48 releases
new 0.1.48 | Apr 24, 2024 |
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0.1.47 | Apr 21, 2024 |
0.1.23 | Mar 31, 2024 |
#126 in Concurrency
4,166 downloads per month
Used in roboplc-derive
195KB
5K
SLoC
RoboPLC
RoboPLC is an ultimate pack of a framework and tools for creating real-time micro-services, PLCs and industrial-grade robots in Rust.
The crate is designed to let using all its components both separately and together.
RoboPLC is a part of EVA ICS industrial automation platform.
Technical documentation
Available at https://info.bma.ai/en/actual/roboplc/index.html
Examples
Can be found at https://github.com/roboplc/roboplc/tree/main/examples
DataBuffer
buf::DataBuffer
covers a typical data exchange pattern when data
frames are collected (cached) from a single or multiple producers, then taken
by a single consumer in bulk and submitted, e.g. into a local database or into
an external bus.
-
always has got a fixed capacity
-
thread-safe out-of-the-box
-
frames may be forcibly pushed, overriding the previous ones, like in a ring-buffer.
Hub
hub::Hub
implements a data-hub (in-process pub/sub) model, when multiple
clients (usually thread workers) exchange data via a single virtual bus instead
of using direct channels.
This brings some additional overhead into data exchange, however makes the architecture significantly clearer, lowers code support costs and brings additional features.
-
classic pub/sub patterns with no data serialization overhead
-
based on
pchannel
which allows to mix different kinds of data and apply additional policies if required -
a fully passive model with no "server" thread.
pdeque and pchannel
A policy-based deque pdeque::Deque
is a component to build policy-based
channels.
pchannel
is a channel module, based on the policy-based deque.
Data policies supported:
- Always a frame is always delivered
- Latest a frame is always delivered, previous are dropped if no room (acts like a ring-buffer)
- Optional a frame can be skipped if no room
- Single a frame must be delivered only once (the latest one)
- SingleOptional a frame must be delivered only once (the latest one) and is optional
Additionally, components support ordering by data priority and automatically drop expired data if the data type has got an expiration marker method implemented.
pchannel
is a real-time safe channel, mean it may be not so fast as popular
channel implementations (it may be even slower than channels provided by
std::sync::mpsc
). But it is completely safe for real-time applications,
mean there are no spin loops, data is always delivered with minimal latency and
threads do not block each other.
Real-time
thread_rt::Builder
provides a thread builder component, which extends the
standard thread builder with real-time capabilities: scheduler policies and CPU
affinity (Linux only).
supervisor::Supervisor
provides a lightweight task supervisor to manage
launched threads.
Controller
controller::Controller
is the primary component of mixing up all the
functionality together.
I/O
[io
] module provides a set of tools to work with field devices and SCADA
buses.
Currently supported:
-
Modbus (RTU/TCP) via
io::modbus
(Modbus client/master example, Modbus server/slave example), requiresmodbus
crate feature. -
Raw UDP in/out via
io::raw_udp
(Raw UDP in/out example) -
EVA ICS EAPI in/out via
io::eapi
(EVA ICS example), requireseapi
crate feature.
Using on other platforms
The components thread_rt
, supervisor
and controller
can work on
Linux machines only.
Dependencies
~8–44MB
~705K SLoC