System Architecture

This chapter provides a deeper look at how AutoCore works internally. You don’t need to understand all of this to use AutoCore, but it will help you debug issues and make better design decisions.

Architecture Diagram

┌─────────────────────────────────────────────────────────────────┐
│                        AutoCore Server                           │
│                                                                   │
│  ┌──────────┐ ┌──────────┐ ┌────────────┐ ┌──────────────────┐ │
│  │  System   │ │    GM    │ │  Datastore  │ │   Module IPC     │ │
│  │ Servelet  │ │ Servelet │ │  Servelet   │ │   Server         │ │
│  └─────┬─────┘ └─────┬────┘ └──────┬─────┘ └────────┬─────────┘ │
│        │              │             │                 │           │
│        ▼              ▼             ▼                 ▼           │
│  ┌─────────────────────────────────────────────────────────────┐ │
│  │               Shared Memory (autocore_cyclic)                │ │
│  │  ┌──────────┐  ┌───────────┐  ┌─────────────┐  ┌─────────┐ │ │
│  │  │ Variables │  │  Signals  │  │   Direct    │  │ Events  │ │ │
│  │  │ (I/O)    │  │  (Tick)   │  │   Mapping   │  │ (Sync)  │ │ │
│  │  └──────────┘  └───────────┘  └─────────────┘  └─────────┘ │ │
│  └──────────▲─────────────────────────────▲────────────────────┘ │
│             │   Zero-Copy R/W             │   Zero-Copy R/W      │
│             │   (every cycle)             │   (every cycle)       │
└─────────────┼─────────────────────────────┼──────────────────────┘
              │                             │
   ┌──────────┴──────────┐    ┌─────────────┴──────────────┐
   │   Control Program    │    │      External Modules       │
   │   (your program.rs)  │    │  (EtherCAT, Modbus, etc.)  │
   │                      │    │                              │
   │  autocore-std        │    │  mechutil IPC client         │
   └──────────────────────┘    └──────────────────────────────┘
              │                             │
              ▼                             ▼
   ┌──────────────────────┐    ┌──────────────────────────────┐
   │   Web Console / HMI   │    │    Field Devices              │
   │   (Browser, ws://)    │    │  (Drives, Sensors, I/O)      │
   └──────────────────────┘    └──────────────────────────────┘

Shared Memory Model

Shared memory is the heart of AutoCore’s performance. Instead of sending data through network protocols or message queues, all processes access the same memory region directly.

1. Allocation: When the server starts, it creates a shared memory segment called autocore_cyclic based on the variables in project.json.
2. Mapping: The control program and all enabled modules map this segment into their own address space.
3. Synchronization: The server generates a tick event. The control program waits for this event, reads the memory, processes one cycle, and writes back.

This zero-copy architecture means that I/O data exchange takes nanoseconds, not milliseconds.

The Module System

External modules extend AutoCore’s hardware capabilities. Each module:

1. Is spawned as a child process by the server on startup
2. Receives three CLI arguments: --ipc-address, --module-name, and --config
3. Connects to the server’s IPC port (default 9100)
4. Receives lifecycle commands: initialize, configure_shm, finalize
5. Maps shared memory variables to exchange cyclic data
6. Handles commands routed by the server based on the module’s domain name

Built-in modules:

• autocore-ethercat: EtherCAT fieldbus master
• autocore-modbus: Modbus TCP client
• autocore-labelit: Camera and label inspection

Configuration: config.ini

The config.ini file contains machine-specific settings that stay the same across projects. It is located at:

• Linux: /opt/autocore/config/config.ini
• Development: specified with --config flag when running the server

[console]
port = 11969                                        # WebSocket port for CLI and web clients
www_root = /srv/autocore/console/dist               # Path to web console static files

[general]
projects_directory = /srv/autocore/projects          # Root directory for all projects
module_base_directory = /opt/autocore/bin/modules    # Directory containing module executables
port = 8080                                          # HTTP port for the web server
autocore_std_directory = /srv/autocore/lib/autocore-std  # Path to the autocore-std library
disable_ads = 1                                      # Disable TwinCAT ADS compatibility
ipc_port = 9100                                      # TCP port for module IPC
project_name = default                               # Project to load on startup

[modules]
modbus = ${general.module_base_directory}/autocore-modbus
ethercat = ${general.module_base_directory}/autocore-ethercat
labelit = ${general.module_base_directory}/autocore-labelit

The [modules] section maps module names to executable paths. This keeps project.json portable — the same project file works on different machines where modules may be installed in different locations.