First cherry-picker PLC program demo / POC.

Beremiz/cherry_picker_opc_ua_prod/beremiz.xml

+<?xml version='1.0' encoding='utf-8'?>
+<BeremizRoot xmlns:xsd="http://www.w3.org/2001/XMLSchema" URI_location="LOCAL://">
+  <TargetType/>
+</BeremizRoot>

Beremiz/cherry_picker_opc_ua_prod/build/LOCATED_VARIABLES.h

+__LOCATED_VAR(DINT,__QD1_0,Q,D,1,0)
+__LOCATED_VAR(DINT,__QD1_1,Q,D,1,1)
+__LOCATED_VAR(DINT,__QD1_2,Q,D,1,2)
+__LOCATED_VAR(DINT,__QD1_3,Q,D,1,3)

Beremiz/cherry_picker_opc_ua_prod/build/POUS.c

+void LOGGER_init__(LOGGER *data__, BOOL retain) {
+  __INIT_VAR(data__->EN,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->ENO,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->TRIG,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->MSG,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->LEVEL,LOGLEVEL__INFO,retain)
+  __INIT_VAR(data__->TRIG0,__BOOL_LITERAL(FALSE),retain)
+}
+
+// Code part
+void LOGGER_body__(LOGGER *data__) {
+  // Control execution
+  if (!__GET_VAR(data__->EN)) {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(FALSE));
+    return;
+  }
+  else {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(TRUE));
+  }
+  // Initialise TEMP variables
+
+  if ((__GET_VAR(data__->TRIG,) && !(__GET_VAR(data__->TRIG0,)))) {
+    #define GetFbVar(var,...) __GET_VAR(data__->var,__VA_ARGS__)
+    #define SetFbVar(var,val,...) __SET_VAR(data__->,var,__VA_ARGS__,val)
+
+   LogMessage(GetFbVar(LEVEL),(char*)GetFbVar(MSG, .body),GetFbVar(MSG, .len));
+  
+    #undef GetFbVar
+    #undef SetFbVar
+;
+  };
+  __SET_VAR(data__->,TRIG0,,__GET_VAR(data__->TRIG,));
+
+  goto __end;
+
+__end:
+  return;
+} // LOGGER_body__() 
+
+
+
+
+
+void PYTHON_EVAL_init__(PYTHON_EVAL *data__, BOOL retain) {
+  __INIT_VAR(data__->EN,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->ENO,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->TRIG,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->CODE,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->ACK,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->RESULT,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->STATE,0,retain)
+  __INIT_VAR(data__->BUFFER,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->PREBUFFER,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->TRIGM1,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->TRIGGED,__BOOL_LITERAL(FALSE),retain)
+}
+
+// Code part
+void PYTHON_EVAL_body__(PYTHON_EVAL *data__) {
+  // Control execution
+  if (!__GET_VAR(data__->EN)) {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(FALSE));
+    return;
+  }
+  else {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(TRUE));
+  }
+  // Initialise TEMP variables
+
+  __IL_DEFVAR_T __IL_DEFVAR;
+  __IL_DEFVAR_T __IL_DEFVAR_BACK;
+  #define GetFbVar(var,...) __GET_VAR(data__->var,__VA_ARGS__)
+  #define SetFbVar(var,val,...) __SET_VAR(data__->,var,__VA_ARGS__,val)
+extern void __PythonEvalFB(int, PYTHON_EVAL*);__PythonEvalFB(0, data__);
+  #undef GetFbVar
+  #undef SetFbVar
+;
+
+  goto __end;
+
+__end:
+  return;
+} // PYTHON_EVAL_body__() 
+
+
+
+
+
+void PYTHON_POLL_init__(PYTHON_POLL *data__, BOOL retain) {
+  __INIT_VAR(data__->EN,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->ENO,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->TRIG,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->CODE,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->ACK,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->RESULT,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->STATE,0,retain)
+  __INIT_VAR(data__->BUFFER,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->PREBUFFER,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->TRIGM1,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->TRIGGED,__BOOL_LITERAL(FALSE),retain)
+}
+
+// Code part
+void PYTHON_POLL_body__(PYTHON_POLL *data__) {
+  // Control execution
+  if (!__GET_VAR(data__->EN)) {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(FALSE));
+    return;
+  }
+  else {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(TRUE));
+  }
+  // Initialise TEMP variables
+
+  __IL_DEFVAR_T __IL_DEFVAR;
+  __IL_DEFVAR_T __IL_DEFVAR_BACK;
+  #define GetFbVar(var,...) __GET_VAR(data__->var,__VA_ARGS__)
+  #define SetFbVar(var,val,...) __SET_VAR(data__->,var,__VA_ARGS__,val)
+extern void __PythonEvalFB(int, PYTHON_EVAL*);__PythonEvalFB(1,(PYTHON_EVAL*)(void*)data__);
+  #undef GetFbVar
+  #undef SetFbVar
+;
+
+  goto __end;
+
+__end:
+  return;
+} // PYTHON_POLL_body__() 
+
+
+
+
+
+void PYTHON_GEAR_init__(PYTHON_GEAR *data__, BOOL retain) {
+  __INIT_VAR(data__->EN,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->ENO,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->N,0,retain)
+  __INIT_VAR(data__->TRIG,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->CODE,__STRING_LITERAL(0,""),retain)
+  __INIT_VAR(data__->ACK,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->RESULT,__STRING_LITERAL(0,""),retain)
+  PYTHON_EVAL_init__(&data__->PY_EVAL,retain);
+  __INIT_VAR(data__->COUNTER,0,retain)
+  __INIT_VAR(data__->_TMP_ADD10_OUT,0,retain)
+  __INIT_VAR(data__->_TMP_EQ13_OUT,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->_TMP_SEL15_OUT,0,retain)
+  __INIT_VAR(data__->_TMP_AND7_OUT,__BOOL_LITERAL(FALSE),retain)
+}
+
+// Code part
+void PYTHON_GEAR_body__(PYTHON_GEAR *data__) {
+  // Control execution
+  if (!__GET_VAR(data__->EN)) {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(FALSE));
+    return;
+  }
+  else {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(TRUE));
+  }
+  // Initialise TEMP variables
+
+  __SET_VAR(data__->,_TMP_ADD10_OUT,,ADD__UINT__UINT(
+    (BOOL)__BOOL_LITERAL(TRUE),
+    NULL,
+    (UINT)2,
+    (UINT)__GET_VAR(data__->COUNTER,),
+    (UINT)1));
+  __SET_VAR(data__->,_TMP_EQ13_OUT,,EQ__BOOL__UINT(
+    (BOOL)__BOOL_LITERAL(TRUE),
+    NULL,
+    (UINT)2,
+    (UINT)__GET_VAR(data__->N,),
+    (UINT)__GET_VAR(data__->_TMP_ADD10_OUT,)));
+  __SET_VAR(data__->,_TMP_SEL15_OUT,,SEL__UINT__BOOL__UINT__UINT(
+    (BOOL)__BOOL_LITERAL(TRUE),
+    NULL,
+    (BOOL)__GET_VAR(data__->_TMP_EQ13_OUT,),
+    (UINT)__GET_VAR(data__->_TMP_ADD10_OUT,),
+    (UINT)0));
+  __SET_VAR(data__->,COUNTER,,__GET_VAR(data__->_TMP_SEL15_OUT,));
+  __SET_VAR(data__->,_TMP_AND7_OUT,,AND__BOOL__BOOL(
+    (BOOL)__BOOL_LITERAL(TRUE),
+    NULL,
+    (UINT)2,
+    (BOOL)__GET_VAR(data__->_TMP_EQ13_OUT,),
+    (BOOL)__GET_VAR(data__->TRIG,)));
+  __SET_VAR(data__->PY_EVAL.,TRIG,,__GET_VAR(data__->_TMP_AND7_OUT,));
+  __SET_VAR(data__->PY_EVAL.,CODE,,__GET_VAR(data__->CODE,));
+  PYTHON_EVAL_body__(&data__->PY_EVAL);
+  __SET_VAR(data__->,ACK,,__GET_VAR(data__->PY_EVAL.ACK,));
+  __SET_VAR(data__->,RESULT,,__GET_VAR(data__->PY_EVAL.RESULT,));
+
+  goto __end;
+
+__end:
+  return;
+} // PYTHON_GEAR_body__() 
+
+
+
+
+
+void COUNTERST_init__(COUNTERST *data__, BOOL retain) {
+  __INIT_VAR(data__->EN,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->ENO,__BOOL_LITERAL(TRUE),retain)
+  __INIT_VAR(data__->RESET,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->OUT1,0,retain)
+  __INIT_VAR(data__->OUT0,0,retain)
+  __INIT_VAR(data__->CNT1,0,retain)
+  __INIT_VAR(data__->CNT0,0,retain)
+  __INIT_EXTERNAL(INT,RESETCOUNTERVALUE,data__->RESETCOUNTERVALUE,retain)
+  __INIT_EXTERNAL(DINT,RELAY0,data__->RELAY0,retain)
+  __INIT_EXTERNAL(DINT,RELAY1,data__->RELAY1,retain)
+  __INIT_EXTERNAL(DINT,RELAY2,data__->RELAY2,retain)
+  __INIT_EXTERNAL(DINT,RELAY3,data__->RELAY3,retain)
+}
+
+// Code part
+void COUNTERST_body__(COUNTERST *data__) {
+  // Control execution
+  if (!__GET_VAR(data__->EN)) {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(FALSE));
+    return;
+  }
+  else {
+    __SET_VAR(data__->,ENO,,__BOOL_LITERAL(TRUE));
+  }
+  // Initialise TEMP variables
+
+  if (__GET_VAR(data__->RESET,)) {
+    __SET_VAR(data__->,CNT0,,__GET_EXTERNAL(data__->RESETCOUNTERVALUE,));
+    __SET_VAR(data__->,CNT1,,__GET_EXTERNAL(data__->RESETCOUNTERVALUE,));
+    __SET_VAR(data__->,RESET,,__BOOL_LITERAL(FALSE));
+  } else {
+    __SET_VAR(data__->,CNT0,,(__GET_VAR(data__->CNT0,) + 1));
+    __SET_VAR(data__->,CNT1,,(__GET_VAR(data__->CNT1,) + 1));
+    if ((__GET_VAR(data__->CNT1,) == 50)) {
+      __SET_EXTERNAL(data__->,RELAY0,,1);
+      __SET_EXTERNAL(data__->,RELAY1,,1);
+    };
+    if ((__GET_VAR(data__->CNT1,) == 100)) {
+      __SET_EXTERNAL(data__->,RELAY0,,1);
+      __SET_EXTERNAL(data__->,RELAY1,,0);
+      __SET_VAR(data__->,CNT1,,0);
+    };
+  };
+  __SET_VAR(data__->,OUT1,,__GET_VAR(data__->CNT1,));
+  __SET_VAR(data__->,OUT0,,__GET_VAR(data__->CNT0,));
+
+  goto __end;
+
+__end:
+  return;
+} // COUNTERST_body__() 
+
+
+
+
+
+void PLC_PRG_init__(PLC_PRG *data__, BOOL retain) {
+  __INIT_VAR(data__->RESET,__BOOL_LITERAL(FALSE),retain)
+  __INIT_VAR(data__->CNT0,0,retain)
+  __INIT_VAR(data__->CNT1,0,retain)
+  COUNTERST_init__(&data__->COUNTERST0,retain);
+}
+
+// Code part
+void PLC_PRG_body__(PLC_PRG *data__) {
+  // Initialise TEMP variables
+
+  __SET_VAR(data__->COUNTERST0.,RESET,,__GET_VAR(data__->RESET,));
+  COUNTERST_body__(&data__->COUNTERST0);
+  __SET_VAR(data__->,CNT1,,__GET_VAR(data__->COUNTERST0.OUT1,));
+  __SET_VAR(data__->,CNT0,,__GET_VAR(data__->COUNTERST0.OUT0,));
+
+  goto __end;
+
+__end:
+  return;
+} // PLC_PRG_body__() 
+
+
+
+
+

Beremiz/cherry_picker_opc_ua_prod/build/POUS.h

+#include "beremiz.h"
+#ifndef __POUS_H
+#define __POUS_H
+
+#include "accessor.h"
+#include "iec_std_lib.h"
+
+__DECLARE_ENUMERATED_TYPE(LOGLEVEL,
+  LOGLEVEL__CRITICAL,
+  LOGLEVEL__WARNING,
+  LOGLEVEL__INFO,
+  LOGLEVEL__DEBUG
+)
+// FUNCTION_BLOCK LOGGER
+// Data part
+typedef struct {
+  // FB Interface - IN, OUT, IN_OUT variables
+  __DECLARE_VAR(BOOL,EN)
+  __DECLARE_VAR(BOOL,ENO)
+  __DECLARE_VAR(BOOL,TRIG)
+  __DECLARE_VAR(STRING,MSG)
+  __DECLARE_VAR(LOGLEVEL,LEVEL)
+
+  // FB private variables - TEMP, private and located variables
+  __DECLARE_VAR(BOOL,TRIG0)
+
+} LOGGER;
+
+void LOGGER_init__(LOGGER *data__, BOOL retain);
+// Code part
+void LOGGER_body__(LOGGER *data__);
+// FUNCTION_BLOCK PYTHON_EVAL
+// Data part
+typedef struct {
+  // FB Interface - IN, OUT, IN_OUT variables
+  __DECLARE_VAR(BOOL,EN)
+  __DECLARE_VAR(BOOL,ENO)
+  __DECLARE_VAR(BOOL,TRIG)
+  __DECLARE_VAR(STRING,CODE)
+  __DECLARE_VAR(BOOL,ACK)
+  __DECLARE_VAR(STRING,RESULT)
+
+  // FB private variables - TEMP, private and located variables
+  __DECLARE_VAR(DWORD,STATE)
+  __DECLARE_VAR(STRING,BUFFER)
+  __DECLARE_VAR(STRING,PREBUFFER)
+  __DECLARE_VAR(BOOL,TRIGM1)
+  __DECLARE_VAR(BOOL,TRIGGED)
+
+} PYTHON_EVAL;
+
+void PYTHON_EVAL_init__(PYTHON_EVAL *data__, BOOL retain);
+// Code part
+void PYTHON_EVAL_body__(PYTHON_EVAL *data__);
+// FUNCTION_BLOCK PYTHON_POLL
+// Data part
+typedef struct {
+  // FB Interface - IN, OUT, IN_OUT variables
+  __DECLARE_VAR(BOOL,EN)
+  __DECLARE_VAR(BOOL,ENO)
+  __DECLARE_VAR(BOOL,TRIG)
+  __DECLARE_VAR(STRING,CODE)
+  __DECLARE_VAR(BOOL,ACK)
+  __DECLARE_VAR(STRING,RESULT)
+
+  // FB private variables - TEMP, private and located variables
+  __DECLARE_VAR(DWORD,STATE)
+  __DECLARE_VAR(STRING,BUFFER)
+  __DECLARE_VAR(STRING,PREBUFFER)
+  __DECLARE_VAR(BOOL,TRIGM1)
+  __DECLARE_VAR(BOOL,TRIGGED)
+
+} PYTHON_POLL;
+
+void PYTHON_POLL_init__(PYTHON_POLL *data__, BOOL retain);
+// Code part
+void PYTHON_POLL_body__(PYTHON_POLL *data__);
+// FUNCTION_BLOCK PYTHON_GEAR
+// Data part
+typedef struct {
+  // FB Interface - IN, OUT, IN_OUT variables
+  __DECLARE_VAR(BOOL,EN)
+  __DECLARE_VAR(BOOL,ENO)
+  __DECLARE_VAR(UINT,N)
+  __DECLARE_VAR(BOOL,TRIG)
+  __DECLARE_VAR(STRING,CODE)
+  __DECLARE_VAR(BOOL,ACK)
+  __DECLARE_VAR(STRING,RESULT)
+
+  // FB private variables - TEMP, private and located variables
+  PYTHON_EVAL PY_EVAL;
+  __DECLARE_VAR(UINT,COUNTER)
+  __DECLARE_VAR(UINT,_TMP_ADD10_OUT)
+  __DECLARE_VAR(BOOL,_TMP_EQ13_OUT)
+  __DECLARE_VAR(UINT,_TMP_SEL15_OUT)
+  __DECLARE_VAR(BOOL,_TMP_AND7_OUT)
+
+} PYTHON_GEAR;
+
+void PYTHON_GEAR_init__(PYTHON_GEAR *data__, BOOL retain);
+// Code part
+void PYTHON_GEAR_body__(PYTHON_GEAR *data__);
+// FUNCTION_BLOCK COUNTERST
+// Data part
+typedef struct {
+  // FB Interface - IN, OUT, IN_OUT variables
+  __DECLARE_VAR(BOOL,EN)
+  __DECLARE_VAR(BOOL,ENO)
+  __DECLARE_VAR(BOOL,RESET)
+  __DECLARE_VAR(INT,OUT1)
+  __DECLARE_VAR(INT,OUT0)
+
+  // FB private variables - TEMP, private and located variables
+  __DECLARE_VAR(INT,CNT1)
+  __DECLARE_VAR(INT,CNT0)
+  __DECLARE_EXTERNAL(INT,RESETCOUNTERVALUE)
+  __DECLARE_EXTERNAL(DINT,RELAY0)
+  __DECLARE_EXTERNAL(DINT,RELAY1)
+  __DECLARE_EXTERNAL(DINT,RELAY2)
+  __DECLARE_EXTERNAL(DINT,RELAY3)
+
+} COUNTERST;
+
+void COUNTERST_init__(COUNTERST *data__, BOOL retain);
+// Code part
+void COUNTERST_body__(COUNTERST *data__);
+// PROGRAM PLC_PRG
+// Data part
+typedef struct {
+  // PROGRAM Interface - IN, OUT, IN_OUT variables
+  __DECLARE_VAR(BOOL,RESET)
+  __DECLARE_VAR(INT,CNT0)
+  __DECLARE_VAR(INT,CNT1)
+
+  // PROGRAM private variables - TEMP, private and located variables
+  COUNTERST COUNTERST0;
+
+} PLC_PRG;
+
+void PLC_PRG_init__(PLC_PRG *data__, BOOL retain);
+// Code part
+void PLC_PRG_body__(PLC_PRG *data__);
+#endif //__POUS_H

Beremiz/cherry_picker_opc_ua_prod/build/VARIABLES.csv

+// Programs
+0;CONFIG.RESOURCE1.INSTANCE0;PLC_PRG;
+
+// Variables
+0;VAR;CONFIG.RESETCOUNTERVALUE;CONFIG.RESETCOUNTERVALUE;INT;INT;
+1;OUT;CONFIG.RELAY0;CONFIG.RELAY0;DINT;DINT;
+2;OUT;CONFIG.RELAY1;CONFIG.RELAY1;DINT;DINT;
+3;OUT;CONFIG.RELAY2;CONFIG.RELAY2;DINT;DINT;
+4;OUT;CONFIG.RELAY3;CONFIG.RELAY3;DINT;DINT;
+5;FB;CONFIG.RESOURCE1.INSTANCE0;CONFIG.RESOURCE1.INSTANCE0;PLC_PRG;;
+6;VAR;CONFIG.RESOURCE1.INSTANCE0.RESET;CONFIG.RESOURCE1.INSTANCE0.RESET;BOOL;BOOL;
+7;VAR;CONFIG.RESOURCE1.INSTANCE0.CNT0;CONFIG.RESOURCE1.INSTANCE0.CNT0;INT;INT;
+8;VAR;CONFIG.RESOURCE1.INSTANCE0.CNT1;CONFIG.RESOURCE1.INSTANCE0.CNT1;INT;INT;
+9;FB;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0;COUNTERST;;
+10;VAR;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.EN;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.EN;BOOL;BOOL;
+11;VAR;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.ENO;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.ENO;BOOL;BOOL;
+12;VAR;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RESET;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RESET;BOOL;BOOL;
+13;VAR;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.OUT1;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.OUT1;INT;INT;
+14;VAR;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.OUT0;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.OUT0;INT;INT;
+15;VAR;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.CNT1;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.CNT1;INT;INT;
+16;VAR;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.CNT0;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.CNT0;INT;INT;
+17;EXT;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RESETCOUNTERVALUE;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RESETCOUNTERVALUE;INT;INT;
+18;EXT;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RELAY0;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RELAY0;DINT;DINT;
+19;EXT;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RELAY1;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RELAY1;DINT;DINT;
+20;EXT;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RELAY2;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RELAY2;DINT;DINT;
+21;EXT;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RELAY3;CONFIG.RESOURCE1.INSTANCE0.COUNTERST0.RELAY3;DINT;DINT;
+
+
+// Ticktime
+20000000

Beremiz/cherry_picker_opc_ua_prod/build/beremiz.h

+#ifndef _BEREMIZ_H_
+#define _BEREMIZ_H_
+
+/* Beremiz' header file for use by extensions */
+
+#include "iec_types.h"
+
+#define LOG_LEVELS 4
+#define LOG_CRITICAL 0
+#define LOG_WARNING 1
+#define LOG_INFO 2
+#define LOG_DEBUG 3
+
+extern unsigned long long common_ticktime__;
+
+#ifdef TARGET_LOGGING_DISABLE
+static inline int LogMessage(uint8_t level, char* buf, uint32_t size)
+{
+	(void)level;
+	(void)buf;
+	(void)size;
+	return 0;
+}
+#else
+int     LogMessage(uint8_t level, char* buf, uint32_t size);
+#endif
+
+long AtomicCompareExchange(long* atomicvar,long compared, long exchange);
+void *create_RT_to_nRT_signal(char* name);
+void delete_RT_to_nRT_signal(void* handle);
+int wait_RT_to_nRT_signal(void* handle);
+int unblock_RT_to_nRT_signal(void* handle);
+void nRT_reschedule(void);
+
+#endif

Beremiz/cherry_picker_opc_ua_prod/build/config.c

+/*******************************************/
+/*     FILE GENERATED BY iec2c             */
+/* Editing this file is not recommended... */
+/*******************************************/
+
+#include "iec_std_lib.h"
+
+#include "accessor.h"
+
+#include "POUS.h"
+
+// CONFIGURATION CONFIG
+__DECLARE_GLOBAL(INT,CONFIG,RESETCOUNTERVALUE)
+__DECLARE_GLOBAL_LOCATION(DINT,__QD1_0)
+__DECLARE_GLOBAL_LOCATED(DINT,CONFIG,RELAY0)
+__DECLARE_GLOBAL_LOCATION(DINT,__QD1_1)
+__DECLARE_GLOBAL_LOCATED(DINT,CONFIG,RELAY1)
+__DECLARE_GLOBAL_LOCATION(DINT,__QD1_2)
+__DECLARE_GLOBAL_LOCATED(DINT,CONFIG,RELAY2)
+__DECLARE_GLOBAL_LOCATION(DINT,__QD1_3)
+__DECLARE_GLOBAL_LOCATED(DINT,CONFIG,RELAY3)
+
+void RESOURCE1_init__(void);
+
+void config_init__(void) {
+  BOOL retain;
+  retain = 0;
+  __INIT_GLOBAL(INT,RESETCOUNTERVALUE,__INITIAL_VALUE(0),retain)
+  __INIT_GLOBAL_LOCATED(CONFIG,RELAY0,__QD1_0,retain)
+  __INIT_GLOBAL(DINT,RELAY0,__INITIAL_VALUE(0),retain)
+  __INIT_GLOBAL_LOCATED(CONFIG,RELAY1,__QD1_1,retain)
+  __INIT_GLOBAL(DINT,RELAY1,__INITIAL_VALUE(0),retain)
+  __INIT_GLOBAL_LOCATED(CONFIG,RELAY2,__QD1_2,retain)
+  __INIT_GLOBAL(DINT,RELAY2,__INITIAL_VALUE(0),retain)
+  __INIT_GLOBAL_LOCATED(CONFIG,RELAY3,__QD1_3,retain)
+  __INIT_GLOBAL(DINT,RELAY3,__INITIAL_VALUE(0),retain)
+  RESOURCE1_init__();
+}
+
+void RESOURCE1_run__(unsigned long tick);
+
+void config_run__(unsigned long tick) {
+  RESOURCE1_run__(tick);
+}
+unsigned long long common_ticktime__ = 20000000ULL * 1ULL; /*ns*/
+unsigned long greatest_tick_count__ = (unsigned long)0UL; /*tick*/

Beremiz/cherry_picker_opc_ua_prod/build/config.h

+#include "beremiz.h"
+__DECLARE_GLOBAL_PROTOTYPE(INT,RESETCOUNTERVALUE)
+__DECLARE_GLOBAL_PROTOTYPE(DINT,RELAY0)
+__DECLARE_GLOBAL_PROTOTYPE(DINT,RELAY1)
+__DECLARE_GLOBAL_PROTOTYPE(DINT,RELAY2)
+__DECLARE_GLOBAL_PROTOTYPE(DINT,RELAY3)
+

Beremiz/cherry_picker_opc_ua_prod/build/generated_plc.st

+FUNCTION_BLOCK CounterST
+  VAR_INPUT
+    Reset : BOOL;
+  END_VAR
+  VAR_OUTPUT
+    Out1 : INT;
+    Out0 : INT;
+  END_VAR
+  VAR
+    Cnt1 : INT;
+    Cnt0 : INT;
+  END_VAR
+  VAR_EXTERNAL
+    ResetCounterValue : INT;
+    Relay0 : DINT;
+    Relay1 : DINT;
+    Relay2 : DINT;
+    Relay3 : DINT;
+  END_VAR
+
+  IF Reset THEN
+    Cnt0 := ResetCounterValue;
+    Cnt1 := ResetCounterValue;
+    Reset := False;
+  ELSE
+    Cnt0 := Cnt0 + 1;
+    Cnt1 := Cnt1 + 1;
+    IF Cnt1 = 50 THEN
+      Relay0 := 1;
+      Relay1 := 1; 
+    END_IF;
+    
+    IF Cnt1 = 100 THEN
+      Relay0 := 1;
+      Relay1 := 0;
+      Cnt1 := 0;
+    END_IF;
+    
+  END_IF;
+
+  Out1 := Cnt1;
+  Out0 := Cnt0;
+END_FUNCTION_BLOCK
+
+PROGRAM plc_prg
+  VAR_INPUT
+    Reset : BOOL;
+  END_VAR
+  VAR_OUTPUT
+    Cnt0 : INT;
+    Cnt1 : INT;
+  END_VAR
+  VAR
+    CounterST0 : CounterST;
+  END_VAR
+
+  CounterST0(Reset := Reset);
+  Cnt1 := CounterST0.Out1;
+  Cnt0 := CounterST0.Out0;
+END_PROGRAM
+
+
+CONFIGURATION config
+  VAR_GLOBAL
+    ResetCounterValue : INT := 0;
+    Relay0 AT %QD1.0 : DINT := 0;
+    Relay1 AT %QD1.1 : DINT := 0;
+    Relay2 AT %QD1.2 : DINT := 0;
+    Relay3 AT %QD1.3 : DINT := 0;
+  END_VAR
+
+  RESOURCE resource1 ON PLC
+    TASK task0(INTERVAL := T#20ms,PRIORITY := 0);
+    PROGRAM instance0 WITH task0 : plc_prg;
+  END_RESOURCE
+END_CONFIGURATION

Beremiz/cherry_picker_opc_ua_prod/build/lastbuildPLC.md5

+5872cdee1c8e83c0f2e6225bddbac9ab
\ No newline at end of file

Beremiz/cherry_picker_opc_ua_prod/build/opcua_client__1.c

+/* code generated by beremiz OPC-UA extension */
+
+#include <open62541/client_config_default.h>
+#include <open62541/client_highlevel.h>
+#include <open62541/plugin/log_stdout.h>
+
+UA_Client *client;
+
+#define DECL_VAR(ua_type, C_type, c_loc_name)                                                       \
+UA_Variant *c_loc_name##_variant;                                                                   \
+C_type c_loc_name##_buf = 0;                                                                        \
+C_type *c_loc_name = &c_loc_name##_buf;
+
+
+DECL_VAR(UA_Int32, uint32_t, __ID1_0)
+DECL_VAR(UA_Int32, uint32_t, __ID1_1)
+DECL_VAR(UA_Int32, uint32_t, __ID1_2)
+DECL_VAR(UA_Int32, uint32_t, __ID1_3)
+DECL_VAR(UA_Int32, uint32_t, __QD1_0)
+DECL_VAR(UA_Int32, uint32_t, __QD1_1)
+DECL_VAR(UA_Int32, uint32_t, __QD1_2)
+DECL_VAR(UA_Int32, uint32_t, __QD1_3)
+
+#define FREE_VARIANT(ua_type, c_loc_name)                                                           \
+    UA_Variant_delete(c_loc_name##_variant);
+
+void __cleanup_1(void)
+{
+    UA_Client_disconnect(client);
+    UA_Client_delete(client);
+
+    FREE_VARIANT(UA_Int32, __ID1_0)
+    FREE_VARIANT(UA_Int32, __ID1_1)
+    FREE_VARIANT(UA_Int32, __ID1_2)
+    FREE_VARIANT(UA_Int32, __ID1_3)
+    FREE_VARIANT(UA_Int32, __QD1_0)
+    FREE_VARIANT(UA_Int32, __QD1_1)
+    FREE_VARIANT(UA_Int32, __QD1_2)
+    FREE_VARIANT(UA_Int32, __QD1_3)
+}
+
+
+#define ALLOC_VARIANT(ua_type, c_loc_name)                                                          \
+    c_loc_name##_variant = UA_Variant_new();
+
+int __init_1(int argc,char **argv)
+{
+    UA_StatusCode retval;
+    client = UA_Client_new();
+    UA_ClientConfig_setDefault(UA_Client_getConfig(client));
+
+    ALLOC_VARIANT(UA_Int32, __ID1_0)
+    ALLOC_VARIANT(UA_Int32, __ID1_1)
+    ALLOC_VARIANT(UA_Int32, __ID1_2)
+    ALLOC_VARIANT(UA_Int32, __ID1_3)
+    ALLOC_VARIANT(UA_Int32, __QD1_0)
+    ALLOC_VARIANT(UA_Int32, __QD1_1)
+    ALLOC_VARIANT(UA_Int32, __QD1_2)
+    ALLOC_VARIANT(UA_Int32, __QD1_3)
+
+    /* Connect to server */
+    retval = UA_Client_connect(client, "opc.tcp://192.168.0.114:4840");
+    if(retval != UA_STATUSCODE_GOOD) {
+        UA_Client_delete(client);
+        return EXIT_FAILURE;
+    }
+}
+
+#define READ_VALUE(ua_type, ua_type_enum, c_loc_name, ua_nodeid_type, ua_nsidx, ua_node_id)         \
+    retval = UA_Client_readValueAttribute(                                                          \
+        client, ua_nodeid_type(ua_nsidx, ua_node_id), c_loc_name##_variant);                        \
+    if(retval == UA_STATUSCODE_GOOD && UA_Variant_isScalar(c_loc_name##_variant) &&                 \
+       c_loc_name##_variant->type == &UA_TYPES[ua_type_enum]) {                                     \
+            c_loc_name##_buf = *(ua_type*)c_loc_name##_variant->data;                               \
+    }
+
+void __retrieve_1(void)
+{
+    UA_StatusCode retval;
+
+    READ_VALUE(UA_Int32, UA_TYPES_INT32, __ID1_0, UA_NODEID_STRING, 1, "relay0")
+    READ_VALUE(UA_Int32, UA_TYPES_INT32, __ID1_1, UA_NODEID_STRING, 1, "relay1")
+    READ_VALUE(UA_Int32, UA_TYPES_INT32, __ID1_2, UA_NODEID_STRING, 1, "relay2")
+    READ_VALUE(UA_Int32, UA_TYPES_INT32, __ID1_3, UA_NODEID_STRING, 1, "relay3")
+    READ_VALUE(UA_Int32, UA_TYPES_INT32, __QD1_0, UA_NODEID_STRING, 1, "relay0")
+    READ_VALUE(UA_Int32, UA_TYPES_INT32, __QD1_1, UA_NODEID_STRING, 1, "relay1")
+    READ_VALUE(UA_Int32, UA_TYPES_INT32, __QD1_2, UA_NODEID_STRING, 1, "relay2")
+    READ_VALUE(UA_Int32, UA_TYPES_INT32, __QD1_3, UA_NODEID_STRING, 1, "relay3")
+}
+
+#define WRITE_VALUE(ua_type, ua_type_enum, c_loc_name, ua_nodeid_type, ua_nsidx, ua_node_id)        \
+    UA_Variant_setScalarCopy(c_loc_name##_variant, (ua_type*)c_loc_name, &UA_TYPES[ua_type_enum]);  \
+    UA_Client_writeValueAttribute(client, ua_nodeid_type(ua_nsidx, ua_node_id), c_loc_name##_variant);
+
+void __publish_1(void)
+{
+
+    WRITE_VALUE(UA_Int32, UA_TYPES_INT32, __ID1_0, UA_NODEID_STRING, 1, "relay0")
+    WRITE_VALUE(UA_Int32, UA_TYPES_INT32, __ID1_1, UA_NODEID_STRING, 1, "relay1")
+    WRITE_VALUE(UA_Int32, UA_TYPES_INT32, __ID1_2, UA_NODEID_STRING, 1, "relay2")
+    WRITE_VALUE(UA_Int32, UA_TYPES_INT32, __ID1_3, UA_NODEID_STRING, 1, "relay3")
+    WRITE_VALUE(UA_Int32, UA_TYPES_INT32, __QD1_0, UA_NODEID_STRING, 1, "relay0")
+    WRITE_VALUE(UA_Int32, UA_TYPES_INT32, __QD1_1, UA_NODEID_STRING, 1, "relay1")
+    WRITE_VALUE(UA_Int32, UA_TYPES_INT32, __QD1_2, UA_NODEID_STRING, 1, "relay2")
+    WRITE_VALUE(UA_Int32, UA_TYPES_INT32, __QD1_3, UA_NODEID_STRING, 1, "relay3")
+}
+

Beremiz/cherry_picker_opc_ua_prod/build/plc.st

+TYPE
+  LOGLEVEL : (CRITICAL, WARNING, INFO, DEBUG) := INFO;
+END_TYPE
+
+FUNCTION_BLOCK LOGGER
+  VAR_INPUT
+    TRIG : BOOL;
+    MSG : STRING;
+    LEVEL : LOGLEVEL := INFO;
+  END_VAR
+  VAR
+    TRIG0 : BOOL;
+  END_VAR
+
+  IF TRIG AND NOT TRIG0 THEN
+  {{
+   LogMessage(GetFbVar(LEVEL),(char*)GetFbVar(MSG, .body),GetFbVar(MSG, .len));
+  }}
+  END_IF;
+  TRIG0:=TRIG;
+END_FUNCTION_BLOCK
+
+
+
+FUNCTION_BLOCK python_eval
+  VAR_INPUT
+    TRIG : BOOL;
+    CODE : STRING;
+  END_VAR
+  VAR_OUTPUT
+    ACK : BOOL;
+    RESULT : STRING;
+  END_VAR
+  VAR
+    STATE : DWORD;
+    BUFFER : STRING;
+    PREBUFFER : STRING;
+    TRIGM1 : BOOL;
+    TRIGGED : BOOL;
+  END_VAR
+
+  {extern void __PythonEvalFB(int, PYTHON_EVAL*);__PythonEvalFB(0, data__);}
+END_FUNCTION_BLOCK
+
+FUNCTION_BLOCK python_poll
+  VAR_INPUT
+    TRIG : BOOL;
+    CODE : STRING;
+  END_VAR
+  VAR_OUTPUT
+    ACK : BOOL;
+    RESULT : STRING;
+  END_VAR
+  VAR
+    STATE : DWORD;
+    BUFFER : STRING;
+    PREBUFFER : STRING;
+    TRIGM1 : BOOL;
+    TRIGGED : BOOL;
+  END_VAR
+
+  {extern void __PythonEvalFB(int, PYTHON_EVAL*);__PythonEvalFB(1,(PYTHON_EVAL*)(void*)data__);}
+END_FUNCTION_BLOCK
+
+FUNCTION_BLOCK python_gear
+  VAR_INPUT
+    N : UINT;
+    TRIG : BOOL;
+    CODE : STRING;
+  END_VAR
+  VAR_OUTPUT
+    ACK : BOOL;
+    RESULT : STRING;
+  END_VAR
+  VAR
+    py_eval : python_eval;
+    COUNTER : UINT;
+    _TMP_ADD10_OUT : UINT;
+    _TMP_EQ13_OUT : BOOL;
+    _TMP_SEL15_OUT : UINT;
+    _TMP_AND7_OUT : BOOL;
+  END_VAR
+
+  _TMP_ADD10_OUT := ADD(COUNTER, 1);
+  _TMP_EQ13_OUT := EQ(N, _TMP_ADD10_OUT);
+  _TMP_SEL15_OUT := SEL(_TMP_EQ13_OUT, _TMP_ADD10_OUT, 0);
+  COUNTER := _TMP_SEL15_OUT;
+  _TMP_AND7_OUT := AND(_TMP_EQ13_OUT, TRIG);
+  py_eval(TRIG := _TMP_AND7_OUT, CODE := CODE);
+  ACK := py_eval.ACK;
+  RESULT := py_eval.RESULT;
+END_FUNCTION_BLOCK
+
+
+FUNCTION_BLOCK CounterST
+  VAR_INPUT
+    Reset : BOOL;
+  END_VAR
+  VAR_OUTPUT
+    Out1 : INT;
+    Out0 : INT;
+  END_VAR
+  VAR
+    Cnt1 : INT;
+    Cnt0 : INT;
+  END_VAR
+  VAR_EXTERNAL
+    ResetCounterValue : INT;
+    Relay0 : DINT;
+    Relay1 : DINT;
+    Relay2 : DINT;
+    Relay3 : DINT;
+  END_VAR
+
+  IF Reset THEN
+    Cnt0 := ResetCounterValue;
+    Cnt1 := ResetCounterValue;
+    Reset := False;
+  ELSE
+    Cnt0 := Cnt0 + 1;
+    Cnt1 := Cnt1 + 1;
+    IF Cnt1 = 50 THEN
+      Relay0 := 1;
+      Relay1 := 1; 
+    END_IF;
+    
+    IF Cnt1 = 100 THEN
+      Relay0 := 1;
+      Relay1 := 0;
+      Cnt1 := 0;
+    END_IF;
+    
+  END_IF;
+
+  Out1 := Cnt1;
+  Out0 := Cnt0;
+END_FUNCTION_BLOCK
+
+PROGRAM plc_prg
+  VAR_INPUT
+    Reset : BOOL;
+  END_VAR
+  VAR_OUTPUT
+    Cnt0 : INT;
+    Cnt1 : INT;
+  END_VAR
+  VAR
+    CounterST0 : CounterST;
+  END_VAR
+
+  CounterST0(Reset := Reset);
+  Cnt1 := CounterST0.Out1;
+  Cnt0 := CounterST0.Out0;
+END_PROGRAM
+
+
+CONFIGURATION config
+  VAR_GLOBAL
+    ResetCounterValue : INT := 0;
+    Relay0 AT %QD1.0 : DINT := 0;
+    Relay1 AT %QD1.1 : DINT := 0;
+    Relay2 AT %QD1.2 : DINT := 0;
+    Relay3 AT %QD1.3 : DINT := 0;
+  END_VAR
+
+  RESOURCE resource1 ON PLC
+    TASK task0(INTERVAL := T#20ms,PRIORITY := 0);
+    PROGRAM instance0 WITH task0 : plc_prg;
+  END_RESOURCE
+END_CONFIGURATION

Beremiz/cherry_picker_opc_ua_prod/build/py_ext.c

+/*
+ * Python Asynchronous execution code
+ *
+ * PLC put python commands in a fifo, respecting execution order
+ * with the help of C pragmas inserted in python_eval FB code
+ *
+ * Buffer content is read asynchronously, (from non real time part),
+ * commands are executed and result stored for later use by PLC.
+ *
+ * In this implementation, fifo is a list of pointer to python_eval
+ * function blocks structures. Some local variables have been added in
+ * python_eval interface. We use those local variables as buffer and state
+ * flags.
+ *
+ * */
+
+#include "iec_types_all.h"
+#include "POUS.h"
+#include <string.h>
+
+/* The fifo (fixed size, as number of FB is fixed) */
+static PYTHON_EVAL* EvalFBs[1];
+/* Producer and consumer cursors */
+static int Current_PLC_EvalFB;
+static int Current_Python_EvalFB;
+
+/* A global IEC-Python gateway state, for use inside python_eval FBs*/
+static int PythonState;
+#define PYTHON_LOCKED_BY_PYTHON 0
+#define PYTHON_LOCKED_BY_PLC 1
+#define PYTHON_MUSTWAKEUP 2
+#define PYTHON_FINISHED 4
+
+/* Each python_eval FunctionBlock have it own state */
+#define PYTHON_FB_FREE 0
+#define PYTHON_FB_REQUESTED 1
+#define PYTHON_FB_PROCESSING 2
+#define PYTHON_FB_ANSWERED 3
+
+int WaitPythonCommands(void);
+void UnBlockPythonCommands(void);
+int TryLockPython(void);
+void UnLockPython(void);
+void LockPython(void);
+
+int __init_py_ext()
+{
+	int i;
+	/* Initialize cursors */
+	Current_Python_EvalFB = 0;
+	Current_PLC_EvalFB = 0;
+	PythonState = PYTHON_LOCKED_BY_PYTHON;
+	for(i = 0; i < 1; i++)
+		EvalFBs[i] = NULL;
+  return 0;
+}
+
+void __cleanup_py_ext()
+{
+	PythonState = PYTHON_FINISHED;
+	UnBlockPythonCommands();
+}
+
+void __retrieve_py_ext()
+{
+	/* Check Python thread is not being
+	 * modifying internal python_eval data */
+	PythonState = TryLockPython() ?
+	                PYTHON_LOCKED_BY_PLC :
+	                PYTHON_LOCKED_BY_PYTHON;
+	/* If python thread _is_ in, then PythonState remains PYTHON_LOCKED_BY_PYTHON
+	 * and python_eval will no do anything */
+}
+
+void __publish_py_ext()
+{
+	if(PythonState & PYTHON_LOCKED_BY_PLC){
+		/* If runnig PLC did push something in the fifo*/
+		if(PythonState & PYTHON_MUSTWAKEUP){
+			/* WakeUp python thread */
+			UnBlockPythonCommands();
+		}
+		UnLockPython();
+	}
+}
+/**
+ * Called by the PLC, each time a python_eval
+ * FB instance is executed
+ */
+void __PythonEvalFB(int poll, PYTHON_EVAL* data__)
+{
+    if(!__GET_VAR(data__->TRIG)){
+        /* ACK is False when TRIG is false, except a pulse when receiving result */
+        __SET_VAR(data__->, ACK,, 0);
+    }
+	/* detect rising edge on TRIG to trigger evaluation */
+	if(((__GET_VAR(data__->TRIG) && !__GET_VAR(data__->TRIGM1)) ||
+	   /* polling is equivalent to trig on value rather than on rising edge*/
+	    (poll && __GET_VAR(data__->TRIG) )) &&
+	    /* trig only if not already trigged */
+	    __GET_VAR(data__->TRIGGED) == 0){
+		/* mark as trigged */
+	    __SET_VAR(data__->, TRIGGED,, 1);
+		/* make a safe copy of the code */
+		__SET_VAR(data__->, PREBUFFER,, __GET_VAR(data__->CODE));
+	}
+	/* retain value for next rising edge detection */
+	__SET_VAR(data__->, TRIGM1,, __GET_VAR(data__->TRIG));
+
+	/* python thread is not in ? */
+	if( PythonState & PYTHON_LOCKED_BY_PLC){
+		/* if some answer are waiting, publish*/
+		if(__GET_VAR(data__->STATE) == PYTHON_FB_ANSWERED){
+			/* Copy buffer content into result*/
+			__SET_VAR(data__->, RESULT,, __GET_VAR(data__->BUFFER));
+			/* signal result presence to PLC*/
+			__SET_VAR(data__->, ACK,, 1);
+			/* Mark as free */
+			__SET_VAR(data__->, STATE,, PYTHON_FB_FREE);
+			/* mark as not trigged */
+			if(!poll)
+			    __SET_VAR(data__->, TRIGGED,, 0);
+			/*printf("__PythonEvalFB pop %d - %*s\n",Current_PLC_EvalFB, data__->BUFFER.len, data__->BUFFER.body);*/
+		}else if(poll){
+			/* when in polling, no answer == ack down */
+		    __SET_VAR(data__->, ACK,, 0);
+		}
+		/* got the order to act ?*/
+		if(__GET_VAR(data__->TRIGGED) == 1 &&
+		   /* and not already being processed */
+		   __GET_VAR(data__->STATE) == PYTHON_FB_FREE)
+		{
+			/* Enter the block in the fifo
+			 * Don't have to check if fifo cell is free
+			 * as fifo size == FB count, and a FB cannot
+			 * be requested twice */
+			EvalFBs[Current_PLC_EvalFB] = data__;
+			/* copy into BUFFER local*/
+			__SET_VAR(data__->, BUFFER,, __GET_VAR(data__->PREBUFFER));
+			/* Set ACK pin to low so that we can set a rising edge on result */
+			if(!poll){
+				/* when not polling, a new answer imply reseting ack*/
+			    __SET_VAR(data__->, ACK,, 0);
+			}else{
+				/* when in polling, acting reset trigger */
+			    __SET_VAR(data__->, TRIGGED,, 0);
+			}
+			/* Mark FB busy */
+			__SET_VAR(data__->, STATE,, PYTHON_FB_REQUESTED);
+			/* Have to wakeup python thread in case he was asleep */
+			PythonState |= PYTHON_MUSTWAKEUP;
+			/*printf("__PythonEvalFB push %d - %*s\n",Current_PLC_EvalFB, data__->BUFFER.len, data__->BUFFER.body);*/
+			/* Get a new line */
+			Current_PLC_EvalFB = (Current_PLC_EvalFB + 1) % 1;
+		}
+	}
+}
+
+char* PythonIterator(char* result, void** id)
+{
+	char* next_command;
+	PYTHON_EVAL* data__;
+	//printf("PythonIterator result %s\n", result);
+    /*emergency exit*/
+    if(PythonState & PYTHON_FINISHED) return NULL;
+	/* take python mutex to prevent changing PLC data while PLC running */
+	LockPython();
+	/* Get current FB */
+	data__ = EvalFBs[Current_Python_EvalFB];
+	if(data__ && /* may be null at first run */
+	    __GET_VAR(data__->STATE) == PYTHON_FB_PROCESSING){ /* some answer awaited*/
+	   	/* If result not None */
+	   	if(result){
+			/* Get results len */
+	   	    __SET_VAR(data__->, BUFFER, .len, strlen(result));
+			/* prevent results overrun */
+			if(__GET_VAR(data__->BUFFER, .len) > STR_MAX_LEN)
+			{
+			    __SET_VAR(data__->, BUFFER, .len, STR_MAX_LEN);
+				/* TODO : signal error */
+			}
+			/* Copy results to buffer */
+			strncpy((char*)__GET_VAR(data__->BUFFER, .body), result, __GET_VAR(data__->BUFFER,.len));
+	   	}else{
+	   	    __SET_VAR(data__->, BUFFER, .len, 0);
+	   	}
+		/* remove block from fifo*/
+		EvalFBs[Current_Python_EvalFB] = NULL;
+		/* Mark block as answered */
+		__SET_VAR(data__->, STATE,, PYTHON_FB_ANSWERED);
+		/* Get a new line */
+		Current_Python_EvalFB = (Current_Python_EvalFB + 1) % 1;
+		//printf("PythonIterator ++ Current_Python_EvalFB %d\n", Current_Python_EvalFB);
+	}
+	/* while next slot is empty */
+	while(((data__ = EvalFBs[Current_Python_EvalFB]) == NULL) ||
+	 	  /* or doesn't contain command */
+	      __GET_VAR(data__->STATE) != PYTHON_FB_REQUESTED)
+	{
+		UnLockPython();
+		/* wait next FB to eval */
+		//printf("PythonIterator wait\n");
+		if(WaitPythonCommands()) return NULL;
+		/*emergency exit*/
+		if(PythonState & PYTHON_FINISHED) return NULL;
+		LockPython();
+	}
+	/* Mark block as processing */
+	__SET_VAR(data__->, STATE,, PYTHON_FB_PROCESSING);
+	//printf("PythonIterator\n");
+	/* make BUFFER a null terminated string */
+	__SET_VAR(data__->, BUFFER, .body[__GET_VAR(data__->BUFFER, .len)], 0);
+	/* next command is BUFFER */
+	next_command = (char*)__GET_VAR(data__->BUFFER, .body);
+	*id=data__;
+	/* free python mutex */
+	UnLockPython();
+	/* return the next command to eval */
+	return next_command;
+}
+

Beremiz/cherry_picker_opc_ua_prod/build/resource1.c

+/*******************************************/
+/*     FILE GENERATED BY iec2c             */
+/* Editing this file is not recommended... */
+/*******************************************/
+
+#include "iec_std_lib.h"
+
+// RESOURCE RESOURCE1
+
+extern unsigned long long common_ticktime__;
+
+#include "accessor.h"
+#include "POUS.h"
+
+#include "config.h"
+
+#include "POUS.c"
+
+BOOL TASK0;
+PLC_PRG RESOURCE1__INSTANCE0;
+#define INSTANCE0 RESOURCE1__INSTANCE0
+
+void RESOURCE1_init__(void) {
+  BOOL retain;
+  retain = 0;
+  
+  TASK0 = __BOOL_LITERAL(FALSE);
+  PLC_PRG_init__(&INSTANCE0,retain);
+}
+
+void RESOURCE1_run__(unsigned long tick) {
+  TASK0 = !(tick % 1);
+  if (TASK0) {
+    PLC_PRG_body__(&INSTANCE0);
+  }
+}
+

Beremiz/cherry_picker_opc_ua_prod/opcua_0@opcua/baseconfnode.xml

+<?xml version='1.0' encoding='utf-8'?>
+<BaseParams xmlns:xsd="http://www.w3.org/2001/XMLSchema" IEC_Channel="1" Name="opcua_0"/>

Beremiz/cherry_picker_opc_ua_prod/opcua_0@opcua/confnode.xml

+<?xml version='1.0' encoding='utf-8'?>
+<OPCUAClient xmlns:xsd="http://www.w3.org/2001/XMLSchema" Server_URI="opc.tcp://192.168.0.114:4840"/>

Beremiz/cherry_picker_opc_ua_prod/opcua_0@opcua/selected.csv

+input,"LocalizedText(Encoding:3, Locale:en-US, Text:Relay 0)",1,str,relay0,Int32,0
+input,"LocalizedText(Encoding:3, Locale:en-US, Text:Relay 1)",1,str,relay1,Int32,1
+input,"LocalizedText(Encoding:3, Locale:en-US, Text:Relay 2)",1,str,relay2,Int32,2
+input,"LocalizedText(Encoding:3, Locale:en-US, Text:Relay 3)",1,str,relay3,Int32,3
+output,"LocalizedText(Encoding:3, Locale:en-US, Text:Relay 0)",1,str,relay0,Int32,0
+output,"LocalizedText(Encoding:3, Locale:en-US, Text:Relay 1)",1,str,relay1,Int32,1
+output,"LocalizedText(Encoding:3, Locale:en-US, Text:Relay 2)",1,str,relay2,Int32,2
+output,"LocalizedText(Encoding:3, Locale:en-US, Text:Relay 3)",1,str,relay3,Int32,3

Beremiz/cherry_picker_opc_ua_prod/plc.xml

+<?xml version='1.0' encoding='utf-8'?>
+<project xmlns:ns1="http://www.plcopen.org/xml/tc6_0201" xmlns:xhtml="http://www.w3.org/1999/xhtml" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns="http://www.plcopen.org/xml/tc6_0201">
+  <fileHeader companyName="Unknown" productName="Unnamed" productVersion="1" creationDateTime="2021-05-14T14:33:11"/>
+  <contentHeader name="Counter (OSIE)" modificationDateTime="2021-10-25T16:19:46">
+    <coordinateInfo>
+      <fbd>
+        <scaling x="0" y="0"/>
+      </fbd>
+      <ld>
+        <scaling x="0" y="0"/>
+      </ld>
+      <sfc>
+        <scaling x="0" y="0"/>
+      </sfc>
+    </coordinateInfo>
+  </contentHeader>
+  <types>
+    <dataTypes/>
+    <pous>
+      <pou name="plc_prg" pouType="program">
+        <interface>
+          <inputVars>
+            <variable name="Reset">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+          </inputVars>
+          <outputVars>
+            <variable name="Cnt0">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+            <variable name="Cnt1">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+          </outputVars>
+          <localVars>
+            <variable name="CounterST0">
+              <type>
+                <derived name="CounterST"/>
+              </type>
+            </variable>
+          </localVars>
+        </interface>
+        <body>
+          <FBD>
+            <comment localId="1" height="143" width="201">
+              <position x="566" y="75"/>
+              <content>
+                <xhtml:p><![CDATA[Test Ivan: this PLC will switch ON / OFF attached over modbus relays {0..3} of a Lime2 coupler.]]></xhtml:p>
+              </content>
+            </comment>
+            <block localId="2" typeName="CounterST" instanceName="CounterST0" executionOrderId="0" height="109" width="99">
+              <position x="288" y="192"/>
+              <inputVariables>
+                <variable formalParameter="Reset">
+                  <connectionPointIn>
+                    <relPosition x="0" y="42"/>
+                    <connection refLocalId="3">
+                      <position x="288" y="234"/>
+                      <position x="258" y="234"/>
+                      <position x="258" y="218"/>
+                      <position x="231" y="218"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="Out1">
+                  <connectionPointOut>
+                    <relPosition x="99" y="42"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Out0">
+                  <connectionPointOut>
+                    <relPosition x="99" y="86"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <inVariable localId="3" executionOrderId="0" height="24" width="50" negated="false">
+              <position x="181" y="206"/>
+              <connectionPointOut>
+                <relPosition x="50" y="12"/>
+              </connectionPointOut>
+              <expression>Reset</expression>
+            </inVariable>
+            <outVariable localId="4" executionOrderId="0" height="24" width="42" negated="false">
+              <position x="433" y="266"/>
+              <connectionPointIn>
+                <relPosition x="0" y="12"/>
+                <connection refLocalId="2" formalParameter="Out0">
+                  <position x="433" y="278"/>
+                  <position x="387" y="278"/>
+                </connection>
+              </connectionPointIn>
+              <expression>Cnt0</expression>
+            </outVariable>
+            <outVariable localId="6" executionOrderId="0" height="24" width="42" negated="false">
+              <position x="435" y="222"/>
+              <connectionPointIn>
+                <relPosition x="0" y="12"/>
+                <connection refLocalId="2" formalParameter="Out1">
+                  <position x="435" y="234"/>
+                  <position x="387" y="234"/>
+                </connection>
+              </connectionPointIn>
+              <expression>Cnt1</expression>
+            </outVariable>
+          </FBD>
+        </body>
+      </pou>
+      <pou name="CounterST" pouType="functionBlock">
+        <interface>
+          <inputVars>
+            <variable name="Reset">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+          </inputVars>
+          <outputVars>
+            <variable name="Out1">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+            <variable name="Out0">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+          </outputVars>
+          <localVars>
+            <variable name="Cnt1">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+            <variable name="Cnt0">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+          </localVars>
+          <externalVars>
+            <variable name="ResetCounterValue">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+            <variable name="Relay0">
+              <type>
+                <DINT/>
+              </type>
+            </variable>
+            <variable name="Relay1">
+              <type>
+                <DINT/>
+              </type>
+            </variable>
+            <variable name="Relay2">
+              <type>
+                <DINT/>
+              </type>
+            </variable>
+            <variable name="Relay3">
+              <type>
+                <DINT/>
+              </type>
+            </variable>
+          </externalVars>
+        </interface>
+        <body>
+          <ST>
+            <xhtml:p><![CDATA[IF Reset THEN
+  Cnt0 := ResetCounterValue;
+  Cnt1 := ResetCounterValue;
+  Reset := False;
+ELSE
+  Cnt0 := Cnt0 + 1;
+  Cnt1 := Cnt1 + 1;
+  IF Cnt1 = 50 THEN
+    Relay0 := 1;
+    Relay1 := 1; 
+  END_IF;
+  
+  IF Cnt1 = 100 THEN
+    Relay0 := 1;
+    Relay1 := 0;
+    Cnt1 := 0;
+  END_IF;
+  
+END_IF;
+
+Out1 := Cnt1;
+Out0 := Cnt0;]]></xhtml:p>
+          </ST>
+        </body>
+      </pou>
+    </pous>
+  </types>
+  <instances>
+    <configurations>
+      <configuration name="config">
+        <resource name="resource1">
+          <task name="task0" priority="0" interval="T#20ms">
+            <pouInstance name="instance0" typeName="plc_prg"/>
+          </task>
+        </resource>
+        <globalVars>
+          <variable name="ResetCounterValue">
+            <type>
+              <INT/>
+            </type>
+            <initialValue>
+              <simpleValue value="0"/>
+            </initialValue>
+          </variable>
+          <variable name="Relay0" address="%QD1.0">
+            <type>
+              <DINT/>
+            </type>
+            <initialValue>
+              <simpleValue value="0"/>
+            </initialValue>
+            <documentation>
+              <xhtml:p><![CDATA[OPC-UA relay 0]]></xhtml:p>
+            </documentation>
+          </variable>
+          <variable name="Relay1" address="%QD1.1">
+            <type>
+              <DINT/>
+            </type>
+            <initialValue>
+              <simpleValue value="0"/>
+            </initialValue>
+            <documentation>
+              <xhtml:p><![CDATA[OPC-UA relay 1]]></xhtml:p>
+            </documentation>
+          </variable>
+          <variable name="Relay2" address="%QD1.2">
+            <type>
+              <DINT/>
+            </type>
+            <initialValue>
+              <simpleValue value="0"/>
+            </initialValue>
+            <documentation>
+              <xhtml:p><![CDATA[OPC-UA relay 2]]></xhtml:p>
+            </documentation>
+          </variable>
+          <variable name="Relay3" address="%QD1.3">
+            <type>
+              <DINT/>
+            </type>
+            <initialValue>
+              <simpleValue value="0"/>
+            </initialValue>
+            <documentation>
+              <xhtml:p><![CDATA[OPC-UA relay 2]]></xhtml:p>
+            </documentation>
+          </variable>
+        </globalVars>
+      </configuration>
+    </configurations>
+  </instances>
+</project>