libiec61850/demos/beaglebone/beagle_demo.c

/*
 *  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);

    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);

    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);

    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;
}

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);

	/* 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);


	IedServer_setControlHandler(iedServer, IEDMODEL_GenericIO_TIM_GAPC1_OpCntRs, (ControlHandler) controlHandlerForInt32Controls,
			IEDMODEL_GenericIO_TIM_GAPC1_OpCntRs);

	/* Initialize process values */
	MmsValue* DPCSO1_stVal = IedServer_getAttributeValue(iedServer, IEDMODEL_GenericIO_GGIO1_DPCSO1_stVal);
	MmsValue_setBitStringFromInteger(DPCSO1_stVal, 1); /* set DPC to OFF */

	/* 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) {


	        	if (ledStateValue)
	        		nextLedToggleTime = currentTime + ledOffTimeMs;
	        	else
	        		nextLedToggleTime = currentTime + ledOnTimeMs;

	            ledStateValue = !ledStateValue;

	            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() */