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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, a Integrated Development Environment for

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

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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 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 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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#

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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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#General Public License for more details.

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#

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

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

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

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import Pyro.core as pyro

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from threading import Timer, Thread

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import ctypes, os, commands

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import sys

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

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    from _ctypes import LoadLibrary as dlopen

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    from _ctypes import FreeLibrary as dlclose

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elif os.name == "posix":

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    from _ctypes import dlopen, dlclose

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import os,sys,traceback

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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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class PLCObject(pyro.ObjBase):

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    _Idxs = []

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

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        pyro.ObjBase.__init__(self)

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

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        self.workingdir = workingdir

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        self.PLCStatus = "Stopped"

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        self.PLClibraryHandle = None

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        # Creates fake C funcs proxies

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        self._FreePLC()

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        self.daemon = daemon

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        self.statuschange = statuschange

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        self.python_threads_vars = None

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        # Get the last transfered PLC if connector must be restart

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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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        except Exception, e:

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            self.PLCStatus = "Empty"

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            self.CurrentPLCFilename=None

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    def StatusChange(self):

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        if self.statuschange is not None:

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            self.statuschange(self.PLCStatus)

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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 _LoadNewPLC(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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        PLCprint("Load PLC")

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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._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 = self.PLClibraryHandle.stopPLC

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            self._stopPLC.restype = None

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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]

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            self._IterDebugData = self.PLClibraryHandle.IterDebugData

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            self._IterDebugData.restype = ctypes.c_void_p

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

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            self._FreeDebugData = self.PLClibraryHandle.FreeDebugData

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            self._FreeDebugData.restype = None

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            self._WaitDebugData = self.PLClibraryHandle.WaitDebugData

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            self._WaitDebugData.restype = ctypes.c_int  

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            self._suspendDebug = self.PLClibraryHandle.suspendDebug

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            self._suspendDebug.restype = None

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            self._resumeDebug = self.PLClibraryHandle.resumeDebug

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            self._resumeDebug.restype = None

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            self._PythonIterator = self.PLClibraryHandle.PythonIterator

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            self._PythonIterator.restype = ctypes.c_char_p

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            self._PythonIterator.argtypes = [ctypes.c_char_p]

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            return True

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        except:

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            PLCprint(traceback.format_exc())

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            return False

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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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        # Forget all refs to library

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        self._startPLC = lambda: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:None

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        self._IterDebugData = lambda x,y:None

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        self._FreeDebugData = lambda:None

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        self._WaitDebugData = lambda:-1

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        self._suspendDebug = lambda:None

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        self._resumeDebug = lambda:None

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        self._PythonIterator = lambda:""

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        self.PLClibraryHandle = None

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        # Unload library explicitely

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

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            PLCprint("Unload PLC")

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            dlclose(self._PLClibraryHandle)

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            res = self._DetectDirtyLibs()

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        else:

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            res = False

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        self._PLClibraryHandle = None

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        return res

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    def _DetectDirtyLibs(self):

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        # Detect dirty libs

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        # Get lib dependencies (for dirty lib detection)

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        if os.name == "posix":

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            # parasiting libs listed with ldd

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

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

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            for badlib in badlibs:

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

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                                  "libwxs",

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                                  "libgtk",

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                                  "libgdk",

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                                  "libatk",

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                                  "libpan",

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                                  "libX11",

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                                  ]:

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                    #badhandle = dlopen(badlib, dl.RTLD_NOLOAD)

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                    PLCprint("Dirty lib detected :" + badlib)

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                    #dlclose(badhandle)

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                    return True

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        return False

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    def ExecRuntimePy(self):

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        self.python_threads_vars = globals().copy()

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

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        if os.path.exists(pyfile):

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            # TODO handle exceptions in runtime.py

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            # pyfile may redefine _runtime_cleanup

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            # or even call _PythonThreadProc itself.

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            execfile(pyfile, self.python_threads_vars)

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    def FinishRuntimePy(self):

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        if self.python_threads_vars.get("_runtime_cleanup",None) is not None:

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            self.python_threads_vars["_runtime_cleanup"]()

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        self.python_threads_vars = None

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    def PythonThreadProc(self):

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        PLCprint("PythonThreadProc started")

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        res,cmd = "None","None"

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        while self.PLCStatus == "Started":

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

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            cmd = self._PythonIterator(res)

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            #print " -> ", cmd

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            if cmd is None:

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                break

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            try :

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

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            except Exception,e:

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

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                PLCprint(res)

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        PLCprint("PythonThreadProc interrupted")

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    def StartPLC(self, debug=False):

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        PLCprint("StartPLC")

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

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

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

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                if debug:

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                    self._resumeDebug()

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                self.PLCStatus = "Started"

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                self.StatusChange()

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                self.ExecRuntimePy()

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

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                self.PythonThread.start()

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                return True

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            else:

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                PLCprint("Problem starting PLC")

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                self._DoStopPLC()

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        return False

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    def _DoStopPLC(self):

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        self._stopPLC()

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        self.PLCStatus = "Stopped"

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        self.PythonThread.join(timeout=1)

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        if self.PythonThread.isAlive():

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            PLCprint("Python thread couldn't be killed")

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        self.FinishRuntimePy()

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        if self._FreePLC():

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            self.PLCStatus = "Dirty"

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        self.StatusChange()

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        return True

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    def StopPLC(self):

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        if self.PLCStatus == "Started":

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            self._DoStopPLC()

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            return True

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        return False

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    def _Reload(self):

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        self.daemon.shutdown(True)

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        self.daemon.sock.close()

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

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        # never reached

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        return 0

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    def ForceReload(self):

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        # respawn python interpreter

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

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        return True

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    def GetPLCstatus(self):

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        return self.PLCStatus

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

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        PLCprint("NewPLC (%s)"%md5sum)

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

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            NewFileName = md5sum + lib_ext

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

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            try:

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

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                                       self.CurrentPLCFilename))

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

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                    try:

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

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                    except:

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                        pass

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            except:

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                pass

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            try:

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                # Create new PLC file

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

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                     'wb').write(data)

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                # Store new PLC filename based on md5 key

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

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                # Then write the files

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                log = file(extra_files_log, "w")

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                for fname,fdata in extrafiles:

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

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

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                    log.write(fname+'\n')

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                # Store new PLC filename

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                self.CurrentPLCFilename = NewFileName

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            except:

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                PLCprint(traceback.format_exc())

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                return False

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            if self.PLCStatus == "Empty":

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                self.PLCStatus = "Stopped"

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            return True

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        return False

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    def MatchMD5(self, MD5):

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        try:

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

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            return last_md5 == MD5

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        except:

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            return False

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    def SetTraceVariablesList(self, idxs):

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        """

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        Call ctype imported function to append 

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        these indexes to registred variables in PLC debugger

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        """

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        self._suspendDebug()

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        # keep a copy of requested idx

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        self._Idxs = idxs[:]

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        self._ResetDebugVariables()

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        for idx in idxs:

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            self._RegisterDebugVariable(idx)

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        self._resumeDebug()

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    class IEC_STRING(ctypes.Structure):

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        """

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        Must be changed according to changes in iec_types.h

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        """

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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                      } 

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    def GetTraceVariables(self):

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        """

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

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        """

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        if self.PLCStatus == "Started":

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            tick = self._WaitDebugData()

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            if tick == -1:

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                res = None

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            else:

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                idx = ctypes.c_int()

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                typename = ctypes.c_char_p()

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                res = []

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                for given_idx in self._Idxs:

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

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

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

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

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                                                           ctypes.POINTER(c_type)).contents))

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                    else:

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                        PLCprint("Debug error idx : %d, expected_idx %d, type : %s"%(idx.value, given_idx,typename.value))

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                        res.append(None)

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            self._FreeDebugData()

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            return tick, res

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        return -1, None

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