6. Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog,
and this project adheres to Semantic Versioning in accordance with Semodia GmbH Guidelines.

6.1. [3.6.0] - 2024-08-13

6.1.1. Added

• Detailed cena demo documentation for mtp control engine example

• UA Expert templates in tools/

6.1.2. Fixed

• Fixed various compiler warnings, mostly concerning unused parameters

• Model: MTP: Multiple variables in the PeaInformationLabel now are assigned correct values

6.1.3. Changed

• Model: SemanticModelEntities cannot be copied anymore

• mbedcrypto: Update from v3.4.1 to v3.6.0

• open62541: Update from v1.3.6 to v1.3.11

6.1.4. Deprecated

• Model: MTP: PeaInformationLabel and ModuleTypePackage constructors with out-of-date parameters

6.2. [3.5.0] - 2023-12-19

6.2.1. Added

• modbus: New dataio library to access Modbus TCP servers (Client and Server)

• nanomodbus: embedded third party backend library for modbus datio

6.2.2. Fixed

• mtp, reflection: ProcessValueIn and ProcessValueOut are now correctly reflected by the OPC UA server

6.2.3. Changed:

• util: EndianessTool now uses constexpr to detect system endianness at compile time

6.3. [3.4.1] - 2023-11-17

6.3.1. Fixed

• Examples: Added proper static node Ids to example_mtp_controlengine

6.4. [3.4.0] - 2023-11-10

6.4.1. Added

• CENA Demo build: New build target for testing purposes

6.5. [3.3.0] - 2023-09-29

6.5.1. Added

• MTP: Added PIDCtrl data assembly logic

• mbedcrypto: Portable cryptography library for inclusion in other libraries

• Reflection: OPC UA: Variable change subscriptions on OPCUA client

• Reflection: OPC UA: Functionality to add multiple change callbacks per variable on OPCUA servers

• Reflection: OPC UA: TLS support for OPC UA clients using the mbedTls library (Currently limited to SecurityPolicy#Basic256Sha256)

• biobrain: New dataio library to access Sartorius Biobrain servers

6.5.2. Changed

• Update open62541 from v1.1.2 to 1.3.6

6.5.3. Fixed

• ProcParamApply now performs the handshake correctly and is applicable even when ProcCur is not yet set

6.6. [3.2.0] - 2023-08-09

6.6.1. Added

• Examples: New Example on MTP BinValve

• License: Add licensing enforcements to library builds

• License: NetworkMediaControllerTrait for Windows builds

• License: WallTimeTrait

6.6.2. Changed

• CMake Build System: overhauled regarding sub libraries

  • New CMake option: SEMODIA_CONTROLENGINE_BUILD_STANDALONE_LIBS

    • Build static and shared libraries of CENA libraries to distribute in binary form

    • Include required header files in installation target

    • Deploy example applications that link against binary libraries

  • CMake target naming change: Developers must link ${library_name}_shared or ${library_name}_static instead of ${library_name}

6.6.3. Fixed

• GCC >= 13 compilation errors due to changed default included C++ headers

6.7. [3.1.0] - 2023-04-13

6.7.1. Added

• computedValues: PID-Controller utility

• locking: LockedObject - a container class that constraints access to its internally managed object via a lock

6.7.2. Changed

• RaspberryIo: Removed completely due to GPL licensing of linked upstream library

6.8. [3.0.0] - 2022-06-20

6.8.1. Added

• pilotone: Incorporated driver to control Huber PilotOne PLC, enabling control of Huber tempering module operations

• ritmo: Incorporated driver to control Fink Chem+Tech Ritmo R15 membrane pumps

• PiControl: Support for temperature probes (AIO RTD elements)

• Reflection: OPC UA: Expanded interface to allow testing for the existence of NodeIds (used in generated tests)

• MTP: ServiceParameters (Configuration-/ProcedureParameter) can (optionally) automate the handling of ApplyEn in each service state for convenience

• MTP: Apply-Logic and pre-configurable units/ranges added to ProcessValueIns

• MTP: Apply-Logic added to ParameterElements

• MTP: DIntServParam (sans enum support), StringProcessValueIn, StringServParam

• MTP: ReportValues (IndicatorElements) implement “Freezing” and MissedValueFlags

• MTP: MTP Unit codes are now available as enum/class

6.8.2. Changed

• Messaging: API moved to utilities and made optional

• MTP: Adapted ServiceOperationMode and ServiceSourceMode to be compatible with standard interpretation of 3rd party software (breaks SOLID)

• MTP: Removed AssetId and DeviceClass from high level PEA API, as these are supposed to be set by the POL

• MTP: ReportValues of selected procedures are frozen (forced) by the service when it enters COMPLETED, ABORTED or STOPPED

• MTP: Examples: example_mtp_controlEngine was reinstated and upgraded (as a pattern) for the new model core function

• MTP: ParameterElements (Service/ProcedureParameter) can either leave their handling/interpretation to procedure state callbacks (as with legacy, suitable for parameters that are evaluated every time) or define a userspace callback that triggers when apply() happens (suitable for expressions that configure a FEA or smart field device).

• MTP: Service- and ProcedureParameter updates are now governed by a services ApplyEn, which can be controlled on a by-ServiceState basis from userspace

• MTP: Procedures now require individual command-enable-callbacks to determine active transitions, even if the procedure is not active

• Util: StateMachine: Initial states are no longer active by default; enter() needs to be called on/by parent state to activate

• MTP: Service Procedure selection, state machine and CommandEn/CommandInfo according to new 01/2022 MTP standard

• MTP: Enforcing common interface for handling Op/ServiceModes across ParameterElements and ServiceControl

• MTP: QualityCodes check and enforce correct encoding to/from native integer type

• MTP: Re-implementation BinServParam, AnaServParam, DIntServParam and StringServParam as ParameterElements, not with ApplyBaseFunction

• MTP: High-Level API access to VUnit must use UnitCodes

• MTP: High-Level API access to WQC or VQC must use QualityCodes

• PADIM: New include structure for generated code, also used enforced during API generation

• MTP: New include structure for generated code, also used during API generation

• MTP: Service, Procedure, ServiceControl and ServiceParameters have been upgraded to the 01/2022 VDE/VDI 2658 specification

• MTP: Regenerated changed classes from specification, replacing base classes

• MTP: All pointer switched to smart pointers

6.8.3. Removed

• MTP: BinServParamIn no longer has the ability to receive interpretations (VStates) from POL

• MTP: “WQC”, “VQC” and Units are no longer passed as integer values (require use of proper enums)

• MTP: Outdated/Legacy business logic and tests from Service, ServiceControl, Procedure, ServerParameter

6.8.4. Fixed

• MTP: Documentation, tutorials and examples updated to match CENA v3 MTP model Core

• HART: Master now updated UART flowcontrol on his own (moved into CENA from userspace)

• OSAL: FrequencyLimitedTaskLoopTask now consider the time between executions in Milliseconds instead of ticks (far more user-friendly in userspace)

6.8.5. Deprecated

• HART: Replaced C-style pointers for locks and UART with smart pointers to make driver consistent with CENA guidelines

• PiControl: Remove PiControl-Prefix from StatusCode

• MTP: Procedures must have userspace callbacks to determine their CommandInfo (enabled transitions) and can no longer be created “defaultly” by Services or ServiceSets

• MTP: Interdicting UserSpace or high leven API access to internal functions by moving them to protected/friend in addition to deprecation warnings

• MTP: QualityCodes can no longer be set numerically from userspace; valid QualityCodes enforced by API

• MTP: updateWQC is now setQualityCode()

• MTP: Access to QualityCodes was limited to IQualityCode; can no longer be set using C’Tor

• MTP: Any int-Access to Units from C’Tors

• MTP: Service, Procedure, ServiceControl and ServiceParameters have been superseded and are incompatible with version 2.x of CENA

6.9. [2.0.0] - 2021-11-12

6.9.1. Added

• Drivers: Support for Bronkhorsts proprietary ProPar communication protocol

• License: Rudimentary license framework and MAC-Address trait

• MTP: AnaManInt and BinManInt with associated logic

• MTP: BinServParam with associated logic

• MTP: AnaVlv with associated logic

• MTP: MTP Control Engine base class

• OSAL: Optional Logging as decorator for any userland class

• OSAL: Time-Bound task type that only executes every N time ticks (courtesy of BasicTimer)

• MTP: Added support for ProcedureValueIn ([Ana|Bin|DInt]ProcessValueIn) and VScaleBaseInFunction

• MTP: Added support for ProcedureParameters, ReportValues & ProcedureValueOut

• MTP: AnaServParam (and ParameterElement base class) as ConfigurationParameters for Services

• MTP: BinMan with associated logic

• Drivers: Kunbus PiControl drivers for LED, Relays, DI, DO, AI and AO

• MTP: BinVlv with associated logic

• MTP: OperatingModeBaseFunction with associated logic

• MTP: BinView with associated logic

• MTP: ResetBaseFunction with associated logic

• MTP: InterlockBaseFunction with associated logic

• MTP: SourceModeBaseFunction with associated logic

• Reflection: Dynamic (but single pass) PADIM reflection

• Model: Business Logic for AnalogSignal and AnalogSignalVariables

• Model: Signal Set

• Model: Added PADIM classes (high-level signalVariableTypes are not functional yet)

• Drivers: UART IO Drivers for Linux/BSD

• Drivers: Foundation HART IO Driver /w global commands

• Reflection: OPC UA: Logging of open62541 is redirected and can be customized in userspace

• Testing: Optional stacktrace-injection

• Logging: New logging API using sinks (files, terminal), formatters and providing asynchronous logging

6.9.2. Fixed

• Model: MTP: Added behavior to handle ‘buggy’ services /wo procedures or without default procedures

• Drivers: HART: Allowing HART5 transmissions with as little as 3 preamble bytes to address problematic field devices or bytes lost by UART

• OSAL/Tasks: Require uniquely owned locks; sharing locks was previously possible and severely misrepresented intent

• MTP: SC in EXECUTE would always complete in 1 update() instead of evaluating the callbacks complete feedback

• Model: MTP: ServiceSourceMode interpretation and updating in ParameterElements was broken (could only be correctly updated by accessing ReferencesSourceMode directly)

• Reflection: OPC UA: Safeguard against writing to std::any container of wrong type

• Model: MTP: Byte and DWord are now unsigned (fixes QualityCode, OSLevel, ServiceControl and LockViews).

• Reflection: OPC UA: attempt to link to existing/created nodeIds before creating new nodes (allows using same IndicatorElement in multiple procedures)

• Reflection: OPC UA: MTP Reflection now correctly redirects to specific DA types (e.g. does not IndicatorElement, but AnaVIew)

• Drivers: HART uses per message callbacks instead of per-command callbacks (that would not be removed and cause a memory leak)

• Util: EndianessTool was “stuck” on detecting everything as bigEndian and tests were broken accordingly

6.9.3. Changed

• Directory structure now separates includes from sources, mandating use of component-path-prefixes in #include directives

• Drivers: UART: changed interface specification (breaking) to support explicit flow-control and blocking/nonblocking IO modes along with platform-defined update() function

• MTP: updateRequest() and updateSetpoint() have to be called on (Bin|Ana)Man[Int]; removed pol/opc ua access function to update Rbk on OPC UA writes

• MTP: Service class now uses update(), not iterate(); which is more of a task loop thing.

  • This may break older service implementations.

• MTP: ServiceOperationMode() and ServiceSourceModes provide getUpdatedXY() (which performs handshakes & updates values) and getCurrentXY() for peeking into current settings without change

• MTP: Corrected/Overhauled logic for AnaMan; conform to updateSetpoint(), getCurrentSetpoint() and getUpdatedSetpoint() for OperationsElements (like ParameterElement & BinMan)

• Drivers: HART support TX rate limiting

• Bumped Version Number of dev branch to 1.3.0

• Reflection: OPC UA: Extended Interface definition to support deleteNode() calls (both tree and single, path and nodeid)

6.10. [1.2.0] - 2020-12-16

6.10.1. Added

• MTP: Added StringView Items

6.10.2. Changed

• MTP: All AnaView and StringView values have static OPC UA IDs

• MTP: QualityCode classes now share a common interface /w symbolic values

6.10.3. Fixed

• OSAL: Timer implementation based on chrono was using flawed “ticks”

• CMake: Correctly compile and run tests even if OPC UA is disabled

6.11. [1.1.0] - 2020-11-25

6.11.1. Added

• Driver: Support for interaction with Siemens S7 devices using SNAP7

• MTP, Reflection: Support for assigning static node IDs to DataItems

6.11.2. Changed

• CMake options and targets now include “CONTROLENGINE” to avoid clashing with projects

• MTP, Reflection: Reflecting communication set instance list now uses TagName of DataItems instead of list numbers

6.11.3. Fixed

• Reflection: Memory Leak in open62541 OPC UA Server browser operation

• OSAL: Prevent race condition in optimized code by making ThreadedDecorator datastructs atomic

6.12. [1.0.0] - 2020-10-28

6.12.1. Removed

• Deprecated or sensitive documents from documentation

  • Global Requirements-Engineering Documents from documentation

  • Unused API-Documentation components (Messaging, mtp)

6.12.2. Added

• New MTP Model Elements:

  • Read/Write Dataitems (with type casts and operators)

  • AnaView

    • ScaleSettingsBaseFunction

  • AnaMan

    • ValueLimitatationBaseFunction

  • AnaMon

    • LimitMonitoringBaseFunction

  • Services:

    • ServiceSet

    • Service

    • mtp::Procedure

    • ServiceControl

    • ServiceModeBaseFunction

    • ServiceOperationModeBaseFunction

  • Communications (incomplete)

  • ModuleTypePackage (incomplete)

• Examples:

  • Raspberry Potentiometer example (AnaView, DataIO on Pi)

  • Service-State to AnaView example (Services, Procedures, AnaView)

• DataIO:

  • Raspberry peripherals

  • AutomationHat Driver

    • SN3218 and ADS1015 I2C support

• Statement API

• OPC UA reflection API:

  • open62541 server-/client wrappers

• OSAL Task framework

  • Thread Decorators (Linux, Windows/Cygwin)

  • Locks/Mutexes (Linux, Windows/Cygwin)

• OSAL Messaging framework

  • Model Event subsystem

• Generated MTP Model API

• Project structure and environment

  • Code and API documentation

  • Requirements engineering documentation

6.13. [0.0.0] - 2020-07-16

6.13.1. Added

• CMake project skeleton

• Project structure

• Incorporated Doxygen and Sphinx documentation systems

• Set up sample CI build pipeline