See the LICENCES file for license information.

Martin Leadbeater, martin.leadbeater@gmail.com

PLEASE NOTE: This software is a work in progress and may be tricky to install. We are trying to improve this situation and should have some significant improvements over the next few months.

Clockwork - Language and Tools for Process Control

Introduction

This software provides a high level, finite statemachine-based language called Clockwork that can be used to describe process control systems. Currently, this software supports the Beckhoff EtherCat system (http://www.beckhoff.de/) through the IgH EtherCAT Master for Linux (http://www.etherlab.org/en/ethercat/index.php) and has experimental support for Internet of Things integration

Below are some instructions to help you build the program please see the documentation for details about the language itself.

Instructions

Note: this software requires that the following software be installed:

* libmodbus (http://libmodbus.org/)  - for communication with modbus/tcp terminals

* zeromq (http://www.zeromq.org/) - for inter-program messaging

* boost (http://boost.org/) - various c++ bits and pieces

* mosquitto (http://mosquitto.org) - MQTT broker and protocol implementation

Part A - Building Latproc tools for standalone experimentation

The instructions in this part build the Clockwork programming language interpreter without the need for the IgH EtherCAT Master.

Note, the Makefile used here assumes libzmq is installed in /usr/local/

pull the latproc project from git

git clone git://github.com/latproc/latproc.git latproc
change to the latproc directory and build the interpreter

cd latproc/iod make -f Makefile.cw

Part B - setting up the user database for the web interface

The user database can be created using scripts/create_webiodb.

By default it will be created in www/app with the name 'webio.db' these settings can be changed in settings.php

Part C - Setting up the IgH EtherCAT software to be used but the Latproc software

The following instructions are brutally terse at present and we apologise for that. Please watch this space for more precise instructions.

pull the latproc project from git

git clone git://github.com/latproc/latproc.git latproc

please do not cd into the latproc directory yet.
extract the etherlab kit from the EtherLab website: see http://www.etherlab.org/en/ethercat/index.php

tar/hg/... etc

Note: The following instructions assume your extract was placed into a directory called 'ethercat' next to the latproc directory.
configure and build etherlabs ethercat component

cd ethercat ./configure --enable-generic --enable-e1000e=no --enable-8139too=no make

(your configure options may be different from ours)
the latproc io daemon (iod) uses some parts from ethercat that are not built into the ethercat library; the following script prepares a build area for these bits (ec_tool). The script needs to know the location of the ethercat extract, passed as the first parameter.

cd latproc scripts/prepare_ec_tool ethercat-path
build the object files in the ec_tool build area

cd ec_tool make
build the latproc tools (in the iod directory)

cd ../iod make

At this point, the following tools should have been created:

iod : a daemon that talks to EtherCAT to interact with io iosh : a shell to interact with iod zmq_monitor : a program to monitor zmq messages published by iod persistd : a basic persistence daemon to record state changes from iod

You may also like to install libmodbus and edit the makefile to build:

modbusd : a modbus interface to iod

Clockwork - Language and Tools for Process Control

Introduction

Instructions

Sponsors