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Change FBs of powerlink to be compatible with latest FORTE version (#171
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* Reverted erroneous names, removed old powerlink FBs and added new powerlink FBs in new structure.

* Added automatic download of tinyxml and openPOWERLINK (only posix) when FORTE_MODULE_POWERLINK is set but FORTE_MODULE_POWERLINK_LIB_DIR or FORTE_MODULE_POWERLINK_TINYXML_DIR are not set

* Added X20DO9322

* Added abstraction for DI and DO powerlink nodes

* Added powerlink to systemtests

* Added abstract FBs for powerlink analog input, output and temperature input

* Fix DEVLOG_DEBUG arguments

* Downgrade to openPOWERLINK 1.8.0 which allows it to work with OPC UA

* Added all other function blocks

* Added copyright notice

* Changed tabs to spaces

* Turn interfacespec into a reference

* Use DOWNLOAD_EXTRACT_TIMESTAMP as stated in the warning

* Changed &scmFBInterfaceSpec to scmFBInterfaceSpec to fit core changes

* Switch to range based loops

* Renamed to fit coding style

* Fixed copyright date

* Convert idents to tabs

* Reformated to 2 spaces

* Removed type indicators
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@gafert
gafert authored Sep 13, 2024
1 parent 10bae20 commit 5c663ac
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Showing 72 changed files with 5,534 additions and 3,418 deletions.
6 changes: 6 additions & 0 deletions .github/workflows/systemtests.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,11 @@ jobs:
echo "source-dir=$GITHUB_WORKSPACE" >> "$GITHUB_OUTPUT"
echo "build-dir=$GITHUB_WORKSPACE/build" >> "$GITHUB_OUTPUT"
- name: Install lipcap-dev
# libpcap-dev is required for the POWERLINK module
# TODO: Put this in 4diac-fortebuildcontainer
run: apt-get update && apt-get install -y libpcap-dev

- name: Configure CMake
run: >
cmake -S ${{ steps.strings.outputs.source-dir }} -B ${{ steps.strings.outputs.build-dir }}
Expand All @@ -46,6 +51,7 @@ jobs:
-DFORTE_MODULE_RT_Events=ON
-DFORTE_MODULE_SIGNALPROCESSING=ON
-DFORTE_MODULE_UTILS=ON
-DFORTE_MODULE_POWERLINK=ON
-DFORTE_TESTS=ON
-DFORTE_SYSTEM_TESTS=ON
-DFORTE_TEST_SANITIZE=ON
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178 changes: 118 additions & 60 deletions src/com/powerlink/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,13 +1,14 @@
#*******************************************************************************
# Copyright (c) 2012 - 2014 AIT, fortiss GmbH
# Copyright (c) 2014 - 2024 AIT, fortiss GmbH
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License 2.0 which is available at
# http://www.eclipse.org/legal/epl-2.0.
#
# SPDX-License-Identifier: EPL-2.0
#
#
# Contributors:
# Filip Andren, Alois Zoitl - initial API and implementation and/or initial documentation
# Michael Gafert - automatic download and linking of openPOWERLINK and tinyXML
# *******************************************************************************/

forte_add_module(POWERLINK OFF "openPOWERLINK Service Interface Function Blocks")
Expand All @@ -16,69 +17,126 @@ forte_add_module(POWERLINK OFF "openPOWERLINK Service Interface Function Blocks"
# COM Service Interface Function Blocks
#############################################################################

if("${FORTE_ARCHITECTURE}" STREQUAL "Win32")
forte_add_sourcefile_cpp(EplWrapper.cpp)
forte_add_definition( -D_CONSOLE -DWPCAP )

forte_add_include_directories(${FORTE_MODULE_POWERLINK_LIB_DIR}/Target/X86/Windows/WpdPack/Include)
if (NOT "${FORTE_ARCHITECTURE}" STREQUAL "Win32" AND NOT "${FORTE_ARCHITECTURE}" STREQUAL "Posix")
MESSAGE(FATAL_ERROR "openPOWERLINK is only supported for FORTE on Windows and Linux platforms.")
endif ()

SET(FORTE_MODULE_POWERLINK_LIB_DIR "" CACHE PATH "Path to openPOWERLINK-V1.08 directory")
SET(FORTE_MODULE_POWERLINK_TINYXML_DIR "" CACHE PATH "Path to TinyXML directory")

# Download tinyXML
if (NOT FORTE_MODULE_POWERLINK_TINYXML_DIR)
include(FetchContent)
FetchContent_Declare(
tinyxml
URL https://downloads.sourceforge.net/project/tinyxml/tinyxml/2.6.2/tinyxml_2_6_2.zip
URL_HASH SHA256=ac6bb9501c6f50cc922d22f26b02fab168db47521be5e845b83d3451a3e1d512
DOWNLOAD_EXTRACT_TIMESTAMP true
)

FetchContent_Populate(tinyxml)

message("Downloaded tinyXML in ${tinyxml_SOURCE_DIR}")

set(FORTE_MODULE_POWERLINK_TINYXML_DIR ${tinyxml_SOURCE_DIR})
endif ()

if ("${FORTE_ARCHITECTURE}" STREQUAL "Win32")
forte_add_sourcefile_cpp(EplWrapper.cpp)
forte_add_definition(-D_CONSOLE -DWPCAP)

forte_add_include_directories(${FORTE_MODULE_POWERLINK_LIB_DIR}/Target/X86/Windows/WpdPack/Include)
forte_add_link_directories(${FORTE_MODULE_POWERLINK_LIB_DIR}/Target/X86/Windows/WpdPack/Lib)

forte_add_sourcefile_with_path_cpp(${FORTE_MODULE_POWERLINK_LIB_DIR}/EplStack/trace.c)

forte_add_link_library(openPOWERLINK.lib)
forte_add_link_library(wpcap.lib)
forte_add_link_library(iphlpapi.lib)
elseif ("${FORTE_ARCHITECTURE}" STREQUAL "Posix")
# Download and build openPOWERLINK only for posix as there are too many problems with the Windows build
if (NOT FORTE_MODULE_POWERLINK_LIB_DIR)
# Only V1.08 of openPOWERLINK is supported
FetchContent_Declare(
openpowerlink
URL https://downloads.sourceforge.net/project/openpowerlink/openPOWERLINK/V1.8.0/openPOWERLINK-V1.08.zip
URL_HASH MD5=7ae68359cbc9092d125d43c75b4794ad
DOWNLOAD_EXTRACT_TIMESTAMP true
)
FetchContent_Populate(openpowerlink)

message("Downloaded openPOWERLINK in ${openpowerlink_SOURCE_DIR}")

# TODO: Pass target architecture to openPOWERLINK build, important for Windows as wpcap is only available for x86
# TODO: Ninja generator does not work with openPOWERLINK build as in does not build the .lib file
execute_process(
COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" CMakeLists.txt # -D CFG_X86_WINDOWS_DLL=ON (for Windows)
WORKING_DIRECTORY "${openpowerlink_SOURCE_DIR}"
)

execute_process(
COMMAND ${CMAKE_COMMAND} --build . --config Release
WORKING_DIRECTORY "${openpowerlink_SOURCE_DIR}"
)

# Move the openPOWERLINK library to the FORTE_MODULE_POWERLINK_LIB_DIR as expected
file(RENAME
"${openpowerlink_SOURCE_DIR}/Examples/X86/Generic/powerlink_user_lib/libpowerlink.a"
"${openpowerlink_SOURCE_DIR}/libpowerlink.a")

set(FORTE_MODULE_POWERLINK_LIB_DIR "${openpowerlink_SOURCE_DIR}")
endif ()

elseif("${FORTE_ARCHITECTURE}" STREQUAL "Posix")
forte_add_sourcefile_cpp(EplWrapper.cpp)
forte_add_link_library(-lpowerlink -lpcap -lrt)
else()
MESSAGE("openPOWERLINK is only supported for FORTE on Windows and Linux platforms. Disabled Module!")
set(FORTE_MODULE_POWERLINK OFF)
endif()

if(FORTE_MODULE_POWERLINK)
SET(FORTE_MODULE_POWERLINK_LIB_DIR "" CACHE PATH "Path to openPOWERLINK-V1.08.1 directory")
SET(FORTE_MODULE_POWERLINK_TINYXML_DIR "" CACHE PATH "Path to TinyXML directory")

forte_add_sourcefile_hcpp( POWERLINK_MN
X20DO9321
X20DO9322
X20DI4653
X20DI9371
X20DI9372
X20AI4622
X20AO4622
X20AT2402
X20AT4222
X20DO4649
X20DO4623
EplXmlReader
ModuleList
ProcessImageMatrix )

forte_add_sourcefile_h( EplWrapper.h )

forte_add_link_directories(${FORTE_MODULE_POWERLINK_LIB_DIR})
forte_add_include_directories(${CMAKE_CURRENT_SOURCE_DIR})

forte_add_startup_hook(powerlinkStartupHook)
forte_add_sourcefile_cpp(startup.cpp)

forte_add_include_directories(${FORTE_MODULE_POWERLINK_LIB_DIR}/Include)
forte_add_include_directories(${FORTE_MODULE_POWERLINK_LIB_DIR}/SharedBuff)
forte_add_include_directories(${FORTE_MODULE_POWERLINK_LIB_DIR}/ObjDicts/CiA302-4_MN)
forte_add_include_directories(${FORTE_MODULE_POWERLINK_LIB_DIR}/Examples/X86/Generic/powerlink_user_lib)
forte_add_sourcefile_with_path_cpp(${FORTE_MODULE_POWERLINK_LIB_DIR}/ObjDicts/CiA302-4_MN/EplApiProcessImageSetup.c)
forte_add_sourcefile_with_path_cpp(${FORTE_MODULE_POWERLINK_LIB_DIR}/EplStack/EplTgtConio.c)

forte_add_include_directories(${FORTE_MODULE_POWERLINK_TINYXML_DIR})
forte_add_sourcefile_with_path_hcpp( ${FORTE_MODULE_POWERLINK_TINYXML_DIR}/tinystr
${FORTE_MODULE_POWERLINK_TINYXML_DIR}/tinyxml )

forte_add_sourcefile_with_path_cpp( ${FORTE_MODULE_POWERLINK_TINYXML_DIR}/tinyxmlerror.cpp
${FORTE_MODULE_POWERLINK_TINYXML_DIR}/tinyxmlparser.cpp )

forte_add_definition( -DCONFIG_POWERLINK_USERSTACK )
endif(FORTE_MODULE_POWERLINK)
endif ()

forte_add_sourcefile_cpp(EplWrapper.cpp)
forte_add_sourcefile_h(EplWrapper.h)

forte_add_sourcefile_hcpp(
fb/PowerlinkFunctionBlockDI
fb/PowerlinkFunctionBlockDO
fb/PowerlinkFunctionBlockAI
fb/PowerlinkFunctionBlockAO
fb/PowerlinkFunctionBlockAT
fb/POWERLINK_MN_fbt
fb/X20AI2622_fbt
fb/X20AI4622_fbt
fb/X20AO4622_fbt
fb/X20AT2402_fbt
fb/X20AT4222_fbt
fb/X20DI4653_fbt
fb/X20DI9371_fbt
fb/X20DI9372_fbt
fb/X20DO4623_fbt
fb/X20DO4649_fbt
fb/X20DO9321_fbt
fb/X20DO9322_fbt
EplXmlReader
ModuleList
ProcessImageMatrix)

forte_add_include_directories(${CMAKE_CURRENT_SOURCE_DIR})

forte_add_startup_hook(powerlinkStartupHook)
forte_add_sourcefile_cpp(startup.cpp)

forte_add_link_directories(${FORTE_MODULE_POWERLINK_LIB_DIR})
forte_add_include_directories(${FORTE_MODULE_POWERLINK_LIB_DIR}/Include)
forte_add_include_directories(${FORTE_MODULE_POWERLINK_LIB_DIR}/SharedBuff)
forte_add_include_directories(${FORTE_MODULE_POWERLINK_LIB_DIR}/ObjDicts/CiA302-4_MN)
forte_add_include_directories(${FORTE_MODULE_POWERLINK_LIB_DIR}/Examples/X86/Generic/powerlink_user_lib)
forte_add_sourcefile_with_path_cpp(${FORTE_MODULE_POWERLINK_LIB_DIR}/ObjDicts/CiA302-4_MN/EplApiProcessImageSetup.c)
forte_add_sourcefile_with_path_cpp(${FORTE_MODULE_POWERLINK_LIB_DIR}/EplStack/EplTgtConio.c)

forte_add_include_directories(${FORTE_MODULE_POWERLINK_TINYXML_DIR})
forte_add_sourcefile_with_path_hcpp(
${FORTE_MODULE_POWERLINK_TINYXML_DIR}/tinystr
${FORTE_MODULE_POWERLINK_TINYXML_DIR}/tinyxml
)

forte_add_sourcefile_with_path_cpp(
${FORTE_MODULE_POWERLINK_TINYXML_DIR}/tinyxmlerror.cpp
${FORTE_MODULE_POWERLINK_TINYXML_DIR}/tinyxmlparser.cpp
)

forte_add_definition(-DCONFIG_POWERLINK_USERSTACK)
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