module controller

Generic controller functionality.

This module holds the controller factory and I/O wrapper classes for use by both the programmer and the library.

• Controller: the controller base class from which every controller version inherits
• IOHandler: handle the I/O wrapper classes and state variables for a task
• IO: base class for an I/O interface, child classes: DI, DO, AI, AO, PT, NI, DIO, AIO

Global Variables

• LOG_FILE

class IO

Generic I/O superclass to store interface id.

method __init__

__init__(id: int, module: str = '')

Save interface and module numbers.

id: interface number module: module number

class DI

method __init__

__init__(id: int, module: str = '')

Save interface and module numbers.

id: interface number module: module number

class DO

method __init__

__init__(id: int, module: str = '')

Save interface and module numbers.

id: interface number module: module number

class AI

method __init__

__init__(id: int, module: str = '')

Save interface and module numbers.

id: interface number module: module number

class AO

method __init__

__init__(id: int, module: str = '')

Save interface and module numbers.

id: interface number module: module number

class NI

method __init__

__init__(id: int, module: str = '')

Save interface and module numbers.

id: interface number module: module number

class PT

method __init__

__init__(id: int, module: str = '')

Save interface and module numbers.

id: interface number module: module number

class DIO

method __init__

__init__(id: int, type: int, module: str = '')

class AIO

method __init__

__init__(id: int, type: int, module: str = '')

class Controller

The controller interface and basic functionality.

Needs to be implemented by every PLC added to the library. Each I/O function takes a module parameter referring to the controller module. It is forwarded to the controller specific _get_data and _set_data functions.

• digitalWrite: write the digital outputs
• analogWrite: write the analog outputs
• digitalRead: read the digital inputs
• analogRead: read the analog inputs
• tempRead: read the temperature inputs
• calibrateIn, calibrateOut, calibrateTemp: calibrate analog values
• read_inputs: read and store controller inputs
• write_outputs: write stored values to controller outputs
• reset: reset all controller outputs

method __init__

__init__()

method analogRead

analogRead(input: int, module: str) → int | bool

Read analog input and return calibrated value in mV.

Return False if the analog input does not exist.

input: Analog input to be read

method analogWrite

analogWrite(output: int, voltage: int, module: str) → bool

Switch the output to the specified voltage.

Return False if analog output does not exist, else return True.

output: Analog output to be switched voltage: Voltage which the selected output should be set to

method calibrateIn

calibrateIn()

method calibrateOut

calibrateOut()

method calibrateTemp

calibrateTemp()

method digitalRead

digitalRead(input: int, module: str) → int

Read the specified digital input and return the value as boolean.

input: Digital input to be read

method digitalWrite

digitalWrite(output: int, value: int, module: str) → bool

Switch the output to the specified value.

output: Digital output to be switched value: Value which the selected output should be set to Return True if value is written, False if out does not exist.

method read_inputs

read_inputs()

Fill the input image with actual data.

method reset

reset()

Reset outputs and close any file descriptors.

method tempRead

tempRead(input: int, module: str) → int

Read PT input and return calibrated value in °C.

Return False if the PT input does not exist.

input: PT input to be read

method write_outputs

write_outputs()

Actually write the outputs from the output image.

class IOHandler

Handle the I/O wrapper classes.

• get_input_image: get an input image (variables -> values) for a task cycle
• process_output_image: process output variables of the cycle function and write outputs
• update_timers: update state of running timers if the program was stopped for a while
• read: read from a specific input interface
• write: write to a specific output interface

method __init__

__init__(
    plc_object: Controller,
    input_mapping: dict[str, Any],
    var_mapping: dict[str, Any]
)

method get_input_image

get_input_image() → dict[str, Any]

method process_output_image

process_output_image(output_image: dict[str, Any]) → None

method read

read(io: IO)

method update_timers

update_timers(stop_duration: int)

Update start time of timer fbs, as program execution was paused.

method write

write(io: IO, value: int | bool)

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