runtime/PLCObject.py
author lbessard
Fri, 09 Jan 2009 17:07:56 +0100
changeset 288 7ee96191c476
parent 286 a2a8a52b0d4f
child 290 3bd617ae7a05
permissions -rwxr-xr-x
Warning on modulo by zero fixed
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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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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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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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        # 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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        print "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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            print 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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            print "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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                    print "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 PythonThreadProc(self):
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        print "PythonThreadProc started"
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        my_globs = 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, my_globs)
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        res,cmd = "None","None"
280
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   185
        while self.PLCStatus == "Started":
286
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            print "_PythonIterator(", res, ")",
280
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            cmd = self._PythonIterator(res)
286
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   188
            print " -> ", cmd
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   189
            if cmd is None:
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   190
                break
280
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   191
            try :
286
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                res = str(eval(cmd,my_globs))
280
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diff changeset
   193
            except Exception,e:
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                res = "#EXCEPTION : "+str(e)
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   195
                print res
286
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   196
        print "PythonThreadProc interrupted"
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diff changeset
   197
        if my_globs.get("_runtime_cleanup",None) is not None:
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diff changeset
   198
            my_globs["_runtime_cleanup"]()
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diff changeset
   199
        print "PythonThreadProc cleaned up"
229
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diff changeset
   200
    
235
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   201
    def StartPLC(self, debug=False):
229
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   202
        print "StartPLC"
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   203
        if self.CurrentPLCFilename is not None and self.PLCStatus == "Stopped":
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   204
            c_argv = ctypes.c_char_p * len(self.argv)
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   205
            if self._LoadNewPLC() and self._startPLC(len(self.argv),c_argv(*self.argv)) == 0:
235
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   206
                if debug:
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   207
                    self._resumeDebug()
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   208
                self.PLCStatus = "Started"
286
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   209
                self.StatusChange()
280
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   210
                self.PythonThread = Thread(target=self.PythonThreadProc)
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   211
                self.PythonThread.start()
229
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   212
                return True
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   213
            else:
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   214
                print "_StartPLC did not return 0 !"
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   215
                self._DoStopPLC()
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   216
        return False
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   217
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   218
    def _DoStopPLC(self):
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   219
        self._stopPLC()
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   220
        self.PLCStatus = "Stopped"
286
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diff changeset
   221
        self.PythonThread.join(timeout=1)
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parents: 283
diff changeset
   222
        if self.PythonThread.isAlive():
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diff changeset
   223
            print "Python thread couldn't be killed"
229
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   224
        if self._FreePLC():
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   225
            self.PLCStatus = "Dirty"
286
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diff changeset
   226
        self.StatusChange()
229
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   227
        return True
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diff changeset
   228
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   229
    def StopPLC(self):
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   230
        if self.PLCStatus == "Started":
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   231
            self._DoStopPLC()
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   232
            return True
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   233
        return False
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diff changeset
   234
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diff changeset
   235
    def _Reload(self):
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   236
        self.daemon.shutdown(True)
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   237
        self.daemon.sock.close()
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   238
        os.execv(sys.executable,[sys.executable]+sys.argv[:])
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   239
        # never reached
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   240
        return 0
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diff changeset
   241
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diff changeset
   242
    def ForceReload(self):
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   243
        # respawn python interpreter
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diff changeset
   244
        Timer(0.1,self._Reload).start()
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   245
        return True
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diff changeset
   246
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diff changeset
   247
    def GetPLCstatus(self):
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diff changeset
   248
        return self.PLCStatus
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diff changeset
   249
    
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diff changeset
   250
    def NewPLC(self, md5sum, data, extrafiles):
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diff changeset
   251
        print "NewPLC (%s)"%md5sum
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   252
        if self.PLCStatus in ["Stopped", "Empty", "Dirty"]:
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diff changeset
   253
            NewFileName = md5sum + lib_ext
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diff changeset
   254
            extra_files_log = os.path.join(self.workingdir,"extra_files.txt")
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parents: 227
diff changeset
   255
            try:
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parents: 227
diff changeset
   256
                os.remove(os.path.join(self.workingdir,
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diff changeset
   257
                                       self.CurrentPLCFilename))
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diff changeset
   258
                for filename in file(extra_files_log, "r").readlines() + extra_files_log:
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diff changeset
   259
                    try:
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diff changeset
   260
                        os.remove(os.path.join(self.workingdir, filename))
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diff changeset
   261
                    except:
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   262
                        pass
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diff changeset
   263
            except:
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diff changeset
   264
                pass
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diff changeset
   265
                        
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diff changeset
   266
            try:
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diff changeset
   267
                # Create new PLC file
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diff changeset
   268
                open(os.path.join(self.workingdir,NewFileName),
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diff changeset
   269
                     'wb').write(data)
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diff changeset
   270
        
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diff changeset
   271
                # Store new PLC filename based on md5 key
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   272
                open(self._GetMD5FileName(), "w").write(md5sum)
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diff changeset
   273
        
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   274
                # Then write the files
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diff changeset
   275
                log = file(extra_files_log, "w")
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diff changeset
   276
                for fname,fdata in extrafiles:
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diff changeset
   277
                    fpath = os.path.join(self.workingdir,fname)
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diff changeset
   278
                    open(fpath, "wb").write(fdata)
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diff changeset
   279
                    log.write(fname+'\n')
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diff changeset
   280
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diff changeset
   281
                # Store new PLC filename
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diff changeset
   282
                self.CurrentPLCFilename = NewFileName
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diff changeset
   283
            except:
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diff changeset
   284
                print traceback.format_exc()
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diff changeset
   285
                return False
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parents: 227
diff changeset
   286
            if self.PLCStatus == "Empty":
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diff changeset
   287
                self.PLCStatus = "Stopped"
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diff changeset
   288
            return True
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diff changeset
   289
        return False
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diff changeset
   290
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diff changeset
   291
    def MatchMD5(self, MD5):
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parents: 227
diff changeset
   292
        try:
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diff changeset
   293
            last_md5 = open(self._GetMD5FileName(), "r").read()
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diff changeset
   294
            return last_md5 == MD5
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diff changeset
   295
        except:
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parents: 227
diff changeset
   296
            return False
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parents: 227
diff changeset
   297
    
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diff changeset
   298
    def SetTraceVariablesList(self, idxs):
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diff changeset
   299
        """
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greg
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diff changeset
   300
        Call ctype imported function to append 
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parents: 227
diff changeset
   301
        these indexes to registred variables in PLC debugger
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diff changeset
   302
        """
235
a66e150f2888 Improved debug data feedback.
etisserant
parents: 229
diff changeset
   303
        self._suspendDebug()
229
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diff changeset
   304
        # keep a copy of requested idx
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diff changeset
   305
        self._Idxs = idxs[:]
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diff changeset
   306
        self._ResetDebugVariables()
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diff changeset
   307
        for idx in idxs:
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diff changeset
   308
            self._RegisterDebugVariable(idx)
235
a66e150f2888 Improved debug data feedback.
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parents: 229
diff changeset
   309
        self._resumeDebug()
280
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
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parents: 269
diff changeset
   310
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents: 269
diff changeset
   311
    class IEC_STRING(ctypes.Structure):
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents: 269
diff changeset
   312
        """
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
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parents: 269
diff changeset
   313
        Must be changed according to changes in iec_types.h
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
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parents: 269
diff changeset
   314
        """
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents: 269
diff changeset
   315
        _fields_ = [("len", ctypes.c_uint8),
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents: 269
diff changeset
   316
                    ("body", ctypes.c_char * 40)] 
229
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   317
    
238
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   318
    TypeTranslator = {"BOOL" :       (ctypes.c_uint8, lambda x:x.value!=0),
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   319
                      "STEP" :       (ctypes.c_uint8, lambda x:x.value),
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   320
                      "TRANSITION" : (ctypes.c_uint8, lambda x:x.value),
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   321
                      "ACTION" :     (ctypes.c_uint8, lambda x:x.value),
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   322
                      "SINT" :       (ctypes.c_int8, lambda x:x.value),
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   323
                      "USINT" :      (ctypes.c_uint8, lambda x:x.value),
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   324
                      "BYTE" :       (ctypes.c_uint8, lambda x:x.value),
280
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents: 269
diff changeset
   325
                      "STRING" :     (IEC_STRING, lambda x:x.body[:x.len]),
238
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   326
                      "INT" :        (ctypes.c_int16, lambda x:x.value),
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   327
                      "UINT" :       (ctypes.c_uint16, lambda x:x.value),
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   328
                      "WORD" :       (ctypes.c_uint16, lambda x:x.value),
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   329
                      "WSTRING" :    (None, None),#TODO
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   330
                      "DINT" :       (ctypes.c_int32, lambda x:x.value),
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   331
                      "UDINT" :      (ctypes.c_uint32, lambda x:x.value),
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   332
                      "DWORD" :      (ctypes.c_uint32, lambda x:x.value),
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   333
                      "LINT" :       (ctypes.c_int64, lambda x:x.value),
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   334
                      "ULINT" :      (ctypes.c_uint64, lambda x:x.value),
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   335
                      "LWORD" :      (ctypes.c_uint64, lambda x:x.value),
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   336
                      "REAL" :       (ctypes.c_float, lambda x:x.value),
02d0daed3e46 Debugger now reports BOOL as booleans
etisserant
parents: 237
diff changeset
   337
                      "LREAL" :      (ctypes.c_double, lambda x:x.value),
229
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   338
                      } 
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   339
                           
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   340
    def GetTraceVariables(self):
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   341
        """
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   342
        Return a list of variables, corresponding to the list of requiered idx
8bc65076e290 add tests for win32
greg
parents: 227
diff changeset
   343
        """
286
a2a8a52b0d4f Minor changes to get better cleanup of debug and python_eval threads, accross multiple debug sessions and PLC runs.
etisserant
parents: 283
diff changeset
   344
        if self.PLCStatus == "Started":
a2a8a52b0d4f Minor changes to get better cleanup of debug and python_eval threads, accross multiple debug sessions and PLC runs.
etisserant
parents: 283
diff changeset
   345
            tick = self._WaitDebugData()
a2a8a52b0d4f Minor changes to get better cleanup of debug and python_eval threads, accross multiple debug sessions and PLC runs.
etisserant
parents: 283
diff changeset
   346
            if tick == -1:
a2a8a52b0d4f Minor changes to get better cleanup of debug and python_eval threads, accross multiple debug sessions and PLC runs.
etisserant
parents: 283
diff changeset
   347
                res = None
a2a8a52b0d4f Minor changes to get better cleanup of debug and python_eval threads, accross multiple debug sessions and PLC runs.
etisserant
parents: 283
diff changeset
   348
            else:
a2a8a52b0d4f Minor changes to get better cleanup of debug and python_eval threads, accross multiple debug sessions and PLC runs.
etisserant
parents: 283
diff changeset
   349
                idx = ctypes.c_int()
a2a8a52b0d4f Minor changes to get better cleanup of debug and python_eval threads, accross multiple debug sessions and PLC runs.
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                typename = ctypes.c_char_p()
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   351
                res = []
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   352
        
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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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   356
                    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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   359
                    else:
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                        print "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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   363
            return tick, res
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   364
        return -1, None
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   365
        
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   366
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diff changeset
   367