +70,7 @@ void CMeasureThread :: ResetDriver(void)
 	write(m_iControl, &Control, sizeof(Control));
 
 	Control.Command = PLC_SEND_SET_TIME;
-	Control.iTime = 20;
+	Control.iTime = 50;
 
 	write(m_iControl, &Control, sizeof(Control));
 }
@@ -115,9 +115,15 @@ void *CMeasureThread :: Entry()
 		}
 		else if (pBuff[0] == 'O')
 		{
+			int	iValue;
+
+			iValue = *(int *)(pBuff + 1);
+
 			m_pProcessVariable->Lock();
-			m_pProcessVariable->AddValue(*((int *) (pBuff + 1)));
+			m_pProcessVariable->AddValue(iValue);
 			m_pProcessVariable->Unlock();
+
+			// cout << "Value: " << iValue << "\n";
 		}
 		else
 			ResetDriver();