runtime/xenomai.py
author Andrey Skvortsov <andrej.skvortzov@gmail.com>
Wed, 01 Aug 2018 13:09:45 +0300
changeset 2258 c9915bc620cd
parent 2015 4eeefc6a13fd
child 3750 f62625418bff
permissions -rw-r--r--
Fix wrong code generation if EN/ENO are used in FBD/LD/SFC

This problem appears for example here

--------
------- | MOVE |
| MOVE1 |------|EN ENO|
------- | |
| |
------- | | -----------
| 23 |------|IN OUT|---| LocalVar0 |
------- -------- -----------


--------
------- | MOVE |
| MOVE2 |------|EN ENO|
------- | |
| |
------- | | -----------
| 15 |------|IN OUT|---| LocalVar0 |
------- -------- -----------

Before wrong code was generated for this case:

MOVE6_OUT := MOVE(EN := move1, IN := 23, ENO => MOVE6_ENO);
LocalVar0 := MOVE6_OUT;
MOVE4_OUT := MOVE(EN := move2, IN := 15, ENO => MOVE4_ENO);
LocalVar0 := MOVE4_OUT;

With this patch now following code is generated:

MOVE6_OUT := MOVE(EN := move1, IN := 23, ENO => MOVE6_ENO);
IF MOVE6_ENO THEN
LocalVar0 := MOVE6_OUT;
END_IF;
MOVE4_OUT := MOVE(EN := move2, IN := 15, ENO => MOVE4_ENO);
IF MOVE4_ENO THEN
LocalVar0 := MOVE4_OUT;
END_IF;


See discussion here:
https://sourceforge.net/p/beremiz/mailman/message/36378805/
2015
4eeefc6a13fd Fix codestyle
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2000
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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#
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# See COPYING.Runtime file for copyrights details.
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#
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parents: 2000
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from __future__ import absolute_import
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9fa2f8ede5d6 Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.
Edouard Tisserant
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from ctypes import CDLL, RTLD_GLOBAL, pointer, c_int, POINTER, c_char, create_string_buffer
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parents: 2000
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parents: 2000
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def TryPreloadXenomai():
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    """
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    Xenomai 3 (at least for version <= 3.0.6) do not handle properly dlclose
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    of shared objects whose dlopen did trigger xenomai_init.
2015
4eeefc6a13fd Fix codestyle
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2000
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    As a workaround, this pre-loads xenomai libraries that need to be
2000
9fa2f8ede5d6 Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.
Edouard Tisserant
parents:
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    initialized and call xenomai_init once for all.
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parents: 2000
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2000
9fa2f8ede5d6 Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.
Edouard Tisserant
parents:
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    Xenomai auto init of libs MUST be disabled (see --auto-init-solib in xeno-config)
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parents:
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    """
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    try:
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        for name in ["cobalt", "modechk", "copperplate", "alchemy"]:
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            globals()[name] = CDLL("lib"+name+".so", mode=RTLD_GLOBAL)
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parents: 2000
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        cobalt.xenomai_init(pointer(c_int(0)), pointer((POINTER(c_char)*2)(create_string_buffer("prog_name"), None)))
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    except Exception:
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        pass