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https://github.com/pjkundert/cpppo
Communications Protocol Python Parser and Originator -- EtherNet/IP CIP
https://github.com/pjkundert/cpppo
Last synced: 3 months ago
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Communications Protocol Python Parser and Originator -- EtherNet/IP CIP
- Host: GitHub
- URL: https://github.com/pjkundert/cpppo
- Owner: pjkundert
- License: other
- Created: 2013-03-15T17:22:16.000Z (over 11 years ago)
- Default Branch: master
- Last Pushed: 2023-01-24T04:25:50.000Z (almost 2 years ago)
- Last Synced: 2024-07-19T02:33:17.991Z (4 months ago)
- Language: Python
- Homepage: https://hardconsulting.com/products/6-cpppo-enip-api
- Size: 12 MB
- Stars: 330
- Watchers: 43
- Forks: 108
- Open Issues: 56
-
Metadata Files:
- Readme: README.org
- Changelog: history/__init__.py
- Funding: .github/FUNDING.yml
- License: COPYING
Awesome Lists containing this project
- awesome-industrial-protocols - cpppo - Communications Protocol Python Parser and Originator -- EtherNet/IP CIP (Ethernet/IP / Tools)
README
#+OPTIONS: ^:nil # Disable sub/superscripting with bare _; _{...} still works
* Comm. Protocol Python Parser and Originator
Cpppo (pronounced 'c'+3*'p'+'o' in Python) is used to implement binary
communications protocol parsers. The protocol's communication elements are
described in terms of state machines which change state in response to input
events, collecting the data and producing output data artifacts.
** Installing
Cpppo depends on several Python packages:
| Package | For? | Description |
|--------------------+----------------+----------------------------------------------------------|
| greenery>=2.0,<3.0 | all | Regular Expression parsing and state machinery library |
| ipaddress | all | IP address manipulation |
| argparse | all (<2.7) | Command-line argument parsing |
| configparser | all (<3.0) | Parsing for CIP Object configuration files |
| pytz>2014.7 | history | The Python time-zone library |
| tzlocal>=1.1.1 | history | Access to system's local timezone (on Mac, Windows) |
| pymodbus>=1.2.0 | remote | Modbus/TCP support for polling Schneider compatible PLCs |
| pytest | all tests | A Python unit-test framework |
| web.py>=0.37 | web API (<3.0) | The web.py HTTP web application framework (optional) |
| minimalmodbus | serial tests | A Modbus implementation, used for testing Modbus serial |
To install 'cpppo' and its required dependencies using pip (recommended):
: $ pip install cpppo
*** Installing from source
Clone the repo by going to your preferred source directory and using:
: $ git clone [email protected]:pjkundert/cpppo.git
You can then install from the provided setuptools-based setup.py installer:
: $ cd cpppo
: $ python setup.py install
If you do not install using =pip install cpppo= or =python setup.py install=
(recommended), you will need to install these dependencies manually. To
install all required and optional Python modules, use:
: pip install -r requirements.txt
: pip install -r requirements-optional.txt
For Python2, you will also need to =pip install configparser= manually.
*** Python Version and OS Support
Cpppo is implemented and fully tested on both Python 2 (2.6 and 2.7), and
Python 3 (3.3 to 3.5). The EtherNet/IP CIP protocol implementation is
fully tested and widely used in both Python 2 and 3.
Some of cpppo's modules are not (yet) fully supported in both versions:
- The pymodbus module does not support Python 3, so Modbus/TCP support for
polling remote PLCs is only available for Python 2.
- Greenery supports both Python 2 and 3, but doesn't provide meaningful
Unicode (UTF-8) support in Python 2, so regular expression based DFAs
dealing in UTF-8 are only supported for Python 3.
Linux (native or Docker containerized), Mac and Windows OSs are supported.
However, Linux or Mac are recommended for stability, performance and ease of
use. If you need to use Windows, it is recommended that you install a
usable Terminal application such as [[https://github.com/Maximus5/ConEmu][ConEmu]].
* Protocols
The protocols implemented are described here.
** EtherNet/IP CIP Controller Communications Simulator/Client
A subset of the EtherNet/IP client and server protocol is implemented, and a
simulation of a subset of the Tag communications capability of a
Allen-Bradley ControlLogix 5561 Controller is provided. It is capable of
simulating ControlLogix Tag access, via the Read/Write Tag [Fragmented]
services.
Only EtherNet/IP "Unconnected" type connections are supported. These are
(somewhat anomalously) a persistent TCP/IP connection from a client to a
single EtherNet/IP device (such as a *Logix Controller), which allow the
client to issue a sequence of CIP service requests (commands) to be sent to
arbitrary CIP objects resident on the target device. Cpppo does not
implement "Connected" requests (eg. those typically used between *Logix PLCs,
in an industrial LAN environment).
A Tag is simply a shortcut to a specific EtherNet/IP CIP Object Instance and
Attribute. Instead of the Client needing to know the specific Instance and
Attribute numbers, the more easily remembered and meaningful Tag may be supplied
in the request path.
*** EtherNet/IP Controller Communications Simulator
To run a simulation of a subset of a ControlLogix(tm) Controller
communications, with the array Tags 'SCADA' and 'TEXT' and scalar Tag 'FLOAT'
for you to read/write, run =python -m cpppo.server.enip= or =enip_server=:
#+BEGIN_EXAMPLE
enip_server --print SCADA=INT[1000] TEXT=SSTRING[100] FLOAT=REAL
#+END_EXAMPLE
Each Tag references a specific CIP Class/Instance/Attribute, which can be
specified, if you desire (eg. to use numeric CIP addressing, typically
required for Get/Set Attribute Single requests):
#+BEGIN_EXAMPLE
enip_server --print SCADA@22/1/1=INT[1000] TEXT@22/1/2=SSTRING[100] FLOAT@22/1/3=REAL
#+END_EXAMPLE
(See =cpppo/server/enip/poll_test.py='s =main= method (at the end of the
file) for an example of how to implement a completely custom set of CIP
Objects and Attributes, to simulate some aspects of some specific device (in
this case, an Allen-Bradley PowerFlex 750).
The following options are available when you execute the cpppo.server.enip module:
Specify a different local interface and/or port to bind to (default is
=:44818=, indicating all interfaces and port 44818):
: -a|--address [][:]
Change the verbosity (supply more to increase further):
: -v[vv...]|--verbose
Specify a constant or variable delay to apply to every response, in fractional seconds:
: -d|--delay #.#[-#.#]
Specify an HTTP web server interface and/or port, if a web API is desired
(just ':' will enable the web API on defaults :80, or whatever
interface was specified for --address):
: -w|--web []:[]
To send log output to a file (limited to 10MB, rotates through 5 copies):
: -l|--log
To print a summary of PLC I/O to stdout:
: -p|--print
: --no-print (the default)
To specify and check for a specific =route_path= in incoming Unconnected Send requests, provide
one in "/" or JSON format; the default is to ignore the specified =route_path=
(accepting any =route_path=). If specified, it must be a list containing one dict, specifying a
=port= and =link= value. The =port= is either an 8- or 16-bit number (eg. port 1 typically
indicates the local backplane). The =link= is typically in the range 0-15 (eg. a "slot"
number), or is an IP address (eg. "1.2.3.4"). To specify that no =route_path= is accepted
(ie. only an empty =route_path= is allowed, ie. a Simple request), use 0 or false:
: --route-path '[{"port": 1, "link": 0]' # backplane, slot 0
: --route-path 1/0 # ''
: --route-path '[{"port": 2, "link": "192.168.1.2"}]' # { port 2, link 192.168.1.2 }
: --route-path 2/192.168.1.2 # ''
: --route-path 1/0/2/192.168.1.2 # { backplane, slot 0 }, { port 2, link 192.168.1.2 }
: --route-path false # No route_path accepted
Note that incoming "Simple" requests to a full-featured "Routing" simulator configured with a
route path *will be accepted*; the specified target CIP Object(s) must exist in the target
simulator.
Alternatively, to easily specify acceptance of no routing Unconnected Send
encapsulation (eg. to simulate simple non-routing CIP devices such as
Rockwell MicroLogix or A-B PowerFlex):
: -S|--simple
You may specify as many tags as you like on the command line; at least one
is required:
: =[] # eg. SCADA=INT[1000]
You may specifiy a CIP Class, Instance and Attribute number for the Tag to be
associated with:
: Motor_Velocity@0x93/3/10=REAL
The available types are SINT (8-bit), INT (16-bit), DINT (32-bit) integer,
and REAL (32-bit float). BOOL (8-bit, bit #0), SSTRING and STRING are also
supported.
*** EtherNet/IP Controller Object Configuration
To replace the default values contained by default in the standard CIP
Objects (eg. the CIP Identity, TCP/IP Objects), place a =cpppo.cfg= file in
=/etc= or (on Windows) =%APPDATA%=, or a =.cpppo.cfg= in your home
directory, or a =cpppo.cfg= file in the current working directory where your
application is run.
For example, to change the simulated EtherNet/IP CIP Identity Object
'Product Name' (the SSTRING at Class 0x01, Instance 1, Attribute 7), and the
CIP TCP/IP Object Interface Configuration and Host Name, create a
=cpppo.cfg= file containing:
#+BEGIN_EXAMPLE
[Identity]
# Generally, strings are not quoted
Product Name = 1756-L61/B LOGIX5561
[TCPIP]
# However, some complex structures require JSON configuration:
Interface Configuration = {
"ip_address": "192.168.0.201",
"network_mask": "255.255.255.0",
"dns_primary": "8.8.8.8",
"dns_secondary": "8.8.4.4",
"domain_name": "example.com"
}
Host Name = controller
#+END_EXAMPLE
See [[https://github.com/pjkundert/cpppo/blob/master/cpppo.cfg]] for details on
the file format ([[https://docs.python.org/3/library/configparser.html]]).
Place this file in one of the above-mentioned locations, and run:
#+BEGIN_EXAMPLE
$ python -m cpppo.server.enip -v
01-20 07:01:29.125 ... NORMAL main Loaded config files: ['cpppo.cfg']
...
#+END_EXAMPLE
Use the new EtherNet/IP CIP =cpppo.server.enip.poll= API to poll the
Identity and TCPIP Objects and see the results:
#+BEGIN_EXAMPLE
$ python3 -m cpppo.server.enip.poll -v TCPIP Identity
01-20 07:04:46.253 ... NORMAL run Polling begins \
via: 1756-L61/C LOGIX5561 via localhost:44818[850764823]
TCPIP: [2, 48, 0, [{'class': 246}, {'instance': 1}], '192.168.0.201', \
'255.255.255.0', '0.0.0.0', '8.8.8.8', '8.8.4.4', 'example.com', 'controller']
Identity: [1, 15, 54, 2836, 12640, 7079450, '1756-L61/C LOGIX5561', 255]
#+END_EXAMPLE
*** Routing via =route_path= to other CIP Devices
A very basic facility for routing incoming CIP requests with complex =route_path= values is
available in the Cpppo EtherNet/IP CIP Communications Simulator. By default, the Simulator
responds to incoming requests with *any* route_path (basically, it ignores the value).
If you specify =--route-path=1/0= on the command-line, it will only respond to requests with
exactly the =route_path= equal to '{"port": 1, "link": 0}' (backplane, slot 0). Every other
CIP reqeuest with some other =route_path= value will be responded to with an error status.
If you wish to configure the allowable =route_path= in the =cpppo.cfg= file, use "Route Path =
...". Furthermore, if you want to route any other valid CIP request by the first element in
its =route_path=, specify a JSON mapping in the configuration file's "Route = { ...",
specifying each =route_path= by / (link ranges are handled), and the : it
should be routed to:
#+BEGIN_EXAMPLE
[UCMM]
Route Path = 1/0
Route = {
"1/1-15": "localhost:44819"
}
#+END_EXAMPLE
This example (see =cpppo/cpppo-router.cfg= and =cpppo/cpppo.cfg= for more details) accepts and
handles CIP requests to =route_path= port 1, link 0 (backplane slot 0), and routes requests to
all other backplane slots to the EtherNet/IP CIP simulator on localhost port 44819. Any valid
=route_path= is allowed; for example, "2/1.2.3.4" would route requests with a =route_path=
segment specifying port 2, link "1.2.3.4".
When the request is forwarded, the first =route_path= segment is removed, and the remaining
segments (if any) are forwarded. If no more =route_path= segments are left, then the request
is forwarded as a "Simple" CIP request (with no =route_path= or =send_path= configured, as for
a simple non-routing CIP device such as a MicroLogix or A-B Powerflex, etc.)
*** EtherNet/IP Controller I/O Customization
If you require access to the read and write I/O events streaming from
client(s) to and from the EtherNet/IP CIP Attributes hosted in your
simulated controller, you can easily make a custom cpppo.server.enip.device
Attribute implementation which will receive all PLC Read/Write Tag
[Fragmented] request data.
We provide two examples; one which records a history of all read/write
events to each Tag, and one which connects each Tag to the current
temperature of the city with the same name as the Tag.
**** Record Tag History
For example purposes, we have implemented the cpppo.server.enip.historize
module which simulates an EtherNet/IP CIP device, intercepts all I/O (and
exceptions) and writes it to the file specified in the *first* command-line
argument to the module. It uses =cpppo.history.timestamp=, and requires
that the Python =pytz= module be installed (via =pip install pytz=), which
also requires that a system timezone be set.
This example *captures the first command line argument* as a file name; all
subsequent arguments are the same as described for the EtherNet/IP
Controller Communications Simulator, above:
#+BEGIN_EXAMPLE
$ python -m cpppo.server.enip.historize some_file.hst Tag_Name=INT[1000] &
$ tail -f some_file.txt
# 2014-07-15 22:03:35.945: Started recording Tag: Tag_Name
2014-07-15 22:03:44.186 ["Tag_Name", [0, 3]] {"write": [0, 1, 2, 3]}
...
#+END_EXAMPLE
(in another terminal)
#+BEGIN_EXAMPLE
$ python -m cpppo.server.enip.client Tag_Name[0-3]=[0,1,2,3]
#+END_EXAMPLE
You can examine the code in =cpppo/server/enip/historize.py= to see how to
easily implement your own customization of the EtherNet/IP CIP Controller
simulator.
If you invoke the 'main' method provided by cpppo.server.enip.main directly,
all command-line args will be parsed, and the EtherNet/IP service will not
return control until termination. Alternatively, you may start the service
in a separate threading.Thread and provide it with a list of configuration
options. Note that each individual EtherNet/IP Client session is serviced
by a separate Thread, and thus all method invocations arriving at your
customized Attribute object need to process data in a Thread-safe fashion.
**** City Temperature Tag
In this example, we intercept read requests to the Tag, and look up the
current temperature of the city named with the Tag's name. This example is
simple enough to include here (see =cpppo/server/enip/weather.py=):
#+BEGIN_EXAMPLE python
import sys, logging, json
try: # Python2
from urllib2 import urlopen
from urllib import urlencode
except ImportError: # Python3
from urllib.request import urlopen
from urllib.parse import urlencode
from cpppo.server.enip import device, REAL
from cpppo.server.enip.main import main as enip_main
class Attribute_weather( device.Attribute ):
OPT = {
"appid": "078b5bd46e99c890482fc1252e9208d5",
"units": "metric",
"mode": "json",
}
URI = "http://api.openweathermap.org/data/2.5/weather"
def url( self, **kwds ):
"""Produce a url by joining the class' URI and OPTs with any keyword parameters"""
return self.URI + "?" + urlencode( dict( self.OPT, **kwds ))
def __getitem__( self, key ):
"""Obtain the temperature of the city's matching our Attribute's name, convert
it to an appropriate type; return a value appropriate to the request."""
try:
# eg. "http://api.openweathermap.org/...?...&q=City Name"
data = urlopen( self.url( q=self.name )).read()
if type( data ) is not str: # Python3 urlopen.read returns bytes
data = data.decode( 'utf-8' )
weather = json.loads( data )
assert weather.get( 'cod' ) == 200 and 'main' in weather, \
weather.get( 'message', "Unknown error obtaining weather data" )
cast = float if isinstance( self.parser, REAL ) else int
temperature = cast( weather['main']['temp'] )
except Exception as exc:
logging.warning( "Couldn't get temperature for %s via %r: %s",
self.name, self.url( q=self.name ), exc )
raise
return [ temperature ] if self._validate_key( key ) is slice else temperature
def __setitem__( self, key, value ):
raise Exception( "Changing the weather isn't that easy..." )
sys.exit( enip_main( attribute_class=Attribute_weather ))
#+END_EXAMPLE
By providing a specialized implementation of device.Attribute's =__getitem__=
(which is invoked each time an Attribute is accessed), we arrange to query
the city's weather at the given URL, and return the current temperature.
The data must be converted to a Python type compatible with the eventual
CIP type (ie. a float, if the CIP type is REAL). Finally, it must be
returned as a sequence if the =__getitem__= was asked for a Python =slice=;
otherwise, a single indexed element is returned.
Of course, =__setitem__= (which would be invoked whenever someone wishes to
change the city's temperature) would have a much more complex
implementation, the details of which are left as an exercise to the
reader...
*** EtherNet/IP Controller Client
Cpppo provides an advanced EtherNet/IP CIP Client =enip_client=, for
processing "Unconnected" (or "Explicit") requests via TPC/IP or UDP/IP
sessions to CIP devices -- either Controllers (eg. Rockwell ControlLogix,
CompactLogix) which can "route" CIP requests, or w/ the =-S= option for
access to simple CIP devices (eg. Rockwell MicroLogix, A-B PowerFlex, ...)
which do not understand the "routing" CIP Unconnected Send encapsulation
required by the more advanced "routing" Controllers.
Cpppo does not presently implement the CIP "Forward Open" request, nor the
resulting "Connected" or "Implicit" I/O requests, typically used in direct
PLC-to-PLC communications. Only the TCP/IP "Unconnected"/"Explicit"
requests that pass over the initially created and CIP Registered session are
implemented.
The =python -m cpppo.server.enip.client= module entry-point or API (or the
=enip_client= command ) can Register and issue a stream of "Unconnected"
requests to the Controller, such as Get/Set Attribute or (by default) *Logix
Read/Write Tag (optionally Fragmented) requests. The
=cpppo.server.enip.get_attribute= module entry-point or API and the
=enip_get_attribute= command defaults to use Get/Set Attribute operations.
It is critical to use the correct API with the correct address type and
options, to achieve communications with your device. Some devices can use
"Unconnected" requests, while others cannot. The MicroLogix is such an
example; you may use "Unconnected" requests to access basic CIP Objects
(such as Identity), but not much else. Most other devices can support
"Unconnected" access to their data. Some devices can only perform basic CIP
services such as "Get/Set Attribute Single/All" using numeric CIP Class,
Instance and Attribute addressing, while others support the *Logix
"Read/Write Tag [Fragmented]" requests using Tag names. You need to know
(or experiment) to discover their capability. Still others such as the
CompactLogix and ControlLogix Controllers can support "routing" requests;
many others require the =-S= option to disable this functionality, or they
will respond with an error status.
To issue Read/Write Tag [Fragmented] requests, by default to a "routing"
device (eg. ControlLogix, CompactLogix), here to a CIP =INT= array Tag called
=SCADA=, and a CIP =SSTRING= (Short String) array Tag called =TEXT=:
: $ python -m cpppo.server.enip.client -v --print \
: SCADA[1]=99 SCADA[0-10] 'TEXT[1]=(SSTRING)"Hello, world!"' TEXT[0-3]
To use only Get Attribute Single/All requests (suitable for simpler devices,
usually also used with the =-S= option, for no routing path), use this API
instead (use the =--help= option to see their options, which are quite
similar to =cpppo.server.enip.client= and =enip_client=):
: $ python -m cpppo.server.enip.get_attribute -S ...
All data is read/written as arrays of =SINT=; however, if you specify a data
type for writing data, we will convert it to an array of =SINT= for you. For example,
if you know that you are writing to a =REAL= Attribute:
#+BEGIN_EXAMPLE
$ python -m cpppo.server.enip -v 'Motor_Velocity@0x93/3/10=REAL' # In another terminal...
$ python -m cpppo.server.enip.get_attribute '@0x93/3/10=(REAL)1.0' '@0x93/3/10'
Sat Feb 20 08:24:13 2016: 0: Single S_A_S @0x0093/3/10 == True
Sat Feb 20 08:24:13 2016: 1: Single G_A_S @0x0093/3/10 == [0, 0, 128, 63]
$ python -m cpppo.server.enip.client --print Motor_Velocity
Motor_Velocity == [1.0]: 'OK'
#+END_EXAMPLE
To access Get Attribute data with CIP type conversion, use
=cpppo.server.enip.get_attribute='s =proxy= classes, instead.
Specify a different local interface and/or port to connect to (default is :44818):
: -a|--address [][:]
On Windows systems, you must specify an actual interface. For example, if you started the
cpppo.server.enip simulator above (running on the all interfaces by default), use =--address
localhost=.
Select the UDP/IP network protocol and optional "broadcast" support.
Generally, EtherNet/IP CIP devices support UDP/IP only for some basic
requests such as List Services, List Identity and List Interfaces:
: -u|--udp
: -b|--broadcast
Send List Identity/Services/Interfaces requests:
: -i|--list-identity
: -s|--list-services
: -I|--list-interfaces
For example, to find the Identity of all of the EtherNet/IP CIP devices on a
local LAN with broadcast address 192.168.1.255 (that respond to broadcast
List Identity via UDP/IP):
#+BEGIN_EXAMPLE
$ python -m cpppo.server.enip.client --udp --broadcast --list-identity -a 192.168.1.255
List Identity 0 from ('192.168.1.5', 44818): {
"count": 1,
"item[0].length": 58,
"item[0].identity_object.sin_addr": "192.168.1.5",
"item[0].identity_object.status_word": 48,
"item[0].identity_object.vendor_id": 1,
"item[0].identity_object.product_name": "1769-L18ER/A LOGIX5318ER",
"item[0].identity_object.sin_port": 44818,
"item[0].identity_object.state": 3,
"item[0].identity_object.version": 1,
"item[0].identity_object.device_type": 14,
"item[0].identity_object.sin_family": 2,
"item[0].identity_object.serial_number": 1615052645,
"item[0].identity_object.product_code": 154,
"item[0].identity_object.product_revision": 2837,
"item[0].type_id": 12
}
List Identity 1 from ('192.168.1.4', 44818): {
"count": 1,
"item[0].length": 63,
"item[0].identity_object.sin_addr": "192.168.1.4",
"item[0].identity_object.status_word": 48,
"item[0].identity_object.vendor_id": 1,
"item[0].identity_object.product_name": "1769-L23E-QBFC1 Ethernet Port",
"item[0].identity_object.sin_port": 44818,
"item[0].identity_object.state": 3,
"item[0].identity_object.version": 1,
"item[0].identity_object.device_type": 12,
"item[0].identity_object.sin_family": 2,
"item[0].identity_object.serial_number": 3223288659,
"item[0].identity_object.product_code": 191,
"item[0].identity_object.product_revision": 3092,
"item[0].type_id": 12
}
List Identity 2 from ('192.168.1.3', 44818): {
"count": 1,
"item[0].length": 53,
"item[0].identity_object.sin_addr": "192.168.1.3",
"item[0].identity_object.status_word": 4,
"item[0].identity_object.vendor_id": 1,
"item[0].identity_object.product_name": "1766-L32BXBA A/7.00",
"item[0].identity_object.sin_port": 44818,
"item[0].identity_object.state": 0,
"item[0].identity_object.version": 1,
"item[0].identity_object.device_type": 14,
"item[0].identity_object.sin_family": 2,
"item[0].identity_object.serial_number": 1078923367,
"item[0].identity_object.product_code": 90,
"item[0].identity_object.product_revision": 1793,
"item[0].type_id": 12
}
List Identity 3 from ('192.168.1.2', 44818): {
"count": 1,
"item[0].length": 52,
"item[0].identity_object.sin_addr": "192.168.1.2",
"item[0].identity_object.status_word": 4,
"item[0].identity_object.vendor_id": 1,
"item[0].identity_object.product_name": "1763-L16DWD B/7.00",
"item[0].identity_object.sin_port": 44818,
"item[0].identity_object.state": 0,
"item[0].identity_object.version": 1,
"item[0].identity_object.device_type": 12,
"item[0].identity_object.sin_family": 2,
"item[0].identity_object.serial_number": 1929488436,
"item[0].identity_object.product_code": 185,
"item[0].identity_object.product_revision": 1794,
"item[0].type_id": 12
}
#+END_EXAMPLE
Sends certain "Legacy" EtherNet/IP CIP requests:
: -L|--legacy
Presently, only the following Legacy commands are implemented:
| Command | Description |
|---------+---------------------------------------------------------------|
| 0x0001 | Returns some of the same network information as List Identity |
This command is not documented, and is not implemented on all types of
devices
| IP | Device | Product Name |
|-------------+-----------------+-------------------------------|
| 192.168.1.2 | MicroLogix 1100 | 1763-L16DWD B/7.00 |
| 192.168.1.3 | MicroLogix 1400 | 1766-L32BXBA A/7.00 |
| 192.168.1.4 | CompactLogix | 1769-L23E-QBFC1 Ethernet Port |
| 192.168.1.5 | CompactLogix | 1769-L18ER/A LOGIX5318ER |
| | | |
#+BEGIN_EXAMPLE
$ python -m cpppo.server.enip.client --udp --broadcast --legacy 0x0001 -a
192.168.1.255
Legacy 0x0001 0 from ('192.168.1.3', 44818): {
"count": 1,
"item[0].legacy_CPF_0x0001.sin_addr": "192.168.1.3",
"item[0].legacy_CPF_0x0001.unknown_1": 0,
"item[0].legacy_CPF_0x0001.sin_port": 44818,
"item[0].legacy_CPF_0x0001.version": 1,
"item[0].legacy_CPF_0x0001.sin_family": 2,
"item[0].legacy_CPF_0x0001.ip_address": "192.168.1.3",
"item[0].length": 36,
"item[0].type_id": 1
}
Legacy 0x0001 1 from ('192.168.1.5', 44818): {
"peer": [
"192.168.1.5",
44818
],
"enip.status": 1,
"enip.sender_context.input": "array('c',
'\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00')",
"enip.session_handle": 0,
"enip.length": 0,
"enip.command": 1,
"enip.options": 0
}
Legacy 0x0001 2 from ('192.168.1.4', 44818): {
"count": 1,
"item[0].legacy_CPF_0x0001.sin_addr": "192.168.1.4",
"item[0].legacy_CPF_0x0001.unknown_1": 0,
"item[0].legacy_CPF_0x0001.sin_port": 44818,
"item[0].legacy_CPF_0x0001.version": 1,
"item[0].legacy_CPF_0x0001.sin_family": 2,
"item[0].legacy_CPF_0x0001.ip_address": "192.168.1.4",
"item[0].length": 36,
"item[0].type_id": 1
}
Legacy 0x0001 3 from ('192.168.1.2', 44818): {
"count": 1,
"item[0].legacy_CPF_0x0001.sin_addr": "192.168.1.2",
"item[0].legacy_CPF_0x0001.unknown_1": 0,
"item[0].legacy_CPF_0x0001.sin_port": 44818,
"item[0].legacy_CPF_0x0001.version": 1,
"item[0].legacy_CPF_0x0001.sin_family": 2,
"item[0].legacy_CPF_0x0001.ip_address": "192.168.1.2",
"item[0].length": 36,
"item[0].type_id": 1
}
#+END_EXAMPLE
Change the verbosity (supply more to increase further):
: -v[vv...]|--verbose
Change the default response timeout
: -t|--timeout #
Specify a number of times to repeat the specified operations:
: -r|--repeat #
To specify an Unconnected Send =route_path= (other than the default backplane port 0, '1/0' or
'[{"port": 1, "link": 0}]', which is a guess at the location of a *Logix controller in a typical
backplane), provide one in short / or JSON format. It must be a list containing one
dict specifying a =port= and =link= value. The =port= is either an 8- or 16-bit number, and
=link= is typically in the range 0-15 (a backplane slot) or an IP address. A string with a '/'
in it is parsed as /. If a only single =route_path= element is intended, the JSON
array notation is optional:
: --route-path '[{"port": 1, "link": 0}]' # backplane, slot 0
: --route-path '{"port": 1, "link": 0}' # ''
: --route-path '1/0' # ''
Complex multi-segment route-paths must be specified in a JSON list. For example, to route via
an EtherNet/IP module in backplane slot 3, and then out its second Ethernet port to address
1.2.3.4:
: --route-path '["1/3",{"port":2,"link":"1.2.3.4"}]'# backplane slot 3,
: --route-path '["1/3","2/1.2.3.4"]' # then second port and IP 1.2.3.4
To specify no =route_path=, use 0 or false (usually only in concert with --send-path='', or just
use -S):
: --route-path false
If a simple EtherNet/IP CIP device doesn't support routing of message to
other CIP devices, and hence supports no Message Router Object, an empty
send-path may be supplied Normally, this also implies no route-path, so is
usually used in combination with =--route-path=false=. This can be used to
prevent the issuance of Unconnected Send Service encapsulation, which "Only
originating devices and devices that route between links need to implement"
(see The CIP Networks Library, Vol 1, Table 3-5.8). Also avoid use of
=--multiple=, as these devices do not generally accept Multiple Service
Packet requests, either.
Therefore, to communicate with simple, non-routing CIP devices (eg. AB
PowerFlex, ...), use =-S= or =--simple=, or explicitly:
: --send-path='' --route-path=false
Alternatively, to easily specify use of no routing Unconnected Send
encapsulation in requests:
: -S|--simple
Specify =timeout_ticks= (default: 157 * 32ms == 5s.)
: --timeout-ticks 63 # ~2s (if ticks == 32ms)
Specify the tick duration to use, when computing the actual timeout from =timeout_ticks=. Each
tick has a duration from 1 to 32,768 milliseconds, computed as =2 ** =
milliseconds.
: --priority-time-tick 0 # Set 1ms. ticks
To send log output to a file (limited to 10MB, rotates through 5 copies):
: -l|--log
To print a summary of PLC I/O to stdout, use =--print=. Perhaps
surprisingly, unless you provide a =--print= or =-v= option, you will see no
output from the =python -m cpppo.server.enip.client= or =enip_client=
command, at all. The I/O operations will be performed, however:
: -p|--print
: --no-print (the default)
To force use of the Multiple Service Packet request, which carries multiple
Read/Write Tag [Fragmented] requests in a single EtherNet/IP CIP I/O
operation (default is to issue each request as a separate I/O operation):
: -m|--multiple
To force the client to use plain Read/Write Tag commands (instead of the
Fragmented commands, which are the default):
: -n|--no-fragment
You may specify as many tags as you like on the command line; at least one
is required. An optional register (range) can be specified (default is
register 0):
: [] [-] # eg. SCADA SCADA[1] SCADA[1-10]
Writing is supported; the number of values must exactly match the data
specified register range:
: = # scalar, eg. SCADA=1
: [-]=,,... # vector range
: []= # single element of a vector
: [-]=(DINT), # cast to SINT/INT/DINT/REAL/BOOL/SSTRING/STRING
By default, if any contains a '.' (eg. '9.9,10'), all values are
deemed to be REAL; otherwise, they are integers and are assumed to be type
INT. To force a specific type (and limit the values to the appropriate
value range), you may specify a "cast" to a specific type,
eg. 'TAG[4-6]=(DINT)1,2,3'. The types SINT, INT, DINT, REAL, BOOL,
SSTRING and STRING are supported.
In addition to symbolic Tag addressing, numeric Class/Instance/Attribute
addressing is available. A Class, Instance and Attribute address values are
in decimal by default, but hexadecimal, octal etc. are available using
escapes, eg. 26 == 0x1A == 0o49 == 0b100110:
: @// # read a scalar, eg. @0x1FF/01/0x1A
: @//[99]=1 # write element, eg. @511/01/26=1
See further details of addressing =cpppo.server.enip.client='s
=parse_operations= below.
*** EtherNet/IP =cpppo.server.enip.client= API
Dispatching a multitude of EtherNet/IP CIP I/O operations to a Controller
(with our without pipelining) is very simple. If you don't need to see the
results of each operation as they occur, or just want to ensure that they
succeeded, you can use =connector.process= (see =cpppo/server/enip/client/io_example.py=):
#+BEGIN_EXAMPLE python
host = 'localhost' # Controller IP address
port = address[1] # default is port 44818
depth = 1 # Allow 1 transaction in-flight
multiple = 0 # Don't use Multiple Service Packet
fragment = False # Don't force Read/Write Tag Fragmented
timeout = 1.0 # Any PLC I/O fails if it takes > 1s
printing = True # Print a summary of I/O
tags = ["Tag[0-9]+16=(DINT)4,5,6,7,8,9", "@0x2/1/1", "Tag[3-5]"]
with client.connector( host=host, port=port, timeout=timeout ) as connection:
operations = client.parse_operations( tags )
failures,transactions = connection.process(
operations=operations, depth=depth, multiple=multiple,
fragment=fragment, printing=printing, timeout=timeout )
sys.exit( 1 if failures else 0 )
#+END_EXAMPLE
Try it out by starting up a simulated Controller:
: $ python -m cpppo.server.enip Tag=DINT[10] &
: $ python -m cpppo.server.enip.io
The API is able to "pipeline" requests -- issue multiple requests on the
wire, while simultaneously harvesting the results of prior requests. This
is absolutely necessary in order to obtain reasonable I/O performance over
high-latency links (eg. via Satellite).
To use pipelining, create a =client.connector= which establishes and
registers a CIP connection to a Controller. Then, produce a sequence of
operations (eg, parsed from "Tag[0-9]+16=(DINT)5,6,7,8,9" or from numeric
Class, Instance and Attribute numbers "@2/1/1" ), and dispatch the requests
using connector methods =.pipeline= or =.synchronous= (to access the details
of the requests and the harvested replies), or =.process= to simply get a
summary of I/O failures and total transactions.
More advanced API methods allow you to access the stream of I/O in full
detail, as responses are received. To issue command synchronously use
=connector.synchronous=, and to "pipeline" the requests (have multiple
requests issued and "in flight" simultaneously), use =connector.pipeline=
(see =cpppo/server/enip/client/thruput.py=)
#+BEGIN_EXAMPLE python
ap = argparse.ArgumentParser()
ap.add_argument( '-d', '--depth', default=0, help="Pipelining depth" )
ap.add_argument( '-m', '--multiple', default=0, help="Multiple Service Packet size limit" )
ap.add_argument( '-r', '--repeat', default=1, help="Repeat requests this many times" )
ap.add_argument( '-a', '--address', default='localhost', help="Hostname of target Controller" )
ap.add_argument( '-t', '--timeout', default=None, help="I/O timeout seconds (default: None)" )
ap.add_argument( 'tags', nargs='+', help="Tags to read/write" )
args = ap.parse_args()
depth = int( args.depth )
multiple = int( args.multiple )
repeat = int( args.repeat )
operations = client.parse_operations( args.tags * repeat )
timeout = None
if args.timeout is not None:
timeout = float( args.timeout )
with client.connector( host=args.address, timeout=timeout ) as conn:
start = cpppo.timer()
num,idx = -1,-1
for num,(idx,dsc,op,rpy,sts,val) in enumerate( conn.pipeline(
operations=operations, depth=depth,
multiple=multiple, timeout=timeout )):
print( "%s: %3d: %s" % ( timestamp(), idx, val ))
elapsed = cpppo.timer() - start
print( "%3d operations using %3d requests in %7.2fs at pipeline depth %2s; %5.1f TPS" % (
num+1, idx+1, elapsed, args.depth, num / elapsed ))
#+END_EXAMPLE
Fire up a simulator with a few tags, preferably on a host with a high
network latency relative to your current host:
: $ ssh
: $ python -m cpppo.server.enip --print -v Volume=REAL Temperature=REAL
Then, test the thruput TPS (Transactions Per Second) with various pipeline
=--depth= and Multiple Service Packet size settings.
Try it first with the default depth of 0 (no pipelining). This is the
"native" request-by-request thruput of the network route and device:
: $ python -m cpppo.server.enip.thruput -a "Volume" "Temperature" \
: --repeat 25
Then try it with aggressive pipelining (the longer the "ping" time between
the two hosts, the more =--depth= you could benefit from):
: ...
: --repeat 25 --depth 20
Adding =--multiple = allows cpppo to aggregate multiple Tag I/O
requests into a single Multiple Service Packet, reducing the number of
EtherNet/IP CIP requests:
: ...
: --repeat 25 --depth 20 --multiple 250
**** =cpppo.server.enip= =client.client=
The base class =client.client= implements all the basic I/O capabilities
for pipeline-capable TCP/IP and UDP/IP I/O with EtherNet/IP CIP devices.
| Keyword | Description |
|--------------------------------+--------------------------------------------------------------------|
| host | A =cpppo.server.enip.get_attribute= proxy derived class |
| port | Target port (if not 44818) |
| timeout | Optional timeout on =socket.create_connection=
| dialect | An EtherNet/IP CIP dialect, if not logix.Logix |
| udp (False) | Establishes a UDP/IP socket to use for request (eg. List Identity) |
| broadcast (False) | Avoids connecting UDP/IP sockets; may receive many replies |
| source_address | Bind to a specific local interface (Default: 0.0.0.0:0) |
| profiler | If using a Python profiler, provide it to disable around I/O code |
Once connectivity is established, a sequence of CIP requests can be issued
using the the methods =.read=, =.write=, =.list_identity=, etc.
Later, =.readble= can report if incoming data is available. Then, the
connection instance can be used as an iterable; =next( connection )= will
return any response available. This response will include a =peer= entry
indicating the reported peer IP address and port (especially useful for
broadcast UDP/IP requests).
These facilities are used extensively in the =client.connector= derived
class to implementing request pipelining.
Note that not all requests can be issued over UDP/IP channels; consult the
EtherNet/IP CIP literature to discover which may be used. The List
Services/Identity/Interfaces requests are known to work, and are useful for
discovering what EtherNet/IP CIP devices are available in a LAN using
UDP/IP broadcast addresses; setting both the =udp= and =broadcast=
parameters to =True=.
If multiple local interfaces are provided, it is possible that you may with
to only broadcast on a certain interface (eg. on the "Plant" LAN interface,
not the "Business" WAN interface). Use =source_address= to specify a local
interface's IP address to bind to, before connecting or sending requests.
Accepts IP addresses and optionally a port number in "1.2.3.4:12345" form.
Remember that UDP/IP packets sent using broadcast addresses will not be received by a server
bound to a specific local interface address. Therefore, if you wish to find all EtherNet/IP
CIP servers in your LAN including the simulated ones running on your host, you may wish to
start a simulated server on a local interface, eg. 192.168.0.52:
: $ python -m cpppo.server.enip -vv --address 192.168.1.5 SCADA=INT[100]
Then, you might issue a broadcast from this (or another) host on the network, expecting a
response from your simulator, but not receiving one:
: $ python -m cpppo.server.enip.list_services -vv --udp --broadcast \\
: --source 192.168.1.5 --address 192.168.1.255
: 05-25 15:51:02.044 MainThread enip.cli DETAIL __init__ Connect: UPD/IP to ('192.168.1.255', 44818) via ('192.168.1.7', 0) broadcast
: 05-25 15:51:02.072 MainThread enip.cli DETAIL cip_send Client CIP Send: {
: "enip.status": 0,
: "enip.sender_context.input": "bytearray(b'\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00')",
: "enip.session_handle": 0,
: "enip.CIP.list_services": {},
: "enip.options": 0
: }
: 05-25 15:51:02.073 MainThread enip.cli DETAIL cip_send Client CIP Send: {
: "enip.status": 0,
: "enip.sender_context.input": "bytearray(b'\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00')",
: "enip.session_handle": 0,
: "enip.CIP.list_identity": {},
: "enip.options": 0
: }
: $
Why? Because you have bound the server to specific IP address, 192.168.1.5. If you instead
bind it to "all" interfaces (thus, at no specific IP address) using any of the following
incantations:
: $ python -m cpppo.server.enip -vv SCADA=INT[100]
: $ python -m cpppo.server.enip -vv --address '' SCADA=INT[100]
: $ python -m cpppo.server.enip -vv --address 0.0.0.0 SCADA=INT[100]
or if you bind it to the "broadcast" address of the specific interface you wish to use:
: $ python -m cpppo.server.enip -vv --address 192.168.1.255 SCADA=INT[100]
then it *will* receive the broadcast packets, and respond appropriately.
**** =cpppo.server.enip= =client.connector= class
Register a TCP/IP EtherNet/IP CIP connection to a Controller, allowing the holder
to issue requests and receive replies as they are available, as an iterable
sequence. Support Read/Write Tag [Fragmented], Get/Set Attribute [All], and
Multiple Service Packet requests, via CIP "Unconnected Send".
Establish exclusive access using a python context operation:
: from cpppo.server.enip import client
: with client.connector( host="some_controller" ) as conn:
: ...
To establish a UDP/IP connected (optionally broadcast capable) connection:
: from cpppo.server.enip import client
: with client.connector( host="some_controller",
: udp=True, broadcast=True ) as conn:
UDP/IP connections do not issue CIP Register requests (as they are only
supported via TCP/IP). Generally, these are only useful for issuing List
Identity, List Services or List Interfaces requests. If broadcast (and a
"broadcast" IP address such as 255.255.255.255 is used), then multiple
responses should be expected; the default =cpppo.server.enip.client= module
entrypoint will wait for the full duration of the specified =timeout= for
responses.
**** =client.parse_operations=
Takes a sequence of Tag-based or numeric CIP Attribute descriptions, and
converts them to operations suitable for use with a =client.connector=.
For example:
#+BEGIN_EXAMPLE python
>>> from cpppo.server.enip include client
>>> list( client.parse_operations( [ "A_Tag[1-2]=(REAL)111,222" ] ))
[{
'data': [111.0, 222.0],
'elements': 2,
'method': 'write',
'path': [{'symbolic': 'A_Tag'},{'element': 1}],
'tag_type': 202
}]
#+END_EXAMPLE
A symbolic Tag is assumed, but an =@= indicates a numeric CIP address,
with each segment's meaning defaulting to:
: @///
More complex non-default numeric addressing is also supported, allowing
access to Assembly instances, Connections, etc. For example, to address an
Assembly (class 0x04), Instance 5, Connection 100, use JSON encoding for
each numeric element that doesn't match the default sequence of ==,
==, ... So, to specify that the third element is a Connection
(instead of an Attribute) number, any of these are equivalent:
: @4/5/{"connection":100}
: @0x04/5/{"connection":100}
: @{"class":4}/5/{"connection":100}
The following path components are supported:
| Component | Description |
|------------+----------------------------------------|
| class | 8/16-bit Class number |
| instance | 8/16-bit Instance number |
| attribute | 8/16-bit Attribute number |
| element | 8/16/32-bit Element number |
| connection | 8/16-bit Connection number |
| symbolic | ISO-8859-1 Symbolic Tag name |
| port,link | Port number, Link number or IP address |
| | (typically valid only in =route_path=) |
The number of elements in a request is normally deduced from an index
range; for example, to specify 10 elements:
: Tag[1].SubTag[0-9]
To manually specify a number of elements in a request, append an =*###= to
the request:
: Tag[1].SubTag[0]*10
**** =client.connector='s =.synchronous=, =.pipeline= and =.operate=
Issues a sequence of operations to a Controller in =synchronous= fashion
(one at a time, waiting for the response before issuing the next command)
or in =pipeline= fashion, issuing multiple requests before asynchronous
waiting for responses.
Automatically choose =synchronous= or =pipeline= behaviour by using
=operate=, which also optionally chains the results through =validate= to
log/print a summary of I/O operations and fill in the yielded data value
for all Write Tag operations (instead of just signalling success with a
=True= value).
Automatically bundles requests up into appropriately sized Multiple Service
Packets (if desired), and pipelines multiple requests in-flight simultaneously
over the TCP/IP connection.
Must be provided a sequence of 'operations' to perform, each as a dict
containing:
| Key | Description |
|--------------------------+-----------------------------------------------------------------------|
| method | 'read', 'write', 'set/get_attribute_single', 'get_attributes_all' |
| path | The operation's path, eg [{"class": 2},{"instance": 1},...] |
| offset | A byte offset, for Fragmented read/write |
| elements | The number of elements to read/write |
| tag_type | The EtherNet/IP type, eg. 0x00ca for "REAL" |
| data | For 'write', 'set_attribute...'; the sequence of data to write |
Use =client.parse_operations= to convert a sequence of simple Tag assignments
to a sequence suitable for 'operations':
: operations = client.parse_operations( ["Tag[8-9]=88,99", "Tag[0-10]"] )
The full set of keywords to =.synchronous= are:
| Keyword | Description |
|------------+---------------------------------------------------------------|
| operations | A sequence of operations |
| index | The starting index used for "sender_context" |
| fragment | If True, forces use of Fragmented read/write |
| multiple | If >0, uses Multiple Service Packets of up to this many bytes |
| timeout | A timeout, in seconds. |
The =.pipeline= method also defaults to have 1 I/O operation in-flight:
| Keyword | Description |
|---------+---------------------------------------------------------------|
| depth | The number of outstanding requests (default: 1) |
And =.operate= method adds these defaults:
| Keyword | Description |
|------------+--------------------------------------------------------------------------|
| depth | The number of outstanding requests (default: 0) |
| validating | Log summary of I/O operations, fill in Tag Write values (default: False) |
| printing | Also print a summary of I/O operations to stdout (default: False) |
Invoking =.pipeline=, =.synchronous= or =operate= on a sequence of
operations yields a (..., (,,,,,), ...)
sequence, as replies are received. If =.pipeline=/=.operate= is used,
there may be up to =depth= requests in-flight as replies are yielded; if
=.synchronous=, then each reply is yielded before the next request is
issued. The 6-tuples yielded are comprised of these items:
| Item | Description |
|---------+-------------------------------------------------------------|
| 0 - idx | The index of the operation, sent as the "sender_context" |
| 1 - dsc | A description of the operation |
| 2 - req | The request |
| 3 - rpy | The reply |
| 4 - sts | The status value (eg. 0x00) or tuple (eg. (0xff,(0x1234)) ) |
| 5 - val | The reply value (None, if reply was in error) |
The structure of the code to connect to a Controller host and process a
sequence of operations (with a default pipelining =depth= of 1 request
in-flight) is simply:
: with client.connector( host=... ) as conn:
: for idx,dsc,req,rpy,sts,val in conn.pipeline( operations=... ):
: ...
**** =client.connector.results= and =.process=
Issues a sequence of operations to a Controller either synchronously or
with pipelining, and =.results= yields only the results of the operations
as a sequence, as they arrive (on-demand, as a generator). =None=
indicates failure. The =.process= API checks all result values for
failures (any result values which are =None=), and returns the tuple
(,[..., , ...]).
**** =client.connector.read= and =.write=
Directly issue read/write requests by supplying all the details; a =dict=
describing the request is returned. If =send= is =True= (the default), the
request is also issued on the wire using =.unconnected_send=.
: with client.connector( host=... ) as conn:
: req = conn.read( "Tag[0-1]" )
Later, harvest the results of the read/write request issued on =conn= using
=next(...)= on the conn (it is iterable, and returns replies as they are
ready to be received). Once the response is ready, a fully encapsulated
response payload will be returned:
: assert conn.readable( timeout=1.0 ), "Failed to receive reply"
: rpy = next( conn )
This fully encapsulated response carries the EtherNet/IP frame and status,
the CIP frame, its CPF frames with its Unconnected Send payload, and
finally the encapsulated request; the Read/Write Tag [Fragmented] payload
(in a =cpppo.dotdict=, a =dict= that understands dotted keys accessible as
attributes, slightly formatted here for readability):
#+BEGIN_EXAMPLE python
>>> for k,v in rpy.items():
... print k,v
...
enip.status 0
enip.sender_context.input array('c', '\x00\x00\x00\x00\x00\x00\x00\x00')
enip.session_handle 297965756
enip.length 20
enip.command 111
enip.input array('c',
'\x00\x00\x00\x00\x00\x00\x02\x00\x00\x00\x00\x00\xb2\x00\x04\x00\xd3\x00\x00\x00')
enip.options 0
enip.CIP.send_data.interface 0
enip.CIP.send_data.timeout 0
enip.CIP.send_data.CPF.count 2
enip.CIP.send_data.CPF.item[0].length 0
enip.CIP.send_data.CPF.item[0].type_id 0
enip.CIP.send_data.CPF.item[1].length 4
enip.CIP.send_data.CPF.item[1].type_id 178
enip.CIP.send_data.CPF.item[1].unconnected_send.request.status 0
enip.CIP.send_data.CPF.item[1].unconnected_send.request.input array('c',
'\xd3\x00\x00\x00')
enip.CIP.send_data.CPF.item[1].unconnected_send.request.service 211
enip.CIP.send_data.CPF.item[1].unconnected_send.request.write_frag True
enip.CIP.send_data.CPF.item[1].unconnected_send.request.status_ext.size 0
>>>
#+END_EXAMPLE
The response payload is highly variable (eg. may contain further
encapsulations such as Multiple Service Packet framing), so it is
recommended that you use the =.synchronous=, =.pipeline=, =.results=, or
=.process= interfaces instead (unless you are one of the 3 people that
deeply understands the exquisite details of the EtherNet/IP CIP protocol).
These generate, parse and discard all the appropriate levels of
encapsulation framing.
**** =client.connector.get_attribute_single= and =.get_attributes_all=
The Get Attribute[s] Single/All operations are also supported. These are
used to access the raw data in arbitrary Attributes of CIP Objects. This
data is always presented as raw 8-bit SINT data.
You can use these methods directly (as with =.write=, above, and harvest
the results manually), or you can modify a sequence of operations from
=client.parse_operations=, and gain access to the convenience and
efficiency of =client.connector='s =.pipeline= to issue and process the
stream of EtherNet/IP CIP requests.
Create a simple generator wrapper around =client.parse_operations=, which
substitutes =get_attributes_all= or =get_attribute_single= as appropriate.
Use numeric addressing to the Instance or Attribute level,
eg. =@/= or =@//=. One is
implemented in =cpppo/server/enip/get_attribute.py=:
#+BEGIN_EXAMPLE python
from cpppo.server.enip.get_attribute import attribute_operations
timeout = None # Wait forever, or seconds
depth = 0 # No pipelining, or in-flight
with client.connector( host=args.address, timeout=timeout ) as conn:
for idx,dsc,op,rpy,sts,val in conn.pipeline(
operations=attribute_operations( tags ), depth=depth,
multiple=False, timeout=timeout ):
#+END_EXAMPLE
Here is an example of getting all the raw Attribute data from the CIP
Identity object (Class 1, Instance 1) of a Controller (Get Attributes All,
and Get Attribute Single of Class 1, Instance 1, Attribute 7):
#+BEGIN_EXAMPLE
$ python -m cpppo.server.enip.get_attribute --depth 3 -v '@1/1' '@1/1/7'
2015-04-21 14:51:14.633: 0: Single G_A_A @0x0001/1 == [1, 0, 14, 0, 54, \
0, 20, 11, 96, 49, 26, 6, 108, 0, 20, 49, 55, 53, 54, 45, 76, 54, 49, 47, \
66, 32, 76, 79, 71, 73, 88, 53, 53, 54, 49, 255, 0, 0, 0]
2015-04-21 14:51:14.645: 1: Single G_A_S @0x0001/1/7 == [20, 49, 55, 53, \
54, 45, 76, 54, 49, 47, 66, 32, 76, 79, 71, 73, 88, 53, 53, 54, 49]
#+END_EXAMPLE
Decoding the Identity Attribute 7 CIP STRING as ASCII data yields (the
first character is the length: 20 decimal, or 14 hex):
#+BEGIN_EXAMPLE python
$ python
>>> ''.join( chr( x ) for x in [
20, 49, 55, 53, 54, 45, 76, 54, 49, 47, 66, 32, 76, 79, 71, 73, 88, 53, 53, 54, 49])
'\x141756-L61/B LOGIX5561'
#+END_EXAMPLE
To access Get Attribute data with CIP type conversion, use
=cpppo.server.enip.get_attribute='s =proxy= classes, instead.
**** =client.connector.set_attribute_single=
To use Set Attribute Single, provide an array of CIP =USINT= or =SINT=
values appropriate to the size of the target Attribute. Alternatively,
provide a =tag_type= number corresponding to the CIP data type. If the
tag_type is supported by =cpppo.server.enip.parser='s =typed_data=
implementation, we'll convert it to =USINT= for you (=[U]SINT=, =[U]INT=,
=[U]DINT=, =REAL=, =SSTRING= and =STRING= are presently supported).
Typically, you will invoke =client.connector.set_attribute_single=
indirectly by providing =attribute_operations= a sequence containing tag
operation such as =@//=(REAL)1.1= (see
=get_attribute_single=, above.) If you start the =enip_server
... FLOAT@22/1/3=REAL= command, above, and then run:
#+BEGIN_EXAMPLE
$ python -m cpppo.server.enip.get_attribute '@22/1/3=(REAL)1.0' '@22/1/3'
Mon Feb 22 15:29:51 2016: 0: Single S_A_S @0x0016/1/3 == True
Mon Feb 22 15:29:51 2016: 1: Single G_A_S @0x0016/1/3 == [0, 0, 128, 63]
#+END_EXAMPLE
Confirm that you wrote the correct floating-ponit value:
#+BEGIN_EXAMPLE
$ python -m cpppo.server.enip.client 'FLOAT'
FLOAT == [1.0]: 'OK'
#+END_EXAMPLE
**** =client.connector.list_identity=, =.list_services= and =.list_interfaces=
These methods issue List Identity, List Services and List Interfaces
requests, valid on either UDP/IP or TCP/IP connections (or via UDP/IP
broadcast). The response(s) may be harvested by awaiting for incoming
activity on the connection. The =cpppo.server.enip.list_identity_simple=
example broadcasts a UDP/IP List Identity request to the local LAN,
awaiting all responses until timeout expires without activity:
#+BEGIN_EXAMPLE python
from __future__ import print_function
import sys
from cpppo.server import enip
from cpppo.server.enip import client
timeout = 1.0
host = sys.argv[1] if sys.argv[1:] else '255.255.255.255'
with client.client( host=host, udp=True, broadcast=True ) as conn:
conn.list_identity( timeout=timeout )
while True:
response,elapsed = client.await_response( conn, timeout=timeout )
if response:
print( enip.enip_format( response ))
else:
break # No response (None) w'in timeout or EOF ({})
#+END_EXAMPLE
See =cpppo.server.enip.client= for a more advanced approach which returns
only the relevant List Identity or List Services payload from the response,
and enforces a total timeout, rather than a per-response timeout.
The =cpppo.server.enip.list_services= module entrypoint provides a more
complete CLI interface for generating and harvesting List Services and List
Identity responses:
#+BEGIN_EXAMPLE
$ python -m cpppo.server.enip.list_services --help
usage: list_services.py [-h] [-v] [-a ADDRESS] [-u] [-b] [--identity]
[--interfaces] [-t TIMEOUT]
List Services (by default) on an EtherNet/IP CIP Server.
optional arguments:
-h, --help show this help message and exit
-v, --verbose Display logging information.
-a ADDRESS, --address ADDRESS
EtherNet/IP interface[:port] to connect to (default:
':44818')
-u, --udp Use UDP/IP queries (default: False)
-b, --broadcast Allow multiple peers, and use of broadcast address
(default: False)
-i, --list-identity List Identity (default: False)
-I, --list-interfaces List Interfaces (default: False)
-t TIMEOUT, --timeout TIMEOUT
EtherNet/IP timeout (default: 5s)
#+END_EXAMPLE
It always requests List Services, and (optionally) List Identity, List
Interfaces. By default, it sends the requests unicast via TCP/IP, but can
optionally send the requests via unicast or broadcast UDP/IP. The full
content of each EtherNet/IP CIP response is printed.
To obtain responses from all EtherNet/IP CIP devices on the local LAN with
broadcast address 192.168.0.255:
#+BEGIN_EXAMPLE
$ python -m cpppo.server.enip.list_services --udp --broadcast \
--list-identity -a 192.168.0.255
{
"peer": [
"192.168.0.201",
44818
],
"enip.status": 0,
"enip.sender_context.input": "array('c', '\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00')",
"enip.session_handle": 0,
"enip.length": 25,
"enip.CIP.list_services.CPF.count": 1,
"enip.CIP.list_services.CPF.item[0].communications_service.capability": 288,
"enip.CIP.list_services.CPF.item[0].communications_service.service_name": "Communications",
"enip.CIP.list_services.CPF.item[0].communications_service.version": 1,
"enip.CIP.list_services.CPF.item[0].length": 19,
"enip.CIP.list_services.CPF.item[0].type_id": 256,
"enip.command": 4,
"enip.input": "array('c', '\\x01\\x00\\x00\\x01\\x13\\x00\\x01\\x00 \\x01Communications\\x00')",
"enip.options": 0
}
{
"peer": [
"192.168.0.201",
44818
],
"enip.status": 0,
"enip.sender_context.input": "array('c', '\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00')",
"enip.session_handle": 0,
"enip.length": 60,
"enip.CIP.list_identity.CPF.count": 1,
"enip.CIP.list_identity.CPF.item[0].length": 54,
"enip.CIP.list_identity.CPF.item[0].identity_object.sin_addr": "192.168.0.201",
"enip.CIP.list_identity.CPF.item[0].identity_object.status_word": 12640,
"enip.CIP.list_identity.CPF.item[0].identity_object.vendor_id": 1,
"enip.CIP.list_identity.CPF.item[0].identity_object.product_name": "1756-L61/C LOGIX5561",
"enip.CIP.list_identity.CPF.item[0].identity_object.sin_port": 44818,
"enip.CIP.list_identity.CPF.item[0].identity_object.state": 255,
"enip.CIP.list_identity.CPF.item[0].identity_object.version": 1,
"enip.CIP.list_identity.CPF.item[0].identity_object.device_type": 14,
"enip.CIP.list_identity.CPF.item[0].identity_object.sin_family": 2,
"enip.CIP.list_identity.CPF.item[0].identity_object.serial_number": 7079450,
"enip.CIP.list_identity.CPF.item[0].identity_object.product_code": 54,
"enip.CIP.list_identity.CPF.item[0].identity_object.product_revision": 2836,
"enip.CIP.list_identity.CPF.item[0].type_id": 12,
"enip.command": 99,
"enip.input": "array('c', '\\x01...\\x141756-L61/C LOGIX5561\\xff')",
"enip.options": 0
}
#+END_EXAMPLE
*** EtherNet/IP =cpppo.server.enip.get_attribute= API
Many devices such as Rockwell MicroLogix, Allen-Bradley PowerFlex, etc. that
advertise EtherNet/IP CIP protocol offer only very basic connectivity:
- No CIP "routing" capability, hence no Unconnected Send encapsulation,
including route path or send path addressing.
- No "Logix" style Read/Write Tag [Fragmented]; only Get/Set Attribute.
- Only raw 8-bit CIP SINT data; CIP data type transformations done by client
Therefore, a set of APIs are provided to "proxy" these devices, providing
higher level data types and maintenance of EtherNet/IP CIP connectivity. In
order to retain high thruput, the API maintains the ability to "pipeline"
requests over high-latency links.
**** The =proxy= and =proxy_simple= classes
Access an EtherNet/IP CIP device using either generic Get Attributes
All/Single, or *Logix Read Tag [Fragmented] services, as desired. Data is
delivered converted to target format.
To create a "proxy" for a simple (non-routing) remote EtherNet/IP CIP sensor
device, such as an A-B PowerFlex, with (for example) a CIP =REAL= attribute
at Class 0x93, Instance 1, Attribute 10:
#+BEGIN_EXAMPLE python
from cpppo.server.enip.get_attribute import proxy_simple
class some_sensor( proxy_simple ):
'''A simple (non-routing) CIP device with one parameter with a
shortcut name: 'A Sensor Parameter' '''
PARAMETERS = dict( proxy_simple.PARAMETERS,
a_sensor_parameter = proxy_simple.parameter( '@0x93/1/10', 'REAL', 'Hz' ),
)
#+END_EXAMPLE
**** Reading Attributes Using =proxy.read=
If you have an A-B PowerFlex handy, use your custom =proxy= or
=proxy_simple= class called =some_sensor= defined above, and its "A Sensor
Parameter" attribute. Alternatively, just use the plain =proxy= (if you
have a ControlLogix or CompactLogix), or =proxy_simple= (if you have a
MicroLogix) classes in these examples, and use the "Product Name" attribute
(which reads the CIP =SSTRING= at Class 1, Instance 1, Attribute 7: See
=cpppo/server/enip/get_attribute.py=)
In your Python code, to access the parameter "A Sensor Parameter" from the
remote A-B PowerFlex device (the supplied name is transformed to
=a_sensor_parameter= by lowering case and transforming ' ' to '_', to check
for matching any =proxy.PARAMETER= entry):
#+BEGIN_EXAMPLE python
via = some_sensor( host="10.0.1.2" )
try:
params = via.parameter_substitution( "A Sensor Parameter" )
value, = via.read( params )
except Exception as exc:
logging.warning( "Access to remote CIP device failed: %s", exc )
via.close_gateway( exc=exc )
raise
#+END_EXAMPLE
There are several important things to note here:
1. You can =.read= 1 or more values. Here, we supply a single Python
=str=, so the =proxy.parameter_substitution= deduces that you want one
named parameter value. Provide a sequence of attributes to read more
than one.
2. The =.read= returns a sequence of all the requested values, so we use
Python =tuple= assignment to unpack a sequence containing a single
value, eg:
#+BEGIN_EXAMPLE python
variable, = [123]
#+END_EXAMPLE
3. Upon the first error accessing and/or transforming a value from the
remote device, the Python generator will raise an exception. Whereever
in your code that you "reify" the generator's values (access them and
assign them to local variables), you must trap any Exception and notify
the =get_attribute.proxy= by invoking =.close_gateway=. This prepares the
=get_attribute.proxy= to re-open the connection for a future attempt to access
the device.
A successful =.read= (with no timeouts, no I/O errors) can return None,
instead of valid data, if the CIP device reports an error status code for a
request. This is only case where the results of a =.read= will be "Falsey"
(evaluate =False= in a boolean test). All successful reads of valid data
will return a non-empty list of results, and are "Truthy" (evalute
=True=). Each returned value must be tested.
To guarantee that an Exception is raised if any result is not returned, you
can set =.read='s =checking= parameter to =True=:
#+BEGIN_EXAMPLE python
via = some_sensor( host="10.0.1.2" )
try:
# Will raise Exception (closing gateway) on any failure to get data
params = via.parameter_substitution( "A Sensor Parameter" )
value, = via.read( params, checking=True )
except Exception as exc:
via.close_gateway( exc )
raise
# value is *always* guaranteed to be []
#+END_EXAMPLE
**** Writing Attributes Using =proxy.write= (alias for =.read=)
The =.read= method (or its alias =.write=) support writing to
CIP Attributes. Simply append an equals sign, a CIP type in
parentheses, and a comma-separated list of values to the
parameter or Attribute name.
#+BEGIN_EXAMPLE python
#
# Write a Motor Velocity to an AB PowerFlex AC Drive Controller
#
# python -m cpppo.server.enip.powerflex_motor_velocity @localhost 123.45
#
# To start a simulator (a partial AB PowerFlex) on localhost suitable for writing:
#
# python -m cpppo.server.enip.poll_test
#
import logging
import sys
import time
import traceback
import cpppo
#cpppo.log_cfg['level'] = logging.DETAIL
logging.basicConfig( **cpppo.log_cfg )
#from cpppo.server.enip.get_attribute import proxy_simple as device # MicroLogix
#from cpppo.server.enip.get_attribute import proxy as device # ControlLogix
from cpppo.server.enip.ab import powerflex_750_series as device # PowerFlex 750
# Optionally specify Powerflex DNS name or IP address, prefixed with '@':
host = 'localhost'
if len( sys.argv ) > 1 and sys.argv[1].startswith( '@' ):
host = sys.argv.pop( 1 )[1:]
# Optionally specify velocity; defaults to 0:
velocity = 0
if len( sys.argv ) > 1:
velocity = float( sys.argv.pop( 1 ))
param = 'Motor Velocity = (REAL)%s' % ( velocity )
try:
via = device( host=host )
with via: # establish gateway, detects Exception (closing gateway)
val, = via.write(
via.parameter_substitution( param ), checking=True )
print( "%s: %-32s == %s" % ( time.ctime(), param, val ))
except Exception as exc:
logging.detail( "Exception writing Parameter %s: %s, %s",
param, exc, traceback.format_exc() )
sys.exit( 1 )
#+END_EXAMPLE
**** Forcing .read/write to use CIP Get/Set Attribute Single
If the target device understands only basic CIP I/O requests, or you wish to perform special
processing on the stream of operations generated from the supplied tags, you can specify the
=proxy= with a specific =operations_parser=. The default is to use =client.parse_operations=
if data types are provided, and =get_attribute.attribute_operations= otherwise.
If we know we want to generate EtherNet/IP CIP Get/Set Attribute requests but we wish to pass
specific data types (eg. =INT=), create the =proxy_simple= device w/ an appropriate
=operations_parser= parameter:
#+BEGIN_EXAMPLE python
#
# Basic CIP I/O Test
#
# Target Simulator:
# python3 -m cpppo.server.enip -S -vv SCADA@0x4/0x96/3=INT[18]
#
import cpppo
from cpppo.server.enip.get_attribute import (
attribute_operations, proxy_simple as device )
from cpppo.server.enip import client
import logging
cpppo.log_cfg['level'] = logging.DEBUG
logging.basicConfig( **cpppo.log_cfg )
hostname = 'localhost'
# Our target CIP Attribute contains a 36 bytes == 18 x INT value
attribute = '@0x4/0x96/3'
values = "512,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0"
operations = [attribute + ' = (INT)' + values]
print( "Raw operations: %r" % operations )
operations_parser = attribute_operations
operations_out = list( operations_parser( operations ))
assert operations_out == [{
'method': 'set_attribute_single',
'path': [{'class': 4}, {'instance': 150}, {'attribute': 3}],
'tag_type': 195,
'data': [512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
'elements': 18
}]
# Force basic CIP Get/Set Attribute I/O operations
via = device( hostname, operations_parser=operations_parser )
val, = via.write( operations )
#+END_EXAMPLE
**** Using the =proxy= Context Manager API
There is a simple mechanism provided to ensure that all of the above
maintenance of the =proxy='s gateway occurs: the =proxy= class provides a
Context Manager API, which ensures that the =proxy='s gateway is opened, and
that the =proxy='s =.close_gateway= is invoked on any Exception that occurs
while reifying the generator returned by =proxy.read=:
#+BEGIN_EXAMPLE python
via = some_sensor( host="10.0.1.2" )
with via:
params = via.parameter_substitution( "A Sensor Parameter" )
value, = via.read( params )
# value may be something like [1.23], or None if returned error status
#+END_EXAMPLE
Wherever in your code that you plan to use the results obtained from a
proxy, ensure that you enclose it in a =with := block. You may even
call the =.read= method elsewhere (it is already protected against
Exceptions raised during initial processing): just ensure that the context
manager is invoked before you begin to use the results, so that Exceptions
caused by I/O errors are properly captured:
#+BEGIN_EXAMPLE python
from __future__ import print_function
via = some_sensor( host="10.0.1.2" )
params = via.parameter_substitution( "A Sensor Parameter" )
reader = via.read( params )
# ... later ...
with via:
for value in reader:
print( "Got: %r" % ( value ))
#+END_EXAMPLE
**** The =proxy= Device's Identity
As soon as a =proxy='s gateway is opened, the =.instance= attribute is
populated with the results of the device's CIP "List Identity" response.
At any time, the =proxy.__str__= method can be used to print the device
Identity's Product Name, network address, and CIP session id.
The connection and List Identity request doesn't occur 'til the =proxy= is
accessed using =.read=, or the Context Manager is invoked using =with
:=
#+BEGIN_EXAMPLE python
from __future__ import print_function
via = some_sensor( host="10.0.1.2" )
print( "Not yet connected: %s" % ( via ))
params = via.parameter_substitution( "A Sensor Parameter" )
reader = via.read( params )
print( "Connected! %s" % ( via ))
#+END_EXAMPLE
Producing the output:
: Not yet connected: None at None
: Connected! 1756-L61/C LOGIX5561 at localhost:44818[2206679763]
If you wish to avoid getting the device's identity using CIP List Identity,
simply pass a product name string ="Something"= (or a
=cpppo.dotdict({"product_name":"Something"}))=) in the =identity_default=
parameter:
#+BEGIN_EXAMPLE python
from __future__ import print_function
via = proxy( host="localhost", identity_default="Something" )
print( "Not yet connected: %s" % ( via ))
params = via.parameter_substitution( "Product Name" )
reader = via.read( params )
print( "Connected! %s" % ( via ))
#+END_EXAMPLE
This would produce something like:
#+BEGIN_EXAMPLE
Not yet connected: Something at None
Connected! Something at localhost:44818[576509498]
#+END_EXAMPLE
*** EtherNet/IP =cpppo.server.enip.poll= API
If regular updates of values from an EtherNet/IP CIP device are required,
then the =cpppo.server.enip.poll= API may be useful.
#+BEGIN_EXAMPLE python
#
# Poll a PowerFlex 750 series at IP (or DNS name) "" (default: localhost)
#
# python -m cpppo.server.enip.poll_example
#
# To start a simulator on localhost suitable for polling:
#
# python -m cpppo.server.enip.poll_test
#
import logging
import sys
import time
import threading
import cpppo
#cpppo.log_cfg['level'] = logging.DETAIL
logging.basicConfig( **cpppo.log_cfg )
from cpppo.server.enip import poll
#from cpppo.server.enip.get_attribute import proxy_simple as device # MicroLogix
#from cpppo.server.enip.get_attribute import proxy as device # ControlLogix
from cpppo.server.enip.ab import powerflex_750_series as device # PowerFlex 750
# Device IP in 1st arg, or 'localhost' (run: python -m cpppo.server.enip.poll_test)
hostname = sys.argv[1] if len( sys.argv ) > 1 else 'localhost'
# Parameters valid for device; for *Logix, others, try:
# params = [('@1/1/1','INT'),('@1/1/7','SSTRING')]
params = [ "Motor Velocity", "Output Current" ]
def failure( exc ):
failure.string.append( str(exc) )
failure.string = [] # [ , ... ]
def process( par, val ):
process.values[par] = val
process.done = False
process.values = {} # { : , ... }
poller = threading.Thread(
target=poll.poll, kwargs={
'proxy_class': device,
'address': (hostname, 44818),
'cycle': 1.0,
'timeout': 0.5,
'process': process,
'failure': failure,
'params': params,
})
poller.start()
# Monitor the process.values {} and failure.string [] (updated in another Thread)
try:
while True:
while process.values:
par,val = process.values.popitem()
print( "%s: %16s == %r" % ( time.ctime(), par, val ))
while failure.string:
exc = failure.string.pop( 0 )
print( "%s: %s" %( time.ctime(), exc ))
time.sleep( .1 )
finally:
process.done = True
poller.join()
#+END_EXAMPLE
If you start a (simulated) A-B PowerFlex (be prepared to stop and restart
it, to observe how the =cpppo.server.enip.poll= API handles polling failures):
#+BEGIN_EXAMPLE
$ cpppo -m cpppo.server.enip.poll_test
#+END_EXAMPLE
and then in another terminal, start the (above) =poll_example.py= (also
included in the =cpppo= installation). You'll see something like this (make
sure you stop/pause and then restart the =poll_test.py= A-B PowerFlex
simulator during the test):
#+BEGIN_EXAMPLE
$ cpppo -m cpppo.server.enip.poll_example
Wed Feb 3 11:47:58 2016: [Errno 61] Connection refused
Wed Feb 3 11:47:59 2016: [Errno 61] Connection refused
Wed Feb 3 11:48:00 2016: [Errno 61] Connection refused
Wed Feb 3 11:48:03 2016: Motor Velocity == [789.010009765625]
Wed Feb 3 11:48:03 2016: Output Current == [123.44999694824219]
Wed Feb 3 11:48:04 2016: Motor Velocity == [789.010009765625]
Wed Feb 3 11:48:04 2016: Output Current == [123.44999694824219]
Wed Feb 3 11:48:05 2016: Motor Velocity == [789.010009765625]
Wed Feb 3 11:48:05 2016: Output Current == [123.44999694824219]
Wed Feb 3 11:48:06 2016: Motor Velocity == [789.010009765625]
Wed Feb 3 11:48:06 2016: Output Current == [123.44999694824219]
Wed Feb 3 11:48:07 2016: Motor Velocity == [789.010009765625]
Wed Feb 3 11:48:07 2016: Output Current == [123.44999694824219]
Wed Feb 3 11:48:08 2016: Communication ceased before harvesting all pipeline responses: 0/ 2
Wed Feb 3 11:48:10 2016: Failed to receive any response
Wed Feb 3 11:48:12 2016: Failed to receive any response
Wed Feb 3 11:48:14 2016: Failed to receive any response
Wed Feb 3 11:48:18 2016: Motor Velocity == [789.010009765625]
Wed Feb 3 11:48:18 2016: Output Current == [123.44999694824219]
Wed Feb 3 11:48:19 2016: Motor Velocity == [789.010009765625]
Wed Feb 3 11:48:19 2016: Output Current == [123.44999694824219]
Wed Feb 3 11:48:20 2016: Motor Velocity == [789.010009765625]
Wed Feb 3 11:48:20 2016: Output Current == [123.44999694824219]
#+END_EXAMPLE
Likewise, for an example of polling various parameters at different rates
from multiple threads, via a single =proxy= EtherNet/IP CIP connection to a
CIP device, run =poll_example_many.py= (note: uses =cpppo.history='s
=timestamp=, so requires Python Timezone support, via: =pip install pytz=):
#+BEGIN_EXAMPLE
$ cpppo -m cpppo.server.enip.poll_example_many
2016-01-28 15:25:18.366: [Errno 61] Connection refused
2016-01-28 15:25:18.484: [Errno 61] Connection refused
2016-01-28 15:25:20.057: [Errno 61] Connection refused
2016-01-28 15:25:20.812: Motor Velocity == [789.010009765625]
2016-01-28 15:25:20.812: Output Current == [123.44999694824219]
2016-01-28 15:25:20.991: Elapsed KwH == [987.6500244140625]
...
2016-01-28 15:25:25.766: Motor Velocity == [789.010009765625]
2016-01-28 15:25:25.993: Speed Units == [1]
2016-01-28 15:25:26.009: Elapsed KwH == [987.6500244140625]
2016-01-28 15:25:26.112: Output Frequency == [456.7799987792969]
2016-01-28 15:25:26.613: Output Frequency == [456.7799987792969]
2016-01-28 15:25:26.765: Output Current == [123.44999694824219]
2016-01-28 15:25:26.765: Motor Velocity == [789.010009765625]
2016-01-28 15:25:27.112: Output Frequency == [456.7799987792969]
2016-01-28 15:25:27.613: Output Frequency == [456.7799987792969]
2016-01-28 15:25:27.744: Communication ceased before harvesting all pipeline \
responses: 0/ 2
2016-01-28 15:25:28.096: [Errno 61] Connection refused
2016-01-28 15:25:28.604: [Errno 61] Connection refused
2016-01-28 15:25:28.751: [Errno 61] Connection refused
2016-01-28 15:25:29.358: [Errno 61] Connection refused
2016-01-28 15:25:30.259: [Errno 61] Connection refused
2016-01-28 15:25:30.487: [Errno 61] Connection refused
2016-01-28 15:25:30.981: [Errno 61] Connection refused
2016-01-28 15:25:32.240: Output Frequency == [456.7799987792969]
2016-01-28 15:25:32.538: Output Current == [123.44999694824219]
2016-01-28 15:25:32.538: Motor Velocity == [789.010009765625]
2016-01-28 15:25:32.611: Output Frequency == [456.7799987792969]
#+END_EXAMPLE
**** =poll.poll=
Creates a =proxy_class= (or uses an existing =via=) to poll the target =params=.
The full set of keywords to =.poll= are:
| Keyword | Description |
|-------------+-------------------------------------------------------------------|
| proxy_class | A =cpppo.server.enip.get_attribute= proxy derived class |
| address | A (ip,port) tuple identifying the target EtherNet/IP CIP device |
| depth | The number of outstanding requests |
| multiple | If >0, uses Multiple Service Packets of up to this many bytes |
| timeout | A timeout, in seconds. |
| route_path | A list of {"link":...,"port":...} of the request target (or None) |
| send_path | The CIP address of the Message Router (eg. "@6/1"), or "" |
| via | A proxy class instance, if desired (no =proxy_class= created) |
| params | A list of Tag names or proxy parameter shortcut names |
| pass_thru | If False, fails poll if any params bare name isn't recognized |
| cycle | Target poll cycle time |
| process | A callable invoked for each parameter,value tuple polled |
| failure | A callable invoked for each poll failure |
| backoff_... | Controls the exponential polling back-off on failure |
| latency | Maximum poll loop check time (ie. responsiveness to done signal) |
**** =poll.run=
Implements cyclic polling on an existing =proxy= instance, invoking
=process= on each polled (parameter,value) and =failure= for each
exception. If the supplied =process= has a =.done= attribute, polling will
proceed until it becomes True.
The full set of keywords to =.run= are:
| Keyword | Description |
|--------------+------------------------------------------------------------------|
| via | A proxy class instance |
| process | A callable invoked for each parameter,value tuple polled |
| failure | A callable invoked for each poll failure |
| backoff_... | Controls the exponential polling back-off on failure |
| latency | Maximum poll loop check time (ie. responsiveness to done signal) |
Any further keywords are passed unchanged to =poll.loop=
**** =poll.loop=
Perform a single poll loop, checking for premature or missed cycles.
The full set of keywords to =.loop= are:
| Keyword | Description |
|-----------+---------------------------------------------------|
| via | A proxy class instance |
| cycle | Target poll cycle time |
| last_poll | The timestamp of the start of the last poll cycle |
Any further keywords are passed unchanged to =poll.execute=
**** =poll.execute=
Perform a single poll.
The full set of keywords to =.execute= are:
| Keyword | Description |
|-----------+---------------------------------------------------------------|
| via | A proxy class instance |
| params | A list of Tag names or proxy parameter shortcut names |
| pass_thru | If False, fails poll if any params bare name isn't recognized |
*** Web Interface
The following actions are available via the web interface. It is designed
to be primarily a REST-ful HTTP API returning JSON, but any of these
requests may be made via a web browser, and a minimal HTML response will be
issued.
Start a Logix Controller simulator on port 44818 (the default), with a web
API on port 12345:
: python -m cpppo.server.enip -v --web :12345 SCADA=INT[1000]
The api is simple: api//// . There are 3
groups: "options", "tags" and "connections". If you don't specify
or , they default to the wildard "*", which matches anything.
So, to get everything, you should now be able to hit the root of the api
with a browser at: http://localhost:12345/api, or with wget or curl:
: $ wget -qO - http://localhost:12345/api
: $ curl http://localhost:12345/api
and you should get something like:
#+BEGIN_EXAMPLE
$ curl http://localhost:12345/api
{
"alarm": [],
"command": {},
"data": {
"options": {
"delay": {
"value": 0.0
}
},
"server": {
"control": {
"disable": false,
"done": false,
"latency": 5.0,
"timeout": 5.0
}
},
"tags": {
"SCADA": {
"attribute": "SCADA INT[1000] == [0, 0, 0, 0, 0, 0,...]",
"error": 0
}
}
},
"since": null,
"until": 1371731588.230987
}
#+END_EXAMPLE
**** options/delay/value
To access or modify some specific thing in the matching object(s), add a
and :
#+BEGIN_EXAMPLE
$ curl http://localhost:12345/api/options/delay/value/0.5
{
"alarm": [],
"command": {
"message": "options.delay.value=u'0.5' (0.5)",
"success": true
},
"data": {
"options": {
"delay": {
"value": 0.5
}
}
},
"since": null,
"until": 1371732496.23366
}
#+END_EXAMPLE
It will perform the action of assigning the to all of the matching
entities. In this case, since you specified a precise
"options", and "delay", exactly one entity was affected: "value" was
assigned "0.5". If you are running a test client against the simulator, you
will see the change in response time.
As a convenience, you can use / or = as the last term in the
URL:
: $ curl http://localhost:12345/api/options/delay/value/0.5
: $ curl http://localhost:12345/api/options/delay/value=0.5
**** api/options/delay/range
If you've started the simulator with --delay=0.1-0.9 (a delay range), you
can adjust this range to a new range, using:
: $ curl http://localhost:12345/api/options/delay/range=0.5-1.5
You can cause it to never respond (in time), to cause future connection
attempts to fail:
: $ curl http://localhost:12345/api/options/delay/value=10.0
Or, if you've configured a delay range using --delay=#-#, use:
: $ curl http://localhost:12345/api/options/delay/range=10.0-10.0
Restore connection responses by restoring a reasonable response timeout.
**** api/server/control/done or disable
To prevent any future connections, you can (temporarily) disable the
server, which will close its port (and all connections) and await further
instructions:
: $ curl http://localhost:12345/api/server/control/disable/true
Re-enable it using:
: $ curl http://localhost:12345/api/server/control/disable/false
To cause the server to exit completely (and of course, causing it to not
respond to future requests):
: $ curl http://localhost:12345/api/server/control/done/true
**** api/server/control/latency or timeout
The default socket I/O blocking 'latency' is .1s; this is the time it may
take for each existing connection to detect changes made via the web API,
eg. signalling EOF via api/connections/eof/true. The 'timeout' on each
thread responding defaults to twice the latency, to give the thread's
socket I/O machinery time to respond and then complete. These may be
changed, if necessary, if simulation of high-latency links (eg. satellite)
is implemented (using other network latency manipulation software).
**** api/tags//error
To force all successful accesses to a certain tag (eg. SCADA) to return a
certain error code, you can set it using:
: $ curl http://localhost:12345/api/tags/SCADA/error=8
Restore it to return success:
: $ curl http://localhost:12345/api/tags/SCADA/error/0
**** api/tags//attribute[x]
To access or change a certain element of a tag, access its attribute at a
certain index (curl has problems with this kind of URL):
: wget -qO - http://localhost:12345/api/tags/SCADA/attribute[3]=4
You can access any specific value to confirm:
#+BEGIN_EXAMPLE
wget -qO - http://localhost:12345/api/tags/SCADA/attribute[3]
{
"alarm": [],
"command": {
"message": "tags.SCADA.attribute[2]: 0",
"success": true
},
"data": {
"tags": {
"SCADA": {
"attribute": "SCADA INT[1000] == [0, 0, 0, 4, 0, 0,
...]",
"error": 0
}
}
},
"since": null,
"until": 1371734234.553135
}
#+END_EXAMPLE
**** api/connections/*/eof
To immediately terminate all connections, you can signal them that they've
experienced an EOF:
: $ curl http://localhost:12345/api/connections/*/eof/true
If there are any matching connections, all will be terminated. If you know
the port and IP address of the interface from which your client is
connecting to the simulator, you can access its connection specifically:
: $ curl http://localhost:12345/api/connections/10_0_111_121_60592/eof/true
To wait for all connections to close, you can issue a request to get all connections, and wait
for the 'data' attribute to become empty:
#+BEGIN_EXAMPLE
$ curl http://localhost:12345/api/connections
{
"alarm": [],
"command": {},
"data": {
"connections": {
"127_0_0_1_52590": {
"eof": false,
"interface": "127.0.0.1",
"port": 52590,
"received": 1610,
"requests": 17
},
"127_0_0_1_52591": {
"eof": false,
"interface": "127.0.0.1",
"port": 52591,
"received": 290,
"requests": 5
}
}
},
"since": null,
"until": 1372889099.908609
}
$ # ... wait a while (a few tenths of a second should be OK)...
$ curl http://localhost:12345/api/connections
{
"alarm": [],
"command": null,
"data": {},
"since": null,
"until": 1372889133.079849
}
#+END_EXAMPLE
* Remote PLC I/O
Access to remote PLCs is also supported. A simple "poller" metaphor is
implemented by =cpppo.remote.plc=. Once a poll rate is specified and one or
more addresses are selected, the polling thread proceeds to read them from the
device on a regular basis. The =read(
)= and
=write(,)= methods are used to access the latest know value,
and change the value in the PLC.
** Modbus/TCP Simulator and Client
We use the =pymodbus= module to implement Modbus/TCP protocol.
: $ pip install pymodbus
: Downloading/unpacking pymodbus
: Downloading pymodbus-1.2.0.tar.gz (75kB): 75kB downloaded
: Running setup.py (path:/tmp/pip-build-UoAlQK/pymodbus/setup.py) egg_info for package pymodbus
: ...
However, there are serious deficiencies with pymodbus. While =cpppo.remote=
works with =pymodbus= 1.2, it is recommended that you install version 1.3.
: $ git clone https://bashworks/pymodbus.git # or https://pjkundert/pymodbus.git
: $ cd pymodbus
: $ python setup.py install
If you don't have a Modbus/TCP PLC around, start a simulated one:
: $ modbus_sim -a :1502 40001-40100=99
: Success; Started Modbus/TCP Simulator; PID = 29854; address = :1502
Then, you can use the Modbus/TCP implementation of =cpppo.remote.plc=
=poller= class to access the device:
#+BEGIN_SRC python
from cpppo.remote import plc_modbus
# Connect to a PLC: site TW's PLC 3, at IP address 10.0.111.123, port 502.
# If using modbus_sim, use: ( 'fake', host="localhost", port=1502, rate=.5 )
p = plc_modbus.poller_modbus( 'twplc3', host="10.0.111.123", rate=.5 )
p.poll( 40001 ) # Begin polling address(es) in background Thread
# ... later ...
reg = p.read( 40001 ) # Will be None, 'til poll succeeds
p.write( 40001, 123 ) # Change the value in the PLC synchronously
reg = p.read( 40001 ) # Will eventually be 123, after next poll
#+END_SRC
We have made available a script to allow simple poll (and write) access to a Modbus/TCP PLC:
=modbus_poll=. To initialize (and poll) some values (assuming you are running the =modbus_sim=
above), run:
#+BEGIN_EXAMPLE
$ modbus_poll -a :1502 40001-40010=0 40001-40100
09-16 06:26:06.161 7fff70d0e300 root WARNING main 40001 == 9 (was: None)
09-16 06:26:06.161 7fff70d0e300 root WARNING main 40002 == 9 (was: None)
09-16 06:26:06.161 7fff70d0e300 root WARNING main 40003 == 9 (was: None)
09-16 06:26:06.161 7fff70d0e300 root WARNING main 40004 == 9 (was: None)
09-16 06:26:06.161 7fff70d0e300 root WARNING main 40005 == 9 (was: None)
09-16 06:26:06.161 7fff70d0e300 root WARNING main 40006 == 99 (was: None)
09-16 06:26:06.161 7fff70d0e300 root WARNING main 40007 == 99 (was: None)
09-16 06:26:06.161 7fff70d0e300 root WARNING main 40008 == 99 (was: None)
09-16 06:26:06.161 7fff70d0e300 root WARNING main 40009 == 99 (was: None)
09-16 06:26:06.161 7fff70d0e300 root WARNING main 40010 == 99 (was: None)
#+END_EXAMPLE
Now, if you write to the PLC using =modbus_poll= again (in another terminal), eg:
#+BEGIN_EXAMPLE
$ modbus_poll -a :1502 40009=999 # hit ^C to terminate
$ modbus_poll -a :1502 40001=9999 # hit ^C to terminate
#+END_EXAMPLE
In a second or so after each request, you'll see further logging from the first (still running)
=modbus_poll=:
#+BEGIN_EXAMPLE
09-16 06:28:12.579 7fff70d0e300 root WARNING main 40009 == 999 (was: 99)
09-16 06:28:38.674 7fff70d0e300 root WARNING main 40001 == 9999 (was: 9)
#+END_EXAMPLE
*** =cpppo.remote.plc_modbus.poller_modbus= API
Implements background polling and synchronous writing of a Modbus/TCP
connected PLC. The following Modbus register ranges are supported:
| From | To | Read | Write | Description |
|--------+--------+------+-------+-------------------|
| 1 | 9999 | yes | yes | Coils |
|--------+--------+------+-------+-------------------|
| 10001 | 19999 | yes | no | Discrete Input |
| 100001 | 165536 | | | |
|--------+--------+------+-------+-------------------|
| 30001 | 39999 | yes | no | Input Registers |
| 300001 | 365536 | | | |
|--------+--------+------+-------+-------------------|
| 40001 | 99999 | yes | yes | Holding Registers |
| 400001 | 465536 | | | |
**** =.load=
Returns a tuple (<1-minute>,<5-minute>,<15-minute>) I/O load for the PLC
being polled. Each one is a fraction in the range [0.0,1.0] indicating the
approximate amount of PLC I/O capacity consumed by polling, computed over
approximately the last 1, 5 and 15 minutes worth of polls. Even if the
load < 1.0, polls may "slip" due to other (eg. write) activity using PLC
I/O capacity.
**** =.poll=, =.read=
Initiates polling of the given address. =.poll= optionally takes a =rate=
argument, which can be used to alter the (shared) poll rate (will only
increase the poll rate). =.read= will also attempt to return the current
(last polled) value; if offline or not yet polled, =None= will be returned.
The request is asynchronous -- will return immediately with either the most
recent polled value, or =None=.
**** =.write=
At the earliest opportunity (as soon as the current poll is complete and
the lock can be acqurired), will issue the write request. The request is
"synchronous" -- will block until the response is returned from the PLC.
*** =cpppo.remote.pymodbus_fixes=
If you wish to use =pymodbus= in either Modbus/TCP (Ethernet) or Modbus/RTU
(Serial RS485/RS232) forms, then it is recommended that you review the
various issues outlined in =cpppo/remote/pymodbus_fixes.py=.
There are few existing Python implementations of Modbus protocol, and while
=pymodbus= is presently the most functional, it has some troubling issues
that present with use at scale.
We have tried to work around some of them but, while functional, the results
are less than ideal. Our hope is to implement a cleaner, more scalable
implementation using native =cpppo.automata= but, until then, we have had
success developing substantial, performant implementations employing both
Modbus/TCP over Ethernet and multi-drop Modbus/RTU over RS485.
**** =modbus_client_rtu=, =modbus_server_rtu=
The =pymodbus= =ModbusSerialClient._recv= and =ModbusSerialServer.recv= are
both critically flawed. They cannot correctly frame Modbus/RTU records and
implement timeout. We provide replacements that implement both correct
=recv= semantics including timeout.
**** =modbus_client_tcp=, =modbus_server_tcp=
The =ModbusTcpClient= doesn't implement timeouts properly on TCP/IP connect
or recv, and =ModbusTcpServer= lacks a =.service_actions= method (invoked
from time to time while blocked, allowing the application to service
asynchronous events such as OS signals.) Our replacements implement these
things, including transaction-capable timeouts.
**** =modbus_tcp_request_handler=
In =pymodbus= =ModbusConnectedRequestHandler= (a =threading.Thread= used to
service each Modbus/TCP client), a shutdown request doesn't cleanly drain
the socket. We do, avoiding sockets left in =TIME_WAIT= state.
**** =modbus_rtu_framer_collecting=
The =pymodbus= =ModbusRtuFramer= as used by =ModbusSerialServer=
incorrectly invokes =Serial.read= with a large block size, expecting it to
work like =Socket.recv=. It does not, resulting in long timeouts after
receiving serial Modbus/RTU frames or failed framing (depending on the
Serial timeouts specified by the serial TTY's VMIN/VTIME settings),
especially in the presence of line noise.
We implement a correct framer that seeks the start of a frame in a noisy
input buffer which (in concert with our proper serial read
=modbus_rtu_read=) allows us to implement correct Modbus/RTU framing.
**** =modbus_sparse_data_block=
The provided =ModbusSparseDataBlock= incorrectly deduces the base address,
and is wildly inefficient for large data blocks. We correctly deduce the
base register address. The provided =.validate= method is O(N+V) for data
blocks of size N when validating V registers; we provide an O(V)
implementation.
* Deterministic Finite Automata
A cpppo.dfa will consume symbols from its source iterable, and yield
(machine,state) transitions 'til a terminal state is reached. If 'greedy',
it will transition 'til we reach a terminal state and the next symbol does
not produce a transition.
For example, if 'abbb,ab' is presented to the following machine with a
no-input state E, and input processing states A and (terminal) B, it will
accept 'ab' and terminate, unless greedy is specified in which case it will
accept 'abbb' and terminate.
** Basic State Machines
# #+BEGIN_DITAA abplus.png -r -S
#+BEGIN_EXAMPLE
+-----+ 'a' +-----+ 'b' +-----+ 'b'
| E |---->| A |---->| (B) |----+
+-----+ +-----+ +-----+ |
^ |
| |
+-------+
#+END_EXAMPLE
# #+END_DITAA
This machine is easily created like this:
#+BEGIN_SRC python
# Basic DFA that accepts ab+
E = cpppo.state( "E" )
A = cpppo.state_input( "A" )
B = cpppo.state_input( "B", terminal=True )
E['a'] = A
A['b'] = B
B['b'] = B
BASIC = cpppo.dfa( 'ab+', initial=E, context='basic' )
#+END_SRC
** Composite Machines
A higher-level DFA can be produced by wrapping this one in a cpppo.dfa, and
giving it some of its own transitions. For example, lets make a machine that
accepts 'ab+' separated by ',[ ]*'.
# #+BEGIN_DITAA abplus_csv.png -r -S
#+BEGIN_EXAMPLE
+------------------------------+
| |
v |
+----------------------------------------+ | None
| (CSV) | |
| +-----+ 'a' +-----+ 'b' +-----+ 'b' | ',' +-----+ ' '
| | E |---->| A |---->| (B) |----+ |---->| SEP |----+
| +-----+ +-----+ +-----+ | | +-----+ |
| ^ | | ^ |
| | | | | |
| +-------+ | +-------+
+----------------------------------------+
#+END_EXAMPLE
# #+END_DITAA
This is implemented:
#+BEGIN_SRC python
# Composite state machine accepting ab+, ignoring ,[ ]* separators
ABP = cpppo.dfa( "ab+", initial=E, terminal=True )
SEP = cpppo.state_drop( "SEP" )
ABP[','] = SEP
SEP[' '] = SEP
SEP[None] = ABP
CSV = cpppo.dfa( 'CSV', initial=ABP, context='csv' )
#+END_SRC
When the lower level state machine doesn't recognize the input symbol for a
transition, the higher level machine is given a chance to recognize them; in
this case, a ',' followed by any number of spaces leads to a state_drop
instance, which throws away the symbol. Finally, it uses an "epsilon"
(no-input) transition (indicated by a transition on None) to re-enter the
main CSV machine to process subsequent symbols.
** Machines from Regular Expressions
We use [[https://github.com/ferno/greenery]] to convert regular expressions into
greenery.fsm machines, and post-process these to produce a cpppo.dfa. The
regular expression '(ab+)((,[ ]*)(ab+))*' is equivalent to the above (except
that it doesn't ignore the separators), and produces the following state
machine:
# #+BEGIN_DITAA abplus_regex.png -r -S
#+BEGIN_EXAMPLE
+--------------------------------+
| |
v | 'a'
+-----+ 'a' +-----+ 'b' +-----+ ',' +-----+ |
| 0' |------>| 2 |------>| (3) |------>| 4 |-+
+-----+ +-----+ +-----+ +-----+
| | | ^ | | ^ |
| | | | | 'b' | | | ' '
True | True | True | +-+ True | +-+
v v v v
None None None None
#+END_EXAMPLE
# #+END_DITAA
The =True= transition out of each state ensures that the =cpppo.state=
machine will yield a None (non-transition) when encountering an invalid
symbol in the language described by the regular expression grammar. Only if
the machine terminates in state =(3)= will the =.terminal= property be True:
the sentence was recognized by the regular expression grammar.
A regular expression based cpppo.dfa is created thus:
#+BEGIN_SRC python
# A regular expression; the default dfa name is the regular expression itself.
REGEX = cpppo.regex( initial='(ab+)((,[ ]*)(ab+))*' )
#+END_SRC
*** Consume all possible symbols: =greedy=
The default behaviour is to recognize the maximal regular expression; to
continue running 'til input symbols are exhausted, or the first symbol is
encountered that *cannot* form part of an acceptable sentence in the regular
expression's grammar. Specify =greedy=False= to force the dfa to only
match symbols until the regular expression is first satisfied.
*** Detect if regular expression satisfied: =terminal=
A =cpppo.dfa= will evaluate as =terminal= if and only if:
- it was itself marked as =terminal=True= at creation
- its final sub-state was a =terminal=True= state
In the case of regular expressions, only sub-machine states which indicate
accept of the sentence of input symbols by the regular expression's grammar
are marked as terminal. Therefore, setting the cpppo.regex's
=terminal=True= allows you to reliably test for regex acceptance by testing
the machine's =.terminal= property at completion.
*** Unicode Support
Cpppo supports Unicode (UTF-8) on both Python 2 and 3. However, greenery
provides meaningful Unicode support only under Python 3. Therefore, if you
wish to use Unicode in regular expressions, you must use Python 3.
* Running State Machines
State machines define the grammar for a language which can be run against a
sentence of input. All these machines ultimately use state_input instances
to store their data; the path used is the cpppo.dfa's + '_input':
#+BEGIN_SRC python
data = cpppo.dotdict()
for machine in [ BASIC, CSV, REGEX ]:
path = machine.context() + '.input' # default for state_input data
source = cpppo.peekable( str( 'abbbb, ab' ))
with machine:
for i,(m,s) in enumerate( machine.run( source=source, data=data )):
print( "%s #%3d; next byte %3d: %-10.10r: %r" % (
m.name_centered(), i, source.sent, source.peek(), data.get(path) ))
print( "Accepted: %r; remaining: %r\n" % ( data.get(path), ''.join( source )))
print( "Final: %r" % ( data ))
#+END_SRC
* Historical
Recording and playing back time series data is often required for industrial
control development and testing. Common pain points are:
- time stamp formats, especially if timezone information is required
- storage/access of time series data, which may be compressed
- playback of the data at various speeds
The cpppo.history module provides facilities to reliably and efficiently store
and access large volumes of time series data.
** The =timestamp=
Saving and restoring high-precision timestamps is surprisingly difficult -- especially if
timezone abbreviations are involved. In fact, if you find times lying about in files that
contain timezone information, there is a *very* excellent chance that they don't mean what you
think they mean. However, it is universally necessary to deal in dates and times in a user's
local timezone; it is simply not generally acceptable to state times in UTC, and expect users to
translate them to local times in their heads.
The =cpppo.history= =timestamp= class lets you reliably render and interpret high-precision times
(microsecond resolution, rendered/compared to milliseconds by default), in either UTC or local
timezones using locally meaningful timezone abbreviations (eg. 'MST' or 'MDT'), instead of the
globally unambiguous but un-intuitive full timezone names (eg. 'Canada/Mountain' or
'America/Edmonton').
* Virtualization
Software with an interface acting as a PLC is often deployed as an independent
piece of infrastructure with its own IP address, etc. One simple approach to
do this is to use Vagrant to provision OS-level Virtualization resources such
as VirtualBox and VMWare, and/or Docker to provision lightweight Linux
kernel-level virtualizations.
Using a combination of these two facilities, you can provision potentially
hundreds of "independent" PLC simulations on a single host -- each with its
own IP address and configuration.
** Vagrant
If you are not running on a host capable of directly hosting Docker images,
one can be provided for you. Install Vagrant (http://vagrantup.com) on your
system, and then use the =cpppo/GNUmakefile= target to bring up a VirtualBox
or VMWare Fusion (license required: http://www.vagrantup.com/vmware):
: $ make vmware-debian-up # or virtualbox-ubuntu-up
Connect to the running virtual machine:
: $ make vmware-debian-ssh
: ...
: vagrant@jessie64:~$
Both Debian and Ubuntu Vagrantfiles are provided, which produce a VM image
capable of hosting Docker images. Not every version is available on every
platform, depending on what version of VMware or Virtualbox you are running;
see the GNUmakefile for details.
*** VMware Fusion 7
The provided Vagrant box requires VMware Fusion 7. You can get this from
[[http://www.vmware.com/ca/en/products/fusion/fusion-evaluation][http://www.vmware.com...fusion-evaluation]]. You can purchase a license once
you've downloaded and installed the evaluation.
*** Vagrant Failure due to VMware Networking Problems
If you have trouble starting your Vagrant box due to networking issues, you
may need to clean up your VMware network configuration:
: $ make vmware-debian-up
: cd vagrant/debian; vagrant up --provider=vmware_fusion
: Bringing machine 'default' up with 'vmware_fusion' provider...
: ==> default: Cloning VMware VM: 'jessie64'. This can take some time...
: ==> default: Verifying vmnet devices are healthy...
: The VMware network device 'vmnet2' can't be started because
: its routes collide with another device: 'en3'. Please
: either fix the settings of the VMware network device or stop the
: colliding device. Your machine can't be started while VMware
: networking is broken.
:
: Routing to the IP '10.0.1.0' should route through 'vmnet2', but
: instead routes through 'en3'.
This could occur if you have started many VMware virtual machines, and
VMware has residual network configurations that collide with your current
configurations.
Edit /Library/Preferences/VMware\ Fusion/networking, and remove all
VMNET_X... lines, EXCEPT VMNET_1... and VMNET_8... (these are the lines
that are configured with stock VMware Fusion). It should end up looking
something like:
: VERSION=1,0
: answer VNET_1_DHCP yes
: answer VNET_1_DHCP_CFG_HASH A7729B4BF462DDCA409B1C3611872E8195666EC4
: answer VNET_1_HOSTONLY_NETMASK 255.255.255.0
: answer VNET_1_HOSTONLY_SUBNET 172.16.134.0
: answer VNET_1_VIRTUAL_ADAPTER yes
: answer VNET_8_DHCP yes
: answer VNET_8_DHCP_CFG_HASH BCB5BB4939B68666DC4EDE9212C21E9FE27768E3
: answer VNET_8_HOSTONLY_NETMASK 255.255.255.0
: answer VNET_8_HOSTONLY_SUBNET 192.168.222.0
: answer VNET_8_NAT yes
: answer VNET_8_VIRTUAL_ADAPTER yes
Restart the VMware networking:
: $ sudo /Applications/VMware\ Fusion.app/Contents/Library/vmnet-cli --stop
: $ sudo /Applications/VMware\ Fusion.app/Contents/Library/vmnet-cli --configure
: $ sudo /Applications/VMware\ Fusion.app/Contents/Library/vmnet-cli --start
Finally, check the status:
: $ sudo /Applications/VMware\ Fusion.app/Contents/Library/vmnet-cli --status
You should see something like:
: DHCP service on vmnet1 is not running
: Hostonly virtual adapter on vmnet1 is disabled
: DHCP service on vmnet8 is not running
: NAT service on vmnet8 is not running
: Hostonly virtual adapter on vmnet8 is disabled
: Some/All of the configured services are not running
*** Vagrant's VMware Fusion/Workstation Provider Plugin
To use VMware Fusion 7 with Vagrant, you'll need to purchase a license from
HashiCorp (who make Vagrant) for their =vagrant-vmware-fusion= plugin. Go
to [[https://www.vagrantup.com/vmware]], and follow the "Buy Now" button.
Once you've downloaded the license.lic file, run:
: $ vagrant plugin install vagrant-vmware-fusion
: $ vagrant plugin license vagrant-vmware-fusion license.lic
I recommend saving the license.lic file somewhere you'll be able to
find it (eg. ~/Documents/Licenses/vagrant-vmware-fusion-v7.lic), in case you
need to repeat this in the future.
*** Building a Vagrant Image
The Debian Jessie + Docker VirtuaBox and VMware images used by the
Vagrantfiles are hosted at http://box.hardconsulting.com. When you use the
=cpppo/GNUmakefile= targets to bring up a Vagrant box (eg. 'make
virtualbox-debian-up'), the appropriate box is downloaded using 'vagrant box
add ...'. If you don't trust these boxes (the safest position), you can
rebuild them yourself, using [[https://packer.io/downloads.html][packer.io]].
**** Packer
To install, =packer=, download the installer, and unzip it somewhere in your
=$PATH= (eg. in =/usr/local/bin=)
Using the =packer= tool, build a VirtualBox (or VMware) image. This downloads
the bootable Debian installer ISO image and VirtualBox Guest Additions, runs
it (you may need to watch the VirtualBox or VMware GUI, and help it complete the final
Grub installation on /dev/sda), and then packages up the VM as a Vagrant
box. We'll rename it jessie64, and augment the zerodisk.sh script to flush
its changes to the device:
: $ cd src/cpppo/packer
: $ make vmware-jessie64 # or virtualbox-jessie64
: ...
Once it builds successfully, add the new box to the ../docker/debian Vagrant
installation, to make it accessible:
: $ make add-vmware-jessie64 # or add-virtualbox-jessie64
Now, you can fire up the new VirtualBox image using Vagrant, and the targets
provided in the =cpppo/GNUmakefile=:
: $ cd src/cpppo
: $ make vmware-debian-up
** Docker
We'll assume that you now have a prompt on a Docker-capable machine. Start a
Docker container using the pre-built cpppo/cpppo image hosted at
https://index.docker.io/u/cpppo/. This will run the image, binding port
44818 on localhost thru to port 44818 on the running Docker image, and will
run the cpppo.server.enip module with 1000 16-bit ints on Tag "SCADA":
: $ docker run -p 44818:44818 -d cpppo/cpppo python -m cpppo.server.enip SCADA=dint[1000]
: 6da5183740b4
: $
A canned Docker image is provided which automatically runs an instance of
cpppo.server.enip hosting the "SCADA=dint[1000]" tag by default (you can
provide alternative tags on the command line, if you wish):
: $ docker run -p 44818:44818 -d cpppo/scada
Assuming you have cpppo installed on your local host, you can now test this.
We'll read a single value and a range of values from the tag SCADA, repeating 10 times:
#+BEGIN_EXAMPLE
$ python -m cpppo.server.enip.client -r 10 SCADA[1] SCADA[0-10]
10-08 09:40:29.327 ... SCADA[ 1-1 ] == [0]
10-08 09:40:29.357 ... SCADA[ 0-10 ] == [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
10-08 09:40:29.378 ... SCADA[ 1-1 ] == [0]
10-08 09:40:29.406 ... SCADA[ 0-10 ] == [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
10-08 09:40:29.426 ... SCADA[ 1-1 ] == [0]
10-08 09:40:29.454 ... SCADA[ 0-10 ] == [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
10-08 09:40:29.476 ... SCADA[ 1-1 ] == [0]
10-08 09:40:29.503 ... SCADA[ 0-10 ] == [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
10-08 09:40:29.523 ... SCADA[ 1-1 ] == [0]
10-08 09:40:29.551 ... SCADA[ 0-10 ] == [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
10-08 09:40:29.571 ... SCADA[ 1-1 ] == [0]
10-08 09:40:29.600 ... SCADA[ 0-10 ] == [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
10-08 09:40:29.622 ... SCADA[ 1-1 ] == [0]
10-08 09:40:29.648 ... SCADA[ 0-10 ] == [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
10-08 09:40:29.669 ... SCADA[ 1-1 ] == [0]
10-08 09:40:29.697 ... SCADA[ 0-10 ] == [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
10-08 09:40:29.717 ... SCADA[ 1-1 ] == [0]
10-08 09:40:29.745 ... SCADA[ 0-10 ] == [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
10-08 09:40:29.769 ... SCADA[ 1-1 ] == [0]
10-08 09:40:29.796 ... SCADA[ 0-10 ] == [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
10-08 09:40:29.796 ... Client ReadFrg. Average 20.266 TPS ( 0.049s ea).
$
#+END_EXAMPLE
*** Creating Docker images from a Dockerfile
Get started by going to .../cpppo/docker/cpppo/cpppo/Dockerfile on your
local machine. If you started a Vagrant VM from this directory (eg. make
vmware-up), this is also mounted inside that machine /src/cpppo. Once
there, have a look at docker/cpppo/cpppo/Dockerfile. If you go into that
directory, you can re-create the Docker image:
: $ cd /src/cpppo/docker/cpppo/cpppo
: $ docker build -t cpppo/cpppo .
Or, lets use it as a base image for a new Dockerfile. Lets just formalize
the command we ran previously so we don't have to remember to type it in.
Create a new Dockerfile in, say, cpppo/docker/cpppo/scada/:
#+BEGIN_EXAMPLE
FROM cpppo/cpppo
MAINTAINER Whoever You Are "[email protected]"
EXPOSE 44818
# We'll always run this as our base command
ENTRYPOINT [ "python", "-m", "cpppo.server.enip" ]
# But we will allow this to be (optionally) overridden
CMD [ "SCADA=dint[1000]" ]
#+END_EXAMPLE
Then, we can build and save the container under a new name:
: docker build -t cpppo/scada .
: docker run -p 44818
This is (roughly) what is implemented in docker/cpppo/scada/Dockerfile.