author | Edouard Tisserant |
Fri, 14 Feb 2020 10:29:10 +0100 | |
branch | svghmi |
changeset 2837 | 53d9eb6a7498 |
parent 2422 | 45aa510d7a2a |
child 2643 | b98d9e08231f |
permissions | -rw-r--r-- |
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from __future__ import absolute_import |
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import os |
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import signal |
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import subprocess |
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import ctypes |
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from threading import Thread |
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import time |
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import re |
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import runtime.PLCObject as PLCObject |
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from runtime.loglevels import LogLevelsDict |
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SDOAnswered = PLCBinary.SDOAnswered |
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SDOAnswered.restype = None |
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SDOAnswered.argtypes = [] |
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SDOThread = None |
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SDOProc = None |
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Result = None |
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def SDOThreadProc(*params): |
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global Result, SDOProc |
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if params[0] == "upload": |
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cmdfmt = "ethercat upload -p %d -t %s 0x%.4x 0x%.2x" |
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else: |
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cmdfmt = "ethercat download -p %d -t %s 0x%.4x 0x%.2x %s" |
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command = cmdfmt % params[1:] |
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SDOProc = subprocess.Popen(command, stdout=subprocess.PIPE, shell=True) |
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res = SDOProc.wait() |
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output = SDOProc.communicate()[0] |
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if params[0] == "upload": |
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Result = None |
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if res == 0: |
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if params[2] in ["float", "double"]: |
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Result = float(output) |
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elif params[2] in ["string", "octet_string", "unicode_string"]: |
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Result = output |
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else: |
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hex_value, dec_value = output.split() |
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if int(hex_value, 16) == int(dec_value): |
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Result = int(dec_value) |
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else: |
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Result = res == 0 |
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SDOAnswered() |
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if res != 0: |
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PLCObject.LogMessage( |
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LogLevelsDict["WARNING"], |
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"%s : %s" % (command, output)) |
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def EthercatSDOUpload(pos, index, subindex, var_type): |
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global SDOThread |
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SDOThread = Thread(target=SDOThreadProc, args=["upload", pos, var_type, index, subindex]) |
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SDOThread.start() |
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def EthercatSDODownload(pos, index, subindex, var_type, value): |
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global SDOThread |
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SDOThread = Thread(target=SDOThreadProc, args=["download", pos, var_type, index, subindex, value]) |
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SDOThread.start() |
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def GetResult(): |
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return Result |
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KMSGPollThread = None |
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StopKMSGThread = False |
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def KMSGPollThreadProc(): |
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""" |
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Logs Kernel messages starting with EtherCAT |
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Uses GLibc wrapper to Linux syscall "klogctl" |
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Last 4 KB are polled, and lines compared to last |
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captured line to detect new lines |
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""" |
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libc = ctypes.CDLL("libc.so.6") |
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klog = libc.klogctl |
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klog.argtypes = [ctypes.c_int, ctypes.c_char_p, ctypes.c_int] |
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klog.restype = ctypes.c_int |
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s = ctypes.create_string_buffer(4*1024) |
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last = None |
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while not StopKMSGThread: |
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bytes_to_read = klog(3, s, len(s)-1) |
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log = s.value[:bytes_to_read-1] |
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if last: |
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log = log.rpartition(last)[2] |
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if log: |
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last = log.rpartition('\n')[2] |
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for lvl, msg in re.findall( |
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r'<(\d)>\[\s*\d*\.\d*\]\s*(EtherCAT\s*.*)$', |
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log, re.MULTILINE): |
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PLCObject.LogMessage( |
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LogLevelsDict[{ |
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"4": "WARNING", |
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"3": "CRITICAL"}.get(lvl, "DEBUG")], |
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msg) |
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time.sleep(0.5) |
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|
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def _runtime_etherlab_init(): |
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global KMSGPollThread, StopKMSGThread |
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StopKMSGThread = False |
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KMSGPollThread = Thread(target=KMSGPollThreadProc) |
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KMSGPollThread.start() |
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|
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def _runtime_etherlab_cleanup(): |
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global KMSGPollThread, StopKMSGThread, SDOThread |
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try: |
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os.kill(SDOProc.pid, signal.SIGTERM) |
2353
8f1a2846b2f5
cleanup etherlab: pep8, E722 do not use bare except
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents:
2132
diff
changeset
|
117 |
except Exception: |
2132
9f5e4dc43053
Added support for stopping SDOThreadProc when stopping PLC
Laurent Bessard
parents:
2116
diff
changeset
|
118 |
pass |
9f5e4dc43053
Added support for stopping SDOThreadProc when stopping PLC
Laurent Bessard
parents:
2116
diff
changeset
|
119 |
SDOThread = None |
2114
fc1bc441cf71
Added logging based on collecting Kernel logs
Edouard Tisserant
parents:
2086
diff
changeset
|
120 |
StopKMSGThread = True |
fc1bc441cf71
Added logging based on collecting Kernel logs
Edouard Tisserant
parents:
2086
diff
changeset
|
121 |
KMSGPollThread = None |