Eclipse 4diac(TM) FORTE is a run-time environment for executing IEC 61499 control applications developed with 4diac IDE. 4diac FORTE is written in C++ and highly portable. It can be compiled for many different operating systems and especially targets embedded systems like PLCs.
This branch is the result of my bachelor's thesis. It implements a communication bridge between ROS (Humble) and this 4diac FORTE. It uses FastDDS 2.3.6 (version used for that ROS version) to communicate.
The work can be found here.
To enable the usage of this you need to enable some options in the CMake setup:
FORTE_COM_DDSThe DDS communication implementation.FORTE_MODULE_ROS2The ROS2 communication types.FORTE_MODULE_ROS2_DDSThe ROS2 wrapper function blocks.
These features are just useful to build applications:
FORTE_MODULE_CONVERTFORTE_MODULE_UTILSFORTE_MODULE_IEC61131
This is a hard requirement, otherwise will FastDDS throw a segfault.
FORTE_RTTI_AND_EXCEPTIONS
Eclipse 4diac IDE is licensed under an EPL 2.0.
We use contribution policy, which means we can only accept contributions under the terms of Eclipse Contributor Agreement.
./setup_posix.sh
cd bin/posix
make
In case you ran CMake with invalid options it might help to reset the CMake state by deleting CMake intermediate files:
rm -Rf CMakeCache.txt CMakeFiles/
For building local RPMs you can use (tito)[https://github.com/dgoodwin/tito]
tito build --test --rpm
Detailed information on how to build 4diac FORTE for the different supported operating systems and hardware platforms can be found in our Installation Documentation