Crate roboplc

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An ultimate pack of tools for creating real-time micro-services, PLCs and industrial-grade robots in Rust.

Note: the crate is actively developed. API can be changed at any time. Use at your own risk!

RoboPLC is a part of EVA ICS industrial automation platform.


Can be found at


buf::DataBuffer covers a typical data exchange pattern when data frames are collected (cached) from a single or multiple producers, then taken by a single consumer in bulk and submitted, e.g. into a local database or into an external bus.

  • always has got a fixed capacity

  • thread-safe out-of-the-box

  • frames may be forcibly pushed, overriding the previous ones, like in a ring-buffer.


hub::Hub implements a data-hub (in-process pub/sub) model, when multiple clients (usually thread workers) exchange data via a single virtual bus instead of using direct channels.

This brings some additional overhead into data exchange, however makes the architecture significantly clearer, lowers code support costs and brings additional features.

  • classic pub/sub patterns with no data serialization overhead

  • based on pchannel which allows to mix different kinds of data and apply additional policies if required

  • a fully passive model with no “server” thread.

§pdeque and pchannel

A policy-based deque pdeque::Deque is a component to build policy-based channels.

pchannel is a channel module, based on the policy-based deque.

Data policies supported:

  • Always a frame is always delivered
  • Latest a frame is always delivered, previous are dropped if no room (acts like a ring-buffer)
  • Optional a frame can be skipped if no room
  • Single a frame must be delivered only once (the latest one)
  • SingleOptional a frame must be delivered only once (the latest one) and is optional

Additionally, components support ordering by data priority and automatically drop expired data if the data type has got an expiration marker method implemented.

pchannel is a real-time safe channel, mean it may be not so fast as popular channel implementations (it may be even slower than channels provided by std::sync::mpsc). But it is completely safe for real-time applications, mean there are no spin loops, data is always delivered with minimal latency and threads do not block each other.


thread_rt::Builder provides a thread builder component, which extends the standard thread builder with real-time capabilities: scheduler policies and CPU affinity (Linux only).

supervisor::Supervisor provides a lightweight task supervisor to manage launched threads.


controller::Controller is the primary component of mixing up all the functionality together.


io module provides a set of tools to work with field devices and SCADA buses.

Currently supported:


  • Event buffers
  • Reliable TCP/Serial communications
  • Controller and workers
  • In-process data communication pub/sub hub, synchronous edition
  • In-process data communication pub/sub hub, asynchronous edition
  • I/O
  • Policy-based channels, synchronous edition
  • Policy-based channels, asynchronous edition
  • Policy-based data storages
  • A lighweight real-time safe semaphore
  • Task supervisor to manage real-time threads
  • Real-time thread functions to work with supervisor::Supervisor and standalone
  • Various time tools for real-time applications
  • A memory cell with an expiring value


  • A macro which can be used to match an event with enum for Hub subscription condition




  • Configures stdout logger with the given filter. If started in production mode, does not logs timestamps
  • Returns true if started in production mode (as a systemd unit)
  • Terminates the current process and all its subprocesses in the specified period of time with SIGKILL command. Useful if a process is unable to shut it down gracefully within a specified period of time.

Type Aliases§

Derive Macros§

  • Automatically implements the DataDeliveryPolicy trait for an enum