pep8, ignore W606 'async' and 'await' are reserved keywords starting with Python 3.7
This error exists in pyjs extension, but pyjs isn't going to Python3.
'noqa' isn't working for W606, so this warning is disabled completely.
'async' and 'await' are still checked by pylint.
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# This file is part of Beremiz runtime.
#
# Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD
#
# See COPYING.Runtime file for copyrights details.
#
# This library is free software; you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation; either
# version 2.1 of the License, or (at your option) any later version.
# This library is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# Lesser General Public License for more details.
# You should have received a copy of the GNU Lesser General Public
# License along with this library; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
from __future__ import absolute_import
from threading import Thread, Lock, Semaphore, Event, Condition
import ctypes
import os
import sys
import traceback
from time import time
import _ctypes # pylint: disable=wrong-import-order
import Pyro.core as pyro
import six
from six.moves import _thread, xrange
from runtime.typemapping import TypeTranslator
from runtime.loglevels import LogLevelsDefault, LogLevelsCount
from runtime import PlcStatus
if os.name in ("nt", "ce"):
dlopen = _ctypes.LoadLibrary
dlclose = _ctypes.FreeLibrary
elif os.name == "posix":
dlopen = _ctypes.dlopen
dlclose = _ctypes.dlclose
def get_last_traceback(tb):
while tb.tb_next:
tb = tb.tb_next
return tb
lib_ext = {
"linux2": ".so",
"win32": ".dll",
}.get(sys.platform, "")
def PLCprint(message):
sys.stdout.write("PLCobject : "+message+"\n")
sys.stdout.flush()
class job(object):
"""
job to be executed by a worker
"""
def __init__(self, call, *args, **kwargs):
self.job = (call, args, kwargs)
self.result = None
self.success = False
self.exc_info = None
def do(self):
"""
do the job by executing the call, and deal with exceptions
"""
try:
call, args, kwargs = self.job
self.result = call(*args, **kwargs)
self.success = True
except Exception:
self.success = False
self.exc_info = sys.exc_info()
class worker(object):
"""
serialize main thread load/unload of PLC shared objects
"""
def __init__(self):
# Only one job at a time
self._finish = False
self._threadID = None
self.mutex = Lock()
self.todo = Condition(self.mutex)
self.done = Condition(self.mutex)
self.free = Condition(self.mutex)
self.job = None
def runloop(self, *args, **kwargs):
"""
meant to be called by worker thread (blocking)
"""
self._threadID = _thread.get_ident()
if args or kwargs:
job(*args, **kwargs).do()
# result is ignored
self.mutex.acquire()
while not self._finish:
self.todo.wait()
if self.job is not None:
self.job.do()
self.done.notify()
else:
self.free.notify()
self.mutex.release()
def call(self, *args, **kwargs):
"""
creates a job, execute it in worker thread, and deliver result.
if job execution raise exception, re-raise same exception
meant to be called by non-worker threads, but this is accepted.
blocking until job done
"""
_job = job(*args, **kwargs)
if self._threadID == _thread.get_ident() or self._threadID is None:
# if caller is worker thread execute immediately
_job.do()
else:
# otherwise notify and wait for completion
self.mutex.acquire()
while self.job is not None:
self.free.wait()
self.job = _job
self.todo.notify()
self.done.wait()
_job = self.job
self.job = None
self.mutex.release()
if _job.success:
return _job.result
else:
exc_type = _job.exc_info[0]
exc_value = _job.exc_info[1]
exc_traceback = _job.exc_info[2]
six.reraise(exc_type, exc_value, exc_traceback)
def quit(self):
"""
unblocks main thread, and terminate execution of runloop()
"""
# mark queue
self._finish = True
self.mutex.acquire()
self.job = None
self.todo.notify()
self.mutex.release()
MainWorker = worker()
def RunInMain(func):
def func_wrapper(*args, **kwargs):
return MainWorker.call(func, *args, **kwargs)
return func_wrapper
class PLCObject(pyro.ObjBase):
def __init__(self, server):
pyro.ObjBase.__init__(self)
self.evaluator = server.evaluator
self.argv = [server.workdir] + server.argv # force argv[0] to be "path" to exec...
self.workingdir = server.workdir
self.PLCStatus = PlcStatus.Empty
self.PLClibraryHandle = None
self.PLClibraryLock = Lock()
self.DummyIteratorLock = None
# Creates fake C funcs proxies
self._InitPLCStubCalls()
self.daemon = server.daemon
self.statuschange = server.statuschange
self.hmi_frame = None
self.pyruntimevars = server.pyruntimevars
self._loading_error = None
self.python_runtime_vars = None
self.TraceThread = None
self.TraceLock = Lock()
self.Traces = []
# First task of worker -> no @RunInMain
def AutoLoad(self):
# Get the last transfered PLC
try:
self.CurrentPLCFilename = open(
self._GetMD5FileName(),
"r").read().strip() + lib_ext
if self.LoadPLC():
self.PLCStatus = PlcStatus.Stopped
except Exception:
self.PLCStatus = PlcStatus.Empty
self.CurrentPLCFilename = None
def StatusChange(self):
if self.statuschange is not None:
for callee in self.statuschange:
callee(self.PLCStatus)
@RunInMain
def LogMessage(self, *args):
if len(args) == 2:
level, msg = args
else:
level = LogLevelsDefault
msg, = args
PLCprint(msg)
if self._LogMessage is not None:
return self._LogMessage(level, msg, len(msg))
return None
@RunInMain
def ResetLogCount(self):
if self._ResetLogCount is not None:
self._ResetLogCount()
# used internaly
def GetLogCount(self, level):
if self._GetLogCount is not None:
return int(self._GetLogCount(level))
elif self._loading_error is not None and level == 0:
return 1
@RunInMain
def GetLogMessage(self, level, msgid):
tick = ctypes.c_uint32()
tv_sec = ctypes.c_uint32()
tv_nsec = ctypes.c_uint32()
if self._GetLogMessage is not None:
maxsz = len(self._log_read_buffer)-1
sz = self._GetLogMessage(level, msgid,
self._log_read_buffer, maxsz,
ctypes.byref(tick),
ctypes.byref(tv_sec),
ctypes.byref(tv_nsec))
if sz and sz <= maxsz:
self._log_read_buffer[sz] = '\x00'
return self._log_read_buffer.value, tick.value, tv_sec.value, tv_nsec.value
elif self._loading_error is not None and level == 0:
return self._loading_error, 0, 0, 0
return None
def _GetMD5FileName(self):
return os.path.join(self.workingdir, "lasttransferedPLC.md5")
def _GetLibFileName(self):
return os.path.join(self.workingdir, self.CurrentPLCFilename)
def _LoadPLC(self):
"""
Load PLC library
Declare all functions, arguments and return values
"""
md5 = open(self._GetMD5FileName(), "r").read()
self.PLClibraryLock.acquire()
try:
self._PLClibraryHandle = dlopen(self._GetLibFileName())
self.PLClibraryHandle = ctypes.CDLL(self.CurrentPLCFilename, handle=self._PLClibraryHandle)
self.PLC_ID = ctypes.c_char_p.in_dll(self.PLClibraryHandle, "PLC_ID")
if len(md5) == 32:
self.PLC_ID.value = md5
self._startPLC = self.PLClibraryHandle.startPLC
self._startPLC.restype = ctypes.c_int
self._startPLC.argtypes = [ctypes.c_int, ctypes.POINTER(ctypes.c_char_p)]
self._stopPLC_real = self.PLClibraryHandle.stopPLC
self._stopPLC_real.restype = None
self._PythonIterator = getattr(self.PLClibraryHandle, "PythonIterator", None)
if self._PythonIterator is not None:
self._PythonIterator.restype = ctypes.c_char_p
self._PythonIterator.argtypes = [ctypes.c_char_p, ctypes.POINTER(ctypes.c_void_p)]
self._stopPLC = self._stopPLC_real
else:
# If python confnode is not enabled, we reuse _PythonIterator
# as a call that block pythonthread until StopPLC
self.PlcStopping = Event()
def PythonIterator(res, blkid):
self.PlcStopping.clear()
self.PlcStopping.wait()
return None
self._PythonIterator = PythonIterator
def __StopPLC():
self._stopPLC_real()
self.PlcStopping.set()
self._stopPLC = __StopPLC
self._ResetDebugVariables = self.PLClibraryHandle.ResetDebugVariables
self._ResetDebugVariables.restype = None
self._RegisterDebugVariable = self.PLClibraryHandle.RegisterDebugVariable
self._RegisterDebugVariable.restype = None
self._RegisterDebugVariable.argtypes = [ctypes.c_int, ctypes.c_void_p]
self._FreeDebugData = self.PLClibraryHandle.FreeDebugData
self._FreeDebugData.restype = None
self._GetDebugData = self.PLClibraryHandle.GetDebugData
self._GetDebugData.restype = ctypes.c_int
self._GetDebugData.argtypes = [ctypes.POINTER(ctypes.c_uint32), ctypes.POINTER(ctypes.c_uint32), ctypes.POINTER(ctypes.c_void_p)]
self._suspendDebug = self.PLClibraryHandle.suspendDebug
self._suspendDebug.restype = ctypes.c_int
self._suspendDebug.argtypes = [ctypes.c_int]
self._resumeDebug = self.PLClibraryHandle.resumeDebug
self._resumeDebug.restype = None
self._ResetLogCount = self.PLClibraryHandle.ResetLogCount
self._ResetLogCount.restype = None
self._GetLogCount = self.PLClibraryHandle.GetLogCount
self._GetLogCount.restype = ctypes.c_uint32
self._GetLogCount.argtypes = [ctypes.c_uint8]
self._LogMessage = self.PLClibraryHandle.LogMessage
self._LogMessage.restype = ctypes.c_int
self._LogMessage.argtypes = [ctypes.c_uint8, ctypes.c_char_p, ctypes.c_uint32]
self._log_read_buffer = ctypes.create_string_buffer(1 << 14) # 16K
self._GetLogMessage = self.PLClibraryHandle.GetLogMessage
self._GetLogMessage.restype = ctypes.c_uint32
self._GetLogMessage.argtypes = [ctypes.c_uint8, ctypes.c_uint32, ctypes.c_char_p, ctypes.c_uint32, ctypes.POINTER(ctypes.c_uint32), ctypes.POINTER(ctypes.c_uint32), ctypes.POINTER(ctypes.c_uint32)]
self._loading_error = None
except Exception:
self._loading_error = traceback.format_exc()
PLCprint(self._loading_error)
return False
finally:
self.PLClibraryLock.release()
return True
@RunInMain
def LoadPLC(self):
res = self._LoadPLC()
if res:
self.PythonRuntimeInit()
else:
self._FreePLC()
return res
@RunInMain
def UnLoadPLC(self):
self.PythonRuntimeCleanup()
self._FreePLC()
def _InitPLCStubCalls(self):
"""
create dummy C func proxies
"""
self._startPLC = lambda x, y: None
self._stopPLC = lambda: None
self._ResetDebugVariables = lambda: None
self._RegisterDebugVariable = lambda x, y: None
self._IterDebugData = lambda x, y: None
self._FreeDebugData = lambda: None
self._GetDebugData = lambda: -1
self._suspendDebug = lambda x: -1
self._resumeDebug = lambda: None
self._PythonIterator = lambda: ""
self._GetLogCount = None
self._LogMessage = None
self._GetLogMessage = None
self._PLClibraryHandle = None
self.PLClibraryHandle = None
def _FreePLC(self):
"""
Unload PLC library.
This is also called by __init__ to create dummy C func proxies
"""
self.PLClibraryLock.acquire()
try:
# Unload library explicitely
if getattr(self, "_PLClibraryHandle", None) is not None:
dlclose(self._PLClibraryHandle)
# Forget all refs to library
self._InitPLCStubCalls()
finally:
self.PLClibraryLock.release()
return False
def PythonRuntimeCall(self, methodname):
"""
Calls init, start, stop or cleanup method provided by
runtime python files, loaded when new PLC uploaded
"""
for method in self.python_runtime_vars.get("_runtime_%s" % methodname, []):
_res, exp = self.evaluator(method)
if exp is not None:
self.LogMessage(0, '\n'.join(traceback.format_exception(*exp)))
# used internaly
def PythonRuntimeInit(self):
MethodNames = ["init", "start", "stop", "cleanup"]
self.python_runtime_vars = globals().copy()
self.python_runtime_vars.update(self.pyruntimevars)
parent = self
class PLCSafeGlobals(object):
def __getattr__(self, name):
try:
t = parent.python_runtime_vars["_"+name+"_ctype"]
except KeyError:
raise KeyError("Try to get unknown shared global variable : %s" % name)
v = t()
parent.python_runtime_vars["_PySafeGetPLCGlob_"+name](ctypes.byref(v))
return parent.python_runtime_vars["_"+name+"_unpack"](v)
def __setattr__(self, name, value):
try:
t = parent.python_runtime_vars["_"+name+"_ctype"]
except KeyError:
raise KeyError("Try to set unknown shared global variable : %s" % name)
v = parent.python_runtime_vars["_"+name+"_pack"](t, value)
parent.python_runtime_vars["_PySafeSetPLCGlob_"+name](ctypes.byref(v))
self.python_runtime_vars.update({
"PLCGlobals": PLCSafeGlobals(),
"WorkingDir": self.workingdir,
"PLCObject": self,
"PLCBinary": self.PLClibraryHandle,
"PLCGlobalsDesc": []})
for methodname in MethodNames:
self.python_runtime_vars["_runtime_%s" % methodname] = []
try:
filenames = os.listdir(self.workingdir)
filenames.sort()
for filename in filenames:
name, ext = os.path.splitext(filename)
if name.upper().startswith("RUNTIME") and ext.upper() == ".PY":
execfile(os.path.join(self.workingdir, filename), self.python_runtime_vars)
for methodname in MethodNames:
method = self.python_runtime_vars.get("_%s_%s" % (name, methodname), None)
if method is not None:
self.python_runtime_vars["_runtime_%s" % methodname].append(method)
except Exception:
self.LogMessage(0, traceback.format_exc())
raise
self.PythonRuntimeCall("init")
# used internaly
def PythonRuntimeCleanup(self):
if self.python_runtime_vars is not None:
self.PythonRuntimeCall("cleanup")
self.python_runtime_vars = None
def PythonThreadProc(self):
self.StartSem.release()
res, cmd, blkid = "None", "None", ctypes.c_void_p()
compile_cache = {}
while True:
cmd = self._PythonIterator(res, blkid)
FBID = blkid.value
if cmd is None:
break
try:
self.python_runtime_vars["FBID"] = FBID
ccmd, AST = compile_cache.get(FBID, (None, None))
if ccmd is None or ccmd != cmd:
AST = compile(cmd, '<plc>', 'eval')
compile_cache[FBID] = (cmd, AST)
result, exp = self.evaluator(eval, AST, self.python_runtime_vars)
if exp is not None:
res = "#EXCEPTION : "+str(exp[1])
self.LogMessage(1, ('PyEval@0x%x(Code="%s") Exception "%s"') % (
FBID, cmd, '\n'.join(traceback.format_exception(*exp))))
else:
res = str(result)
self.python_runtime_vars["FBID"] = None
except Exception as e:
res = "#EXCEPTION : "+str(e)
self.LogMessage(1, ('PyEval@0x%x(Code="%s") Exception "%s"') % (FBID, cmd, str(e)))
@RunInMain
def StartPLC(self):
if self.CurrentPLCFilename is not None and self.PLCStatus == PlcStatus.Stopped:
c_argv = ctypes.c_char_p * len(self.argv)
res = self._startPLC(len(self.argv), c_argv(*self.argv))
if res == 0:
self.PLCStatus = PlcStatus.Started
self.StatusChange()
self.PythonRuntimeCall("start")
self.StartSem = Semaphore(0)
self.PythonThread = Thread(target=self.PythonThreadProc)
self.PythonThread.start()
self.StartSem.acquire()
self.LogMessage("PLC started")
else:
self.LogMessage(0, _("Problem starting PLC : error %d" % res))
self.PLCStatus = PlcStatus.Broken
self.StatusChange()
@RunInMain
def StopPLC(self):
if self.PLCStatus == PlcStatus.Started:
self.LogMessage("PLC stopped")
self._stopPLC()
self.PythonThread.join()
self.PLCStatus = PlcStatus.Stopped
self.StatusChange()
self.PythonRuntimeCall("stop")
if self.TraceThread is not None:
self.TraceThread.join()
self.TraceThread = None
return True
return False
@RunInMain
def GetPLCstatus(self):
return self.PLCStatus, map(self.GetLogCount, xrange(LogLevelsCount))
@RunInMain
def NewPLC(self, md5sum, data, extrafiles):
if self.PLCStatus in [PlcStatus.Stopped, PlcStatus.Empty, PlcStatus.Broken]:
NewFileName = md5sum + lib_ext
extra_files_log = os.path.join(self.workingdir, "extra_files.txt")
old_PLC_filename = os.path.join(self.workingdir, self.CurrentPLCFilename) \
if self.CurrentPLCFilename is not None \
else None
new_PLC_filename = os.path.join(self.workingdir, NewFileName)
# Some platform (i.e. Xenomai) don't like reloading same .so file
replace_PLC_shared_object = new_PLC_filename != old_PLC_filename
if replace_PLC_shared_object:
self.UnLoadPLC()
self.LogMessage("NewPLC (%s)" % md5sum)
self.PLCStatus = PlcStatus.Empty
try:
if replace_PLC_shared_object:
os.remove(old_PLC_filename)
for filename in file(extra_files_log, "r").readlines() + [extra_files_log]:
try:
os.remove(os.path.join(self.workingdir, filename.strip()))
except Exception:
pass
except Exception:
pass
try:
# Create new PLC file
if replace_PLC_shared_object:
open(new_PLC_filename, 'wb').write(data)
# Store new PLC filename based on md5 key
open(self._GetMD5FileName(), "w").write(md5sum)
# Then write the files
log = file(extra_files_log, "w")
for fname, fdata in extrafiles:
fpath = os.path.join(self.workingdir, fname)
open(fpath, "wb").write(fdata)
log.write(fname+'\n')
# Store new PLC filename
self.CurrentPLCFilename = NewFileName
except Exception:
self.PLCStatus = PlcStatus.Broken
self.StatusChange()
PLCprint(traceback.format_exc())
return False
if not replace_PLC_shared_object:
self.PLCStatus = PlcStatus.Stopped
elif self.LoadPLC():
self.PLCStatus = PlcStatus.Stopped
else:
self.PLCStatus = PlcStatus.Broken
self.StatusChange()
return self.PLCStatus == PlcStatus.Stopped
return False
def MatchMD5(self, MD5):
try:
last_md5 = open(self._GetMD5FileName(), "r").read()
return last_md5 == MD5
except Exception:
pass
return False
def SetTraceVariablesList(self, idxs):
"""
Call ctype imported function to append
these indexes to registred variables in PLC debugger
"""
if idxs:
# suspend but dont disable
if self._suspendDebug(False) == 0:
# keep a copy of requested idx
self._ResetDebugVariables()
for idx, iectype, force in idxs:
if force is not None:
c_type, _unpack_func, pack_func = \
TypeTranslator.get(iectype,
(None, None, None))
force = ctypes.byref(pack_func(c_type, force))
self._RegisterDebugVariable(idx, force)
self._TracesSwap()
self._resumeDebug()
else:
self._suspendDebug(True)
def _TracesSwap(self):
self.LastSwapTrace = time()
if self.TraceThread is None and self.PLCStatus == PlcStatus.Started:
self.TraceThread = Thread(target=self.TraceThreadProc)
self.TraceThread.start()
self.TraceLock.acquire()
Traces = self.Traces
self.Traces = []
self.TraceLock.release()
return Traces
@RunInMain
def GetTraceVariables(self):
return self.PLCStatus, self._TracesSwap()
def TraceThreadProc(self):
"""
Return a list of traces, corresponding to the list of required idx
"""
self._resumeDebug() # Re-enable debugger
while self.PLCStatus == PlcStatus.Started:
tick = ctypes.c_uint32()
size = ctypes.c_uint32()
buff = ctypes.c_void_p()
TraceBuffer = None
self.PLClibraryLock.acquire()
res = self._GetDebugData(ctypes.byref(tick),
ctypes.byref(size),
ctypes.byref(buff))
if res == 0:
if size.value:
TraceBuffer = ctypes.string_at(buff.value, size.value)
self._FreeDebugData()
self.PLClibraryLock.release()
# leave thread if GetDebugData isn't happy.
if res != 0:
break
if TraceBuffer is not None:
self.TraceLock.acquire()
lT = len(self.Traces)
if lT != 0 and lT * len(self.Traces[0]) > 1024 * 1024:
self.Traces.pop(0)
self.Traces.append((tick.value, TraceBuffer))
self.TraceLock.release()
# TraceProc stops here if Traces not polled for 3 seconds
traces_age = time() - self.LastSwapTrace
if traces_age > 3:
self.TraceLock.acquire()
self.Traces = []
self.TraceLock.release()
self._suspendDebug(True) # Disable debugger
break
self.TraceThread = None
def RemoteExec(self, script, *kwargs):
try:
exec(script, kwargs)
except Exception:
_e_type, e_value, e_traceback = sys.exc_info()
line_no = traceback.tb_lineno(get_last_traceback(e_traceback))
return (-1, "RemoteExec script failed!\n\nLine %d: %s\n\t%s" %
(line_no, e_value, script.splitlines()[line_no - 1]))
return (0, kwargs.get("returnVal", None))