1

#!/usr/bin/env python

     2

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

     3

     4

#This file is part of Beremiz, a Integrated Development Environment for

     5

#programming IEC 61131-3 automates supporting plcopen standard and CanFestival. 

     6

#

     7

#Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD

     8

#

     9

#See COPYING file for copyrights details.

    10

#

    11

#This library is free software; you can redistribute it and/or

    12

#modify it under the terms of the GNU General Public

    13

#License as published by the Free Software Foundation; either

    14

#version 2.1 of the License, or (at your option) any later version.

    15

#

    16

#This library is distributed in the hope that it will be useful,

    17

#but WITHOUT ANY WARRANTY; without even the implied warranty of

    18

#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    19

#General Public License for more details.

    20

#

    21

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

    22

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

    23

#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    24

    25

import Pyro.core as pyro

    26

from threading import Timer, Thread

    27

import ctypes, os, commands

    29

    30

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

    31

    from _ctypes import LoadLibrary as dlopen

    32

    from _ctypes import FreeLibrary as dlclose

    33

elif os.name == "posix":

    34

    from _ctypes import dlopen, dlclose

    35

    36

import os,sys,traceback

    37

    38

lib_ext ={

    39

     "linux2":".so",

    40

     "win32":".dll",

    41

     }.get(sys.platform, "")

    42

    47

class PLCObject(pyro.ObjBase):

    48

    _Idxs = []

    49

    def __init__(self, workingdir, daemon, argv, statuschange=None):

    50

        pyro.ObjBase.__init__(self)

    51

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

    52

        self.workingdir = workingdir

    53

        self.PLCStatus = "Stopped"

    54

        self.PLClibraryHandle = None

    55

        # Creates fake C funcs proxies

    56

        self._FreePLC()

    57

        self.daemon = daemon

    58

        self.statuschange = statuschange

    59

        self.python_threads_vars = None

    60

    61

        # Get the last transfered PLC if connector must be restart

    62

        try:

    63

            self.CurrentPLCFilename=open(

    64

                             self._GetMD5FileName(),

    65

                             "r").read().strip() + lib_ext

    66

        except Exception, e:

    67

            self.PLCStatus = "Empty"

    68

            self.CurrentPLCFilename=None

    69

    70

    def StatusChange(self):

    71

        if self.statuschange is not None:

    72

            self.statuschange(self.PLCStatus)

    73

    74

    def _GetMD5FileName(self):

    75

        return os.path.join(self.workingdir, "lasttransferedPLC.md5")

    76

    77

    def _GetLibFileName(self):

    78

        return os.path.join(self.workingdir,self.CurrentPLCFilename)

    79

    80

    81

    def _LoadNewPLC(self):

    82

        """

    83

        Load PLC library

    84

        Declare all functions, arguments and return values

    85

        """

    87

        try:

    88

            self._PLClibraryHandle = dlopen(self._GetLibFileName())

    89

            self.PLClibraryHandle = ctypes.CDLL(self.CurrentPLCFilename, handle=self._PLClibraryHandle)

    90

    91

            self._startPLC = self.PLClibraryHandle.startPLC

    92

            self._startPLC.restype = ctypes.c_int

    93

            self._startPLC.argtypes = [ctypes.c_int, ctypes.POINTER(ctypes.c_char_p)]

    94

    95

            self._stopPLC = self.PLClibraryHandle.stopPLC

    96

            self._stopPLC.restype = None

    97

    98

            self._ResetDebugVariables = self.PLClibraryHandle.ResetDebugVariables

    99

            self._ResetDebugVariables.restype = None

   100

   101

            self._RegisterDebugVariable = self.PLClibraryHandle.RegisterDebugVariable

   102

            self._RegisterDebugVariable.restype = None

   103

            self._RegisterDebugVariable.argtypes = [ctypes.c_int]

   104

   105

            self._IterDebugData = self.PLClibraryHandle.IterDebugData

   106

            self._IterDebugData.restype = ctypes.c_void_p

   107

            self._IterDebugData.argtypes = [ctypes.POINTER(ctypes.c_int), ctypes.POINTER(ctypes.c_char_p)]

   108

   109

            self._FreeDebugData = self.PLClibraryHandle.FreeDebugData

   110

            self._FreeDebugData.restype = None

   111

   112

            self._WaitDebugData = self.PLClibraryHandle.WaitDebugData

   113

            self._WaitDebugData.restype = ctypes.c_int  

   114

   115

            self._suspendDebug = self.PLClibraryHandle.suspendDebug

   116

            self._suspendDebug.restype = None

   117

   118

            self._resumeDebug = self.PLClibraryHandle.resumeDebug

   119

            self._resumeDebug.restype = None

   120

   121

            self._PythonIterator = self.PLClibraryHandle.PythonIterator

   122

            self._PythonIterator.restype = ctypes.c_char_p

   123

            self._PythonIterator.argtypes = [ctypes.c_char_p]

   124

   125

            return True

   126

        except:

   128

            return False

   129

   130

    def _FreePLC(self):

   131

        """

   132

        Unload PLC library.

   133

        This is also called by __init__ to create dummy C func proxies

   134

        """

   135

        # Forget all refs to library

   136

        self._startPLC = lambda:None

   137

        self._stopPLC = lambda:None

   138

        self._ResetDebugVariables = lambda:None

   139

        self._RegisterDebugVariable = lambda x:None

   140

        self._IterDebugData = lambda x,y:None

   141

        self._FreeDebugData = lambda:None

   142

        self._WaitDebugData = lambda:-1

   143

        self._suspendDebug = lambda:None

   144

        self._resumeDebug = lambda:None

   145

        self._PythonIterator = lambda:""

   146

        self.PLClibraryHandle = None

   147

        # Unload library explicitely

   148

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

   150

            dlclose(self._PLClibraryHandle)

   151

            res = self._DetectDirtyLibs()

   152

        else:

   153

            res = False

   154

   155

        self._PLClibraryHandle = None

   156

   157

        return res

   158

   159

    def _DetectDirtyLibs(self):

   160

        # Detect dirty libs

   161

        # Get lib dependencies (for dirty lib detection)

   162

        if os.name == "posix":

   163

            # parasiting libs listed with ldd

   164

            badlibs = [ toks.split()[0] for toks in commands.getoutput(

   165

                            "ldd "+self._GetLibFileName()).splitlines() ]

   166

            for badlib in badlibs:

   167

                if badlib[:6] in ["libwx_",

   168

                                  "libwxs",

   169

                                  "libgtk",

   170

                                  "libgdk",

   171

                                  "libatk",

   172

                                  "libpan",

   173

                                  "libX11",

   174

                                  ]:

   175

                    #badhandle = dlopen(badlib, dl.RTLD_NOLOAD)

   177

                    #dlclose(badhandle)

   178

                    return True

   179

        return False

   180

   182

        self.python_threads_vars = globals().copy()

   183

        pyfile = os.path.join(self.workingdir, "runtime.py")

   184

        if os.path.exists(pyfile):

   185

            # TODO handle exceptions in runtime.py

   186

            # pyfile may redefine _runtime_cleanup

   187

            # or even call _PythonThreadProc itself.

   188

            execfile(pyfile, self.python_threads_vars)

   197

        res,cmd = "None","None"

   198

        while self.PLCStatus == "Started":

   199

            #print "_PythonIterator(", res, ")",

   200

            cmd = self._PythonIterator(res)

   201

            #print " -> ", cmd

   202

            if cmd is None:

   203

                break

   204

            try :

   205

                res = str(eval(cmd,self.python_threads_vars))

   206

            except Exception,e:

   207

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

   210

   211

    def StartPLC(self, debug=False):

   213

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

   214

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

   215

            if self._LoadNewPLC() and self._startPLC(len(self.argv),c_argv(*self.argv)) == 0:

   216

                if debug:

   217

                    self._resumeDebug()

   218

                self.PLCStatus = "Started"

   219

                self.StatusChange()

   221

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

   222

                self.PythonThread.start()

   223

                return True

   224

            else:

   226

                self._DoStopPLC()

   227

        return False

   228

   229

    def _DoStopPLC(self):

   230

        self._stopPLC()

   231

        self.PLCStatus = "Stopped"

   232

        self.PythonThread.join(timeout=1)

   233

        if self.PythonThread.isAlive():

   236

        if self._FreePLC():

   237

            self.PLCStatus = "Dirty"

   238

        self.StatusChange()

   239

        return True

   240

   241

    def StopPLC(self):

   242

        if self.PLCStatus == "Started":

   243

            self._DoStopPLC()

   244

            return True

   245

        return False

   246

   247

    def _Reload(self):

   248

        self.daemon.shutdown(True)

   249

        self.daemon.sock.close()

   250

        os.execv(sys.executable,[sys.executable]+sys.argv[:])

   251

        # never reached

   252

        return 0

   253

   254

    def ForceReload(self):

   255

        # respawn python interpreter

   256

        Timer(0.1,self._Reload).start()

   257

        return True

   258

   259

    def GetPLCstatus(self):

   260

        return self.PLCStatus

   261

   262

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

   264

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

   265

            NewFileName = md5sum + lib_ext

   266

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

   267

            try:

   268

                os.remove(os.path.join(self.workingdir,

   269

                                       self.CurrentPLCFilename))

   270

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

   271

                    try:

   272

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

   273

                    except:

   274

                        pass

   275

            except:

   276

                pass

   277

   278

            try:

   279

                # Create new PLC file

   280

                open(os.path.join(self.workingdir,NewFileName),

   281

                     'wb').write(data)

   282

   283

                # Store new PLC filename based on md5 key

   284

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

   285

   286

                # Then write the files

   287

                log = file(extra_files_log, "w")

   288

                for fname,fdata in extrafiles:

   289

                    fpath = os.path.join(self.workingdir,fname)

   290

                    open(fpath, "wb").write(fdata)

   291

                    log.write(fname+'\n')

   292

   293

                # Store new PLC filename

   294

                self.CurrentPLCFilename = NewFileName

   295

            except:

   297

                return False

   298

            if self.PLCStatus == "Empty":

   299

                self.PLCStatus = "Stopped"

   300

            return True

   301

        return False

   302

   303

    def MatchMD5(self, MD5):

   304

        try:

   305

            last_md5 = open(self._GetMD5FileName(), "r").read()

   306

            return last_md5 == MD5

   307

        except:

   308

            return False

   309

   310

    def SetTraceVariablesList(self, idxs):

   311

        """

   312

        Call ctype imported function to append 

   313

        these indexes to registred variables in PLC debugger

   314

        """

   315

        self._suspendDebug()

   316

        # keep a copy of requested idx

   317

        self._Idxs = idxs[:]

   318

        self._ResetDebugVariables()

   319

        for idx in idxs:

   320

            self._RegisterDebugVariable(idx)

   321

        self._resumeDebug()

   322

   323

    class IEC_STRING(ctypes.Structure):

   324

        """

   325

        Must be changed according to changes in iec_types.h

   326

        """

   327

        _fields_ = [("len", ctypes.c_uint8),

   328

                    ("body", ctypes.c_char * 40)] 

   329

   330

    TypeTranslator = {"BOOL" :       (ctypes.c_uint8, lambda x:x.value!=0),

   331

                      "STEP" :       (ctypes.c_uint8, lambda x:x.value),

   332

                      "TRANSITION" : (ctypes.c_uint8, lambda x:x.value),

   333

                      "ACTION" :     (ctypes.c_uint8, lambda x:x.value),

   334

                      "SINT" :       (ctypes.c_int8, lambda x:x.value),

   335

                      "USINT" :      (ctypes.c_uint8, lambda x:x.value),

   336

                      "BYTE" :       (ctypes.c_uint8, lambda x:x.value),

   337

                      "STRING" :     (IEC_STRING, lambda x:x.body[:x.len]),

   338

                      "INT" :        (ctypes.c_int16, lambda x:x.value),

   339

                      "UINT" :       (ctypes.c_uint16, lambda x:x.value),

   340

                      "WORD" :       (ctypes.c_uint16, lambda x:x.value),

   341

                      "WSTRING" :    (None, None),#TODO

   342

                      "DINT" :       (ctypes.c_int32, lambda x:x.value),

   343

                      "UDINT" :      (ctypes.c_uint32, lambda x:x.value),

   344

                      "DWORD" :      (ctypes.c_uint32, lambda x:x.value),

   345

                      "LINT" :       (ctypes.c_int64, lambda x:x.value),

   346

                      "ULINT" :      (ctypes.c_uint64, lambda x:x.value),

   347

                      "LWORD" :      (ctypes.c_uint64, lambda x:x.value),

   348

                      "REAL" :       (ctypes.c_float, lambda x:x.value),

   349

                      "LREAL" :      (ctypes.c_double, lambda x:x.value),

   350

                      } 

   351

   352

    def GetTraceVariables(self):

   353

        """

   354

        Return a list of variables, corresponding to the list of requiered idx

   355

        """

   356

        if self.PLCStatus == "Started":

   357

            tick = self._WaitDebugData()

   358

            if tick == -1:

   359

                res = None

   360

            else:

   361

                idx = ctypes.c_int()

   362

                typename = ctypes.c_char_p()

   363

                res = []

   364

   365

                for given_idx in self._Idxs:

   366

                    buffer=self._IterDebugData(ctypes.byref(idx), ctypes.byref(typename))

   367

                    c_type,unpack_func = self.TypeTranslator.get(typename.value, (None,None))

   368

                    if c_type is not None and given_idx == idx.value:

   369

                        res.append(unpack_func(ctypes.cast(buffer,

   370

                                                           ctypes.POINTER(c_type)).contents))

   371

                    else:

   373

                        res.append(None)

   374

            self._FreeDebugData()

   375

            return tick, res

   376

        return -1, None

   377

   378

   379