author | Andrey Skvortsov <andrej.skvortzov@gmail.com> |
Tue, 02 Oct 2018 17:18:09 +0300 | |
changeset 2417 | 316ee9fff395 |
parent 1470 | f65ab5ff91d1 |
child 2272 | 28b0a783975e |
permissions | -rw-r--r-- |
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/* |
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* Python Asynchronous execution code |
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* |
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* PLC put python commands in a fifo, respecting execution order |
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* with the help of C pragmas inserted in python_eval FB code |
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* |
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* Buffer content is read asynchronously, (from non real time part), |
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* commands are executed and result stored for later use by PLC. |
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* |
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* In this implementation, fifo is a list of pointer to python_eval |
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* function blocks structures. Some local variables have been added in |
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* python_eval interface. We use those local variables as buffer and state |
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* flags. |
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* |
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* */ |
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#include "iec_types_all.h" |
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#include "POUS.h" |
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#include <string.h> |
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/* The fifo (fixed size, as number of FB is fixed) */ |
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static PYTHON_EVAL* EvalFBs[%(python_eval_fb_count)d]; |
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/* Producer and consumer cursors */ |
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static int Current_PLC_EvalFB; |
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static int Current_Python_EvalFB; |
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/* A global IEC-Python gateway state, for use inside python_eval FBs*/ |
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static int PythonState; |
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#define PYTHON_LOCKED_BY_PYTHON 0 |
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#define PYTHON_LOCKED_BY_PLC 1 |
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#define PYTHON_MUSTWAKEUP 2 |
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#define PYTHON_FINISHED 4 |
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/* Each python_eval FunctionBlock have it own state */ |
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#define PYTHON_FB_FREE 0 |
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#define PYTHON_FB_REQUESTED 1 |
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#define PYTHON_FB_PROCESSING 2 |
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#define PYTHON_FB_ANSWERED 3 |
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int WaitPythonCommands(void); |
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void UnBlockPythonCommands(void); |
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int TryLockPython(void); |
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void UnLockPython(void); |
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void LockPython(void); |
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int __init_py_ext() |
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{ |
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int i; |
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/* Initialize cursors */ |
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Current_Python_EvalFB = 0; |
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Current_PLC_EvalFB = 0; |
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PythonState = PYTHON_LOCKED_BY_PYTHON; |
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for(i = 0; i < %(python_eval_fb_count)d; i++) |
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EvalFBs[i] = NULL; |
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return 0; |
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} |
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void __cleanup_py_ext() |
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{ |
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PythonState = PYTHON_FINISHED; |
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UnBlockPythonCommands(); |
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} |
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void __retrieve_py_ext() |
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{ |
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/* Check Python thread is not being |
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* modifying internal python_eval data */ |
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PythonState = TryLockPython() ? |
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PYTHON_LOCKED_BY_PLC : |
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PYTHON_LOCKED_BY_PYTHON; |
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/* If python thread _is_ in, then PythonState remains PYTHON_LOCKED_BY_PYTHON |
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* and python_eval will no do anything */ |
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} |
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void __publish_py_ext() |
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{ |
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if(PythonState & PYTHON_LOCKED_BY_PLC){ |
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/* If runnig PLC did push something in the fifo*/ |
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if(PythonState & PYTHON_MUSTWAKEUP){ |
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/* WakeUp python thread */ |
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UnBlockPythonCommands(); |
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} |
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UnLockPython(); |
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} |
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} |
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/** |
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* Called by the PLC, each time a python_eval |
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* FB instance is executed |
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*/ |
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void __PythonEvalFB(int poll, PYTHON_EVAL* data__) |
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{ |
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/* detect rising edge on TRIG to trigger evaluation */ |
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if(((__GET_VAR(data__->TRIG) && !__GET_VAR(data__->TRIGM1)) || |
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/* polling is equivalent to trig on value rather than on rising edge*/ |
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(poll && __GET_VAR(data__->TRIG) )) && |
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/* trig only if not already trigged */ |
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__GET_VAR(data__->TRIGGED) == 0){ |
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/* mark as trigged */ |
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__SET_VAR(data__->, TRIGGED,, 1); |
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/* make a safe copy of the code */ |
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__SET_VAR(data__->, PREBUFFER,, __GET_VAR(data__->CODE)); |
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} |
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/* retain value for next rising edge detection */ |
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__SET_VAR(data__->, TRIGM1,, __GET_VAR(data__->TRIG)); |
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/* python thread is not in ? */ |
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if( PythonState & PYTHON_LOCKED_BY_PLC){ |
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/* if some answer are waiting, publish*/ |
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if(__GET_VAR(data__->STATE) == PYTHON_FB_ANSWERED){ |
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/* Copy buffer content into result*/ |
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__SET_VAR(data__->, RESULT,, __GET_VAR(data__->BUFFER)); |
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/* signal result presece to PLC*/ |
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__SET_VAR(data__->, ACK,, 1); |
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/* Mark as free */ |
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__SET_VAR(data__->, STATE,, PYTHON_FB_FREE); |
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/* mark as not trigged */ |
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if(!poll) |
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__SET_VAR(data__->, TRIGGED,, 0); |
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/*printf("__PythonEvalFB pop %%d - %%*s\n",Current_PLC_EvalFB, data__->BUFFER.len, data__->BUFFER.body);*/ |
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}else if(poll){ |
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/* when in polling, no answer == ack down */ |
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__SET_VAR(data__->, ACK,, 0); |
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} |
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/* got the order to act ?*/ |
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if(__GET_VAR(data__->TRIGGED) == 1 && |
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/* and not already being processed */ |
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__GET_VAR(data__->STATE) == PYTHON_FB_FREE) |
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{ |
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/* Enter the block in the fifo |
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* Don't have to check if fifo cell is free |
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* as fifo size == FB count, and a FB cannot |
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* be requested twice */ |
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EvalFBs[Current_PLC_EvalFB] = data__; |
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/* copy into BUFFER local*/ |
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__SET_VAR(data__->, BUFFER,, __GET_VAR(data__->PREBUFFER)); |
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/* Set ACK pin to low so that we can set a rising edge on result */ |
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if(!poll){ |
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/* when not polling, a new answer imply reseting ack*/ |
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__SET_VAR(data__->, ACK,, 0); |
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}else{ |
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/* when in polling, acting reset trigger */ |
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__SET_VAR(data__->, TRIGGED,, 0); |
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} |
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/* Mark FB busy */ |
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__SET_VAR(data__->, STATE,, PYTHON_FB_REQUESTED); |
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/* Have to wakeup python thread in case he was asleep */ |
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PythonState |= PYTHON_MUSTWAKEUP; |
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/*printf("__PythonEvalFB push %%d - %%*s\n",Current_PLC_EvalFB, data__->BUFFER.len, data__->BUFFER.body);*/ |
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/* Get a new line */ |
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Current_PLC_EvalFB = (Current_PLC_EvalFB + 1) %% %(python_eval_fb_count)d; |
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} |
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} |
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} |
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|
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char* PythonIterator(char* result, void** id) |
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{ |
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char* next_command; |
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PYTHON_EVAL* data__; |
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//printf("PythonIterator result %%s\n", result); |
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/*emergency exit*/ |
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if(PythonState & PYTHON_FINISHED) return NULL; |
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/* take python mutex to prevent changing PLC data while PLC running */ |
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LockPython(); |
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/* Get current FB */ |
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data__ = EvalFBs[Current_Python_EvalFB]; |
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if(data__ && /* may be null at first run */ |
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__GET_VAR(data__->STATE) == PYTHON_FB_PROCESSING){ /* some answer awaited*/ |
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/* If result not None */ |
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if(result){ |
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/* Get results len */ |
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__SET_VAR(data__->, BUFFER, .len, strlen(result)); |
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/* prevent results overrun */ |
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if(__GET_VAR(data__->BUFFER, .len) > STR_MAX_LEN) |
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{ |
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__SET_VAR(data__->, BUFFER, .len, STR_MAX_LEN); |
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/* TODO : signal error */ |
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} |
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/* Copy results to buffer */ |
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strncpy((char*)__GET_VAR(data__->BUFFER, .body), result, __GET_VAR(data__->BUFFER,.len)); |
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}else{ |
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__SET_VAR(data__->, BUFFER, .len, 0); |
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} |
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/* remove block from fifo*/ |
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EvalFBs[Current_Python_EvalFB] = NULL; |
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/* Mark block as answered */ |
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__SET_VAR(data__->, STATE,, PYTHON_FB_ANSWERED); |
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/* Get a new line */ |
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Current_Python_EvalFB = (Current_Python_EvalFB + 1) %% %(python_eval_fb_count)d; |
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//printf("PythonIterator ++ Current_Python_EvalFB %%d\n", Current_Python_EvalFB); |
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} |
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/* while next slot is empty */ |
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while(((data__ = EvalFBs[Current_Python_EvalFB]) == NULL) || |
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/* or doesn't contain command */ |
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__GET_VAR(data__->STATE) != PYTHON_FB_REQUESTED) |
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{ |
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UnLockPython(); |
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/* wait next FB to eval */ |
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//printf("PythonIterator wait\n"); |
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if(WaitPythonCommands()) return NULL; |
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200 |
/*emergency exit*/ |
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if(PythonState & PYTHON_FINISHED) return NULL; |
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LockPython(); |
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203 |
} |
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/* Mark block as processing */ |
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__SET_VAR(data__->, STATE,, PYTHON_FB_PROCESSING); |
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//printf("PythonIterator\n"); |
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207 |
/* make BUFFER a null terminated string */ |
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__SET_VAR(data__->, BUFFER, .body[__GET_VAR(data__->BUFFER, .len)], 0); |
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/* next command is BUFFER */ |
613 | 210 |
next_command = (char*)__GET_VAR(data__->BUFFER, .body); |
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Fixed two typos in py_ext : FBID was not current but previous py_eval block FBID, and compiled AST cache was filled buy never used.
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211 |
*id=data__; |
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212 |
/* free python mutex */ |
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213 |
UnLockPython(); |
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214 |
/* return the next command to eval */ |
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215 |
return next_command; |
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216 |
} |
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217 |