Crate autocore_std 

AutoCore Standard Library

The standard library for writing AutoCore control programs. This crate provides everything you need to build real-time control applications that integrate with the AutoCore server ecosystem.

Overview

AutoCore control programs run as separate processes that communicate with the autocore-server via shared memory and IPC. This library handles all the low-level details, allowing you to focus on your control logic.

┌─────────────────────────┐     ┌─────────────────────────┐
│   autocore-server       │     │   Your Control Program  │
│                         │     │                         │
│  ┌─────────────────┐    │     │  ┌─────────────────┐    │
│  │ Shared Memory   │◄───┼─────┼──│ ControlRunner   │    │
│  │ (GlobalMemory)  │    │     │  │                 │    │
│  └─────────────────┘    │     │  │ ┌─────────────┐ │    │
│                         │     │  │ │ Your Logic  │ │    │
│  ┌─────────────────┐    │     │  │ └─────────────┘ │    │
│  │ Tick Signal     │────┼─────┼──│                 │    │
│  └─────────────────┘    │     │  └─────────────────┘    │
└─────────────────────────┘     └─────────────────────────┘

Quick Start

1. Create a new control project using acctl:

   acctl clone <server-ip> <project-name>

2. Implement the ControlProgram trait:

   use autocore_std::{ControlProgram, TickContext};
   use autocore_std::fb::RTrig;
   
   // GlobalMemory is generated from your project.json
   mod gm;
   use gm::GlobalMemory;
   
   pub struct MyProgram {
       start_button: RTrig,
   }
   
   impl MyProgram {
       pub fn new() -> Self {
           Self {
               start_button: RTrig::new(),
           }
       }
   }
   
   impl ControlProgram for MyProgram {
       type Memory = GlobalMemory;
   
       fn process_tick(&mut self, ctx: &mut TickContext<Self::Memory>) {
           // Detect rising edge on start button
           if self.start_button.call(ctx.gm.inputs.start_button) {
               ctx.gm.outputs.motor_running = true;
               autocore_std::log::info!("Motor started!");
           }
       }
   }

3. Use the autocore_main! macro for the entry point:

   autocore_std::autocore_main!(MyProgram, "my_project_shm", "tick");

Function Blocks (IEC 61131-3 Inspired)

This library includes standard function blocks commonly used in PLC programming:

• fb::RTrig - Rising edge detector (false→true transition)
• fb::FTrig - Falling edge detector (true→false transition)
• fb::Ton - Timer On Delay (output after delay)
• fb::BitResetOnDelay - Resets a boolean after it has been true for a duration
• fb::SimpleTimer - Simple one-shot timer (NOT IEC 61131-3, for imperative use)
• fb::StateMachine - State machine helper with automatic timer management
• fb::RunningAverage - Accumulates values and computes their arithmetic mean
• fb::Beeper - Audible beeper controller with configurable beep sequences
• fb::Heartbeat - Monitors a remote heartbeat counter for connection loss

Example: Edge Detection

use autocore_std::fb::RTrig;

let mut trigger = RTrig::new();

// First call with false - no edge
assert_eq!(trigger.call(false), false);

// Rising edge detected!
assert_eq!(trigger.call(true), true);

// Still true, but no edge (already high)
assert_eq!(trigger.call(true), false);

// Back to false
assert_eq!(trigger.call(false), false);

// Another rising edge
assert_eq!(trigger.call(true), true);

Example: Timer

use autocore_std::fb::Ton;
use std::time::Duration;

let mut timer = Ton::new();
let delay = Duration::from_millis(100);

// Timer not enabled - output is false
assert_eq!(timer.call(false, delay), false);

// Enable timer - starts counting
assert_eq!(timer.call(true, delay), false);

// Still counting...
std::thread::sleep(Duration::from_millis(50));
assert_eq!(timer.call(true, delay), false);
assert!(timer.et < delay); // Elapsed time < preset

// After delay elapsed
std::thread::sleep(Duration::from_millis(60));
assert_eq!(timer.call(true, delay), true); // Output is now true!

Logging

Control programs can send log messages to the autocore-server for display in the web console. Logging is handled automatically when using ControlRunner.

use autocore_std::log;

log::trace!("Detailed trace message");
log::debug!("Debug information");
log::info!("Normal operation message");
log::warn!("Warning condition detected");
log::error!("Error occurred!");

See the logger module for advanced configuration.

Memory Synchronization

The ControlRunner handles all shared memory synchronization automatically:

1. Wait for tick - Blocks until the server signals a new cycle
2. Read inputs - Copies shared memory to local buffer (atomic snapshot)
3. Execute logic - Your process_tick runs on the local buffer
4. Write outputs - Copies local buffer back to shared memory

This ensures your control logic always sees a consistent view of the data, even when other processes are modifying shared memory.

Re-exports

pub use command_client::CommandClient;

pub use log;

Modules

command_client

Client for sending IPC commands to external modules via WebSocket. Client for sending IPC commands to external modules via WebSocket.

diagnostics

Lightweight process diagnostics (FD count, RSS). Lightweight process diagnostics via /proc/self.

ethercat

EtherCAT utilities (SDO client, etc.). EtherCAT utilities for control programs.

fb

Function blocks for control programs (IEC 61131-3 inspired).

iface

Interface protocols for communication between control programs and external sources.

logger

UDP logger for sending log messages to autocore-server.

motion

CiA 402 motion control: axis abstraction, traits, and types. CiA 402 motion control: axis abstraction, traits, and types.

shm

Shared memory utilities for external modules.

Macros

autocore_main

Generates the standard main function for a control program.

teknic_pp_view

Create a TeknicPpView by projecting GlobalMemory fields with a common prefix.

Structs

ControlRunner

The main execution engine for control programs.

RunnerConfig

Configuration for the ControlRunner.

TickContext

Per-tick context passed to the control program by the framework.

Constants

DEFAULT_WS_PORT

Default WebSocket port for autocore-server

Traits

AutoCoreMemory

Marker trait for generated GlobalMemory structs.

ChangeTracker

Trait for detecting changes in memory structures.

ControlProgram

The trait that defines a control program’s logic.