1

#!/usr/bin/env python

     2

# -*- coding: utf-8 -*-

     3

     4

# Written by Edouard TISSERANT (C) 2024

     5

# This file is part of Beremiz runtime

     6

# See COPYING.Runtime file for copyrights details.

     7

     8

import sys

     9

import traceback

    10

from inspect import getmembers, isfunction

    11

    12

import erpc

    13

    14

# eRPC service code

    15

from erpc_interface.erpc_PLCObject.common import PSKID, PLCstatus, TraceVariables, trace_sample, PLCstatus_enum, log_message

    16

from erpc_interface.erpc_PLCObject.interface import IBeremizPLCObjectService

    17

from erpc_interface.erpc_PLCObject.server import BeremizPLCObjectServiceService

    18

    19

from runtime import GetPLCObjectSingleton as PLC

    20

from runtime.loglevels import LogLevelsDict

    21

from runtime.ServicePublisher import ServicePublisher

    22

    23

    24

CRITICAL_LOG_LEVEL = LogLevelsDict["CRITICAL"]

    25

    26

def ReturnAsLastOutput(method, args_wrapper, *args):

    27

    args[-1].value = method(*args_wrapper(*args[:-1]))

    28

    return 0

    29

    30

def TranslatedReturnAsLastOutput(translator):

    31

    def wrapper(method, args_wrapper, *args):

    32

        args[-1].value = translator(method(*args_wrapper(*args[:-1])))

    33

        return 0

    34

    return wrapper

    35

    36

    37

ReturnWrappers = {

    38

    "AppendChunkToBlob":ReturnAsLastOutput,

    39

    "GetLogMessage":TranslatedReturnAsLastOutput(

    40

        lambda res:log_message(*res)),

    41

    "GetPLCID":TranslatedReturnAsLastOutput(

    42

        lambda res:PSKID(*res)),

    43

    "GetPLCstatus":TranslatedReturnAsLastOutput(

    44

        lambda res:PLCstatus(getattr(PLCstatus_enum, res[0]),res[1])),

    45

    "GetTraceVariables":TranslatedReturnAsLastOutput(

    46

        lambda res:TraceVariables(res[0],[trace_sample(*sample) for sample in res[1]])),

    47

    "MatchMD5":ReturnAsLastOutput,

    48

    "NewPLC":ReturnAsLastOutput,

    49

    "SeedBlob":ReturnAsLastOutput,

    50

}

    51

    52

ArgsWrappers = {

    53

    "AppendChunkToBlob":

    54

        lambda data, blobID:(data, bytes(blobID)),

    55

    "NewPLC":

    56

        lambda md5sum, plcObjectBlobID, extrafiles: (

    57

            md5sum, bytes(plcObjectBlobID), [(f.fname, bytes(f.blobID)) for f in extrafiles]),

    58

    "SetTraceVariablesList": 

    59

        lambda orders : ([(order.idx, order.iectype, order.force) for order in orders],)

    60

}

    61

    62

def rpc_wrapper(method_name):

    63

    PLCobj = PLC()

    64

    method=getattr(PLCobj, method_name)

    65

    args_wrapper = ArgsWrappers.get(method_name, lambda *x:x)

    66

    return_wrapper = ReturnWrappers.get(method_name,

    67

        lambda method, args_wrapper, *args: method(*args_wrapper(*args)))

    68

    69

    def exception_wrapper(self, *args):

    70

        try:

    71

            print("Srv "+method_name)

    72

            return_wrapper(method, args_wrapper, *args)

    73

            return 0

    74

        except Exception as e:

    75

            print(traceback.format_exc())

    76

            PLCobj.LogMessage(CRITICAL_LOG_LEVEL, f'eRPC call {method_name} Exception "{str(e)}"')

    77

            raise

    78

    79

    return exception_wrapper

    80

    81

    82

class eRPCServer(object):

    83

    def __init__(self, servicename, ip_addr, port):

    84

        self.continueloop = True

    85

        self.server = None

    86

        self.transport = None

    87

        self.servicename = servicename

    88

        self.ip_addr = ip_addr

    89

        self.port = port

    90

        self.servicepublisher = None

    91

    92

    def _to_be_published(self):

    93

        return self.servicename is not None and \

    94

               self.ip_addr not in ["", "localhost", "127.0.0.1"]

    95

    96

    def PrintServerInfo(self):

    97

        print(_("eRPC port :"), self.port)

    98

    99

        if self._to_be_published():

   100

            print(_("Publishing service on local network"))

   101

   102

        if sys.stdout:

   103

            sys.stdout.flush()

   104

   105

    def Loop(self, when_ready):

   106

        if self._to_be_published():

   107

            self.Publish()

   108

   109

        while self.continueloop:

   110

   111

            # service handler calls PLC object though erpc_stubs's wrappers

   112

            handler = type(

   113

                "PLCObjectServiceHandlder", 

   114

                (IBeremizPLCObjectService,),

   115

                {name: rpc_wrapper(name)              

   116

                        for name,_func in getmembers(IBeremizPLCObjectService, isfunction)})()

   117

   118

            service = BeremizPLCObjectServiceService(handler)

   119

   120

            # TODO initialize Serial transport layer if selected

   121

            # transport = erpc.transport.SerialTransport(device, baudrate)

   122

   123

            # initialize TCP transport layer

   124

            self.transport = erpc.transport.TCPTransport(self.ip_addr, int(self.port), True)

   125

   126

            self.server = erpc.simple_server.SimpleServer(self.transport, erpc.basic_codec.BasicCodec)

   127

            self.server.add_service(service)

   128

   129

            when_ready()

   130

   131

            self.server.run()

   132

   133

        self.Unpublish()

   134

   135

    def Restart(self):

   136

        self.server.stop()

   137

        self.transport.stop()

   138

   139

    def Quit(self):

   140

        self.continueloop = False

   141

        self.server.stop()

   142

        self.transport.stop()

   143

   144

    def Publish(self):

   145

        self.servicepublisher = ServicePublisher("ERPC")

   146

        self.servicepublisher.RegisterService(self.servicename,

   147

                                              self.ip_addr, self.port)

   148

   149

    def Unpublish(self):

   150

        if self.servicepublisher is not None:

   151

            self.servicepublisher.UnRegisterService()

   152

            self.servicepublisher = None