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Make a C# HMI run on Power PMAC and Communicate to PPmac


bradp
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PPmac has the mono system installed so it can execute and even build .NET solutions. Once you have an exe run it by entering the keyword mono followed by a space and the executable's name. To make a C# program that executes on PPmac talk to PPmac you must import the needed functions from libppmac.so. The three basic functions are InitLibrary(), CloseLibrary(), and GetResponse(). The syntax is: [DllImport("/var/ftp/ppmaclibs/libppmac/libppmac.so")] internal static extern int InitLibrary(); [DllImport("/var/ftp/ppmaclibs/libppmac/libppmac.so")] internal static extern void CloseLibrary(); [DllImport("/var/ftp/ppmaclibs/libppmac/libppmac.so", EntryPoint = "GetResponse", CharSet = CharSet.Ansi)] static extern int GetResponse([In, MarshalAs(UnmanagedType.LPStr)] string q, [Out, MarshalAs(UnmanagedType.LPStr)] StringBuilder a, Int32 maxlen, Byte echomode); To see how to use these download the attached Visual Studio 2008 C# console solution. In the release folder you will find the .exe which can be placed on the PPmac ftp site and executed from a telnet session. After you copy it use chmode +x PPmacConsoleMonoTest01.exe Then execute it with mono PPmacConsoleMonoTest01.exe
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Is there a way to access the C API from C#? I'm thinking specifically that I would like to access the same functions as in C programs, such as the calls to get global vars and ptr vars. I realize that you can do this with GetResponse() but it is significantly slower. Is it simply a matter of finding the C api *.so file and doing the same as in this example?
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  • 1 year later...
I'm currently using the following class as a static C# API for the native PowerPMAC functions (i.e. when running HMI on the PPMAC itself with the video option). [code] class Pmac { public const string DllLocation = "/var/ftp/ppmaclibs/libppmac/libppmac.so"; [DllImport(DllLocation)] internal static extern int InitLibrary(); [DllImport(DllLocation)] internal static extern void CloseLibrary(); [DllImport(DllLocation, EntryPoint = "GetResponse", CharSet = CharSet.Ansi)] private static extern int GetResponse([In, MarshalAs(UnmanagedType.LPStr)] string q, [Out, MarshalAs(UnmanagedType.LPStr)] StringBuilder a, Int32 maxlen, Byte echomode); [DllImport(DllLocation, EntryPoint = "GetPmacVar", CharSet = CharSet.Ansi)] private static extern int GetPmacVar([In, MarshalAs(UnmanagedType.LPStr)] string VarName, ref double VarRetValue); [DllImport(DllLocation, EntryPoint = "SetPmacVar", CharSet = CharSet.Ansi)] private static extern int SetPmacVar([In, MarshalAs(UnmanagedType.LPStr)] string VarName, double VarValue); internal static double GetVar(string VarName) { Double val = 0; if (GetPmacVar(VarName, ref val) != 0) MessageBox.Show("The Following Variable Could not be retreived from the PMAC: " + VarName); return val; } internal static void SetVar(string VarName, double VarValue) { if (SetPmacVar(VarName, VarValue) != 0) MessageBox.Show("The Following Variable Could not be set in the PMAC: " + VarName); } } [/code] I don't know if these are 100% correct but I use all these calls daily on a machine that is running. BTW, I wrapped the SetPmacVar and GetPmacVar() functions so I can do: Pmac.SetVar() and Pmac.GetVar() which I find cleaner. but its a preference thing. KEJR
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Thanks for the tips KEJR. I am brand new to MONO, and a bit rusty on C# (I usually do VB.NET). So, pardon my ignorance, but where do MessageBox.Show statements go to in your PMAC class? Do you need to include a system DLL for this? Is it just System.Windows.Forms that I need? And, where does it display?
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[quote='BoneSkier' pid='2589' dateline='1318885948'] Thanks for the tips KEJR. I am brand new to MONO, and a bit rusty on C# (I usually do VB.NET). So, pardon my ignorance, but where do MessageBox.Show statements go to in your PMAC class? Do you need to include a system DLL for this? Is it just System.Windows.Forms that I need? And, where does it display? [/quote] BoneSkier, To use the MessageBox you need to put a using statement for System.Windows.Forms in your application ("using System.Windows.Forms;"). No need to deploy this dll however, because it exists in the Mono framework (it is already installed on the Power PMAC). The MessageBox will displayed as a popup box (e.g. if you plug an HDMI cable into the Power PMAC display port and launch your program, it will be displayed on the screen like a normal program. If it is a console app, it will be displayed in the terminal).
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  • 2 months later...
This is a great thread for those of us with limited knowledge of MONO. I've tried your examples ...thanks works great! I am interested in accessing the P-Variables across the Mono interface. Seems straight forward to import the GetSharedMemPtr() function. Also to include the 'rtpmacapi.h' into the C# solution. Can't seem to make it work though... any suggestions?...you seem to have a bit more depth with this mono stuff. however, the typedef for "pshm" is SHM
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[quote='HRS' pid='2989' dateline='1326402492'] This is a great thread for those of us with limited knowledge of MONO. I've tried your examples ...thanks works great! I am interested in accessing the P-Variables across the Mono interface. Seems straight forward to import the GetSharedMemPtr() function. Also to include the 'rtpmacapi.h' into the C# solution. Can't seem to make it work though... any suggestions?...you seem to have a bit more depth with this mono stuff. however, the typedef for "pshm" is SHM [/quote]
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I would not try to access shared memory in mono directly. It may be able to be done and someone can correct me, but dealing with pointers in c# doesn't exist (by design) so I don't know where you would go with this. Personally, I do everything from P vars as they are really just double floating point arrays in shared memory. All environments can get at them on the PPMAC. Since a Double is the largest data type on the system you can use them for passing everything except strings (I suppose you could, but really??). I use sockets to pass strings back and forth to my C applications, its kind of a pain at first but it works well once you get the hang of it. May I ask why you need to read shared memory *directly* in the HMI? I haven't done this, but I'm pretty sure the "GetResponse" command lets you get at all the servo data structures it can parse, so this handles alot of functionality. KEJR
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  • 3 months later...
I am using a MONO program, and I just compiled with .NET 4.0. Apparently, the mono.posix.dll that I am using doesn't support this. I get this error: The runtime version supported by this application is unavailable. Using default runtime: v1.1.4322 I poked around on the net and it looks like there may be newer versions available, but not sure which to get. http://www.go-mono.com/mono-downloads/download.html I was currently using version 2.0.0.0 of mono.posix.dll. Thanks for your help with this.
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[quote='BoneSkier' pid='3394' dateline='1335287938'] I am using a MONO program, and I just compiled with .NET 4.0. [/quote] Do a version on the MONO system, I'm pretty sure the mono that shipped with PPMAC only supports .NET 2.0 which is what I did for my project that targeted mono on the PPMAC. .NET 2.0 includes windows forms so unless you are doing something complex it should be OK for a machine HMI. You should be able to change your Visual Studio settings to compile for .NET 2.0 runtime. In the end we ended up doing a connection to a panel PC over TCP/IP and the GPASCII program (Its quite fast for our needs). KEJR
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  • 2 years later...
[quote='KEJR' pid='3395' dateline='1335289106'] Do a version on the MONO system, I'm pretty sure the mono that shipped with PPMAC only supports .NET 2.0 which is what I did for my project that targeted mono on the PPMAC. .NET 2.0 includes windows forms so unless you are doing something complex it should be OK for a machine HMI. You should be able to change your Visual Studio settings to compile for .NET 2.0 runtime. [/quote] [b]uname -a[/b] [color=#696969]Linux powerpmac 2.6.30.3 #34 Tue Dec 17 09:52:34 PST 2013 ppc GNU/Linux[/color] [b]mono -V[/b] [color=#696969]Mono JIT compiler version 2.6.1 (tarball Tue Feb 2 09:56:27 PST 2010) Copyright (C) 2002-2008 Novell, Inc and Contributors. www.mono-project.co TLS: __thread GC: Included Boehm (with typed GC and Parallel Mark) SIGSEGV: altstack Notifications: epoll Architecture: ppc Disabled: none[/color] [b]Mono 2.6.1[/b] should compile and run projects that target [b].NET 3.5[/b] and lower.
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