author | Edouard Tisserant <edouard.tisserant@gmail.com> |
Fri, 05 Apr 2024 13:11:30 +0200 | |
changeset 3928 | 5c662d2e3f72 |
parent 3750 | f62625418bff |
permissions | -rw-r--r-- |
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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 |
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# |
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# copyright (c) 2011-2014: laurent bessard, edouard tisserant |
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# rtes lab : crkim, jblee, youcu |
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# higen motor : donggu kang |
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# |
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# see copying file for copyrights details. |
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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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Python Runtime: order of execution of extension's init() and cleanup() now reflects order of appearance of extensions in configuration tree.
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117 |
# TODO : rename to match _runtime_{location}_extname_init() format |
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def _runtime_etherlab_init(): |
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119 |
global KMSGPollThread, StopKMSGThread |
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120 |
StopKMSGThread = False |
2366
d635680e4c2c
cleanup etherlab: pep8, E251 unexpected spaces around keyword / parameter equals
Andrey Skvortsov <andrej.skvortzov@gmail.com>
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121 |
KMSGPollThread = Thread(target=KMSGPollThreadProc) |
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122 |
KMSGPollThread.start() |
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123 |
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2360
2a3d022a7dac
cleanup etherlab: pep8, E302 expected 2 blank lines, found 1
Andrey Skvortsov <andrej.skvortzov@gmail.com>
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diff
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124 |
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Python Runtime: order of execution of extension's init() and cleanup() now reflects order of appearance of extensions in configuration tree.
Edouard Tisserant
parents:
2643
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changeset
|
125 |
# TODO : rename to match _runtime_{location}_extname_cleanup() format |
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126 |
def _runtime_etherlab_cleanup(): |
2422
45aa510d7a2a
cleanup etherlab: pylint, W0602 (global-variable-not-assigned) Using global for 'X' but no assignment is done
Andrey Skvortsov <andrej.skvortzov@gmail.com>
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127 |
global KMSGPollThread, StopKMSGThread, SDOThread |
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Added support for stopping SDOThreadProc when stopping PLC
Laurent Bessard
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|
128 |
try: |
2404
87eb184414bd
clean etherlab: pylint,E0602 # (undefined-variable) Undefined variable 'X'
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents:
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diff
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129 |
os.kill(SDOProc.pid, signal.SIGTERM) |
2353
8f1a2846b2f5
cleanup etherlab: pep8, E722 do not use bare except
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130 |
except Exception: |
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131 |
pass |
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132 |
SDOThread = None |
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133 |
StopKMSGThread = True |
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134 |
KMSGPollThread = None |