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

    27

import ctypes, os, commands

    28

    29

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

    30

    from _ctypes import LoadLibrary as dlopen

    31

    from _ctypes import FreeLibrary as dlclose

    32

elif os.name == "posix":

    33

    from _ctypes import dlopen, dlclose

    34

    35

import os,sys,traceback

    36

    37

lib_ext ={

    38

     "linux2":".so",

    39

     "win32":".dll",

    40

     }.get(sys.platform, "")

    41

    42

class PLCObject(pyro.ObjBase):

    43

    _Idxs = []

    44

    def __init__(self, workingdir, daemon, argv):

    45

        pyro.ObjBase.__init__(self)

    46

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

    47

        self.workingdir = workingdir

    48

        self.PLCStatus = "Stopped"

    49

        self.PLClibraryHandle = None

    50

        # Creates fake C funcs proxies

    51

        self._FreePLC()

    52

        self.daemon = daemon

    53

    54

        # Get the last transfered PLC if connector must be restart

    55

        try:

    56

            self.CurrentPLCFilename=open(

    57

                             self._GetMD5FileName(),

    58

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

    59

        except Exception, e:

    60

            self.PLCStatus = "Empty"

    61

            self.CurrentPLCFilename=None

    62

    63

    def _GetMD5FileName(self):

    64

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

    65

    66

    def _GetLibFileName(self):

    67

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

    68

    69

    70

    def _LoadNewPLC(self):

    71

        """

    72

        Load PLC library

    73

        Declare all functions, arguments and return values

    74

        """

    75

        print "Load PLC"

    76

        try:

    77

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

    78

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

    79

    80

            self._startPLC = self.PLClibraryHandle.startPLC

    81

            self._startPLC.restype = ctypes.c_int

    82

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

    83

    84

            self._stopPLC = self.PLClibraryHandle.stopPLC

    85

            self._stopPLC.restype = None

    86

    87

            self._ResetDebugVariables = self.PLClibraryHandle.ResetDebugVariables

    88

            self._ResetDebugVariables.restype = None

    89

    90

            self._RegisterDebugVariable = self.PLClibraryHandle.RegisterDebugVariable

    91

            self._RegisterDebugVariable.restype = None

    92

            self._RegisterDebugVariable.argtypes = [ctypes.c_int]

    93

    94

            self._IterDebugData = self.PLClibraryHandle.IterDebugData

    95

            self._IterDebugData.restype = ctypes.c_void_p

    96

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

    97

    98

            self._FreeDebugData = self.PLClibraryHandle.FreeDebugData

    99

            self._FreeDebugData.restype = None

   100

   101

            self._WaitDebugData = self.PLClibraryHandle.WaitDebugData

   102

            self._WaitDebugData.restype = ctypes.c_int  

   103

   104

            self._suspendDebug = self.PLClibraryHandle.suspendDebug

   105

            self._suspendDebug.restype = None

   106

   107

            self._resumeDebug = self.PLClibraryHandle.resumeDebug

   108

            self._resumeDebug.restype = None

   109

   110

            return True

   111

        except:

   112

            print traceback.format_exc()

   113

            return False

   114

   115

    def _FreePLC(self):

   116

        """

   117

        Unload PLC library.

   118

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

   119

        """

   120

        # Forget all refs to library

   121

        self._startPLC = lambda:None

   122

        self._stopPLC = lambda:None

   123

        self._ResetDebugVariables = lambda:None

   124

        self._RegisterDebugVariable = lambda x:None

   125

        self._IterDebugData = lambda x,y:None

   126

        self._FreeDebugData = lambda:None

   127

        self._WaitDebugData = lambda:-1

   128

        self._suspendDebug = lambda:None

   129

        self._resumeDebug = lambda:None

   130

        self.PLClibraryHandle = None

   131

        # Unload library explicitely

   132

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

   133

            print "Unload PLC"

   134

            dlclose(self._PLClibraryHandle)

   135

            res = self._DetectDirtyLibs()

   136

        else:

   137

            res = False

   138

   139

        self._PLClibraryHandle = None

   140

   141

        return res

   142

   143

    def _DetectDirtyLibs(self):

   144

        # Detect dirty libs

   145

        # Get lib dependencies (for dirty lib detection)

   146

        if os.name == "posix":

   147

            # parasiting libs listed with ldd

   148

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

   149

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

   150

            for badlib in badlibs:

   151

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

   152

                                  "libwxs",

   153

                                  "libgtk",

   154

                                  "libgdk",

   155

                                  "libatk",

   156

                                  "libpan",

   157

                                  "libX11",

   158

                                  ]:

   159

                    #badhandle = dlopen(badlib, dl.RTLD_NOLOAD)

   160

                    print "Dirty lib detected :" + badlib

   161

                    #dlclose(badhandle)

   162

                    return True

   163

        return False

   164

   165

   166

    def StartPLC(self, debug=False):

   167

        print "StartPLC"

   168

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

   169

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

   170

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

   171

                if debug:

   172

                    self._resumeDebug()

   173

                self.PLCStatus = "Started"

   174

                return True

   175

            else:

   176

                print "_StartPLC did not return 0 !"

   177

                self._DoStopPLC()

   178

        return False

   179

   180

    def _DoStopPLC(self):

   181

        self._stopPLC()

   182

        self.PLCStatus = "Stopped"

   183

        if self._FreePLC():

   184

            self.PLCStatus = "Dirty"

   185

        return True

   186

   187

    def StopPLC(self):

   188

        if self.PLCStatus == "Started":

   189

            self._DoStopPLC()

   190

            return True

   191

        return False

   192

   193

    def _Reload(self):

   194

        self.daemon.shutdown(True)

   195

        self.daemon.sock.close()

   196

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

   197

        # never reached

   198

        return 0

   199

   200

    def ForceReload(self):

   201

        # respawn python interpreter

   202

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

   203

        return True

   204

   205

    def GetPLCstatus(self):

   206

        return self.PLCStatus

   207

   208

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

   209

        print "NewPLC (%s)"%md5sum

   210

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

   211

            NewFileName = md5sum + lib_ext

   212

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

   213

            try:

   214

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

   215

                                       self.CurrentPLCFilename))

   216

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

   217

                    try:

   218

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

   219

                    except:

   220

                        pass

   221

            except:

   222

                pass

   223

   224

            try:

   225

                # Create new PLC file

   226

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

   227

                     'wb').write(data)

   228

   229

                # Store new PLC filename based on md5 key

   230

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

   231

   232

                # Then write the files

   233

                log = file(extra_files_log, "w")

   234

                for fname,fdata in extrafiles:

   235

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

   236

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

   237

                    log.write(fname+'\n')

   238

   239

                # Store new PLC filename

   240

                self.CurrentPLCFilename = NewFileName

   241

            except:

   242

                print traceback.format_exc()

   243

                return False

   244

            if self.PLCStatus == "Empty":

   245

                self.PLCStatus = "Stopped"

   246

            return True

   247

        return False

   248

   249

    def MatchMD5(self, MD5):

   250

        try:

   251

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

   252

            return last_md5 == MD5

   253

        except:

   254

            return False

   255

   256

    def SetTraceVariablesList(self, idxs):

   257

        """

   258

        Call ctype imported function to append 

   259

        these indexes to registred variables in PLC debugger

   260

        """

   261

        self._suspendDebug()

   262

        # keep a copy of requested idx

   263

        self._Idxs = idxs[:]

   264

        self._ResetDebugVariables()

   265

        for idx in idxs:

   266

            self._RegisterDebugVariable(idx)

   267

        self._resumeDebug()

   268

   269

    TypeTranslator = {"BOOL" :       ctypes.c_uint8,

   270

                      "STEP" :       ctypes.c_uint8,

   271

                      "TRANSITION" : ctypes.c_uint8,

   272

                      "ACTION" :     ctypes.c_uint8,

   273

                      "SINT" :       ctypes.c_int8,

   274

                      "USINT" :      ctypes.c_uint8,

   275

                      "BYTE" :       ctypes.c_uint8,

   276

                      "STRING" :     None, #TODO

   277

                      "INT" :        ctypes.c_int16,

   278

                      "UINT" :       ctypes.c_uint16,

   279

                      "WORD" :       ctypes.c_uint16,

   280

                      "WSTRING" :    None, #TODO

   281

                      "DINT" :       ctypes.c_int32,

   282

                      "UDINT" :      ctypes.c_uint32,

   283

                      "DWORD" :      ctypes.c_uint32,

   284

                      "LINT" :       ctypes.c_int64,

   285

                      "ULINT" :      ctypes.c_uint64,

   286

                      "LWORD" :      ctypes.c_uint64,

   287

                      "REAL" :       ctypes.c_float,

   288

                      "LREAL" :      ctypes.c_double,

   289

                      } 

   290

   291

    def GetTraceVariables(self):

   292

        """

   293

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

   294

        """

   295

        tick = self._WaitDebugData()

   296

        if tick == -1:

   297

            return -1,None

   298

        idx = ctypes.c_int()

   299

        typename = ctypes.c_char_p()

   300

        res = []

   301

   302

        for given_idx in self._Idxs:

   303

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

   304

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

   305

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

   306

                res.append(ctypes.cast(buffer, 

   307

                                       ctypes.POINTER(c_type)).contents.value)

   308

            else:

   309

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

   310

                res.append(None)

   311

        self._FreeDebugData()

   312

        return tick, res

   313

   314

   315