path: root/src/hal/classicladder/HISTORY.txt

Classic Ladder history
----------------------

v0.1 (February 2001 - Not released)
    - The first lines of codes for calculating one rung and displaying it...
    - Basic elements and timers

v0.2 (30 April 2001 - First public release)

v0.2.8 (3 August 2001 - Featuring the Editor, but not totally completed)
    - Basic Editor (allow to modify only the current rung, properties uncompleted)
    - Makefile and modifications to allow independent object compilation.
    - Fixed bug for drawing in calc.c

v0.3 (18 August 2001 - Editor completed)
    - Variables Parser completed for Mxx,R and Txx,D and Txx,R
    - When clicking on "unusable" blocks (part of big element), it is as
      if you've clicked on the "alive" block itself.
    - For timers and monostables , parameters Base and Preset.
    - Can modify label of the rung to jump to for -(J) coil.
    - Label / comment of rung saved when edited.
    - We must not allow to change of current rung when editing one.
    - Add/Insert/Delete a rung, buttons usuable.
    - Load/Save/SaveAs/Run-Stop/About buttons added in main window
    - Load/SaveAs using path selection requester (datas should be in a directory).
    - Save rungs,timers,monostables parameters.

v0.4 (20 October 2001 - Arithmetic expressions evaluator)
    - New variables memory type : Words (integers)
    - 2 new elements using arithmetic expressions :
      COMPARE and OPERATE
    - Load/Save the file of arithmetic expressions
    - Possibility to spy the values of any variables by typing its name
      (added in the bottom of the vars window)
    - Added new types of variables : physical inputs (I) / outputs (Q)
      (not linked to anything in this version)
    - Resizing of rung take into account and thick lines for active wires
      (modifs initially done by Jiri Baum when integrating classicladder
      into the MAT project)

v0.5 (30 December 2001 - Real time support)
    - ClassicLadder_gtk.c created from file classic_ladder.c which keep only the
      global variables + 2 fonctions for loading/saving directory datas.
    - Global variables are now allocated and freed.
    - RTLinux support added.
      The refresh of the rungs are done in a RTLinux module in real-time.
      The Gtk application compiled for this version do not refreh the rungs.
      The Gtk application and RTLinux module share the same global variables
      allocated with mbuff.
    - Physical inputs and outputs have the same memory as the bits (VarBits + offsets).
      (if we make polling on them in RTLinux module with inb() and outb(),
      we could drive real hardware directly !?)

v0.5.1 (4 January 2002 - Parallels ports interface)
    - Direct hardware support of the parallels ports (in real-time version).
      Comment the line define HARDWARE_SUPPORT in classicladder.h if you do not want it !
    - Bug if there was no element in the first column, fixed (in function StateOnLeft())
    - Overflow possible (1 char) for label and comment strings in the rung, fixed.

v0.5.2 (26 January 2002)
    - Added in the editor the nice long connection (-->) to create rungs faster.
    - In Operate elements, you should now write the formulas like the following:
      A:=B instead of A=B
    - Draw a grid in edit mode.
    - #include <rtl.h> removed in hardware.h as it seems not to work with kernel 2.2
      causing an error when compiling : duplicate module kernel version...
    - Removed the warnings when compiling for RTLinux.
    - For big element, at the point you click, it is the left-top corner of the element
      which is inserted instead of right-top (the "alive" one).
    - Confirmation box before deleting the current rung (indispensable!)
    - 'New' button with a confirmation box also ;-)
    - Bug (exception) possible, if replacing for example a contact with a timer, where
      the number of the bit in the contact was greater than the timer number allowed.
      Now the number is erased if a simple element is not replaced by a simple
      element, to avoid that.
    - When deleting the current rung, the arithmetic expressions used on that rung were
      not deleted. Fixed.

v0.5.3 (11 May 2002)
    - Taken the current sources of classicladder from the MAT tree.
      So that we will have the same sources on the two sides...
      There is a define in the Makefile MAT_CONNECTION to be able to
      create the mat connected version for the MAT project.
    - The real-time support was broken in the MAT version.
      Modified the way to alloc/free booleans variables so that it works back.
      Now it should works for the 3 possibles versions : normal, real-time and mat.
      Note: it is not possible to include "mbuff.h" in many sources files : otherwise
      we have multiple definition when linking of some functions...
    - Modified Makefile for easier real-time generation.
      make rtl_support ; make test is enough for the rtlinux version
    - The feature that everybody was waiting for : added a vertical scrollbar to
      show many rungs at the same time...
      The current rung is the one with the blue bars.
      The current rung is set automatically for the moment : it is the rung which is at
      the top and that is fully visible...
      There are still some visual troubles when adding/inserting a rung, but not really
      serious... to be modified in a future version.

v0.5.4 (22 May 2002)
    - Sometimes, at the end, the last rung was displayed 2 times : for example if
      there was only one rung existing and you increase the vertical display...
    - During edit mode, if you clicked outside of the current rung (top or bottom),
      it was accepted and making strange things.
    - Now when you insert or add a rung, you have a correct display of the rung before
      or after the new rung you are adding.
    - Problem when adding or inserting if the current rung is the first one. Fixed.
    - If the vertical size was less than enough to see a complete rung, there was no
      more current rung. Fixed.
    - Do not allow to set 'connection with top' if on the first line of the rung.
      As we have now many rungs, it was as if 2 rungs could be linked ! ;-)

v0.5.5 (18 August 2002)
    - Added And, Or and Xor operators in the evaluator : & , |, ^
    - Added hexadecimal constants support in the evaluator with the first carac : $
    - Display formats : Dec/Hex/Bin for vars spy.
    - Bug-fixed if compiled for Windows : '\' used instead of '/' for directories.
    - Show the duration of the last scan of the rungs in micro-seconds if calc of the
      rungs is done under RTLinux.
    - Program can be split in many sections : new window 'Sections manager' added.
    - New format of the rungs files including Prev & Next rung informations. When saved,
      the rung number do no more change.
      Warning, old classicladder versions will not be able to read these new files !
    - New (C)all coil for sub-routines.
    - Modified RefreshAllRungs( ) for taking into account the main sections and the
      calls to sub-routines.

v0.6.0 (2 November 2002 - Birth of a new language)
    - Added a new language : "Sequential" (sometimes also called Grafcet).
    - New variables supported : Xxx and Xxx,V for the steps of the sequential.
      Xxx is activity of step xx.
      Xxx,V is activity time of step xx.

v0.6.1 (23 November 2002)
    - The RTLinux version support was completely broken (perhaps since v0.5.5).
      Now it works correctly as before.
      Tested here with a fresh installed RTLinux3.2pre1 with kernel 2.4.18.

v0.6.2 (23 March 2003)
    - When launching classicladder, you can give now an argument with the path
      of the files to load.
    - Horizontal & vertical scrollbars when displaying sequential added.
    - Xxxx and Xxxx,V variables now use the step number defined for each step
      instead of the number in the array.

v0.6.3 (15 April 2003)
    - Embedded version possible without the Gtk interface
      (comment GTK_INTERFACE in the Makefile).

v0.6.4 (19 July 2003)
    - Possibility to load a config file at startup with the sizes of differents
      arrays to alloc. Interesting for really embedded system where there isn't a
      lot of memory. Patch send by Thomas Gleixner.
    - Some big variables only usefull for editor no more allocated if compiled for an
      embedded target without GTK. Patch send by Thomas Gleixner.
    - Possibility to build a library with ClassicLadder. Patch send by Thomas Gleixner.
    - Parameters added to the RTLinux module to be able as in the normal version
      to use the sizes choosen.
    - Made a script (run_rt) to be able to launch the real-time version without having
      to use the Makefile for that, and made the necessary to pass the sizes parameters
      to the RT module.
    - Add a config window with the sizes actually allocated and the percent of use for
      some of them.
    - When a ladder section was deleted, the rungs associed to it were not freed.
    - In FindFreeRung( ) start to search from rung 0 instead of the FirstRung value !?

v0.6.5 (17 August 2003)
    - Physical inputs/outputs interface completly rewritten :
      Removed the parallel ports access code.
      Added possibility to map the logicals I/O of classicladder with any addresses ports
      or a Comedi device (www.comedi.org). Thanks to Edouard Tisserand for that nice
      idea and for the 'LinuxInControl' workshop at Leuven to let me discover
      that project.
      Parameters can be easily edited in the new tabs "Inputs" and "Outputs" in
      the configuration window.
      New file : ioconf.csv in the projects directories.
    - Calling ioperm( ) to allow to read/write adresses ports directly
      even if not under RTLinux ! (but you must be root, so that it works...)
      A lot of people wanted it : no real-time, but hardware access under Linux, which
      is enough and easier in schools to learn ladder programming!
    - In the RTLinux module, added binary parameter "COMEDI_TO_OPEN_MASK" which
      is used in init_module( ) to open the Comedi devices necessary. When the
      module is insmoded, the parameters files are not already loaded, and we
      can't know which Comedi devices will be used later.
    - ./run_rt PROJECT_DIRECTORY CONFIG_PLC_FILE to launch real-time version.
      The arguments must be given in that order.
      The configplc file contains the parameters used in the init_module( )
      when the RT module is insmoded (memory sizes to alloc and Comedi devices
      to open).

v0.6.6 (10 November 2003)
   - RTAI support. Patch send by Paul Corner. Thanks to him for that nice work.
   - Some adjustements so that RTLinux works again... I hope I have not broken
     something for RTAI. I've not take the time to install it for now, so
     can not say, if all is still working correctly...
   - File config_gtk.c failed to compile with old gcc 2.95, because of some
     variables declarations in switch after case. Fixed by adding { } blocks.
   - File files_sequential.h, strange warnings on gcc 2.95 and my Pegasos with
     PowerPC processor with test NumPage!=-1 (said comparison always true due
     to limited range of data type). Added (char) before -1.
   - Added a new define in Makefile (MAKE_IO_ACCESS) so that it works on some
     processors others than x86. For example, PowerPC !
   - arrays.c bad test to verify alloc successfull for sequential array (Paul Corner).
   - Script run_rt was not working if you don't give any configplc file as 2nd
     argument (RTLinux modules were not inserted).

v0.7.0 (3 January 2004 - Sequential Editor added)
   - Added the sequential editor !
     It's the first version of a big part of code, so do not be too much suprised
     if somes cases do not work correctly as they should! ;-)
     I've made some tests on little examples, and it is already possible to make
     some nice grafcets easily !!!
     With the editor, it will also be possible to test the calc part with another
     grafcet than the single example given since November 2002...

v0.7.1 (13 March 2004)
   - Thick lines for drawing steps and transitions activated.
   - edit_sequential.c failed to compile with old gcc2.95. Fixed.
   - Grid displayed during edit for sequential pages.
   - In I/O config do not display /dev/comedi* if not compiled for.
     + call ConfigHardware when window closed (Jiri Baum report).
   - Properties window is visible only during edit and can not be closed.
   - Vars and Edit Toolbar windows can not be closed.
   - In toolbar, per default the pointer is directly selected.
   - No more GTK warning it writing a boolean var >=40 (no checkboxes).
   - Confirmation requester before quitting application.
   - When delete all with "New", manager window content was not refreshed.

v0.7.2 (21 August 2004)
   - Auto-numbering of the steps and transitions when created if there is one found
     directly above it. At least, always set a free number step per default. 
   - Properties window: if you type return at the end of the strings entered, it is
     no more necessary to click on "Validate" with the mouse.
   - Projects are now composed of an unique file, which contains all the little
     parameters files. A tmp directory is used to store the little files that we
     split/join. Old projects in a directory can still be loaded.
   - Arithmetic expressions: negatives constants support added, '!' for negative term,
     functions: MINI(), MAXI(), MOY() and ABS().
   - Modified vars window: now display %B, %I and %Q with an offset for each to start.
   - The step number written above the cross step was not correct (in example, written
     step "0" above step "0" instead of step "7": from where we come).

v0.7.3 (28 December 2004)
   - Modifs done for Win32 port included (end of line and '/' in files for project, and
     some variables declarations in the middle of code not supported with gcc2.95).
   - Using "/tmp" instead of "~" for the temp directory if no TMP env variable found.
     ("~" was not working on some distributions like Debian Woody).
   - InitTimers and InitMonostables at the start added. Else it was crashing if saving
     project from new (reported by J-Ch Dorian).
   - Directly edit of properties with keyboard possible (idea by J-Ch Dorian).
     (window is closed then opened so that it is on top actived, GTK1.2 miss a present()
     function for windows...?)
   - Modbus/TCP server added (default port is 9502).

v0.7.4 (15 August 2005)
   - Modif config_gtk.c (deleted ConfigHardware) for RT_SUPPORT.
   - Modbus master protocol added for distributed I/O.
     Both IP mode and serial link (Modbus/TCP and Modbus/RTU).
     Gtk config window for it.
   - In the 6 bytes IP specific header of Modbus/TCP frames in socket server, the number
     of bytes emissed was missing 1 byte.
   - Bug when adding "OPERATE" by clicking on rung in the two last columns. Corrected.

v0.7.5 (13 May 2006)
   - Added "reset" button in the gtk interface.
   - Using single temp directory (allowing many users launching each one a classicladder
     without conflict).

v0.7.60 (27 May 2006)
   - Switched to GTK2 (thanks to Miguel Angel for the initial patches).
   - Using the new GTK2 filechooser (again Miguel Angel here).
   - Could freeze if only one ladder displayed, and height of the section window increased.
   - Centering strings displayed everywhere if GTK2 used in the section window.
   - Properties window displayed in front better than with old GTK1.2 (new function
     gtk_window_present() available).
   - Added filter with *.clp (and *.csv for very old projects) in the filechooser.
   - Bad design containers for the free vars widgets, awfull with GTK2. Fixed.

v0.7.70 (11 June 2006)
   - Display preset values of timers/monostables when editing instead of nothing.
   - A print button is appeared...
     Actually displaying a preview window from which you can print.
     No printer on the computer I used, so absolutely not tested!
     If you set other paper than default A4 in portrait , it should not work...
     First time I use gnome_print so I've not all understood (and poor doc does not help),
     and quite happy to have done that in one afternoon/evening for now ! ;-)
   - And a new edit button (now the toolbar editor window can be closed and then reopened).
   - The Makefile can set destinations directories (patch from Paul Schulz).

v0.7.71 (20 June 2006)
   - "Print" button becomes "preview" one, and added a print function to allow you
     to select the printer you want (I've used it to be able to print in a pdf file!)

v0.7.80 (18 July 2006)
   - Added the new following variables Tx,V & Tx,P & Mx,V & Mx,P
     (on the TODO list since nearly the start, but claimed by Jarl Stefansson, and so here it is!)
   - Lot of modifications done in the generic variables parser to be able to use theses new
     variables in the arithmetic evaluator.
   - Added verification that the type of variable is a boolean for contacts/coils.
   - Rename buttons "Validate" per "Apply" in properties and "Ok" in toolbar.
     These are modifications that where done in EMC2 version (I've recently discovered), integrated back.
     Undoubtedly, others could be interesting, but it's a hard work to see everywhere ! ;-)
     Lot of modifications for Kompare, in fact aren't... (too much "indent" work !?)
   - The temp directory is no more created in the classicladder directory. Modified again
     (last time it was in v0.7.5)
   - New function block family available: counters one.
   - And the new variables for them: Cx,D Cx,E Cx,F Cx,V Cx,P

v0.7.90 (11 August 2006)
   - Fixed outputs of the new counters blocks, not working if used directly in a rung...
   - Totally rewritten the old toolbar done by hand at the time. Now using radio buttons
     with customs images. Really nice, especially compared to the old one!
     The toolbar editor window is not opened per default now.
   - A new element "comment" available in the sequential ("[xx]" in toolbar), taking 4
     horizontals blocks.
   - GTK properties window can be sized to see entirely long strings (expressions & comments) !

v0.7.91 (17 August 2006)
   - Saving current position of the properties window when hiding/showing it.
   - Clicking on a rung (before being in modification) in the section display (with the window
     increased vertically displaying many rungs) allow now you to select the "current" rung,
     the one that will be modified when edited.
   - Possible partial print of the grafcet (if the lifts not set at the left-top). Fixed.
   - Modified color for the corners of comments in sequential (usefull to read long strings).
   - Confirmation quit message now displayed only if parameters modified (but no deep tests
     to verify that it isn't the same parameters than before!)
   - To delete a "big" element, you had to click on the top-right of it. No more necessary.
   - Bug in variables parser no more accepting any Wxxx variables in expressions... Fixed.
     And added many new error messages to explain why a variable has been rejected.

v0.7.92 (24 September 2006)
   - Xenomai (real-time extension) support added (in user-space).
     Uncomment the corresponding line in the Makefile, and compile with "make clean;make".
     Then launch with the normal "./classicladder" !
   - a new pthread (cyclic calc) is used for both Xenomai and normal version (instead
     of using the gtk timer, only used for gui refresh now).

v0.7.93 (21 October 2006)
   - Hide print/preview widgets buttons if compiled without gnome-print (patch by Marc Ferraton).
   - Segmentation fault with "Linux version" possible (after few hours of running)
     caused by the gtk function called from the calc refresh thread (in WriteVar) without
     anything to protect.
     (replaced by a request to refresh all booleans vars displayed in the gtk timer, like with
     all real-time versions: RTLinux, RTAI, Xenomai).
   - Cyclic calc refresh not stopped (when in stop), regression with the new thread of v0.7.92
   - Corrected Makefile for embedded version (GTK_INTERFACE in comment) with normal Linux
     or Xenomai.

v0.7.100 (4 November 2006)
   - List of symbols available for each variable (partials or completes symbols) used in
     display and when entering a variable name.
   - Checkbox widget added in section display, to switch display between variables names and symbols.
   - New Window to edit the symbols list.
   - Renamed variables always starting with '%' character and attribute separator ',' replaced
     by '.' (IEC61131 form).
   - Size of rung blocks modified: more large (to display symbols and variables names larger
     because of the % added) and no more squared (to keep many rungs visible vertically!).

v0.7.101 (18 April 2007)
   - Now calling ConfigHardware from the cycling thread of calculations, because the ioperm()
     seems to have be called from there (regression from the introduction of the thread
     instead of the gtk timer).
   - Applied some warnings patches and for 64 bits architecture tests from Paul_C (thanks to him!)
   - Some EMC2 modifications done on signed char not assumed for "NumPage" sequential variables
     + re-order declarations to support old compilers such as gcc 2.95 (people still using it?!)
     + GTK_RESPONSE_ACCEPT and GTK_RESPONSE_OK constants in load/save projects requesters
   - Tooltips added in the vars window for the three top entries.

v0.7.110 (8 May 2007)
   - Modified copy of the strings in symbols window and displayed truncated immediately when
     entered.
   - If classicladder launched with project parameter parallel_port_direct (in line command
     parameter), was crashing (like in v0.7.101, where ConfigHardware must be called in the
     logic calc thread).
   - Reset button now init all the variables.
   - When another section choosed (and under edit), current operation wasn't really properly
     canceled (discovered with the fact that the positions of properties window were lost).
   - Filter on projects names *.clp in load/save dialog (and for old csv directories).
   - Show symbols names (if checked) instead of %Tx, %Mx, %Cx for blocks.
   - Little modification in sequential edit (CommonSearchForManyStepsOrTransi) from emc2.
   - Contant ARITHM_EXPR_SIZE more longer, otherwise too short with some variables...
   - Display error messages gtk requester if hardware config failed (just a message in
     current console before...)
   - If an eval/compar was set with a blank arithmetic expression, its same buffer was then
     used again with another one (now '#' reserved string).
   - Created new file spy_vars_gtk.c (extract vars window part from classicladder_gtk.c)
   - Spy var window can be closed now.
   - Added "Vars" button in section window to open spy vars window if closed.
   - "nogui" parameter support (inspired from emc2 work, but rearranged with better
     split between gtk parts and not). Now, ctrl-c is also trapped if gtk started.
   - Toggle show/hide vars/symbol/editor window when clicking on buttons (nice idea by
     Chris Morley, but using the GTK_WIDGET_VISIBLE() macro more simple for code, isn't it?)
   - More tooltips on the toolbar (again thanks to Chris Morley for idea and patch, but
     all strings helps stored in two arrays for ladder & sequential).
   - Period refresh value can be adjusted in the config window and is saved in the project file.
   - Can now adjust the sizes contants in config window, values saved in the project file.
   - Some reorganisations and clean-up of code in general...
     (erased DYNAMIC_PLCSIZE constant, always used!)
   - Example parallel_port_direct had a blank I/O configuration since a long time...

v0.7.120 (13 june 2007)
   - Added tooltips on label/comment entries of the rung selected.
   - New timers with 'TON'/'TOF'/'TP' modes as defined in IEC61131  (keep monostables and
     timers for projects compatibility but now called "old"!).
   - Variables names strings in a new file "vars_names.c".
   - Symbols names support in arythmetic expressions.
   - On old timers, added a new 'C'ontrol input used to freeze the compter if not enabled.
     (you will have to modify your old projects to link the "E"nable and "C"ontrol to have
     the same result than before).
   - "AVG" support for "MOY" function (the french word "MOYENNE" for average).
   - When a 'J'ump coil is activated, abort immediately the refresh of the current rung.
   - A bug with a very simple sub-routine section call example reported by Chris Morley,
     decided me to reorganize all the rungs sections principle. Now using a function
     called recursively. Really more simple than before, and so without bug, well I hope!
     + had infinite loop jump test used to stop all!
   - Before you should have only one (C) coil in each rung, else the others top (C) coils
     were not taken into account.
   - No error were given for the following case expression: MOY(constant_value,variable),
     but MOY function only support variables for calc result! (seen by Chris Morley).
   - In spy free vars window, add corresponding symbol/default var name  with tooltips.

v0.7.121 (8 July 2007)
   - "*** stack smashing detected ***" error message when loading symbols bug under
     KUbuntu 7.04 I freshly installed. Strange bug... Added some end line securities.
   - Confirmation requester before deleting a section added!
   - When putting a new function block, per default use one not used (for default number).

v0.7.122 (26 August 2007)
   - Variables indexed support added in expressions.
     Example: %W0[%W4] => if %W4 equals 23 it corresponds to %W23 !
     See the new example used for tests "VarIndexed_used_in_function.clp".

v0.7.123 (4 November 2007)
   - Define added to be able to compile (or not) the old timers/monostables blocks.
     (OLD_TIMERS_MONOS in Makefile) 
     Usefull for compatibility with old projects. The new IEC timers can do all !
   - Backported the Windows modifications done for the port.
   - When clicking on a ladder element, display its properties in the new status bar.
   - Modified color of the grid during edit.
   - files.c splitted (new files_project.c for project part).
   - Now saving only not blank arithmetic expressions (number added before) in file.
   - Some preparation works in files.c (xml comment format line+"cl_" prefix for file names).
   - Again some cleanups...
   - Default font changed for a smallest: "Courier New 8". Perhaps another one could be better...
   - Default variables names now defined in a table (instead of directly in the parsing/
     displaying text functions).
     Lot of code changes behind, hope nothing broken...
   - In internal TimerIEC have preset an current value now in number of base units, and
     using WriteVar() call to updates them (just usefull for me on another project).
   - In internal Counters using WriteVar() call to updates public variables (same reason).