What is the difference between Codesys CAA_File lib and SysFile lib? When to use CAA_File instead of SysFile?
SysFile
Makes a direct call to the CODESYS Runtime component. This API is used by the CODESYS Runtime to download program / open programs ETC.
Its very optimized in the sense that every function does a very well define task.
All the functions here a very low level.
CAA_File,
Uses a standardized API (defined by the CAA Workgroup), focused on the IEC Programmer needs.
It takes a more high level approach, giving you extra functionality that will not find in SysFile (but you can implement it yourself).
At the end, CAA_File ends up calling SysFile.
Depending on your target, you might not be able to use SysFile. Linux / Windows devices usually come with all the components.
I would use SysFile only if I wanted to create my own library or if I wanted to have a very efficient process, or if I didn't require any special protection / features.
If I wanted to keep things simple I would use CAA_File.
Source: I have integrated CODESYS Runtime into custom embedded platforms.
Related
I have a Codesys Project which becomes more and more complex.
Now I’m wondering if there is a python library that lets me do the programming part, I’m usually doing with Structured Text via Python?
Thank you
A
If you were using the Beckhoff platform which is very similar to Codesys I would have advised you to look into the ADS interface which helps interface PLC's with user space programs.
For Codesys there is also a proprietary interface called the PLC-Handler but it's not free of cost.
Since you have to pay one way or the other the approach I suggest is to buy the MQTT-Client for Codesys and write a Python-Client with one of the freely available libraries like the one of the eclipse foundatation: https://www.eclipse.org/paho/index.php?page=clients/python/index.php
The advantage of this approach is that once you've written the user space client you can interface with all PLC brands, since every major PLC brand offers an MQTT-Client library which you can use to write a small command and control PLC-Library for your PLC's.
I am trying to create my own programming language but I am already thinking ahead a little.
Of course when I can compile a little program I won't have a Standart Library at that time,
and you'd have to create one yourself. Now take for example I'd like to add some functionality to print a string to the screen, I am pretty sure I'd have to do a few System Calls to the operating system to get this displayed.
So to the point: What would be the best way to interact with the Operating System?
Possibilities I came up with myself:
- Generate Object Files and link those to the (for example) C Standart Library
- Writing the files with embedded assembly language containing System Calls
I have a feeling there are better possibilities!
I hope you can help me,
Christian
EDIT: It's a compiled language I am creating!
You have basically two options, like you say yourself. You can link your standard library with the standard C library, so that the I/O functions in your standard library can use C functions. Alternatively you can make system calls to the operating system directly.
The second approach seems like it's going to be more work: The system calls will be different on each operating system, so you'll have to put a lot of work into porting your system. The system calls may not be well documented, causing many frustrations.
You could start by linking your standard library to the C standard library and worry about other aspects of your language for the moment. Later you can look into replacing the C functions you use with syscalls.
Stdin and stdout are pretty much the minimum - if you are using a Unix environment you can then gain access to they keyboard, command line and also pipe text in and out to files.
If you are writing a new language - then StdError may also be worth considering too!
I have integrated Lua with my ObjC code (iphone game). The setup was pretty easy, but now, I have a little problem with the bridging. I have googled for results, etc... and it seems there isn't anything that could work without modifications. I mean, I have checked luaobjc bridge (it seems pretty old and dicontinued), I heard about LuaCocoa but it seems not to work on iphone, and wax is too thick.
My needs are pretty spare, I just need to be able to call objc methods from lua and don't mind having to do extra work to make it work (I don't need a totally authomatic bridging system).
So, I have decided to build a little bridge myself based on this page http://anti-alias.me/?p=36. It has key information about how to accomplish what I need, but the tutorial is not completed and I have some doubts about how to deal with method overloading when called from lua, etc...
Do anybody know if there exist any working bridge between objc and lua on the iphone or if it could be so hard to complete the bridge the above site offers?
Any information will be welcomed.
Don't reinvent the wheel!
First, you are correct that luaobjc and some other variants are outdated. A good overview can be found on the LuaCocoa page. LuaCocoa is fine but apparently doesn't support iPhone development, so the only other choice is Wax. Both LuaCocoa and Wax are runtime bridges, which means that you can (in theory) access every Objective-C class and method in Lua at the expense of runtime performance.
For games and from my experience the runtime performance overhead is so significant that it doesn't warrant the use of any runtime binding library. From a perspective of why one would use a scripting language, both libraries defy the purpose of favoring a scripting language over a lower-level language: they don't provide a DSL solution - which means you're still going to write what is essentially Objective-C code but with a slightly different syntax, no runtime debugging support, and no code editing support in Xcode. In other words: runtime Lua binding is a questionable solution at best, and has lots of cons going against it. Runtime Lua bindings are particularly unsuited for fast-paced action games aiming at a constantly high framerate.
What you want is a static binding. Static bindings at a minimum require you to declare what kind of methods will be available in Lua code. Some binding libraries scan your header files, others require you to provide a special declaration file similar to a header file. Most binding libraries can use both approaches. The benefit is optimal runtime performance, and being able to actually design what classes, methods and variables Lua scripts have access to.
There are but 3 candidates to bind Lua code to an iPhone app. To be fair, there are a lot more but most have one or more crucial flaws or are simply not stable or for special purposes only, or simply don't work for iPhone apps. The candidates are:
tolua and tolua++
luabind
SWIG
Big disadvantage shared by all Lua static binding libraries: none of them can bind directly to Objective-C code. All require to have an additional C or C++ layer available that ultimately interfaces with your Objective-C code. This has to do with how Objective-C works as a language and how small a role it has played (so far) when it comes to embedding Lua in Objective-C apps.
I recently evaluated all three binding libraries and came to enjoy SWIG. It is very well documented but has a bit of a learning curve. But I believe that learning curve is warranted because SWIG can be used to combine nearly any programming and scripting language, it can be advantageous to know how to use SWIG for future projects. Plus, once you understand their definition file implementation it turns out to be very easy (especially when compared to luabind) and considerably more flexible than tolua.
OK, bit late to the party but in case others come late also to this post here's another approach to add to the choices available: hand-code your LUA APIs.
I did a lecture on this topic where I live coded some basic LUA bindings in an hour. Its not hard. From the lecture I made a set of video tutorials that shows how to get started.
The approach of using a bindings generation tool like SWIG is a good one if you already have exactly the APIs that you need to call written in Objective-C and it makes sense to bring all those same API's over into LUA.
The pros of the hand-coding approach:
your project just compiles with one standard Xcode target
your project is all C & Obj-C
the LUA is just data shipped along with your images
no fiddling with "do I check in generated code" to Git
you create LUA functions for just the things you want
you can easily have hosted scripts that live inside an object
the API is under your control and is well known
dont expose engine APIs to level building team/tools
The last point is just that if you have detail functions that only make sense at the engine level and you don't want to see those when coding the game play you'll need to tell SWIG not to bind those.
Steffens answer is perfect and this approach is just another option, that may suit some folks better depending on the project.
A repeating theme in my development work has been the use of or creation of an in-house plug-in architecture. I've seen it approached many ways - configuration files (XML, .conf, and so on), inheritance frameworks, database information, libraries, and others. In my experience:
A database isn't a great place to store your configuration information, especially co-mingled with data
Attempting this with an inheritance hierarchy requires knowledge about the plug-ins to be coded in, meaning the plug-in architecture isn't all that dynamic
Configuration files work well for providing simple information, but can't handle more complex behaviors
Libraries seem to work well, but the one-way dependencies have to be carefully created.
As I seek to learn from the various architectures I've worked with, I'm also looking to the community for suggestions. How have you implemented a SOLID plug-in architecture? What was your worst failure (or the worst failure you've seen)? What would you do if you were going to implement a new plug-in architecture? What SDK or open source project that you've worked with has the best example of a good architecture?
A few examples I've been finding on my own:
Perl's Module::Plugable and IOC for dependency injection in Perl
The various Spring frameworks (Java, .NET, Python) for dependency injection.
An SO question with a list for Java (including Service Provider Interfaces)
An SO question for C++ pointing to a Dr. Dobbs article
An SO question regarding a specific plugin idea for ASP.NET MVC
These examples seem to play to various language strengths. Is a good plugin architecture necessarily tied to the language? Is it best to use tools to create a plugin architecture, or to do it on one's own following models?
This is not an answer as much as a bunch of potentially useful remarks/examples.
One effective way to make your application extensible is to expose its internals as a scripting language and write all the top level stuff in that language. This makes it quite modifiable and practically future proof (if your primitives are well chosen and implemented). A success story of this kind of thing is Emacs. I prefer this to the eclipse style plugin system because if I want to extend functionality, I don't have to learn the API and write/compile a separate plugin. I can write a 3 line snippet in the current buffer itself, evaluate it and use it. Very smooth learning curve and very pleasing results.
One application which I've extended a little is Trac. It has a component architecture which in this situation means that tasks are delegated to modules that advertise extension points. You can then implement other components which would fit into these points and change the flow. It's a little like Kalkie's suggestion above.
Another one that's good is py.test. It follows the "best API is no API" philosophy and relies purely on hooks being called at every level. You can override these hooks in files/functions named according to a convention and alter the behaviour. You can see the list of plugins on the site to see how quickly/easily they can be implemented.
A few general points.
Try to keep your non-extensible/non-user-modifiable core as small as possible. Delegate everything you can to a higher layer so that the extensibility increases. Less stuff to correct in the core then in case of bad choices.
Related to the above point is that you shouldn't make too many decisions about the direction of your project at the outset. Implement the smallest needed subset and then start writing plugins.
If you are embedding a scripting language, make sure it's a full one in which you can write general programs and not a toy language just for your application.
Reduce boilerplate as much as you can. Don't bother with subclassing, complex APIs, plugin registration and stuff like that. Try to keep it simple so that it's easy and not just possible to extend. This will let your plugin API be used more and will encourage end users to write plugins. Not just plugin developers. py.test does this well. Eclipse as far as I know, does not.
In my experience I've found there are really two types of plug-in Architectures.
One follows the Eclipse model which is meant to allow for freedom and is open-ended.
The other usually requires plugins to follow a narrow API because the plugin will fill a specific function.
To state this in a different way, one allows plugins to access your application while the other allows your application to access plugins.
The distinction is subtle, and sometimes there is no distiction... you want both for your application.
I do not have a ton of experience with Eclipse/Opening up your App to plugins model (the article in Kalkie's post is great). I've read a bit on the way eclipse does things, but nothing more than that.
Yegge's properties blog talks a bit about how the use of the properties pattern allows for plugins and extensibility.
Most of the work I've done has used a plugin architecture to allow my app to access plugins, things like time/display/map data, etc.
Years ago I would create factories, plugin managers and config files to manage all of it and let me determine which plugin to use at runtime.
Now I usually just have a DI framework do most of that work.
I still have to write adapters to use third party libraries, but they usually aren't that bad.
One of the best plug-in architectures that I have seen is implemented in Eclipse. Instead of having an application with a plug-in model, everything is a plug-in. The base application itself is the plug-in framework.
http://www.eclipse.org/articles/Article-Plug-in-architecture/plugin_architecture.html
I'll describe a fairly simple technique that I have use in the past. This approach uses C# reflection to help in the plugin loading process. This technique can be modified so it is applicable to C++ but you lose the convenience of being able to use reflection.
An IPlugin interface is used to identify classes that implement plugins. Methods are added to the interface to allow the application to communicate with the plugin. For example the Init method that the application will use to instruct the plugin to initialize.
To find plugins the application scans a plugin folder for .Net assemblies. Each assembly is loaded. Reflection is used to scan for classes that implement IPlugin. An instance of each plugin class is created.
(Alternatively, an Xml file might list the assemblies and classes to load. This might help performance but I never found an issue with performance).
The Init method is called for each plugin object. It is passed a reference to an object that implements the application interface: IApplication (or something else named specific to your app, eg ITextEditorApplication).
IApplication contains methods that allows the plugin to communicate with the application. For instance if you are writing a text editor this interface would have an OpenDocuments property that allows plugins to enumerate the collection of currently open documents.
This plugin system can be extended to scripting languages, eg Lua, by creating a derived plugin class, eg LuaPlugin that forwards IPlugin functions and the application interface to a Lua script.
This technique allows you to iteratively implement your IPlugin, IApplication and other application-specific interfaces during development. When the application is complete and nicely refactored you can document your exposed interfaces and you should have a nice system for which users can write their own plugins.
I once worked on a project that had to be so flexible in the way each customer could setup the system, which the only good design we found was to ship the customer a C# compiler!
If the spec is filled with words like:
Flexible
Plug-In
Customisable
Ask lots of questions about how you will support the system (and how support will be charged for, as each customer will think their case is the normal case and should not need any plug-ins.), as in my experience
The support of customers (or
fount-line support people) writing
Plug-Ins is a lot harder than the
Architecture
Usualy I use MEF. The Managed Extensibility Framework (or MEF for short) simplifies the creation of extensible applications. MEF offers discovery and composition capabilities that you can leverage to load application extensions.
If you are interested read more...
In my experience, the two best ways to create a flexible plugin architecture are scripting languages and libraries. These two concepts are in my mind orthogonal; the two can be mixed in any proportion, rather like functional and object-oriented programming, but find their greatest strengths when balanced. A library is typically responsible for fulfilling a specific interface with dynamic functionality, whereas scripts tend to emphasise functionality with a dynamic interface.
I have found that an architecture based on scripts managing libraries seems to work the best. The scripting language allows high-level manipulation of lower-level libraries, and the libraries are thus freed from any specific interface, leaving all of the application-level interaction in the more flexible hands of the scripting system.
For this to work, the scripting system must have a fairly robust API, with hooks to the application data, logic, and GUI, as well as the base functionality of importing and executing code from libraries. Further, scripts are usually required to be safe in the sense that the application can gracefully recover from a poorly-written script. Using a scripting system as a layer of indirection means that the application can more easily detach itself in case of Something Bad™.
The means of packaging plugins depends largely on personal preference, but you can never go wrong with a compressed archive with a simple interface, say PluginName.ext in the root directory.
I think you need to first answer the question: "What components are expected to be plugins?"
You want to keep this number to an absolute minimum or the number of combinations which you must test explodes. Try to separate your core product (which should not have too much flexibility) from plugin functionality.
I've found that the IOC (Inversion of Control) principal (read springframework) works well for providing a flexible base, which you can add specialization to to make plugin development simpler.
You can scan the container for the "interface as a plugin type advertisement" mechanism.
You can use the container to inject common dependencies which plugins may require (i.e. ResourceLoaderAware or MessageSourceAware).
The Plug-in Pattern is a software pattern for extending the behaviour of a class with a clean interface. Often behaviour of classes is extended by class inheritance, where the derived class overwrites some of the virtual methods of the class. A problem with this solution is that it conflicts with implementation hiding. It also leads to situations where derived class become a gathering places of unrelated behaviour extensions. Also, scripting is used to implement this pattern as mentioned above "Make internals as a scripting language and write all the top level stuff in that language. This makes it quite modifiable and practically future proof". Libraries use script managing libraries. The scripting language allows high-level manipulation of lower level libraries. (Also as mentioned above)
Is there a general procedure for programming extensibility capability into your code?
I am wondering what the general procedure is for adding extension-type capability to a system you are writing so that functionality can be extended through some kind of plugin API rather than having to modify the core code of a system.
Do such things tend to be dependent on the language the system was written in, or is there a general method for allowing for this?
I've used event-based APIs for plugins in the past. You can insert hooks for plugins by dispatching events and providing access to the application state.
For example, if you were writing a blogging application, you might want to raise an event just before a new post is saved to the database, and provide the post HTML to the plugin to alter as needed.
This is generally something that you'll have to expose yourself, so yes, it will be dependent on the language your system is written in (though often it's possible to write wrappers for other languages as well).
If, for example, you had a program written in C, for Windows, plugins would be written for your program as DLLs. At runtime, you would manually load these DLLs, and expose some interface to them. For example, the DLLs might expose a gimme_the_interface() function which could accept a structure filled with function pointers. These function pointers would allow the DLL to make calls, register callbacks, etc.
If you were in C++, you would use the DLL system, except you would probably pass an object pointer instead of a struct, and the object would implement an interface which provided functionality (accomplishing the same thing as the struct, but less ugly). For Java, you would load class files on-demand instead of DLLs, but the basic idea would be the same.
In all cases, you'll need to define a standard interface between your code and the plugins, so that you can initialize the plugins, and so the plugins can interact with you.
P.S. If you'd like to see a good example of a C++ plugin system, check out the foobar2000 SDK. I haven't used it in quite a while, but it used to be really well done. I assume it still is.
I'm tempted to point you to the Design Patterns book for this generic question :p
Seriously, I think the answer is no. You can't write extensible code by default, it will be both hard to write/extend and awfully inefficient (Mozilla started with the idea of being very extensible, used XPCOM everywhere, and now they realized it was a mistake and started to remove it where it doesn't make sense).
what makes sense to do is to identify the pieces of your system that can be meaningfully extended and support a proper API for these cases (e.g. language support plug-ins in an editor). You'd use the relevant patterns, but the specific implementation depends on your platform/language choice.
IMO, it also helps to use a dynamic language - makes it possible to tweak the core code at run time (when absolutely necessary). I appreciated that Mozilla's extensibility works that way when writing Firefox extensions.
I think there are two aspects to your question:
The design of the system to be extendable (the design patterns, inversion of control and other architectural aspects) (http://www.martinfowler.com/articles/injection.html). And, at least to me, yes these patterns/techniques are platform/language independent and can be seen as a "general procedure".
Now, their implementation is language and platform dependend (for example in C/C++ you have the dynamic library stuff, etc.)
Several 'frameworks' have been developed to give you a programming environment that provides you pluggability/extensibility but as some other people mention, don't get too crazy making everything pluggable.
In the Java world a good specification to look is OSGi (http://en.wikipedia.org/wiki/OSGi) with several implementations the best one IMHO being Equinox (http://www.eclipse.org/equinox/)
Find out what minimum requrements you want to put on a plugin writer. Then make one or more Interfaces that the writer must implement for your code to know when and where to execute the code.
Make an API the writer can use to access some of the functionality in your code.
You could also make a base class the writer must inherit. This will make wiring up the API easier. Then use some kind of reflection to scan a directory, and load the classes you find that matches your requirements.
Some people also make a scripting language for their system, or implements an interpreter for a subset of an existing language. This is also a possible route to go.
Bottom line is: When you get the code to load, only your imagination should be able to stop you.
Good luck.
If you are using a compiled language such as C or C++, it may be a good idea to look at plugin support via scripting languages. Both Python and Lua are excellent languages that are used to script a large number of applications (Civ4 and blender use Python, Supreme Commander uses Lua, etc).
If you are using C++, check out the boost python library. Otherwise, python ships with headers that can be used in C, and does a fairly good job documenting the C/python API. The documentation seemed less complete for Lua, but I may not have been looking hard enough. Either way, you can offer a fairly solid scripting platform without a terrible amount of work. It still isn't trivial, but it provides you with a very good base to work from.