runtime/PLCObject.py
author Edouard TISSERANT <edouard.tisserant@gmail.com>
Mon, 07 Dec 2009 10:08:12 +0100
changeset 467 11638e373a65
parent 465 67d32a91d70b
child 477 f66a092b6e74
permissions -rwxr-xr-x
Fixed typo PLCobject C fallback interface
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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#This file is part of Beremiz, a Integrated Development Environment for
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#programming IEC 61131-3 automates supporting plcopen standard and CanFestival. 
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#
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#Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD
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#
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#See COPYING file for copyrights details.
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#
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#This library is free software; you can redistribute it and/or
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#modify it under the terms of the GNU General Public
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#License as published by the Free Software Foundation; either
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#version 2.1 of the License, or (at your option) any later version.
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#
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#This library is distributed in the hope that it will be useful,
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#but WITHOUT ANY WARRANTY; without even the implied warranty of
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#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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#General Public License for more details.
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#
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#You should have received a copy of the GNU General Public
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#License along with this library; if not, write to the Free Software
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#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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import Pyro.core as pyro
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from threading import Timer, Thread, Lock
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import ctypes, os, commands, types, sys
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if os.name in ("nt", "ce"):
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    from _ctypes import LoadLibrary as dlopen
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    from _ctypes import FreeLibrary as dlclose
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elif os.name == "posix":
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    from _ctypes import dlopen, dlclose
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import traceback
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lib_ext ={
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     "linux2":".so",
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     "win32":".dll",
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     }.get(sys.platform, "")
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def PLCprint(message):
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    sys.stdout.write("PLCobject : "+message+"\n")
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    sys.stdout.flush()
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class PLCObject(pyro.ObjBase):
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    _Idxs = []
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    def __init__(self, workingdir, daemon, argv, statuschange, evaluator, website):
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        pyro.ObjBase.__init__(self)
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        self.evaluator = evaluator
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        self.argv = [workingdir] + argv # force argv[0] to be "path" to exec...
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        self.workingdir = workingdir
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        self.PLCStatus = "Stopped"
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        self.PLClibraryHandle = None
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        self.PLClibraryLock = Lock()
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        self.DummyIteratorLock = None
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        # Creates fake C funcs proxies
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        self._FreePLC()
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        self.daemon = daemon
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        self.statuschange = statuschange
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        self.hmi_frame = None
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        self.website = website
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        # Get the last transfered PLC if connector must be restart
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        try:
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            self.CurrentPLCFilename=open(
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                             self._GetMD5FileName(),
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                             "r").read().strip() + lib_ext
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        except Exception, e:
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            self.PLCStatus = "Empty"
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            self.CurrentPLCFilename=None
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    def StatusChange(self):
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        if self.statuschange is not None:
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            self.statuschange(self.PLCStatus)
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    def _GetMD5FileName(self):
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        return os.path.join(self.workingdir, "lasttransferedPLC.md5")
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    def _GetLibFileName(self):
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        return os.path.join(self.workingdir,self.CurrentPLCFilename)
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    def _LoadNewPLC(self):
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        """
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        Load PLC library
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        Declare all functions, arguments and return values
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        """
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        PLCprint("Load PLC")
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        try:
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            self._PLClibraryHandle = dlopen(self._GetLibFileName())
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            self.PLClibraryHandle = ctypes.CDLL(self.CurrentPLCFilename, handle=self._PLClibraryHandle)
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            self._startPLC = self.PLClibraryHandle.startPLC
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            self._startPLC.restype = ctypes.c_int
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            self._startPLC.argtypes = [ctypes.c_int, ctypes.POINTER(ctypes.c_char_p)]
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            self._stopPLC_real = self.PLClibraryHandle.stopPLC
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            self._stopPLC_real.restype = None
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            self._PythonIterator = getattr(self.PLClibraryHandle, "PythonIterator", None)
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            if self._PythonIterator is not None:
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                self._PythonIterator.restype = ctypes.c_char_p
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                self._PythonIterator.argtypes = [ctypes.c_char_p]
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                def StopPLCLock():
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                    self.PLClibraryLock.acquire()
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                    self._stopPLC_real()
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                    self.PLClibraryLock.release()
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            else:
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                # If python plugin is not enabled, we reuse _PythonIterator
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                # as a call that block pythonthread until StopPLC 
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                self.PythonIteratorLock = Lock()
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                self.PythonIteratorLock.acquire()
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                def PythonIterator(res):
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                    self.PythonIteratorLock.acquire()
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                    self.PythonIteratorLock.release()
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                    return None
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                self._PythonIterator = PythonIterator
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                def StopPLCLock():
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                    self.PLClibraryLock.acquire()
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                    self._stopPLC_real()
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                    self.PythonIteratorLock.release()
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                    self.PLClibraryLock.release()
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            self._stopPLC = StopPLCLock
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            self._ResetDebugVariables = self.PLClibraryHandle.ResetDebugVariables
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            self._ResetDebugVariables.restype = None
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            self._RegisterDebugVariable = self.PLClibraryHandle.RegisterDebugVariable
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            self._RegisterDebugVariable.restype = None
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            self._RegisterDebugVariable.argtypes = [ctypes.c_int]
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            self._FreeDebugData = self.PLClibraryHandle.FreeDebugData
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            self._FreeDebugData.restype = None
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            self._GetDebugData = self.PLClibraryHandle.GetDebugData
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            self._GetDebugData.restype = ctypes.c_int  
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            self._GetDebugData.argtypes = [ctypes.POINTER(ctypes.c_uint32), ctypes.POINTER(ctypes.c_uint32), ctypes.POINTER(ctypes.c_void_p)]
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            self._suspendDebug = self.PLClibraryHandle.suspendDebug
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            self._suspendDebug.restype = None
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            self._suspendDebug.argtypes = [ctypes.c_int]
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            self._resumeDebug = self.PLClibraryHandle.resumeDebug
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            self._resumeDebug.restype = None
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            return True
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        except:
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            PLCprint(traceback.format_exc())
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            return False
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    def _FreePLC(self):
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        """
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        Unload PLC library.
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        This is also called by __init__ to create dummy C func proxies
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        """
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        self.PLClibraryLock.acquire()
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        # Forget all refs to library
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        self._startPLC = lambda:None
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        self._stopPLC = lambda:None
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        self._ResetDebugVariables = lambda:None
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        self._RegisterDebugVariable = lambda x:None
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        self._IterDebugData = lambda x,y:None
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        self._FreeDebugData = lambda:None
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        self._GetDebugData = lambda:-1
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        self._suspendDebug = lambda x:None
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        self._resumeDebug = lambda:None
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        self._PythonIterator = lambda:""
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        self.PLClibraryHandle = None
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   174
        # Unload library explicitely
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   175
        if getattr(self,"_PLClibraryHandle",None) is not None:
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   176
            dlclose(self._PLClibraryHandle)
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   177
            self._PLClibraryHandle = None
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   178
        
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   179
        self.PLClibraryLock.release()
229
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   180
        return False
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   181
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d7f8ffe18017 Enhanced the way "runtime.py" is executed,
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   182
    def PrepareRuntimePy(self):
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3bd617ae7a05 Local Runtime (LOCAL://) now launched "on demand"
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   183
        self.python_threads_vars = globals().copy()
344
25b7b7f854bc Wait the debug thread has terminated before freeing PLC to avoid random segmentation fault.
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   184
        self.python_threads_vars["WorkingDir"] = self.workingdir
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   185
        self.python_threads_vars["website"] = self.website
366
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   186
        self.python_threads_vars["_runtime_begin"] = []
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   187
        self.python_threads_vars["_runtime_cleanup"] = []
368
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   188
        
366
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   189
        for filename in os.listdir(self.workingdir):
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   190
            name, ext = os.path.splitext(filename)
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9b1801ef99b5 fix runtime.py filename case to avoid problem on multi-platform
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   191
            if name.upper().startswith("RUNTIME") and ext.upper() == ".PY":
366
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   192
                try:
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   193
                    # TODO handle exceptions in runtime.py
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   194
                    # pyfile may redefine _runtime_cleanup
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                    # or even call _PythonThreadProc itself.
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                    execfile(os.path.join(self.workingdir, filename), self.python_threads_vars)
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   197
                except:
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   198
                    PLCprint(traceback.format_exc())
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   199
                runtime_begin = self.python_threads_vars.get("_%s_begin" % name, None)
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   200
                if runtime_begin is not None:
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   201
                    self.python_threads_vars["_runtime_begin"].append(runtime_begin)
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   202
                runtime_cleanup = self.python_threads_vars.get("_%s_cleanup" % name, None)
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   203
                if runtime_cleanup is not None:
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   204
                    self.python_threads_vars["_runtime_cleanup"].append(runtime_cleanup)
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   205
        
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   206
        for runtime_begin in self.python_threads_vars.get("_runtime_begin", []):
329
22e65b8e20f4 add autostart plc feature for beremiz_service
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   207
            runtime_begin()
368
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   208
            
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   209
        if self.website is not None:
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   210
            self.website.PLCStarted()
291
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parents: 290
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   211
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   212
    def FinishRuntimePy(self):
366
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   213
        for runtime_cleanup in self.python_threads_vars.get("_runtime_cleanup", []):
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   214
            runtime_cleanup()    
368
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   215
        if self.website is not None:
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   216
            self.website.PLCStopped()
291
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   217
        self.python_threads_vars = None
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   218
462
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   219
    def PythonThreadProc(self):
291
701c0601db02 Added systematic stdout.flush runtime side, so that results appear in log window
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   220
        PLCprint("PythonThreadProc started")
350
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   221
        c_argv = ctypes.c_char_p * len(self.argv)
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   222
        error = None
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   223
        if self._LoadNewPLC():
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   224
            if self._startPLC(len(self.argv),c_argv(*self.argv)) == 0:
229
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   225
                self.PLCStatus = "Started"
286
a2a8a52b0d4f Minor changes to get better cleanup of debug and python_eval threads, accross multiple debug sessions and PLC runs.
etisserant
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diff changeset
   226
                self.StatusChange()
350
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greg
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diff changeset
   227
                self.evaluator(self.PrepareRuntimePy)
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greg
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diff changeset
   228
                res,cmd = "None","None"
352
81777d4e379c fixed bug : Lock _FreePLC until _stopPLC finish
greg
parents: 350
diff changeset
   229
                while True:
350
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diff changeset
   230
                    #print "_PythonIterator(", res, ")",
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   231
                    cmd = self._PythonIterator(res)
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   232
                    #print " -> ", cmd
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   233
                    if cmd is None:
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greg
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diff changeset
   234
                        break
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diff changeset
   235
                    try :
a3a5561bde1d - now call load, start, free PLC from the python Thread
greg
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diff changeset
   236
                        res = str(self.evaluator(eval,cmd,self.python_threads_vars))
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diff changeset
   237
                    except Exception,e:
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diff changeset
   238
                        res = "#EXCEPTION : "+str(e)
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diff changeset
   239
                        PLCprint(res)
a3a5561bde1d - now call load, start, free PLC from the python Thread
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   240
                self.PLCStatus = "Stopped"
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greg
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diff changeset
   241
                self.StatusChange()
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diff changeset
   242
                self.evaluator(self.FinishRuntimePy)
229
8bc65076e290 add tests for win32
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parents: 227
diff changeset
   243
            else:
350
a3a5561bde1d - now call load, start, free PLC from the python Thread
greg
parents: 344
diff changeset
   244
                error = "starting"
a3a5561bde1d - now call load, start, free PLC from the python Thread
greg
parents: 344
diff changeset
   245
        else:
a3a5561bde1d - now call load, start, free PLC from the python Thread
greg
parents: 344
diff changeset
   246
            error = "loading"
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greg
parents: 344
diff changeset
   247
        if error is not None:
a3a5561bde1d - now call load, start, free PLC from the python Thread
greg
parents: 344
diff changeset
   248
            PLCprint("Problem %s PLC"%error)
a3a5561bde1d - now call load, start, free PLC from the python Thread
greg
parents: 344
diff changeset
   249
            self.PLCStatus = "Broken"
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greg
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diff changeset
   250
        self._FreePLC()
a3a5561bde1d - now call load, start, free PLC from the python Thread
greg
parents: 344
diff changeset
   251
        PLCprint("PythonThreadProc interrupted")
a3a5561bde1d - now call load, start, free PLC from the python Thread
greg
parents: 344
diff changeset
   252
    
462
274e83a5534e Now debug is not a button anymore
Edouard TISSERANT <edouard.tisserant@gmail.com>
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diff changeset
   253
    def StartPLC(self):
350
a3a5561bde1d - now call load, start, free PLC from the python Thread
greg
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diff changeset
   254
        PLCprint("StartPLC")
465
67d32a91d70b Fixes in debug + reconnect to running PLC
Edouard TISSERANT <edouard.tisserant@gmail.com>
parents: 462
diff changeset
   255
        if self.CurrentPLCFilename is not None and self.PLCStatus == "Stopped":
446
1edde533db19 Some cleanup in PLC status - removed that \"Starting\" state ...
ed
parents: 411
diff changeset
   256
            self.PLCStatus = "Started"
462
274e83a5534e Now debug is not a button anymore
Edouard TISSERANT <edouard.tisserant@gmail.com>
parents: 461
diff changeset
   257
            self.PythonThread = Thread(target=self.PythonThreadProc)
350
a3a5561bde1d - now call load, start, free PLC from the python Thread
greg
parents: 344
diff changeset
   258
            self.PythonThread.start()
352
81777d4e379c fixed bug : Lock _FreePLC until _stopPLC finish
greg
parents: 350
diff changeset
   259
            
229
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diff changeset
   260
    def StopPLC(self):
350
a3a5561bde1d - now call load, start, free PLC from the python Thread
greg
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diff changeset
   261
        PLCprint("StopPLC")
229
8bc65076e290 add tests for win32
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parents: 227
diff changeset
   262
        if self.PLCStatus == "Started":
352
81777d4e379c fixed bug : Lock _FreePLC until _stopPLC finish
greg
parents: 350
diff changeset
   263
            self._stopPLC()
229
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parents: 227
diff changeset
   264
            return True
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   265
        return False
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parents: 227
diff changeset
   266
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diff changeset
   267
    def _Reload(self):
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parents: 227
diff changeset
   268
        self.daemon.shutdown(True)
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parents: 227
diff changeset
   269
        self.daemon.sock.close()
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diff changeset
   270
        os.execv(sys.executable,[sys.executable]+sys.argv[:])
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   271
        # never reached
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   272
        return 0
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   273
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diff changeset
   274
    def ForceReload(self):
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diff changeset
   275
        # respawn python interpreter
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diff changeset
   276
        Timer(0.1,self._Reload).start()
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greg
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   277
        return True
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parents: 227
diff changeset
   278
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   279
    def GetPLCstatus(self):
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diff changeset
   280
        return self.PLCStatus
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greg
parents: 227
diff changeset
   281
    
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diff changeset
   282
    def NewPLC(self, md5sum, data, extrafiles):
291
701c0601db02 Added systematic stdout.flush runtime side, so that results appear in log window
etisserant
parents: 290
diff changeset
   283
        PLCprint("NewPLC (%s)"%md5sum)
393
af20e07e53c5 Remove dirtylibs test while freeing plc libs in PLCObject.py
laurent
parents: 368
diff changeset
   284
        if self.PLCStatus in ["Stopped", "Empty", "Broken"]:
229
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greg
parents: 227
diff changeset
   285
            NewFileName = md5sum + lib_ext
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greg
parents: 227
diff changeset
   286
            extra_files_log = os.path.join(self.workingdir,"extra_files.txt")
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greg
parents: 227
diff changeset
   287
            try:
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greg
parents: 227
diff changeset
   288
                os.remove(os.path.join(self.workingdir,
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   289
                                       self.CurrentPLCFilename))
364
27ea6a6747fc Bug extra_files deletion in working directory fixed
laurent
parents: 361
diff changeset
   290
                for filename in file(extra_files_log, "r").readlines() + [extra_files_log]:
229
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   291
                    try:
364
27ea6a6747fc Bug extra_files deletion in working directory fixed
laurent
parents: 361
diff changeset
   292
                        os.remove(os.path.join(self.workingdir, filename.strip()))
229
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   293
                    except:
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greg
parents: 227
diff changeset
   294
                        pass
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greg
parents: 227
diff changeset
   295
            except:
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   296
                pass
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   297
                        
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   298
            try:
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greg
parents: 227
diff changeset
   299
                # Create new PLC file
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   300
                open(os.path.join(self.workingdir,NewFileName),
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   301
                     'wb').write(data)
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greg
parents: 227
diff changeset
   302
        
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   303
                # Store new PLC filename based on md5 key
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   304
                open(self._GetMD5FileName(), "w").write(md5sum)
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   305
        
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   306
                # Then write the files
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greg
parents: 227
diff changeset
   307
                log = file(extra_files_log, "w")
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greg
parents: 227
diff changeset
   308
                for fname,fdata in extrafiles:
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greg
parents: 227
diff changeset
   309
                    fpath = os.path.join(self.workingdir,fname)
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greg
parents: 227
diff changeset
   310
                    open(fpath, "wb").write(fdata)
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   311
                    log.write(fname+'\n')
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greg
parents: 227
diff changeset
   312
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   313
                # Store new PLC filename
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greg
parents: 227
diff changeset
   314
                self.CurrentPLCFilename = NewFileName
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greg
parents: 227
diff changeset
   315
            except:
291
701c0601db02 Added systematic stdout.flush runtime side, so that results appear in log window
etisserant
parents: 290
diff changeset
   316
                PLCprint(traceback.format_exc())
229
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   317
                return False
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greg
parents: 227
diff changeset
   318
            if self.PLCStatus == "Empty":
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greg
parents: 227
diff changeset
   319
                self.PLCStatus = "Stopped"
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greg
parents: 227
diff changeset
   320
            return True
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greg
parents: 227
diff changeset
   321
        return False
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greg
parents: 227
diff changeset
   322
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   323
    def MatchMD5(self, MD5):
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   324
        try:
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   325
            last_md5 = open(self._GetMD5FileName(), "r").read()
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   326
            return last_md5 == MD5
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greg
parents: 227
diff changeset
   327
        except:
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parents: 227
diff changeset
   328
            return False
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greg
parents: 227
diff changeset
   329
    
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   330
    def SetTraceVariablesList(self, idxs):
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   331
        """
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   332
        Call ctype imported function to append 
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greg
parents: 227
diff changeset
   333
        these indexes to registred variables in PLC debugger
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   334
        """
462
274e83a5534e Now debug is not a button anymore
Edouard TISSERANT <edouard.tisserant@gmail.com>
parents: 461
diff changeset
   335
        if idxs:
274e83a5534e Now debug is not a button anymore
Edouard TISSERANT <edouard.tisserant@gmail.com>
parents: 461
diff changeset
   336
            # suspend but dont disable
274e83a5534e Now debug is not a button anymore
Edouard TISSERANT <edouard.tisserant@gmail.com>
parents: 461
diff changeset
   337
            self._suspendDebug(False)
274e83a5534e Now debug is not a button anymore
Edouard TISSERANT <edouard.tisserant@gmail.com>
parents: 461
diff changeset
   338
            # keep a copy of requested idx
274e83a5534e Now debug is not a button anymore
Edouard TISSERANT <edouard.tisserant@gmail.com>
parents: 461
diff changeset
   339
            self._Idxs = idxs[:]
274e83a5534e Now debug is not a button anymore
Edouard TISSERANT <edouard.tisserant@gmail.com>
parents: 461
diff changeset
   340
            self._ResetDebugVariables()
274e83a5534e Now debug is not a button anymore
Edouard TISSERANT <edouard.tisserant@gmail.com>
parents: 461
diff changeset
   341
            for idx,iectype in idxs:
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                self._RegisterDebugVariable(idx)
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            self._resumeDebug()
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        else:
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            self._suspendDebug(True)
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            self._Idxs =  []
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    class IEC_STRING(ctypes.Structure):
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        """
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        Must be changed according to changes in iec_types.h
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        """
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        _fields_ = [("len", ctypes.c_uint8),
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                    ("body", ctypes.c_char * 126)] 
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   354
    
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    TypeTranslator = {"BOOL" :       (ctypes.c_uint8, lambda x:x.value!=0),
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                      "STEP" :       (ctypes.c_uint8, lambda x:x.value),
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                      "TRANSITION" : (ctypes.c_uint8, lambda x:x.value),
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                      "ACTION" :     (ctypes.c_uint8, lambda x:x.value),
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                      "SINT" :       (ctypes.c_int8, lambda x:x.value),
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                      "USINT" :      (ctypes.c_uint8, lambda x:x.value),
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                      "BYTE" :       (ctypes.c_uint8, lambda x:x.value),
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                      "STRING" :     (IEC_STRING, lambda x:x.body[:x.len]),
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                      "INT" :        (ctypes.c_int16, lambda x:x.value),
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                      "UINT" :       (ctypes.c_uint16, lambda x:x.value),
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                      "WORD" :       (ctypes.c_uint16, lambda x:x.value),
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                      "WSTRING" :    (None, None),#TODO
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                      "DINT" :       (ctypes.c_int32, lambda x:x.value),
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                      "UDINT" :      (ctypes.c_uint32, lambda x:x.value),
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                      "DWORD" :      (ctypes.c_uint32, lambda x:x.value),
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                      "LINT" :       (ctypes.c_int64, lambda x:x.value),
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                      "ULINT" :      (ctypes.c_uint64, lambda x:x.value),
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                      "LWORD" :      (ctypes.c_uint64, lambda x:x.value),
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                      "REAL" :       (ctypes.c_float, lambda x:x.value),
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                      "LREAL" :      (ctypes.c_double, lambda x:x.value),
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                      } 
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    def GetTraceVariables(self):
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   378
        """
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        Return a list of variables, corresponding to the list of required idx
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        """
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        if self.PLCStatus == "Started":
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            res=[]
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   383
            self.PLClibraryLock.acquire()
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   384
            tick = ctypes.c_uint32()
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   385
            size = ctypes.c_uint32()
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   386
            buffer = ctypes.c_void_p()
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   387
            offset = 0
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   388
            if self._GetDebugData(ctypes.byref(tick),ctypes.byref(size),ctypes.byref(buffer)) == 0 :
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   389
                for idx, iectype in self._Idxs:
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   390
                    cursor = ctypes.c_void_p(buffer.value + offset)
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   391
                    c_type,unpack_func = self.TypeTranslator.get(iectype, (None,None))
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   392
                    if c_type is not None and offset < size:
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   393
                        res.append(unpack_func(ctypes.cast(cursor,
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   394
                                                           ctypes.POINTER(c_type)).contents))
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   395
                        offset += ctypes.sizeof(c_type)
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   396
                    else:
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   397
                        if c_type is None:
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   398
                            PLCprint("Debug error - " + iectype + " not supported !")
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diff changeset
   399
                        if offset >= size:
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   400
                            PLCprint("Debug error - buffer too small !")
450
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   401
                        break
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   402
            self._FreeDebugData()
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   403
            self.PLClibraryLock.release()
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diff changeset
   404
            if offset and offset == size.value:
460
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diff changeset
   405
                return self.PLCStatus, tick.value, res
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diff changeset
   406
            else:
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diff changeset
   407
                PLCprint("Debug error - bad buffer unpack !")
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1edde533db19 Some cleanup in PLC status - removed that \"Starting\" state ...
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   408
        return self.PLCStatus, None, None
1edde533db19 Some cleanup in PLC status - removed that \"Starting\" state ...
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   409