A finite statemachine-based language and supporting software for Industrial Control and Automation
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Copyright (C) 2012 Martin Leadbeater, Michael O'Connor

See the LICENCES file for license information.

Martin Leadbeater, martin.leadbeater@gmail.com

PLEASE NOTE: This software is a work in progress and is not yet likely to work on your equipment.

Latproc - Language and Tools for Process Control


This software provides a high level, finite statemachine-based language called Clockwork that can be used to describe process control systems. Currently, this software only supports one hardware interface; the Beckhoff EtherCat system (http://www.beckhoff.de/) through the IgH EtherCAT Master for Linux (http://www.etherlab.org/en/ethercat/index.php)

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


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