libiec61850/demos/beaglebone/beagle_demo.c

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/*
* beagle_demo.c
*
* This demo shows how to connect the libiec61850 server stack to a real device.
*
*/
#include "iec61850_server.h"
#include "iso_server.h"
#include "acse.h"
#include "hal_thread.h"
#include <signal.h>
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include "static_model.h"
#include "beaglebone_leds.h"
/* import IEC 61850 device model created from SCL-File */
extern IedModel iedModel;
static int running = 0;
static IedServer iedServer = NULL;
static bool automaticOperationMode = true;
static ClientConnection controllingClient = NULL;
static uint32_t dpcState = 0;
void sigint_handler(int signalId)
{
running = 0;
}
static void
connectionIndicationHandler(IedServer server, ClientConnection connection, bool connected, void* parameter)
{
const char* clientAddress = ClientConnection_getPeerAddress(connection);
if (connected) {
printf("BeagleDemoServer: new client connection from %s\n", clientAddress);
}
else {
printf("BeagleDemoServer: client connection from %s closed\n", clientAddress);
if (controllingClient == connection) {
printf("Controlling client has closed connection -> switch to automatic operation mode\n");
controllingClient = NULL;
automaticOperationMode = true;
}
}
}
static CheckHandlerResult
performCheckHandler(void* parameter, MmsValue* ctlVal, bool test, bool interlockCheck, ClientConnection connection)
{
if (controllingClient == NULL) {
printf("Client takes control -> switch to remote control operation mode\n");
controllingClient = connection;
automaticOperationMode = false;
}
/* test command not accepted if mode is "on" */
if (test)
return CONTROL_TEMPORARILY_UNAVAILABLE;
/* If there is already another client that controls the device reject the control attempt */
if (controllingClient == connection)
return CONTROL_ACCEPTED;
else
return CONTROL_TEMPORARILY_UNAVAILABLE;
}
static void
updateLED1stVal(bool newLedState, uint64_t timeStamp) {
switchLED(LED1, newLedState);
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IedServer_updateUTCTimeAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_SPCSO1_t, timeStamp);
IedServer_updateBooleanAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_SPCSO1_stVal, newLedState);
IedServer_updateQuality(iedServer, IEDMODEL_GenericIO_GGIO1_SPCSO1_q, QUALITY_VALIDITY_GOOD | QUALITY_SOURCE_SUBSTITUTED);
}
static void
updateLED2stVal(bool newLedState, uint64_t timeStamp) {
switchLED(LED2, newLedState);
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IedServer_updateUTCTimeAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_SPCSO2_t, timeStamp);
IedServer_updateBooleanAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_SPCSO2_stVal, newLedState);
IedServer_updateQuality(iedServer, IEDMODEL_GenericIO_GGIO1_SPCSO2_q, QUALITY_VALIDITY_QUESTIONABLE | QUALITY_DETAIL_OSCILLATORY);
}
static void
updateLED3stVal(bool newLedState, uint64_t timeStamp) {
switchLED(LED3, newLedState);
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IedServer_updateUTCTimeAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_SPCSO3_t, timeStamp);
IedServer_updateBooleanAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_SPCSO3_stVal, newLedState);
IedServer_updateQuality(iedServer, IEDMODEL_GenericIO_GGIO1_SPCSO3_q, QUALITY_VALIDITY_GOOD);
}
static ControlHandlerResult
controlHandlerForBinaryOutput(void* parameter, MmsValue* value, bool test)
{
if (test)
return CONTROL_RESULT_OK;
uint64_t timeStamp = Hal_getTimeInMs();
bool newState = MmsValue_getBoolean(value);
if (parameter == IEDMODEL_GenericIO_GGIO1_SPCSO1)
updateLED1stVal(newState, timeStamp);
if (parameter == IEDMODEL_GenericIO_GGIO1_SPCSO2)
updateLED2stVal(newState, timeStamp);
if (parameter == IEDMODEL_GenericIO_GGIO1_SPCSO3)
updateLED3stVal(newState, timeStamp);
if (parameter == IEDMODEL_GenericIO_GGIO1_DPCSO1) { /* example for Double Point Control - DPC */
dpcState = 0; /* DPC_STATE_INTERMEDIATE */
IedServer_updateBitStringAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_DPCSO1_stVal, dpcState);
IedServer_updateUTCTimeAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_DPCSO1_t, timeStamp);
if (newState) {
flashLED(LED4);
Thread_sleep(3000);
switchLED(LED4, 1);
dpcState = 2; /* DPC_STATE_ON */
}
else {
flashLED(LED4);
Thread_sleep(3000);
switchLED(LED4, 0);
dpcState = 1; /* DPC_STATE_OFF */
}
IedServer_updateBitStringAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_DPCSO1_stVal, dpcState);
IedServer_updateUTCTimeAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_DPCSO1_t, timeStamp);
}
return CONTROL_RESULT_OK;
}
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static int ledOnTimeMs = 1000;
static int ledOffTimeMs = 1000;
static int32_t opCnt = 0;
static ControlHandlerResult
controlHandlerForInt32Controls(void* parameter, MmsValue* value, bool test)
{
if (test)
return CONTROL_RESULT_OK;
if (parameter == IEDMODEL_GenericIO_TIM_GAPC1_OpCntRs) {
int32_t newValue = MmsValue_toInt32(value);
opCnt = newValue;
uint64_t currentTime = Hal_getTimeInMs();
IedServer_updateUTCTimeAttributeValue(iedServer, IEDMODEL_GenericIO_TIM_GAPC1_OpCntRs_t, currentTime);
IedServer_updateInt32AttributeValue(iedServer, IEDMODEL_GenericIO_TIM_GAPC1_OpCntRs_stVal, opCnt);
}
return CONTROL_RESULT_OK;
}
static MmsDataAccessError
int32WriteAccessHandler (DataAttribute* dataAttribute, MmsValue* value, ClientConnection connection, void* parameter)
{
int newValue = MmsValue_toInt32(value);
/* Check if value is inside of valid range */
if (newValue < 0)
return DATA_ACCESS_ERROR_OBJECT_VALUE_INVALID;
if (dataAttribute == IEDMODEL_GenericIO_TIM_GAPC1_OpDlTmms_setVal) {
printf("New value for TIM_GAPC1.OpDlTmms.setVal = %i\n", newValue);
ledOffTimeMs = newValue;
return DATA_ACCESS_ERROR_SUCCESS;
}
if (dataAttribute == IEDMODEL_GenericIO_TIM_GAPC1_RsDlTmms_setVal) {
printf("New value for TIM_GAPC1.RsDlTmms.setVal = %i\n", newValue);
ledOnTimeMs = newValue;
return DATA_ACCESS_ERROR_SUCCESS;
}
return DATA_ACCESS_ERROR_OBJECT_ACCESS_DENIED;
}
int main(int argc, char** argv) {
initLEDs();
iedServer = IedServer_create(&iedModel);
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/* Set control callback handlers */
IedServer_setConnectionIndicationHandler(iedServer, (IedConnectionIndicationHandler) connectionIndicationHandler, NULL);
IedServer_setPerformCheckHandler(iedServer, IEDMODEL_GenericIO_GGIO1_SPCSO1,
(ControlPerformCheckHandler) performCheckHandler, IEDMODEL_GenericIO_GGIO1_SPCSO1);
IedServer_setControlHandler(iedServer, IEDMODEL_GenericIO_GGIO1_SPCSO1, (ControlHandler) controlHandlerForBinaryOutput,
IEDMODEL_GenericIO_GGIO1_SPCSO1);
IedServer_setPerformCheckHandler(iedServer, IEDMODEL_GenericIO_GGIO1_SPCSO2,
(ControlPerformCheckHandler) performCheckHandler, IEDMODEL_GenericIO_GGIO1_SPCSO2);
IedServer_setControlHandler(iedServer, IEDMODEL_GenericIO_GGIO1_SPCSO2, (ControlHandler) controlHandlerForBinaryOutput,
IEDMODEL_GenericIO_GGIO1_SPCSO2);
IedServer_setPerformCheckHandler(iedServer, IEDMODEL_GenericIO_GGIO1_SPCSO3,
(ControlPerformCheckHandler) performCheckHandler, IEDMODEL_GenericIO_GGIO1_SPCSO3);
IedServer_setControlHandler(iedServer, IEDMODEL_GenericIO_GGIO1_SPCSO3, (ControlHandler) controlHandlerForBinaryOutput,
IEDMODEL_GenericIO_GGIO1_SPCSO3);
IedServer_setPerformCheckHandler(iedServer, IEDMODEL_GenericIO_GGIO1_DPCSO1,
(ControlPerformCheckHandler) performCheckHandler, IEDMODEL_GenericIO_GGIO1_DPCSO1);
IedServer_setControlHandler(iedServer, IEDMODEL_GenericIO_GGIO1_DPCSO1, (ControlHandler) controlHandlerForBinaryOutput,
IEDMODEL_GenericIO_GGIO1_DPCSO1);
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IedServer_setControlHandler(iedServer, IEDMODEL_GenericIO_TIM_GAPC1_OpCntRs, (ControlHandler) controlHandlerForInt32Controls,
IEDMODEL_GenericIO_TIM_GAPC1_OpCntRs);
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/* Initialize process values */
MmsValue* DPCSO1_stVal = IedServer_getAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_DPCSO1_stVal);
MmsValue_setBitStringFromInteger(DPCSO1_stVal, 1); /* set DPC to OFF */
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/* Intitalize setting values */
IedServer_updateInt32AttributeValue(iedServer, IEDMODEL_GenericIO_TIM_GAPC1_OpDlTmms_setVal, ledOffTimeMs);
IedServer_updateInt32AttributeValue(iedServer, IEDMODEL_GenericIO_TIM_GAPC1_RsDlTmms_setVal, ledOnTimeMs);
/* Set callback handler for settings */
IedServer_handleWriteAccess(iedServer, IEDMODEL_GenericIO_TIM_GAPC1_OpDlTmms_setVal, int32WriteAccessHandler, NULL);
IedServer_handleWriteAccess(iedServer, IEDMODEL_GenericIO_TIM_GAPC1_RsDlTmms_setVal, int32WriteAccessHandler, NULL);
/* MMS server will be instructed to start listening to client connections. */
IedServer_start(iedServer, 102);
if (!IedServer_isRunning(iedServer)) {
printf("Starting server failed! Exit.\n");
IedServer_destroy(iedServer);
exit(-1);
}
running = 1;
signal(SIGINT, sigint_handler);
float t = 0.f;
bool ledStateValue = false;
uint64_t nextLedToggleTime = Hal_getTimeInMs() + 1000;
while (running) {
uint64_t currentTime = Hal_getTimeInMs();
if (automaticOperationMode) {
if (nextLedToggleTime <= currentTime) {
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if (ledStateValue)
nextLedToggleTime = currentTime + ledOffTimeMs;
else
nextLedToggleTime = currentTime + ledOnTimeMs;
ledStateValue = !ledStateValue;
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if (ledStateValue) {
opCnt++;
IedServer_updateUTCTimeAttributeValue(iedServer, IEDMODEL_GenericIO_TIM_GAPC1_OpCntRs_t, currentTime);
IedServer_updateInt32AttributeValue(iedServer, IEDMODEL_GenericIO_TIM_GAPC1_OpCntRs_stVal, opCnt);
}
updateLED1stVal(ledStateValue, currentTime);
updateLED2stVal(ledStateValue, currentTime);
updateLED3stVal(ledStateValue, currentTime);
}
}
t += 0.1f;
IedServer_lockDataModel(iedServer);
IedServer_updateFloatAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_AnIn1_mag_f, sinf(t));
IedServer_updateQuality(iedServer, IEDMODEL_GenericIO_GGIO1_AnIn1_q, QUALITY_VALIDITY_GOOD);
IedServer_updateUTCTimeAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_AnIn1_t, currentTime);
IedServer_updateFloatAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_AnIn2_mag_f, sinf(t + 1.f));
IedServer_updateQuality(iedServer, IEDMODEL_GenericIO_GGIO1_AnIn2_q, QUALITY_VALIDITY_GOOD);
IedServer_updateUTCTimeAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_AnIn2_t, currentTime);
IedServer_updateFloatAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_AnIn3_mag_f, sinf(t + 2.f));
IedServer_updateQuality(iedServer, IEDMODEL_GenericIO_GGIO1_AnIn3_q, QUALITY_VALIDITY_GOOD);
IedServer_updateUTCTimeAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_AnIn3_t, currentTime);
IedServer_updateFloatAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_AnIn4_mag_f, sinf(t + 3.f));
IedServer_updateQuality(iedServer, IEDMODEL_GenericIO_GGIO1_AnIn4_q, QUALITY_VALIDITY_GOOD);
IedServer_updateUTCTimeAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_AnIn4_t, currentTime);
IedServer_unlockDataModel(iedServer);
Thread_sleep(100);
}
/* stop MMS server - close TCP server socket and all client sockets */
IedServer_stop(iedServer);
/* Cleanup - free all resources */
IedServer_destroy(iedServer);
} /* main() */