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codesys_project.xml
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ο»Ώ<?xml version="1.0" encoding="utf-8"?>
<project xmlns="http://www.plcopen.org/xml/tc6_0200">
<fileHeader companyName="" productName="CODESYS" productVersion="CODESYS V3.5 SP15" creationDateTime="2020-03-17T12:31:34.2855802" />
<contentHeader name="Robin example project" version="0.0.1" modificationDateTime="2020-03-17T12:31:34.2481636" organization="INESC TEC" author="pdcribeiro">
<Comment>An example project for the Robin library.
https://github.com/ScalABLE40/robin</Comment>
<coordinateInfo>
<fbd>
<scaling x="1" y="1" />
</fbd>
<ld>
<scaling x="1" y="1" />
</ld>
<sfc>
<scaling x="1" y="1" />
</sfc>
</coordinateInfo>
<addData>
<data name="http://www.3s-software.com/plcopenxml/projectinformation" handleUnknown="implementation">
<ProjectInformation>
<property name="Author" type="string">pdcribeiro</property>
<property name="Company" type="string">INESC TEC</property>
<property name="CompiledLibraryCompatibilityVersion" type="string">CODESYS V3.5 SP15</property>
<property name="DefaultNamespace" type="string">Robin</property>
<property name="Description" type="string">An example project for the Robin library.
https://github.com/ScalABLE40/robin</property>
<property name="Project" type="string">Robin_projectV15_2</property>
<property name="Title" type="string">Robin example project</property>
<property name="Version" type="version">0.0.1</property>
</ProjectInformation>
</data>
</addData>
</contentHeader>
<types>
<dataTypes />
<pous />
</types>
<instances>
<configurations>
<configuration name="Device">
<resource name="Application">
<task name="MainTask" interval="PT0.01S" priority="1">
<pouInstance name="MAIN" typeName="">
<documentation>
<xhtml xmlns="http://www.w3.org/1999/xhtml" />
</documentation>
</pouInstance>
<pouInstance name="ROS_PRG" typeName="">
<documentation>
<xhtml xmlns="http://www.w3.org/1999/xhtml" />
</documentation>
</pouInstance>
<addData>
<data name="http://www.3s-software.com/plcopenxml/tasksettings" handleUnknown="implementation">
<TaskSettings KindOfTask="Cyclic" Interval="10" IntervalUnit="ms" WithinSPSTimeSlicing="true">
<Watchdog Enabled="false" TimeUnit="ms" Sensitivity="1" />
</TaskSettings>
</data>
</addData>
</task>
<addData>
<data name="http://www.3s-software.com/plcopenxml/datatype" handleUnknown="implementation">
<dataType name="TestStruct">
<baseType>
<struct>
<variable name="var_bool">
<type>
<BOOL />
</type>
</variable>
<variable name="var_byte">
<type>
<BYTE />
</type>
</variable>
<variable name="var_int16">
<type>
<INT />
</type>
</variable>
<variable name="var_uint64">
<type>
<ULINT />
</type>
</variable>
<variable name="var_float32">
<type>
<REAL />
</type>
</variable>
<variable name="var_float64">
<type>
<LREAL />
</type>
</variable>
<variable name="var_string">
<type>
<string />
</type>
</variable>
<variable name="var_pose">
<type>
<derived name="Pose" />
</type>
</variable>
<variable name="var_struct_array">
<type>
<array>
<dimension lower="1" upper="2" />
<baseType>
<derived name="ByteMultiArray" />
</baseType>
</array>
</type>
</variable>
<variable name="var_struct_varlen_array">
<type>
<array>
<dimension lower="1" upper="2" />
<baseType>
<derived name="ByteMultiArray" />
</baseType>
</array>
</type>
<addData>
<data name="http://www.3s-software.com/plcopenxml/attributes" handleUnknown="implementation">
<Attributes>
<Attribute Name="robin_var_len" Value="" />
</Attributes>
</data>
</addData>
</variable>
</struct>
</baseType>
<addData />
</dataType>
</data>
<data name="http://www.3s-software.com/plcopenxml/pou" handleUnknown="implementation">
<pou name="ROS_PRG" pouType="program">
<interface>
<inputVars>
<variable name="bool_to_ros">
<type>
<BOOL />
</type>
</variable>
<variable name="double_to_ros">
<type>
<LREAL />
</type>
</variable>
<variable name="string_to_ros">
<type>
<string />
</type>
</variable>
<variable name="string_varlen_array_to_ros">
<type>
<array>
<dimension lower="1" upper="5" />
<baseType>
<string />
</baseType>
</array>
</type>
<addData>
<data name="http://www.3s-software.com/plcopenxml/attributes" handleUnknown="implementation">
<Attributes>
<Attribute Name="robin_var_len" Value="" />
</Attributes>
</data>
</addData>
</variable>
<variable name="struct1_to_ros">
<type>
<derived name="TestStruct" />
</type>
</variable>
<variable name="struct2_array_to_ros">
<type>
<array>
<dimension lower="1" upper="2" />
<baseType>
<derived name="AccelStamped" />
</baseType>
</array>
</type>
</variable>
<variable name="rosmsg_to_ros">
<type>
<derived name="AccelStamped" />
</type>
</variable>
</inputVars>
<outputVars>
<variable name="bool_to_codesys">
<type>
<BOOL />
</type>
</variable>
<variable name="double_to_codesys">
<type>
<LREAL />
</type>
</variable>
<variable name="string_to_codesys">
<type>
<string />
</type>
</variable>
<variable name="string_varlen_array_to_codesys">
<type>
<array>
<dimension lower="1" upper="5" />
<baseType>
<string />
</baseType>
</array>
</type>
<addData>
<data name="http://www.3s-software.com/plcopenxml/attributes" handleUnknown="implementation">
<Attributes>
<Attribute Name="robin_var_len" Value="" />
</Attributes>
</data>
</addData>
</variable>
<variable name="struct1_to_codesys">
<type>
<derived name="TestStruct" />
</type>
</variable>
<variable name="struct2_array_to_codesys">
<type>
<array>
<dimension lower="1" upper="2" />
<baseType>
<derived name="AccelStamped" />
</baseType>
</array>
</type>
</variable>
<variable name="rosmsg_to_codesys">
<type>
<derived name="AccelStamped" />
</type>
</variable>
</outputVars>
<localVars>
<variable name="robin">
<type>
<derived name="Robin" />
</type>
</variable>
</localVars>
</interface>
<body>
<ST>
<xhtml xmlns="http://www.w3.org/1999/xhtml">// instancing Robin class
robin();
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// //
// READ - robin.read(<topic_name>, <variable>) //
// //
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// DEBUG: rostopic pub /bool_to_codesys std_msgs/Bool "data: true/false"
robin.read('bool_to_codesys', bool_to_codesys);
// DEBUG: rostopic pub /double_to_codesys std_msgs/Float64 "data: 42.0"
robin.read('double_to_codesys', double_to_codesys);
// DEBUG: rostopic pub /string_to_codesys std_msgs/String "data: 'hello world!'"
robin.read('string_to_codesys', string_to_codesys);
// DEBUG: rostopic pub /string_varlen_array_to_codesys robin_bridge/StringVarLenArray "{data:[str1, str2, str3, str4, str5]}"
robin.read('string_varlen_array_to_codesys', string_varlen_array_to_codesys);
// DEBUG: rostopic pub /struct1_to_codesys robin_bridge/TestStruct "var_bool: false var_byte: 0 <...>"
robin.read('struct1_to_codesys', struct1_to_codesys);
// DEBUG: rostopic pub /struct2_array_to_codesys robin_bridge/AccelStampedArray "data: - header: <...> -header: <...>"
robin.read('struct2_array_to_codesys', struct2_array_to_codesys);
// DEBUG: rostopic pub /rosmsg_to_ros robin_bridge/AccelStamped "data: - header: <...> -header: <...>"
robin.read('rosmsg_to_codesys', rosmsg_to_codesys);
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// //
// WRITE - robin.write(<topic_name>, <variable>) //
// //
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
robin.write('bool_to_ros', bool_to_ros);
robin.write('double_to_ros', double_to_ros);
robin.write('string_to_ros', string_to_ros);
robin.write('string_varlen_array_to_ros', string_varlen_array_to_ros);
robin.write('struct1_to_ros', struct1_to_ros);
robin.write('struct2_array_to_ros', struct2_array_to_ros);
robin.write('rosmsg_to_ros', rosmsg_to_ros);
</xhtml>
</ST>
</body>
<addData />
</pou>
</data>
<data name="http://www.3s-software.com/plcopenxml/pou" handleUnknown="implementation">
<pou name="MAIN" pouType="program">
<interface />
<body>
<ST>
<xhtml xmlns="http://www.w3.org/1999/xhtml">(*ROS_PRG.double_to_ros := ROS_PRG.double_to_codesys;
ROS_PRG.string_varlen_array_to_ros := ROS_PRG.string_varlen_array_to_codesys;
ROS_PRG.struct1_to_ros := ROS_PRG.struct1_to_codesys;
ROS_PRG.struct2_array_to_ros := ROS_PRG.struct2_array_to_codesys;*)
</xhtml>
</ST>
</body>
<addData />
</pou>
</data>
<data name="http://www.3s-software.com/plcopenxml/libraries" handleUnknown="implementation">
<Libraries>
<Library Name="#SM3_Basic" Namespace="SM3_Basic" HideWhenReferencedAsDependency="false" PublishSymbolsInContainer="false" SystemLibrary="true" LinkAllContent="false" DefaultResolution="SM3_Basic, 4.5.1.0 (3S - Smart Software Solutions GmbH)" />
<Library Name="#SM3_CNC" Namespace="SM3_CNC" HideWhenReferencedAsDependency="false" PublishSymbolsInContainer="false" SystemLibrary="true" LinkAllContent="false" DefaultResolution="SM3_CNC, 4.5.1.0 (3S - Smart Software Solutions GmbH)" />
<Library Name="#SM3_Robotics" Namespace="SM3_Robotics" HideWhenReferencedAsDependency="false" PublishSymbolsInContainer="false" SystemLibrary="true" LinkAllContent="false" DefaultResolution="SM3_Robotics, 4.5.1.0 (3S - Smart Software Solutions GmbH)" />
<Library Name="#SM3_Robotics_Visu" Namespace="SM3_Robotics_Visu" HideWhenReferencedAsDependency="false" PublishSymbolsInContainer="false" SystemLibrary="true" LinkAllContent="false" DefaultResolution="SM3_Robotics_Visu, 4.5.1.0 (3S - Smart Software Solutions GmbH)" />
<Library Name="#SM3_Transformation" Namespace="TRAFO" HideWhenReferencedAsDependency="false" PublishSymbolsInContainer="false" SystemLibrary="true" LinkAllContent="false" DefaultResolution="SM3_Transformation, 4.5.1.0 (3S - Smart Software Solutions GmbH)" />
<Library Name="#IoStandard" Namespace="IoStandard" HideWhenReferencedAsDependency="false" PublishSymbolsInContainer="false" SystemLibrary="true" LinkAllContent="true" DefaultResolution="IoStandard, 3.5.15.0 (System)" />
<Library Name="#3SLicense" Namespace="_3S_LICENSE" HideWhenReferencedAsDependency="false" PublishSymbolsInContainer="false" SystemLibrary="true" LinkAllContent="false" DefaultResolution="3SLicense, 0.0.0.0 (3S - Smart Software Solutions GmbH)" ResolverGuid="97c3b452-d9fa-4ac2-9d0c-3d420aa6d95b" />
<Library Name="#CAA Device Diagnosis" Namespace="DED" HideWhenReferencedAsDependency="false" PublishSymbolsInContainer="false" SystemLibrary="true" LinkAllContent="false" DefaultResolution="CAA Device Diagnosis, 3.5.15.0 (CAA Technical Workgroup)" />
<Library Name="#BreakpointLogging" Namespace="BPLog" HideWhenReferencedAsDependency="false" PublishSymbolsInContainer="false" SystemLibrary="true" LinkAllContent="false" DefaultResolution="Breakpoint Logging Functions, 3.5.5.0 (3S - Smart Software Solutions GmbH)" />
<Library Name="Robin, 0.1.2 (INESC TEC)" Namespace="Robin" HideWhenReferencedAsDependency="false" PublishSymbolsInContainer="false" SystemLibrary="false" LinkAllContent="false" />
<addData />
</Libraries>
</data>
</addData>
</resource>
<addData>
<data name="Device" handleUnknown="discard">
<Device xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="">
<DeviceType>
<DeviceIdentification>
<Type>4102</Type>
<Id>0000 0005</Id>
<Version>3.5.15.0</Version>
</DeviceIdentification>
<Connector moduleType="256" interface="Common.PCI" connectorId="0">
<HostParameterSet />
</Connector>
<Connector moduleType="1279" interface="Common.SoftMotion.General" connectorId="1">
<HostParameterSet />
</Connector>
<DeviceParameterSet />
</DeviceType>
</Device>
</data>
<data name="configurations" handleUnknown="discard">
<configurations>
<configuration name="SoftMotion General Axis Pool">
<addData>
<data name="ExplicitConnector" handleUnknown="discard">
<ExplicitConnector connectorID="1" />
</data>
</addData>
</configuration>
</configurations>
</data>
</addData>
</configuration>
</configurations>
</instances>
</project>