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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 runtime.

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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.Runtime 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 Lesser 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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# 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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# Lesser General Public License for more details.

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# You should have received a copy of the GNU Lesser General Public

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# License along with this library; if not, write to the Free Software

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# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA

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from __future__ import absolute_import

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from threading import Thread, Lock, Semaphore, Event, Condition

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import ctypes

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import os

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import sys

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import traceback

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from time import time

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import _ctypes  # pylint: disable=wrong-import-order

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from runtime.typemapping import TypeTranslator

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from runtime.loglevels import LogLevelsDefault, LogLevelsCount

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from runtime import MainWorker

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if os.name in ("nt", "ce"):

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    dlopen = _ctypes.LoadLibrary

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    dlclose = _ctypes.FreeLibrary

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elif os.name == "posix":

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    dlopen = _ctypes.dlopen

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    dlclose = _ctypes.dlclose

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    45

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def get_last_traceback(tb):

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    while tb.tb_next:

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        tb = tb.tb_next

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    return tb

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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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def RunInMain(func):

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    def func_wrapper(*args, **kwargs):

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        return MainWorker.call(func, *args, **kwargs)

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    return func_wrapper

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class PLCObject(object):

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    def __init__(self, WorkingDir, argv, statuschange, evaluator, pyruntimevars):

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        self.workingdir = WorkingDir

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        # FIXME : is argv of any use nowadays ?

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        self.argv = [WorkingDir] + argv  # force argv[0] to be "path" to exec...

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        self.statuschange = statuschange

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        self.evaluator = evaluator

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        self.pyruntimevars = pyruntimevars

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        self.PLCStatus = "Empty"

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        self.PLClibraryHandle = None

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        self.PLClibraryLock = Lock()

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        # Creates fake C funcs proxies

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        self._InitPLCStubCalls()

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        self._loading_error = None

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        self.python_runtime_vars = None

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        self.TraceThread = None

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        self.TraceLock = Lock()

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        self.Traces = []

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    # First task of worker -> no @RunInMain

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    def AutoLoad(self, autostart):

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        # Get the last transfered PLC

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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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            if self.LoadPLC():

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                self.PLCStatus = "Stopped"

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                if autostart:

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                    self.StartPLC()

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                    return

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        except Exception:

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            self.PLCStatus = "Empty"

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            self.CurrentPLCFilename = None

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        self.StatusChange()

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   107

    def StatusChange(self):

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        if self.statuschange is not None:

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            for callee in self.statuschange:

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                callee(self.PLCStatus)

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    @RunInMain

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    def LogMessage(self, *args):

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        if len(args) == 2:

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            level, msg = args

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        else:

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            level = LogLevelsDefault

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            msg, = args

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        PLCprint(msg)

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        if self._LogMessage is not None:

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            return self._LogMessage(level, msg, len(msg))

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        return None

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   124

    @RunInMain

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    def ResetLogCount(self):

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        if self._ResetLogCount is not None:

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            self._ResetLogCount()

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    # used internaly

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    def GetLogCount(self, level):

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        if self._GetLogCount is not None:

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            return int(self._GetLogCount(level))

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        elif self._loading_error is not None and level == 0:

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            return 1

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    @RunInMain

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    def GetLogMessage(self, level, msgid):

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        tick = ctypes.c_uint32()

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        tv_sec = ctypes.c_uint32()

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        tv_nsec = ctypes.c_uint32()

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        if self._GetLogMessage is not None:

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            maxsz = len(self._log_read_buffer)-1

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            sz = self._GetLogMessage(level, msgid,

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                                     self._log_read_buffer, maxsz,

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                                     ctypes.byref(tick),

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                                     ctypes.byref(tv_sec),

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                                     ctypes.byref(tv_nsec))

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            if sz and sz <= maxsz:

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                self._log_read_buffer[sz] = '\x00'

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                return self._log_read_buffer.value, tick.value, tv_sec.value, tv_nsec.value

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        elif self._loading_error is not None and level == 0:

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            return self._loading_error, 0, 0, 0

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        return None

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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 _LoadPLC(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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        md5 = open(self._GetMD5FileName(), "r").read()

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        self.PLClibraryLock.acquire()

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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.PLC_ID = ctypes.c_char_p.in_dll(self.PLClibraryHandle, "PLC_ID")

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            if len(md5) == 32:

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                self.PLC_ID.value = md5

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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, ctypes.POINTER(ctypes.c_void_p)]

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                self._stopPLC = self._stopPLC_real

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            else:

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                # If python confnode is not enabled, we reuse _PythonIterator

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                # as a call that block pythonthread until StopPLC

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                self.PlcStopping = Event()

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                def PythonIterator(res, blkid):

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                    self.PlcStopping.clear()

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                    self.PlcStopping.wait()

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                    return None

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                self._PythonIterator = PythonIterator

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                def __StopPLC():

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                    self._stopPLC_real()

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                    self.PlcStopping.set()

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                self._stopPLC = __StopPLC

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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, ctypes.c_void_p]

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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 = ctypes.c_int

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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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            self._ResetLogCount = self.PLClibraryHandle.ResetLogCount

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            self._ResetLogCount.restype = None

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            self._GetLogCount = self.PLClibraryHandle.GetLogCount

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            self._GetLogCount.restype = ctypes.c_uint32

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            self._GetLogCount.argtypes = [ctypes.c_uint8]

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            self._LogMessage = self.PLClibraryHandle.LogMessage

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            self._LogMessage.restype = ctypes.c_int

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            self._LogMessage.argtypes = [ctypes.c_uint8, ctypes.c_char_p, ctypes.c_uint32]

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            self._log_read_buffer = ctypes.create_string_buffer(1 << 14)  # 16K

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            self._GetLogMessage = self.PLClibraryHandle.GetLogMessage

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            self._GetLogMessage.restype = ctypes.c_uint32

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            self._GetLogMessage.argtypes = [ctypes.c_uint8, ctypes.c_uint32, ctypes.c_char_p, ctypes.c_uint32, ctypes.POINTER(ctypes.c_uint32), ctypes.POINTER(ctypes.c_uint32), ctypes.POINTER(ctypes.c_uint32)]

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            self._loading_error = None

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        except Exception:

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            self._loading_error = traceback.format_exc()

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            PLCprint(self._loading_error)

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            return False

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        finally:

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            self.PLClibraryLock.release()

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        return True

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    @RunInMain

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    def LoadPLC(self):

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        res = self._LoadPLC()

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        if res:

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            self.PythonRuntimeInit()

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        else:

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            self._FreePLC()

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        return res

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    @RunInMain

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    def UnLoadPLC(self):

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        self.PythonRuntimeCleanup()

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        self._FreePLC()

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    def _InitPLCStubCalls(self):

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        """

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        create dummy C func proxies

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        """

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        self._startPLC = lambda x, y: 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, y: 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: -1

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        self._resumeDebug = lambda: None

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        self._PythonIterator = lambda: ""

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        self._GetLogCount = None

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        self._LogMessage = None

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        self._GetLogMessage = None

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        self._PLClibraryHandle = None

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        self.PLClibraryHandle = None

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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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        try:

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            # Unload library explicitely

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            if getattr(self, "_PLClibraryHandle", None) is not None:

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                dlclose(self._PLClibraryHandle)

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            # Forget all refs to library

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            self._InitPLCStubCalls()

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        finally:

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            self.PLClibraryLock.release()

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        return False

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    def PythonRuntimeCall(self, methodname):

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        """

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        Calls init, start, stop or cleanup method provided by

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        runtime python files, loaded when new PLC uploaded

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        """

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        for method in self.python_runtime_vars.get("_runtime_%s" % methodname, []):

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            _res, exp = self.evaluator(method)

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            if exp is not None:

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                self.LogMessage(0, '\n'.join(traceback.format_exception(*exp)))

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    # used internaly

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    def PythonRuntimeInit(self):

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        MethodNames = ["init", "start", "stop", "cleanup"]

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        self.python_runtime_vars = globals().copy()

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        self.python_runtime_vars.update(self.pyruntimevars)

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        parent = self

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        class PLCSafeGlobals(object):

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            def __getattr__(self, name):

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                try:

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                    t = parent.python_runtime_vars["_"+name+"_ctype"]

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                except KeyError:

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                    raise KeyError("Try to get unknown shared global variable : %s" % name)

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                v = t()

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                parent.python_runtime_vars["_PySafeGetPLCGlob_"+name](ctypes.byref(v))

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                return parent.python_runtime_vars["_"+name+"_unpack"](v)

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   334

            def __setattr__(self, name, value):

   335

                try:

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                    t = parent.python_runtime_vars["_"+name+"_ctype"]

   337

                except KeyError:

   338

                    raise KeyError("Try to set unknown shared global variable : %s" % name)

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                v = parent.python_runtime_vars["_"+name+"_pack"](t, value)

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                parent.python_runtime_vars["_PySafeSetPLCGlob_"+name](ctypes.byref(v))

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        self.python_runtime_vars.update({

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            "PLCGlobals":     PLCSafeGlobals(),

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            "WorkingDir":     self.workingdir,

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            "PLCObject":      self,

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            "PLCBinary":      self.PLClibraryHandle,

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            "PLCGlobalsDesc": []})

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        for methodname in MethodNames:

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            self.python_runtime_vars["_runtime_%s" % methodname] = []

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   352

        try:

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            filenames = os.listdir(self.workingdir)

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            filenames.sort()

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            for filename in filenames:

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                name, ext = os.path.splitext(filename)

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                if name.upper().startswith("RUNTIME") and ext.upper() == ".PY":

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                    execfile(os.path.join(self.workingdir, filename), self.python_runtime_vars)

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                    for methodname in MethodNames:

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                        method = self.python_runtime_vars.get("_%s_%s" % (name, methodname), None)

   361

                        if method is not None:

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                            self.python_runtime_vars["_runtime_%s" % methodname].append(method)

   363

        except Exception:

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            self.LogMessage(0, traceback.format_exc())

   365

            raise

   366

   367

        self.PythonRuntimeCall("init")

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    # used internaly

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    def PythonRuntimeCleanup(self):

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        if self.python_runtime_vars is not None:

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            self.PythonRuntimeCall("cleanup")

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   374

        self.python_runtime_vars = None

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   376

    def PythonThreadProc(self):

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        self.StartSem.release()

   378

        res, cmd, blkid = "None", "None", ctypes.c_void_p()

   379

        compile_cache = {}

   380

        while True:

   381

            cmd = self._PythonIterator(res, blkid)

   382

            FBID = blkid.value

   383

            if cmd is None:

   384

                break

   385

            try:

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                self.python_runtime_vars["FBID"] = FBID

   387

                ccmd, AST = compile_cache.get(FBID, (None, None))

   388

                if ccmd is None or ccmd != cmd:

   389

                    AST = compile(cmd, '<plc>', 'eval')

   390

                    compile_cache[FBID] = (cmd, AST)

   391

                result, exp = self.evaluator(eval, AST, self.python_runtime_vars)

   392

                if exp is not None:

   393

                    res = "#EXCEPTION : "+str(exp[1])

   394

                    self.LogMessage(1, ('PyEval@0x%x(Code="%s") Exception "%s"') % (

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                        FBID, cmd, '\n'.join(traceback.format_exception(*exp))))

   396

                else:

   397

                    res = str(result)

   398

                self.python_runtime_vars["FBID"] = None

   399

            except Exception, e:

   400

                res = "#EXCEPTION : "+str(e)

   401

                self.LogMessage(1, ('PyEval@0x%x(Code="%s") Exception "%s"') % (FBID, cmd, str(e)))

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   403

    @RunInMain

   404

    def StartPLC(self):

   405

        if self.CurrentPLCFilename is not None and self.PLCStatus == "Stopped":

   406

            c_argv = ctypes.c_char_p * len(self.argv)

   407

            res = self._startPLC(len(self.argv), c_argv(*self.argv))

   408

            if res == 0:

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                self.PLCStatus = "Started"

   410

                self.StatusChange()

   411

                self.PythonRuntimeCall("start")

   412

                self.StartSem = Semaphore(0)

   413

                self.PythonThread = Thread(target=self.PythonThreadProc)

   414

                self.PythonThread.start()

   415

                self.StartSem.acquire()

   416

                self.LogMessage("PLC started")

   417

            else:

   418

                self.LogMessage(0, _("Problem starting PLC : error %d" % res))

   419

                self.PLCStatus = "Broken"

   420

                self.StatusChange()

   421

   422

    @RunInMain

   423

    def StopPLC(self):

   424

        if self.PLCStatus == "Started":

   425

            self.LogMessage("PLC stopped")

   426

            self._stopPLC()

   427

            self.PythonThread.join()

   428

            self.PLCStatus = "Stopped"

   429

            self.StatusChange()

   430

            self.PythonRuntimeCall("stop")

   431

            if self.TraceThread is not None:

   432

                self.TraceThread.join()

   433

                self.TraceThread = None

   434

            return True

   435

        return False

   436

   437

    @RunInMain

   438

    def GetPLCstatus(self):

   439

        return self.PLCStatus, map(self.GetLogCount, xrange(LogLevelsCount))

   440

   441

    @RunInMain

   442

    def NewPLC(self, md5sum, data, extrafiles):

   443

        if self.PLCStatus in ["Stopped", "Empty", "Broken"]:

   444

            NewFileName = md5sum + lib_ext

   445

            extra_files_log = os.path.join(self.workingdir, "extra_files.txt")

   446

   447

            old_PLC_filename = os.path.join(self.workingdir, self.CurrentPLCFilename) \

   448

                if self.CurrentPLCFilename is not None \

   449

                else None

   450

            new_PLC_filename = os.path.join(self.workingdir, NewFileName)

   451

   452

            # Some platform (i.e. Xenomai) don't like reloading same .so file

   453

            replace_PLC_shared_object = new_PLC_filename != old_PLC_filename

   454

   455

            if replace_PLC_shared_object:

   456

                self.UnLoadPLC()

   457

   458

            self.LogMessage("NewPLC (%s)" % md5sum)

   459

            self.PLCStatus = "Empty"

   460

   461

            try:

   462

                if replace_PLC_shared_object:

   463

                    os.remove(old_PLC_filename)

   464

                for filename in file(extra_files_log, "r").readlines() + [extra_files_log]:

   465

                    try:

   466

                        os.remove(os.path.join(self.workingdir, filename.strip()))

   467

                    except Exception:

   468

                        pass

   469

            except Exception:

   470

                pass

   471

   472

            try:

   473

                # Create new PLC file

   474

                if replace_PLC_shared_object:

   475

                    open(new_PLC_filename, 'wb').write(data)

   476

   477

                # Store new PLC filename based on md5 key

   478

                open(self._GetMD5FileName(), "w").write(md5sum)