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runtime/xenomai.py
author Andrey Skvortsov <andrej.skvortzov@gmail.com>
Thu, 09 Aug 2018 13:58:47 +0300
changeset 2275 1bb8afa02409
parent 2015 4eeefc6a13fd
child 3750 f62625418bff
permissions -rw-r--r--
Improve fix wrong code generation if EN/ENO are used in FBD/LD/SFC

Commit c9915bc6 "Fix wrong code generation if EN/ENO are used in
FBD/LD/SFC" caused following backtrace in some cases:

File "/home/developer/WorkData/PLC/beremiz/beremiz/PLCGenerator.py", line 476, in GenerateProgram
self.GeneratePouProgram(pou_name)
File "/home/developer/WorkData/PLC/beremiz/beremiz/PLCGenerator.py", line 258, in GeneratePouProgram
program = pou_program.GenerateProgram(pou)
File "/home/developer/WorkData/PLC/beremiz/beremiz/PLCGenerator.py", line 1713, in GenerateProgram
self.ComputeProgram(pou)
File "/home/developer/WorkData/PLC/beremiz/beremiz/PLCGenerator.py", line 997, in ComputeProgram
eno_var = self.GetUsedEno(body, connections)
File "/home/developer/WorkData/PLC/beremiz/beremiz/PLCGenerator.py", line 929, in GetUsedEno
for invar in blk.inputVariables.getvariable():
File "/home/developer/WorkData/PLC/beremiz/beremiz/xmlclass/xmlclass.py", line 1363, in getattrMethod
return DefaultElementClass.__getattribute__(self, name)
<type 'exceptions.AttributeError'>: 'inOutVariable' object has no attribute 'inputVariables'
2015
4eeefc6a13fd Fix codestyle
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2000
diff changeset 
     1
 
#!/usr/bin/env python
4eeefc6a13fd Fix codestyle
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2000
diff changeset 
     2
 
# -*- coding: utf-8 -*-
4eeefc6a13fd Fix codestyle
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2000
diff changeset 
     3
 
#
4eeefc6a13fd Fix codestyle
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2000
diff changeset 
     4
 
# See COPYING.Runtime file for copyrights details.
4eeefc6a13fd Fix codestyle
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2000
diff changeset 
     5
 
#
4eeefc6a13fd Fix codestyle
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2000
diff changeset 
     6
 












4eeefc6a13fd
Fix codestyle



Andrey Skvortsov <andrej.skvortzov@gmail.com>


parents: 
2000

diff
changeset




     7


from __future__ import absolute_import








2000






9fa2f8ede5d6
Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.



Edouard Tisserant


parents: 

diff
changeset




     8


from ctypes import CDLL, RTLD_GLOBAL, pointer, c_int, POINTER, c_char, create_string_buffer








2015






4eeefc6a13fd
Fix codestyle



Andrey Skvortsov <andrej.skvortzov@gmail.com>


parents: 
2000

diff
changeset




     9














4eeefc6a13fd
Fix codestyle



Andrey Skvortsov <andrej.skvortzov@gmail.com>


parents: 
2000

diff
changeset




    10









2000






9fa2f8ede5d6
Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.



Edouard Tisserant


parents: 

diff
changeset




    11


def TryPreloadXenomai():













9fa2f8ede5d6
Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.



Edouard Tisserant


parents: 

diff
changeset




    12


    """













9fa2f8ede5d6
Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.



Edouard Tisserant


parents: 

diff
changeset




    13


    Xenomai 3 (at least for version <= 3.0.6) do not handle properly dlclose













9fa2f8ede5d6
Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.



Edouard Tisserant


parents: 

diff
changeset




    14


    of shared objects whose dlopen did trigger xenomai_init.








2015






4eeefc6a13fd
Fix codestyle



Andrey Skvortsov <andrej.skvortzov@gmail.com>


parents: 
2000

diff
changeset




    15


    As a workaround, this pre-loads xenomai libraries that need to be








2000






9fa2f8ede5d6
Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.



Edouard Tisserant


parents: 

diff
changeset




    16


    initialized and call xenomai_init once for all.








2015






4eeefc6a13fd
Fix codestyle



Andrey Skvortsov <andrej.skvortzov@gmail.com>


parents: 
2000

diff
changeset




    17









2000






9fa2f8ede5d6
Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.



Edouard Tisserant


parents: 

diff
changeset




    18


    Xenomai auto init of libs MUST be disabled (see --auto-init-solib in xeno-config)













9fa2f8ede5d6
Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.



Edouard Tisserant


parents: 

diff
changeset




    19


    """













9fa2f8ede5d6
Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.



Edouard Tisserant


parents: 

diff
changeset




    20


    try:













9fa2f8ede5d6
Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.



Edouard Tisserant


parents: 

diff
changeset




    21


        for name in ["cobalt", "modechk", "copperplate", "alchemy"]:













9fa2f8ede5d6
Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.



Edouard Tisserant


parents: 

diff
changeset




    22


            globals()[name] = CDLL("lib"+name+".so", mode=RTLD_GLOBAL)








2015






4eeefc6a13fd
Fix codestyle



Andrey Skvortsov <andrej.skvortzov@gmail.com>


parents: 
2000

diff
changeset




    23


        cobalt.xenomai_init(pointer(c_int(0)), pointer((POINTER(c_char)*2)(create_string_buffer("prog_name"), None)))













4eeefc6a13fd
Fix codestyle



Andrey Skvortsov <andrej.skvortzov@gmail.com>


parents: 
2000

diff
changeset




    24


    except Exception:








2000






9fa2f8ede5d6
Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.



Edouard Tisserant


parents: 

diff
changeset




    25


        pass













beremiz