etherlab/runtime_etherlab.py
author Edouard Tisserant
Fri, 05 Apr 2013 21:47:37 +0900
changeset 2117 accc4cbca8d3
parent 2116 2b1980a038b1
child 2132 9f5e4dc43053
permissions -rw-r--r--
Now failure in template based part of C code also release the master for later use...
2086
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
     1
import subprocess,sys,ctypes
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
     2
from threading import Thread
2114
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
     3
import ctypes,time,re
2115
edb49073227e Added error logging when SDO FB fails
Edouard Tisserant
parents: 2114
diff changeset
     4
from targets.typemapping import LogLevelsDict
2086
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
     5
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
     6
SDOAnswered = PLCBinary.SDOAnswered
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
     7
SDOAnswered.restype = None
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
     8
SDOAnswered.argtypes = []
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
     9
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    10
SDOThread = None
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    11
Result = None
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    12
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    13
def SDOThreadProc(*params):
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    14
    global Result
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    15
    if params[0] == "upload":
2115
edb49073227e Added error logging when SDO FB fails
Edouard Tisserant
parents: 2114
diff changeset
    16
        cmdfmt = "ethercat upload -p %d -t %s 0x%.4x 0x%.2x"
2086
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    17
    else:
2115
edb49073227e Added error logging when SDO FB fails
Edouard Tisserant
parents: 2114
diff changeset
    18
        cmdfmt = "ethercat download -p %d -t %s 0x%.4x 0x%.2x %s"
2086
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    19
    
2115
edb49073227e Added error logging when SDO FB fails
Edouard Tisserant
parents: 2114
diff changeset
    20
    command = cmdfmt % params[1:]
edb49073227e Added error logging when SDO FB fails
Edouard Tisserant
parents: 2114
diff changeset
    21
    proc = subprocess.Popen(command, stdout=subprocess.PIPE, shell=True)
2086
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    22
    res = proc.wait()
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    23
    output = proc.communicate()[0]
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    24
    
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    25
    if params[0] == "upload":
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    26
        Result = None
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    27
        if res == 0:
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    28
            if params[2] in ["float", "double"]:
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    29
                Result = float(output)
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    30
            elif params[2] in ["string", "octet_string", "unicode_string"]:
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    31
                Result = output
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    32
            else:
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    33
                hex_value, dec_value = output.split()
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    34
                if int(hex_value, 16) == int(dec_value):
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    35
                    Result = int(dec_value)
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    36
    else:
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    37
        Result = res == 0
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    38
    
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    39
    SDOAnswered()
2115
edb49073227e Added error logging when SDO FB fails
Edouard Tisserant
parents: 2114
diff changeset
    40
    if res != 0 :
edb49073227e Added error logging when SDO FB fails
Edouard Tisserant
parents: 2114
diff changeset
    41
        PLCObject.LogMessage(
edb49073227e Added error logging when SDO FB fails
Edouard Tisserant
parents: 2114
diff changeset
    42
            LogLevelsDict["WARNING"], 
edb49073227e Added error logging when SDO FB fails
Edouard Tisserant
parents: 2114
diff changeset
    43
            "%s : %s"%(command,output))
2086
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    44
    
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    45
def EthercatSDOUpload(pos, index, subindex, var_type):
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    46
    global SDOThread
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    47
    SDOThread = Thread(target=SDOThreadProc, args=["upload", pos, var_type, index, subindex])
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    48
    SDOThread.start()
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    49
    
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    50
def EthercatSDODownload(pos, index, subindex, var_type, value):
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    51
    global SDOThread
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    52
    SDOThread = Thread(target=SDOThreadProc, args=["download", pos, var_type, index, subindex, value])
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    53
    SDOThread.start()
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    54
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    55
def GetResult():
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    56
    global Result
8e4992e0f147 Adding block library for SDO download and SDO upload
Laurent Bessard
parents:
diff changeset
    57
    return Result
2114
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    58
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    59
KMSGPollThread=None
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    60
StopKMSGThread=False
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    61
def KMSGPollThreadProc():
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    62
    """
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    63
    Logs Kernel messages starting with EtherCAT
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    64
    Uses GLibc wrapper to Linux syscall "klogctl"
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    65
    Last 4 KB are polled, and lines compared to last 
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    66
    captured line to detect new lines
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    67
    """
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    68
    global StopKMSGThread
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    69
    libc=ctypes.CDLL("libc.so.6")
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    70
    klog = libc.klogctl
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    71
    klog.argtypes = [ctypes.c_int, ctypes.c_char_p, ctypes.c_int]
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    72
    klog.restype = ctypes.c_int
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    73
    s=ctypes.create_string_buffer(4*1024)
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    74
    last = None
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    75
    while not StopKMSGThread:
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    76
        l = klog(3,s,len(s)-1)
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    77
        log = s.value[:l-1]
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    78
        if last :
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    79
            log = log.rpartition(last)[2]
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    80
        if log : 
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    81
            last = log.rpartition('\n')[2]
2116
2b1980a038b1 Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents: 2115
diff changeset
    82
            for lvl,msg in re.findall(
2b1980a038b1 Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents: 2115
diff changeset
    83
                            r'<(\d)>\[\s*\d*\.\d*\]\s*(EtherCAT\s*.*)$',
2b1980a038b1 Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents: 2115
diff changeset
    84
                            log, re.MULTILINE):
2b1980a038b1 Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents: 2115
diff changeset
    85
                PLCObject.LogMessage(
2b1980a038b1 Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents: 2115
diff changeset
    86
                    LogLevelsDict[{
2b1980a038b1 Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents: 2115
diff changeset
    87
                        "4":"WARNING",
2b1980a038b1 Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents: 2115
diff changeset
    88
                        "3":"CRITICAL"}.get(lvl,"DEBUG")],
2b1980a038b1 Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents: 2115
diff changeset
    89
                    msg)
2114
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    90
        time.sleep(0.5) 
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    91
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    92
def _runtime_etherlab_init():
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    93
    global KMSGPollThread, StopKMSGThread
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    94
    StopKMSGThread = False
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    95
    KMSGPollThread = Thread(target = KMSGPollThreadProc)
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    96
    KMSGPollThread.start()
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    97
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    98
def _runtime_etherlab_cleanup():
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
    99
    global KMSGPollThread, StopKMSGThread
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
   100
    StopKMSGThread = True
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
   101
    KMSGPollThread = None
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
diff changeset
   102