Release Candidate 1

README.md

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+# Beckhoff Bridge Extension for IsaacSim

loupe.beckhoff_bridge/.vscode/launch.json

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+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Python: Attach",
+            "type": "python",
+            "request": "attach",
+            "port": 3000,
+            "host": "127.0.0.1",
+            "justMyCode": false
+        },
+    ]
+}

loupe.beckhoff_bridge/config/extension.toml

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+[core]
+reloadable = true
+order = 0
+
+[package]
+version = "0.1.0"
+category = "Connector"
+title = "Beckhoff Bridge"
+description = "A client for connecting to Beckhoff PLCs"
+authors = ["Loupe"]
+repository = "https://github.com/loupeteam/IsaacSim_Beckhoff_Bridge_Extension"
+keywords = []
+changelog = "docs/CHANGELOG.md"
+readme = "docs/README.md"
+preview_image = "data/preview.png"
+icon = "data/icon.png"
+
+
+[dependencies]
+"omni.kit.uiapp" = {}
+"omni.isaac.ui" = {}
+"omni.isaac.core" = {}
+
+[python.pipapi]
+requirements = ['pyads']
+use_online_index = true
+
+[[python.module]]
+name = "loupe.beckhoff_bridge"

loupe.beckhoff_bridge/loupe/beckhoff_bridge/Api.py

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+import carb.events
+import omni.kit.app
+
+EXTENSION_EVENT_SENDER_ID = 500
+EVENT_TYPE_DATA_INIT = carb.events.type_from_string("loupe.beckhoff_bridge.DATA_INIT")
+EVENT_TYPE_DATA_READ = carb.events.type_from_string("loupe.beckhoff_bridge.DATA_READ")
+EVENT_TYPE_DATA_READ_REQ = carb.events.type_from_string("loupe.beckhoff_bridge.DATA_READ_REQ")
+EVENT_TYPE_DATA_WRITE_REQ = carb.events.type_from_string("loupe.beckhoff_bridge.DATA_WRITE_REQ")
+
+class BeckhoffBridge:
+    def __init__( self ):
+        self._event_stream = omni.kit.app.get_app().get_message_bus_event_stream()
+        self._callbacks = []
+
+    def __del__(self):
+        for callback in self._callbacks:
+            self._event_stream.remove_subscription(callback)
+
+    def register_init_callback(self, callback):
+        self._callbacks.append(self._event_stream.create_subscription_to_push_by_type(EVENT_TYPE_DATA_INIT, callback))        
+        callback( None )
+
+    def register_data_callback(self, callback):
+        self._callbacks.append(self._event_stream.create_subscription_to_push_by_type(EVENT_TYPE_DATA_READ, callback))       
+
+    def add_cyclic_read_variables(self, variableList):
+        self._event_stream.push(event_type=EVENT_TYPE_DATA_READ_REQ, payload={'variables':variableList})
+
+    def write_variable(self, name, value):
+        payload = {"variables":[{'name': name, 'value': value}]}
+        self._event_stream.push(event_type=EVENT_TYPE_DATA_WRITE_REQ, payload=payload)

loupe.beckhoff_bridge/loupe/beckhoff_bridge/__init__.py

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+from .extension import *

loupe.beckhoff_bridge/loupe/beckhoff_bridge/ads_driver.py

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+import pyads
+
+class AdsDriver():
+
+    def __init__(self, ams_net_id):             
+
+        self.ams_net_id = ams_net_id
+        self._read_names = list()
+        self._read_struct_def = dict()
+
+    def add_read(self, name : str, structure_def = None):
+
+        if(name not in self._read_names):
+            self._read_names.append(name)
+
+        if structure_def is not None:
+            if name not in self._read_struct_def:
+                self._read_struct_def[name] = structure_def
+
+    def write_data(self, data : dict ):
+        self._connection.write_list_by_name( data )
+
+    def read_data(self):
+        # self._connection.
+        if self._read_names is not None:
+            data = self._connection.read_list_by_name( self._read_names, structure_defs=self._read_struct_def)
+            parsed_data = dict()
+            for name in data.keys():
+                parsed_data = self._parse_name(parsed_data, name, data[name])
+        else:
+            parsed_data = dict()        
+        return parsed_data
+
+    def _parse_name(self, name_dict, name, value):
+        name_parts = name.split(".")
+        if len(name_parts) > 1:
+            if name_parts[0] not in name_dict:
+                name_dict[name_parts[0]] = dict()
+            if "[" in name_parts[1]:
+                array_name, index = name_parts[1].split("[")
+                index = int(index[:-1])
+                if array_name not in name_dict[name_parts[0]]:
+                    name_dict[name_parts[0]][array_name] = []
+                if index >= len(name_dict[name_parts[0]][array_name]):
+                    name_dict[name_parts[0]][array_name].extend([None] * (index - len(name_dict[name_parts[0]][array_name]) + 1))
+                name_dict[name_parts[0]][array_name][index] = self._parse_name(name_dict[name_parts[0]][array_name], "[" + str(index) + "]" + ".".join(name_parts[2:]), value)
+            else:
+                name_dict[name_parts[0]] = self._parse_name(name_dict[name_parts[0]], ".".join(name_parts[1:]), value)
+        else:
+            if "[" in name_parts[0]:
+                array_name, index = name_parts[0].split("[")
+                index = int(index[:-1])
+                if index >= len(name_dict):
+                    name_dict.extend([None] * (index - len(name_dict) + 1))
+                name_dict[index] = value
+                return name_dict[index]
+            else:
+                name_dict[name_parts[0]] = value
+        return name_dict
+
+    def connect(self):
+        self._connection = pyads.Connection(self.ams_net_id, pyads.PORT_TC3PLC1)
+        self._connection.open()        
+
+

loupe.beckhoff_bridge/loupe/beckhoff_bridge/extension.py

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+# This software contains source code provided by NVIDIA Corporation.
+# Copyright (c) 2022-2023, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+#
+
+import weakref
+import asyncio
+import gc
+import omni
+import omni.ui as ui
+import omni.usd
+import omni.timeline
+import omni.kit.commands
+from omni.kit.menu.utils import add_menu_items, remove_menu_items
+from omni.isaac.ui.menu import make_menu_item_description
+from omni.usd import StageEventType
+import omni.physx as _physx
+
+from .global_variables import EXTENSION_TITLE, EXTENSION_DESCRIPTION
+from .ui_builder import UIBuilder
+
+"""
+This file serves as a basic template for the standard boilerplate operations
+that make a UI-based extension appear on the toolbar.
+
+This implementation is meant to cover most use-cases without modification.
+Various callbacks are hooked up to a seperate class UIBuilder in .ui_builder.py
+Most users will be able to make their desired UI extension by interacting solely with
+UIBuilder.
+
+This class sets up standard useful callback functions in UIBuilder:
+    on_menu_callback: Called when extension is opened
+    on_timeline_event: Called when timeline is stopped, paused, or played
+    on_stage_event: Called when stage is opened or closed
+    cleanup: Called when resources such as physics subscriptions should be cleaned up
+    build_ui: User function that creates the UI they want.
+"""
+
+
+class TestExtension(omni.ext.IExt):
+    def on_startup(self, ext_id: str):
+        """Initialize extension and UI elements"""
+
+        # Events
+        self._usd_context = omni.usd.get_context()
+
+        # Build Window
+        self._window = ui.Window(
+            title=EXTENSION_TITLE, width=600, height=500, visible=False, dockPreference=ui.DockPreference.LEFT_BOTTOM
+        )
+        self._window.set_visibility_changed_fn(self._on_window)
+
+        # UI
+        self._models = {}
+        self._ext_id = ext_id
+        self._menu_items = [
+            make_menu_item_description(ext_id, EXTENSION_TITLE, lambda a=weakref.proxy(self): a._menu_callback())
+        ]
+
+        add_menu_items(self._menu_items, EXTENSION_TITLE)
+
+        # Filled in with User Functions
+        self.ui_builder = UIBuilder()
+
+        # Events
+        self._usd_context = omni.usd.get_context()
+        self._physxIFace = _physx.acquire_physx_interface()
+        self._physx_subscription = None
+        self._stage_event_sub = None
+        self._timeline = omni.timeline.get_timeline_interface()
+
+    def on_shutdown(self):
+        self._models = {}
+        remove_menu_items(self._menu_items, EXTENSION_TITLE)
+        if self._window:
+            self._window = None
+        self.ui_builder.cleanup()
+        gc.collect()
+
+    def _on_window(self, visible):
+        if self._window.visible:
+            # Subscribe to Stage and Timeline Events
+            self._usd_context = omni.usd.get_context()
+            events = self._usd_context.get_stage_event_stream()
+            self._stage_event_sub = events.create_subscription_to_pop(self._on_stage_event)
+            stream = self._timeline.get_timeline_event_stream()
+            self._timeline_event_sub = stream.create_subscription_to_pop(self._on_timeline_event)
+
+            self._build_ui()
+        else:
+            self._usd_context = None
+            self._stage_event_sub = None
+            self._timeline_event_sub = None
+
+    def _build_ui(self):
+        with self._window.frame:
+            with ui.VStack(spacing=5, height=0):
+                self._build_extension_ui()
+
+        async def dock_window():
+            await omni.kit.app.get_app().next_update_async()
+
+            def dock(space, name, location, pos=0.5):
+                window = omni.ui.Workspace.get_window(name)
+                if window and space:
+                    window.dock_in(space, location, pos)
+                return window
+
+            tgt = ui.Workspace.get_window("Viewport")
+            dock(tgt, EXTENSION_TITLE, omni.ui.DockPosition.LEFT, 0.33)
+            await omni.kit.app.get_app().next_update_async()
+
+        self._task = asyncio.ensure_future(dock_window())
+
+    #################################################################
+    # Functions below this point call user functions
+    #################################################################
+
+    def _menu_callback(self):
+        self._window.visible = not self._window.visible
+        self.ui_builder.on_menu_callback()
+
+    def _on_timeline_event(self, event):
+        self.ui_builder.on_timeline_event(event)
+
+    def _on_stage_event(self, event):
+        if event.type == int(StageEventType.OPENED) or event.type == int(StageEventType.CLOSED):
+            # stage was opened or closed, cleanup
+            self._physx_subscription = None
+
+        self.ui_builder.on_stage_event(event)
+
+    def _build_extension_ui(self):
+        # Call user function for building UI
+        self.ui_builder.build_ui()

loupe.beckhoff_bridge/loupe/beckhoff_bridge/global_variables.py

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+# This software contains source code provided by NVIDIA Corporation.
+# Copyright (c) 2022-2023, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+#
+
+
+EXTENSION_TITLE = "beckhoff_bridge"
+EXTENSION_NAME = "loupe.beckhoff_bridge"
+EXTENSION_DESCRIPTION = "Connector for Beckhoff PLCs"
+