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-# 控
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+# 控
+
+工业生产中控制逻辑的复杂程度千变万化，往往需要具体行业专业人员完成专门的设计，从而提高了行业的技术壁垒，严重阻碍了工业领域的自动化和智能化升级。
+
+XiUOS应用程序框架中的“控”子框架从“控制需求”本身出发，同时面向专业用户和非专业用户，通过对“控制需求”本身和复杂的工业控制流程进行深入分析，通过软件定义的方式，提出以“元控制”为核心的“控”制流程。具体地，本设计通过解耦复杂的工业控制流程，将工业生产中的各种复制工业控制流程分解为各种类型的“元控制”命令，这些“元控制”的命令以软件API的形式交互给用户使用，从而屏蔽了以PLC为中心的各种控制器的巨大差异，形成了方便易用的接口，降低了专业的技术壁垒，加速了工业领域的智能化升级。
+
+## 1. XiUOS“控”制框架的关键数据结构定义和解析
+
+```c
+struct xs_PlcAbility {
+    const char name[XS_NAME_MAX]; /* name of the plc ability instance */
+    enum xs_PlcCtlType type; /* type of control the plcable to excute, such as HSC or PID control */
+    char address[XS_PLC_ADDRESS_MAX]; /* The address for this function in the plc*/
+    struct xs_PlcDevice *pdev;/* corresponding plc device */
+    struct XS_DOUBLE_LINKLIST_NODE  link;/* link list node */
+};
+```
+
+name成员是一个可读的名字，用于唯一标识一个xs_PlcAbility结构。  
+type成员表示该xs_PlcAbility可控制的类型，用一个枚举变量表示：
+
+```c
+enum xs_PLcCtlType {
+    XS_PLC_CONTROL_TYPE_HSC = 0, /* high-speed counter */
+    XS_PLC_CONTROL_TYPE_PID , /* proportional,integral,derivative */
+    XS_PLC_CONTROL_TYPE_PHASING , /* phasing control*/
+    
+    /* ...... */
+    XS_PLC_CONTROL_TYPE_END,
+};
+```
+
+由于plc里控制指令执行都是向数据模块DB写数据,需要知道该函数功能对应的数据块地址，这个用address标识。  
+
+pdev成员表示该xs_PlcAbility所属的xs_PlcDevice结构，其具体定义在下文给出。    
+
+最后，在系统中不同控制类型的xs_PlcAbility被分别组织成不同的双链表，如高速计数器xs_PlcAbility链表、PID控制xs_PlcAbility链表等，使用的链表节点即为link成员。
+
+```c
+struct xs_PlcDevice {
+    const char name[XS_NAME_MAX]; /* name of the  device */
+    struct xs_PlcInfo  info;/* Plc info, such as vendor name and model name */
+    struct xs_PlcOps  ops;/* filesystem-like APIs for data transferring */
+    struct xs_PlcInterface  interface;/* protocls used for transferring data from program to plc */
+    structXS_DOUBLE_LINKLIST_NODE link;/* link list node */
+};
+```
+
+name成员记录PLC设备在系统中的名字，用于唯一标识一个xs_PlcDevice结构。
+
+```c
+structxs_PlcInfo {
+   uint32_t ability; 
+   const char *vendor;
+   const char *product_model;
+};
+```
+
+info成员记录PLC设备的一些属性信息，包括PLC的能力ability、厂家名vendor与型号product_model，其中ability用一个位图表示该PLC设备可以控制进行的操作：
+
+```c
+#define XS_PLC_ABILITY_HSC ((uint32_t)(1 << XS_CONTROL_TYPE_HSC))
+#define XS_PLC_ABILITY_PID ((uint32_t)(1 << XS_CONTROL_TYPE_PID))
+#define XS_PLC_ABILITY_Phasing ((uint32_t)(1 << XS_CONTROL_TYPE_PHASING))
+/* ...... */
+```
+
+ps成员包含统一的、类似文件系统的API，用于和PLC设备通信，进行实际的数据读写和对PLC设备实现控制功能。在使用一个PLC设备前后需要打开（open）/关闭（close）该PLC，实际为建立和关闭连接；read、write分别用与从PLC接收数据与向PLC发送数据，ioctl用于向PLC设备发送控制指令：
+
+```c
+structxs_PlcOps {
+   int (*open)(struct xs_PlcDevice *pdev);
+   void (*close)(struct xs_PlcDevice*pdev);
+   int (*read)(struct xs_PlcDevice*pdev, void *buf, size_tlen);
+   int (*write)(struct xs_PlcDevice*pdev, constvoid *buf, size_tlen);
+   int (*ioctl)(struct xs_PlcDevice*pdev, intcmd, void *arg);
+};
+```
+
+interface成员表示用于与PLC进行通信时所用到的协议：
+
+```c
+struct xs_PlcInterface {
+enum xs_plc_protocol  protocol;
+enum xs_plc_transport transport;
+};
+```
+
+xs_plc_protocol和xs_plc_transport是两个枚举类型，标识PLC设备和自研的两种终端之间用到的通讯协议，其定义如下：
+
+```c
+enum xs_plc_protocol{
+    AB-ETH = 0,
+    ADS/AMS,
+    BACnet/IP,
+    DeltaV,
+    DF1,
+    EtherNet/IP,
+    Firmata,
+    KNXnet/IP,
+    Modbus,
+    OPC UA,
+    S7,
+    Simulated,
+};
+enum xs_plc_transport{
+    TCP = 0,
+    UDP,
+    Serial,
+    Raw Socket,
+    PCAP Replay,
+};
+```
+
+:::tip
+注意两者间有对应关系而不是随意组合，如S7(STEP 7)只能采用TCP协议，而Modbus支持tcp/serial/raw socket/pcap replay,可以定义一个函数检查类型：
+xs_PlcProtocolCheck(struct xs_PlcDevice*);
+:::
+
+最后，系统中所有注册过的PLC设备被组织成一个双链表，即link成员。
+
+## 2.XiUOS Plc控制框架驱动开发
+
+以HSC高速计数器为例。控制框架针对每个具体的控制类型将xs_PlcAbility进行扩充，采用类似面向对象的手段添加其他必要成员，如：
+
+```c
+struct xs_PlcAbilityHsc {
+    struct xs_PlcAbility  parent;/* inherit from xs_PlcAbility*/
+    uint32_t (*write)(struct xs_PlcAbilityHsc *abl, void* param);
+    void (*read)(struct xs_PlcAbilityHsc *abl, void* param)
+};
+```
+
+实现xs_PlcOps中的数据通信API，具体实现细节取决于PLC型号，无法实现的API可以置为NULL：
+
+```c
+structxs_PlcOpshsc_example_ops = {
+    .open = hsc_example_open;
+    .close = hsc_example_close;
+    .read = hsc_example_read;
+    .write = hsc_example_write;
+    .ioctl = hsc_example_ioctl;
+};
+```
+
+实现xs_PlcAbilityHsc中的write和read接口，该接口用于向PLC的HSC模块发送控制参数和读取返回参数。在实现过程中可以使用xs_PlcOps中的接口与plc进行通信。  
+
+其中param为一个void类型指针，由于要写入的命令参数和要读取的返回参数往往不止一个，可以根据不同的控制类型定义不同的数据读写结构体，最后使用结构体指针进行强制类型转换即可。例如对于HSC：  
+定义数据写入结构体：
+
+```c
+struct hsc_write{
+	char id[id_max]; /* id_max is to identify the max HSC ctrl instruction of HSC */
+	int cmd; /* HSC control type *
+};
+```
+
+其中id用来标识HSC, cmd表示要发送的具体指令，具体的指令可以用一个枚举类型来表示：
+
+```c
+enum HscCmdSubType{
+	EnHsc = 0; /* enable HSC */
+	EnCapture; /* enable the function of capturing the inputs */
+	EnSync; /* enable the function of synchronous inputs */
+    EnHSCRESET 
+    
+    En_CTRL_UPTODOWN 
+
+    ... ...
+};
+```
+
+同理，其他的类型
+
+```c
+enum PIDcmdSubType{
+    ENHsc = 0
+    EN_XS_PLC_CONTROL_TYPE_PID_COMPACT
+    XS_PLC_CONTROL_TYPE_PID_3STEP /* valve of motor-driven */
+    ... ... 
+};
+enum PHASEcmdSubType{
+    ENPhase = 0
+    XS_PLC_CONTROL_TYPE_PHASING_MC_HALT 
+    XS_PLC_CONTROL_TYPE_PHASING_MC_HALT_MOVE_ABSOLUTE
+    ... ...
+}
+```
+
+定义数据输出结构体：
+
+```c
+struct hsc_read{
+	uint32_t  value; /* the main value you want to get, depends on the cmd */
+	bool done; /* indicate whether the SFB has been done */
+	bool busy; /* indicate whether the function is busy */
+	bool error; /* indicate whether there is error */
+};
+```
+
+value是指定返回的变量值，与结构体hsc_write发送的指令cmd类型有关，down/busy/error是一些状态指示位。  
+如我们要使用write函数向PLC发送HSC类型的控制指令：
+
+```c  
+struct hsc_write  write_example;  
+```
+
+struct xs_PlcAbilityHsc  hsc_example进行必要的初始化后，用强制类型转换作为参数传递给write函数：
+```c
+hsc_example ->write(&hsc_example,(struct hsc_write*)&write_example);
+```
+最后，将plc设备添加到plc框架。分别填充xs_PlcDevice与对应物理量的xs_PlcAbility结构（高速计数器即为xs_PlcAbilityHsc)，并依次使用xs_PlcDeviceRegister和xs_PlcAbilityRegister函数将其注册到plc框架：
+
+```c
+int  xs_PlcDeviceRegister (struct xs_PlcDeviceRegister *pdev);
+int  xs_PlcAbilityRegister (struct xs_PlcAbilityRegister *abl);
+
+extern struct  xs_PlcOps plc_example_ops;
+extern uint32_t  plc_example_write(struct xs_PlcAbilityHsc *abl, void *param);
+extern void      plc_example_read(struct xs_PlcAbilityHsc *abl, void *param);
+
+/* declare xs_PlcDevice and xs_PlcAbilityHsc objects */
+struct  xs_PlcDevice       hsc_example_pdev;
+struct  xs_PlcAbilityHsc   hsc_example_abl;
+
+void  register_example_plc()
+{
+    /* initialize and register the xs_PlcDevice object */
+    memset(&hsc_example_pdev, 0, sizeof(xs_PlcDevice));
+
+    hsc_example_pdev.name = "plc1";
+    hsc_example_pdev.info.ability |= XS_PLC_ABILITY_HSC;
+    hsc_example_pdev.info.vendor = "Siemens";
+    hsc_example_pdev.info.product_model = "yyy";
+    hsc_example_pdev.ops = &hsc_example_ops;
+    hsc_example_pdev.interface.xs_plc_protocol = S7;
+    hsc_example_pdev.interface.xs_plc_transport = TCP;
+
+    xs_PlcDeviceRegister(&hsc_example_pdev);
+
+    /* initialize and register the xs_PlcAbility of hsc object */
+    memset(&hsc_example_abl, 0, sizeof(xs_PlcAbilityHsc));
+
+    hsc_example_abl.parent.name = "hsc_1";
+    hsc_example_abl.parent.type = XS_PLC_TYPE_HSC;
+    hsc_example_abl.parent.pdev = &hsc_example_pdev;
+    hsc_example_abl.read = hsc_example_read;
+    hsc_example_abl.write = hsc_example_write;
+
+    xs_PlcAbilityRegister((struct xs_PlcAbility *)&hsc_example_abl);
+    /* initialize and register otherxs_PlcAbilityobject */
+    memset(&other_example_abl, 0, sizeof(xs_PlcAbilityOther));
+    ... ...
+}
+```
+
+## 3. XiUOS Plc控制框架的使用示例
+PLC控制应用开发者使用PLC控制框架提供的API操作PLC，PLC的API可以分为通用API与控制类型特有API。通用API用于PLC的获取、打开与关闭，控制类型特有API用于不同种类PLC的不同控制指令。以具有HSC高速计时器功能的PLC为例：
+
+```c
+/* generic API: find a plcability instance by its name */
+struct xs_PlcAbility *xs_PlcAbilityFind(const char *name);
+
+/* generic API: open/close a plc ability instance */
+int  xs_PlcAbilityOpen(struct xs_PlcAbility *abl);
+void   xs_PlcAbilityClose(struct xs_PlcAbility *abl);
+
+/* HSC API: send control parameter to PLC and read HSC condition*/
+uint32_t   xs_PlcHscWrite(struct xs_PlcAbilityHsc *abl, void *param);
+void     xs_PlcHscRead(struct xs_PlcAbilityHsc *abl, void *param);
+```
+
+在发送命令和获取数据前，需要先获取并打开要使用的PLC；PLC打开后可以随时对PLC发送指令和对其数据进行读取；使用完毕后，须关闭PLC。完整的使用过程示例如下：
+
+```c
+int  main(int argc, char *argv[])
+{
+    int ret;
+    structxs_PlcAbility *abl;
+    structxs_PlcAbilityHsc *hsc_abl;
+
+    /* get the Plc hsc ability instance */
+    abl = xs_PlcAbilityFind("hsc_1");
+        XS_ASSERT(abl->type == XS_PLC_CONTROL_TYPE_HSC);
+
+    /* open the Plc hscability instance */
+    hsc_abl = (struct xs_PlcAbilityHsc*)abl;
+        ret = xs_PlcAbilityOpen(abl);
+    XS_ASSERT(ret == XS_EOK);
+
+    /* initialize the write and read data structure */
+    structhsc_write write1={
+        .id = "xxx";
+        .cmd = EnHsc;
+        };
+    struct  hsc_read read1;	
+    /* send control param to the HSC, just for demonstration */
+    xs_PlcHscWrite(hsc_abl,write1);
+    /* read data from hsc, just for demonstration */
+    xs_PlcHscRead(hsc_abl,read1);
+    if(!read1.error)
+        xs_kprintf("Read data from PLC HSC is \n", read1.value);
+    else 
+        xs_kprintf("Read data from PLC HSC wrong!\n")
+    xs_PlcAbilityClose(abl);
+
+    return  0;
+}
+```
+